Automatic binding system, binding member and automatic binding device

Abstract

To provide an automatic binding system that allows an elongate routing material to automatically bind any of binding members having various shapes of anchor parts (other-member securing parts), and a binding member and automatic binding device used for the same.SOLUTION: An automatic binding system 1000 comprises a binding member 1 that has an other-member securing part 2, a routing-material binding part 4 and a base 5 formed between them in one body and an automatic binding device 100 that allows a routing-material binding part 4 to bind a routing material 200. The automatic binding device 100 has a chuck unit 10 that holds the base 5 only of the binding member 1 in the form of clamping and maintains the binding member in a predetermined position and posture, a circularization-inducing part 20 that circularizes the routing-material binding part 4 of the binding member 1 held by the chuck unit 10 as the chuck unit 10 approaches, and a moving / driving unit 30 that performs driving such that the chuck unit 10 and the circularization-inducing part 20 approach each other.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to a system for automatically binding a longitudinal wiring member to a binding member, a binding member used therefor, and an automatic binding device.

Background Art

[0002] When arranging a longitudinal wiring member such as a wire harness in a vehicle, each clamp (binding member) that binds and holds the wiring member at a predetermined position in the longitudinal direction is fixed to each position on the vehicle body side (see Patent Document 1). Such clamps include tape types and belt types. The tape type clamp binds and holds the wire harness by winding a plate-like sleeve portion integrally formed with the clamp together with the wire harness with a separate tape. The belt type clamp wraps the wire harness with a belt integrally formed with the clamp and inserts the belt into a buckle formed at the base end of the belt to bind and hold the wire harness. Patent Document 1 describes a clamp that simultaneously includes a sleeve portion (tape fixing portion) for the tape type, a belt (band) for the belt type, and a buckle (band lock).

[0003] In recent years, the development of an automatic binding device for automatically binding a wiring member such as a wire harness to such a clamp has been studied. In this case, the clamp adopted is basically a belt type rather than a tape type. In addition to the belt and the buckle, an anchor (other member fixing portion) for fixing to the vehicle body side is integrally provided on the belt type clamp. Since the anchor has a shape corresponding to the shape of the fixing destination, there are various shapes depending on the type of the fixing destination. Therefore, in the development of the automatic binding device, it is desired that the wiring member can be automatically bound by the belt even if the shapes of the anchors are different.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of the present invention is to provide an automatic binding system capable of automatically binding a longitudinal arranging material to any binding member having anchor portions (other member fixing portions) of various shapes, a binding member used therefor, and an automatic binding device. Means for Solving the Problems and Effects of the Invention

[0006] An automatic binding system for solving the above problems is a binding member integrally having an other member fixing portion formed on a first side, a arranging material binding portion formed on a second side opposite to the first side, and a base portion formed therebetween; and an automatic binding device for binding an arranging material (long member) to the arranging material binding portion. In the automatic binding system, the automatic binding device is a chuck portion that holds only the base portion of the binding member and maintains the binding member in a predetermined position and a predetermined posture; an annularization guiding portion that is disposed opposite to the chuck portion and annularizes the arranging material binding portion of the binding member held by the chuck portion as the chuck portion approaches relatively; a movement driving portion that drives the chuck portion and the annularization guiding portion to approach each other; and includes.

[0007] According to the above configuration, the chuck portion of the automatic binding device holds the base portion of the binding member that is not related to both the functions of the other member fixing portion and the arranging material binding portion in the binding member. Thereby, when holding the binding member, it is not affected by the shape of the other member fixing portion or the binding operation of the arranging material by the arranging material binding portion, and the holding of the binding member can be stably continued.

[0008] The movement driving portion is a robot arm in which a plurality of joints connected by different rotation axes are three-dimensionally controlled in operation, The chuck part is provided at the tip of the robot arm and can be made capable of three-dimensional movement.

[0009] According to the above configuration, the movement drive unit can perform operations other than the linear reciprocating operation of approaching and separating the chuck part and the annularization guiding part. For example, on a plane orthogonal to the approaching direction of the chuck part and the annularization guiding part, various types of annularization guiding parts corresponding to different types of wiring material binding parts are arranged side by side, and the chuck part can also perform an operation of approaching the annularization guiding part selected according to the type of the wiring material binding part of the binding member held by the chuck part.

[0010] The binding member includes two or more types having different shapes of the other member fixing parts. The chuck part has gripping members that are arranged opposite to each other in a predetermined width direction orthogonal to the approaching direction with respect to the annularization guiding part. The tip parts of those gripping members are gripping parts that grip the base part of the binding member when those gripping members approach each other. On the base end side rather than the tip parts of those gripping members, a storage space can be formed between the opposing gripping members so that when the gripping part grips the binding member having the other member fixing part, the other member fixing part can be stored without contact.

[0011] According to the above configuration, among two or more binding members having different shapes of the other member fixing parts, the binding member having any shape of the other member fixing part can grip the base part and be held at a predetermined position and a predetermined posture.

[0012] The predetermined position and the predetermined posture of the binding member when held by the chuck part are the predetermined position and posture that are promoted to be annularized by the wiring material binding part being pushed out toward the chuck part side by the annularization guiding part when the annularization guiding part and the chuck part approach each other. The chuck portion (holding member) can be configured to fit (having a fitting and holding portion) with respect to a convex portion (holding convex portion) provided on the base portion so that the binding member does not deviate from the predetermined position and the predetermined posture when the base portion is held.

[0013] According to the above configuration, the binding member can be arranged at a predetermined position and in a predetermined posture without deviation by fitting and holding the base portion by the chuck portion. And in this fitting and holding state, the binding portion of the binding member for the wiring member can receive the wiring member, and further, when the chuck portion and the annularization guiding portion approach after receiving, the wiring member is annularized in a form surrounding the received wiring member, so that the wiring member can be easily bound (held).

[0014] The binding member has a belt portion as the binding portion for the wiring member, and the base portion includes a buckle portion that inserts the belt portion from the tip side and prevents it from coming off. The annularization guiding portion has opposing wall portions that are opposed to each other in a direction orthogonal to both the approaching direction with respect to the chuck portion and the predetermined width direction, and a connecting wall portion that connects them on the end side opposite to the chuck portion side. A wiring member placement surface is formed in which the opposing surfaces of the opposing wall portions and the surface of the connecting wall portion facing the chuck portion side are continuously U-shaped, and a U-shaped guide groove 21u is formed in the wiring member placement surface. The belt portion extending from the chuck portion side toward the annularization guiding portion side as the chuck portion approaches is folded back toward the chuck portion side with its tip sliding in the guide groove. The chuck portion (one of the holding members) can have a belt insertion guide portion formed with an insertion guide surface for sliding the tip of the folded belt portion into the belt insertion hole of the buckle portion being held.

[0015] According to the above configuration, the belt portion guided by the U-shaped guide groove of the annularization guiding portion and folded back toward the chuck portion side is guided by the belt insertion guide portion of the chuck portion and inserted into the belt insertion hole of the buckle portion, and is annularized. That is, the belt portion can be easily annularized simply by approaching the chuck portion and the annularization guiding portion.

[0016] The automatic binding device belt drawing means for pulling the belt portion in a predetermined drawing direction from the belt insertion hole after the belt portion is inserted into the belt insertion hole of the buckle portion and in the region where the belt portion exits from the belt insertion hole; belt cutting means for cutting the drawn belt portion at a predetermined cutting position; and includes a drawing and cutting portion having the above; The binding member held by the chuck portion at the predetermined position and in the predetermined posture has the belt insertion hole of the buckle portion extending in the orthogonal direction, and the belt portion exiting from the exit of the belt insertion hole travels straight along the belt insertion direction of the belt insertion hole and enters the belt insertion port of the drawing and cutting portion. Further, the entered belt portion travels straight and can be pulled in its straight-ahead direction (the orthogonal direction) by the belt drawing means at a predetermined drawing position after passing through the cutting position.

[0017] According to the above configuration, the belt portion annularized by winding around the binding material can be more firmly bound by the belt drawing means. Further, in the strong binding state, the surplus belt portion protruding from the buckle portion can be cut by the belt cutting means, and the binding member can be made compact.

[0018] The annularization guiding portion forms an entrance-side opposing wall portion on one side of the opposing wall portions where the entrance side of the belt portion is located and an exit-side opposing wall portion on the other side where the exit side of the belt portion is located, and they oppose each other in the orthogonal direction. The automatic termination device is disposed adjacent to the entrance-side facing wall portion on the side opposite to the exit-side facing wall portion in the orthogonal direction, and faces the drawing and cutting portion on the chuck portion side in the approaching direction. It extends beyond the entrance-side facing wall portion toward the chuck portion side, and the surface on the exit-side facing wall portion side at the extended end forms an entrance guide surface that is inclined so as to approach the exit-side facing wall portion as it approaches the connecting wall portion, and includes a belt entrance assisting member. The belt entrance assisting member is provided movably on the side opposite to the chuck portion with respect to the annularization guiding portion. When the chuck portion and the annularization guiding portion approach each other in the approaching direction, the belt entrance assisting member approaches the chuck portion side together with the annularization guiding portion, but can be abutted against the drawing and cutting portion and pushed back.

[0019] According to the above configuration, the entry of the belt portion into the U-shaped guide groove of the annularization guiding portion due to the approach of the chuck portion and the annularization guiding portion is facilitated by the belt entrance assisting member. On the other hand, when the chuck portion and the annularization guiding portion approach each other after the timing when the belt portion folded back in the U-shaped guide groove is inserted into the belt insertion hole, the belt entrance assisting member that protrudes greatly toward the chuck portion side may interfere with the mechanisms constituting the belt drawing means and the belt cutting means in the main body of the apparatus. However, since it can be passed back to the side away from the chuck portion, it does not prevent the approach of the chuck portion and the annularization guiding portion.

[0020] The belt drawing means has a belt engaging gear that engages with a locking groove for preventing slipping continuously formed in the longitudinal direction of the belt in the belt portion, together with a drawing drive motor serving as a drive source, and draws the belt portion by rotating the belt engaging gear based on the rotational output of the drawing drive motor. The belt cutting means has a blade member and a link mechanism together with a cutting drive motor serving as a drive source, and the blade member can be pushed out to the cutting position in conjunction with the link mechanism by operating the link mechanism based on the rotational output of the cutting drive motor.

Brief Description of the Drawings

[0021]

Figure 1

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Mode for Carrying Out the Invention

[0022] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0023] As shown in FIG. 1, the automatic binding system 1000 includes a binding member 1 (see FIG. 2) integrally having a wiring material binding portion and a base portion, and an automatic binding device 100 that restrains a longitudinal wiring material 200 (long member) to the wiring material binding portion.

[0024] The binding member 1 includes a plurality of types having different shapes. The binding member 1 includes, for example, those having only a wiring material binding portion and a base portion, and those in which a fixing portion for other members is formed on the first side of the base portion and a wiring material binding portion is formed on the second side opposite to the first side. Further, the binding member 1 includes two or more types having different shapes of the fixing portion for other members.

[0025] Hereinafter, taking the belt clamp 1A shown in FIG. 2 included in the binding member 1 as an example, the automatic binding system 1000 will be described using this example.

[0026] The belt clamp 1A has a belt portion 4 (binding portion) that wraps around the outer periphery of the longitudinal wiring member 200 (see FIGS. 3 and 4) as a wiring member binding portion, and has an anchor portion 2 (engagement portion) for assembling to the vehicle body side as another member fixing portion. It has a buckle portion 3 (binding fixing portion) provided at the base end of the belt portion 4 as a base portion 5, and the tip side of the belt portion 4 is inserted through and fixed to the belt insertion hole 3h.

[0027] The wiring member 200 is a wire harness in which a plurality of wirings such as signal lines and power lines are bundled. However, the wiring member 200 is not limited to a wire harness, and may be another longitudinal wiring member.

[0028] The buckle portion 3 has a substantially rectangular parallelepiped shape having an upper surface portion 3A that forms the upper inner wall of the belt insertion hole 3h, a lower surface portion 3B that forms the lower inner wall, and side surface portions 3C, 3C that form the left and right inner walls. The belt insertion hole 3h is formed to penetrate from the front (entrance) to the back (exit) of the buckle portion 3. The belt insertion direction I3 of the belt insertion hole 3h here is orthogonal to the vertical direction Z1 and the horizontal direction X1 of the belt clamp 1A (see FIG. 2).

[0029] The buckle portion 3 has the belt portion 4 extending downward from the lower surface portion 3B (lower surface 3b). The anchor portion 2 protrudes upward from the upper surface portion 3A (upper surface 3a) of the buckle portion 3 and is formed in a shape with the upward direction as the insertion direction for assembling to the vehicle body side.

[0030] The anchor portion 2 is a well-known insertion fixing portion that is inserted into and fixed to prevent coming off in the through hole 400h of a plate member 400 (for example, a vehicle body panel) as shown in FIG. 4 here. The anchor portion 2 is not limited to this shape, and may have another shape according to the mating side for assembly.

[0031] The side surfaces 3C, 3C of the buckle portion 3 have convex portions 3P (convex portions for gripping) that protrude outward. Here, the convex portions 3P are formed on both side surfaces of the buckle portion 3. The convex portion 3P has a shape that restricts the position change and posture change of the convex portion when it is fitted from the outside into the corresponding concave-shaped portion.

[0032] As shown in FIG. 4, the lower surface portion 3B of the buckle portion 3 has an elastic locking piece 3BK that extends from the entrance side (left side in FIG. 4) to the exit side (right side in FIG. 4) of the belt insertion hole 3h. The elastic locking piece 3BK is supported in a cantilever state such that the extended tip becomes a free end. A locking claw 3k that protrudes upward is formed on the free end side of the elastic locking piece 3BK.

[0033] The belt portion 4 has a locking groove 4k that locks to the locking claw 3k when inserted into the belt insertion hole 3h from the entrance side. The locking groove 4k forms a concave portion of unevenness that is continuously formed in a row in the belt longitudinal direction (along the belt longitudinal direction).

[0034] Note that the locking groove 4k in FIG. 4 is shown only for the vicinity of the section that locks to the locking claw 3k of the elastic locking piece 3BK, and the illustration is omitted for other sections.

[0035] The fixing of the belt portion 4 to the buckle portion 3 will be described with reference to FIG. 4.

[0036] The belt portion 4 is formed into a loop by being inserted into the belt insertion hole 3h from the entrance side (see FIGS. 3 and 4). The belt portion 4 inserted into the belt insertion hole 3h from the entrance side receives the locking claws 3k of the buckle portion 3 in the locking grooves 4k arranged in the belt longitudinal direction. However, when it is pushed in the belt insertion direction I3, the free end side (the locking claw 3k side) of the elastic locking piece 3BK is deflected downward (the upper side in FIG. 4) to overcome the locking claw 3k, and this is repeated to progress the insertion. Then, when the progress (insertion) stops, any one of the locking grooves 4k arranged in the belt longitudinal direction receives the locking claw 3k and they (4k, 3k) are locked in the direction opposite to the belt insertion direction I3, so that the belt portion 4 is in a state of being fixed to prevent detachment with respect to the buckle portion 3 (a state in which detachment in the direction opposite to the belt insertion direction I3 is prevented).

[0037] When the belt portion 4 is formed into a loop as shown in FIG. 4, a longitudinal arrangement material 200 is arranged on the inner peripheral side thereof, and by inserting it into the belt insertion hole 3h thereon, the arrangement material 200 can be more firmly bound and held.

[0038] As shown in FIG. 1, the automatic binding device 100 includes a chuck portion 10 (chuck unit), an annularization guiding portion 20 (annularization guide unit), and a movement driving portion 30 (movement unit).

[0039] As shown in FIG. 5, the chuck portion 10 holds only the buckle portion 3 of the belt clamp 1A and maintains the buckle portion 3, and thus the entire belt clamp 1A, at a predetermined position and in a predetermined posture with respect to the automatic binding device 100.

[0040] Here, as shown in FIGS. 5 and 6, the chuck portion 10 has gripping members 11, 11 that are arranged to face each other in a predetermined width direction X orthogonal to the height direction Z of the automatic binding device 100. As shown in FIG. 7, the tip portions 11A, 11A of the gripping members 11, 11 are gripping portions that grip (clamp) the base portion 5 (here, the buckle portion 3) of the belt clamp 1A in a manner that sandwiches it when the gripping members 11, 11 approach each other (approach direction Y), and extend so as to approach each other in the facing direction. On the base end side of the tip portions 11A, 11A of the gripping members 11, 11, a storage space 11S is formed between the facing portions of the gripping members 11, 11 that can non - contactingly store the anchor portion 2 when the belt clamp 1A having the anchor portion 2 is gripped by the gripping portions 11A, 11A.

[0041] Here, as shown in FIG. 5, the chuck portion 10 has a linear guide rail 11R that linearly reciprocates each gripping member 11 in the predetermined width direction X, and a chuck drive portion 11M (see FIG. 16) that drives each gripping member 11. The chuck drive portion 11M can be a motor, a cylinder, or the like.

[0042] As shown in FIG. 7, each gripping member 11 (chuck portion 10) has a fitting and holding portion 10P in the gripping portion 11A that fits with a convex portion 3P (gripping convex portion) provided on the buckle portion 3 so that the belt clamp 1A does not deviate from a predetermined position and a predetermined posture when gripping the base portion 5 composed of the buckle portion 3.

[0043] The predetermined position and posture of the belt clamp 1A when held by the chuck portion 10 are such that when the annularization guiding portion 20 and the chuck portion 10 approach (approach direction Y), the belt portion 4 is urged to be annularized by being pushed out toward the chuck portion 10 side by the annularization guiding portion 20, which is a predetermined position and posture (the position and posture in FIG. 8), and before the belt portion 4 is pushed out toward the chuck portion 10 side by the annularization guiding portion 20, the belt portion 4 is in a predetermined position and posture (the position and posture in FIGS. 1 and 5) where it can receive the arranging material 200 at the position on the inner peripheral side when annularized. In this belt clamp 1A, the belt portion 4 extends linearly in the approach direction Y of the annularization guiding portion 20 and the chuck portion 10, and the annularization guiding portion 20 is arranged at the extended end, which is the position and posture (see FIG. 8).

[0044] As shown in FIGS. 8 to 12, the annularization guiding portion 20 is arranged opposite to the chuck portion 10 in the approach direction Y, and the belt portion 4 of the belt clamp 1A held by the chuck portion 10 is annularized as the chuck portion 10 approaches relatively thereto.

[0045] Here, the approach direction Y of the annularization guiding portion 20 and the chuck portion 10 is a direction orthogonal to the predetermined width direction X (see FIG. 1). Here, the height direction Z of the automatic binding device 100 coincides with the orthogonal direction with respect to both the approach direction Y and the predetermined width direction X.

[0046] As shown in FIGS. 8 to 12, the annularization guiding portion 20 includes opposing wall portions 21A and 21B that extend in the approaching direction Y in such a manner that they face each other in the height direction Z (orthogonal direction Z), and a connecting wall portion 21C that connects the opposing wall portions 21A and 21B at an end portion on the side opposite to the chuck portion 10 side. A layout material placement surface 21w is formed such that the opposing surfaces of the opposing wall portions 21A and 21B and the surface of the connecting wall portion 21C facing the chuck portion 10 side are continuously U-shaped, and a U-shaped guide groove 21u is formed on the layout material placement surface 21w. As the annularization guiding portion 20 approaches the chuck portion 10 in the approaching direction Y, the belt portion 4 extending from the chuck portion 10 side to the annularization guiding portion 20 side is folded back toward the chuck portion 10 side in such a manner that the tip thereof slides within the guide groove 21u (FIG. 8 → FIG. 9 → FIG. 11). The sliding of the belt portion 4 within the guide groove 21u is possible even when the layout material 200 is placed on the U-shaped layout material placement surface 21w.

[0047] On the other hand, the chuck portion 10 (one of the gripping members 11, 11) has a belt insertion guide portion 11G formed with an insertion guide surface 11u for sliding the tip of the folded-back belt portion 4 so as to insert it into the entrance of the belt insertion hole 3h of the buckle portion 3 that holds it.

[0048] Further, as shown in FIGS. 8, 9, 11, and 12, the automatic binding system 1000 includes a belt entry assisting member 40 (annularization assisting unit).

[0049] Here, the annularization guiding portion 20 has an entrance-side opposing wall portion 21A where one of the opposing wall portions 21A and 21B is the entrance side of the belt portion 4, and an exit-side opposing wall portion 21B where the other is the exit side of the belt portion 4, and they oppose each other in the height direction Z (orthogonal direction Z). The belt entrance assisting member 40 is adjacent to the entrance-side opposing wall portion 21A on the side opposite to the exit-side opposing wall portion 21B in the height direction Z, and is arranged to face a later-described drawing and cutting portion 50 arranged on the chuck portion 10 side in the approaching direction Y. At the same time, it extends beyond the entrance-side opposing wall portion 21A toward the chuck portion 10 side, and the surface on the exit-side opposing wall portion 21B side at the extended tip forms an entrance guide surface 40g that inclines so as to approach the exit-side opposing wall portion 21B as it goes toward the connecting wall portion 21C. The placement surface 21w for the arranging material and the U-shaped guide groove 21u are arranged in a shape that continues to incline with respect to the surface on the exit-side opposing wall portion 21B side of the belt entrance assisting member 40 that is smoothly continuous from the entrance guide surface 40g. Thereby, the belt portion 4 can smoothly enter from the entrance guide surface 40g into the U-shaped guide groove 21u.

[0050] When there is no belt entrance assisting member 40, as shown in FIG. 10, when sliding the belt portion 4 in the guide groove 21u, the belt portion 4 may bend and may not be able to be smoothly folded back.

[0051] Further, the belt entrance assisting member 40 is provided so as to be movable (retractable) in the direction opposite to the chuck portion 10 (the direction of arrow Y1: see FIG. 11) with respect to the annularization guiding portion 20. When the chuck portion 10 and the annularization guiding portion 20 approach each other, although it approaches (advances) toward the chuck portion 10 side together with the annularization guiding portion 20, it abuts against the drawing and cutting portion 50 and is pushed back (retreated).

[0052] Here, the belt entrance assisting member 40 is urged and held at a predetermined advanced position (the positions in FIGS. 8 and 9) by a biasing member (not shown) such as a spring. However, after abutting against the drawing and cutting portion 50, it is pushed back against the biasing force. If the pushing-back force is released, it returns to the predetermined advanced position (guide position) again by the biasing force.

[0053] As shown in FIG. 1, the moving drive unit 30 (drive unit) drives at least the chuck unit 10 and the annularization guiding unit 20 to move closer to each other in the approaching direction Y. The moving drive unit 30 here is a robot arm in which a plurality of joints connected by different rotation axes are three-dimensionally motion-controlled, and includes various motors 30M (see FIG. 16) as drive sources. The chuck unit 10 and the drawing and cutting unit 50 described later are provided at the tip of the robot arm (), and three-dimensional movement including the operation of approaching the annularization guiding unit 20 is possible.

[0054] The automatic binding device 100 includes a drawing and cutting unit 50 (drawing and cutting unit).

[0055] As shown in FIGS. 11 and 12, the drawing and cutting unit 50 includes a belt drawing means 51 for pulling the belt portion 4 held by the chuck unit 10 in a predetermined drawing direction PL from the belt insertion hole 3h of the buckle portion 3 in the region where the belt portion 4 has passed through the belt insertion hole 3h of the buckle portion 3, and a belt cutting means 52 for cutting the drawn belt portion 4 at a predetermined cutting position CP.

[0056] The drawing and cutting unit 50 is provided so as to be integrally movable with the chuck unit 10 by the moving drive unit 30. The drawing and cutting unit 50 is disposed close to the exit side of the belt insertion hole 3h of the belt clamp 1A held by the chuck unit 10 with respect to the chuck unit 10. The drawing and cutting unit 50 here is disposed below the chuck unit 10 in the height direction Z.

[0057] When the belt clamp 1A (see FIG. 11) is in a predetermined position and posture when held by the chuck unit 10, the belt insertion hole 3h (belt insertion direction I3) of the buckle portion 3 extends in the height direction Z. The belt portion 4 that has passed through the outlet of the belt insertion hole 3h travels straight along the height direction Z (drawing direction PL) and enters the belt insertion port 50i of the drawing and cutting unit 50. The belt portion 4 that has entered the belt insertion port 50i further travels straight and is pulled in its straight-ahead direction (drawing direction PL) by the belt drawing means 51 at a predetermined drawing position PP after passing through the cutting position CP.

[0058] Therefore, the predetermined position and posture of the belt clamp 1A when held by the chuck portion 10, in addition to the above-described position and posture, are such that the belt insertion direction I3 of the belt insertion hole 3h of the buckle portion 3 coincides with the height direction Z (orthogonal direction Z), and at the tip that travels straight in the belt insertion direction I3 from the outlet of the belt insertion hole 3h, there is a belt insertion port 50i of a draw cutting portion 50 described later, and further at the tip that travels straight, there are a cutting position CP and a draw position PP, which are also predetermined positions and postures.

[0059] As shown in FIGS. 13 to 15, the draw cutting portion 50 has motors 51M and 52M as drive sources for a belt drawing means 51 and a belt cutting means 52, respectively.

[0060] The belt drawing means 51 has a belt engaging gear 51G that engages with a retaining groove 4k for preventing slipping, which is continuously formed in the longitudinal direction of the belt in the belt portion 4, together with a motor 51M (drawing drive portion, drawing drive motor: see FIG. 16). By rotating the belt engaging gear 51G based on the rotational output of the motor 51M, the belt portion 4 is drawn out. Here, the rotation of the output shaft of the motor 51M is transmitted to the belt engaging gear 51G via a gear mechanism 510, and the transmitted force causes the belt engaging gear 51G to rotate. The draw position PP is the position between the opposing surfaces of the belt engaging gear 51G and a gear opposing member 51J that opposes it on the outer peripheral side. The belt portion 4 engages with the belt engaging gear 51G at this draw position PP and is fed out as the belt engaging gear 51G rotates.

[0061] The motor 51M is controlled by the control unit 100A (see FIG. 16). When driving the chuck unit 10 and the annular induction unit 20 to approach each other, the control unit 100A rotates the motor 51M. When the rotational output of the motor 51M is in the low torque range where the belt portion 4 can be pulled out, the rotational output is transmitted to the gears 513, 512, and 511 via the rotary shaft 510R. The rotary shaft of the gear 511 is common with the belt engaging gear 51G, and the belt engaging gear 51G also rotates as the gear 511 rotates. When the belt portion 4 enters the opposing space (drawing position PP) between the belt engaging gear 51G and the gear opposing member 51J, the locking groove 4k engages with the belt engaging gear 51G, and the belt portion 4 is linearly fed downward in the height direction Z (orthogonal direction Z) following the rotation of the belt engaging gear 51G. On the other hand, when the torque of the motor 51M becomes high torque where the belt portion 4 cannot be pulled out, the control unit 100A stops the motor 51M.

[0062] The belt cutting means 52 includes, together with the motor 52M, a blade member 52B and a link mechanism 520. By operating the link mechanism 520 based on the rotational output of the motor 52M (cutting drive unit, cutting drive motor: see FIG. 16), the blade member 52B is pushed out to the cutting position CP in conjunction with the link mechanism 520. Here, the rotation of the output shaft of the motor 52M is transmitted to the blade member 52B via the link mechanism 520, and the blade member 52B is pushed out to the cutting position CP by the transmitted pushing force (force pushing in the approaching direction Y) orthogonal to the height direction Z (orthogonal direction Z). The belt portion 4 is cut by being pressed by the blade member 52B at the cutting position CP. The cut belt portion 4 falls downward and is collected in a collection tray (not shown).

[0063] Specifically, the motor 52M is controlled by the control unit 100A (see FIG. 16). The motor 52M stops when the motor 51M is in the low torque range, and starts rotating as the motor 51M reaches high torque. The rotational output of the motor 52M is transmitted to the link member 522 at the initial position via the rotary shaft 520R, and the link member 522 rotates from the initial position. Due to this rotation, the slide member 521 connected to the link member 522 moves forward from the initial position. Due to this forward movement, the blade member 52B provided on the slide member 521 is pushed out from the initial position to the cutting position CP. As a result, the belt portion 4 is cut at the cutting position CP. After the cutting, the motor 52M stops rotating. As a result, the link member 522 receives the biasing force of the biasing member 523 such as a spring, and returns to its respective initial position together with the slide member 521.

[0064] The drawing and cutting portion 50 here is located below the chuck portion 10 in the height direction Z, and is fixed in a form that cannot be displaced relative to the guide rail 11R of the chuck portion 10.

[0065] Further, the drawing and cutting portion 50 here has three belt insertion ports 50i (see FIG. 13) arranged in the predetermined width direction X (parallel to the linear guide rail 11R). As a result, even if it is a bundling member 1 of a type different from the belt clamp 1A, the belt portion 4 can automatically bundle the wiring material 200.

[0066] Specifically, the drawing and cutting section 50 includes a first-side drawing and cutting section 50A corresponding to the first-side gripping member 11 among the gripping members 11, 11, and a second-side drawing and cutting section 50B corresponding to the second-side gripping member 11 opposite to the first side. The first-side drawing and cutting section 50A has two belt insertion ports 50i arranged in the predetermined width direction X, and the second-side drawing and cutting section 50B has one belt insertion port 50i. Below each of these belt insertion ports 50i along the height direction Z, a cutting position CP and a drawing position PP are arranged, and corresponding belt drawing means 51 and belt cutting means 52 are disposed. Each belt drawing means 51 has a common (single) motor 51M, and when the motor 51M rotates a common rotating shaft 510R, each belt engaging gear 51G is rotated via the rotating shaft 510R. Each belt cutting means 52 has a common (single) motor 52M, and when the motor 52M rotates a common rotating shaft 520R, each link mechanism 520 is actuated via the rotating shaft 520R to push each blade member 52B to the cutting position CP.

[0067] In the case of the belt clamp 1A, among the total three belt insertion ports 50i existing in the first-side drawing and cutting section 50A and the second-side drawing and cutting section 50B, the central belt insertion port 50i is used. The chuck section 10 holds the buckle section 3 which is the base of the belt clamp 1A at a position and posture where the exit and the entrance of the belt insertion hole 3h are arranged side by side directly above in the height direction Z of the central belt insertion port 50i.

[0068] Next, the process executed by the control section 100A of the automatic bundling device 100 will be briefly described with reference to FIG. 17.

[0069] First, the control section 100A performs condition setting for performing a series of bundling processes (S1). Based on an operation input from a well-known input section 100B such as a keyboard or a mouse connected to the control section 100A, the type of the bundling member 1 to be used, the number of processes, etc. are set. By this condition setting at this time, parameters corresponding to the set conditions are read out and used in the processes described later.

[0070] When the condition setting is completed, the control unit 100A selects one of the bundling members 1 arranged on the loading tray 300 (see FIG. 1) placed at a predetermined position, and drives the movement drive unit 30M so that the chuck unit 10 moves to the gripping position of the selected bundling member 1 (S2). Here, the drawing and cutting unit 50 also moves integrally with the chuck unit 10.

[0071] When the chuck unit 10 moves to the gripping position, the control unit 100A drives the chuck drive unit 11M so that the gripping members 11, 11 grip (hold, clamp) the base 5 of the bundling member 1 (S3). At this time, the gripping members 11, 11 grip the base 5 in such a manner that the convex portions 3P are fitted into the corresponding concave portions of the gripping portions 11A, 11A at the tips (see FIG. 7).

[0072] When the chuck unit 10 grips (holds, clamps) the base 5 of the bundling member 1, the control unit 100A moves to a predetermined bundling process start position for bundling the wiring material 200, and drives the movement drive unit 30M so that the bundling member 1 gripped at that position assumes a predetermined bundling process posture (S4). The bundling process start position and the bundling process posture of the bundling member 1 at this time are the predetermined position and the predetermined posture described above.

[0073] When the bundling member 1 assumes the bundling process start position (predetermined position) and the bundling process posture (predetermined posture), the control unit 100A drives the movement drive unit 30M so that the chuck unit 10 and the annularization guiding unit 20 approach along the approaching direction Y (S5). Here, the chuck unit 10, together with the drawing and cutting unit 50, approaches the annularization guiding unit 20 along the approaching direction Y with the wiring material 200 placed on the wiring material placement surface 21w (FIG. 8 → FIG. 9 → FIG. 11). As a result, the chuck unit 10 approaches the annularization guiding unit 20, and the belt portion 4 is inserted into the belt insertion hole 3h of the buckle portion 3, and the belt portion 4 annularizes so as to surround the wiring material 200.

[0074] As the chuck portion 10 and the annularization induction portion 20 start to approach, the control unit 100A drives the motor 51M (drawing drive unit) so that the belt drawing means 51 can draw out the belt portion 4 (S6). Thereby, when the chuck portion 10 approaches the annularization induction portion 20 and the belt portion 4 is inserted into the belt insertion hole 3h of the buckle portion 3, the belt portion 4 that comes out of the outlet engages with the belt engagement gear 51G that rotates at the predetermined drawing position PP, and is fed out following the rotation of the belt engagement gear 51G, and the packaging material 200 is strongly bound by the belt portion 4 (FIG. 11).

[0075] After driving the motor 51M (drawing drive unit), when the drive torque thereof becomes equal to or greater than a certain value, the control unit 100A drives the motor 52M (cutting drive unit) so that the belt cutting means 52 cuts the belt portion 4 (S7). Thereby, the belt portion 4 that comes out of the outlet of the belt insertion hole 3h of the buckle portion 3 is cut by the blade member 52B that advances at the predetermined cutting position CP (FIG. 11 → FIG. 12).

[0076] After driving the motor 52M (cutting drive unit), the control unit 100A next determines whether there is a binding member to perform the next binding based on the setting information set in S1 (S8). If there is a binding member to perform the next binding, the process returns to S2. If there is no binding member to perform the next binding, the process ends.

[0077] When returning to S2, the control unit 100A selects, from among the bundling members 1 arranged on the loading tray 300 (see FIG. 1), the one adjacent to the bundling member 1 that was bundled immediately before, and drives the movement drive unit 30M so that the chuck unit 10 moves to the gripping position of the selected bundling member 1 (S2). Then, the control unit 100A causes the chuck unit 10 to grip the bundling member 1 (S3), moves to the next bundling process start position, and drives the movement drive unit 30M so that the bundling member 1 gripped at that position assumes a predetermined bundling process posture (S4). The bundling process start position at this time is a position facing the approaching direction Y and adjacent in the predetermined width direction X to another annularization guiding portion 20 that faces the annularization guiding portion 20 facing the approaching direction Y at the bundling process start position of the bundling member 1 that was bundled immediately before. After that, the processes of S5 to S7 are executed in the same manner, and the process is repeated until there are no more bundling members to be bundled next.

[0078] Here, different types of bundling members 1B, 1C, 1D, and 1E included in the bundling member 1 of the present embodiment, which are different from the belt clamp 1A, will be described.

[0079] As shown in FIG. 18, the belt clamp 1B has an anchor portion 2 with a shape different from that of the belt clamp 1A. Also, two buckle portions 3 of the belt clamp 1B are formed side by side in a shape parallel to the belt insertion direction I3, and belt portions 4 corresponding to each of them extend downward from the lower surfaces of those buckle portions 3. The anchor portion 2 protrudes upward at the center of a plate-shaped connecting portion 6 that connects the opposing side surfaces of the two buckle portions 3, and is formed in a shape with the upward direction as the insertion direction for assembling to the vehicle body side.

[0080] Each buckle portion 3 of the belt clamp 1B has the same basic structure as the buckle portion 3 of the belt clamp 1A, and the corresponding belt portion 4 can be inserted into the belt insertion hole 3h and fixed therein to prevent it from coming out.

[0081] The base 5 of the belt clamp 1B consists of a connecting portion 6 and two buckle portions 3, 3. As shown in Fig. 23, the chuck portion 10 of the automatic tying device 100 grips (holds, clamps) the base 5 by the gripping members 11, 11. The convex portions 3P (gripping convex portions) are respectively formed on both outer side surfaces of the base 5 having a side-by-side structure arranged in the order of the buckle portion 3, the connecting portion 6, and the buckle portion 3. The gripping members 11, 11 grip the base 5 in such a manner that the convex portions 3P are fitted into the corresponding concave-shaped portions of the gripping portions 11A, 11A at the tips. Thereby, the belt clamp 1B is maintained in a predetermined posture and a predetermined position, and the anchor portion 2 is accommodated in the accommodation space 11S. A drawing and cutting portion 50 is located below the chuck portion 10, and both outer belt insertion openings 50i excluding the center among the three belt insertion openings 50i (see Figs. 6 and 13) arranged in the predetermined width direction X are used.

[0082] As shown in Fig. 19, the belt clamp 1C has a shape in which the connecting portion 6 of the belt clamp 1B is cut on the right side of the anchor portion 2. The anchor portion 2 of the belt clamp 1C has the same shape as that of the belt clamp 1B. Also, the buckle portion 3 and the belt portion 4 of the belt clamp 1C have the same shapes as those of the belt clamp 1B. A plate-shaped connecting portion 7 extends from one side surface of the buckle portion 3, and the anchor portion 2 is formed at the tip thereof so as to protrude upward. This anchor portion 2 has an insertion direction for assembling upward toward the vehicle body side.

[0083] The base 5 of the belt clamp 1C consists of a connecting portion 7 and a buckle portion 3. The convex portion 3P (gripping convex portion) is formed on the side surface of the buckle portion 3 opposite to the connecting portion 7. Also, a convex portion 3Q (gripping convex portion) that performs the same function on the opposite side of the convex portion 3P is formed at the tip of the connecting portion 7 opposite to the buckle portion 3 in a shape that is symmetric with the convex portion 3P at a position symmetric therewith.

[0084] As shown in FIG. 24, the chuck portion 10 of the automatic closing device 100 grips (holds, clamps) the base portion 5 by the gripping members 11, 11. The gripping members 11, 11 grip the base portion 5 in such a manner that the corresponding convex portions 3P, 3P are fitted into the corresponding concave-shaped portions of the gripping portions 11A, 11A at the tips. As a result, the belt clamp 1C is maintained in a predetermined posture and a predetermined position, and the anchor portion 2 is accommodated in the accommodation space 11S. A drawing and cutting portion 50 is located below the chuck portion 10, and among the three belt insertion ports 50i arranged in the predetermined width direction X, the central one and one of the two outer ones of the belt insertion ports 50i are used.

[0085] As shown in FIG. 20, the belt clamp 1D has a connector connection portion 2D as an other-member fixing portion instead of the anchor portion 2. Also, although the shape of the buckle portion 3 of the belt clamp 1D is different, the basic structure is the same as that of the other buckle portions 3 such as the belt clamps 1A and 1B. Belt portions 4 corresponding to each are formed to extend downward from the lower surface of the buckle portion 3, and the belt portions 4 are inserted into the belt insertion holes 3h, and can be fixed therein to prevent them from coming out. The connector connection portion 2D is formed on the upper surface of the buckle portion 3, and the connection direction of the connector coincides with the belt insertion direction I3 of the belt insertion hole 3h.

[0086] The base portion 5 of the belt clamp 1D is the buckle portion 3, similar to the belt clamp 1A. As shown in FIG. 25, the chuck portion 10 of the automatic closing device 100 grips (holds, clamps) the base portion 5 by the gripping members 11, 11. The convex portions 3P (convex portions for gripping) are respectively formed on both outer side surfaces of the buckle portion 3 forming the base portion 5. The gripping members 11, 11 grip the base portion 5 in such a manner that the convex portions 3P are fitted into the corresponding concave-shaped portions of the gripping portions 11A, 11A at the tips. As a result, the belt clamp 1D is maintained in a predetermined posture and a predetermined position, and the connector connection portion 2D is accommodated in the accommodation space 11S. A drawing and cutting portion 50 is located below the chuck portion 10, and the central one among the three belt insertion ports 50i arranged in the predetermined width direction X is used.

[0087] As shown in Fig. 21, the belt clamp 1E has a different shape of the anchor part 2. A raised part 2E1 protrudes from the upper surface of the buckle part 3, and the whole having an anchor functional part 2E2 thereon has a raised shape. This anchor part 2 has an insertion direction for assembling upward to the vehicle body side.

[0088] Also, although the shapes of the buckle parts 3 of the belt clamps 1A to 1D and others are different, the basic structure of the buckle part 3 of the belt clamp 1E is the same as that of the other buckle parts 3 such as the belt clamps 1A to 1D. A belt part 4 extends downward from the lower surface of the buckle part 3, and the belt part 4 can be inserted into a belt insertion hole 3h and prevented from coming out and fixed therein.

[0089] The base part 5 of the belt clamp 1E is the buckle part 3, similar to the belt clamp 1A. As shown in Fig. 26, the chuck part 10 of the automatic binding device 100 grips (holds, clamps) the base part 5 by gripping members 11, 11. Protrusions 3P (gripping protrusions) are respectively formed on both outer side surfaces of the buckle part 3 forming the base part 5. The gripping members 11, 11 grip the base part 5 in such a manner that the protrusions 3P are fitted into corresponding concave-shaped parts of the gripping parts 11A, 11A at the tips. Thereby, the belt clamp 1E is maintained in a predetermined posture and position, and the anchor part 2 is accommodated in the accommodation space 11S. A drawing and cutting part 50 is located below the chuck part 10, and the central one of three belt insertion ports 50i arranged in a predetermined width direction X is used.

[0090] Note that the binding member 1 in this embodiment includes other member fixing parts such as anchor parts like the belt clamps 1A, 1B, 1C, 1D, 1E, 1F. However, the automatic binding device 100 can perform the same binding process for those that do not include other member fixing parts as for those that include other member fixing parts.

[0091] Also, the buckle parts 3 and the belt parts 4 of the belt clamps 1B and 1C have the following configuration.

[0092] The buckle portion 3 has a substantially rectangular parallelepiped shape having an upper surface portion 3A forming the inner wall above the belt insertion hole 3h, a lower surface portion 3B forming the inner wall below, and side surface portions 3C, 3C forming the inner walls on the left and right sides. The belt insertion hole 3h is formed to penetrate from the front (entrance) to the back (exit) of the buckle portion 3.

[0093] As shown in Fig. 28, the lower surface portion 3B of the buckle portion 3 has an elastic locking piece 3BK extending from the entrance side (right side in Fig. 28) to the exit side (left side in Fig. 28) of the belt insertion hole 3h. The elastic locking piece 3BK is supported in a cantilever state such that the extended tip becomes a free end. A locking claw 3k protruding upward is formed on the free end side of the elastic locking piece 3BK.

[0094] As shown in Fig. 28, the lowermost surface 3b0 of the lower surface 3b of each buckle portion 3 (lower surface portion 3B) is formed flush here, including the lower surface 3bk of the elastic locking piece 3BK.

[0095] Each belt portion 4 has a locking groove 4k that locks to the locking claw 3k when inserted into the belt insertion hole 3h from the entrance side. The locking groove 4k forms a concave portion of irregularities continuously formed in a line in the belt longitudinal direction (along the belt longitudinal direction).

[0096] Note that the locking groove 4k in Fig. 28 is shown only for the vicinity of the section that locks to the locking claw 3k of the elastic locking piece 3BK, and the illustration of other sections is omitted.

[0097] As shown in Figs. 18 and 19, the base end of the belt portion 4 branches left and right with a gap 4h interposed therebetween, and is separately connected to the lower surface 3b (which can also be referred to as the bottom surface) of the corresponding buckle portion 3 on both the left and right sides (in the left - right direction X). That is, the base end portion 4B of the belt portion 4 forms a bifurcated shape portion that bifurcates into two branches (Y - shaped) toward the base end side.

[0098] As shown in FIG. 28, the elastic locking piece 3BK of the buckle portion 3 extends from the entrance side to the exit side of the belt insertion hole 3h in such a manner that the connection position C4 with the lower surface portion 3B (lower surface 3b) of the belt portion 4 crosses in the belt insertion direction I3. When the free end side (left side in FIG. 28) elastically deforms downward, it is provided so as to enter the gap 4h.

[0099] When the belt portion 4 is formed into an annular shape as shown in FIG. 4, the longitudinal arranging member 200 is disposed on the inner peripheral side thereof, and by inserting it into the belt insertion hole 3h thereon, the arranging member 200 can be more firmly bound and held. The bound and held arranging member 200 is disposed biased toward the entrance side (right side in FIG. 28) of the belt insertion hole 3h with respect to the lower surface 3b (bottom surface) of the buckle portion 3 as shown in FIG. 28.

[0100] As shown in FIG. 28, the elastic locking piece 3BK extends from the entrance side to the exit side of the belt insertion hole 3h beyond the connection position C4 of the belt portion 4, and the free end side (including the locking claw 3k) that mainly bends is located on the exit side of the connection position C4 of the belt portion 4 (left side in FIG. 28). For this reason, the free end side of the elastic locking piece 3BK is less likely to be interfered with by the bound and held arranging member 200.

[0101] Further, when the elastic locking piece 3BK elastically deforms so that the free end side bends downward in FIG. 28, it enters the through hole 4h provided in the base end portion 4B of the belt portion 4 (see the broken line in FIG. 28). This entry is sandwiched and protected by the bifurcated shape (forked shape) of the base end portion 4B of the belt portion 4.

[0102] According to this configuration, the buckle portion 3 can be made thinner. This configuration is also applicable to other belt clamps 1A, 1B, 1C, 1D, and 1E.

[0103] The first embodiment of the present invention has been described above, but this is merely an example, and the present invention is not limited thereto. Various changes such as addition and omission are possible based on the knowledge of those skilled in the art without departing from the gist of the claims.

[0104] In the above embodiment, the moving drive unit 30 (drive unit) is a robotic arm capable of three-dimensional movement, but it may also be configured to drive only the chuck unit 10 and the annularization guiding unit 20 to approach and separate from each other in the approaching direction Y.

[0105] In the above embodiment, the moving drive unit 30 (drive unit) was configured to move the chuck unit 10 relative to the annularization guiding unit 20 at a fixed position, but it may also include a configuration for moving the annularization guiding unit 20.

[0106] In the above embodiment, the predetermined position and posture of the binding member 1 may be such that the tip of the belt portion 4 rides on the belt entry assisting member 40 (on the entry guide surface 40g).

[0107] In the above embodiment, the binding members 1 were the belt clamps 1A, 1B, 1C, 1D, and 1E, but it may also include those in which the binding portion is not the belt portion 4. For example, the binding member 1 may include a binding member 1F as shown in FIG. 22.

[0108] As shown in FIG. 22, the binding member 1F is a corrugated clamp having an other-member fixing portion 2F instead of the anchor portion 2. The other-member fixing portion 2F has an insertion attachment portion 2h and is fixed to the vehicle body side by inserting a fixture (not shown) provided on the vehicle body side in a predetermined assembly direction (here, the same direction as direction I3).

[0109] Further, the corrugated clamp 1F has a binding fixing portion 3E instead of the buckle portion 3. From the lower surface of the binding fixing portion 3E, a wiring material placement portion 4A extends downward, and its tip is connected to the wiring material covering portion 4C via a hinge portion 4E. On the side of the binding fixing portion 3E opposite to the hinge portion 4E, it has an insertion fixing portion 4D that can be fixed by inserting it into the insertion fixing hole 3Eh of the binding fixing portion 3E.

[0110] The base 5 of the corrugated clamp 1F is the bundling and fixing part 3E. As shown in Fig. 27, the chuck part 10 of the automatic bundling device 100 grips (holds, clamps) the base 5 by the gripping members 11, 11. The convex parts 3P (gripping convex parts) are respectively formed on both outer side surfaces of the bundling and fixing part 3E that forms the base 5. The gripping members 11, 11 grip the base 5 in such a way that the convex parts 3P are fitted into the corresponding concave-shaped parts of the gripping parts 11A, 11A at the tips. Thereby, the corrugated clamp 1F is maintained in a predetermined posture and a predetermined position, and the anchor part 2F is accommodated in the accommodation space 11S. A drawing and cutting part 50 is located below the chuck part 10, and the central one of the three belt insertion ports 50i arranged in the predetermined width direction X is used.

[0111] In the case of this bundling member 1F, when the chuck part 10 and the annularization guiding part 20 are brought closer to each other in the approaching direction Y, the wiring material covering part 4C is pressed against the chuck part 10 side by the annularization guiding part 20, rotates around the hinge part 4E, and is positioned so as to overlap on the wiring material placement part 4A. At this time, the insertion and fixing part 4D is inserted into the insertion and fixing hole 3Eh of the bundling and fixing part 3E, and the bundling part 4 is in an annularized state and fixed to the bundling and fixing part 3E.

Explanation of reference numerals

[0112] 1000 Automatic bundling system 100 Automatic bundling device 100A Control part 10 Chuck part 11 Gripping member 11A Gripping part 11R Guide rail 11M Chuck driving part 11S Accommodation space 11u Insertion guide surface 11G Belt insertion guide part 20 Annularization guiding part 21A Entering side opposing wall part (opposing wall part) 21B Exiting side opposing wall part (opposing wall part) 21C Connecting wall part 21u U-shaped guide groove 21w Wiring material placement surface 30 Moving drive unit 40 Belt entry assisting member 40g Entry guide surface 50 Drawing and cutting section 50i Belt insertion port 51 Belt drawing means 51G Belt engaging gear 51M Drawing drive section (drawing drive motor) 510 Gear mechanism 52 Belt cutting means 52B Blade member 52M Cutting drive section (cutting drive motor) 520 Link mechanism 200 Wiring material 300 Loading tray 400 Plate material (vehicle body panel) 1(1A, 1B, 1C, 1D, 1E, 1F) Binding member 2 Anchor section (other member fixing section) 3 Buckle section 3BK Elastic locking piece 3h Belt insertion hole 3P, 3Q Protrusions (gripping protrusions) 4 Belt section (wiring material binding section) 5 Base 6, 7 Connection sections X Predetermined width direction Y Approaching direction Z Height direction (orthogonal direction) CP Cutting position PP Drawing position PL Drawing direction I3 Belt insertion direction

Claims

1. A binding member integrally having a fixing portion for other members formed on a first side, a wiring material binding portion formed on a second side opposite to the first side, and a base portion formed therebetween; and an automatic binding device for binding a wiring material to the wiring material binding portion. In an automatic binding system comprising: The automatic binding device is: A chuck portion that holds only the base portion of the binding member and maintains the binding member at a predetermined position and in a predetermined posture; An annularization guiding portion that is disposed opposite to the chuck portion and annularizes the wiring material binding portion of the binding member held by the chuck portion as it approaches the chuck portion; A movement driving portion that drives the chuck portion and the annularization guiding portion to approach each other; An automatic binding system comprising.

2. The movement driving portion is a robot arm in which a plurality of joints connected by different rotation axes are three-dimensionally controlled in operation, The chuck portion is provided on the robot arm. The automatic binding system according to claim 1.

3. The binding member includes two or more types having different shapes of the fixing portions for other members, The chuck portion has gripping members that are disposed opposite to each other in a predetermined width direction orthogonal to the approaching direction with respect to the annularization guiding portion, Tip portions of the gripping members are gripping portions that grip the base portion of the binding member when the gripping members approach each other, On the base end side of the tip portions of the gripping members, a housing space is formed between the opposing gripping members so that when the gripping portion grips the binding member having the fixing portion for other members, the fixing portion for other members can be housed without contact. The automatic binding system according to claim 1.

4. The predetermined position and the predetermined posture of the binding member when held by the chuck portion are predetermined positions and postures that are urged to be annularized by the wiring material binding portion being pushed out toward the chuck portion side by the annularization guiding portion when the annularization guiding portion and the chuck portion approach each other, The chuck portion fits into a convex portion provided on the base portion so that the binding member does not deviate from the predetermined position and the predetermined posture when the base portion is held. The automatic binding system according to claim 1.

5. In the binding member, the wiring material binding portion is a belt portion, and the base portion includes a buckle portion that inserts the belt portion from the tip side and prevents it from coming off. The annularization guiding portion has opposed wall portions that are opposed to each other in a direction orthogonal to both the approaching direction with respect to the chuck portion and the predetermined width direction, and a connecting wall portion that connects them on the end side opposite to the chuck portion side. The opposing surfaces of the opposing wall portions and the surface of the connecting wall portion facing the chuck portion side form a placement surface for the wiring member in a U-shaped continuous manner, and a U-shaped guide groove 21u is formed in the placement surface for the wiring member. As the chuck portion approaches, the belt portion extending from the chuck portion side toward the annularization guiding portion side is folded back toward the chuck portion side in such a way that the tip thereof slides within the guide groove. The automatic binding system according to claim 3, wherein the chuck portion has a belt insertion guide portion formed with an insertion guide surface that slides the tip of the folded-back belt portion so as to insert it into the belt insertion hole of the buckle portion that holds it.

6. The automatic binding device is belt pulling means for pulling the belt portion in a predetermined pulling-out direction from the belt insertion hole in a region where the belt portion is inserted into the belt insertion hole of the buckle portion and exits from the belt insertion hole; belt cutting means for cutting the pulled-out belt portion at a predetermined cutting position; and includes a pulling-out and cutting portion having the above; The binding member held by the chuck portion at the predetermined position and in the predetermined posture has the belt insertion hole of the buckle portion extending in the orthogonal direction, and the belt portion exiting from the outlet of the belt insertion hole travels straight along the belt insertion direction of the belt insertion hole and enters the belt insertion port of the pulling-out and cutting portion. Further, the entered belt portion travels straight and is pulled in its straight-ahead direction by the belt pulling means at a predetermined pulling-out position after passing through the cutting position. The automatic binding system according to claim 5.

7. In the annularization guiding portion, one of the opposing wall portions is an entering-side opposing wall portion that is the entering side of the belt portion, and the other is an exiting-side opposing wall portion that is the exiting side of the belt portion, and they are opposed to each other in the orthogonal direction. The automatic closing device is arranged to be adjacent to the entry-side facing wall portion on the side opposite to the exit-side facing wall portion in the orthogonal direction, and to face the drawing and cutting portion on the chuck portion side in the approaching direction, and extends beyond the entry-side facing wall portion toward the chuck portion side. A belt entry assisting member is provided on the surface on the exit-side facing wall portion side at the extended end, which forms an entry guide surface inclined so as to approach the exit-side facing wall portion as it approaches the connecting wall portion. The belt entry assisting member is provided movably on the side opposite to the chuck portion with respect to the annularization guiding portion. When the chuck portion and the annularization guiding portion approach each other in the approaching direction, it approaches the chuck portion side together with the annularization guiding portion, but abuts against the drawing and cutting portion and is pushed back. The automatic closing system according to claim 6.

8. The belt drawing means has a belt engaging gear that engages with a locking groove for preventing escape continuously formed in the longitudinal direction of the belt in the belt portion, together with a drawing drive motor serving as a drive source. By rotating the belt engaging gear based on the rotational output of the drawing drive motor, the belt portion is drawn out. The belt cutting means has a blade member and a link mechanism together with a cutting drive motor serving as a drive source. By operating the link mechanism based on the rotational output of the cutting drive motor, the blade member is pushed out to the cutting position in conjunction with the link mechanism. The automatic closing system according to claim 6.

9. Used in the automatic closing system according to claim 4. An other-member fixing portion formed on the first side, a wiring material bundling portion formed on the second side opposite to the first side, and a base portion formed therebetween are integrally provided. A bundling member provided with a convex portion that fits so that the bundling member does not deviate from the predetermined position and the predetermined posture when held by the chuck portion is provided on the base portion.

10. Used in the automatic closing system according to claim 1. An automatic closing device for bundling a wiring material to the wiring material bundling portion of a bundling member that integrally has an other-member fixing portion formed on the first side, a wiring material bundling portion formed on the second side opposite to the first side, and a base portion formed therebetween. A chuck portion that holds only the base portion of the bundling member and maintains the bundling member at a predetermined position and a predetermined posture. An annularization guiding portion that is disposed opposite to the chuck portion and annularizes the binding member binding portion of the binding member held by the chuck portion as the chuck portion approaches relatively; A moving drive portion that drives the chuck portion and the annularization guiding portion so as to approach each other; An automatic binding device comprising the same.

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