Tying device, tying method, and tying system

Abstract

Provided is a tying device (100) comprising: a rebar tying machine (1); a reel accommodation part (200) in which a reel (20) around which a wire is wound is accommodated; and a slack formation part (2) that pulls out the wire from the reel (20). The tying device (100) controls the rebar tying machine (1) and the slack formation part (2) in steps in the following order: a winding step in which the wire is wound around a rebar; a locking step in which the wire is locked; a pulling back step in which the wire is pulled back; a cutting step in which the wire is cut; and a twisting step in which the wire is twisted.

Description

Binding device, binding method, and binding system

[0001] The present disclosure relates to a binding device for binding reinforcing bars with wire, a binding method for the binding device, and a binding system including the binding device.

[0002] Steel bars are used in concrete structures to increase their strength, and are tied together with wire to prevent the bars from shifting from their designated positions when the concrete is poured.

[0003] Conventionally, a binding machine called a rebar binding machine has been proposed, which has a wire feeding section that feeds wire to a binding section, winds the wire around two or more rebars, and twists the wire wound around the rebars to bind the two or more rebars with the wire.

[0004] A technology has been proposed in which such a reinforcing bar binding machine is applied to equipment that is installed and used (see, for example, Patent Document 1).

[0005] Japanese Patent Application Publication No. 2023-105958

[0006] When applying a rebar tying machine to equipment that is installed and used, it is possible to increase the amount of wire that can be stored by making the reel on which the wire is wound larger than the reels that can be loaded into previous rebar tying machines.

[0007] However, when using a reel that is larger than the size that can be loaded into a conventional rebar tying machine, the load required to feed the wire increases due to the larger reel, and there is a possibility that the wire cannot be sufficiently fed to the tying section using only the wire feed section provided on the rebar tying machine. For this reason, when using a reel that is larger than the size that can be loaded into a conventional rebar tying machine, it is necessary to create sufficient slack between the reel and the tying machine so that the amount of wire required for tying the rebar can be reliably pulled out or so that the wire can be fed to the tying section.

[0008] Therefore, Patent Document 1 discloses a binding device in which a reel storage section that stores a reel wound with wire is configured independent of the rebar binding machine, and which is equipped with a wire pull-out mechanism that pulls out the wire from the reel stored in the reel storage section by moving a roller or the like in a direction that intersects with the direction in which the wire extends, so that the amount of wire required for binding the rebar can be pulled out.

[0009] In the initial state before the rebar binding machine starts the binding operation, the wire is clamped between a pair of feed gears of the wire feed unit, and the tip of the wire has not yet reached the binding portion. In a binding device using such a rebar binding machine, in order to create slack in the wire between the rebar binding machine and the reel, the wire has conventionally been unwound from the reel in the initial state of the rebar binding machine when the wire is not locked at the binding portion.

[0010] In a configuration in which a roller or the like is moved in a direction intersecting the wire extension direction to pull the wire from the reel and form a slack portion in the wire between the rebar binding machine and the reel, a force is applied that tries to pull the wire out of the rebar binding machine. For this reason, it is necessary to prevent the wire from slipping out from between the pair of feed gears. Therefore, it is necessary to provide a braking unit and hold the wire with a force greater than the force that tries to pull the wire out from between the pair of feed gears.

[0011] However, the inclusion of a braking unit increases the weight of the binding device, and since the force used to hold down the wire is greater than the force that tries to pull the wire out from between the pair of feed gears, there is a risk of damaging the wire before binding.

[0012] The present disclosure has been made to solve such problems, and aims to provide a binding device, a binding method for a binding device, and a binding system that can withstand the force that attempts to pull out the wire from a rebar binding machine.

[0013] According to an exemplary aspect of the present disclosure, a binding device includes a binding machine that binds multiple reinforcing bars with wire, a reel storage section that stores a reel wound with wire to be supplied to the binding machine, an unwinding section that unwinds the wire from the reel stored in the reel storage section, and a control unit that controls the binding machine and the unwinding section, the binding machine includes a wire feeding section that feeds the wire, a cutting section that cuts the wire, and a binding section that twists the wire, the binding section includes a locking section that locks the wire, and the control unit controls the binding machine and the unwinding section in the following order: a winding process in which the wire feeding section feeds the wire and winds the wire around the reinforcing bars, a locking process in which the locking section locks the wire, a drawing process in which the wire is drawn out by the drawing section, a cutting process in which the wire is cut by the cutting section, and a twisting process in which the wire is twisted by the binding section.

[0014] According to another exemplary aspect of the present disclosure, a binding method for a binding device includes a binding machine that binds multiple reinforcing bars with wire, a reel storage section that stores a reel wound with wire to be supplied to the binding machine, an unwinding section that unwinds the wire from the reel stored in the reel storage section, and a control section that controls the binding machine and the unwinding section, wherein the binding machine includes a wire feeding section that feeds the wire, a cutting section that cuts the wire, and a binding section that twists the wire, and the binding section includes a locking section that locks the wire, and the binding method for a binding device includes a winding process that feeds the wire with the wire feeding section and winds the wire around the reinforcing bars, a locking process that locks the wire wound in the winding process with the locking section, a unwinding process that unwinds the wire with the unwinding section while the wire is locked in the locking process, a cutting process that cuts the wire in a state where it has been unwound in the unwinding process with the cutting section, and a twisting process that twists the wire cut in the cutting process with the binding section.

[0015] According to another exemplary aspect of the present disclosure, a binding system includes a binding machine that binds multiple reinforcing bars with wire, a binding device having a reel storage section that stores a reel on which wire is wound, an unwinding section that unwinds the wire from the reel stored in the reel storage section, and a control section that controls the binding machine and the unwinding section, and a movable body that moves the binding machine, wherein the binding machine includes a wire feeding section that feeds the wire, a cutting section that cuts the wire, and a binding section that twists the wire, and the binding section includes a locking section that locks the wire, and the control section controls the binding machine and the unwinding section in the following order: a winding process in which the wire feeding section feeds the wire and winds the wire around the reinforcing bars, a locking process in which the locking section locks the wire, a drawing process in which the wire is drawn out by the drawing section, a cutting process in which the wire is cut by the cutting section, and a twisting process in which the wire is twisted by the binding section.

[0016] According to the present disclosure, the winding step and the locking step are performed, the wire is locked at the bundling portion, and then the drawing step is performed before the cutting step.

[0017] According to the present disclosure, the unwinding process is performed with the wire locked at the binding portion, so that the force attempting to unwind the wire from the binding machine is borne by the binding portion that locks the wire at the locking portion. Furthermore, the wire wound around the rebar in the winding process is wound around the rebar, so that the force attempting to unwind the wire from the binding machine is borne by the rebar around which the wire is wound. This prevents the wire from coming loose from the binding machine due to the force attempting to unwind the wire from the binding machine. Therefore, there is no need to provide a braking portion, and an increase in the weight of the binding device can be suppressed. Furthermore, the braking portion can prevent damage to the wire before binding.

[0018] 1 is a side view showing an example of a binding device of the present embodiment; FIG. 2 is a side view showing an example of a binding device of the present embodiment, with some components omitted; FIG. 3 is a perspective view showing an example of a binding device of the present embodiment; FIG. 4 is a rear view showing an example of a binding device of the present embodiment; FIG. 5 is a side view showing an example of a binding device of the present embodiment from the back; FIG. 6 is an internal configuration view showing an example of a reinforcing bar binding machine from the side; FIG. 7 is a functional block diagram showing an example of a binding device of the present embodiment; FIG. 8 is a perspective view showing an example of a binding system of the present embodiment; FIG. 9 is a flowchart showing an example of the operation of the binding device; FIG. 10 is a side view showing an example of the operation of the binding device of the present embodiment, with some components omitted; FIG. 11 is a side view showing an example of the operation of the binding device of the present embodiment, with some components omitted; FIG. 12 is a side view showing an example of the operation of the binding device of the present embodiment, with some components omitted; FIG. 13 is a side view showing an example of the operation of the binding device of the present embodiment, with some components omitted;

[0019] Hereinafter, embodiments of a binding device, a binding method for a binding device, and a binding system according to the present disclosure will be described with reference to the drawings.

[0020] <Configuration Example of the Binding Device of the Present Embodiment> Fig. 1A is a side view showing an example of the binding device of the present embodiment, Fig. 1B is a side view showing an example of the binding device of the present embodiment with some components omitted, Fig. 1C is a perspective view showing an example of the binding device of the present embodiment, Fig. 1D is a rear view showing an example of the binding device of the present embodiment, and Fig. 1E is a side view showing an example of the binding device of the present embodiment as seen from the back.

[0021] The binding device 100 includes a rebar binding machine 1 that binds the intersections of rebars S arranged in a grid pattern with wire W, a slack forming unit 2 that pulls out the wire W from a reel 20 and forms slack in the wire W between the rebar binding machine 1 and the reel 20, and a reel storage unit 200 that stores the reel 20. Note that the slack forming unit 2 does not need to have the function of pulling out the wire W from the reel 20 as long as it can form slack.

[0022] 2 is a side view of the internal configuration of an example of a reinforcing bar binding machine. The reinforcing bar binding machine 1 is an example of a binding machine, and feeds a wire W in the forward direction indicated by an arrow F to wind it around a reinforcing bar S, and then feeds the wire W wound around the reinforcing bar S in the reverse direction indicated by an arrow R to wind it around the reinforcing bar S and cut it, and then twists the wire W to bind the reinforcing bar S with the wire W.

[0023] To achieve the above-mentioned functions, the rebar binding machine 1 includes a wire feeding unit 3 that feeds the wire W and a wire guide 4 that guides the wire W. The rebar binding machine 1 also includes a curl forming unit 5 that forms a path for winding the wire W fed by the wire feeding unit 3 around the rebar S, and a cutting unit 6 that cuts the wire W wound around the rebar S. The rebar binding machine 1 further includes a binding unit 7 that twists the wire W wound around the rebar S, and a drive unit 8 that drives the binding unit 7.

[0024] The wire feeding unit 3 includes a pair of feed gears 30 that sandwich and feed the wire W. The rotation of a feed motor 31 (see FIG. 3 ), which will be described later, is transmitted to the wire feeding unit 3, causing the feed gear 30 to rotate. As a result, the wire feeding unit 3 feeds the wire W sandwiched between the pair of feed gears 30 along the extension direction of the wire W. In a configuration in which multiple pieces of wire W, for example, two pieces of wire W, are fed to bind the reinforcing bars S, the two pieces of wire W are fed in a parallel state.

[0025] The wire feed unit 3 switches the rotation direction of the feed motor 31 between forward and reverse, thereby switching the rotation direction of the feed gear 30 and switching the feed direction of the wire W between forward and reverse, i.e., feeding the wire W in the forward direction indicated by arrow F or in the reverse direction indicated by arrow R.

[0026] The wire guides 4 are provided at predetermined positions upstream and downstream of the wire feeding unit 3 with respect to the feeding direction in which the wire W is fed in the forward direction. In a configuration in which two wires W are fed to bind reinforcing bars S, the wire guide 4 provided upstream of the wire feeding unit 3 regulates the radial orientation of the two wires W, aligns the two incoming wires W in parallel, and guides them between a pair of feed gears 30. The wire guide 4 provided downstream of the wire feeding unit 3 regulates the radial orientation of the two wires W, aligns the two incoming wires W in parallel, and guides them to the cutting unit 6 and the curl forming unit 5. Note that the wire guide upstream of the wire feeding unit 3 is not shown in FIG. 2 .

[0027] The curl forming unit 5 includes a curl guide 50 that curls the wire W fed by the wire feeding unit 3, and an guiding guide 51 that guides the wire W curled by the curl guide 50 to the bundling unit 7. In the rebar bundling machine 1, the path of the wire W fed by the wire feeding unit 3 is regulated by the curl forming unit 5, so that the trajectory of the wire W becomes a loop Ru as shown by the two-dot chain line in Figure 2, and the wire W is wound around the rebar S.

[0028] The cutting unit 6 includes a fixed blade unit 60 and a movable blade unit 61 that cuts the wire W in cooperation with the fixed blade unit 60. The cutting unit 6 cuts the wire W by the rotation of the movable blade unit 61 around the fixed blade unit 60 as a fulcrum axis. In the cutting unit 6, the operation of the binding unit 7 is transmitted to the movable blade unit 61.

[0029] The binding unit 7 includes a locking member 70 that is a locking portion that locks the wire W, and a sleeve 71 that operates the locking member 70. The drive unit 8 includes a torsion motor 80 and a reducer 81 that reduces speed and amplifies torque.

[0030] When the binding unit 7 is driven by the drive unit 8, the sleeve 71 activates the locking member 70 to lock the wire W. After the cutting unit 6 cuts the wire W in conjunction with the operation of the sleeve 71, the binding unit 7 twists the wire W by rotating the locking member 70 and the sleeve 71 to bind the reinforcing bar S.

[0031] In the rebar binding machine 1, the binding unit 7 is provided on an imaginary straight line 10L that is along the axial direction of the torsion motor 80, as shown by the dashed line in Figure 2. In addition, when the imaginary straight line 10L of the rebar binding machine 1 is oriented in the vertical direction, a curl guide 50 and an induction guide 51 are provided at the lower end of the machine so as to protrude from the main body 10.

[0032] In addition, the rebar binding machine 1 has a wire feeding unit 3 provided on one side along a direction intersecting with the imaginary line 10L, which is a direction intersecting with the axial direction of the twisting motor 80.

[0033] Furthermore, in the binding device 100, a slack forming unit 2 is provided on the side of the reinforcing bar binding machine 1 where the wire feeding unit 3 is provided, i.e., on one side of the reinforcing bar binding machine 1 along a direction intersecting with the imaginary line 10L, which is a direction intersecting with the axial direction of the torsion motor 80. The slack forming unit 2 forms slack in the wire W between the reinforcing bar binding machine 1 and the reel 20.

[0034] In addition, the binding device 100 has a reel storage section 200 provided above the reinforcing bar binding machine 1 in the direction in which the imaginary line 10L, which is the direction along the axial direction of the torsion motor 80, extends.

[0035] The reel housing 200 rotatably and detachably houses a reel 20 around which a long wire W is wound so as to be able to be unwound. The wire W is a wire made of a metal wire that can be plastically deformed, a metal wire coated with resin, or a twisted wire.

[0036] When the reinforcing bar binding machine 1 is configured to bind reinforcing bars S with one wire W, the reel storage unit 200 stores one reel 20 around which one wire W is wound, and the reel 20 is configured to rotate and pull out one wire W. When the reinforcing bar binding machine 1 is configured to bind reinforcing bars S with multiple wires W, the reel storage unit 200 stores multiple reels 20 corresponding to the number of wires W, and each reel 20 is configured to rotate and pull out multiple wires W. For example, when the reinforcing bar binding machine 1 is configured to bind reinforcing bars S with two wires W, the reel storage unit 200 stores two reels 20 around which one wire W is wound, and each reel 20 is configured to rotate and pull out two wires W.

[0037] The reel accommodating section 200 may be provided with a braking section that allows rotation of the reel 20 in the direction in which the wire W is pulled out, but restricts rotation of the reel 20 in the opposite direction.

[0038] The slack forming unit 2 includes a first slack forming unit 21 and a second slack forming unit 22. The first slack forming unit 21 is an example of a slack forming mechanism, and includes a first slack forming roller 21a, a guide plate 21b, and guide members 21c and 21d.

[0039] The first slack forming roller 21a is an example of a pull-out member, and is provided on one side of the wire W extending between the reel 20 stored in the reel storage section 200 and the rebar binding machine 1. The first slack forming roller 21a is in the shape of a disk with a thickness greater than the diameter of the wire W, and a guide surface 21f with which the wire W comes into contact is formed on the outer periphery of the disk. The first slack forming roller 21a is supported between a pair of guide plates 21b so as to be rotatable about a shaft 21g as a fulcrum.

[0040] The guide plates 21b are provided on both sides of the first slack forming roller 21a in the axial direction, sandwiching the first slack forming roller 21a. In a configuration in which the reinforcing bars S are bound with two wires W, the first slack forming rollers 21a are provided on both sides of one guide plate 21b, and a guide plate 21b is provided on the outer side of each of the first slack forming rollers 21a.

[0041] The guide member 21c is provided opposite the guide surface 21f of the first slack forming roller 21a in the path of the wire W entering the first slack forming unit 21. The guide member 21c is provided between the pair of guide plates 21b in the form of, for example, a cylindrical member extending in a direction intersecting with the guide plates 21b.

[0042] The guide member 21d is provided on the path of the wire W exiting the first slack forming portion 21. The guide member 21d is, for example, a roller that is rotatable about a shaft 21h as a fulcrum and is provided between the pair of guide plates 21b.

[0043] The shafts 21h of the guide members 21c and 21d also function as spacers that define the gap between the pair of guide plates 21b.

[0044] The guide plate 21b is shaped to cover at least a portion of the side of the first slack forming roller 21a and at least a portion of the side of the guide members 21c and 21d, and to support the first slack forming roller 21a and the guide members 21c and 21d.

[0045] The second slack forming unit 22 is an example of a slack forming mechanism, and includes a second slack forming roller 22a, a guide plate 22b, and guide members 22c and 22d.

[0046] The second slack forming roller 22a is an example of a pull-out member, and is provided on the other side of the wire W extending between the reel 20 stored in the reel storage section 200 and the rebar binding machine 1. The second slack forming roller 22a is in the shape of a disk with a thickness greater than the diameter of the wire W, and a guide surface 22f with which the wire W comes into contact is formed on the outer periphery of the disk. The second slack forming roller 22a is rotatably supported between a pair of guide plates 22b, with a shaft 22g as a fulcrum.

[0047] The guide plates 22b are provided on both sides of the second slack forming roller 22a in the axial direction, sandwiching the second slack forming roller 22a. In a configuration in which the reinforcing bars S are bound with two wires W, the second slack forming rollers 22a are provided on both sides of one guide plate 22b, and a guide plate 22b is provided on the outer side of each of the second slack forming rollers 22a.

[0048] The guide member 22c is provided on the path of the wire W that enters the second slack forming portion 22 from the first slack forming portion 21. The guide member 22c is, for example, a roller that is rotatable about an axis 22h as a fulcrum and is provided between the pair of guide plates 22b.

[0049] The guide member 22d is provided opposite the guide surface 22f of the second slack forming roller 22a in the path of the wire W exiting the second slack forming unit 22. The guide member 22d is provided between the pair of guide plates 22b in the form of, for example, a cylindrical member extending in a direction intersecting with the guide plates 22b.

[0050] The shafts 22h of the guide members 22c and 22d also function as spacers that define the gap between the pair of guide plates 22b.

[0051] The guide plate 22b is shaped to cover at least a portion of the side of the second slack forming roller 22a and at least a portion of the side of the guide members 22c and 22d, and to support the second slack forming roller 22a and the guide members 22c and 22d.

[0052] The binding device 100 includes a first guide portion 21i (which may also be referred to as a first rail portion 21i) that guides the movement of the first slack forming portion 21, a second guide portion 22i (which may also be referred to as a second rail portion 22i) that guides the movement of the second slack forming portion 22, and a drive portion 25 that moves the first slack forming portion 21 and the second slack forming portion 22.

[0053] The first guide portion 21i, the second guide portion 22i and the drive portion 25 are examples of moving portions, which move the first slack forming portion 21 equipped with the first slack forming roller 21a and the second slack forming portion 22 equipped with the second slack forming roller 22a relatively in directions toward and away from each other along a direction intersecting the extension direction of the wire W.

[0054] The first guide portion 21i movably guides the first slack forming portion 21 in a direction along the feed path WL of the wire W entering the rebar binding machine 1, which is defined by the wire feed portion 3, the wire guide 4, etc. The second guide portion 22i movably guides the second slack forming portion 22 in a direction along the feed path WL of the wire W entering the rebar binding machine 1. The second guide portion 22i supports the second slack forming portion 22 so that the guide surface 22f of the second slack forming roller 22a is positioned on an extension of the feed path WL of the wire W entering the rebar binding machine 1, which is defined by the wire feed portion 3, the wire guide 4, etc.

[0055] The drive unit 25 includes a pair of pulleys 25 a, 25 b, a belt 25 c wound around the pulleys 25 a, 25 b, and a motor 25 d that drives one of the pulleys 25 a. The drive unit 25 also includes a first connecting portion 25 e that connects the first slack forming portion 21 and the belt 25 c, and a second connecting portion 25 f that connects the second slack forming portion 22 and the belt 25 c.

[0056] Pulley 25a is provided on the side closer to the rebar binding machine 1 in the movement direction of the first slack forming unit 21 and the second slack forming unit 22. Pulley 25b is provided on the side farther from the rebar binding machine 1 in the movement direction of the first slack forming unit 21 and the second slack forming unit 22. Belt 25c extends in the movement direction of the first slack forming unit 21 and the second slack forming unit 22. First connecting portion 25e is connected to one side of belt 25c extending between the pair of pulleys 25a, 25b, and second connecting portion 25f is connected to the other side of belt 25c extending between the pair of pulleys 25a, 25b.

[0057] One side and the other side of the belt 25c stretching between the pair of pulleys 25a, 25b move in the opposite direction as the pulley 25a is driven by the motor 25d to rotate, whereby the first slack forming portion 21 and the second slack forming portion 22 move relatively toward or away from each other depending on the direction of rotation of the motor 25d.

[0058] The first slack forming roller 21a contacts the wire W from one side as the first slack forming portion 21 and the second slack forming portion 22 move relatively toward and away from each other along a direction intersecting the extension direction of the wire W. The second slack forming roller 22a contacts the wire W from the other side as the first slack forming portion 21 and the second slack forming portion 22 move relatively toward and away from each other along a direction intersecting the extension direction of the wire W.

[0059] The binding device 100 includes a first guide portion 23 and a second guide portion 24. The first guide portion 23 is provided between the reel 20 and the first slack forming portion 21. The first guide portion 23 directs the path of the wire W, which passes between a pair of guide plates 23 a and is pulled out from the reel 20, toward the first slack forming portion 21.

[0060] The second guide portion 24 is provided between the second slack forming portion 22 and the rebar binding machine 1. The second guide portion 24 allows the wire W to pass through when the wire feeding portion 3 feeds the wire W, and may include a braking portion that restricts the passage of the wire W when the slack forming portion 2 forms slack in the wire W.

[0061] The wire W unwound from the reel 20 extends laterally across the axial direction of the torsion motor 80 relative to the rebar binding machine 1, and its path is changed by the first guide unit 23 toward the slack forming unit 2. The wire W passing through the slack forming unit 2 has its path changed by the second slack forming roller 22a toward the wire feed unit 3 of the rebar binding machine 1.

[0062] The binding device 100 includes a guide portion 26 that forms a path through which the wire W passes between the reel 20 and the first guide portion 23. In a configuration in which the reinforcing bars S are bound with two wires W, the first guide portion 23 and the guide portion 26 are provided corresponding to each reel 20. Furthermore, in order to accommodate the difference between the spacing between the two reels 20 and the spacing between the two first guide portions 23, the guide portion 26 guides the path through which the two wires W pass so that the spacing between the paths gradually narrows from each reel 20 toward the first guide portion 23.

[0063] In the binding device 100, the rebar binding machine 1 is attached to the binding machine support part 101, and the reel storage part 200 is attached to the storage part support part 102. In addition, the binding machine support part 101 is attached to the storage part support part 102. Furthermore, in the binding device 100, the slack forming part 2 is attached to the slack forming part support part 103. In addition, in the binding device 100, the storage part support part 102 and the slack forming part support part 103 are attached to the support part 104.

[0064] The binding device 100 has a support part 104 provided above the rebar binding machine 1 and the reel storage part 200 in the axial direction of the torsion motor 80, and an attachment part 105 to which the robot arm 300 is attached is provided on the support part 104.

[0065] The slack forming unit 2 includes a first slack forming unit 21, a second slack forming unit 22, and a drive unit 25 on one side of the slack forming unit support unit 103, and a control unit 250 for the drive unit 25 on the other side of the slack forming unit support unit 103. The control unit 250 includes a control board (not shown) and a board housing unit 250a for housing the control board. The control unit 250 or the control board may include a processor, system memory, storage memory, and an input / output interface. The processor may be, for example, a central processing unit (CPU). The system memory may be, for example, a random access memory (RAM). The storage memory may be, for example, a read-only memory (ROM) such as a hard disk or flash memory. A program related to the binding method is stored in the storage memory and read into the system memory. The processor executes the operation of the binding device 100 based on the read program.

[0066] As shown in Fig. 2, the rebar tying machine 1 has the binding unit 7 provided on an imaginary line 10L that is aligned with the axial direction of the torsion motor 80. Furthermore, as shown in Fig. 1A, the binding device 100 has the mounting unit 105 provided on the imaginary line 10L. As a result, the binding device 100 has the binding unit 7 and the mounting unit 105 provided on the same imaginary line 10L. Therefore, when the rebar tying machine 1 is oriented in the up-down direction with the curl forming unit 5 facing downward, the binding unit 7 is provided vertically below the mounting unit 105.

[0067] Furthermore, when the binding device 100 is viewed from the side, the reel accommodating section 200 accommodates the reel 20 so that the axis of rotation of the reel 20 is located on an imaginary line 10L that passes through the binding section 7 and the attachment section 105. When the binding device 100 is viewed from a direction perpendicular to the imaginary line 10L, the position of the axis of rotation of each reel deviates from the imaginary line 10L depending on the number of reels used, but it is sufficient that the reels are arranged so that the center of the line connecting the axes of rotation of all the reels used is located on the imaginary line 10L; in other words, it is sufficient that the line connecting the axes of rotation of multiple reels used is located on the imaginary line 10L.

[0068] 3 is a functional block diagram showing an example of a binding device according to this embodiment. The control unit 250 controls the feed motor 31 that drives the wire feed unit 3, the torsion motor 80 of the drive unit 8 that drives the binding unit 7, and the motor 25d of the drive unit 25 that drives the slack forming unit 2. The control unit 250 controls the reinforcing bar binding machine 1 to bind the reinforcing bars S with the wire W, and controls the slack forming unit 2 to unwind the wire W from the reel 20 and form slack in the wire W between the reel 20 and the reinforcing bar binding machine 1.

[0069] 4 is a perspective view showing an example of a bundling system according to the present embodiment. The bundling system 301 includes the bundling device 100 described above, a robot arm 300, and a stand 311 on which the robot arm 300 is mounted.

[0070] In the description of the binding system 301, the X, Y, and Z directions refer to the directions shown in Fig. 4. The X, Y, and Z directions are perpendicular to each other, the XY plane is a substantially horizontal plane, and the Z direction is a direction substantially along the vertical.

[0071] The mount 311 includes four support columns 312 erected at the four corners in the X and Y directions, and a plurality of beams 313 spanning the upper ends of the support columns 312 in the X and Y directions.

[0072] In the bundling system 301, a workpiece B, which is made up of a plurality of reinforcing bars S arranged in a lattice pattern, is held by a workpiece holding unit 302. The workpiece holding unit 302 includes a holding table 321 for holding the workpiece B.

[0073] The holding base 321 is formed in the shape of a rectangular plate with four sides aligned along the X and Y directions. Support plates 321a are provided on the four sides of the holding base 321 to support a plurality of reinforcing bars S that constitute the workpiece B. The support plates 321a have a plurality of U-shaped grooves 321b that open upward, and the reinforcing bars S are inserted into the U-shaped grooves 321b. The multiple reinforcing bars S are arranged in a lattice pattern along the X and Y directions with their ends inserted into the U-shaped grooves 321b of the support plates 321a.

[0074] The robot arm 300 is an example of a moving body, and is supported by a moving mechanism 346 to move the binding device 100 to a desired position.

[0075] The moving mechanism 346 includes a Y-direction slider 346a suspended on the beam 313 of the stand 311. The Y-direction slider 346a moves the robot arm 300 in the Y direction. Note that the moving mechanism 346 may include, for example, a mechanism for moving the robot arm 300 in the X direction. Furthermore, if the operating range of the robot arm 300 can cover the entire binding area E2 without relying on the moving mechanism 346, the moving mechanism 346 does not need to be provided.

[0076] The robot arm 300 is a ceiling-suspended articulated robot, and is installed facing downward on a Y-direction slider 346a suspended on a beam 313. Specifically, the robot arm 300 includes a base 341, a plurality of arms 342, an end effector 343, and a plurality of joints 344. Note that the robot arm 300 is not limited to an articulated robot.

[0077] The arms 342 are connected in series with the base portion 341 as a base end portion. The base portion 341 is supported by a Y-direction slider 346a of a movement mechanism 346 and is movable in the Y direction.

[0078] The plurality of joints 344 rotatably connect the base 341, the plurality of arms 342, and the end effector 343. Each joint 344 is provided with a motor (not shown) and is driven by the motor to rotate.

[0079] The end effector 343 is connected to the tips of the multiple arms 342. The binding device 100 is supported on the end effector 343 via the attachment portion 105.

[0080] The binding system 301 moves the binding device 100 to the position of the intersection P of the binding target by the robot arm 300, and performs the binding operation.

[0081] The bundling system 301 may be configured to include an overall photographing unit that photographs the entire work B all at once or for each of its divided areas, and an individual photographing unit that photographs the intersections P of the rebars S to be bound individually at a higher resolution than that of the overall photographing unit.The bundling system 301 may then obtain, from the image information obtained by the individual photographing unit, positional information of the intersections P of the rebars S for each bundling target, which is more accurate than the positional information of each intersection P of the rebars S obtained by photographing the entire work B with the overall photographing unit, and move the bundling device 100 with the robot arm 300.

[0082] <Example of operation of the binding device of this embodiment> Figure 5 is a flowchart showing an example of operation of the binding device, and Figures 6A, 6B, 6C, 6D, and 6E are side views with some parts omitted, showing an example of operation of the binding device of this embodiment, and showing an example of a binding method of this embodiment.

[0083] As shown in Figure 5, the control unit 250 controls the rebar binding machine 1 and the slack forming unit 2 in the following order: a winding process (step SA1) in which the wire W is wound around the rebar S using the wire feeding unit 3; a locking process (step SA2) in which the wire W wound around the rebar S is locked using a locking member 70; a retracting process (step SA3) in which the wire W is pulled back using the wire feeding unit 3; a drawing process (step SA4) in which the wire W is drawn out using the slack forming unit 2; a cutting process (step SA5) in which the wire W is cut using the cutting unit 6; and a twisting process (step SA6) in which the wire W is twisted using the binding unit 7.

[0084] As shown in Fig. 6A, the initial state of the binding device 100 is a state in which a slack portion WB is formed in the wire W between the reel 20 and the rebar binding machine 1, and the first slack forming unit 21 and the second slack forming unit 22 have moved to their standby positions. The initial state shown in Fig. 6A is the state after the binding operation has been completed in each of the above steps.

[0085] The rebar binding machine 1 performs each process shown in FIG. 5 from the initial state shown in FIG. 6A. That is, in the winding process, the control unit 250 drives the feed motor 31, causes the wire feeding unit 3 shown in FIG. 2 to feed the wire W in the forward direction indicated by arrow F, and causes the curl forming unit 5 to wind the wire W around the rebar S. When the wire feeding unit 3 feeds the wire W in the forward direction indicated by arrow F, the slack portion WB of the wire W is fed as shown in FIG. 6B. As a result, it is not necessary to rotate the reel 20 with the force of the wire feeding unit 3 feeding the wire W in the forward direction indicated by arrow F, and the load on the wire feeding unit 3 is reduced, and the occurrence of wire feeding defects by the wire feeding unit 3 is suppressed.

[0086] When the control unit 250 has wound the wire W around the rebar S, it stops driving the feed motor 31 and stops the operation of the wire feed unit 3 to feed the wire W in the forward direction indicated by the arrow F. Next, in the locking process, the control unit 250 drives the torsion motor 80 to operate the locking member 70 with the sleeve 71, and locks the wire W with the locking member 70.

[0087] When the wire W is locked by the locking member 70, the control unit 250 stops driving the torsion motor 80. Next, in the retraction process, the control unit 250 drives the feed motor 31 to cause the wire feeding unit 3 to feed the wire W in the reverse direction indicated by arrow R, thereby winding the wire W around the reinforcing bar S. In order to wind the wire W wound around the reinforcing bar S, the wire feeding unit 3 feeds the wire W in the reverse direction indicated by arrow R, and a slack portion WB is formed in accordance with the amount of wire W fed in the reverse direction, as shown in FIG. 6C . This eliminates the need to rotate the reel 20 with the force of the wire feeding unit 3 feeding the wire W in the reverse direction indicated by arrow R, thereby reducing the load on the wire feeding unit 3 and suppressing the occurrence of wire feeding defects by the wire feeding unit 3.

[0088] When the wire W is wound around the reinforcing bar S in the retraction process, the control unit 250 stops driving the feed motor 31 and stops the operation of the wire feed unit 3 to feed the wire W in the reverse direction indicated by the arrow R.

[0089] During the pulling-out process, the control unit 250 drives the motor 25d to move the first slack forming unit 21 and the second slack forming unit 22 from the standby position shown in Figure 6C to the slack forming position shown in Figure 6D in a direction in which they move relatively away from each other, and also moves them from the slack forming position shown in Figure 6D in a direction in which they move relatively closer to each other to the standby position shown in Figure 6E.

[0090] In the binding device 100, when the first slack forming unit 21 moves from the standby position to the slack forming position, the first slack forming roller 21a moves in a direction approaching the rebar binding machine 1. When the first slack forming roller 21a moves in a direction approaching the rebar binding machine 1, the guide surface 21f of the first slack forming roller 21a comes into contact with the wire W from one side of the wire W extending between the reel 20 and the rebar binding machine 1, and pulls the portion of the wire W in contact with the guide surface 21f in a direction approaching the rebar binding machine 1.

[0091] In the binding device 100, when the second slack forming unit 22 moves from the standby position to the slack forming position, the second slack forming roller 22a moves in a direction away from the rebar binding machine 1. When the second slack forming roller 22a moves in a direction away from the rebar binding machine 1, the guide surface 22f of the second slack forming roller 22a comes into contact with the wire W from the other side of the wire W extending between the reel 20 and the rebar binding machine 1, and pulls the portion of the wire W in contact with the guide surface 22f in a direction away from the rebar binding machine 1.

[0092] The path of the wire W between the reel 20 and the first slack forming roller 21a is changed by the first guide portion 23 toward the slack forming portion 2. As a result, the first slack forming roller 21a moves in a direction approaching the rebar binding machine 1, and the portion of the wire W in contact with the guide surface 21f is pulled in a direction approaching the rebar binding machine 1, applying a force that pulls out the wire W from the reel 20.

[0093] In addition, when the second slack forming roller 22a moves in a direction away from the rebar binding machine 1, the wire W in contact with the guide surface 22f is pulled in a direction away from the rebar binding machine 1, and a force is applied via the first slack forming roller 21a to pull the wire W from the reel 20.

[0094] The reel 20 can rotate when a force is applied to pull out the wire W. As a result, when the first slack forming roller 21 a moves in a direction toward the rebar binding machine 1 and the second slack forming roller 22 a moves in a direction away from the rebar binding machine 1, the wire W is pulled out from the reel 20.

[0095] In the binding device 100, when the first slack forming unit 21 moves from the slack forming position to the standby position, the first slack forming roller 21a moves in a direction away from the rebar binding machine 1. When the first slack forming roller 21a moves in a direction away from the rebar binding machine 1, the guide surface 21f moves away from the wire W. Also, in the binding device 100, when the second slack forming unit 22 moves from the slack forming position to the standby position, the second slack forming roller 22a moves in a direction approaching the rebar binding machine 1. When the second slack forming roller 22a moves in a direction approaching the rebar binding machine 1, the guide surface 22f moves away from the wire W. As a result, a slack portion WB is formed in the wire W between the reel 20 and the rebar binding machine 1.

[0096] The second slack forming unit 22 is supported by the second guide unit 22i so that the guide surface 22f is located on an extension of the feed path WL of the wire W entering the rebar binding machine 1, which is defined by the wire feed unit 3, the wire guide 4, etc. The second slack forming unit 22 is also guided by the second guide unit 22i so as to be movable in a direction along the feed path WL of the wire W entering the rebar binding machine 1. This prevents the wire W entering the rebar binding machine 1 from changing significantly with respect to the feed path WL when the second slack forming unit 22 moves from the standby position to the slack forming position, and from the slack forming position to the standby position.

[0097] When the first slack forming unit 21 moves from the slack forming position to the standby position, the guide member 21c guides the wire W between the pair of guide plates 21b. As a result, the pair of guide plates 21b prevent the wire W entering the first slack forming unit 21 from moving in the axial direction of the first slack forming roller 21a. This prevents the wire W entering the first slack forming unit 21 from becoming tangled in the first guide unit 23, etc. Furthermore, in a configuration in which two wires W are used to bind the rebar S, the two wires W are prevented from becoming tangled in the slack forming unit 2.

[0098] Furthermore, the wire W emerging from the first slack forming portion 21 is guided between the pair of guide plates 21b by the guide member 21d. As a result, the pair of guide plates 21b prevent the wire W emerging from the first slack forming portion 21 from moving in the axial direction of the first slack forming roller 21a. Furthermore, the guide member 21d prevents the wire W emerging from the first slack forming portion 21 from moving toward the second slack forming portion 22. Therefore, the wire W emerging from the first slack forming portion 21 is prevented from becoming tangled in the second slack forming portion 22, etc. Furthermore, in a configuration in which two wires W are used to bind the reinforcing bars S, the two wires W are prevented from becoming tangled in the slack forming portion 2.

[0099] Furthermore, the wire W entering the second slack forming portion 22 is guided between a pair of guide plates 22b by guide member 22c. As a result, the pair of guide plates 22b prevent the wire W entering the second slack forming portion 22 from moving in the axial direction of the second slack forming roller 22a. Also, guide member 22c prevents the wire W entering the second slack forming portion 22 from moving toward the first slack forming portion 21. Therefore, the wire W entering the second slack forming portion 22 is prevented from becoming tangled in the first slack forming portion 21, etc. Furthermore, in a configuration in which two wires W are used to bind the rebar S, the two wires W are prevented from becoming tangled in the slack forming portion 2.

[0100] Furthermore, the wire W coming out of the second slack forming unit 22 is guided between the pair of guide plates 22b by the guide member 22d. As a result, the pair of guide plates 22b prevent the wire W coming out of the second slack forming unit 22 from moving in the axial direction of the second slack forming roller 22a. Therefore, in a configuration in which the reinforcing bars S are bound with two wires W, entanglement of the two wires W in the slack forming unit 2 is prevented.

[0101] The control unit 250 stops driving the motor 25d when the first slack forming unit 21 and the second slack forming unit 22 move from the slack forming position to the standby position. Next, in the cutting process, the control unit 250 drives the torsion motor 80 to operate the sleeve 71. By driving the binding unit 7 with the drive unit 8, the operation of the sleeve 71 is transmitted to the cutting unit 6, and the wire W is cut between the portion wound around the rebar S and the portion clamped by the pair of feed gears 30 of the wire feed unit 3.

[0102] During the twisting process, the control unit 250 continues to drive the twisting motor 80, and after the wire W is cut by the cutting unit 6 in conjunction with the operation of the sleeve 71, the wire W is twisted by the rotational operation of the locking member 70 and the sleeve 71 to bind the reinforcing bar S.

[0103] As described above, in the pulling-out process for forming the slack area WB in the slack forming section 2, when the first slack forming roller 21a and the second slack forming roller 22a move from the standby position to the slack forming position, a force is applied to pull back the wire W from the rebar binding machine 1.

[0104] In a conventional binding device equipped with a slack forming unit 2, the initial state is a state in which the tip of the wire W clamped between the pair of feed gears 30 of the wire feeding unit 3 is at the cutting unit 6 and has not yet reached the binding unit 7, and no slack WB has been formed in the wire W between the rebar binding machine 1 and the reel 20. In a conventional control method in which the unwinding process is first performed from this initial state, the wire W is clamped between the pair of feed gears 30 of the wire feeding unit 3 and is not locked by the locking member 70 during the operation in which the slack WB is formed by the slack forming unit 2.

[0105] In this state, when attempting to form a slack region WB with the slack forming unit 2, it is necessary to prevent the wire W from slipping out from between the pair of feed gears 30. For this reason, for example, the second guide portion 24 must be provided with a braking portion (not shown) that holds the wire W with a force greater than the force that tries to slip out of the wire W from between the pair of feed gears 30.

[0106] However, providing a braking section increases the weight of the binding device 100. In addition, since the wire W is held down with a force greater than the force that tries to pull the wire W out from between the pair of feed gears 30, there is a possibility that the wire W may be damaged before binding.

[0107] Therefore, a winding process, a locking process, and a pulling back process are performed to wind the wire W around the reinforcing bar S, and then a pulling out process is performed before a cutting process is performed to cut the wire W wound around the reinforcing bar S, thereby forming a slack portion WB in the slack forming section 2.

[0108] During the pull-out process in which the slack portion WB is formed in the slack forming section 2, when the first slack forming roller 21a moves in a direction approaching the rebar binding machine 1 and the second slack forming roller 22a moves in a direction away from the rebar binding machine 1, a force is applied to pull the wire W back from the rebar binding machine 1.

[0109] The wire W wound around the reinforcing bar S in the winding process is locked by the locking member 70 in the locking process. As a result, the wire W is wound around the reinforcing bar S without coming off the bundling portion 7 in the retraction process. Furthermore, by winding the wire W around the reinforcing bar S in the retraction process, the reinforcing bar S receives the force that attempts to further pull out the wire W. As a result, even if a force that pulls the wire W out of the reinforcing bar bundling machine 1 is applied due to the relative movement between the first slack forming roller 21a and the second slack forming roller 22a in the retraction process, the wire W is prevented from coming off the reinforcing bar bundling machine 1. Therefore, there is no need to provide a braking unit (not shown) in the second guide unit 24 or the like, which prevents an increase in the weight of the bundling device 100. Furthermore, the braking unit prevents the wire W from being damaged before bundling.

[0110] Furthermore, in the pulling-out process, the force that pulls the wire W out of the rebar binding machine 1 due to the relative movement between the first slack forming roller 21a and the second slack forming roller 22a is stronger than the force that the wire feeding unit 3 uses in the pulling-back process to feed the wire W in the opposite direction and wind the wire W around the rebar S. This prevents the wire W from being further wound around the rebar S in the pulling-out process, thereby preventing slack from occurring in the portion of the wire W wound around the rebar S. This prevents a gap from being formed between the wire W and the rebar S after the wire W is twisted in the binding unit 7, thereby increasing the binding strength.

[0111] FIG. 7 is a flowchart showing another example of the operation of the binding device, and shows another example of the binding method of this embodiment.

[0112] As shown in Figure 7, the control unit 250 controls the rebar binding machine 1 and the slack forming unit 2 in the following order: a winding process (step SB1) in which the wire W is wound around the rebar S using the wire feeding unit 3; a locking process (step SB2) in which the wire W wound around the rebar S is locked using a locking member 70; a drawing process (step SB3) in which the wire W is drawn out using the slack forming unit 2; a cutting process (step SB4) in which the wire W is cut using the cutting unit 6; and a twisting process (step SB5) in which the wire W is twisted using the binding unit 7.

[0113] In the unwinding process, the force for unwinding the wire W is applied to the wire W between the slack forming unit 2 and the reel 20 and to the wire W between the slack forming unit 2 and the rebar binding machine 1, respectively.

[0114] When the wire W is wound around the reinforcing bar S in the winding process, and the wire W wound around the reinforcing bar S is locked to a locking member 70 in the locking process, and then the drawing process is carried out, even if a force for drawing out the wire W is applied to the wire W between the slack forming part 2 and the reinforcing bar binding machine 1, the wire W does not come off from the binding part 7 and is wound around the reinforcing bar S.

[0115] When the wire W is wound around the reinforcing bar S in the pulling-out process, the force that tries to pull out the wire W is received by the reinforcing bar S. This prevents the wire W from coming out of the reinforcing bar binding machine 1 in the pulling-out process.

[0116] In addition, in the drawing process, in order to allow the wire W to be pulled back and wound around the reinforcing bar S without feeding the wire W using the wire feeding unit 3, the feed motor 31 may not be driven, and the feed gear may be rotated in response to the pulling back of the wire W, or the wire W may be made to slide relative to the feed gear 30.

[0117] Furthermore, the control unit 250 may perform at least part of the retraction process and the unwinding process at the same time. For example, the control unit 250 performs a winding process in which the wire W is wound around the reinforcing bar S by the wire feeding unit 3 and a locking process in which the wire W wound around the reinforcing bar S is locked by the locking member 70, and then starts the retraction process in which the wire W is pulled back by the wire feeding unit 3. Then, before the retraction process is completed, the control unit 250 starts the unwinding process in which the wire W is pulled out by the slack forming unit 2. Then, after the retraction process and the unwinding process are completed, the control unit 2 performs a cutting process in which the wire W is cut by the cutting unit 6 and a twisting process in which the wire W is twisted by the bundling unit 7.

[0118] In this case, the force that attempts to feed the wire W in the reverse direction by the wire feeding section 3 in the retraction process is made equal to the force that attempts to pull out the wire W by the slack forming section 2 in the pull-out process, or the force that attempts to feed the wire W in the reverse direction in the retraction process is made greater than the force that attempts to pull out the wire W in the pull-out process.

[0119] In addition, the speed at which the wire W is fed in the reverse direction in the retraction process is set to be approximately equal to the speed at which the wire W is drawn out in the drawing process, or the speed at which the wire W is fed in the reverse direction in the retraction process is set to be faster than the speed at which the wire W is drawn out in the drawing process.

[0120] As a result, due to the relative movement between the first slack forming roller 21a and the second slack forming roller 22a, the rotation of the feed gear 30 caused by the feed motor 31 cannot keep up with the rotation of the feed gear 30 caused by the force trying to pull the wire W out of the rebar binding machine 1, so slippage of the wire W relative to the feed gear 30 is prevented, and wear on the feed gear 30 is reduced.

[0121] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components of the above-described embodiments may be combined in any manner without departing from the spirit of the invention.

[0122] This application is based on a Japanese patent application (Patent Application No. 2024-105650) filed on June 28, 2024, the contents of which are incorporated herein by reference.

[0123] DESCRIPTION OF SYMBOLS 100: Binding device 101: Binding machine support section 102: Storage section support section 103: Slack forming section support section 104: Support section 105: Mounting section 1: Rebar binding machine (binding machine) 2: Slack forming section 3: Wire feeding section 6: Cutting section 7: Binding section 20: Reel 200: Reel storage section 21: First slack forming section (slack forming mechanism section) 21a: First slack forming roller (pulling section) 21b: Guide plate 21c, 21d: Guide member 21f: Guide surface 21g: Shaft 21h: Shaft 21i: First guide section 22: Second slack forming section (slack forming mechanism section) 22a: Second slack forming roller (pulling member) 22b: Guide plate 22c, 22d: Guide member 22f: Guide surface 22g... Shaft 22h... Shaft 22i... Second guide section 23... First guide section 23a... Guide plate 24... Second guide section 25... Drive section 25a, 25b... Pulley 25c... Belt 25d... Motor 25e... First connecting section 25f... Second connecting section 26... Guide section 70... Locking member (locking section) 250... Control section 250a... Substrate accommodating section 300... Robot arm (moving body) 301... Binding system

Claims

1. A binding device comprising: a binding machine that binds multiple reinforcing bars with wire; a reel storage unit that stores a reel wound with wire that is to be supplied to the binding machine; an unwinding unit that unwinds the wire from the reel stored in the reel storage unit; and a control unit that controls the binding machine and the unwinding unit, wherein the binding machine comprises: a wire feeding unit that feeds the wire, a cutting unit that cuts the wire, and a binding unit that twists the wire, and the binding unit comprises a locking unit that locks the wire, and the control unit controls the binding machine and the unwinding unit in the following order: a winding process that feeds the wire with the wire feeding unit and winds the wire around the reinforcing bars, a locking process that locks the wire with the locking unit, a drawing out process that draws out the wire with the unwinding unit, a cutting process that cuts the wire with the cutting unit, and a twisting process that twists the wire in the binding unit.

2. The binding device according to claim 1, wherein the control unit performs a retraction step of retracting the wire by the wire feed unit before the cutting step.

3. The binding device according to claim 1, wherein the control unit performs a retraction process in which the wire feed unit retracts the wire before the unwinding process.

4. The binding device according to claim 1, wherein the control unit performs at least a part of the retracting process and the pulling out process at the same timing.

5. The binding device according to claim 4, wherein the speed at which the wire is pulled out in the pulling-out process is set to be equal to or lower than the speed at which the wire is pulled back in the pulling-back process.

6. A binding method for a binding device comprising: a binding machine for binding a plurality of reinforcing bars with wire; a reel storage section for storing a reel wound with wire to be supplied to the binding machine; an unwinding section for unwinding the wire from the reel stored in the reel storage section; and a control section for controlling the binding machine and the unwinding section, wherein the binding machine comprises: a wire feeding section for feeding the wire; a cutting section for cutting the wire; and a binding section for twisting the wire, and the binding section comprises a locking section for locking the wire, the method comprising: a winding step for feeding the wire with the wire feeding section and winding the wire around the reinforcing bars; a locking step for locking the wire wound in the winding step with the locking section; a unwinding step for unwinding the wire with the unwinding section while the wire is locked in the locking step; a cutting step for cutting the wire in a state where it has been unwound in the unwinding step with the cutting section; and a twisting step for twisting the wire cut in the cutting step with the binding section. A method for binding a binding device.

7. A binding system comprising: a binding machine for binding a plurality of reinforcing bars with wire; a reel storage section for storing a reel around which wire is wound; an unwinding section for unwinding the wire from the reel stored in the reel storage section; a binding device having a control section for controlling the binding machine and the unwinding section; and a movable body for moving the binding machine, wherein the binding machine comprises: a wire feeding section for feeding the wire; a cutting section for cutting the wire; and a binding section for twisting the wire, and the binding section comprises a locking section for locking the wire, and the control section controls the binding machine and the unwinding section in the following order: a winding process for feeding the wire with the wire feeding section and winding the wire around the reinforcing bars; a locking process for locking the wire with the locking section; a drawing out process for drawing the wire with the unwinding section; a cutting process for cutting the wire with the cutting section; and a twisting process for twisting the wire in the binding section.

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