JP4465239B2 - Bundling robot operation control method - Google Patents

Description

  The present invention relates to an operation control method for a bundling robot that automates a series of operations for bundling a large number of wires, tubes, wire harnesses, and the like at a plurality of locations.

  In various industrial machines and automobiles, there are many wirings of electric and electronic parts used for them, and they are used as wire harnesses in which many electric wires are bundled. In this case, it is necessary to bundle a large number of electric wires so as not to be separated, and since there are many configurations in which a plurality of branches are wired, a synthetic resin material is usually used as disclosed in Patent Document 1, for example. A means for bundling the electric wires at appropriate intervals using a bundling band formed by, for example, is employed.

  A general binding band is composed of a long belt-like band part and a band locking part formed separately or integrally on the base side of the band part (see FIG. 4 of Patent Document 1). The wire group can be firmly bound by a relatively simple operation of tightening the band through the band engaging portion. As described above, bundling an electric wire or the like to a bundling target is convenient because it can be performed by finger operation. However, it is inefficient to perform bundling processing on a large number of places, and the labor burden on the operator is large. In addition, the tightening strength of the bundle is likely to vary.

Therefore, as shown in Patent Document 2 and Patent Document 3, by using a binding machine (binding tool) that automates the binding operation of the binding band to the electric wire, it is easy to eliminate troublesome binding operations by hand, It is convenient and allows for quick binding. In the binding machine, the binding band is wound around the binding object such as electric wires, tightened, and the excess part of the band is cut off mechanically, and the tightening strength of the binding object by binding is maintained within a certain range. It is also easy to do.
JP 2001-25141 A JP-A-10-250706 JP-A-7-89512

  Although the above bundling machine has facilitated the bundling work to some extent, the bundling machine incorporating various mechanical devices and electronic appliances is quite heavy (around 2 kg), so it is long for bundling at many locations. There was a limit to time use. The labor burden is particularly large for the elderly and female workers. In addition, due to the rapid wave of digitization in recent years, electronic parts such as control parts have increased in automobiles, etc., and the wire harnesses for that purpose have become longer and enlarged, and the number of binding points has been increasing. In fact, the fact is that the review of the binding work has been forced.

  Therefore, there is a growing demand for automated bundling robots in order to promote further mechanization of bundling operations using a bundling machine and to improve work efficiency and labor. In order to perform bundling work with a bundling robot, it is necessary to have a control method in which a number of planned bundling locations are sequentially bundled and moved. In this case, control that also takes into account the occurrence of bundling errors. It seems necessary to make it. As the binding mistake, various cases are considered such that the binding band disappears and the binding becomes impossible, or the binding band is poorly transferred inside the binding machine.

  In view of the above circumstances, the object of the present invention is to construct a bundling robot and promote further mechanization of bundling work in order to improve work efficiency and reduce labor. It is in the point which provides the operation control method of the binding robot which can do.

The method of claim 1 is an operation control method for a binding robot,
A binding machine T that can freely bind the binding object W, a substrate 1 having a mounting surface 1A that can be locked and maintained by setting the binding object W in a predetermined shape, and the binding object that is locked and maintained on the substrate 1 A moving device 3 capable of moving the binding machine T to a position or posture suitable for winding the binding band V around the W and binding locations where the planned binding locations in the binding target W can be stored. A storage unit 89A, a bundling detection unit U capable of detecting a bundling error, and a control unit 4 for controlling the movement of the bundling machine T and the moving device 3 are provided.
The binding machine T has a pair of flange members 9 and 10 that form a binding space S;
The binding object W is bound by the binding band V in the binding space S,
The binding detection means U is provided in the pair of flange members 9 and 10 and includes a head detection sensor 101 that detects the binding error based on the presence or absence of the head portion 94 of the binding band V in the flange members 9 and 10. Have
The control unit 4 has an operation box 7;
In the function of the binding location storage means 89A, the movement of the binding machine T by the moving device 3 and the binding operation are performed, and automatic operation for sequentially binding a plurality of preset binding locations is performed.
After the moving device moves the binding machine to any of the plurality of binding scheduled locations, the control unit issues a binding command for binding the binding target to the binding machine, and after the binding operation is completed When the head detecting sensor 101 detects that the head portion 94 of the binding band V is present in the flange members 9 and 10, the control portion 4 automatically operates both the moving device 3 and the binding machine T. An automatic stop step of stopping and specifying the scheduled binding location where the binding machine T was located when the control unit 4 issued the binding command, and the moving device 3 and the binding by the automatic stop step a restoration step after stopping the machine T performs recovery processing of the binding mistake, together with the control unit 4 issues a restart command of the automatic operation with the manual operation after the repair process, depending on the issuance of the restart command Characterized in that to perform a restart step of restarting the automatic operation from the bundling operation of the bundling planned portion identified in the automatic stop process.

The method of claim 2, in the operation control method of the cohesion robot according to claim 1, wherein the binding detecting unit U is, in addition to the head detection sensor 101, a binding band presence detection sensor 87 that is provided on the binding machine The bundling robot operation control method further includes a step of manually supplying the binding band V when the binding band presence sensor 87 detects that the binding band V is not present. It is characterized by that.

According to a third aspect of the present invention, in the method for controlling the operation of the binding robot according to the second aspect, the binding machine T includes a rotating reel 8 that can be freely wound around a cable band CV formed by connecting a number of binding bands V. and the binding machine T is made to what winds the bundling band V in bundled W with cable band CV coming be construed from the reels 8, before Kiyui bundle band V auxiliary supply is characterized by a replacement of the reels 8 by manual operation.

  According to the method of claim 1, since the binding machine is moved by the moving device by the function of the binding location storage means, it is possible to perform an automatic operation in which a plurality of planned binding locations are sequentially bound. This makes it possible to mechanize the bundling work for a bundling object having a large number of bundling places, eliminate the need for an artificial bundling work with a heavy bundling machine, reduce labor, and improve the bundling work efficiency.

If a binding error occurs during the automatic operation of the binding robot, the moving device and the binding machine are stopped by the automatic stop process, and the location where the binding error has occurred is specified. Accordingly, it is possible to prevent the inconvenience that the operation is continued with a binding error. Then, when the moving device and the binding machine are stopped, the recovery process of the binding mistake is performed by the repair process. As the recovery process, the mobile device and the binding machine that is stopped by tying miss detection, Toka return to the state that can be restarted, the release of the binding miss display, or the complement supply etc. of the binding band is considered various ones. When the repairing process is completed, a restart command is issued by the restarting process, and the moving device and the binding machine start moving again, and the binding operation is started from the planned binding position where the binding error has occurred. Therefore, even when a binding mistake occurs, it is possible to provide an operation control method for a binding robot that can mechanically bind the binding target in a state where the binding mistake is supplemented and the normal binding is performed. Further, a head detection sensor provided in the collar member is used as the binding detection means. This is because a binding band that is tightened without being wound around the binding object and is substantially in a state of only the head part by detecting that the head part of the binding band still exists after binding, that is, an empty binding. Therefore, it can be used as a detection of binding errors. Furthermore, since the restart command is made to be accompanied by a manual operation, for example, compared to the method of issuing the restart command uniquely by control, it is possible to appropriately cope with a binding error, and as a whole, It is possible to realize a smooth operation state of the binding robot.

  According to the method of claim 2, since the binding band presence / absence detection sensor provided in the binding machine is used as the binding detection means, there is no need to newly install a sensor dedicated to the binding robot. There is an advantage that the above-mentioned effect can be obtained economically. In addition, as described above, a state in which the binding band has been consumed or the like has been lost may be detected as a binding error, so that the recovery process (restoration process) in that case is a binding band supply process. The operation of the binding robot having various merits can be smoothly continued.

According to the method of claim 3, since a cable band that is bundled in large quantities and wound around a rotating reel is used as the binding band, continuous binding operation for a longer time can be performed, or binding objects with more binding locations In addition, it is possible to provide a method for controlling the operation of a bundling robot, which can be used favorably and has a great practical advantage. In this case , since the rotating reels that are infrequently exchanged are manually operated, there is also a rational that the cost required for the rotating reel replacing operation is low while preventing the efficiency of the automatic binding operation from being reduced.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a bundling robot operation control method according to the present invention will be described below with reference to the drawings. 1-4 is an overall perspective view of a binding robot, a front view, a left side view, a plan view, FIG. 5 is an opening / closing action diagram of a front wall, FIG. 6 is a main part view showing a sliding door on the back of a frame, and FIGS. 9 shows the bundling device and its main part, FIGS. 10 and 11 show the hose length variable mechanism, and FIG. 12 shows the structure of the substrate. 13 and 14 are diagrams showing the harness holder, FIGS. 15 and 16 are operation diagrams showing the binding operation state, FIG. 17 is a block diagram of the control system, FIGS. 18 to 20 are control flow diagrams of the binding robot, and FIG. It is a figure which shows one example of a display, respectively.

  A binding robot A is shown in FIGS. The bundling robot A includes a bundling device 2 having a bundling machine T capable of bundling an automobile wire harness (an example of a bundling target) W, and a mounting surface that can be locked and maintained by setting the wire harness W to a predetermined shape. A substrate 1 having 1A, a moving device 3 capable of moving the binding machine T to a position or posture suitable for winding and binding the binding band V around the wire harness W locked and maintained on the substrate 1, and a wire The control unit 4 that controls the operation state of the moving device 3 and the binding machine 1 so that the predetermined part of the harness W is bound, the binding scrap recovery device 5 that sucks and recovers the surplus portion of the binding band V, the substrate 1, and the binding It is comprised from the apparatus 2, the moving apparatus 3, the control part 4, and the frame 6 which accommodates the bundling waste collection | recovery apparatus 5. FIG.

  Here, the outline of the automatic binding operation of the wire harness W by the binding robot A will be described. The substrate 1 placed in the frame body 6 is locked and maintained in the deployed state on the mounting surface 1A which is the upper surface thereof. A bundling device 2 on which a bundling machine T is supported at the lower end and a rotating reel 8 on which a cable band CV is wound is rotatably supported. The binding device T is supported by the moving device 3 so as to be capable of rotating around a fulcrum X that is three-dimensionally moved and moved vertically. The cable band CV is constituted by an integrally molded product in which a large number of parallel binding bands V are connected and connected by long strands C and C that are integrally connected to both ends with a small cross-sectional area.

  Now, it is confirmed that the substrate 1 is properly set, and the operation box 7 is operated to start the automatic binding operation. Then, the binding machine T in the standby position is first moved back and forth and to the left and right by the moving device 3, and the first scheduled binding location K1 that is the first binding location among the numerous scheduled binding locations K25 (see FIG. 7). Is moved to a position directly above. At this time, the control of rotating the binding holder 22 (bundling machine T) appropriately according to the direction of the wire harness W in the first binding planned location K1 by the rotation mechanism 44 is performed by the horizontal movement of the binding machine T. Done at the same time. Next, the binding machine T is moved downward by the vertical movement mechanism 43, and the wire harness W is taken into the binding space S between the pair of flange members 9 and 10 at the front end [see FIG. , 10 are closed and moved, and the binding operation is performed to bind the first binding portion K1 with the binding band V. The bundling waste produced by bundling is immediately sucked by the bundling waste collection device 5 and collected by the suction machine 11.

  When the binding at the first binding planned location K1 is completed, the pair of scissors members 9 and 10 are opened and moved, and then the binding machine T is moved straight up to remove the bound wire harness W from the binding space. [Refer to FIG. 16A]. Then, by repeating this series of movement and bundling operation, the bundling machine T is moved back and forth, left and right, and moved to position 2 (P2), which is the position of the second bundling planned position K2. The bundling operation (for example, 25 locations) is automatically performed by the bundling robot A. When all the bundling is completed, the bundling machine T returns to the position 27 (P27) which is the first standby position. Next, the structure of each part will be described sequentially.

  As shown in FIG. 1 to FIG. 5, FIG. 12, etc., the substrate 1 includes a pair of front and rear horizontal support members 1 a and three vertical support members 1 b that connect the horizontal support members 1 a and 1 a at the left and right ends and the center. A wooden board 1B made of china material, veneer material, etc. is placed on a frame frame 1F having a side-by-side “day” shape and is integrated with screws. A large number of harness holders 15 are attached to the attachment surface 1A, which is the upper surface of the wood board 1B, and a pair of left and right handles (handles) 16 for drawing out and feeding in are provided on the left and right sides of the front end. . Rails 96 are formed on the left and right side surfaces of the vertical support member 1b at the center of the left and right sides so as to project into the lateral grooves 95a of a pair of left and right engaging members 95 fixed to the frame body 6 in a laterally protruding manner. By the engagement between the engagement member 95 and the rail 96, the substrate 1 is supported in an intermediate area E2 (described later) of the frame 6 so as to be slidable back and forth. Note that FIG. 12 is drawn in a state in which the wooden board 1B is shifted with respect to the frame frame 1F in order to reveal the internal structure of the frame frame 1F.

One engagement member 95 has an action position detection sensor 90 for detecting that the board 1 is set at a normal action position (position shown in FIG. 1) accommodated in the frame 6, and a wire. replacement position drawn out maximally from frame 6 in order to replace the harness W and replacement position detecting sensor 91 for detecting the near-Turkey (position shown in FIG. 5) is attached. These detection sensors 90 and 91 are the same parts and are arranged in a state of facing each other in the front-rear direction, and are contacted by vertically contacting contacts 90a and 91a that can swing back and forth on the sensor main bodies 90A and 91A. It is configured as a switch type sensor. The working position detection sensor 90 has a contact 90 a that is in contact with the lateral support member 1 a on the front side of the substrate 1, and the exchange position detection sensor 91 has a contact 91 a that is lateral support on the rear side of the substrate 1. Each is configured to detect and operate by contact with the member 1a.

  Further, a locking mechanism 78 for locking and fixing the substrate 1 at the operating position is provided. As shown in FIGS. 4, 5, and 12, the locking mechanism 78 includes an engagement member 79 attached to the inside of the left and right vertical support members 1 b and an air cylinder 80 fixed to the frame body 6 side. Thus, the engaging member 79 is formed with a recessed hole 79a through which the tip of the piston rod 80a of the air cylinder 80 can be inserted and removed. In other words, when the substrate 1 is in the operating position, if the push switch 81 disposed at the right front end of the substrate 1 is pushed, the air cylinder 80 projects and the piston rod 80a fits into the recessed hole 79a. In other words, the locked state at the operation position that makes the substrate 1 unable to move back and forth is obtained. In order to pull out the substrate 1 from the frame 6 by exchanging the wire harness W or the like, if the push switch 81 is pressed once again, the air cylinder 80 is shortened and the piston rod 80a is pulled out from the recessed hole 79a, so that the base 1 is free. After pulling back and forth, the handle 16 can be pulled out and operated.

  As shown in FIGS. 13 and 14, the harness holder 15 can be opened / closed and swingably moved at a lateral fulcrum Q on a holder body 15A having a pair of legs 15k screwed to the mounting surface 1A. A pair of pivoting pieces 15a and 15b pivoted, a winding spring 15c for closing and biasing the upper ends of the swinging pieces 15a and 15b, and a swinging spring 15c for receiving and biasing the harness. It is comprised from the rubber cord 15d constructed over the upper part of moving piece 15a, 15b. In a free state in which both the swinging pieces 15a and 15b are closed by the downward recessed portion 15e formed in the upper part of the holder main body 15A and the arc end 15f formed on the upper inner side of each swinging piece 15a and 15b. A circular harness arrangement space 15s is formed in a side view.

  Further, the upper ends of the swinging pieces 15a and 15b are formed on the curved upper surface with a sloping drop, and when the wire harness W is pushed down, both swinging pieces 15a and 15b are supported by the component force. If it swings open at Q and moves to the harness arrangement space 15s while pushing down the rubber cord 15d, both swinging pieces 15a and 15b are closed and swinged by the urging force of the winding spring 15c. That is, it is a convenient holder that can be held and held in a circular shape without slackening in the harness arrangement space 15s of the harness holder 15 by simply pushing down the wire harness W.

  As shown in FIGS. 1 to 5 and FIGS. 7 to 9, the bundling device 2 is disassembled from a rotary reel 8 that can be wound around a cable band CV composed of a number of bundling bands and a rotary reel 8. A binding machine T that can be freely bundled by winding the binding band V around the wire harness W using the cable band CV, and a cable that is unwrapped from the rotating reel 8 and reaches the cable band receiving portion 18 of the binding machine T It comprises a guide mechanism 19 that guides and supports the band CV. The rotating reel 8 having a large diameter is supported by a horizontal moving body 20 in the moving device 3 so as to be rotatable about a longitudinal axis Z, and is supported by the horizontal moving body 20 so as to be movable up and down. The guide mechanism 19 is supported by the moving body 21, and the binding machine T is attached to a binding holder 22 that is rotatably supported by a vertical rotation axis X with respect to the vertical moving body 21.

  The guide mechanism 19 is an intermediate guide having a pair of guide plates 23 and 24 arranged to face each other so as to guide the cable band CV in a state of having a predetermined length in the up and down direction as the moving direction. 19A and the posture deployed in the vicinity of the cable band receiving portion 18 in order to guide the cable band CV having passed through the intermediate guide portion 19A to a posture suitable for being supplied to the cable band receiving portion 18 of the binding machine T The straightening portion 19B is included.

  As shown in FIG. 9 and the like, the intermediate guide portion 19A is configured such that the cable band CV falls in a flat guide space 25 between the guide plates 23 and 24 that are opposed to each other with a gap slightly wider than the thickness of the cable band CV. It is configured to be able to slide with little resistance while guiding and supporting so as not to get in. The guide plates 23 and 24 are slightly bent so that the guide space 25 that is the moving path of the cable band CV is curved to the left at the upper and lower ends, and a pair of upper and lower portions are rotatable in the vicinity of the upper end opening 25a. Guide rollers 26 are provided. Further, between the pair of guide rollers 26 and 26 and the rotary reel 8, a rotatable regulation roller 27 is horizontally moved so that the cable band CV is maintained in a posture and shape that protrudes to the left. It is supported by.

  As shown in FIG. 8 and the like, the posture correction unit 19B sets the posture of the cable band CV to the cable band receiving unit 18 in advance so that the cable band CV can be satisfactorily carried into the cable band receiving unit 18 of the binding machine T without any inconvenience. The bundling holder 22 is equipped with a pair of freely rotatable small-diameter rollers 28 and 28 via a support arm 29. This is because the bundling holder 22, that is, the bundling machine T is twisted about the rotation axis X by about 180 degrees with respect to the vertical moving body 21 by the rotation mechanism 44, which will be described later. Can be smoothly received by the cable band receiving portion 18.

According to the guide mechanism 19 having the above configuration, the following operational effects can be obtained. The rotating reel 8 supported by the horizontal moving body 20 and the binding machine T supported by the binding holder 22 are vertically separated, and the binding machine T moves up and down and rotates relative to the rotating reel 8. since the spacing of these two changes, Quai Burubando length while being taken from reels 8 reaches the cable band receiving portion 18 is relatively long. In addition, the attitude (orientation) of the cable band CV unwound from the rotary reel 8 and the attitude (orientation) of the cable band receiving portion 18 are originally twisted by nearly 90 degrees. Therefore, if the guide mechanism 19 is not provided, depending on the twisted angle of the binding machine T, there is a possibility that the cable band CV is difficult to smoothly enter the cable band receiving portion 18 or that the cable band is bent in the middle. At the same time, when the cable band is consumed and the last winding portion is unwound from the rotating reel 8, the rear end portion of the cable band droops greatly on the substrate 1, and there is a high possibility that the binding work will be adversely affected. Is predicted.

  Therefore, by providing the posture correction unit 19B, the posture is guided by being sandwiched between the pair of small-diameter rollers 28, 28 regardless of the twist of the original cable band CV based on the structure of the bundling device 2. It is corrected and can smoothly enter the cable band receiving portion 18. The advantage of this posture correction function is similarly exhibited even when the binding machine T is pivotally moved with respect to the rotary reel 8 and the cable band CV is further twisted or twisted in the opposite direction. Even if the cable band CV is eliminated and the rear end portion thereof is detached from the rotary reel 8, the cable band CV is supported by the intermediate guide portion 19A located substantially at the center between the rotary reel 8 and the binding machine T. The rear end of the band hanging from 26, 26 does not reach the saddle members 9, 10 of the binding machine T, and does not hinder the binding operation. Further, even if the cable band CV is consumed and detached from the intermediate guide portion 19A, there is a lateral interval between the posture correcting portion 19B and the binding machine T, so that the trailing end portion of the hanging band is a saddle member. 9 and 10 do not interfere.

  As shown in FIGS. 7, 8, and 17, the binding machine T is a binding tool (see FIG. 17) for manual operation, and a binding waste collecting unit case made of a transparent synthetic resin material to be mounted on the binding holder 22. 39 is used in a removed state. Although this binding machine T is publicly known and is only briefly described, a binding body 30 having a binding part D composed of a pair of eaves members 9, 10, etc., a grip part 31 protruding from the binding body 30, a cable band receiving The feeding part 32 having the part 18 and supported by the bundling body 30 so as to be able to swing open and close at an opening / closing fulcrum (see FIG. 8), and a start switch 92 provided on the grip part 31 and the like. An electrical wiring 34 following the control unit 4 is connected to the rear end portion of the bundling body 30 via a connector 33 so that various mechanical devices mounted therein can be controlled and driven from the control unit 4. Yes.

  The various mechanical devices equipped in the binding machine T include a cutting blade 102 (see FIGS. 8 and 17), a cutting tool 103 (see FIGS. 8 and 17), an opening / closing mechanism for the eaves members 9 and 10 (not shown), There are a binding band feeding mechanism, a binding band tightening mechanism, and the like. The cutting blade 102 is a cutting mechanism for cutting out the band portion 93 after binding to generate a band surplus portion 93a that becomes binding waste, and is built in the vicinity of the pair of flange members 9 and 10 in the binding portion D. ing. The cutting tool 103 chops the pair of strands C after the binding band V is separated from the cable band CV into lengths corresponding to one pitch of the binding band V to generate excess strand portions Ca and Cb. This is a long double-cutting mechanism for causing the upper and lower ends of the bundling body 30 to slide back and forth.

  In the feeding section 32, the function of sending the received cable band CV by the above-mentioned feeding mechanism in sequence for every bundling operation by the interval between adjacent bundling bands V, that is, one pitch is demonstrated. The binding band V is separated from the strands C and C by the means, and the binding band V is sent to the standby position, and the strands C and C are integrally formed with a pair of front and rear chopping blades 103a and 103a (see FIG. 8). Is cut into a length corresponding to one pitch. The excess strand portions Ca and Cb, which are the cut bundling waste, pass through the front and rear longitudinal passages 35 and 36 formed on the left side surface of the bundling main body 30 and the like to the merge path portion 37 formed in the bundling holder 22. Collected. The front vertical passage 35 formed in the left side portion of the binding body 30 has a transparent cover 35a that can be opened and closed. The rear vertical passage 36 includes an end passage 36A having a transparent cover 36a that can be opened and closed, and an internal passage 36B formed inside the grip portion 31. Moreover, the band surplus part 93a which is binding waste cut | disconnected by the cutting | disconnection mechanism is collected by the junction path | route part 37 through the waste channel | path 38 formed in the binding main body 30 vicinity of the gavel member 10 vicinity. .

  As shown in FIGS. 8 and 17, the feeding unit 32 in the binding machine T is a contact type binding band presence / absence detection sensor for detecting the presence / absence of a cable band supplied from the cable band receiving unit 18. A band presence / absence sensor (an example of the bundling detection means U) 87 is provided, and by detecting the absence of the cable band CV of the band presence / absence sensor 87, it is possible to know that the rotating reel 8 needs to be replaced. However, even if non-existence detection information is output due to the arrangement setting of the band presence / absence sensor 87, the remaining several times (for example, four times) can be bound.

  Further, as shown in FIGS. 8, 14, and 17, the presence or absence of the head portion 94 of the binding band V is detected in the band supply groove (not shown) at the root portion of the flange members 9 and 10 in the binding machine T. A contact type head detection sensor (an example of a binding detection means U) 101 is provided. This is configured such that the detection operation of the head portion 94 is performed whenever the binding band V is properly supplied, and can be used as a presence / absence sensor of the binding band V in this portion. When normal binding is performed, the binding band V is bound to the wire harness W and is separated from the binding machine T, so that the head detection sensor 101 switches to the non-existence detection operation for a while after the presence detection operation.

  Therefore, even if a series of bundling operations are completed, it is abnormal that the head detection sensor 101 is still operating to detect the presence, and as a result, automatic operation is stopped and a “bundling error” display is displayed on the display panel 7a. The As an example of the cause, it can be considered that substantially only the head portion 94 is left in the band supply groove (not shown) due to empty binding. In addition, although not shown in the figure, the binding machine t incorporates various sensors such as a feeding failure detection sensor for the binding band V and an increase detection sensor for current value. It is configured so that a determination of “binding error” is made. The band presence / absence sensor 87, the head detection sensor 101, and other built-in sensor groups, each of which is an example of the binding detecting means U, are attached to a known technique as a binding machine (binding tool) T alone, and more details are provided. I will omit the explanation.

  As shown in FIGS. 7 and 17, the moving device 3 includes a front / rear moving mechanism 41, a left / right moving mechanism 42, a vertical moving mechanism 43, and a rotating mechanism 44, and the binding machine T is movable in three dimensions. And the direction regarding the vertical rotation axis X of the eaves members 9 and 10 is configured to be freely changeable by 360 degrees. The front-rear moving mechanism 41 is moved forward and backward by an appropriate driving means using an electric motor or the like on the front-rear frames 45, 45 arranged inside the left and right side walls 6 L, 6 R of the frame body 6. The left and right moving mechanism 42 is configured to support the horizontal moving body 20 so as to be movable left and right to the front and rear moving frame 46 by appropriate driving means, and the up and down moving mechanism 43 is horizontally supported by appropriate driving means. A vertical moving body 21 is supported by the moving body 20 so as to be movable up and down and slidable. The rotation mechanism 44 is configured to support the bundling holder 22 that detachably supports the bundling machine T on the vertical moving body 21 around the rotation axis X in the vertical direction using an appropriate driving unit. Has been. In this case, in consideration of twisting of the cable band CV and the electrical wiring 34, the state is set so as to rotate within a range of 360 degrees.

  As shown in FIGS. 7 and 8, the bundling holder 22 includes a block portion 22b that is rotatably supported by a vertical rotation axis X, an overhanging lower holder body 22A, and a holder body 22A. A cover member 22a serving as a side cover and a support arm 29 projecting from the holder main body 22A to support the posture correction unit 19B. Three circular protrusions 22x, 22y, and 22z for attaching the binding machine T are attached to the holder main body 22A. The upper projection 22x is positioned on the back side of the grip portion 31, and the mounting projection 22y and the lower projection 22z, in which the female screw 40 is formed at the center, are a back wall 39a (bundling) that connects the binding body 30 and the lower portion of the grip portion 31. It is located so that it may just fit in the finger insertion space part 47 formed by the back wall of the waste collection part case 39) and the grip part 31. The support arm 29 is detachably attached to the block portion 22b using a knob bolt 49.

  The cover member 22a serving as the left side wall as the binding holder 22 can be mounted on the holder main body 22A in a state where the binding machine T is clamped by using a knob bolt 48 that can be screwed into the female screw 40 of the mounting projection 22y. In the use state, the holder body 22A, and the space surrounded by the bottom wall 22c and the rear wall 22d, the back wall 39a, and the cover member 22a are the relay connection part H, and function as the above-described junction path part 37. (See FIG. 8). Further, a connection connecting portion 52a at the tip of a suction hose 52 (52B) of the bundling waste collecting device 5 to be described later is fitted in and attached to the lower end portion of the rear wall 22d so as to communicate with the merging path portion 37. Is formed. The binding holder T is attached to the binding holder 22 so that the pair of scissors members 9 and 10 are just the lower ends, and the center of the spacing between the scissors members 9 and 10 is turned up and down. The shape is set so that the dynamic axis X passes (see FIGS. 7 and 13). When the binding mechanism 22 is rotated by driving the rotation mechanism 44, the binding machine is centered on the pair of eaves members 9 and 10. T is configured to rotate.

  As shown in FIGS. 2, 10, and 11, the bundling waste collecting device 5 includes a suction machine 11 that is placed on the bottom floor 50, a hose length variable mechanism 51 that is also placed and mounted on the bottom floor 50, suction The suction hose 52 includes a base hose 52 </ b> A that connects the suction port 11 a of the machine 11 and the variable hose length mechanism 51, and a main hose 52 </ b> B that connects the variable hose length mechanism 51 and the binding holder 22. The suction machine 11 is composed of a general vacuum cleaner for outdoor use or the like, and a base hose 52A is rotatably mounted with respect to the hose axis. The main hose 52B exiting from the hose length varying mechanism 51 is supported at its front part by an intermediate guide part 53 supported by the frame body 6 so as to be relatively movable, and its rear part is clamped at the lower part of the horizontal moving body 20. It is attached using. The intermediate guide portion 53 includes a slider 53A that is slidably supported by the left and right frames 75 of the frame pair 6 and a rotating body 53B that is rotatably supported by the slider 53A. Following the movement, it is configured to be able to maintain a smooth arrangement state of the suction hose 52B by moving left and right and rotating.

  The hose length varying mechanism 51 is for allowing the hose length that changes as the binding device T moves three-dimensionally by the moving device 3 to follow the hose length without slack, and as shown in FIGS. The fixed disk body 56 fixedly attached to the bottom floor 50 using the vertical frames 55 and 55 and the mounting substrate 55A, the rotating disk body 57 rotatably supported thereto, and the rotating disk body 57 It is comprised from the tension mechanism 58 which urges | biases to a hose winding direction.

  The fixed disk body 56 includes a disk portion 56A and an outer peripheral plate portion 56B attached to the outer end thereof, and an annular flange portion 58 attached to the center portion of the disk portion 56A with bolts is provided with a bearing member. A cylindrical shaft 60 is rotatably supported by an axis R through a cylindrical bush 59. A ring body 61 having a split structure that is bolt-coupled to each other is externally fitted to the outer circumferential groove 60 a formed in the cylindrical shaft 60 so as to be relatively rotatable, and is dimensioned so that the ring body 61 is in contact with the side surface of the bush 59. The cylindrical shaft 60 is positioned in the axial direction by the setting and a free bearing 63 described later. A base hose 52 </ b> A is fitted on the outer end of the cylindrical shaft 60.

  The rotating disc body 57 includes a support disc portion 57A fixedly attached to the shaft end of the cylinder shaft 60 together with the take-out cylinder 62, an outer peripheral plate portion 57B attached to the outer end thereof, and a guide disc attached to the end thereof. Part 57C. Free bearings 63 having balls 63A that can roll in contact with the disk portion 56A are attached to the three portions of the support disk portion 57A so that the rotating disk body 57 can rotate well without falling. ing. An annular space surrounded by the outer peripheral plate portion 57B and the guide disc portion 57C of the rotating disc body 57 and the outer portion of the disc portion 56A of the fixed disc body 56 and the outer peripheral plate portion 56B is the main hose 52B. A winding space 64 is provided. One end of the main hose 52B is externally fitted to the outer end of the take-out cylinder 62 having the axis R, and the main hose 52B taken into the winding space 64 from the notch 57c formed in the guide disc portion 57C is Then, it is taken out upward from a take-out portion 65 provided at the upper end of the rear portion of the disc portion 56A, and is extended to the horizontal moving body 20 disposed above it. The take-out portion 65 is configured by providing a pair of rotatable guide rollers 65a and 65a that are opposed to each other so as to sandwich the main hose 52B.

  The tension mechanism 58 is a known mechanism that winds and urges the wire rope 67 in the case 66, and supports the vertical frames 55 and 55 as a specification with an adjustment knob 68 for variably adjusting the urging force. It is mounted on the mounting board 55A. The wire rope 67 taken out upward from the top of the case 66 is wound on the outer peripheral plate portion 57B, and the hook portion 67a at the tip is hooked on the notch 57c portion in the guide disc portion 57C. In FIG. 10, the rotating disk body 57 is urged to rotate in the direction of arrow A, and as a result, the main hose 52B is lightly pulled and urged in the winding direction.

  As shown in FIGS. 1 to 6, the frame body 6 includes a front wall 6 </ b> S, a back surface using four vertical frames 74, a plurality of left and right frames 75, a plurality of front and rear frames 76, and a plurality of partial frames 77. A lower area E1 that is configured in a box shape having a wall 6T, a left side wall 6L, a right side wall 6R, and a bottom floor 50, on which the suction machine 11, the switchboard 12 and the like are arranged; It is roughly divided into an intermediate area E2 where the substrate 1 is disposed and a binding operation is mainly performed, and an upper area E3 where the moving device 3 is mainly disposed. In this embodiment, the top wall is not equipped and is blown out, but the top wall 6T (see the phantom line in FIG. 5) may be provided according to the conditions of the arrangement location. Each of the walls 6S, 6T, 6L, 6R surrounding the four sides covers the intermediate area E2 and the upper area E3, and the lower area E1 is in an open state. Each wall 6S, 6T, 6L, 6R uses a transparent synthetic resin plate such as an acrylic plate so that the inside can be seen through, but a partially non-transparent plate material may be used.

As shown in FIGS. 1, 2, and 5, the front wall 6 </ b> S is equipped with a large opening / closing opening 13 for opening / closing the substrate, and an opening / closing door 14 for opening and closing it, in the center of the intermediate area E <b> 2. A control box 7 is operably disposed at the right corner. The horizontally long opening / closing door 14 includes a frame portion 14a and a transparent resin plate 14b, and a pair of handles 14c for opening and closing operations are mounted on the frame portion 14a, and a pair of attachments attached to the lower portion of the frame portion 14a. The frame body 6 is equipped with a hinge 70 so as to be opened and closed. That enables the this retrieving substrate 1 to replace the wire harness W by opening the door 14, the door 14 can be closed by increasing the swing when accommodating a substrate 1 in the frame 6 It has a configuration. The frame body 6 is provided with a first closing sensor 82 that detects the closed state of the door 14.

  The front wall 6S is openable by a pair of upper doors 71 and 71 whose upper area E3 has a double door opening structure. The front wall 6S can be opened and closed as shown in FIG. 1 by an artificial operation by placing a finger on the handle 71a. As shown in FIG. 5, the swinging can be switched between the open state opened laterally by a hinge 72 provided at the left and right ends. The upper door 71 is for opening the upper area E3 in order to replace or maintain the rotary reel 8, and is normally closed. Further, it is possible to perform maintenance of each part of the moving device 3 by opening the upper door 71. A pair of second closing sensors 83 for detecting the closed state of each upper door 71 are provided on the frame body 6. The upper door 71 is configured by supporting a transparent synthetic resin plate 71B with a door frame 71A.

  As shown in FIG. 6, a pair of left and right sliding doors 72, 72 are provided in the middle area E2 portion of the back wall 6T to form a slide opening / closing structure. Each sliding door 72 is made of a transparent plate 72a so that the inside can be visually confirmed, and is fitted to a pair of front and rear rail portions 73, 73 formed on the frame body 6 so as to be slidable left and right. By opening and closing, the substrate 1, the suction hose 52, or various devices can be maintained from the rear of the frame body 6. The frame body 6 is equipped with a sliding door sensor 97 that detects the closed state of each sliding door 72. The sliding door sensor 97 is the same as the action position detection sensor 90 and the exchange position detection sensor 91 described above, and is configured as a contact-type sensor including a sensor main body 97A and a contact 97a that can freely contact the sliding door 72. In addition, a suction machine 11, a hose length variable mechanism 51, a switchboard 12, a control box 84 of the binding robot A, and the like are arranged on the bottom floor 50, which is the lower area E1, and these mechanical devices are maintained from all sides. It is possible.

  The control unit 4 includes an operation box 7, a switchboard 12, a control box 84, and the like. The control unit 4 controls the movement of the binding machine T, the moving device 3, and the binding waste collecting device 5, and is connected to various sensors and switches. Yes. As shown in FIGS. 2 and 21, the operation box 7 is arranged at the right corner of the intermediate area E2 of the front wall 6S, has a display panel (touch panel) 7a at the upper part, and a control box for a binding machine at the lower left part. 99 and a power control box 98 for the binding machine thereabove. A reset switch 100 is disposed in the control box 99 for the binding machine. Various operation modes displayed on the display panel 7a are set, and an example is shown in FIG. In FIG. 21, it is possible to operate by touching the screen of the displayed switch portion with a finger. For example, the “manual” and “automatic” switch 85 displayed on the screen is , It is configured in a badge type that sequentially switches by touching. As for the control of the moving device 3, an arbitrary operation such as a test partial drive can be performed by operating a steering handle 86 provided separately from the operation box 7.

  Next, a control method of the binding robot automatic operation by the control unit 4 will be described. FIG. 17 shows a block diagram of a control system in the control unit 4. The operation box 7 is equipped with a control device 88 such as a CPU having an automatic operation control means 89, and the automatic operation control means 89 can freely store the planned binding locations (K1 to K25). It has a binding location storage means 89A. The operation control method of the binding robot by the control unit 4 is as follows. By the function of the binding location storage means 89A, the automatic operation is performed in which the binding device T is moved by the moving device 3 and the binding operation is performed, and a number of preset (25 locations) binding planned locations K1 to K25 are sequentially bound. Make it.

  That is, as shown in the automatic operation control flowcharts shown in FIGS. 18 to 20, first, the operation mode selection (step # 1) for selecting the automatic mode from the automatic mode and the manual mode is performed, and the automatic operation is started ( Step # 2). At this time, all of the first closing sensor 82, the pair of second closing sensors 83, 83, the action position detecting sensor 90, and the pair of sliding door sensors 97, 97 are detecting, that is, the substrate 1 is in a normal state. The precondition is that the open / close door 14, the left and right upper doors 71, and the pair of sliding doors 72, 72 are all closed, and any one or more sensors are not detecting and operating. The automatic operation is not started (at this time, the fact is displayed on the display panel 7a).

  When the automatic operation is started, the moving device 3 is driven to move the binding machine T to P1 (position 1) which is the position of the first binding scheduled location K1 (step # 11), and after the movement to P1 is completed, the binding is performed. An instruction (binding command) is issued (step # 12). Then, the presence / absence of the binding band is determined by the detection operation of the band presence / absence sensor 87 (step # 13-1). If the binding band V is not present, the head detection sensor 101 determines whether the binding is OK or NG (step # 13). The process proceeds to 13-2), and also when the binding band V is present, the process proceeds to determination of whether the binding is OK or NG (step # 13-3) by the head detection sensor 101 or the like. If the binding is NG in step # 13-2, that is, if there is no binding band V and the binding is defective, the process proceeds to the band replenishment rebinding routine F1. If the binding is OK in step # 13-2, that is, When the binding band V is not present and the binding is good, the routine proceeds to a band supply routine G1. If the binding is NG in step # 13-3, that is, if the binding band V is present and the binding is defective, the process proceeds to the rebinding routine L1, and if the binding is OK in step # 13-3, that is, When the binding band V is present and the binding is good, the process proceeds to the next step # 21. Steps # 11 to # 13-3 described above are one cycle of the binding operation at one binding scheduled location K1 (P1).

  In the band supply rebinding routine F1, when the binding band V is not present and the binding is NG, the automatic operation of the binding robot A is stopped (step # 14), and the binding error is displayed on the display panel 7a (step #). 15). In other words, the “binding mistake” in this case means a very rare case where the cable band CV is consumed and lost, and the binding itself is not properly performed. It is convenient to display such as “P1 binding NG / no band”. Therefore, when the error display is canceled by an artificial operation such as operating the reset switch 100 of the control box 99 for the binding machine with a finger (see FIG. 21) (step # 16), the moving device 3 is actuated and the horizontal display is activated. The moving table 20 is moved to the position 26 which is the frontmost position, that is, the rotating reel replacement position close to the upper surface wall 6S (step # 17).

  Then, the left or right upper door 71 is opened, the empty rotating reel 8 is removed, and the rotating reel replacement (step # 18) is performed manually by replacing the rotating reel 8 packed with the cable band CV. When the replacement is completed, a binding scheduled portion K1 for re-binding, that is, P1 in this case, is input manually (step # 19). The automatic operation is restarted in response to the input of the position P1 by human operation (step # 20), and the step (step # 11) of moving the binding device T to P1 (position 1) by operating the moving device 3 is performed again. . A series of rotating reel replacement and bundling re-starting steps including this manual operation will be referred to as a band supply re-bundling routine F1 (F2 to F25).

  The band supply routine G1 is a subroutine that is performed when the binding band V is not present and the binding is OK, and in the band supply rebinding routine F1, the position (P1) input (step # 19) by manual operation is omitted. Routine. That is, the “binding error” in this case means that the binding belt V is lost after several times of binding by detecting the absence of the cable band CV of the band presence / absence sensor 87, and the rotating reel 8 is replaced. It is a state where there is no problem in the unity itself only by calling attention. Accordingly, the binding at the first binding scheduled location K1 has been completed as scheduled. In this case, the binding machine T is moved to the next destination along with the restart of the automatic operation after the replacement of the rotating reel 8 (step # 20). It will move to P2 which is a certain 2nd binding plan location. This band supply routine G1 is a routine that is performed only when the cable reel CV is lost and the rotating reel 8 is replaced, and the frequency is low.

  The rebinding routine L1 is a subroutine that is performed when the binding band V is present and the binding band is NG, and includes three steps (step # 17 to step #) required for replacing the rotating reel 8 in the band supply rebinding routine F1. 19) is a omitted routine. In other words, the “binding error” in this case is based on the determination of binding NG by the head detection sensor 101 or the like, and means that there is a binding band V but a binding failure has occurred for any reason. . For some reason, various errors such as an inconvenience inside the binding machine T such as an increase in the feeding resistance of the binding band and a supply failure due to catching, an empty binding, and the like can be considered. In this case, as the automatic operation is resumed (step # 20), the binding machine T starts over from the binding instruction (step # 12). In this case, the binding mistake is most likely to occur, and in some cases, it is possible to visually detect the binding mistake.

  When any one of the subroutines F1, G1, L1 is performed, or the binding is performed without any problem and any subroutine is not passed, and the binding at the first binding scheduled location K1 is completed successfully, as shown in FIG. The moving device 3 is driven to move the binding machine T to P2 which is the position of the second binding planned location K2 (step # 21), and after completing the movement to P2, a binding instruction (binding command) is issued (step # 22). ) The contents of the three types of subroutines F2, G2, L2, etc. by the determination of the presence / absence of the binding band V (step # 23-1) and the determination of the quality of the binding at two locations (steps # 23-2 and # 23-3) are described above. This is the same as that at the first bundling scheduled place K1, and redundant description is omitted.

  Such an operation is sequentially repeated from the next third binding location K3 to the 25th binding location K25 (see FIG. 20), and when all the 25 locations are completed (YES in step # 253-3), The moving device 3 moves the binding machine T to the robot standby position P27 (step # 270), and the automatic operation ends. The numbers of the subroutines F, G, and L are the same as the numbers of the planned binding locations (for example, F14, G14, and L14 at the 14th planned binding location). Is also the same as the number of the planned binding location (example: “move to P21” at # 21 binding planned location K21 is # 211).

  That is, the operation control method by the automatic operation control means 89 automatically stops the operations of both the moving device 3 and the binding machine T by detecting the binding error by the sensor group such as the band presence sensor 87 and the head detection sensor 101, and An automatic stop process for specifying a binding expected location (for example, K2) in which the binding error has occurred, and a repair process for performing a recovery process for the binding error after the moving device 3 and the binding machine T are stopped by the automatic stop process. A repair process that issues an automatic operation restart command after the binding error recovery process, and an automatic operation restart command that is issued after this repair process, and binding at a location where a binding error has occurred due to the issuing of this restart command It is characterized by performing a restarting process for resuming automatic operation from operation.

  In the automatic stop process, in the band replenishment rebinding routines F1 to F25, step # 13 (# 23 to # 253) for determining whether or not the band presence / absence sensor 87 is used for binding, the moving device 3 and the binding machine T In step # 14 (# 24 to # 254) for stopping the robot, and in the repair process, step # 17 (# 27 to # 27) for moving the binding machine T to P26 (rotary reel replacement position). 257) and a step # 18 (# 28 to # 258) for exchanging the rotating reel by human work, and the restarting process is performed by manipulating the position P1 (P2 to P25) [location to be rebound. Step # 19 (# 29 to # 259), and step # 2 where the moving device 3 actually moves to move the binding machine T toward the input position. It is a part of the (♯30~♯260).

  In the band replenishment routines G1 to G25, the automatic operation restart step # 20 (# 30 to # 260) corresponds to the restart process, and the automatic stop process and the repair process are the same as the band replenishment routines L1 to L25. Same as the case. In the rebinding routines L1 to L25, the portion of step # 15 (# 25 to # 255) for displaying a binding error and the step # 16 (# 26 to # 256) for canceling the miss display correspond to a repair process. The automatic operation resuming step # 20 (# 30 to # 260) corresponds to the restarting process, and the automatic stopping process is the same as that of the band supply rebinding routines F1 to F25.

  When the automatic operation ends normally, after opening the opening / closing door 14, the substrate 1 is pulled out by holding the handles 16, the wire harness W after being bundled is taken out from a number of harness holders 15, and the wire harness that is not bound A harness replacement operation for locking W to a large number of harness holders 15 so as to have a predetermined shape is performed, and the substrate 1 is pushed in and set at an operation position accommodated in the frame body 6. Then, the door 14 is closed and the “driving” portion displayed on the operation panel 7a is touched with a finger (see FIG. 21) to start the automatic operation for the next bundling.

  In other words, the operation control method of the binding robot A by the control unit 4 uses the function of the binding location storage unit 89A to move the binding machine T by the moving device 3 and perform the binding operation, thereby setting a plurality of preset binding locations. When automatic operation for sequentially binding K1 to K25 is performed, the detection of the binding error by the binding detection means U automatically stops the operation of both the moving device 3 and the binding machine T, and the binding error is scheduled to occur. An automatic stop process for identifying a binding location, a repair process for recovering a binding error after the moving device 3 and the binding machine T are stopped by the automatic stop process, and a restart command for automatic operation after the repair process And a restarting step of restarting the automatic operation from the bundling operation at the bundling scheduled location where a bundling error has occurred due to the issuing of the restart command.

  By the way, a known bundling operation at a planned bundling location in steps # 12, # 13, etc. will be briefly described using the case of the first bundling planned location K1 as an example. In the binding machine T at the first position P1, as shown in FIG. 15A, the line M parallel to the line segment connecting the pair of flange members 9 and 10 and the axial line N of the wire harness W are orthogonal to each other. (Or FIG. 16 (b)) after being turned (turned) by the turning mechanism 44 (see FIG. 17 and the like) simultaneously with the left / right movement so as to be in a state (or substantially orthogonal). It is moved downward, and the first binding planned portion K1 of the wire harness W is taken into the binding space S.

  As shown in FIG. 15 (b), the main saddle member 9 is curved and slid and the secondary saddle member 10 is moved to the first binding planned portion K1 of the wire harness W taken into the binding space S. Each of the swinging movements is closed and moved to switch from the open position to the closed position, and the binding band V is guided and sent to the auxiliary hook member 10 and the main hook member 9 in this order, and the band portion 93 is moved to the head portion (the band portion). At the same time that the band portion 93 is pulled with respect to the head portion 94 by a tightening mechanism (not shown), the wire harness W at the first binding scheduled portion K1 is firmly bound by the binding band V. The When the binding is performed [see FIGS. 16A and 16B], the pair of scissors members 9 and 10 are opened and moved to the open posture, and then the binding device T is moved up by the moving device 3, The first binding planned portion K1 after binding is relatively discharged from the binding space S.

  The moving device 3 may have a structure that moves two-dimensionally such as front and rear, up and down, left and right, and up and down. The binding machine T is not limited to the configuration of the pair of eaves members 9 and 10 that open and close.

Perspective view of the entire binding robot Front view of binding robot Left side view of the binding robot Top view of binding robot Perspective view showing actions such as opening / closing door, opening / closing of upper door, and drawing out of substrate The perspective view which shows the sliding door part of a back wall Front view of the entire bundling device The perspective view which shows the binding machine part of the binding device lower part Enlarged front view showing the intermediate guide part of the guide mechanism Schematic side view showing hose length variable mechanism of bundling waste collection device Sectional view showing the structure of the hose length variable mechanism The perspective view which shows the structure of the frame of a board | substrate Partially cutaway front view showing harness holder and wire harness locking structure Side view of harness holder (A), (b) is an operation view showing a state in which the binding machine is moved downward to take the wire harness into the binding space between the eaves members and bind them together. (A) is an operation view of a state in which the collar member is opened and raised after binding, and (b) is a plan view showing the binding state and the positional relationship between the wire harness and the collar member. Block diagram showing the schematic configuration of the control device for automatic binding operation Flow diagram showing the automatic bundling operation mode by the controller 1 Flow diagram showing the automatic bundling operation mode by the controller 2 Flow diagram showing the automatic binding operation mode by the control device (Part 3) Front view showing a display example on the display panel of the operation box

DESCRIPTION OF SYMBOLS 1 Board | substrate 1A Mounting surface 2 Bundling device 3 Moving device 8 Rotating reel 87 Bundling band presence detection sensor 89 Bundling location storage means 101 Head detection sensor A Bundling robot CV Cable band D Bundling part T Bundling machine U Bundling detection means V Bundling band W Bundling Target

Claims (3)

A binding machine capable of binding a binding target, a substrate having a mounting surface that can be locked and maintained by setting the binding target to a predetermined shape, and a binding band wound around the binding target that is locked and maintained on the substrate A binding device that can move the binding machine to a position or posture suitable for binding, a binding location storage means that can store a scheduled binding location in the binding target, and a binding that can detect a binding error. A detection unit, and a controller that controls the movement of the binding machine and the moving device ;
The binding machine has a pair of flange members that form a binding space;
The binding object is bound by the binding band in the binding space,
The binding detection means is provided in the pair of flange members, and has a head detection sensor that detects the binding error based on the presence or absence of the head portion of the binding band in the flange member.
The control unit has an operation box;
In the function of the binding location storage means, the movement of the binding machine by the moving device and the binding operation are performed to perform automatic operation for sequentially binding a plurality of preset binding planned locations.
After the moving device moves the binding machine to any of the plurality of binding scheduled locations, the control unit issues a binding command for binding the binding target to the binding machine, and after the binding operation is completed When the head detection sensor detects that the head part of the binding band is present in the collar member, the control unit automatically stops the operation of both the moving device and the binding machine, and the control unit An automatic stop step of identifying the binding planned location where the binding machine was located when the binding command was issued ;
A repairing step for performing a recovery process for binding mistakes after stopping the moving device and the binding machine by this automatic stopping step;
After the restoration process, the control unit issues a restart command for the automatic operation in accordance with an artificial operation, and the automatic operation is started from the binding operation at the planned binding location specified in the automatic stop process by issuing the restart command. A bundling robot operation control method for performing a restarting process for resuming operation. The binding detecting means, in addition to the head detection sensor has a binding band presence detection sensor that is provided on the binding machine,
The binding control according to claim 1, wherein the operation control method of the binding robot further includes a step of performing replenishment of the binding band by an artificial operation when the binding band presence / absence detection sensor detects that the binding band is not present. Robot operation control method. The binding machine includes a rotating reel that can be freely wound around a cable band formed by connecting a number of binding bands, and the binding machine binds to a binding object using a cable band that is unwound from the rotating reel. is configured in which binding by winding the band, complement supply of said binding band is operation control method of bundling robot according to claim 2 which is the replacement of the reels by manual operation.

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