Binding device, binding system, method for controlling binding device, and computer readable storage medium storing program

A binding device comprising:

• a binding machine that includes a binding unit that twists a wire, and a driving unit having a motor that drives the binding unit;
• a locking member that locks the wire and releases locking of the wire by a rotation of the motor, and a controller that controls the motor, the binding machine binding reinforcing bars with the wire;
• and
• a transfer robot that moves the binding machine and the reinforcing bars positioned at a binding position in a direction of approaching and a direction of separating from each other by a relative movement of the binding machine and the reinforcing bars,
• the controller determines, when the binding machine starts an operation of binding the reinforcing bars with the wire, based on whether the wire is locked by the locking member, the timing at which the binding machine and the reinforcing bars are moved in the direction of separating from each other;
• and
• the transfer robot is configured to move the binding machine and the reinforcing bars in the direction of separating from each other at the determined timing.

A method for controlling a binding device, the binding device comprising:

• a binding machine that includes a binding unit that twists a wire, a driving unit having a motor that drives the binding unit, and a controller that controls the motor, the binding machine binding reinforcing bars with a wire and a transfer robot that moves the binding machine and the reinforcing bars positioned at a binding position in a direction of approaching and a direction of separating from each other by a relative movement of the binding machine and the reinforcing bars, the method comprising computer-implemented steps of:
• determining, when the binding machine starts an operation of binding the reinforcing bars with the wire, a timing of moving the binding machine and the reinforcing bars in the direction of separating from each other during a period from when the binding unit is driven by the motor to when an operation of twisting the wire is ended and driving by the motor is stopped;
• and
• moving the binding machine and the reinforcing bars in the direction of separating from each other at the determined timing.

A method for controlling a binding device, the binding device comprising:

• a binding machine that includes a binding unit that twists a wire, a driving unit having a motor that drives the binding unit, a locking member that locks the wire and releases locking of the wire, and a controller that controls the motor, the binding machine binding reinforcing bars with a wire;
• and a transfer robot that moves the binding machine and the reinforcing bars positioned at a binding position in a direction of approaching and a direction of separating from each other by a relative movement of the binding machine and the reinforcing bars, the method comprising computer-implemented steps of:
• determining, when the binding machine starts an operation of binding the reinforcing bars with the wire, a timing of moving the binding machine and the reinforcing bars in the direction of separating from each other, based on whether the wire is locked by the locking member;
• and
• moving the binding machine and the reinforcing bars in the direction of separating from each other at the determined timing by the transfer robot.