JP2018184214A - Binding machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a binding machine that can automatically adjust the binding strength on the basis of the thickness and hardness of objects to be bound.SOLUTION: A binding machine includes a motor 20, a drive mechanism 22 which is driven by the motor 20 and performs the binding operation, and a control part 21 which controls the rotation of the motor 20. The control part 21 determines the completion of binding and stops the rotation of the motor 20 when the state that an output current value supplied to the motor 20 has reached a predetermined limit value continues for a predetermined time period.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a binding machine that can be used for binding a harness, binding a bag mouth, binding a field wire or a drawstring.

  As this type of binding machine, for example, Patent Document 1 discloses a handy type binding machine capable of performing a fastening operation using a C-ring. In the binding machine described in Patent Document 1, when the trigger is pulled, the C-ring is deformed by the jaws, and the objects to be bound are bound by the deformed C-ring.

JP 2000-33526 A

  However, in the conventional binding machine as described above, since the jaw is always operated to a certain position and the C-ring is tightened, there is a problem that the tightening degree changes depending on the thickness and hardness of the object to be bound. For example, when the object to be bound is thick or hard, there is a possibility that the object to be bound is damaged by overtightening. Conversely, when the object to be bound is thin or soft, the binding is weak and the C-ring may be displaced.

  Then, this invention makes it a subject to provide the binding machine which can adjust a clamping | tightening degree automatically with the thickness and hardness of a to-be-bound object.

  The present invention has been made in order to solve the above-described problem, and is a binding machine that binds an object to be bound by a plastically deformable binding tool, and performs a binding operation by being driven by the motor. A drive mechanism, and a control unit that controls rotation of the motor, wherein the control unit is configured to bind when an output current value supplied to the motor reaches a predetermined limit value for a predetermined time. It is determined that the motor has been completed, and the rotation of the motor is stopped.

  The present invention is as described above, and when the output current value supplied to the motor reaches a predetermined limit value for a predetermined time, the control unit determines that the bundling is completed and stops the rotation of the motor. To do.

  According to such a configuration, even if the output current value increases due to an increase in torque, the output current value does not exceed the limit value, so that it is not excessively tightened. Therefore, it is possible to prevent the object to be bound from being damaged due to overtightening. Further, since it is not necessary to set in advance so that the binding becomes weak, the binding completion position can be set with a sufficient margin. Therefore, even when the object to be bound is thin or soft, sufficient binding can be performed, and the problem that the binding is not stable because the tightening is too weak can be avoided. Thus, since the stop position of the drive mechanism changes according to the torque, the tightening degree can be automatically adjusted according to the thickness and hardness of the objects to be bound.

  In addition, the operating range of the drive mechanism is divided into two or more sections, and when the section control unit detects that the section has changed during driving of the drive mechanism and the section control unit detects that the section has changed, If a limit value switching unit that performs control to switch values is provided, for example, the control value can be switched at the initial stage or the end of the binding operation, and the tightening degree can be finely adjusted.

  Further, if the limit value is set low at the initial stage of the bundling operation where the torque should not normally increase, the motor can be stopped when an abnormality occurs. That is, it is possible to provide an error detection function.

It is an external view of the binding machine which set the binding tool. It is a block diagram which shows the structure of a binding machine roughly. (A) The front view of a binding tool, (b) It is a side view of a connection binding tool. (A) The external view of the binding tool which bound the binding object, (b) The front view of the binding tool which bound the binding object. It is a perspective view which shows the internal structure of a binding machine. It is a flowchart which shows the binding operation | movement of a binding machine. (A) The top view of a binding machine before setting a binding tool, (b) It is a partially expanded sectional view of the tip vicinity of the binding machine in (a). (A) The top view of a binding machine after setting a binding tool, (b) It is a partially expanded sectional view of the tip vicinity of the binding machine in (a). It is a figure which shows the inside of the binding machine of a standby state, Comprising: (a) The figure which has not abbreviate | omitted the guide member, (b) The figure which abbreviate | omitted a part of guide member. It is a figure which shows the inside of the binding machine in the middle of binding, Comprising: (a) The figure which has not abbreviate | omitted the guide member, (b) The figure which abbreviate | omitted a part of guide member. It is a figure which shows the inside of the binding machine of a binding completion state, Comprising: (a) The figure which has not abbreviate | omitted the guide member, (b) The figure which abbreviate | omitted a part of guide member. 10 is a list of limit values held by a limit value switching unit.

  Embodiments of the present invention will be described with reference to the drawings. In the following description, “front” means the direction in which the binding tool 41 is driven out, and “rear” means the direction opposite to the direction in which the binding tool 41 is driven out.

  The binding machine 10 according to the present embodiment is a hand-held binding machine 10 that binds an object to be bound 50 with a binding tool 41 that can be plastically deformed. Specifically, the binding machine 10 can use a binding tool 41 having an opening 41c as shown in FIG. 3A, and is closed by closing the opening 41c of the binding tool 41. The object 50 is bundled. The binding machine 10 is used, for example, for binding a harness, binding a bag mouth, binding a field wire or an attracting string.

  As shown in FIG. 1, the binding machine 10 is covered with a housing 11 and includes a motor housing portion 12, a grip portion 13, and an output portion 15. In the binding machine 10 according to the present embodiment, these portions are continuously provided in the front-rear direction along the launch direction of the binding tool 41.

  The motor accommodating part 12 is provided in the rear part of the binding machine 10, and the power supply connection part 12a for connecting an external power supply is provided in the rear-end part. By receiving a voltage supply from the power supply connecting portion 12a, the binding machine 10 can execute various operations such as driving of the binding tool 41.

  As shown in FIG. 5, the motor housing 12 includes a motor 20 and a controller 21. The motor 20 is a power source for driving a drive mechanism 22 described later. The control unit 21 is a control device that controls the rotation of the motor 20 and the like, and is a control board on which a CPU and a memory are mounted in the present embodiment.

  The grip part 13 is a part to be gripped by the user when the binding machine 10 is used. The grip portion 13 is provided in an intermediate portion of the housing 11 and is formed in a constricted shape so that the user can easily grip it. An operation portion 14 is provided at a position that can be operated with an index finger when the grip portion 13 is gripped, in front of the grip portion 13. The operation unit 14 can be manually operated to execute a binding operation, and is a trigger-shaped swing member in the present embodiment. When the user pulls the operation unit 14, the switch 14 a (see FIG. 5) disposed adjacent to the operation unit 14 is turned on, and an operation signal is output from the switch 14 a to the control unit 21. It has become. The control unit 21 that has received the operation signal executes an operation of rotating the motor 20 and driving out the binding tool 41. Specifically, when the operation unit 14 is triggered, a series of operations including the advance of the driver 25 to the binding position, the holding of the driver 25 at the binding position, and the backward movement of the driver 25 to the standby position are performed. The cycle is executed continuously. As described above, since the operation from the start to the completion of the bundling is continuously performed, the bundling operation is not stopped and the bundling force is not insufficient.

  As shown in FIG. 5, a drive mechanism 22 is built in the grip portion 13. The drive mechanism 22 is a mechanism that is actuated by the motor 20 when the operation unit 14 is operated, and performs a bundling operation by reciprocating a driver 25 described later back and forth.

  The drive mechanism 22 includes a speed reduction mechanism 23 and a ball screw 24. The speed reduction mechanism 23 is connected to the rotating shaft of the motor 20 and is a mechanism for reducing the rotation of the motor 20 so as to obtain a large torque. The ball screw 24 is connected to the output shaft of the speed reduction mechanism 23, and rotates the screw shaft 24a by the rotational force of the motor 20, and rotates the screw shaft 24a to move the nut 24b straight forward and backward. Is. Specifically, when the motor 20 rotates forward, the nut 24b moves forward and the bundling operation is executed. Further, when the motor 20 rotates in the reverse direction after the bundling operation is completed, the nut 24b moves backward and returns to the standby state.

  The output unit 15 is provided near the tip of the binding machine 10. At the tip of the output portion 15, a protrusion forming portion 17 protrudes in an approximately L shape, and an insertion port 16 for inserting the object to be bound 50 is opened inside the protrusion forming portion 17. As shown in FIG. 5, the output unit 15 includes a driver 25, a guide member 30, and an interlocking mechanism 26. Further, as shown in FIGS. 7 and 8, a magazine portion 35 is provided on the side portion of the output portion 15.

  The protrusion forming portion 17 is formed as a part of the housing 11 or is integrally fixed to the housing 11. A clincher 18 is provided on the inner surface of the protrusion forming portion 17 at a position for receiving a tip of a driver 25 described later. The clincher 18 and the driver 25 stand by at a position apart from each other before the binding tool 41 is driven out, and an insertion port 16 is provided between them. The binding machine 10 according to the present embodiment performs binding by driving the binding tool 41 toward the insertion port 16.

  The clincher 18 is for clinching the leg portion 41a of the binding tool 41 driven out by the driver 25 to complete the binding. Specifically, the clincher 18 is a plate against which the binding tool 41 driven out by the driver 25 is pressed. A groove for guiding the leg portion 41a of the binding tool 41 is formed on the surface of the clincher 18, and the leg portion 41a of the binding tool 41 pressed against the clincher 18 is bent inward along the groove. (Clinch)

  The driver 25 is an elongate plate that moves straight by the drive mechanism 22 in order to drive the binding tool 41 toward the insertion port 16. The driver 25 is slidably guided inside the housing 11 and can reciprocate in the launching direction of the binding tool 41. The driver 25 according to the present embodiment is fixed to the nut 24b of the ball screw 24 and protrudes in front of the nut 24b. For this reason, the binding tool 41 is driven out when the nut 24b moves forward. The driver 25 presses the punched binding tool 41 against the clincher 18 to bend the leg 41a of the binding tool 41, thereby closing the opening 41c and completing the binding.

  The guide member 30 is for stabilizing the position of the object to be bound 50 inserted into the insertion port 16, and is inserted immediately before the binding tool 41 is driven out by the driver 25 and the opening 41c of the binding tool 41 is closed. The opening of the mouth 16 is configured to be closed. As shown in FIG. 5, the guide member 30 is attached to the housing 11 so as to be able to swing back and forth with a swing shaft 30 a as an axis. In the natural state, the guide member 30 is urged in a direction to open the insertion port 16 by urging means (not shown).

  The guide member 30 includes an operating pin 30b that engages with a slide member 27 described later. The operating pin 30b is slidably engaged with the slide member 27. When the operating pin 30b is pushed by the slide member 27, the guide member 30 is inserted against the urging force of the urging means. The mouth 16 is configured to swing in a closing direction.

  The interlocking mechanism 26 is a mechanism for operating the guide member 30 in conjunction with the launching operation of the binding tool 41. By operating the guide member 30 via the interlocking mechanism 26, the guide member 30 is configured to operate in synchronization with the launching operation of the binding tool 41. As shown in FIG. 5, the interlock mechanism 26 includes a slide member 27 and a connection member 28. The slide member 27 is fixed to the nut 24b of the ball screw 24 by the connecting member 28, and is configured to move back and forth integrally with the nut 24b.

  The slide member 27 is configured to engage with the operating pin 30b of the guide member 30 as shown in FIGS. 9B, 10B, and 11B. Specifically, a continuous engagement surface is formed by the hook 27a, the inclined portion 27b, and the horizontal portion 27c, and is engaged with the operation pin 30b on this engagement surface.

  The hook 27a forms a substantially U-shaped groove, and is a part that engages with the operating pin 30b in a standby state (a state before the binding tool 41 is launched).

  The inclined portion 27 b is a surface that is inclined with respect to the launch direction of the binding tool 41. The guide member 30 swings when the operation pin 30b slides on the inclined portion 27b.

  The horizontal portion 27c is a surface parallel to the launching direction of the binding tool 41. When the operating pin 30b slides on the horizontal portion 27c, the guide member 30 opens the opening of the insertion port 16. It is designed to maintain a closed state.

  The magazine part 35 is for mounting a plurality of binding tools 41. The binding machine 10 according to the present embodiment uses a connecting and binding tool 40 as shown in FIG. 3, and such a connecting and binding tool 40 can be attached to the magazine portion 35.

  The connecting and binding tool 40 is configured by connecting a plurality of binding tools 41 to each other. Each binding tool 41 is a resin member such as plastic, and includes a pair of leg portions 41a and a connection portion 41b that connects the pair of leg portions 41a, and is formed in a substantially U shape. An opening 41c for holding the object to be bound 50 is formed between the pair of leg portions 41a. When the binding tool 41 is driven out and clinched by the driver 25, the leg portion 41a is plastically deformed as shown in FIG. 4 so that the object to be bound 50 can be held and bound.

  As shown in FIG. 7B, the magazine portion 35 includes a rib 35a that enters between the leg portions 41a of the binding device 41 (that is, the opening portion 41c). Moreover, the groove part 35b which guides the connection part 41b of the binding tool 41 is formed so that the front-end | tip of this rib 35a may be faced.

  The magazine portion 35 is provided with a pusher 36 slidable along the longitudinal direction of the magazine portion 35. The pusher 36 is for urging the connecting and binding tool 40 attached to the magazine part 35 forward, and is always urged forward (direction in which the binding tool 41 is fed into a standby part 37 described later) by a spring (not shown). Has been.

  The magazine portion 35 is connected to the side of the output portion 15 and is configured to guide the connecting and binding tool 40 inside the output portion 15. Inside the output unit 15 that is continuous with the magazine unit 35, a standby unit 37 is provided for waiting for the binding tool 41 to be driven out. The standby unit 37 is provided between the driver 25 and the insertion port 16, and the binding tool 41 waiting on the standby unit 37 is driven out toward the insertion port 16 by the driver 25.

  When performing binding using the binding machine 10 according to the present embodiment, first, the object to be bound 50 is inserted into the insertion port 16. When the operation unit 14 is operated in this state, the motor 20 rotates and the drive mechanism 22 operates. At this time, the guide member 30 is first operated by the drive mechanism 22. That is, in the standby state before the operation unit 14 is operated, the operating pin 30b is engaged with the hook 27a of the slide member 27, and the guide member 30 opens the opening of the insertion port 16 as shown in FIG. It is in an open state. When the drive mechanism 22 starts to operate from this state, as shown in FIG. 10, the slide member 27 moves forward, so that the operation pin 30 b moves along the inclined portion 27 b of the slide member 27, thereby the guide member. 30 swings to close the opening of the insertion port 16. When the operating pin 30b reaches the horizontal portion 27c of the slide member 27, the guide member 30 is in a state of completely closing the opening of the insertion port 16.

  Thereafter, when the motor 20 further rotates and the drive mechanism 22 operates, as shown in FIG. 11, the driver 25 drives out the binding tool 41 supplied to the standby unit 37. At this time, the bound binding tool 41 is separated from the connection binding tool 40. Further, when the driver 25 further advances, the leg portion 41 a of the binding tool 41 that has been driven out contacts the clincher 18. When the driver 25 advances to the innermost position, the leg 41a pressed against the clincher 18 is bent inward and deformed (clinched). This completes the binding (see FIG. 11). The driver 25 according to the present embodiment is controlled to stop for a certain period of time in a state where the binding is completed in this way (see a holding time determination unit 160 described later).

  When the bundling is completed as shown in FIG. 11, the motor 20 rotates reversely and returns to the standby state as shown in FIG. At this time, because the driver 25 is retracted from the standby unit 37, the standby unit 37 becomes empty, so that the connecting and binding tool 40 in the magazine unit 35 is pushed by the pusher 36, and the next binding tool 41 is automatically set in the standby unit 37. Sent to. Further, as the slide member 27 moves backward, the guide member 30 also swings in the opening direction. The guide member 30 swings to a position where the operating pin 30b engages with the hook 27a of the slide member 27, and returns to the state where the opening of the insertion port 16 is opened.

  The bundling operation as described above is controlled by the control unit 21. Specifically, the control unit 21 according to the present embodiment is configured to control various input devices and output devices as shown in FIG. 2 when the CPU reads a program stored in the ROM.

  As an input device for the control unit 21, as shown in FIG. 2, the above-described switch 14a, a current value measuring unit 60, and a limit value input unit 70 are provided. Further, as the output device of the control unit 21, the motor 20 described above is provided as shown in FIG. In addition, as an input device and an output device, it is not limited to these, You may provide the other input device and output device.

  The current value measuring unit 60 is for measuring an output current value supplied to the motor 20. The current value measuring unit 60 can constantly measure the output current value supplied to the motor 20 while the motor 20 is in operation, and notify the control unit 21 of the result.

  The limit value input unit 70 receives an input for changing a limit value to be described later. Note that the limit value input unit 70 according to the present embodiment accepts user operation input via a switch or the like attached to the binding machine 10, but instead of this, the outside of the binding machine 10 (control For example, a control signal transmitted from a control controller or the like may be received. The input information received in this way is notified to the limit value switching unit 120 by the limit value input unit 70.

  The limit value input unit 70 may be provided with a knob that can be operated by the user, for example, although not particularly illustrated. That is, the user may be allowed to select an arbitrary limit value by operating a knob attached to the binding machine 10. Further, the limit value input unit 70 may be configured to allow the user to select the size and material of the object to be bound 50. For example, when the user selects the size or material of the object to be bound 50, the limit value input unit 70 notifies the setting to a limit value switching unit 120 (described later), and the limit value switching unit 120 determines the size or material of the object to be bound 50. A limit value suitable for the material may be set.

  Further, in order to control the input device and the output device described above, the control unit 21 operates as shown in FIG. 2, the section control unit 110, the limit value switching unit 120, the current value limiting unit 130, the load estimating unit 140, the operation. Functions as the range determination unit 150, the holding time determination unit 160, and the drive control unit 170 are realized.

  The section control unit 110 divides the operating range of the drive mechanism 22 into two or more sections, and detects that the section has changed while the drive mechanism 22 is being driven. The section control unit 110 according to the present embodiment manages the operating range of the drive mechanism 22 (from the standby state shown in FIG. 9 to the bundling completion state shown in FIG. 11) divided into two sections.

  The section detection by the section control unit 110 is performed using, for example, the rotation speed of the motor 20. Specifically, when the drive mechanism 22 starts to operate from the standby position, it starts counting the number of rotations of the motor 20, and determines that the section has changed when the number of rotations of the motor 20 reaches a certain number. Also good. Note that the method of detecting the section by the section control unit 110 is not limited to using the rotation speed of the motor 20. For example, the operation time of the motor 20 may be used, or the position information of the drive mechanism 22 and the driver 25 may be used.

  The limit value switching unit 120 performs control to switch the limit value of the output current value supplied to the motor 20. The limit value switching unit 120 holds a plurality of limit values in advance, and switches and uses the plurality of limit values according to the input of the limit value input unit 70 or the section defined by the section control unit 110. . For example, as shown in FIG. 12, the limit value is determined by a combination of the input of the limit value input unit 70 and the section defined by the section control unit 110. In the present embodiment, the user can select any one of “setting 1”, “setting 2”, and “setting 3” using the limit value input unit 70, and the limit value changes for each setting. It has become. Further, the section control unit 110 holds limit values corresponding to each section, and in this embodiment, holds limit values corresponding to “section 1” and “section 2”.

  The limit value corresponding to each section is set so that the limit value of the section to be executed later is larger. That is, the limit value of “Section 2” is set to be larger than the limit value of “Section 1”.

  It should be noted that the limit value does not necessarily have to be provided corresponding to all the sections, and it is sufficient that limit values corresponding to at least some sections are set. In other words, a limit value may not be provided for some sections. In this embodiment, the limit value may not be provided for “Section 1”, but may be provided only for “Section 2”.

  The limit value switching unit 120 sets a limit value with reference to the list shown in FIG. 12 at the timing when the motor 20 starts rotating and when the section control unit 110 detects that the section has changed.

  The current value limiting unit 130 limits the output current value supplied to the motor 20 so as not to exceed the limit value. Specifically, the current value limiting unit 130 performs control so that the current value measured by the current value measuring unit 60 does not exceed the limit value set by the limit value switching unit 120. For this reason, for example, when the torque for bundling increases and the current value reaches the limit value, the current value supplied to the motor 20 does not increase any further, so that the driver 25 does not move further in the launch direction. It has become.

  The load estimation unit 140 is for estimating the load of the motor 20. The load estimation unit 140 according to the present embodiment estimates the load of the motor 20 based on the waveform of the output current value measured by the current value measurement unit 60. For example, it is estimated that the load of the motor 20 has exceeded the threshold when the slope of the output current value becomes a certain value or more.

  The operation range determination unit 150 determines the binding completion position according to the estimation result of the load estimation unit 140. For example, when it is determined that the load of the motor 20 exceeds the threshold value as a result of estimation by the load estimation unit 140, the operation range determination unit 150 sets the binding completion position to be earlier than usual. Thus, if the binding completion position is set to be earlier than usual, the driver 25 stops at a timing earlier than usual, so that the clinch of the binding tool 41 becomes weaker than usual. By comprising in this way, when the to-be-bundled object 50 is thick or hard, the clinch of the binding tool 41 can be made weaker than usual, and overtightening can be prevented.

  The holding time determination unit 160 determines the time for stopping the drive mechanism 22 at the binding completion position according to the estimation result of the load estimation unit 140. For example, if it is determined that the load of the motor 20 exceeds the threshold value as a result of estimation by the load estimation unit 140, the holding time determination unit 160 shortens the time for stopping the drive mechanism 22 at the bundling completion position. Set as follows. When the stop time is set to be shorter than usual, the time for pressing the binding tool 41 against the clincher 18 by the driver 25 becomes shorter than normal, and the clinch of the binding tool 41 becomes weaker than usual. By comprising in this way, when the to-be-bundled object 50 is thick or hard, the clinch of the binding tool 41 can be made weaker than usual, and overtightening can be prevented.

  Note that the stop time of the driving mechanism 22 determined by the holding time determination unit 160 may change according to the input information acquired by the limit value input unit 70.

  For example, the threshold value may be set according to the input information acquired by the limit value input unit 70. Then, when the load of the motor 20 exceeds the threshold, the holding time determination unit 160 may make the time for stopping the drive mechanism 22 at the binding completion position shorter than usual. Specifically, when the setting of the limit value input unit 70 is “weak” (when the user sets so that the binding becomes loose), control for lowering the threshold internally may be executed. In this case, the threshold value is easily reached, that is, the stop time of the drive mechanism 22 is likely to be shortened. If comprised in this way, the stop time of the drive mechanism 22 which the holding time determination part 160 determines can be made changeable by a user setting.

  In addition, the stop time of the drive mechanism 22 may be determined directly according to the input information acquired by the limit value input unit 70. For example, when the setting of the limit value input unit 70 is “weak” (when the user sets the binding to be loose), the stop time of the drive mechanism 22 determined by the holding time determination unit 160 may be shortened. Even in such a configuration, the stop time of the drive mechanism 22 determined by the holding time determination unit 160 can be changed by user settings.

  The drive control unit 170 controls the drive mechanism 22 to operate in an operation range from a predetermined standby position to a binding completion position. For example, the drive control unit 170 detects the rotational speed of the motor 20 to recognize the position of the driver 25 and control the operating range of the drive mechanism 22.

  Next, the control flow of the bundling operation by the control unit 21 will be described with reference to FIG.

  First, in step S100 shown in FIG. 6, the operation of the switch 14a is detected, and the bundling operation is started. Then, the process proceeds to step S105.

  In step S105, initial values are set for the limit value, the binding completion position, and the holding time. In the present embodiment, the initial value of the limit value varies depending on the setting of the limit value input unit 70. For example, when the setting of the limit value input unit 70 is “setting 1”, the “limit value A” of “setting 1” and “section 1” is the initial limit value as shown in FIG. Then, the process proceeds to step S110.

  In step S110, the motor 20 starts normal rotation. At this time, measurement of the rotation speed of the motor 20 is started. Then, the process proceeds to step S115.

  In step S115, the section control unit 110 checks whether the section has changed. Specifically, when the rotation speed of the motor 20 is equal to or higher than a predetermined rotation speed in the “section 1” state, it is determined that the operation has shifted to “section 2”. Thus, when it is detected that the section has changed, the process proceeds to step S120. On the other hand, if it is not detected that the section has changed, the process proceeds to step S125.

  In step S120, the limit value switching unit 120 performs control to switch the limit value. Specifically, when the transition is made from “section 1” to “section 2”, the limit value is changed from “limit value A” to “limit value D” as shown in FIG. Then, the process proceeds to step S125.

  In step S125, the load estimation unit 140 checks whether the load of the motor 20 has exceeded a threshold value. When the load of the motor 20 exceeds the threshold value, the process proceeds to step S130. On the other hand, when the load of the motor 20 does not exceed the threshold value, the process proceeds to step S135.

  In step S130, the operating range determination unit 150 sets the binding completion position to be earlier than usual. In addition, the holding time determination unit 160 sets the time for stopping the driving mechanism 22 at the binding completion position to be shorter than usual. Then, the process proceeds to step S135.

  In step S135, the current value limiter 130 checks whether the output current value supplied to the motor 20 has reached the limit value. That is, in the case of “setting 1”, it is checked whether the output current value has reached “limit value A” in “section 1”, and the output current value is “limit value D” in “section 2”. Is checked. When the state where the output current value has reached the limit value continues for a predetermined time (preset time), it is determined that the bundling is completed, and the process proceeds to step S145. On the other hand, if the state where the output current value has reached the limit value has not continued for a predetermined time, the process proceeds to step S140.

  In step S140, it is checked whether the binding completion position has been reached. In the present embodiment, it is checked whether the binding completion position has been reached with reference to the rotation speed of the motor 20. At this time, if the bundling completion position is set to be earlier than normal in step S130, the bundling completion position set in step S130 is not the normal bundling completion position (initial value). Is used. If the binding completion position has been reached, the process proceeds to step S145. On the other hand, if the binding completion position has not been reached, the process returns to step S115.

  In step S145, the drive control unit 170 stops the motor 20. Then, the process proceeds to step S150.

  In step S150, the process waits until a predetermined holding time elapses. At this time, if the holding time is set to be shorter than normal in step S130, the process waits for the holding time set in step S130 instead of the normal holding time (initial value). Thereby, since it stops for a fixed time in the state which applied the load to the binding tool 41, the deformation | transformation of the binding tool 41 which carried out plastic deformation becomes difficult to return. Then, the process proceeds to step S155.

  In step S155, the drive control unit 170 reversely rotates the motor 20 and returns to the standby state. This completes a series of bundling operations.

  As described above, according to the present embodiment, the control unit 21 determines that the bundling has been completed when the output current value supplied to the motor 20 has reached a predetermined limit value for a predetermined time. The rotation of the motor 20 is stopped.

  According to such a configuration, even if the output current value increases due to an increase in torque, the output current value does not exceed the limit value, so that it is not excessively tightened. Therefore, breakage of the object to be bound 50 due to overtightening can be prevented. Further, since it is not necessary to set in advance so that the binding becomes weak, the binding completion position can be set with a sufficient margin. Therefore, even when the object to be bound 50 is thin or soft, sufficient binding can be performed, and the problem that the binding is not stable because the tightening is too weak can be avoided. Thus, since the stop position of the drive mechanism 22 changes according to torque, the degree of tightening can be automatically adjusted according to the thickness and hardness of the objects to be bound.

  In the conventional configuration, since it was determined that the bundling was completed when the bundling mechanism such as a jaw moved to a predetermined position, it was difficult to adjust the tightening amount. In this regard, in the present embodiment, the tightening amount can be adjusted by changing the way of thinking that the completion of the binding is determined not by the stop position of the driver 25 but by the output current value.

  Further, if the limit value is made different for each section, the control value can be switched at the initial stage or the final stage of the binding operation, and the tightening condition can be finely adjusted.

  If the limit value is set low at the initial stage of the bundling operation where the torque should not normally increase, the motor 20 can be stopped when an abnormality occurs. That is, it is possible to provide an error detection function.

  Moreover, the load estimation part 140 which estimates the load of the motor 20 and the operation range determination part 150 which determines the completion position of bundling according to the estimation result of the load estimation part 140 are provided. According to such a configuration, when a large load is detected by bundling the to-be-bundled objects 50 that are hard or thick, the bundling completion position can be advanced, that is, the bundling can be performed weaker than usual. Since it can do, it can prevent being bound too strongly.

  In addition, a holding time determination unit 160 that determines a time for stopping the drive mechanism 22 at the binding completion position according to the estimation result of the load estimation unit 140 is provided. According to such a configuration, when a large load is detected by bundling the object to be bound 50 which is hard or thick, the stop time in the clinch state can be shortened, that is, the binding is weaker than usual. Therefore, it is possible to prevent the binding from being excessively strong.

  That is, if the driver 25 is returned immediately after the binding is completed, the plastically deformed binding tool 41 may return. In order to reduce such a return, there is a method of applying a strong load. However, if an excessive load is applied, the object to be bound 50 is damaged. For this reason, in this embodiment, after determining that the bundling has been completed and stopping the rotation of the motor 20, it is stopped for a certain period of time while a load is applied. In this way, by continuing to apply a load to the binding tool 41 for a certain period of time, the deformation of the binding tool 41 that has been plastically deformed becomes difficult to return.

  At this time, if the time for applying the load is too long, the bundling interval becomes long and the workability is lowered, so the time for applying the load needs to be kept appropriately. In this embodiment, the binding load is estimated from the output current value, and the holding time corresponding to the load is determined. That is, an appropriate holding time is automatically selected by predicting the load at the stop position from the current (output) fluctuation during binding and determining the holding time according to the load.

  Note that the method for adjusting the time for applying the load is not limited to the method for dynamically estimating the load, but the holding time may be changed according to a statically set tightening load. For example, the holding time may be set by an external input operation such that the holding time can be changed by an input from the limit value input unit 70.

  Moreover, since the load estimation part 140 estimates the load of the motor 20 based on the waveform of an output current value, it can detect the load of the motor 20 simply and reliably.

  Moreover, the limit value input part 70 which receives the input for changing a limit value is provided. According to such a configuration, the user can adjust the tightening degree according to the type of the object to be bound 50. Therefore, not only can the degree of tightening be adjusted automatically, but also the user can adjust the degree of tightening.

  In the above-described embodiment, the load estimation unit 140 estimates the load of the motor 20 based on the waveform of the output current value. However, the present invention is not limited to this. For example, the load on the motor 20 may be estimated based on the waveform of the output voltage value. Further, the load of the motor 20 may be estimated by measuring the output of the ball screw 24 with a load cell or the like. Alternatively, the load on the motor 20 may be estimated based on the moving speed of the driver 25 (or the rotational speed of the motor 20).

DESCRIPTION OF SYMBOLS 10 Binding machine 11 Housing 12 Motor accommodating part 12a Power supply connection part 13 Grip part 14 Operation part 14a Switch 15 Output part 16 Insertion port 17 Projection formation part 18 Clincher 20 Motor 21 Control part 22 Drive mechanism 23 Deceleration mechanism 24 Ball screw 24a Screw shaft 24b Nut 25 Driver 26 Interlocking mechanism 27 Slide member 27a Hook 27b Inclined part 27c Horizontal part 28 Connecting member 30 Guide member 30a Oscillating shaft 30b Actuating pin 35 Magazine part 35a Rib 35b Groove part 36 Pusher 37 Standby part 40 Connecting and binding tool 41 Binding tool 41a Leg part 41b Connection part 41c Opening part 50 Bundled object 60 Current value measurement part 70 Limit value input part 110 Section control part 120 Limit value switching part 130 Current value restriction part 140 Load estimation part 150 Operation range determination part 160 Lifting time determining section 170 the drive control unit

Claims (8)

A binding machine for binding an object to be bound by a plastically deformable binding tool,
A motor,
A drive mechanism that performs a bundling operation by being driven by the motor;
A control unit for controlling rotation of the motor;
With
The control unit determines that bundling is completed and stops rotation of the motor when a state in which an output current value supplied to the motor reaches a predetermined limit value continues for a predetermined time. , Binding machine. A section control unit that divides the operating range of the drive mechanism into two or more sections, and detects that the section has changed during driving of the drive mechanism;
A limit value switching unit that performs control to switch the limit value when the section control unit detects that the section has changed;
The binding machine according to claim 1, further comprising:   The binding machine according to claim 1, further comprising a limit value input unit that receives an input for changing the limit value.   4. The control unit according to claim 1, wherein the control unit determines that bundling is completed and stops the rotation of the motor, and then stops for a predetermined time in a state where a load is applied. 5. Binding machine.   The binding machine according to claim 4, wherein the predetermined time can be changed by a user setting. A binding machine for binding an object to be bound by a plastically deformable binding tool,
A motor,
A drive mechanism that performs a bundling operation by being driven by the motor;
A control unit for controlling rotation of the motor;
With
The controller is
A load estimation unit for estimating the load of the motor;
In accordance with the estimation result of the load estimation unit, an operation range determination unit that determines a binding completion position;
A binding machine characterized by comprising: A binding machine for binding an object to be bound by a plastically deformable binding tool,
A motor,
A drive mechanism that performs a bundling operation by being driven by the motor;
A control unit for controlling rotation of the motor;
With
The controller is
A load estimation unit for estimating the load of the motor;
In accordance with the estimation result of the load estimation unit, a holding time determination unit that determines a time to stop the drive mechanism at the binding completion position;
A binding machine characterized by comprising:   The binding machine according to claim 7, wherein the load estimation unit estimates a load of the motor based on a waveform of an output current value supplied to the motor.

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