End machine

Abstract

To provide a strapping machine that enables highly accurate positioning of the driver while suppressing a decrease in work efficiency. [Solution] The binding machine according to the present disclosure comprises a driver unit for binding staples to an object by moving in a first direction and pressing staples, a motor unit for moving the driver unit, a control unit for controlling the motor unit, a speed acquisition unit for detecting the speed of movement of the driver unit in the first direction, and a position acquisition unit for acquiring the position of the driver unit in the first direction, wherein the control unit acquires the deceleration start position of the moving driver unit based on a stop target position set for each binding machine and the speed of movement acquired by the speed acquisition unit, and when the position detection unit determines that the driver unit has reached the deceleration start position, it controls the motor unit so that the driver unit decelerates.

Description

Technical Field

[0001] The present invention relates to a binding machine.

Background Art

[0002] Staples for holding stems, vines, branches, etc. of plants and trees on guide elements such as wires, beams, strings, rods, pipes, and tree branches are known.

[0003] Patent Documents 1 to 3 disclose such staples and a binding machine for binding using such staples. The binding machine described in Patent Document 3 includes a driver that presses and moves a staple forward, and a displacement portion that engages with a guide element (which may also be referred to as an "object") by curving or bending the legs of the staple that moves forward.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to surely perform binding in such a binding machine, it is necessary to secure the moving distance of the driver. However, if a margin is provided in the dimensions so as not to collide with other parts of the binding machine such as a guide plate, the binding machine will be enlarged. On the other hand, if the driver is moved at a low speed in order to accurately position it, the work efficiency will be reduced.

[0006] Therefore, the present invention aims to provide a binding machine that enables highly accurate positioning of the driver while suppressing a decrease in work efficiency. [Means for solving the problem]

[0007] This application relates to a fastening machine comprising: a driver unit for fastening staples to an object by moving in a first direction and pressing the staples; a motor unit for moving the driver unit; a control unit for controlling the motor unit; a speed acquisition unit for acquiring the speed of the driver unit in the first direction; and a position acquisition unit for acquiring the position of the driver unit in the first direction. In such a fastening machine, the control unit acquires the deceleration start position of the moving driver unit based on a stop target position set for each fastening machine and the speed acquired by the speed acquisition unit, and when it determines that the driver unit has reached the deceleration start position based on the position information of the driver unit acquired from the position acquisition unit, it controls the motor unit to decelerate the driver unit.

[0008] Here, staples (sometimes called "linear fasteners") are made from flexible wires that are plastically deformable and include components (including those with a plated or resin-coated surface) that engage with an object by deforming. Staples are also sometimes called wires, clips, wires, or fasteners.

[0009] The staple may be composed of any shape including two legs and a connecting portion (sometimes called a crown) that connects the two legs. Here, the two legs may be formed as parallel line segments, as non-parallel line segments, curves, or a combination thereof. The crown may be formed as a straight line or as a curve. For example, the staple may have an asymmetrical shape, as illustrated in this embodiment. Furthermore, binding includes restraining the relative movement of one object and another object using staples. For example, binding of objects may be achieved by surrounding one object (sometimes called the "second object," such as the stem, vine, or branch of a plant or tree) with staples, and then engaging, for example, both ends (two tips) of the staples with the other object (sometimes called the "first object," "guide," or "guide element," such as a wire, beam, string, rod, pipe, or tree branch). [Brief explanation of the drawing]

[0010] [Figure 1A] Figure 1A is a plan view (top view) showing staples before deformation, which are bound by a binding machine according to one embodiment. [Figure 1B] Figure 1B is a perspective view showing deformed staples being fastened by a fastening machine according to one embodiment. [Figure 2] Figure 2 is a perspective view of a strapping machine according to one embodiment. [Figure 3] Figure 3 is a top view of a strapping machine according to one embodiment. [Figure 4] Figure 4 is a side view of a strapping machine according to one embodiment. [Figure 5] Figure 5 is a side view of a strapping machine according to one embodiment. [Figure 6] Figure 6 is a block diagram of a strapping machine according to one embodiment. [Figure 7A] Figure 7A is a flowchart of the operating modes of a strapping machine according to one embodiment. [Figure 7B] Figure 7B is a schematic diagram illustrating the position of the driver of a strapping machine according to one embodiment. [Figure 8] Figure 8 is a flowchart of the operating modes of a strapping machine according to one embodiment. [Figure 9A] Figure 9A is a graph showing the rotational speed of the motor of a binding machine according to one embodiment. [Figure 9B] Figure 9B is a graph showing the rotational speed of the motor of a binding machine according to one embodiment. [Figure 10A] FIG. 10A is a graph showing the motor current amount of the binding machine according to one embodiment. [Figure 10B] FIG. 10B is a graph showing the motor current amount of the binding machine according to one embodiment. MODE FOR CARRYING OUT THE INVENTION

[0011] Hereinafter, the configuration of the binding machine 100 according to the present embodiment and the staple S used by this binding machine 100 will be described. However, as will be understood by those skilled in the art, the present invention is widely applicable to a binding machine including a driver unit for binding a staple to an object by pressing the staple in a predetermined direction, a drive unit for driving the driver unit in a predetermined direction and the opposite direction, and a control unit for controlling the drive unit, and is not limited to the staple S and the binding machine 100 shown in the present embodiment. Hereinafter, first, the configuration of the staple S according to the present embodiment will be described.

[0012] [Configuration of Staple S] First, the configuration of the staple S according to the present embodiment will be described. The staple S is composed of a wire having plasticity that can be plastically deformed. The staple S may be called a wire or a clip. The staple S includes, for example, a wire or a metal wire (including those whose surface is coated with plating or resin, etc.).

[0013] FIG. 1A is a plan view of the staple S in a top view in a state before binding (which may be called "before deformation"; the same applies hereinafter) according to the present embodiment. FIG. 1B is a perspective view of the staple S in a state after binding (which may be called "after deformation", "engagement time", etc.; the same applies hereinafter) according to the present embodiment.

[0014] First, the configuration of the staple S before binding will be described. This staple S has a first leg portion S1, a second leg portion S2, and a main body portion S3 that connects the first leg portion S1 and the second leg portion S2. In the state before binding, since the first leg portion S1 and the second leg portion S2 of the staple S are provided separately, an opening is provided between the first leg portion S1 and the second leg portion S2. In this embodiment, the direction from the main body portion S3, which is the portion that is closed, toward the opening (the left direction in the paper surface in FIG. 1A) may be referred to as the opening direction DR1 of the (staple S). Also, a direction that is perpendicular to the extending direction of the staple S (for example, the opening direction DR1 in the case of the second leg portion S2 of the staple S in this embodiment) and perpendicular to the stacking direction described later is referred to as the side surface direction of the (corresponding portion of the staple S), and the surface of the staple S facing the side surface direction may be referred to as the side surface of the staple S. Further, a direction that is perpendicular to the side surface direction and in which a plurality of staples S are connected is referred to as the stacking direction or the connecting direction. In particular, the front direction perpendicular to the paper surface in FIG. 1A may be referred to as the upper stacking direction of the (staple S), and the depth direction perpendicular to the paper surface in FIG. 1A may be referred to as the lower stacking direction of the (staple S).

[0015] More specifically, the staple S includes a main body portion S3 that connects the first leg portion S1 and the second leg portion S2 and surrounds a second object P such as a stem, a first leg portion S1 that is connected to one end of the main body portion S3, includes a first portion S11 that bends and extends outward, and a second portion S12 that further bends from the first portion S11 and extends in the opening direction DR1, and a second leg portion S2 that is connected to the other end of the main body portion S3 and includes a third portion S23 that extends in the opening direction DR1 and a fourth portion S24 that is bent outward from the tip of the third portion S23. As shown in the same figure, the main body portion S3 is formed by curving in a C shape or an arc shape of a semicircle. Note that the first portion S11 that connects the main body portion S3 and the second portion S12 may be referred to as a crank portion, and the second portion S12 that is connected to the first portion S11 and linearly extends in the opening direction DR1 may be referred to as a straight portion. Further, the fourth portion S24 that corresponds to the other tip of the staple S and bends at an acute angle with respect to the third portion S23 may be referred to as a hook portion.

[0016] As shown in Figure 1B, which illustrates the deformed state, the hook portion S24, which corresponds to the tip of the second leg portion S2, engages with the first object G when the second leg portion S2 is bent in a direction approaching the first object G by the fastening machine 100 described later and hooked onto the first object G. At this time, the opening that was provided between the two legs in the state before deformation is closed when viewed from above, so that the second object P can be surrounded using staples S.

[0017] When the hook portion S24 is engaged with the first object G, the third portion S23 exerts an elastic force in the direction that widens the opening and returns it to its original position. As a result, the hook portion S24 can apply tension to the first object G in the direction that widens the opening, that is, in the direction that separates it from the first leg portion S1 and returns it to its original position. This makes it possible to prevent the first object G from bending and the encirclement of the second object P by the staples S from being released.

[0018] [Strapping machine configuration] The following describes an example of the configuration of a stapling machine 100 for bending staples S shown in Figure 1A as shown in Figure 1B. However, the stapling machine may have other known configurations.

[0019] Except for some aspects where the configuration is reversed left to right (i.e., the first and second displacement parts of the binding machine disclosed in Patent Document 3, etc. are reversed left to right), the basic configuration of the binding machine 100 of this embodiment is the same as that of the binding machine disclosed in the said document, etc. Therefore, the configurations of the binding machine 100 will be described in an appropriate manner, with omissions and simplifications, so that it can be implemented by a person skilled in the art based on the said document, the description in this specification, and the state of the art at the time of filing this application.

[0020] Furthermore, in order to explain the relative directional relationships, for convenience, the direction to the right of the page in Figure 4 (described later) is sometimes called the front X1, the opposite direction to the left of the page is called the rear X2, and both directions are collectively referred to as the front-rear direction X. As mentioned above, the front X1 corresponds to the direction in which the connected upper end staple S supported by the magazine 140 separates from the other staples S and moves, and also coincides with the opening direction DR1 of the staple S (Figure 1A).

[0021] Furthermore, in Figure 4, the direction upwards on the paper is sometimes called upward Z1, and the opposite direction downwards on the paper is sometimes called downward Z2, and both directions are sometimes collectively referred to as the up-down direction Z. In this embodiment, the up-down direction Z corresponds to the extension direction of the magazine 140 and also coincides with the connection direction DR2 (stacking direction) of the connected staples S supported by the magazine 140. Furthermore, in the same figure, the depth direction perpendicular to the paper is sometimes called leftward Y1, and the opposite direction perpendicular to the paper towards the front is sometimes called rightward Y2, and both directions are sometimes collectively referred to as the left-right direction Y. Furthermore, a top view (bottom view) refers to the viewpoint when the strapping machine 100, etc. is viewed from a position above Z1 (below Z2) looking downward Z2 (above Z1), a front view (rear view) refers to the viewpoint when the strapping machine 100, etc. is viewed from a position in front X1 (rear X2) looking backward X2 (front X1), and a right side view (left side view) refers to the viewpoint when the strapping machine 100, etc. is viewed from the left Y1 looking right Y2 (or from the right Y2 looking left Y1).

[0022] Figure 2 is a perspective view of the strapping machine 100 from above at Z1. Figure 3 is a top view of the strapping machine 100 from above at Z1 (top view of the strapping machine 100), Figure 4 is a side view of the strapping machine 100 from the Y2 direction, and Figure 5 is a side view of the strapping machine 100 from the Y1 direction.

[0023] As shown in Figures 2, 4, and 5, the stapling machine 100 includes a grip portion 120 that extends vertically so as to be grasped by the user and is equipped with a switch for driving the stapling machine 100, a magazine 140 configured to support (hold) a plurality of staples S (sometimes referred to as "connected staples S") stacked and connected vertically, and a stapling section configured to fasten two objects, a first object G and a second object P, using one staple S. Here, the part of the stapling machine 100 excluding the detachably provided magazine 140, including the grip portion 120 and the stapling section, is sometimes referred to as the main body portion 150. The stapling machine 100 further includes a magazine mounting portion 160 configured to detachably attach the magazine 140 to the main body portion 150.

[0024] [Structure of the binding part] The following describes an example of the configuration of the fastening section of a fastening machine 100 for bending the staple S shown in Figure 1A as shown in Figure 1B. However, other known configurations may be used as means for deforming the staple.

[0025] The binding machine 100 includes a binding section in addition to the magazine 140 and the like described above. The binding section is the part that bends staples to bind objects together. The binding section of this embodiment includes a first displacement section 200 that displaces the first leg S1 of the staple S so as to be able to engage with the first object G, and a second displacement section 300 that displaces the second leg S2 of the staple S so as to be able to engage with the first object G.

[0026] The first displacement section 200 is located in front of the first leg section S1 and has a hole with an inner wall surface including a cylindrical surface. With the first object G inserted on the central axis of this cylindrical surface, the stapling machine 100 causes the tip S1P of the first leg section S1 of the staple S, which is advanced by the driver 142 (see Figure 3, etc.), to come into contact with (collide with) the inner wall surface, deforming the tip ST into a spiral shape so as to surround the first object G, thereby engaging the tip ST with the first object G. On the other hand, the second displacement section 300 has a wall section located in front of the second leg section S2. The stapling machine 100, with the first leg S1, second leg S2, and main body S3 of the staple S surrounding the second object P, uses the driver 142 to advance the staple S, causing the second leg S2 of the staple S to come into contact with (collide with) the wall, bending the hook portion S24 of the second leg S2 so that it engages with the first object G, thereby engaging the hook portion S24 with the first object G. The stapling machine 100 is configured to fasten the first object G and the second object P together by engaging both ends of the staple S with the first object G while the staple S surrounds the second object P.

[0027] Specifically, the stapling machine 100 includes a driver 142 that pushes the staple S located at the upper end forward X1, coinciding with the opening direction DR1, thereby separating the staple S located at the upper end from other staples S and moving it forward X1; a moving mechanism for moving the driver 142; a first displacement part 200 for curving and spirally deforming the first leg portion S1 of the staple S; and a second displacement part 300 for deforming the second leg portion S2 of the staple S by curving or bending it.

[0028] [Driver and driver movement mechanism] As described in Patent Document 3 and other documents mentioned above, the binding machine 100 is configured to move the nut component and the driver 142 fixed thereto forward X1 and backward X2 by rotating a ball screw, which is installed extending in the front-rear direction from approximately the center of the binding machine 100, in either the forward or reverse direction using a built-in motor 54 (Figure 7). Here, the nut component and the driver 142 are configured to move forward X1 and backward X2, and are therefore sometimes referred to as the moving part. The motor 54 moves the driver 142 forward X1 by rotating the ball screw in the forward direction, and moves the driver 142 backward X2 by rotating the ball screw in the reverse direction, and is therefore sometimes referred to as the drive part.

[0029] The driver 142 moves forward X1 and presses the staple S, thereby moving the staple S forward X1 and engaging (fastening) the staple S to the first object G.

[0030] In this embodiment, the driver 142 is configured to separate the uppermost staple S from the other staples S, which are stacked vertically in the magazine 140, while maintaining a front-to-back relationship where the opening of the staple S is in the front and the main body S3 is in the rear, and move it forward X1. Furthermore, the driver 142 is configured to move the separated staple S further forward X1, causing the first leg S1 to come into contact with the first displacement part 200, thereby plastically deforming the first leg S1, and causing the second leg S2 to come into contact with the guide wall included in the second displacement part 300, thereby plastically deforming the second leg S2 and engaging it with the first object G.

[0031] Furthermore, the bundling machine 100 is equipped with a control unit 500 for controlling the motor 54, which is the drive unit. The configuration including the control unit 500 will be described later.

[0032] The bundling machine 100 may further include a reduction gear connected to the output shaft of the motor and a printed circuit board on which the control unit 500 of the motor 54 is mounted.

[0033] [First displacement section] The first displacement section 200 (an example of a "displacement section") has the function of displacing the first leg portion S1 of the staple S, which is moved forward X1 by the driver 142, in a spiral shape so as to surround the first object G, thereby enabling engagement with the first object G. As shown in Figures 2 to 5, the first displacement section 200 is located to the left (Y1 direction) of the binding machine 100.

[0034] The first displacement portion 200 according to this embodiment includes a hole with a cylindrical inner wall surface into which the tip S1P of the straight portion S12 of the first leg portion S1 of the staple S is inserted as it moves forward by the driver 142, causing the tip portion ST of the first leg portion S1 to advance downward Z2 (downward in the stacking direction) while curving in an arc or spiral shape, and a groove that guides the tip portion of the first leg portion S1 into the hole. The hole is provided in front of the first leg portion S1 X1 such that the axial direction of the cylindrical surface is parallel to the vertical direction Z, so that as the staple S moves forward, the tip S1P of the straight portion S12 comes into contact with the inner wall surface of the hole, and the tip portion ST is displaced so that it advances spirally according to the shape of the inner wall surface. Furthermore, in order to facilitate the downward movement of the tip ST, the binding machine 100 may be provided with a lid portion 250 (sometimes called a "cover portion 250") that closes the upper part of the hole (the top surface of the cylinder), and the lid portion may have a tapered surface that slopes downward Z2 along the circumferential direction in order to facilitate the downward movement of the tip S1P.

[0035] With this configuration, for example, by positioning the first object G, which is a guide string, so as to extend vertically along the central axis of the hole, and inserting the tip S1P of the first leg S1 into the hole, the tip S1P moves in a spiral motion along the cylindrical inner wall surface of the hole. This causes the tip ST to deform spirally around the first object G, making it possible to engage the tip ST with the first object G. In this embodiment, the hole described here is realized by the clincher portion 210.

[0036] [Second displacement section] The second displacement section 300 (an example of a "displacement section") has the function of displacing the second leg portion S2 of the staple S, which is moved forward X1 by the driver 142, so that it can engage with the first object G. As shown in Figures 2 to 5, the second displacement section 300 is provided in the Y2 direction of the binding machine 100.

[0037] A detailed explanation will be omitted as it can be easily implemented by those skilled in the art based on the state of the art at the time of this application, including the above-mentioned Patent Document 3, etc. However, the second displacement part 300 according to this embodiment is configured to displace the second leg S2 inward of the staple S as the driver 142 moves forward X1. Specifically, the second displacement part 300 is provided on the outside of the second leg S2 in the initial state before the staple S starts to be displaced, and has a first guide wall that causes the second leg S2 to bend when it comes into contact with the second leg S2 of the staple S moving in the opening direction DR1 (forward X1). This first guide wall has a recess that is recessed toward the outside of the staple S.

[0038] Furthermore, the second displacement section 300 includes a second guide wall provided in front of the second leg portion S2 in the initial state before the staple S begins to move, which causes the second leg portion S2 to bend when it comes into contact with the second leg portion S2 of the staple S moving in the opening direction DR1. This second guide wall has a wall surface facing rearward X2 and a protrusion that further protrudes rearward X2. In the initial state, this protrusion is provided in front of the second leg portion S2 in the front-rear direction and inward of the second leg portion S2 in the left-right direction, and is provided at the inner end of the second guide wall such that the amount of protrusion to the rearward X2 increases as it moves inward.

[0039] With this configuration, the second leg portion S2 of the staple S, which is advanced by the driver 142, comes into contact (collides) with the first guide wall and the inner wall surface of the second guide wall, making it possible to bend the third portion S23 of the second leg portion S2 so that it curves significantly. This makes it possible to displace the hook portion S24 in a direction that approaches the first object G and hook it onto the first object G.

[0040] As described above, of the staples S advanced by the driver 142, the first leg S1 is deformed spirally by the first displacement part 200 and engages with the first object G, and the second leg S2's hook part S24 is hooked onto the first object G by the second displacement part 300 and engages with it, making it possible to fasten the first object G and the second object P together.

[0041] [Configuration of the control unit] The configuration including the control unit of this embodiment will be described below. Figure 6 is a functional block diagram of the strapping machine 100 according to this embodiment.

[0042] The strapping machine 100 includes a control unit 500 that generates control commands for controlling the motor 54, a speed acquisition unit 502 that acquires information indicating the speed of movement of the driver 142 in front of X1, a position acquisition unit 504 that acquires position information of the driver 142 in the front-rear direction X (or forward X1), a stop target position setting unit 506 that sets and stores the stop target position of the driver 142 moving forward X1 for each strapping machine 100, a rotation amount acquisition unit 508 that acquires information indicating the amount of rotation of the motor 54, a rotation speed acquisition unit 510 that acquires information indicating the rotation speed of the motor 54, a current amount acquisition unit 512 that acquires information indicating the current of the motor 54, and a dry-fire detection unit 514 that detects dry-fire (described later). Details are described below. The control unit 500, speed acquisition unit 502, position acquisition unit 504, stop target position setting unit 506, rotation amount acquisition unit 508, rotation speed acquisition unit 510, current amount acquisition unit 512, and dry-fire detection unit 514 are all components for controlling the binding machine 100, and therefore these components may be collectively referred to as the binding machine control unit.

[0043] The control unit 500 controls the motor 54 by generating control commands for controlling the motor 54. If the motor 54 is, for example, a three-phase DC brushless motor, the control unit 500 may include an inverter circuit with a total of six switching elements, each having two switching elements connected to the DC bus for supplying the power supply voltage between each phase, a driver circuit and a logic circuit for generating control signals to turn each switching element of the inverter circuit on and off, and a non-volatile semiconductor memory for storing a computer program (sometimes called "firmware") for generating different control signals depending on the operating mode. In this embodiment, the computer program includes a first computer program for a binding mode (an example of a "first mode") that controls the motor 54 to move the driver 142 forward X1 at high speed (an example of a "first speed") to perform a binding operation, and a second computer program for a stop target position setting mode (an example of a "second mode") that controls the motor 54 to move the driver 142 forward X1 at low speed (an example of a "second speed") to set a stop target position.

[0044] Furthermore, the first computer program for executing the binding mode includes a deceleration control program for controlling the motor 54 to decelerate the driver 142 moving forward X1, and a stop control program for controlling the motor 54 to stop the decelerated driver 142.

[0045] As will be described later, the control unit 500 calculates the deceleration start position of the driver 142 based on information indicating the stop target position obtained from the stop target position setting unit 506, which stores information indicating the stop target position set for each binding machine, and information indicating the forward movement speed of the driver 142 X1 obtained from the speed acquisition unit 502. Based on the calculation result and the position information of the driver 142 in the front-rear direction X obtained from the position acquisition unit 504, the control unit 500 determines that the driver 142 has reached the acquired deceleration start position, and then executes a deceleration control program to control the motor 54 so that the driver 142 decelerates.

[0046] With this configuration, a target stopping position is set for each strapping machine, making it possible to set the stopping position to reflect individual differences in strapping machines. Furthermore, since the deceleration start position is obtained based on the movement speed of the driver 142, it is possible to obtain different deceleration start positions depending on whether the power supply voltage is high and the movement speed of the driver 142 is high, or low and the movement speed of the driver 142 is low, or to obtain a deceleration start position in response to a decrease in the movement speed of the driver 142 due to aging or other factors. This makes it possible to position the driver 142 according to the state of the strapping machine 100.

[0047] The speed acquisition unit 502 acquires information indicating the moving speed of the driver 142 in front of X1. Known configurations can be used for acquiring information indicating the moving speed of the driver 142 in front of X1. In this embodiment, the speed acquisition unit 502 is configured to acquire the moving speed of the driver 142 based on information indicating the rotational speed of the motor 54 acquired by the rotational speed acquisition unit 510. That is, in this embodiment, the binding machine 100 is configured so that the nut component and the driver 142 fixed thereto can be moved forward X1 and backward X2 by rotating the ball screw in the forward or reverse direction with the motor 54, so the rotational speed of the motor 54 and the moving speed of the driver 142 are in a predetermined relationship (for example, a proportional relationship). For this reason, the speed acquisition unit 502 can acquire the moving speed of the driver 142 based on information indicating the rotational speed of the motor 54.

[0048] However, the speed acquisition unit 502 may be implemented from other known configurations for acquiring information indicating the moving speed of the driver 142.

[0049] The position acquisition unit 504 acquires position information of the driver 142 in the front-rear direction X (or forward X1). Known configurations can be used to acquire information indicating the speed of movement of the driver 142 in the forward X1 direction. In this embodiment, the position acquisition unit 504 is configured to acquire position information of the driver 142 based on information indicating the amount of rotation of the motor 54 acquired by the rotation amount acquisition unit 508. That is, in this embodiment, the binding machine 100 is configured so that the nut component and the driver 142 fixed thereto can be moved forward X1 and backward X2 by rotating the ball screw in the forward or reverse direction with the motor 54, so the amount of rotation of the motor 54 and the amount of movement of the driver 142 are in a predetermined relationship (for example, a proportional relationship). For example, when the motor 54 rotates once in the forward direction, the nut component and the driver 142 fixed thereto move a certain distance forward X1. Therefore, the position acquisition unit 504 can acquire, for example, information from the rotation amount acquisition unit 508 indicating the total amount of rotation of the motor 54 from when the driver 142 is stationary at the origin position to when the driver 142 is moving forward X1, thereby acquiring the distance the driver 142 has moved forward X1 relative to the origin position at that time (i.e., the position information of the driver 142 in the X direction).

[0050] However, the position acquisition unit 504 may be implemented from other known configurations for acquiring information indicating the position of the driver 142. For example, the position acquisition unit 504 may be implemented from a configuration comprising one or more Hall ICs installed in positions where the magnetic material embedded in the driver 142 can be detected.

[0051] The stop target position setting unit 506 is configured to set and store the stop target position of the driver 142 that moves forward X1 for each strapping machine 100. The stop target position setting mode for setting the stop target position of the driver 142 that moves forward X1 for each strapping machine 100 will be described later.

[0052] The rotation amount acquisition unit 508 acquires information indicating the rotation amount of the motor 54. A known configuration can be used for acquiring information indicating the rotation amount of the motor 54. In this embodiment, the rotation amount acquisition unit 508 is configured to acquire the rotation amount of the motor 54 based on information indicating the rotation speed of the motor 54 acquired by the rotation speed acquisition unit 510. That is, since the rotation amount of the motor 54 corresponds to the time integral of the rotation speed of the motor 54, it is possible to acquire information indicating the rotation amount of the motor 54 by acquiring information indicating the rotation speed of the motor 54 from the rotation speed acquisition unit 510 and integrating this over time.

[0053] The rotation speed acquisition unit 510 acquires information indicating the rotation speed of the motor 54. Known configurations can be used for acquiring information indicating the rotation speed of the motor 54. For example, the rotation speed acquisition unit 510 may be realized with a configuration that includes one or more Hall ICs for detecting the magnetic field of the motor 54, which is a magnetic material. Alternatively, the rotation speed acquisition unit 510 may be realized with a configuration that acquires the number of commutations of the motor 54 based on the induced voltage generated by the rotation of the motor 54, or with a configuration that acquires the number of commutations of the motor 54 based on the motor current.

[0054] The current acquisition unit 512 acquires information indicating the current of the motor 54. For example, the current acquisition unit 512 may consist of a current detection circuit equipped with a resistive element inserted between the stator and the DC bus in order to acquire information indicating the current flowing through the windings, which are the stator of the motor 54.

[0055] When attempting to perform a stapling action, but all staples supported by the magazine are used up, or when the staples are not properly set, the driver moves in the intended direction without pressing down on the staples. This is called a dry run.

[0056] The inventors of this application focused on the fact that the current flow rate of the motor 54 during normal binding operation differs from the current flow rate of the motor 54 during idle operation. They conceived a configuration in which idle operation is detected based on the current flow rate acquired by the current flow rate acquisition unit 512 when the driver 142 is in a predetermined position. Furthermore, since the driver 142 is operating at a higher speed than usual when idle operation is detected by the idle operation detection unit 514, they conceived a configuration in which a deceleration control program is executed at a position earlier than the deceleration start position acquired by the control unit 500 to control the motor 54 so that the driver 142 starts decelerating at an earlier timing compared to during binding operation.

[0057] The binding machine control unit described above may be implemented with a configuration (for example, a computer such as a CPU) that includes a non-volatile semiconductor memory for storing a computer program for performing calculation processing, excluding circuits such as resistors that may be included in the current quantity acquisition unit 512, circuits such as inverters that may be included in the control unit 500, and sensors such as Hall elements that may be included in the rotation speed acquisition unit 510, and a processor for reading and executing this computer program.

[0058] [Stop Target Position Setting Mode] A method for setting a target stop position for each stapler will now be described using a stapler 100 equipped with the stapler control unit described above. The target stop position setting mode may be executed before shipment of the stapler 100, so that the stapler 100 is shipped with information indicating the target stop position already stored in the target stop position setting unit. Furthermore, the stapler 100 may be configured to allow the target stop position setting mode to be executed even after shipment, so that the target stop position can be reset taking into account the effects of aging due to use. For example, if the target stop position is not stored in the target stop position setting unit 506 when the main power of the stapler 100 is turned on, the target stop position setting mode may be automatically executed. Alternatively, the target stop position setting mode may be executed when the trigger is pressed and another special switch is turned on. In this embodiment, the target stop position setting mode is executed when staples S are not loaded into the stapler 100.

[0059] The stop target position setting mode is started when the stop target position setting unit 506 of the binding machine control unit executes a second computer program for the stop target position setting mode. The control unit 500 generates control commands according to the second computer program to drive and control the motor 54.

[0060] Figure 7A is a flowchart showing the process of the stop target position setting mode. Figure 7B is a schematic diagram showing the movement of the driver 142.

[0061] In the initial state, the driver 142 is pre-positioned at the origin OR. For the sake of explanation, the position of the origin OR in the front-to-back direction X (sometimes called the "X-axis direction") is set to 0 (zero). In the initial state, the position of the driver 142 in front X1 (in the X-axis direction) is zero. The position of the driver 142 refers to the position of the driver 142 at a predetermined reference part (for example, the front end of the driver 142, the rear end, or the part fixed to the nut component).

[0062] When the stop target position setting mode is started, the control unit 500 generates a control command to drive the motor 54, which rotates in the forward direction at a low speed (an example of "second speed"), and controls the motor 54 (step S10). As a result, the motor 54 starts to rotate, and the driver 142 starts to move forward X1 at a low speed.

[0063] The stop target position setting unit 506 of the binding machine control unit determines at predetermined intervals whether or not a load has been applied and the motor 54 has stopped (step S12). If it is not determined that the motor 54 has stopped ("No"), the control unit 500 continues forward low-power drive, rotating the motor 54 in the forward direction at a low speed (step S10).

[0064] As shown in Figure 7B, a guide plate GP (an example of a "stopper") is installed in front of the driver 142 at X1, preventing the driver 142 from moving any further forward X1. As a result, the front end of the driver 142, for example, when moving forward X1, comes into contact with the surface of the guide plate GP and stops due to the load received from the guide plate GP, and the motor 54 also stops rotating as a result.

[0065] If the stop target position setting unit 506 determines that the motor 54 has stopped ("Yes"), it obtains information from the rotation amount acquisition unit 508 indicating the amount of rotation of the motor 54 from the start of rotation to that point and stores it (step S14). The amount of rotation at this time corresponds to information indicating the position of the movable front end (movable front end) of the driver 142 in the X-axis direction. In this embodiment, the information indicating the amount of rotation of the motor 54 is stored as the commutation number of the motor 54, and the information indicating the movable front end position of the driver 142 is stored as the front end commutation number.

[0066] Next, the control unit 500 generates a control command to execute a reverse drive that rotates the motor 54 in the opposite direction and drives the motor 54 (step S16), and returns the driver 142 to the origin OR (step S18).

[0067] Next, the stop target position setting unit 506 calculates the stop target position of the driver 142 in the binding mode based on the front end commutation number acquired based on the driver 142 contacting the guide plate GP (step S20). Specifically, it calculates the commutation number corresponding to position XB, which is a predetermined distance backward from the front end position corresponding to the front end commutation number, and the commutation number corresponding to position XA, which is a predetermined distance backward from position XB, and calculates the range of commutation numbers corresponding to the region between XA and XB in the X-axis direction as information indicating the stop target position. Here, the range of commutation numbers corresponding to the region between XA and XB in the X-axis direction is acquired based on the front end commutation number acquired based on the driver 142 contacting the guide plate GP, and therefore is information acquired that reflects individual differences of the binding machine 100.

[0068] Next, the stop target position setting unit 506 determines whether the calculated range of commutation numbers is within the normal range (step S22). That is, since the range of values ​​that the calculated commutation numbers can take, taking into account the effects of errors due to individual differences, the stop target position setting unit 506 can determine whether the calculated range of commutation numbers is within the normal range by determining whether the calculated range of commutation numbers falls within the range of values ​​that can be taken.

[0069] For example, the stop target position setting mode of this embodiment is assumed to be performed when the staples S are not loaded. However, if it is performed when the staples S are mistakenly loaded, the motor 54 may stop rotating before the driver 142 contacts the surface of the guide plate GP due to the load caused by the driver 142 moving the staples S forward at a low speed.

[0070] This step helps to prevent the setting of a stop target position that deviates significantly from the actual position in such cases.

[0071] If the value is outside the normal range (i.e., "No"), the stop target position setting unit 506 does not update the stop target position (step S24).

[0072] If the value is within the normal range ("Yes"), the stop target position setting unit 506 sets the calculated range of commutation numbers as the stop target position and stores it (step S26).

[0073] Through the above process, the stop target position setting unit 506 can set a different stop target position for each strapping machine. Here, the control unit 500 moves the driver 142 at a low speed, which helps to prevent damage to the strapping machine 100 when it comes into contact with the guide plate GP.

[0074] [Binding Mode] A method for performing a binding operation using the binding machine 100, whose stopping target position has been set as described above, will now be explained.

[0075] The bundling mode is started, for example, when the user presses the trigger on the bundling machine 100 and the control unit 500 executes a first computer program for bundling mode. The control unit 500 generates control commands according to the first computer program to drive and control the motor 54.

[0076] Figure 8 is a flowchart showing the process of the binding mode. Figures 9A and 9B are graphs where the horizontal axis represents the position of the driver 142 in the X-axis direction and the vertical axis represents the rotational speed of the motor 54, when the power supply voltage is high voltage and low voltage, respectively.

[0077] In its initial state, driver 142 is pre-positioned at the origin OR.

[0078] When the binding mode is initiated, the control unit 500 generates a control command to drive the motor 54, which rotates in the forward direction at high speed (an example of "first speed"), and controls the motor 54 (step S30). As a result, the motor 54 starts to rotate, and the driver 142 starts to move forward X1 at high speed.

[0079] The control unit 500 calculates the deceleration start position of the moving driver 142 based on the target stop position obtained from the stop target position setting unit 506 and the moving speed of the driver 142 in the forward direction X1 (in the X-axis direction) obtained from the speed acquisition unit 502 (step S32).

[0080] For example, when the power supply voltage is high (Figure 9A), the rotational speed of the motor 54 acquired by the rotational speed acquisition unit 510 is high, and therefore the moving speed of the driver 142 acquired by the speed acquisition unit 502 is high, so the deceleration start position XB1 is calculated as a position relatively close to the origin OR.

[0081] On the other hand, when the power supply voltage is low (Figure 9B), the rotational speed of the motor 54 acquired by the rotational speed acquisition unit 510 is small. Therefore, the moving speed of the driver 142 acquired by the speed acquisition unit 502 is small, and the deceleration start position XB2 is calculated as a position relatively far from the origin OR.

[0082] The control unit 500 determines whether the position of the driver 142 in the X-axis direction, as acquired by the position acquisition unit 504, has reached the deceleration start position (step S34). If it determines that it has reached the position ("Yes"), it executes a deceleration control program to control the motor 54 so that the driver 142 starts to decelerate (brake) (step S36). On the other hand, if it determines that it has not reached the position ("No"), it recalculates the deceleration start position of the moving driver 142 (step S32) and determines again whether the position of the driver 142 in the X-axis direction, as acquired by the position acquisition unit 504, has reached the deceleration start position (step S34).

[0083] With this configuration, since a target stopping position is set for each binding machine, it is possible to set the stopping position to reflect individual differences in binding machines. Furthermore, it is possible to acquire a deceleration start position that compensates for fluctuations in the moving speed of the driver 142, which fluctuates according to the magnitude of the power supply voltage and aging, thereby improving the positioning accuracy of the driver 142.

[0084] Furthermore, until the deceleration start position is reached, the deceleration start position is recalculated based on the driver 142's immediate movement speed, which makes it possible to further improve the positioning accuracy of the driver 142.

[0085] Next, the control unit 500 determines whether the rotational speed of the motor 54, as acquired by the rotational speed acquisition unit 510, has decelerated to the target speed (sometimes called the "deceleration brake interruption speed") and fallen below the target speed (step S38). If it determines that the motor has not decelerated to the target speed ("No"), it determines whether the position of the driver 142 in the X-axis direction, as acquired by the position acquisition unit 504, has reached the position where stop control should be initiated (sometimes called the "second brake position") (step S40). If it determines that the position has not been reached ("No"), it controls the motor 54 so that the driver 142 continues to decelerate (brake) according to the deceleration control program. If it determines that the position has been reached ("Yes"), it executes the stop control program to stop the driver 142.

[0086] On the other hand, in step S38, if the control unit 500 determines that the rotational speed of the motor 54 acquired by the rotational speed acquisition unit 510 has decreased to the target speed and is below the target speed ("Yes"), it stops the deceleration control to suppress the deceleration of the driver 142 and restarts the motor 54 at low output (step S42). Figures 9A and 9B show graphs that show the reduction in rotational speed suppressed as a result of stopping the deceleration control and restarting the motor 54 at low output. Note that the rotational speed at which the deceleration control is stopped (an example of a "predetermined value") and the rotational speed at which the motor 54 is restarted (an example of a "second predetermined value") may be the same or different.

[0087] The control unit 500 then determines whether the position of the driver 142 in the X-axis direction, as acquired by the position acquisition unit 504, has reached the second brake position where stop control should be initiated (step S40). If it determines that the position has not reached the second brake position, the control unit 500 continues to drive the motor 54 at a low output until the rotational speed of the motor 54, as acquired by the rotational speed acquisition unit 510, falls below the target speed.

[0088] The control unit 500 determines whether the position of the driver 142 in the X-axis direction, as acquired by the position acquisition unit 504, has reached the second brake position where stop control should be initiated (step S40). If it determines that the position has reached the second brake position ("Yes"), it executes the stop control program to control the motor 54 to decelerate the driver 142 and stop the driver 142 at the target stop position (step S46).

[0089] The binding operation is completed after the above process (step S48).

[0090] As described above, the control unit 500 is configured to start deceleration control before starting stop control to stop the driver 142, and to stop deceleration control if the deceleration is relatively large, while continuing deceleration control if the deceleration is relatively small. Specifically, when the control unit 500 is controlling the deceleration of the motor 54, it determines whether the rotational speed of the motor 54 acquired by the rotational speed acquisition unit 510 has fallen below the target speed. If it determines that the motor has decelerated to below the target speed, it stops deceleration control to suppress deceleration, while if it determines that the motor has not decelerated to below the target speed, it controls the motor 54 so that the driver 142 continues to decelerate (brake) according to the deceleration control program until it reaches the second brake position. This configuration makes it possible to suppress fluctuations in the rotational speed of the motor 54 when it reaches the second brake position for executing stop control. Since the rotational speed of the motor 54 is sufficiently reduced at the second brake position for executing stop control, it is possible to improve the accuracy of the stopping position of the driver 142 compared to when stop control is executed without deceleration control. Therefore, it is possible to improve the accuracy of the binding operation by the binding machine 100. In addition, since the need to take an unnecessarily large dimensional margin is eliminated by improving the accuracy of the stopping position of the driver, it is also possible to suppress the increase in size of the binding machine.

[0091] In addition, since there is no need to significantly reduce the movement speed of the driver 142 in order to improve the accuracy of the driver's stopping position, it is also possible to suppress a decrease in work efficiency.

[0092] The control method for decelerating the motor 54 can be any known method. For example, a short-circuit brake control may be used, in which all switching elements on one arm of the inverter circuit are turned off while all elements on the other arm are turned on. Alternatively, an intermittent brake control may be used, in which all switching elements on one arm of the inverter circuit are turned off while all elements on the other arm are repeatedly turned on and off. Or, intermittent brake control may be performed when deceleration control begins, and short-circuit brake control may be performed when the motor 54 falls below a predetermined rotational speed.

[0093] [Detection of false firing] Next, we will describe the configuration for detecting a misfire in the binding machine 100.

[0094] As mentioned above, if the stapling operation is performed when all the staples supported by the magazine 140 are used up, or when the staples S are not properly set, dry firing may occur. Dry firing causes the driver 142 to move at a higher speed than usual because there is no load from the staples S, which could lead to situations such as the driver 142 colliding with the guide plate GP and damaging the stapling machine 100.

[0095] The inventors of this application focused on the fact that the current flow rate of the motor 54 during normal binding operation differs from the current flow rate of the motor 54 during idle operation, and conceived a configuration in which idle operation is detected based on the current flow rate acquired by the current flow rate acquisition unit 512 when the driver 142 is in a predetermined position.

[0096] Figures 10A and 10B are graphs showing the position of the driver 142 in the X-axis direction on the horizontal axis and the current value of the motor 54 on the vertical axis, during normal binding operation and dry firing.

[0097] As shown in these graphs, the current value of the motor 54 does not differ significantly in both cases immediately after the driver 142 begins to move forward X1. However, in the region forward X1 beyond the predetermined position XC, where the driver 142 has advanced a certain distance forward X1, the two differ in that the current value increases during normal stapling operation, while it does not increase during dry firing. This is because during normal stapling operation, the load on the motor 54 increases because it is necessary to deform the staple S, whereas during dry firing, there is no staple S to deform, so the load on the motor 54 does not increase.

[0098] Therefore, the drowning detection unit 514 of the stapling machine 100 is configured to determine the presence or absence of staples S based on the current value of the motor 54, using the current amount acquisition unit 512, when the driver 142 reaches a predetermined position XC, based on the position information of the driver 142 in the front-rear direction X acquired from the position acquisition unit 504.

[0099] Specifically, the dry-fire detection unit 514 may be configured to detect a dry-fire based on the fact that the driver 142 calculates the derivative of the current value of the motor 54 at a position X1 in front of a predetermined position XC, and the derivative is not positive.

[0100] Alternatively, the dry-firing detection unit 514 may be configured to detect dry-firing by repeatedly obtaining the current value of the motor 54 (for example, the winding current of the motor 54) from the current amount acquisition unit 512 at predetermined intervals, comparing it with past current values ​​of the motor 54, and detecting no increase in the current value.

[0101] When the dry-fire detection unit 514 detects a dry-fire, the control unit 500 is configured to control the motor 54 so that the driver 142 decelerates at a position earlier than the deceleration start position calculated in step S32.

[0102] This configuration makes it possible to prevent situations in which the driver 142 collides with parts such as the guide plate GP and damages the bundling machine 100.

[0103] Furthermore, the present invention is capable of various modifications without departing from its essence. For example, within the ordinary creative ability of those skilled in the art, some components of one embodiment can be added to other embodiments. Also, some components of one embodiment can be replaced with corresponding components of other embodiments. [Explanation of symbols]

[0104] 54 Motor (Motor section) 100 Binding Machine 140 Magazine 142 Driver (Driver section) 150 Main body 200 First displacement section 300 Second displacement section 500 Control Unit 502 Speed ​​acquisition part 504 Position acquisition part 506 Stop target position setting section 508 Rotation amount acquisition unit 510 Rotational speed acquisition unit 514 Dry-fire detection unit DR1 opening direction DR2 connection direction GP Guide Plate (Stopper Part) S staples X1 forward X2 rear Y1 left Y2 Right Z1 upper Z2 downward

Claims

1. A driver unit for fastening staples to an object by moving in a first direction and pressing the staples, A motor unit for moving the aforementioned driver unit, A control unit for controlling the motor section, A speed acquisition unit for acquiring the moving speed of the driver unit in the first direction, A position acquisition unit for acquiring the position of the driver unit in the first direction, A binding machine equipped with, The control unit, Based on the stop target position set for each binding machine and the moving speed acquired by the speed acquisition unit, the deceleration start position of the driver unit during movement is calculated. Based on the position information of the driver unit obtained from the position acquisition unit, when the driver unit determines that it has reached the deceleration start position, it controls the motor unit to decelerate. Binding machine.

2. A stopper portion that prevents the driver portion from moving in the first direction, A stop target position setting unit that can set the stop target position for each binding machine based on the contact between the driver unit and the stopper unit moving in the first direction, The binding machine according to claim 1, further comprising the following:

3. The control unit, A first mode in which the motor unit is controlled to move the driver unit in the first direction at a speed of first speed or higher to perform a binding operation, A second mode in which the motor unit is controlled to move the driver unit in the first direction at a second speed or less, which is less than the first speed, to set the target stopping position, It is configured to be executable. The binding machine according to claim 2.

4. The motor unit is further provided with a rotation amount acquisition unit that acquires the rotation amount of the motor unit, The stop target position setting unit is configured to set the stop target position when the amount of rotation of the motor unit, acquired by the rotation amount acquisition unit, is within a predetermined range before the motor unit stops rotating. The binding machine according to claim 2.

5. The motor section is further provided with a rotation speed acquisition unit that acquires the rotation speed of the motor section. The speed acquisition unit is configured to acquire the moving speed of the driver unit based on the rotational speed of the motor unit acquired by the rotational speed acquisition unit. The binding machine according to claim 1.

6. The binding machine according to claim 5, wherein the control unit is configured to stop the deceleration control when the rotational speed of the motor unit, as obtained by the rotational speed acquisition unit, falls below a predetermined value while the driver unit is controlling the motor unit to decelerate.

7. The binding machine according to claim 6, wherein the control unit is configured to restart the motor unit when the rotational speed of the motor unit obtained by the rotational speed acquisition unit after the deceleration control has stopped falls below a second predetermined value.

8. The motor unit is further provided with a rotation amount acquisition unit that acquires the rotation amount of the motor unit, The position acquisition unit is configured to acquire position information of the driver unit based on the amount of rotation of the motor unit detected by the rotation amount acquisition unit. The binding machine according to claim 1.

9. The binding machine according to claim 1, further comprising a dry-fire detection unit that detects when the driver unit moves in the first direction without pressing the staple.

10. The motor section is equipped with a current quantity acquisition unit that acquires the current quantity of the motor section, The dry-firing detection unit is configured to detect dry firing based on the current amount acquired by the current amount acquisition unit when the driver unit is in a predetermined position. The binding machine according to claim 9.

11. The binding machine according to claim 10, wherein the control unit is configured to control the motor unit so that the driver unit decelerates at a position prior to the deceleration start position when a dry run is detected by the dry run detection unit.

Images