End machine

Abstract

To provide a binding machine that enables the detection of abnormalities. [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 state acquisition unit for acquiring the state of the motor unit, and a position acquisition unit for acquiring the position of the driver unit in the first direction, wherein when an abnormality is detected by the control unit based on information indicating the position of the driver unit acquired by the position acquisition unit and information indicating the state of the motor unit acquired by the state acquisition unit, the control unit controls the motor unit so that the driver unit stops in accordance with the detected abnormality.

Description

Technical Field

[0001] The present invention relates to a tying 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 tying machine for tying using such staples. The tying 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 (sometimes 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 such a tying machine, if an attempt is made to perform tying using the next staple in an abnormal state where the previous staple has not come off the tying machine, a large load may be applied to some parts and the parts may be damaged.

[0006] Therefore, an object of the present invention is to provide a tying machine capable of detecting abnormalities.

Means for Solving the Problems

[0007] This application relates to a driver unit for fastening staples to an object by moving in a first direction and pressing the staples, and a motor unit for moving the driver unit. A binding machine is disclosed comprising a control unit for controlling the motor unit, a state acquisition unit for acquiring the state of the motor unit, and a position acquisition unit for acquiring the position of the driver unit in the first direction. In this configuration, when the control unit detects an abnormality based on information indicating the position of the driver unit acquired by the position acquisition unit and information indicating the state of the motor unit acquired by the state acquisition unit, it controls the motor unit so that the driver unit stops in accordance with the detected abnormality.

[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 functional block diagram of a binding machine 100 according to one embodiment. [Figure 7A] Figure 7A is a graph showing the motor current of the strapping machine. [Figure 7B] Figure 7B is a graph showing the motor current of the strapping machine. [Figure 7C] Figure 7C is a graph showing the motor current of the strapping machine. [Figure 7D] Figure 7D is a graph showing the motor current of the strapping machine. [Figure 8A] Figure 8A is a flowchart showing a control method according to one embodiment. [Figure 8B] Figure 8B is a flowchart showing a control method according to one embodiment. [Figure 8C] FIG. 8C is a flowchart showing a control method according to an embodiment. [Figure 8D] FIG. 8D is a flowchart showing a control method according to an embodiment. [Figure 8E] FIG. 8E is a flowchart showing a control method according to an embodiment. [Figure 9A] FIG. 9A is a partially enlarged view showing the front end portion of a binding machine according to an embodiment. [Figure 9B] FIG. 9B is a partially enlarged view showing the front end portion of a binding machine according to an embodiment. [Figure 9C] FIG. 9C is a partially enlarged view showing the front end portion of a binding machine according to an 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 driving unit for driving the driver unit in a predetermined direction and the opposite direction, and a control unit for controlling the driving unit, and is not limited to the staple S and the binding machine 100 shown in the present embodiment. In the following, 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] Figure 1A is a top view plan of the staple S in the state before fastening (sometimes referred to as "before deformation"; the same applies hereafter) according to this embodiment. Figure 1B is a perspective view of the staple S in the state after fastening (sometimes referred to as "after deformation," or "when engaged," etc.; the same applies hereafter) according to this embodiment.

[0014] First, let's describe the structure of the staple S before binding. 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, the first leg portion S1 and the second leg portion S2 of the staple S are spaced apart, so 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 closed portion, toward the opening (to the left in Figure 1A) is sometimes called the opening direction DR1 (of the staple S). Also, the direction that is perpendicular to the extension direction of the staple S (for example, the opening direction DR1 for the second leg portion S2 of the staple S in this embodiment) and perpendicular to the stacking direction, which will be described later, is sometimes called the lateral direction (of the part of the staple S), and the surface of the staple S facing the lateral direction is sometimes called the side of the staple S. Furthermore, the direction perpendicular to the lateral direction, which connects multiple staples S, is called the stacking direction or connecting direction. In particular, the direction perpendicular to the plane of the paper in Figure 1A is sometimes called the stacking direction upward (of the staples S), and the depth direction perpendicular to the plane of the paper in Figure 1A is sometimes called the stacking direction downward.

[0015] More specifically, the staple S comprises a main body S3 that connects a first leg S1 and a second leg S2 and surrounds a second object P such as a stem; a first leg S1 connected to one end of the main body S3 and having a first part S11 that bends and extends outward and a second part S12 that bends further from the first part S11 and extends in the opening direction DR1; and a second leg S2 connected to the other end of the main body S3 and having a third part S23 that extends in the opening direction DR1 and a fourth part S24 that is bent outward from the tip of the third part S23. As shown in the figure, the main body S3 is formed in a curved shape, from C-shape to semicircular arc shape. The first part S11 that connects the main body S3 and the second part S12 may be called a crank part, and the second part S12 that connects to the first part S11 and extends linearly in the opening direction DR1 may be called a straight part. Furthermore, the fourth part S24, which corresponds to the other end of the staple S and is bent at an acute angle relative to the third part S23, is sometimes called the hook part.

[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 (an example of the "driver section"; 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 a nut component and a 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 backward direction using a built-in motor 54 (an example of a "motor unit"; Figure 6). 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 unit.

[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] [Movement of the lid] The lid portion 250 of the fastening machine 100 is configured to move close to the tip portion ST of the first leg portion S1 (an example of the "tip portion of the staple") and close the hole while the driver 142 is moving forward X1, and after the tip portion ST of the staple S deforms spirally to surround the first object G and engages with the first object G, it moves upward Z1 away from the tip portion ST of the staple S.

[0037] The configuration of the cover portion 250 for moving downward Z2 when the driver 142 moves forward X1 and upward Z1 when it moves backward X2 is known, so a detailed explanation will be omitted.

[0038] For example, as described in Patent Document 3, a moving mechanism comprising a forward-reverse moving part that moves in the forward-reverse direction X together with the driver 142, a pin configured to be movable in the vertical direction Z by engaging with a path formed on the forward-reverse moving part and moving relative to the forward-reverse moving part along the path, a biasing member that applies a downward force to the vertical moving part connected to the lid 250 as the pin moves downward Z2 along the path, and a biasing member that weakens the downward Z2 force acting on the lid 250 as the pin moves upward Z1 along the path, thereby moving the lid 250 upward Z1, makes it possible to realize a configuration in which, when the driver 142 is moving forward X1, it approaches the tip ST of the first leg S1 (an example of the "tip of the staple") and closes the hole, and when the driver 142 is moving backward X2, it moves upward Z1 away from the tip ST of the staple S. Furthermore, as described in the same document 3, the stapling machine 100 is connected to the lid 250 and, as the lid 250 moves upward Z1, it moves upward Z1, thereby providing a discharge mechanism that pushes the tip ST of the staple S engaged with the first object G upward Z1 and discharges it.

[0039] However, the binding machine 100 may be configured to make the lid portion 250 movable by including other known mechanisms that move in the vertical direction Z in response to movement in the front-rear direction X.

[0040] [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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] [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.

[0046] 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 it 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 (an example of a "state acquisition unit") that acquires information indicating the current of the motor 54, and an abnormality detection unit 514 that detects abnormalities in the strapping machine 100. These will be described in detail below. Furthermore, since 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 abnormality detection unit 514 are configured for controlling the binding machine 100, these configurations are collectively referred to as the binding machine control unit or simply the control unit, and the control unit 500 may be referred to as the motor control unit.

[0047] 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, a driver circuit and 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 binding mode computer program 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.

[0048] Furthermore, the 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.

[0049] In addition, the computer program of this embodiment includes a control program for controlling the motor 54 when an abnormality is detected by the abnormality detection unit 514. The abnormality detection unit 514 in this embodiment is configured to detect at least three types of abnormalities, as will be described later: staple jamming, coil failure, and dry firing. However, the abnormality detection unit 514 may be configured to detect at least one of these three types of abnormalities.

[0050] 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. When the control unit 500 determines that the driver 142 has reached the acquired deceleration start position based on the position information of the driver 142 in the front-rear direction X obtained from the position acquisition unit 504, it executes a deceleration control program to control the motor 54 so that the driver 142 decelerates.

[0051] 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.

[0052] 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.

[0053] However, the speed acquisition unit 502 may be implemented from other known configurations for acquiring information indicating the moving speed of the driver 142.

[0054] 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 (including information indicating the number of commutations) 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).

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] The current acquisition unit 512 acquires information indicating the current of the motor 54. For example, the current acquisition unit 512 acquires information indicating the current flowing between the windings, which are the stator of the motor 54, and the DC bus of the negative electrode. Specifically, the current acquisition unit 512 may be realized from a known configuration such as a current detection circuit that includes a resistive element inserted between the stator and the DC bus.

[0060] The abnormality detection unit 514 detects an abnormality in the binding machine 100 based on information indicating the position of the driver 142 acquired by the position acquisition unit 504 and the motor load, which is an example of information indicating the state of the motor 54 acquired by the current amount acquisition unit 512, which is an example of a state acquisition unit. When an abnormality in the binding machine 100 is detected, the control unit 500 controls the motor 54 so that the driver 142 stops according to the detected abnormality.

[0061] [Staple jam] The inventors of this application, through the development of a stapler, noticed that after stapler completion, staples are not discharged by the stapler's discharge mechanism and remain in the stapler, resulting in a malfunction (abnormality) called "staple jamming" (sometimes called "jammed stapler") where the next staple gets stuck inside the stapler. In this case, the staples collide with the stapler's parts, placing a large load on them, which can damage the stapler.

[0062] The inventors of this application conceived the idea that the above-mentioned malfunction could be detected based on the position of the moving driver and the state of the motor at that time, and devised a bundling machine 100 that includes a motor state detection unit (an example of a "state detection unit"; in this embodiment, a current quantity acquisition unit 512) for detecting the state of the motor, and an abnormality detection unit 514 that determines whether or not there is an abnormality based on the state of the motor detected by the motor state detection unit when the driver unit is in a predetermined position. Details will be described below.

[0063] The jamming detection unit 514A of the abnormality detection unit 514 is configured to detect staple jams based on information indicating the position of the driver 142 and information indicating the state of the motor 54. In other words, the inventors of this application compared the position of the driver 142 and the state of the motor 54 when a staple jam occurs with the position of the driver 142 when a normal (normal) stapling operation is performed, and focused on the differences between the two to conceive the configuration of the jamming detection unit 514A.

[0064] Figures 7A and 7B are graphs showing the position of the driver 142 in front of X1 (in the X-axis direction) on the horizontal axis and the current value of the motor 54 on the vertical axis, respectively, when normal stapling is performed and when a staple jam occurs. The dotted line graph in Figure 7B corresponds to the graph shown in Figure 7D (described later) when dry firing occurs. Figure 9A is a magnified view of the front end portion of the stapling machine 100 in standby mode (initial state), Figure 9B is a magnified view of the front end portion of the stapling machine 100 when the next advancing staple S collides with a staple S remaining in the stapling machine 100, and Figure 9C is a magnified view of the front end portion of the stapling machine 100 when the tip (front end) of the straight section S12 of the staple S reaches the hole in the clincher section 210 where deformation begins. Note that the stapling machine 100 shown in Figures 9A to 9C differs in detail from the stapling machine 100 shown in Figure 2, etc., but the same reference numerals are used for components that have the same or similar functions, and their explanation is omitted. Also, as shown in Figure 9A, the position in the X-axis direction of the first part S11, which is the crank part (sometimes called the "shoulder part") of the staple S when it is in standby mode, is described as the origin OR (X=0).

[0065] As shown in Figures 7A and 7B, the current value of the motor 54 rises sharply immediately after the driver 142, which was stationary at the origin OR (corresponding to X=0), begins to move forward X1. Subsequently, as the driver 142 moves forward X1, the current value of the motor 54 decreases.

[0066] However, as shown in Figure 7B, it became clear that when a staple jam occurs in the section from X=XA1 to XA2 (an example of the "first section"), the current value of the motor 54 winding becomes larger compared to when normal stapling is performed.

[0067] The reason for this is thought to be that the staple S collided with the previous staple S that remained in the binding machine, causing a large load to be placed on the motor 54.

[0068] Therefore, the jam detection unit 514A is configured to determine whether or not there is a staple jam based on the state of the motor 54 when the driver 142 is in the judgment interval from XA1 to XA2 in the X-axis direction, based on information indicating the position of the driver 142 obtained from the position acquisition unit 504. In this embodiment, the jam detection unit 514A obtains the current value of the motor 54 from the current amount acquisition unit 512 (an example of a "state acquisition unit") as information indicating the state of the motor 54 (for example, the load of the motor), compares this with a predetermined threshold TH1 (an example of a "first threshold"), and is configured to detect a staple jam based on whether the current value of the motor 54 exceeds the threshold TH1. The threshold TH1 may be a value determined experimentally.

[0069] The following describes an example of how to specifically set XA1, which is the start time of the decision interval, and XA2, which is the end time. However, XA1 and XA2 may also be determined experimentally by comparing them with the waveforms during normal bundling work. When performing a normal stapling operation (Figure 7A), the maximum distance the driver 142 moves from the origin OR to the front X1 is denoted as distance XN3 (the maximum value in the X-axis direction (driver position) that the driver 142 can take in the graph of Figure 7A), and the length of the straight section S12 of the staple S is length S12L (Figure 1A). Then XA1 may be a value greater than or equal to the difference between distance XN3 and length S12L (i.e., (XA1 ≥ (distance XN3 - length S12L)). The staples S (Figure 9B; hereinafter sometimes referred to as "staple S100") remaining in the stapling machine 100 are often located at a position XN3 forward from the standby position, or at a position X1 forward from that position. Furthermore, the first thing to collide with the remaining staple S100 is the tip of the leg of the staple S, i.e., the tip S1P (front end) of the straight section S12. For this reason, staple jams often occur when the tip S1P of an advancing staple S first contacts the previous remaining staple S100 at a position X2 length S12L backward from the maximum distance XN3 that the driver 142 can take in the X-axis direction, or at a position X1 forward from that position. By setting XA1, which is the start of the section for determining staple jams, as described above, it becomes possible to suitably detect staple jams.

[0070] Furthermore, XA2 may be the driver position or the position X2 behind it when the current value of motor 54, which was above the threshold TH1 in the graph (Figure 7B) when staple jamming occurs, crosses the threshold TH1 and falls below it. XA2 may also be experimentally set as the position or the position X2 behind it when the current value of motor 54 falls below the threshold TH1 when staple jamming occurs. With this configuration, it becomes possible to detect staple jams based on whether the current value of the motor 54 exceeds the threshold TH1.

[0071] XA2 may be a value greater than or equal to the distance D between the tip (front end) of the straight portion S12 of the staple S in the standby position and the hole in the clincher portion 210 where the tip (front end) of the straight portion S12 of the staple S begins to deform (Figure 9A). When performing normal stapling operations, the current value of the motor 54 increases when the tip S1P (front end) of the straight section S12 of the staple S collides with the clincher section 210 and begins to deform, as shown in Figure 9C (Figure 7A). However, when a staple jam occurs, the current value of the motor 54 increases before the tip S1P (front end) of the straight section S12 of the staple S begins to deform (Figure 7B). Therefore, by setting XA2 to satisfy a distance of D or more (i.e., XA2 ≥ D), it becomes possible to detect staple jams with high accuracy.

[0072] In a strapping machine like the strapping machine 100, which has at least two maximum current values ​​(i.e., a first maximum current value of the motor 54 that appears immediately after the driver 142 starts moving, and a second maximum current value of the motor 54 that appears when the staples S for strapping are deformed before the driver 142 finishes moving forward X1), it is preferable that XA1, which is the start of the judgment interval, is at a position X1 forward of the driver 142's position in the X-axis direction when the first maximum value is taken, and it is preferable that XA2, which is the end of the judgment interval, is before the driver 142's position in the X-axis direction when the second maximum value is taken (a position that has moved backward X2).

[0073] Furthermore, in the above embodiment, the blockage detection unit 514A is configured to detect staple blockage by comparing the current value of the motor 54 when the driver 142 is in the judgment interval from XA1 to XA2 with a predetermined threshold TH1, but it is not limited to this.

[0074] For example, the blockage detection unit 514A may be configured to detect staple blockages based on an increase in the current value of the motor 54 (an example of "motor load") when the driver 142 is in a predetermined judgment interval (for example, the derivative of the current value of the motor 54 is positive). As will be apparent to those skilled in the art by comparing Figure 7A and Figure 7B, there is a section in which the current value of the motor 54 increases only when a staple jam occurs. Therefore, it is possible to detect a staple jam based on the fact that the current value of the motor 54 increases in this section. The blockage detection unit 514A may be configured to detect staple blockage when the current value exceeds a threshold and the current value of the motor 54 is increasing. Furthermore, the clogging detection unit 514A may be configured to detect staple clogging by matching a graph (Figure 7B) showing the case of staple clogging with the current waveform of the motor 54 and finding that the two are similar.

[0075] [Coil failure] The inventors of this application have also focused on another type of malfunction different from staple jamming: a malfunction (abnormality) called "coil failure," in which a staple may detach from its path during movement. For example, during the movement of a staple S, the first leg portion S1 may detach from the guide plate that guides the movement of the first leg portion S1, and may not properly enter the hole in the first displacement portion 200, which is the clincher portion. When a coil failure occurs, the relative positional relationship between the staple and the displacement portion shifts, which can cause the staple to not deform (or not deform correctly), and the staple and the object to not engage. Furthermore, since the discharge mechanism of the stapling machine is designed on the premise that the stapling operation is performed correctly and the staple and the object to engage, a coil failure can lead to the staple not being discharged and remaining in the stapling machine.

[0076] The coil failure detection unit 514B of the abnormality detection unit 514 is configured to detect coil failures based on information indicating the position of the driver 142 and information indicating the state of the motor 54. In other words, the inventors of this application compared the position of the driver 142 and the state of the motor 54 when a normal (normal) binding operation is performed with the state when a coil failure occurs, and focused on the differences between the two, thereby conceiving the configuration of the coil failure detection unit 514B.

[0077] Figure 7C is a graph showing the case when a coil failure occurs, with the horizontal axis representing the position X1 (in the X-axis direction) in front of the driver 142 and the vertical axis representing the current value of the motor 54. The dotted line graph in Figure 7C corresponds to the graph shown in Figure 7D (described later) when dry running occurs.

[0078] As shown in Figures 7A and 7C, both figures are similar in that, immediately after the driver 142, which was stationary at the origin OR (corresponding to X=0), begins to move forward X1, the current value of the motor 54 rises sharply, and then, as the driver 142 moves forward X1, the current value of the motor 54 decreases.

[0079] However, as shown in Figure 7C, it became clear that if a coil failure occurs in the section from X=XB1 to XB2 (an example of the "second section") when the driver 142 is positioned in the X-axis direction, the current value of the motor 54 does not increase compared to when normal bundling work is performed.

[0080] Furthermore, it was found that when a coil failure occurs in the section from X=XB1 to XB2 (an example of the "second section"), the current value of the motor 54 is higher compared to when dry running occurs.

[0081] The reason for this is thought to be that, during movement, the staple S deviates from the path and does not deform (or does not deform correctly), so the load required to deform the staple S is not applied to the motor 54 compared to normal stapling work, and a load is generated to move the staple S forward X1 compared to when it is fired without a load.

[0082] Therefore, the coil failure detection unit 514B is configured to determine whether or not there is a coil failure based on the state of the motor 54 when the driver 142 is in the judgment interval from XB1 to XB2 in the X-axis direction, based on information indicating the position of the driver 142 obtained from the position acquisition unit 504. In this embodiment, the coil failure detection unit 514B obtains the current value of the motor 54 from the current amount acquisition unit 512 (an example of a "state acquisition unit") as information indicating the state of the motor 54 (for example, the load of the motor), compares this with a predetermined threshold TH2 (an example of a "second threshold"), and is configured to detect a coil failure based on the following conditions: the current value of the motor 54 exceeds the threshold TH2 (condition 1), and the current value of the motor 54 does not rise during this period (for example, for current values ​​acquired at predetermined time intervals, the acquired current value does not exceed the previously acquired current value when compared with the previously acquired current value, or the time derivative of the current value is 0 or negative) (condition 2). The threshold TH2 may be a value determined experimentally. In addition to these two conditions, a third condition may be added: the current value of motor 54 must be less than or equal to the threshold TH1 (condition 3).

[0083] The following describes an example of how to specifically set XB1, which is the start time of the decision interval, and XB2, which is the end time. However, XB1 and XB2 may also be determined experimentally by comparing them with the waveforms during normal bundling operations. XB1 may be a value (position) greater than or equal to the distance D between the tip (front end) of the straight portion S12 of the staple S in the standby position and the hole in the clincher portion 210 where the tip (front end) of the straight portion S12 of the staple S begins to deform (Figure 9A). When performing a normal stapling operation, the current value of the motor 54 increases when the tip S1P (front end) of the straight section S12 of the staple S collides with the clincher section 210 and begins to deform, as shown in Figure 9C (Figure 7A). However, when there is a coil defect, the tip S1P (front end) of the straight section S12 of the staple S does not collide with the clincher section 210, so the current value of the motor 54 does not increase (Figure 7C). Therefore, by setting XB1 to satisfy the condition that the distance is greater than or equal to D (i.e., XB1 ≥ D), it becomes possible to detect coil defects with high accuracy. XB2 may be set at a position where a sufficiently large load is generated when normal binding operation is performed. For example, it may be a position where the straight portion S12 of the staple S collides with the clincher portion 210 and continues to deform, or a position where the deformation is completed, or a value (position) not more than the distance XN3 which is the maximum moving distance from the origin OR forward to X1, or a position retreated a predetermined distance from the distance XN3.

[0084] It is preferable that the section from X = XB1 to XB2 which is the second section is a section advanced forward to X1 (i.e., XB1≧XA2) than the section from X = XA1 to XA2 which is the first section.

[0085] According to such a configuration, since the detection periods for staple jamming are different, it is possible to suppress the situation where staple jamming and coil failure are confused and detected. Also, after the movement of the driver 142 starts, the abnormality of staple jamming gradually appears in the state of the motor 54, while the coil failure appears in the state of the motor 54 when the staple is deformed after the abnormality of staple jamming appears in the state of the motor 54. Therefore, even if the detection periods of the abnormalities are made different in this way, it is possible to preferably detect both abnormalities. However, the two sections may be set so as to partially overlap (i.e., XB1 <XA2 and XA2 <XB2). As is apparent to those skilled in the art, for example, by setting the threshold value TH1> the threshold value TH2 and adding condition 3 in addition to condition 1 and condition 2 as the detection conditions for coil failure, it is possible to preferably detect both abnormalities.

[0086] [Dry fire] The inventors of the present application also focused on the fact that, as one of the problems different from staple jamming, there may occur a problem of "dry fire" in which the binding machine tries to perform the binding operation in a state where the staples are not correctly loaded. If "dry fire" occurs, compared with the normal state where staples exist, the driver that is not loaded with the load by the staples advances too far, and as a result, the driver may collide with the parts of the binding machine, damaging the binding machine.

[0087] The dry-firing detection unit 514C of the abnormality detection unit 514 is configured to detect dry-firing based on information indicating the position of the driver 142 and information indicating the state of the motor 54. In other words, the inventors of this application compared the position of the driver 142 and the state of the motor 54 when normal (normal) binding work is performed with the state when dry-firing occurs, and focused on the differences between the two, thereby conceiving the configuration of the dry-firing detection unit 514C.

[0088] Figure 7D is a graph showing the position of the driver 142 in front of X1 (in the X-axis direction) on the horizontal axis and the current value of the motor 54 on the vertical axis when dry firing occurs.

[0089] As shown in Figures 7A and 7D, both figures are similar in that, immediately after the driver 142, which was stationary at the origin OR (corresponding to X=0), begins to move forward X1, the current value of the motor 54 rises sharply, and then, as the driver 142 moves forward X1, the current value of the motor 54 decreases.

[0090] However, as shown in Figure 7D, when a dry run occurs in the section from X=XC1 to XC2 (an example of the "third section"), the current value of the motor 54 does not increase compared to when normal binding work is performed.

[0091] Furthermore, it was found that when dry firing occurred in the section between X=XC1 and XC2, the current value of the motor 54 was lower compared to when a coil failure occurred.

[0092] The reason for this is thought to be that, as a result of the staple S not being loaded correctly, only the driver 142 moves, and therefore the load associated with the movement and deformation of the staple S is not applied to the motor 54.

[0093] Therefore, the dry-fire detection unit 514C is configured to determine whether or not a dry-fire has occurred based on the state of the motor 54 when the driver 142 is in the determination interval from XC1 to XC2 in the X-axis direction, based on information indicating the position of the driver 142 obtained from the position acquisition unit 504. In this embodiment, the dry-fire detection unit 514C obtains the current value of the motor 54 from the current amount acquisition unit 512 (an example of a "state acquisition unit") as information indicating the state of the motor 54 (for example, the load of the motor), compares this with a predetermined threshold TH3 (an example of a "third threshold"), and is configured to detect a dry-fire based on the fact that the current value of the motor 54 is less than or equal to the threshold TH3 (condition 1), and that the current value of the motor 54 does not rise during this period (condition 2). The threshold TH3 may be a value determined experimentally. Note that thresholds TH2 and TH3 may be the same value.

[0094] Furthermore, it is preferable that the third interval, X=XC1 to XC2, is an interval that has progressed X1 further forward than the first interval, X=XA1 to XA2 (i.e., XC1 ≥ XA2). Also, the third interval may be the same as the second interval, may be a different interval with some overlap, or may be a different interval that does not overlap with each other.

[0095] With this configuration, since the detection periods for staple jams and dry firing are different, it is possible to suppress the situation where staple jams and dry firing are mistakenly detected. Furthermore, after the driver 142 starts moving, the abnormality of staple jams will soon appear in the state of the motor 54, while dry firing will appear in the state of the motor 54 when the staples deform after the abnormality of staple jams has appeared in the state of the motor 54. Therefore, even if the detection periods for the abnormalities are different in this way, it is possible to suitably detect both abnormalities.

[0096] Furthermore, regarding coil failure and dry firing, by focusing on the difference in the load on the motor 54, the detection condition for coil failure is set as the current value of the motor 54 exceeding the threshold TH2, while the detection condition for dry firing is set as the current value of the motor 54 being less than or equal to the threshold TH3, thereby making it possible to distinguish and detect the two.

[0097] As described above, the stapling machine 100 of this embodiment makes it possible to provide a stapling machine that can detect abnormalities. However, the stapling machine 100 does not need to be configured to detect all three types of abnormalities: staple jamming, coil defects, and dry firing. For example, it may be configured to detect at least one of these abnormalities. For example, a stapling machine configured to prevent dry firing by other means may be configured to detect only one or both of staple jamming and coil defects.

[0098] For example, the bundling machine 100 may be configured to set the second section and the third section as the same section or a section that partially overlaps, and to set thresholds TH2 and TH3 to the same value. It may be configured to detect a coil failure when the motor current of the motor 54 (an example of "motor load") exceeds threshold TH2 and the motor current of the motor 54 does not rise when the driver 142 is in the second section, and to detect dry running when the motor current of the motor 54 (an example of "motor load") is less than or equal to threshold TH2 and the motor current of the motor 54 does not rise.

[0099] As shown in Figure 7A, when the binding machine 100 performs a normal binding operation, the motor current value increases in the judgment interval X=XN1 to XN2 shown in the figure, and a second maximum value appears. Therefore, the control unit 500 may be configured to determine whether normal binding was performed based on the appearance of a maximum value in this judgment interval, and to detect an abnormality if it is detected that normal binding was not performed, for example, by stopping the movement of the driver 142. Alternatively, the condition may be that the current value increases (for current values ​​acquired at predetermined time intervals, the acquired current value is higher than the previously acquired current value, or the time derivative of the current value is positive).

[0100] As described above, the abnormality detection unit 514 may be implemented from a non-volatile semiconductor memory for storing a computer program that describes the conditions for detecting these abnormalities, and a processing unit such as a processor that executes the computer program read from the non-volatile semiconductor memory to perform various arithmetic processes and controls. For example, the bundling machine control unit including the control unit 500 and the abnormality detection unit 514 may be implemented from a configuration (for example, a computer such as a CPU) that includes a non-volatile semiconductor memory for storing a computer program for performing the arithmetic processes and controls described herein, 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.

[0101] [Control Method] The following describes the control method used by the control unit 500 when these abnormalities are detected.

[0102] Figures 8A, 8B, 8C, and 8D are flowcharts showing the control methods during normal (normal) stapling operation, staple jamming, coil failure, and dry firing, respectively.

[0103] When the user presses a switch such as a trigger located on the grip portion 120, the control unit 500 rotates the motor 54 in the forward direction. As the motor 54 rotates in the forward direction, the ball screw rotates in the forward direction, and the driver 142, which is fixed to the nut component that screws into the ball screw, moves forward in the first direction X1 while pressing the staple S, thereby initiating the fastening operation (step S10).

[0104] The abnormality detection unit 514 determines whether there is an abnormality at predetermined intervals (step S12) based on the state of the motor 54 when the driver 142 is in a predetermined position, as described above, until the binding is completed (step S14). The abnormality detection unit 514 may also determine whether the binding has been completed according to normal binding based on conditions such as the motor current value rising and a maximum value appearing in the judgment interval X=XN1 to XN2 shown in Figure 7A.

[0105] When the binding is completed in step S30, the control unit 500 executes a deceleration control program to control the motor 54 so that the driver 142 decelerates, and then executes a stop control program to control the motor 54 so that the driver 142 stops (step S16).

[0106] Subsequently, the control unit 500 performs a reverse drive to rotate the motor 54 in the opposite direction. As the motor 54 rotates in the opposite direction, the ball screw rotates in the opposite direction, and the driver 142, which is fixed to the nut component that screws into the ball screw, begins to move in the opposite direction, backward X2 (an example of the "second direction") (step S18).

[0107] As described above, the lid portion 250 of this embodiment is configured to be located downward Z2 to close the hole when the driver 142 moves forward to perform the stapling, and to move upward Z1 when the driver 142 moves backward after stapling. Therefore, as the driver 142 moves backward X2, the lid portion 250, which guides the downward Z2 movement of the tip S1P of the staple S, moves upward Z1 to open the hole (guide open) and pushes out the tip ST of the staple S that is engaged with the first object G upward Z1 and discharges it (step S20).

[0108] Subsequently, as the driver 142 returns to its home position, the cover 250 moves downward Z2 to close the hole (step S22), and when it returns to its home position, the driver 142 comes to rest (step S24), and the fastening operation ends (step S26).

[0109] [Staple jam] Figure 8B is a flowchart showing the control method when the blockage detection unit 514A detects a staple blockage.

[0110] The start of the binding operation (step S30) is the same as in step S10, so the explanation is omitted.

[0111] The jamming detection unit 514A of the abnormality detection unit 514 determines whether or not there is a staple jam by comparing the current value obtained from the current amount acquisition unit 512 with the threshold TH1 when the driver 142 reaches XA1 in the X-axis direction, based on the position information of the driver 142 obtained from the position acquisition unit 504 (step S32).

[0112] If the jam detection unit 514A does not detect a staple jam (if "No" is detected in step S32), it repeatedly executes step S32 at predetermined intervals until the driver 142 reaches XA2 in the X-axis direction (if "No" is detected in step S34).

[0113] If the driver 142 reaches XA2 in the X-axis direction without the blockage detection unit 514A detecting a staple blockage, and stapling is completed (if "Yes" is answered in step S34), the process proceeds to step S16.

[0114] If the jam detection unit 514A determines that the current value acquired from the current acquisition unit 512 before the driver 142 reaches XA2 in the X-axis direction exceeds the threshold TH1 (if "Yes" is answered in step S32), a staple jam is detected (step S36).

[0115] When a staple jam is detected, the control unit 500 executes an emergency stop control program to control the motor 54 so that the driver 142 stops immediately (step S38). Here, immediate stop means stopping the driver 142 as quickly as possible. For example, the stopping distance until the driver 142 stops immediately after executing the emergency stop control program (an example of the "second distance") is smaller than the stopping distance when performing normal stapling work (the distance from the start of deceleration until stopping; an example of the "first distance"). Also, the minimum value of the (negative) acceleration of the driver 142 at the time of immediate stop is smaller than the minimum value of the (negative) acceleration of the driver 142 when performing normal stapling work (the slope is steeper in a graph with time on the horizontal axis and velocity on the vertical axis).

[0116] Staple jamming is an abnormality that can lead to damage to the stapling machine 100; therefore, with the above configuration, it is possible to suppress damage to the stapling machine 100 caused by staple jamming.

[0117] In particular, since the driver 142 can be stopped with the shortest possible stopping distance, damage to the binding machine 100 can be suppressed.

[0118] Since staple jams are detected when the driver 142's position in the X-axis direction is between X=XA1 and XA2, the stopping position of the driver 142 when a staple jam is detected will be X2 further back than the stopping position of the driver 142 during normal stapling operations.

[0119] Subsequently, the control unit 500 determines that the strapping machine 100 is in an error state (step S40) and terminates the operation of the strapping machine 100 (step S42). The strapping machine 100 may be equipped with notification means to notify the control unit 500 of the detection of an error state (for example, visual notification means such as an LED lamp, audio notification means such as a speaker, or notification to a portable information terminal wirelessly connected to the strapping machine 100). Notification means may be used similarly when other abnormalities are detected. The notification form may also be varied depending on the type of abnormality. As mentioned above, the blockage detection unit 514A may also include other configurations for determining whether or not there is a staple blockage in step S32. For example, the blockage detection unit 514A may be configured to detect a staple blockage based on an increase in the current value of the motor 54 when the driver 142 is in a predetermined determination interval.

[0120] [Coil failure] Figure 8C is a flowchart showing the control method when the coil failure detection unit 514B detects a coil failure.

[0121] The start of the binding operation (step S50) is the same as in step S10, so the explanation is omitted.

[0122] Based on the position information of the driver 142 obtained from the position acquisition unit 504, when the driver 142 reaches XB1 in the X-axis direction, the coil failure detection unit 514B obtains the current value of the motor 54 from the current amount acquisition unit 512, compares this with a predetermined threshold TH2, and determines whether there is a coil failure based on whether the current value of the motor 54 exceeds the threshold TH2 (condition 1) and whether the current value of the motor 54 does not rise (for example, for current values ​​obtained at predetermined time intervals, the obtained current value does not exceed the previously obtained current value compared to the previously obtained current value, or the time derivative of the current value is 0 or negative) (condition 2) (step S52).

[0123] If the coil failure detection unit 514B does not detect a coil failure (if the result is "No" in step S52), it repeatedly executes step S52 at predetermined intervals until the driver 142 reaches XB2 in the X-axis direction (if the result is "No" in step S54).

[0124] If the coil defect detection unit 514B does not detect a coil defect and the driver 142 reaches XB2 in the X-axis direction and the bundling is completed (if "Yes" is answered in step S54), the process proceeds to step S16.

[0125] If the coil failure detection unit 514B determines that both condition 1 and condition 2 have been satisfied by the time the driver 142 reaches XB2 in the X-axis direction (if "Yes" is found in step S52), a coil failure is detected (step S55).

[0126] When a coil malfunction is detected, the control unit 500 executes a deceleration control program to control the motor 54 so that the driver 142 decelerates, and then executes a stop control program to control the motor 54 so that the driver 142 stops (step S56).

[0127] Subsequently, the control unit 500 performs a reverse drive to rotate the motor 54 in the opposite direction. As the motor 54 rotates in the opposite direction, the ball screw rotates in the opposite direction, and the driver 142, which is fixed to the nut component that screws into the ball screw, begins to move in the opposite direction, backward X2 (step S58).

[0128] As described above, while the driver 142 moves backward X2, the cover 250, which guides the movement of the tip S1P of the staple S downward Z2, moves upward Z1 to open the hole (guide open) (step S60).

[0129] Subsequently, the control unit 500 interrupts the reverse drive of the motor 54 and stops the motor 54 (step S62). At this point, the user can remove the staple S with the faulty coil. At this point, the cover 250 has moved upward Z1 to open the hole (guide open), so the user can easily remove the staple S.

[0130] Subsequently, when the user presses the trigger switch ("Yes" in step S64), the motor 54 resumes reverse drive (step S66).

[0131] Subsequently, as the driver 142 returns to its home position, the cover 250 moves downward Z2 to close the hole (step S68), and when it returns to its home position, the driver 142 comes to rest (step S70), and the fastening operation ends (step S72).

[0132] With the above configuration, in a stapling machine 100 having a lid 250 configured to operate in conjunction with the driver 142 so as to approach the tip ST of the staple S that engages with the first object G when the staple S engages with the first object G, and to move away from the tip ST after the tip ST engages with the first object G, the control unit 500 controls the motor 54 so that when a coil defect is detected the driver 142 moves so as to move the lid 250 away from the tip ST, thereby making it possible to easily discharge the staple with the coil defect.

[0133] As mentioned above, the stapling machine 100 may be configured to detect both staple jams and coil defects. In that case, the control unit 500 of the stapling machine 100 controls the motor 54 so that if a staple jam is detected when the driver 142 is in the X-axis position from X=XA1 to XA2 (an example of the "first section"), the driver 142 stops immediately (an example of the "first stopping method"). If a coil defect is detected when the driver 142 is in the X-axis position further along the X-axis than in the first section, from X=XB1 to XB2 (an example of the "second section"), the motor 54 controls the motor so that the driver 142 stops when it is moved forward to X1, then backward to X2, and the lid 250 is moved upward to Z1 (an example of the "second stopping method").

[0134] With this configuration, the control unit 500 of the bundling machine 100 controls the motor 54 so that the driver 142 stops in response to the detected abnormality, thereby enabling the detection of multiple types of abnormalities and the appropriate control of the driver 142 in response to the detected abnormality.

[0135] [empty shot] Figure 8D is a flowchart showing the control method when the dry-fire detection unit 514C detects a dry-fire.

[0136] The start of the binding operation (step S80) is the same as in step S10, so the explanation is omitted.

[0137] Based on the position information of the driver 142 obtained from the position acquisition unit 504, when the driver 142 reaches XC1 in the X-axis direction, the dry-fire detection unit 514C obtains the current value of the motor 54 from the current amount acquisition unit 512, compares this with a predetermined threshold TH3, and determines whether or not there is a dry-fire (step S82) based on the following conditions: the current value of the motor 54 is less than or equal to the threshold TH3 (condition 1), and the current value of the motor 54 does not rise (for example, for current values ​​obtained at predetermined time intervals, the obtained current value does not exceed the previously obtained current value compared to the previously obtained current value, or the time derivative of the current value is 0 or negative).

[0138] If the dry firing detection unit 514C does not detect a dry firing (if the result is "No" in step S82), it repeatedly executes step S82 at predetermined intervals until the driver 142 reaches XC2 in the X-axis direction (if the result is "No" in step S84).

[0139] If the dry-fire detection unit 514C does not detect a coil defect and the driver 142 reaches XC2 in the X-axis direction and the bundling is completed (if "Yes" is answered in step S84), the process proceeds to step S16.

[0140] If the dry-fire detection unit 514C determines that both condition 1 and condition 2 have been satisfied by the time the driver 142 reaches XC2 in the X-axis direction (if "Yes" is answered in step S82), a dry-fire is detected (step S86).

[0141] When a dry run is detected, the control unit 500 executes a deceleration control program to control the motor 54 so that the driver 142 decelerates, and then executes a stop control program to control the motor 54 so that the driver 142 stops (step S88).

[0142] Here, the control unit 500 is configured to control the motor 54 so that when a dry run is detected, the driver 142 starts decelerating at a position earlier in the X-axis direction (a position advanced backward X2) compared to the deceleration start position when no dry run is detected.

[0143] With this configuration, it is possible to prevent the driver 142 from advancing too far as a result of dry firing and colliding with the parts of the binding machine.

[0144] Subsequently, the control unit 500 performs a reverse drive to rotate the motor 54 in the opposite direction. As the motor 54 rotates in the opposite direction, the ball screw rotates in the opposite direction, and the driver 142, which is fixed to the nut component that screws into the ball screw, begins to move in the opposite direction, backward X2 (step S90).

[0145] Steps S92 to S98 are the same as steps 20 to S26, so we will omit the explanation.

[0146] With the above configuration, the control unit 500 controls the motor 54 to start decelerating at a position earlier in the X-axis direction (a position advanced backward X2) compared to the deceleration start position when no dry firing is detected. This makes it possible to suppress the situation in which the driver 142 moves too far forward as a result of dry firing and collides with the parts of the binding machine.

[0147] As mentioned above, the stapling machine 100 may be configured to detect both staple jams and dry firing. In that case, the control unit 500 of the stapling machine 100 controls the motor 54 so that the driver 142 stops immediately (an example of the first stopping method) if a staple jam is detected in the section from X=XA1 to XA2 (an example of the "first section") where the driver 142 is positioned in the X-axis direction, and if dry firing is detected in the section from X=XC1 to XC2 (an example of the "third section") where the driver 142 is positioned further in the X-axis direction than in the first section, the motor 54 controls the motor 54 so that the driver 142 stops (an example of the "third stopping method") after starting to decelerate at a position in the X-axis direction earlier (a position further back X2) compared to the deceleration start position when no dry firing is detected.

[0148] With this configuration, the control unit 500 of the bundling machine 100 controls the motor 54 so that the driver 142 stops in response to the detected abnormality, thereby enabling the detection of multiple types of abnormalities and the appropriate control of the driver 142 in response to the detected abnormality.

[0149] Furthermore, the stapling machine 100 may be configured to detect three types of abnormalities: staple jamming, coil failure, and dry firing. Figure 8E is a flowchart showing the control method when an abnormality is detected by the control unit 500.

[0150] As shown in the figure, when the control unit 500 starts the abnormality detection process (step S100), the jamming detection unit 514A of the control unit 500 detects the presence or absence of a staple jam at predetermined intervals in the section where the position of the driver 142 in the X-axis direction is X=XA1 to XA2 (an example of the "first section") (step S102). If a staple jam is detected ("Yes" in step S102), the control unit 500 performs motor control when a staple jam is detected, for example, as described in step S38 and below, and controls the motor 54 so that the driver 142 stops (step S104).

[0151] If no staple jam is detected in the section where the driver 142's X-axis position is between X=XA1 and XA2 (an example of the "first section"), the coil failure detection unit 514B of the control unit 500 detects whether or not there is a coil failure in the section where the driver 142's X-axis position is between X=XB1 and XB2 (an example of the "second section") (step S106). If a coil failure is detected ("Yes" in step S106), the control unit 500 performs motor control in the event of coil failure detection, for example, as described in step S56 and below, and controls the motor 54 so that the driver 142 stops after deceleration (step S108).

[0152] If no coil failure is detected in the section where the driver 142's position in the X-axis direction is between X=XB1 and XB2 (an example of the "second section"), the dry-fire detection unit 514C of the control unit 500 detects whether or not dry-fire occurs in the section where the driver 142's position in the X-axis direction is between X=XC1 and XC2 (an example of the "third section") (step S110). If dry-fire is detected ("Yes" in step S110), the control unit 500 performs motor control for dry-fire detection, for example, as described in step S88 and below, and controls the motor 54 so that the driver 142 stops after deceleration (step S112).

[0153] If no coil failure is detected in the section where the driver 142's position in the X-axis direction is between X=XC1 and XC2 (an example of the "third section") (the response is "No" in step S110), the control unit 500 terminates the abnormality detection process (step S114). The control unit 500 may be configured to set XB2, which is the end of the second section, and XC1, which is the start of the third section, so that XC1 ≥ XB2, and to execute the process for detecting whether or not there is a dry run after the process for detecting whether or not there is a coil defect has been completed, but is not limited to this configuration.

[0154] For example, the control unit 500 may be configured to set the second and third sections to overlap in at least part, and to detect the presence or absence of coil defects and to detect dry firing during the overlapping period. Alternatively, the control unit 500 may be configured to set XC2, which is the end of the third section, and XB1, which is the start of the second section, so that XB1 ≥ XC2, and to execute the coil defect detection process after the dry firing detection process is completed.

[0155] Furthermore, the present invention can be modified in various ways without departing from its essence. For example, it may be configured to detect each abnormality based on a graph showing the current waveform. Also, the position acquisition unit 504 may be configured to acquire the position of the driver 142 in the X-axis direction based on the driving time of the motor 54. For example, when dry running is detected, the control unit 500 may control the motor 54 to immediately stop it and return the driver 142 to the origin. Also, the motor state acquisition unit may be an indicator that fluctuates according to the load, similar to the current value of the motor 54, in addition to the current value of the motor 54. For example, the motor state acquisition unit may be configured to acquire information indicating the motor load, which is the state of the motor, based on at least one of the following: the rotational speed of the motor 54 which decreases according to the load of the motor 54, or the voltage drop of the power supply voltage supplied to the motor 54 which increases according to the load of the motor 54, or it may be any other configuration for acquiring other information indicating the motor load. In addition, some components of one embodiment can be added to other embodiments within the ordinary creative ability of a person skilled in the art. Also, some components of one embodiment can be replaced with corresponding components of other embodiments. For example, instead of using the condition that the current value of motor 54 exceeds or falls below a predetermined threshold as a condition for determining an abnormality, in situations applicable to a person skilled in the art, the condition for determining an abnormality may be that the derivative of the current value of motor 54 is positive or negative. [Explanation of symbols]

[0156] 10 Binding machine 54 Motor (Motor section) 54 Motor section 100 Binding Machine 142 drivers 250 Lid 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 512 Current quantity acquisition unit ("Status acquisition unit") 514 Anomaly detection unit 514A Blockage detection unit 514B Coil failure detection unit 514C Dry-fire detection unit G First Object P Second object S staples ST tip TH1 threshold TH2 threshold TH3 threshold X Anteroposterior direction X1 forward X2 rear Z vertical direction 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 state acquisition unit for acquiring the state of the motor unit, A position acquisition unit for acquiring the position of the driver unit in the first direction and A binding machine equipped with, The control unit, When an abnormality is detected based on the position information of the driver unit acquired by the position acquisition unit and the state information of the motor unit acquired by the state acquisition unit, the motor unit is controlled to stop the driver unit in accordance with the detected abnormality. Binding machine.

2. The binding machine according to claim 1, wherein the position acquisition unit is configured to acquire information indicating the position of the driver unit based on the amount of rotation of the motor unit or the driving time of the motor unit.

3. The binding machine according to claim 1, wherein the state acquisition unit is configured to acquire information indicating the motor load, which is the state of the motor unit, based on at least one of the current value of the motor unit, the rotational speed of the motor unit, or the power supply voltage supplied to the motor unit.

4. The binding machine according to claim 1, wherein the driver unit is configured to determine whether or not there is a staple jam, which is one of the abnormalities, based on the state of the motor unit acquired by the state acquisition unit when the driver unit is in the first section.

5. The binding machine according to claim 4, wherein the machine is configured to detect a staple jam, which is one of the abnormalities, based on the fact that the motor load of the motor unit, acquired by the state acquisition unit, exceeds a first threshold when the driver unit is in the first section.

6. The binding machine according to claim 4, wherein the driver unit is configured to detect a staple jam, which is one of the abnormalities, based on an increase in the motor load of the motor unit acquired by the state acquisition unit when the driver unit is in the first section.

7. The bundling machine according to claim 1, wherein the driver unit is configured to determine whether or not there is a coil defect, which is one of the abnormalities, based on the state of the motor unit acquired by the state acquisition unit when the driver unit is in the second section.

8. The bundling machine according to claim 7, further configured to detect a coil failure, which is one of the abnormalities, based on the fact that the motor load of the motor unit acquired by the state acquisition unit does not increase when the driver unit is in the second section, and that it exceeds the second threshold.

9. The binding machine according to claim 1, wherein the driver unit is configured to determine whether or not there is a malfunction, which is one of the abnormalities, based on the state of the motor unit acquired by the state acquisition unit when the driver unit is in the third section.

10. The bundling machine according to claim 8, configured to detect one of the abnormalities, namely dry firing, based on the fact that the motor load of the motor unit acquired by the state acquisition unit does not increase and is below the third threshold when the driver unit is in the third section.

11. When the driver unit is in the second section, the motor load of the motor unit acquired by the state acquisition unit exceeds the second threshold, and based on the fact that the motor load of the motor unit does not increase, a coil failure, which is one of the abnormalities, is detected. The system is configured to detect one of the abnormalities, namely dry running, based on the fact that the motor load of the motor unit acquired by the state acquisition unit is below a second threshold when the driver unit is in the second section, and that the motor load of the motor unit does not increase. The binding machine according to claim 1.

12. The control unit, When the driver unit is in the first section and a staple jam is detected based on the state of the motor unit detected by the state acquisition unit, the driver unit controls the motor unit to stop according to the first stopping method. When the driver unit is in a second section or a third section, which is a position where at least a portion of the driver unit has advanced in the first direction from the first section, and the state acquisition unit detects one of the abnormalities, such as a faulty coil or dry running, based on the state of the motor unit, the driver unit is configured to control the motor unit so that it stops according to a stopping method different from the first stopping method. The binding machine according to claim 1.

13. The binding machine according to claim 4, wherein the control unit controls the motor unit so that the driver unit stops when a staple jam is detected.

14. The fastening machine has a cover portion configured to move close to the tip of the staple that engages with the object when the staple is engaged with the object, in conjunction with the driver portion, and to move away from the tip of the staple after engagement. When the control unit detects a coil defect, it controls the motor unit so that the driver unit moves so that the cover unit separates from the tip of the staple. The binding machine according to claim 7.

15. The binding machine according to claim 10, wherein when the control unit detects a dry run, it controls the motor unit so that the driver unit starts to decelerate at a position earlier in the first direction compared to the deceleration start position when no dry run is detected.

Images