End machine

Abstract

To provide a bundling machine that enables highly accurate driver positioning while suppressing a decrease in work efficiency. [Solution] The fastening machine according to the present disclosure comprises: a driver unit for fastening staples to an object by moving in a first direction and pressing the staples; a drive unit for moving the driver unit in a first direction and a second direction opposite to the first direction; and a control unit that controls the drive unit to move the driver unit, which is located at the origin, in the first direction to press the staples, to move the driver unit in the second direction and then stop it, and to move the stopped driver unit at least once each in the first and second directions to return the driver unit to the origin.

Description

Technical Field

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

Background Art

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

[0003] Patent Documents 1 to 3 disclose such staples and a binding machine for binding using these staples. The binding machine described in Patent Document 3 includes a pusher that biases a plurality of staples housed in a magazine upward, a driver that presses the staple at the upper end and moves it 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] However, when the driver that presses the staple and moves forward retreats, if it cannot return accurately to its original position, it will be impossible to appropriately press the next staple. On the other hand, if the driver is moved at a low speed in order to accurately return it to its original position, the work efficiency will decrease.

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

[0007] This application discloses a fastening machine comprising: a driver unit for fastening staples to an object by moving in a first direction and pressing the staples; a drive unit for moving the driver unit in the first direction and a second direction opposite to the first direction; and a control unit that controls the drive unit to move the driver unit, which is located at the origin, in the first direction to press the staples, move the driver unit in the second direction and then stop it, and move the stopped driver unit at least once each in the first direction and the second direction to return the driver unit to the origin.

[0008] This application further discloses a fastening machine comprising: a driver unit for fastening staples to an object by moving in a first direction and pressing the staples; a drive unit for moving the driver unit in the first direction and a second direction opposite to the first direction; and a control unit that controls the drive unit to move the driver unit, which is located at the origin, in the first direction to press the staples, move the driver unit in the second direction at a first speed and then stop it at a position further advanced in the first direction than the origin, and move the driver unit in the second direction at a speed lower than the first speed to return the driver unit to the origin.

[0009] 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.

[0010] 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.

[0011] 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).

[0012] Furthermore, for the driver unit to "pass the origin," it means that a predetermined part of the driver unit (for example, the front end of the driver unit, the rear end, or the part fixed to the nut component) passes the position where that predetermined part of the driver unit was located when it was at the origin. Furthermore, "returning to the origin" of the driver unit may mean that a predetermined part of the driver unit returns to the position of that predetermined part of the driver unit when it is located at the origin. [Brief explanation of the drawing]

[0013] [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]FIG. 3 is a top view of a binding machine according to an embodiment. [Figure 4] FIG. 4 is a side view of a binding machine according to an embodiment. [Figure 5] FIG. 5 is a side view of a binding machine according to an embodiment. [Figure 6A] FIG. 6A is a perspective view of a driver of a binding machine as viewed from above according to an embodiment. [Figure 6B] FIG. 6B is a perspective view of a driver of a binding machine as viewed from above according to an embodiment. [Figure 6C] FIG. 6C is a cross-sectional view of a driver of a binding machine according to an embodiment. [Figure 7] FIG. 7 is a functional block diagram of a binding machine according to the present embodiment. [Figure 8] FIG. 8 is a flowchart showing a control method of a driving unit of the present embodiment. [Figure 9A] FIG. 9A is a schematic diagram showing the position of a driver of the present embodiment. [Figure 9B] FIG. 9B is a schematic diagram showing the position of a driver of the present embodiment. [Figure 9C] FIG. 9C is a schematic diagram showing the position of a driver of the present embodiment. [Figure 9D] FIG. 9D is a schematic diagram showing the position of the driver 142 at each step. [Figure 10A] FIG. 10A is a schematic diagram showing a state where a driver passes through the origin in the present embodiment. [Figure 10B] FIG. 10B is a schematic diagram showing a state where a driver passes through the origin in the present embodiment. [Figure 10C] FIG. 10C is a schematic diagram showing a state where a driver returns to the origin in the present embodiment. [Figure 11A] FIG. 11A is a schematic diagram showing a state where a driver passes through the origin in the present embodiment. [Figure 11B] FIG. 11B is a schematic diagram showing a state where a driver passes through the origin in the present embodiment. [Figure 11C]Figure 11C is a schematic diagram showing how the driver returns to the origin in this embodiment. [Figure 12] Figure 12 is a schematic diagram showing the positional relationship between the origin and the driver in this embodiment. [Figure 13] Figure 13 is a schematic diagram showing the positional relationship between the origin and the driver in this embodiment. [Modes for carrying out the invention]

[0014] The following describes the configuration of the stapling machine 100 and the staples S used by this stapling machine 100 according to this embodiment. However, as will be understood by those skilled in the art, the present invention is broadly applicable to stapling machines comprising a driver unit for stapling staples to an object by pressing the staples in a predetermined direction, a drive unit for driving the driver unit in a predetermined direction and in the opposite direction, and a control unit for controlling the drive unit, and is not limited to the staples S and stapling machine 100 shown in this embodiment. Below, the configuration of the staples S according to this embodiment will be described first.

[0015] [Staple S configuration] First, the configuration of the staple S according to this embodiment will be described. The staple S is made of a wire that is plastically deformable. The staple S may be called a wire or a clip. The staple S includes, for example, a metal wire or wire (including those whose surface is plated or coated with resin, etc.).

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] [Strapping machine configuration] The following describes an example of the configuration of a stapling machine 100 for bending the staples S shown in Figure 1A as shown in Figure 1B. However, the stapling machine may have other known configurations.

[0022] 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.

[0023] 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).

[0024] 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).

[0025] 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.

[0026] 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 "connecting 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. Furthermore, the magazine 140 includes a pusher that presses the connecting staples S upward Z1 and an elastic body such as a spring that biases the pusher upward Z1.

[0027] [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.

[0028] 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.

[0029] The first displacement section 200 is located in front of the first leg section S1 and has a hole with an inner wall surface including a cylindrical surface. With the first object G inserted on the central axis of this cylindrical surface, the stapling machine 100 causes the tip S1P of the first leg section S1 of the staple S, which is advanced by the driver 142 (see Figure 3, etc.), to come into contact with (collide with) the inner wall surface, deforming the tip ST into a spiral shape so as to surround the first object G, thereby engaging the tip ST with the first object G. On the other hand, the second displacement section 300 has a wall section located in front of the second leg section S2. The stapling machine 100, with the first leg S1, second leg S2, and main body S3 of the staple S surrounding the second object P, uses the driver 142 to advance the staple S, causing the second leg S2 of the staple S to come into contact with (collide with) the wall, bending the hook portion S24 of the second leg S2 so that it engages with the first object G, thereby engaging the hook portion S24 with the first object G. The stapling machine 100 is configured to fasten the first object G and the second object P together by engaging both ends of the staple S with the first object G while the staple S surrounds the second object P.

[0030] 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.

[0031] [Driver and driver movement mechanism] As described in Patent Document 3 and other documents mentioned above, the binding machine 100 is configured to move the nut component and the driver 142 fixed thereto forward X1 and backward X2 by rotating a ball screw, which is installed extending in the front-rear direction from approximately the center of the binding machine 100, in either the forward or reverse direction using a built-in motor 54 (Figure 7). Here, the nut component and the driver 142 are configured to move forward X1 and backward X2, and are therefore sometimes referred to as the moving part. The motor 54 moves the driver 142 forward X1 by rotating the ball screw in the forward direction, and moves the driver 142 backward X2 by rotating the ball screw in the reverse direction, and is therefore sometimes referred to as the drive part.

[0032] The driver 142 moves forward X1 and presses the staple S, thereby moving the staple S forward X1 and engaging the staple S with the first object G.

[0033] 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.

[0034] Figure 6A is a side perspective view of the driver 142 of the stapling machine 100, including the pressing portion 142P and the holding portion 142H. Figure 6B is a perspective view of the driver 142 and staple S in their initial state, where the staple S can be pressed, viewed from the rear and above. Figure 6C is a cross-sectional view of the driver 142 and staple S cut by a virtual plane parallel to the XY plane. As shown in Figures 6A to 6C, the driver 142 of this embodiment includes a pressing portion 142P for pressing the staple S and moving it forward X1, and a holding portion 142H for suppressing deformation of the staple S as it moves forward X1.

[0035] The pressing portion 142P of the driver 142 in this embodiment has a first pressing portion 142P1 formed in a curved manner according to the shape of the main body portion S3, facing the rear X2-facing surface of the main body portion S3 of the staple S, and a second pressing portion 142P2 that extends in the left-right direction according to the shape of the first portion S11, facing the rear X2-facing surface of the first portion S11 (an example of a "predetermined portion"; Figure 1A). The pressing portion 142P is disposed at the rear X2 of the staple S, close to the main body portion S3 and the first portion S11.

[0036] With this configuration, the pressing portion 142P of the driver 142 can press the staple S forward X1 by moving the driver 142 forward X1, thereby moving the staple S forward X1.

[0037] On the other hand, the holding portion 142H of the driver 142 in this embodiment includes a plate-shaped portion provided above the pressing portion 142P Z1 so as to be movable integrally with the pressing portion 142P, a first claw portion 142H1 connected to the plate-shaped portion and extending downward Z2 to face the front X1-facing surface of the first portion S11 (Figure 1A) of the staple S, and a second claw portion 142H2 connected to the plate-shaped portion and extending downward Z2 to face the inward-facing surface of the portion of the main body S3 that connects to the first portion S11 of the staple S.

[0038] With this configuration, the pressing portion 142P and the first claw portion 142H1 of the driver 142 are arranged to sandwich the first portion S11 of the staple S from the front-rear direction X, making it possible to suppress deformation of the first portion S11, which is a part that is prone to deformation due to stress concentration when moving forward X1.

[0039] Furthermore, since the holding portion 142H of the driver 142 is equipped with a second claw portion 142H2, it is possible to suppress inward deformation of the main body portion S3 of the staple S.

[0040] Furthermore, the binding 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.

[0041] 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.

[0042] [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.

[0043] 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.

[0044] 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.

[0045] [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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] [Configuration of the control unit] The configuration including the control unit of this embodiment will be described below. Figure 7 is a functional block diagram of the strapping machine 100 according to this embodiment.

[0051] The strapping machine 100 includes a control unit 500 that generates control commands for controlling the motor 54, a position acquisition unit 504 that acquires position information of the driver 142 in the front-rear direction X (or forward X1), a rotation amount acquisition unit 508 that acquires information indicating the amount of rotation of the motor 54, and a rotation speed acquisition unit 510 that acquires information indicating the rotation speed of the motor 54. Each block will be described in detail below. Note that the control unit 500, position acquisition unit 504, rotation amount acquisition unit 508, and rotation speed acquisition unit 510 are also components for controlling the strapping machine 100, so these components may be collectively referred to as the strapping machine control unit. The control unit 500 may also include a speed acquisition unit that acquires information indicating the movement speed of the driver 142 in the forward direction X1, a current amount acquisition unit that acquires information indicating the current of the motor 54, and other components.

[0052] 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 (e.g., semiconductor transistors such as IGBTs) with two switching elements connected to each phase between DC buses for supplying power 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 control signals. As will be described later, the computer program of this embodiment is described as generating a control signal to control the motor 54 so that the driver 142, which is stationary at the origin OR, is moved forward X1 at high speed, thereby moving the staple S forward X1 and engaging it with the first object G, then the driver 142 is moved backward X2 at a relatively high speed (an example of "first speed") to the vicinity of the origin OR and then stopped, and then the stopped driver 142 is moved forward X1 and backward X2 at least once each at a relatively low speed (an example of "second speed") before the driver 142 is returned to the origin OR. The origin refers to the position where the driver is waiting before the strapping machine begins its strapping operation, and may also correspond to the driver's initial position.

[0053] The computer program includes a deceleration control program for controlling the motor 54 to decelerate the driver 142, which is moving at a relatively high speed forward X1 and backward X2, and a stop control program for controlling the motor 54 to stop the decelerated driver 142.

[0054] According to the above configuration of the strapping machine 100 of this embodiment, the driver 142 is moved backward X2 at a relatively high speed (an example of the "first speed") and stopped near the origin OR. The driver 142 is then moved forward X1 and backward X2 at least once each. This makes it possible to improve the efficiency of the strapping work compared to a configuration in which the driver is moved to near the origin at a low speed.

[0055] Furthermore, if the driver is moved at a relatively high speed and stopped near the origin, the driver may not be able to return to the origin accurately. As a result, for example, the next staple, which is held in the magazine and pushed upward by the pusher, may interfere with the driver and be unable to move upward.

[0056] According to the above configuration of the stapling machine 100 of this embodiment, even if the driver 142 stops at a position where it interferes with the staple S that is trying to move upward Z1, the driver 142 is configured to move forward X1 and backward X2 at least once each afterward. Therefore, even if the driver 142 stops at a position forward X1 of the origin OR, or even if the driver 142 stops at a position backward X2 of the origin OR, it is possible to move the driver 142 to a position where it does not interfere with the staple S that is trying to move upward Z1, thereby increasing the possibility of capturing the staple S at the top end.

[0057] Furthermore, it is preferable that the movement speed of the driver 142 when moving forward X1 and backward X2 at least once each is relatively low.

[0058] With this configuration, it becomes possible to return the driver 142 to the origin OR with greater precision compared to when it is moved at high speed.

[0059] The position acquisition unit 504 acquires position information of the driver 142 in the front-rear direction X (or forward X1). Known configurations can be used to acquire information indicating the speed of movement of the driver 142 in the forward X1 direction. In this embodiment, the position acquisition unit 504 is configured to acquire position information of the driver 142 based on information indicating the amount of rotation of the motor 54 acquired by the rotation amount acquisition unit 508. That is, in this embodiment, the binding machine 100 is configured so that the nut component and the driver 142 fixed thereto can be moved forward X1 and backward X2 by rotating the ball screw in the forward or reverse direction with the motor 54, so the amount of rotation of the motor 54 and the amount of movement of the driver 142 are in a predetermined relationship (for example, a proportional relationship). For example, when the motor 54 rotates once in the forward direction, the nut component and the driver 142 fixed thereto move a certain distance forward X1. Therefore, the position acquisition unit 504 can acquire, for example, information from the rotation amount acquisition unit 508 indicating the total amount of rotation of the motor 54 from when the driver 142 is stationary at the origin position to when the driver 142 is moving forward X1, thereby acquiring the distance the driver 142 has moved forward X1 relative to the origin position at that time (i.e., the position information of the driver 142 in the X direction).

[0060] 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 a position capable of detecting the magnetic material embedded in the driver 142. With such a configuration, the position acquisition unit 504 can acquire information indicating the position of the driver 142 in the X-axis direction, and in particular can acquire information indicating whether or not the driver 142 is located at the origin OR.

[0061] 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.

[0062] 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 from a configuration that includes one or more Hall ICs (an example of a "sensor unit") that detect the magnetic field of the motor 54, which is a magnetic material. Alternatively, the rotation speed acquisition unit 510 may be realized from a configuration that includes a circuit (an example of a "sensor unit") that detects the induced voltage generated by the rotation of the motor 54 and acquires the number of commutations of the motor 54 based on the detected induced voltage, or from a configuration that includes a current detection circuit (an example of a "sensor unit") that detects the motor current and acquires the number of commutations of the motor 54 based on the motor current.

[0063] The binding machine control unit described above may be implemented with a configuration comprising: a control unit 500 which may include an inverter circuit and other circuits; a rotation speed acquisition unit 510 which may include a sensor such as a Hall element; a computer program for executing various calculation processes described in this embodiment; a non-volatile semiconductor memory for storing this computer program; and a processor (for example, a computer such as a CPU) for reading and executing this computer program.

[0064] [Control Method] The following describes how the control unit 500 controls the motor 54 to return the driver 142 to the origin OR when performing a binding operation using the binding machine of this embodiment.

[0065] Figure 8 is a flowchart showing the control method of the motor 54 by the control unit 500. Figures 9A to 9D are schematic diagrams showing the position of the driver 142 at each step.

[0066] As shown in Figure 9A, in the initial state, the driver 142 is stationary at the origin OR.

[0067] The position of the driver 142 refers to the position of a predetermined part of the driver 142 (for example, the front end, rear end, or the part fixed to the nut component). In this embodiment, the pressing surface of the second pressing part 142P2 that presses the first part S11 of the staple S, facing forward X1, is defined as the predetermined part, and the position in the front-rear direction X (sometimes called the "X-axis direction") where this surface exists in the initial state is described as the origin OR (X=0). Therefore, in the initial state, the position of the driver 142 in the X-axis direction is X=0. At this time, the upper Z1 of the connecting staple S, which is held in the magazine 140 and biased upward Z1, is the space between the second pressing part 142P2 of the driver 142 that presses the first part S11 and the first claw part 142H1 of the holding part 142H. Therefore, the staple S at the upper end of the connecting staple S is inserted from below Z2 between the pressing portion 142P and the first claw portion 142H1 and is captured by the driver 142.

[0068] In this initial state, when the user presses the trigger of the stapling machine 100, the control unit 500 generates a control command to perform a forward high-power drive that rotates the motor 54 at high speed in the forward direction, according to the computer program, and drives the motor 54 to rotate. As a result, as shown in Figure 9B, the driver 142 starts moving forward X1 at high speed. Consequently, the staples S pressed by the driver 142 also start moving forward X1 at high speed.

[0069] Next, when the control unit 500 determines that the position of the driver 142 in the X-axis direction acquired by the position acquisition unit 504 has reached the position where stop control should be initiated, it executes a stop control program to stop the driver 142. At this time, the first leg S1 of the staple S surrounding the second object P is deformed spirally by the first displacement unit 200 and engages with the first object G, and the second leg S2's hook portion S24 is hooked onto the first object G by the second displacement unit 300 and engages, thus completing the binding of the first object G and the second object P (step S10).

[0070] Next, the control unit 500 generates a control command to execute a reverse drive that rotates the motor 54 in the opposite direction, and drives the motor 54, moving the driver 142 backward X2 at a relatively high speed to near the origin OR, and then stops it.

[0071] Subsequently, the control unit 500 determines, based on the position information of the driver 142 in the X-axis direction obtained from the position acquisition unit 504, whether or not the stopping position of the driver 142 has reached a position that has moved a predetermined distance α backward X2 relative to the origin OR (an example of a "second position"; X = -α) (step S12).

[0072] If the control unit 500 determines that the stopped driver 142 has not reached a position where it has traveled a predetermined distance α backward X2 relative to the origin OR (i.e., X = -α), that is, if the position of the driver 142 in the X-axis direction is X > -α (if the answer in step S12 is "No"), then it rotates the motor 54 in the reverse direction at a low speed until the position of the driver 142 in the X-axis direction becomes X = -α (step S14).

[0073] Figure 9C shows the case where the driver 142 moves backward X2 at high speed and then stops at a position forward X1 beyond the origin OR. In this case, the control unit 500 performs a low-speed reverse drive, rotating the motor 54 in the reverse direction at a low speed until the position of the driver 142 in the X-axis direction becomes X = -α, so that the driver 142 moves backward X2 at a relatively low speed and passes the origin OR (that is, a predetermined part of the driver 142 (for example, the face of the second pressing part 142P2 facing forward X1) passes the position where the same part of the driver 142 was located when it was at the origin OR).

[0074] Figure 10A is a schematic diagram showing the driver 142 moving relatively slowly backward X2 and passing through the origin OR, and Figure 11A is a schematic diagram showing a cross-section when the driver 142 moves backward X2 and passes through the origin OR. That is, when the driver 142 moves backward X2 from the position shown by the dashed line in Figure 10A to the position shown by the solid line, it passes through the origin OR where X=0 and stops at the position where X=-α. Also, since the driver 142 moves backward X2 after passing through the origin OR, as shown in Figure 11A, the first claw portion 142H1 of the holding portion 142H of the driver 142 is located above Z1 the staple S held in the magazine 140.

[0075] If the control unit 500 determines that the driver 142, which is moving backward X2 at a low speed, has reached a position where it has traveled a predetermined distance α backward X2 relative to the origin OR (i.e., X = -α) (if the answer is "Yes" in step S12), it switches the direction of movement of the driver 142 and rotates the motor 54 forward at a low speed until the position of the driver 142 in the X-axis direction becomes X = +α (an example of the "first position") (step S16). Since the control unit 500 performs a low-speed forward rotation drive, rotating the motor 54 forward at a low speed until the position of the driver 142 in the X-axis direction becomes X = +α, the driver 142 moves forward X1 at a relatively low speed and passes the origin OR (i.e., a predetermined part of the driver 142 (for example, the face of the second pressing part 142P2 facing forward X1) passes the position where the same part of the driver 142 was located when it was at the origin OR).

[0076] Figure 10B is a schematic diagram showing the driver 142 moving forward X1 at a relatively low speed and passing through the origin OR, and Figure 11B is a schematic diagram showing a cross-section of the driver 142 as it moves forward X1 and passes through the origin OR. That is, the driver 142 moves backward X2 from the position shown by the dashed line in Figure 10B to the position shown by the solid line, passes through the origin OR where X=0, and stops at the position where X=+α. Also, since the driver 142 moves forward X1 after passing through the origin OR, at least a part of the pressing portion 142P of the driver 142 is located above Z1 of the staple S held in the magazine 140, as shown in Figure 11B.

[0077] Next, if the control unit 500 determines that the driver 142, which is moving forward X1 at a low speed, has reached a position where it has traveled a predetermined distance α forward X1 relative to the origin OR (i.e., X = +α) (if "Yes" is answered in step S18), it switches the direction of movement of the driver 142 and rotates the motor 54 in the reverse direction at a low speed until the position of the driver 142 in the X-axis direction becomes X = 0 (step S20). The control unit 500 performs a low-speed reverse drive, rotating the motor 54 in the reverse direction at a low speed until the position of the driver 142 in the X-axis direction becomes X = 0, and if it determines that the position of the driver 142 in the X-axis direction has reached the origin OR (X = 0) (if "Yes" is answered in step S22), it stops the rotation drive of the motor 54.

[0078] The configuration for determining when the driver 142's position in the X-axis direction has reached the origin OR (X=0) may be implemented using one or more Hall ICs (an example of a "sensor unit") positioned to detect the magnetic material embedded in the driver 142. With such a configuration, the position acquisition unit 504 can acquire information indicating the position of the driver 142 in the X-axis direction, and in particular, it can acquire information indicating whether or not the driver 142 is located at the origin OR.

[0079] With the above configuration, even if the driver 142 stops at a position X1 forward of the origin OR when it is moved to the rear X2 at a relatively high speed due to dimensional errors during manufacturing or deterioration over time, it is possible to move the driver 142 to a position where it does not interfere with the staple S that is trying to move upward Z1, thereby increasing the possibility of capturing the staple S at the top.

[0080] Furthermore, since the movement speed of the driver 142 is relatively slow when it moves forward X1 and backward X2 at least once each, it is possible to return the driver 142 to the origin OR with high precision.

[0081] Furthermore, the maximum speed at which the driver 142 is moved relatively quickly backward X2 from near bottom dead center (an example of the "first speed") may be at least twice the maximum speed at which it is moved forward X1 and backward X2 at least once each (an example of the "second speed").

[0082] This configuration makes it possible to suppress a decrease in work efficiency and to position the driver 142 with high precision.

[0083] Furthermore, the distance α between the rear end position (X=-α) and the origin OR when moving backward X2 at a low speed may be less than or equal to the width W in the front-to-back direction of the staple S.

[0084] With this configuration, even if the position where the staple S can be captured (sometimes called "loadable" or "insertable") is misaligned with the origin OR, the staple S can still be captured. This point will be discussed later.

[0085] Similarly, the distance α between the front end position (X=+α) and the origin OR when moving forward X1 at a low speed may be less than or equal to the width W in the front-to-back direction of the staple S.

[0086] With this configuration, even if the position where the staple S can be captured (loaded) is misaligned with the origin OR, the staple S can still be captured. This point will be discussed later.

[0087] In this embodiment, the driver 142 employs a configuration in which it clamps a portion of the staple S (first portion S11) from the front-rear direction X with two portions (for example, the second pressing portion 142P2 and the first claw portion 142H1 of the holding portion 142H), but it is not limited to this configuration.

[0088] For example, the driver 142 does not need to have a holding portion 142H including the first claw portion 142H1. Even with such a configuration, it is possible to provide a strapping machine that enables highly accurate driver positioning while suppressing a decrease in work efficiency.

[0089] Furthermore, the distance between the front-facing X1 surface of the second pressing portion 142P2 and the rear-facing X2 surface of the first claw portion 142H1 of the holding portion 142H facing this surface is preferably greater than the front-rear width W of the staple S, for example, 1.5 times or less the front-rear width W of the staple S.

[0090] With this configuration, when the driver 142 is at position X = -α or X = +α, at least a part of the holding portion 142H or the second pressing portion 142P2 is located above Z1 of the staple S (Figures 11A and 11B). This suppresses the upward movement of the staple S to Z1 while the driver 142 is moving, and promotes the upward movement of the staple S to Z1 when the driver 142 is at the origin OR (Figure 11C).

[0091] However, this is not the only option; the above interval may be, for example, greater than 1.5 times the width W of the staple S in the front-to-back direction.

[0092] Next, we will explain the case in step S12 when the control unit 500 determines that the stopping position of the driver 142, which has moved backward X2 at high speed, has reached a position that has traveled a predetermined distance α backward X2 relative to the origin OR (i.e., X = -α).

[0093] Figure 9D shows the case where the driver 142 moves backward X2 at high speed and then stops at a position X2 behind the origin OR. In such a case (when "Yes" is answered in step S12), the control unit 500 rotates the motor 54 in the forward direction at a low speed until the position of the driver 142 in the X-axis direction becomes X = +α (step S16), so the driver 142 moves forward X1 at a relatively low speed and passes the origin OR (i.e., a predetermined part of the driver 142 (for example, the face of the second pressing part 142P2 facing forward X1) passes the position where that part of the driver 142 was located when it was at the origin OR) (Figures 10B and 11B). Subsequently, the control unit 500 rotates the motor 54 in the reverse direction at a low speed until the position of the driver 142 in the X-axis direction becomes X=0 (step S20). If it determines that the origin OR (X=0) has been reached (if "Yes" is answered in step S22), it stops the rotational drive of the motor 54 (Figures 10C and 11C).

[0094] Even with the above configuration, if the driver 142 is moved relatively quickly to the rear X2 and stopped due to dimensional errors during manufacturing or wear of parts due to long-term use, and the driver 142 stops at a position X2 behind the origin OR, it is possible to move the driver 142 to a position where it does not interfere with the staple S that is trying to move upward Z1. This allows for similar effects, including an increased possibility of capturing the upper staple S.

[0095] If the driver 142 stops at a position X1 in front of the origin OR, the control unit 500 may, in step S12, control the motor 54 so that the driver 142 moves slowly backward X2 to a position X2 behind the origin OR (for example, X = -α), and then control the motor 54 so that the driver 142 moves slowly forward X1 and stops when it reaches the origin OR without passing through the origin OR.

[0096] In this embodiment, the origin OR is set based on the rearmost position (an example of a "movable limit position") where the driver 142, which is fixed to the nut component, can move rearward X2 by rotating the ball screw in the reverse direction with the motor 54. For example, the origin OR may be set to the position of the driver 142 when the ball screw is rotated forward by a predetermined amount (e.g., 10 rotations) relative to the driver 142 at the rearmost position.

[0097] This configuration makes it possible to suppress variations in the position of the origin OR set for each bundling machine 100. Furthermore, it allows for easy setting and resetting of the origin OR.

[0098] However, due to dimensional errors during manufacturing or wear and tear on parts due to long-term use, the origin OR, which is originally set as the position where staple S can be captured (loaded), may shift.

[0099] According to the stapling machine 100 of this embodiment, even if such misalignment occurs, it may still be possible to capture the staple S.

[0100] Figure 12 is a schematic diagram showing a state in which the origin OR (X=0) set by the control unit 500 of the stapling machine 100 and the position X=+β where the staple S can be captured (loaded) are misaligned.

[0101] Even in such cases, as shown in Figure 13, according to the stapling machine 100 of this embodiment, the driver 142 moves slowly forward X1 and passes through a position where X = +β, so if α ≥ β, it may be possible to capture the staple S. This is not limited to cases where the position in which the staple S can be captured (loaded) is shifted forward X1 from the origin OR, but similarly, even if the position in which the staple S can be captured (loaded) is shifted backward X2 from the origin OR, the driver 142 moves slowly backward X2 and passes through a position where X = -β, so it may be possible to capture the staple S.

[0102] As described above, the binding machine 100 of this embodiment enables highly accurate driver positioning while suppressing a decrease in work efficiency.

[0103] [Second Embodiment] Different embodiments of the present invention will be described below. Components having the same or similar functions as those of the binding machine according to the first embodiment will be given the same or similar names or reference numerals, and their descriptions will be omitted or simplified. The description will focus on the differences.

[0104] The control unit of the stapling machine in this embodiment moves the driver 142, which is located at the origin OR, forward X1 (an example of the "first direction") to press the staples S and fasten them. Then, when moving the driver 142 backward X2 (an example of the "second direction"), the motor 54 is controlled to stop the driver 142 at a position that has intentionally advanced X1 beyond the origin OR at a high speed (an example of the "first speed"), and then the motor 54 is controlled to move the driver 142 backward X2 at a low speed to return it to the origin OR. Therefore, the driver 142 does not necessarily pass through the origin OR.

[0105] This configuration improves the efficiency of the bundling process compared to a configuration where the driver is moved slowly to near the origin, and also allows for positioning at low speeds, thus improving positioning accuracy.

[0106] Alternatively, after moving the driver 142, which is located at the origin OR, forward X1 (an example of the "first direction") to press and fasten the staple S, when moving the driver 142 backward X2 (an example of the "second direction"), the motor 54 may be controlled to stop the driver 142 at a position that has moved X2 behind the origin OR at a high speed (an example of the "first speed"), and then the motor 54 may be controlled to move the driver 142 forward X1 at a low speed to return it to the origin OR.

[0107] Furthermore, the present invention can be modified in various ways without departing from its essence. For example, the direction of movement of the driver is not necessarily limited to the front-to-back direction. The present invention can be applied even if a known fastening machine has a configuration in which it moves in a different direction to press the staples. Also, the staples may have a different shape than in this embodiment, and the driver is not limited to the shape of this embodiment as long as it is a component for pressing the staples. [Explanation of symbols]

[0108] S staples 54 Motor (drive unit) 100 Binding Machine 140 Magazine 142 Driver (Driver section) 142H Holding part 142H1 1st claw part 142H2 2nd claw part 142P Pressing part 142P1 First pressing section 142P2 Second pressing section 150 Main body 200 First displacement section 300 Second displacement section 500 Control Unit 504 Position acquisition part 508 Rotation amount acquisition unit 510 Rotational speed acquisition unit OR Origin X1 Front (first direction) X2 Rear (second direction)

Claims

1. A driver unit for fastening staples to an object by moving in a first direction and pressing the staples, A drive unit for moving the driver unit in the first direction and in a second direction opposite to the first direction, The driver unit located at the origin is moved in the first direction to press the staple, After moving the driver unit in the second direction, it is stopped. Move the stopped driver unit at least once each in the first and second directions to return the driver unit to the origin. A control unit that controls the drive unit, A binding machine equipped with a strapping mechanism.

2. The control unit, After moving the driver unit in the second direction at the first speed, it is stopped. If the driver unit stops at a position advanced beyond the origin in the second direction, move the driver unit in the first direction at a speed lower than the first speed to pass the origin. After moving the driver unit in the second direction at a speed lower than the first speed, the driver unit is returned to the origin. Controlling the aforementioned drive unit, The binding machine according to claim 1.

3. The control unit, After moving the driver unit in the second direction at the first speed, it is stopped. If the driver unit stops at a position advanced beyond the origin in the first direction, the driver unit is moved in the second direction at a speed lower than the first speed to pass the origin. After moving the driver unit in the first direction at a speed lower than the first speed, the driver unit is returned to the origin. The binding machine according to claim 1, which controls the drive unit.

4. The aforementioned driver unit A pressing portion that presses the staple against the surface of a predetermined portion of the staple facing the second direction, A holding portion that holds the staple facing the first direction-facing surface of the predetermined portion of the staple, The binding machine according to claim 1, comprising:

5. The binding machine according to claim 2, wherein the first position, which corresponds to the position of the driver unit when switching the direction of movement of the driver unit, which has moved in the first direction at a speed lower than the first speed, to the second direction, corresponds to a position that has advanced further in the first direction than the origin.

6. The binding machine according to claim 3, wherein the second position, which corresponds to the position of the driver unit when switching the direction of movement of the driver unit, which has moved in the second direction at a speed lower than the first speed, to the first direction, corresponds to a position that has advanced further in the second direction than the origin.

7. The binding machine according to claim 1, wherein the control unit is configured to acquire the position of the origin based on the movable limit position of the driver unit in the second direction.

8. The driver unit further comprises a sensor unit for detecting the position in the first direction, The binding machine according to claim 1, wherein the control unit controls the drive unit based on information obtained from the sensor unit.

9. A driver unit for fastening staples to an object by moving in a first direction and pressing the staples, A drive unit for moving the driver unit in the first direction and in a second direction opposite to the first direction, The driver unit located at the origin is moved in the first direction to press the staple, After moving the driver unit in the second direction at a first speed, it is stopped at a position that has advanced further in the first direction than the origin, or at a position that has advanced further in the second direction than the origin. Move the driver unit in the second direction or the first direction at a speed lower than the first speed to return the driver unit to the origin. A control unit that controls the drive unit, A binding machine equipped with a strapping mechanism.

Images