JP2017019541A - Steel bar binding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique capable of feeding a wire with a precise length, without detecting a feed length of the wire.SOLUTION: A steel bar binding device 1 binds plural steel bars with a wire 301. The steel bar binding device 1 comprises: a feeding mechanism 2 for feeding the wire 301 which is wound around a reel 24 by rotation of a feeding motor; a guide mechanism 4 for guiding the wire 301 fed by the feeding mechanism 2 around the plural steel bars; a cutting mechanism 6 for cutting the wire 301 fed by the feeding mechanism 2 at a prescribed position; a twisting mechanism 5 for twisting the wire 301 around the plural steel bars; and a controller. The controller estimates a feed length Lof the wire 301, and controls feeding of the wire 301 on the basis of the estimated feed length L.SELECTED DRAWING: Figure 5

Description

  The technology disclosed in the present specification relates to a reinforcing bar binding device.

  Patent Document 1 discloses a reinforcing bar binding device that binds a plurality of reinforcing bars with wires. The reinforcing bar binding device of Patent Document 1 is fed by a feeding mechanism that feeds a wire wound around a reel by rotation of a motor, a guide mechanism that guides the wire fed by the feeding mechanism around a plurality of reinforcing bars, and a feeding mechanism. A cutting mechanism for cutting the wire in a predetermined position, a twisting mechanism for twisting the wire around the plurality of reinforcing bars, and a control means. Further, the reinforcing bar binding device of Patent Document 1 includes a detection unit that detects the feed length of the wire fed by the feed mechanism. The detection means includes a plurality of magnets and a Hall element. In this reinforcing bar binding device, the control means controls the wire feed based on the wire feed length detected by the detection means.

Japanese Patent No. 4548584

  The reinforcing bar binding device of Patent Document 1 includes a detection unit for detecting the wire feed length, and the detection unit includes a plurality of magnets and a Hall element. For this reason, for example, the arrangement positions of the plurality of magnets and the wiring of the Hall elements are complicated, and the configuration of the reinforcing bar binding device is complicated. That is, the detecting means for detecting the wire feed length complicates the configuration of the reinforcing bar binding device. Therefore, the present specification provides a technique capable of feeding a wire with an accurate length without detecting the feed length of the wire.

  The reinforcing bar binding device disclosed in this specification binds a plurality of reinforcing bars with wires. This rebar binding device is fed by a feed mechanism that feeds the wire wound around the reel by rotation of the feed motor, a guide mechanism that guides the wire fed by the feed mechanism around a plurality of rebars, and the feed mechanism A cutting mechanism for cutting the wire at a predetermined position, a twisting mechanism for twisting the wire around the plurality of reinforcing bars, and a control means are provided. The control means estimates the wire feed length and controls the wire feed based on the estimated feed length.

  According to such a configuration, since the control means estimates the wire feed length and controls the wire feed based on the estimated feed length, the wire feed length is detected by a separate detection means. Even if not, it is possible to control the delivery of the wire. Further, since the feeding of the wire is controlled based on the estimated feeding length, the wire can be sent out with an accurate length.

It is a perspective view of the reinforcing bar binding device according to the embodiment. It is a side view of the reinforcing bar binding device according to the embodiment. It is a figure which shows typically the structure inside the reinforcing bar binding apparatus which concerns on an Example (it respond | corresponds to the III-III cross section of FIG. 1). It is a figure which shows typically the structure inside the reinforcing bar binding apparatus which concerns on an Example (it respond | corresponds to the IV-IV cross section of FIG. 1). It is a figure which shows typically the structure inside the reinforcing bar binding apparatus which concerns on an Example (it respond | corresponds to the VV cross section of FIG. 1). It is a block diagram which shows the electrical structure of the reinforcing bar binding apparatus which concerns on an Example. It is a flowchart which shows the process by a controller. It is a graph which shows the relationship between the time from the rotation start of a feed motor, and the feed length of a wire. It is a graph which shows the relationship between the time from the rotation start of a feed motor, and the current of a feed motor. It is a graph which shows the relationship between the time from the rotation start of a feed motor, and the applied voltage of a feed motor. It is a graph which shows the relationship between the time from the rotation start of a feed motor, and the induced voltage of a feed motor.

  In the reinforcing bar binding device according to some embodiments, the feed length of the wire may be estimated based on the induced voltage of the feed motor.

  The feeding speed of the wire by the feed motor changes according to the induced voltage of the feed motor. When the induced voltage of the feed motor is low, the wire feed speed is slow. Conversely, when the induced voltage of the feed motor is high, the wire feed speed is fast. For this reason, if the induced voltage of the feed motor is known, the wire feed speed can be estimated, and the wire feed length can be estimated based on the wire feed speed. According to said structure, even if it does not detect the feed length of a wire, the feed length of a wire can be estimated correctly.

  In the reinforcing bar binding device according to some embodiments, the induced voltage of the feed motor may be estimated based on the applied voltage of the feed motor and the current flowing through the feed motor.

  The induced voltage of the feed motor can be calculated from the applied voltage of the feed motor and the current flowing through the feed motor. According to said structure, even if it does not detect the feed length of a wire, the feed length of a wire can be estimated correctly.

  The reinforcing bar binding device according to some embodiments may include setting means for setting the wire feed length. The control unit may control the wire feeding based on the wire feeding length set by the setting unit.

  According to said structure, the user of a reinforcing bar binding apparatus can set the feed length of a wire to desired feed length.

  A reinforcing bar binding device according to an embodiment will be described with reference to the drawings. As shown in FIGS. 1 and 2, the reinforcing bar binding device 1 includes a first unit 11, a second unit 12, and a third unit 13. The first unit 11, the second unit 12, and the third unit 13 are integrally formed. The reinforcing bar binding device 1 is an electric tool for binding a plurality of reinforcing bars 201 with wires 301. The reinforcing bar 201 is, for example, a steel bar used for manufacturing reinforced concrete.

  As shown in FIGS. 3 and 4, the first unit 11 includes a delivery mechanism 2, a rotation restricting mechanism 3, a guide mechanism 4, and a torsion mechanism 5. As shown in FIG. 5, the first unit 11 includes a cutting mechanism 6.

  As shown in FIGS. 3 and 4, the delivery mechanism 2 includes a reel 24, a feed motor 21, a main driving roller 22, and a driven roller 23. The delivery mechanism 2 is a mechanism that sends out the wire 301 by the rotation of the feed motor 21.

  The reel 24 holds the wire 301. A wire 301 is wound around the reel 24. When the wire 301 is sent out, the reel 24 rotates. The reel 24 includes a plurality of rotation restricting convex portions 241. The plurality of rotation restricting convex portions 241 protrude outward in the radial direction of the reel 24. The rotation restricting convex portion 241 engages with a rotation restricting arm 32 described later.

  The feed motor 21 rotates when energized. When the feed motor 21 rotates, an induced voltage is generated. Further, the feed motor 21 stops when the energization is interrupted. The feed motor 21 has an internal winding resistance. The winding resistance of the feed motor 21 is predetermined for each product. Further, when the feed motor 21 rotates, the main driving roller 22 rotates. A wire 301 is disposed between the main driving roller 22 and the driven roller 23. When the main driving roller 22 rotates, the wire 301 is sent out and the driven roller 23 rotates. Further, the reel 24 is rotated by feeding the wire 301.

  The rotation restriction mechanism 3 includes a solenoid 31 and a rotation restriction arm 32. The rotation regulating mechanism 3 is a mechanism that regulates the rotation of the reel 24.

  The solenoid 31 operates by energization. When the solenoid 31 operates, the rotation restricting arm 32 operates. The rotation restricting arm 32 is engaged with the rotation restricting convex portion 241 of the reel 24 when the solenoid 31 is operating. Thereby, the rotation of the reel 24 is restricted. On the other hand, the rotation restricting arm 32 does not engage with the rotation restricting convex portion 241 of the reel 24 when the solenoid 31 is not operating. Thereby, the restriction on the rotation of the reel 24 is released.

  The guide mechanism 4 includes a guide pipe 41, an upper guide member 42, and a lower guide member 43. The guide mechanism 4 is a mechanism that guides the wire 301 delivered by the delivery mechanism 2 around the plurality of reinforcing bars 201.

  The guide pipe 41 is disposed at a position facing the main driving roller 22 and the driven roller 23. The guide pipe 41 guides the wire 301 fed from between the main driving roller 22 and the driven roller 23 forward (to the left in the drawing).

  The upper guide member 42 and the lower guide member 43 are disposed to face each other in the vertical direction. The upper guide member 42 is formed in a curved shape. The lower guide member 43 is linearly formed. A reinforcing bar arrangement region 44 is formed between the upper guide member 42 and the lower guide member 43. A plurality of reinforcing bars 201 are arranged in the reinforcing bar arrangement region 44. The upper guide member 42 and the lower guide member 43 guide the wire 301 guided by the guide pipe 41 around the plurality of reinforcing bars 201. As a result, the wire 301 is wound around the plurality of reinforcing bars 201.

  The twisting mechanism 5 includes a twisting motor 51, a screw shaft 52, a screw cylinder 53, and a pair of hooks 54. The twisting mechanism 5 is a mechanism for twisting the wire 301 around the plurality of reinforcing bars 201.

  The torsion motor 51 rotates when energized. Further, the torsion motor 51 stops when the energization is cut off. When the torsion motor 51 rotates, the screw shaft 52 rotates. The screw shaft 52 is covered with a screw cylinder 53. The screw shaft 52 and the screw cylinder 53 are screwed together. When the screw shaft 52 rotates, the screw cylinder 53 moves in the axial direction of the screw shaft 52. When the screw shaft 52 rotates in the forward direction, the screw cylinder 53 moves forward in the left direction in the drawing, and when the screw shaft 52 rotates in the reverse direction, the screw cylinder 53 moves backward in the right direction in the drawing.

  The pair of hooks 54 are connected to the screw cylinder 53. When the screw cylinder 53 moves forward in the left direction of the drawing, the pair of hooks 54 moves forward, and when the screw cylinder 53 moves backward in the right direction of the drawing, the pair of hooks 54 moves backward. The pair of hooks 54 are configured to be coupled to the screw shaft 52 after moving forward. When the screw shaft 52 rotates with the pair of hooks 54 moving forward, the pair of hooks 54 rotates. In addition, the pair of hooks 54 are configured to grip the wire 301 when advanced. The pair of hooks 54 rotate while holding the wire 301. The wire 301 can be twisted by rotating the pair of hooks 54.

  As shown in FIG. 5, the cutting mechanism 6 includes a link mechanism 61 and a cutter 62. The cutting mechanism 6 is a mechanism that cuts the wire 301 fed by the feeding mechanism 2 at a predetermined position.

  The link mechanism 61 is a mechanism that converts linear motion into rotational motion and transmits it. One end of the link mechanism 61 is connected to the screw cylinder 53. The other end of the link mechanism 61 is connected to the cutter 62. The link mechanism 61 converts the linear motion of the screw cylinder 53 into a rotational motion and transmits it to the cutter 62. When the screw cylinder 53 moves forward in the left direction of the drawing, the cutter 62 rotates. The cutter 62 is configured to cut the wire 301 by rotating.

  As shown in FIG. 2, the second unit 12 includes a grip 7 and a trigger 8. The grip 7 is a part gripped by the user. The trigger 8 is disposed on the grip 7. The trigger 8 is pulled while the grip 7 is held by the user. When the trigger 8 is pulled, the reinforcing bar binding device 1 is configured to operate.

  The third unit 13 includes a battery 9 and a dial 10 (an example of setting means). The battery 9 supplies power to each of the feed motor 21, the torsion motor 51, and the solenoid 31. The battery 9 is configured to be detachable.

  The dial 10 (an example of a setting unit) is a configuration for setting the number of windings of the wire 301. When the user turns the dial 10, the number of turns of the wire 301 can be set. For example, when the number of windings of the wire 301 is two, the dial is set to “2”. Further, when the number of turns of the wire 301 is set, the torque for twisting the wire 301 is set accordingly. When the number of windings of the wire 301 is set, the feed length of the wire 301 is determined accordingly.

  As shown in FIG. 6, the reinforcing bar binding device 1 further includes a controller 101 (an example of a control unit), a current sensor 75, a voltage sensor 76, a torque sensor 77, and a position sensor 78. In addition, the reinforcing bar binding device 1 includes a plurality of drivers 85, 86, 87 and a regulator 79.

  The controller 101, the current sensor 75, the voltage sensor 76, the torque sensor 77, and the position sensor 78 are disposed in the first unit 11. The current sensor 75 is configured to detect a current flowing through the feed motor 21. The voltage sensor 76 is configured to detect an applied voltage of the feed motor 21. The torque sensor 77 is configured to detect torque acting on the screw shaft 52 when the pair of hooks 54 are rotating. The position sensor 78 is configured to detect the position of the screw cylinder 53. A signal is transmitted to the controller 101 from each of the current sensor 75, the voltage sensor 76, the torque sensor 77, and the position sensor 78.

  The plurality of drivers 85, 86, 87 and the regulator 79 are arranged in the first unit 11. A signal is transmitted from the controller 101 to the feed motor 21 via the driver 85. Further, a signal is transmitted from the controller 101 to the torsion motor 51 via the driver 86. Further, a signal is transmitted from the controller 101 to the solenoid 31 via the driver 87. The regulator 79 adjusts the voltage of the power supplied from the battery 9 and supplies it to the controller 101.

  The controller 101 estimates the feed length of the wire 301 and controls the feed of the wire 301 based on the estimated feed length. The operation of the controller 101 will be described in detail later. The controller 101 is disposed on a substrate (not shown) in the first unit 11.

  The controller 101 includes a memory 102. The memory 102 stores a program executed by the controller 101. The memory 102 stores various information.

  Next, the operation of the reinforcing bar binding device 1 will be described. When the user uses the reinforcing bar binding device 1, first, the dial 10 is turned to set the number of turns of the wire 301. Next, the user arranges the reinforcing bar binding device 1 with respect to the plurality of reinforcing bars 201. Specifically, as shown in FIG. 1, the user holds the reinforcing bar binding device 1 so that the plurality of reinforcing bars 201 are positioned in the reinforcing bar arrangement region 44. Subsequently, the user pulls the trigger 8 while holding the grip 7.

  When the trigger 8 is pulled, the wire 301 is delivered by the delivery mechanism 2, and the delivered wire 301 is guided around the plurality of reinforcing bars 201 by the guide mechanism 4. As a result, the wire 301 is wound around the plurality of reinforcing bars 201. The wire 301 delivered by the delivery mechanism 2 is cut at a predetermined position by the cutting mechanism 6. Further, the wire 301 wound around the plurality of reinforcing bars 201 is twisted by the twisting mechanism 5. Accordingly, the plurality of reinforcing bars 201 are bound by the wires 301.

  Next, the operation of the controller 101 will be described. When the reinforcing bar binding device 1 binds a plurality of reinforcing bars 201, the controller 101 executes the following processing based on a program.

  When the user sets the number of turns of the wire 301 as described above, the controller 101 recognizes the set number of turns of the wire 301 in S10 of FIG.

  In subsequent S11, the controller 101 sets the feed length of the wire 301 according to the number of turns of the wire 301 recognized in S10. The relationship between the number of turns of the wire 301 and the feed length of the wire 301 is determined in advance.

  In subsequent S <b> 12, the controller 101 sets a torque corresponding to the set number of turns of the wire 301. The relationship between the number of turns of the wire 301 and the torque is determined in advance. The set torque is used when the wire 301 wound around the plurality of reinforcing bars 201 is twisted.

  In subsequent S13, the controller 101 determines whether or not the trigger 8 is on. If the user is pulling the trigger 8, the trigger 8 is on. If the trigger 8 is on in S13, the controller 101 determines yes and proceeds to S14. On the other hand, when the trigger 8 is not on (is off) in S13, the controller 101 determines no and waits.

  In subsequent S <b> 15, the controller 101 starts driving the feed motor 21. As a result, the feed motor 21 rotates. When the feed motor 21 rotates, the main driving roller 22 rotates and the wire 301 wound around the reel 24 is sent out. The wire 301 sent out by the rotation of the feed motor 21 is guided around the plurality of reinforcing bars 201 by the guide mechanism 4. When the feed motor 21 rotates and the wire 301 is sent out, as shown in FIG. 8, the feed length of the wire 301 increases with time.

  When the feed motor 21 starts rotating, the current I flowing through the feed motor 21 changes with time as shown in FIG. The current I of the feed motor 21 is detected by a current sensor 75. Until a certain amount of time has elapsed from the start of rotation of the feed motor 21, a high load is applied to the feed motor 21 to start rotating the reel 24 in a stopped state, and the current I of the feed motor 21 becomes unstable. The current I increases. That is, it can be said that the rotation of the feed motor 21 is unstable during this period. On the other hand, after a certain amount of time has elapsed from the start of rotation of the feed motor 21, the reel 24 continues to rotate stably, so the load on the feed motor 21 is reduced, the current I of the feed motor 21 is stabilized, and the current I Becomes smaller. That is, it can be said that the rotation of the feed motor 21 is stable during this period.

Further, when the feed motor 21 begins to rotate, as shown in FIG. 10, the applied voltage V _M of the feed motor 21 is changed with time. Applied voltage V _M of the feed motor 21 is detected by a voltage sensor 76. Until after some time from the start of rotation of the feed motor 21, the applied voltage V _M of the feed motor 21 is unstable. Meanwhile, after a lapse of certain time from the start of rotation of the feed motor 21, the applied voltage V _M of the feed motor 21 is stabilized.

When the feed motor 21 rotates and the wire 301 is sent out, the controller 101 estimates the induced voltage E _M of the feed motor 21 in subsequent S16. Induced voltage E _M of the feed motor 21, and the applied voltage V _M of the feed motor 21, and the current I flowing through the feed motor 21 is estimated on the basis of the winding resistance R _M of the feed motor 21. Winding resistance R _M of the feed motor 21 is previously determined for each product. The induced voltage E _M of the feed motor 21 is expressed by Equation 1.

As shown in FIG. 11, the induced voltage E _M of the feed motor 21 changes with time due to the change in the applied voltage V _M of the feed motor 21 and the current I flowing through the feed motor 21. The induced voltage E _M of the feed motor 21 is sequentially estimated with the passage of time. In the above formula 1, the influence of the inductance of the feed motor 21 is ignored when the induced voltage E _M of the feed motor 21 is estimated. When considering the influence of the inductance of the feed motor 21, it is necessary to calculate the time differential value of the current I flowing through the feed motor 21. However, since the influence of the inductance of the feed motor 21 is small, the induced voltage E _M of the feed motor 21 may be estimated without taking this into consideration, as shown in Equation 1 above. In the structure where the estimated induced voltage E _M of the motor 21 feed by Equation 1 above, without calculating the time derivative of the current I, it is possible to estimate the induced voltage E _M of the feed motor 21.

In subsequent S <b> 17, the controller 101 estimates the delivery speed SPD of the wire 301. The feed speed SPD of the wire 301 is estimated based on the coefficient K and the induced voltage E _M of the feed motor 21. The coefficient K is experimentally obtained in advance and is stored in the memory 102 in advance. The estimated delivery speed SPD of the wire 301 is expressed by Equation 2.

In subsequent S _<b > 18, the controller 101 estimates the feed length L _x of the wire 301. Specifically, the controller 101 integrates the estimated feed speed SPD of the wire 301 with the passage of time from the start of rotation of the feed motor 21. That is, the estimated delivery speed SPD of the wire 301 is integrated over time. Thereby, the estimated feed length L _x of the wire 301 is calculated. The estimated feed length L _x of the wire 301 is expressed by Equation 3.

Subsequently, in S19, the controller 101, the feed length L _x of the wire 301 that is estimated in S18 he is determined whether or not more than feed length of the wire 301 which is set in S11. If it is estimated feed length L _x of the wire 301 is set estimated feed or length, the controller 101 in S19, it is determined that yes, the process proceeds to S20. On the other hand, not estimated feed length L _x of the wire 301 is set estimated feed or length (less than a is), then the controller 101 in S19 returns to S16 and judges that no.

  In S <b> 20, the controller 101 stops the feed motor 21. When the feed motor 21 stops, the main driving roller 22 stops and the wire 301 is not sent out. Thus, the wire 301 feeding operation is completed.

  In subsequent S <b> 21, the controller 101 starts driving the solenoid 31. When the solenoid 31 is driven, the rotation restricting arm 32 is engaged with the rotation restricting convex portion 241 of the reel 24. Thereby, the rotation of the reel 24 is restricted.

  In subsequent S22, the controller 101 determines whether or not the drive time of the solenoid 31 has passed a predetermined energization time. If the drive time of the solenoid 31 has not passed the predetermined energization time in S22, the controller 101 determines that it is no and continues to drive the solenoid 31. On the other hand, if the drive time of the solenoid 31 has passed the predetermined energization time in S22, the controller 101 determines yes and proceeds to S23.

  In subsequent S23, the controller 101 stops the solenoid. When the solenoid 41 stops, the engagement between the rotation restriction arm 32 and the rotation restriction convex portion 241 of the reel 24 is released, and the rotation restriction of the reel 24 is released.

  In subsequent S <b> 31, the controller 101 starts normal rotation of the torsion motor 51 of the torsion mechanism 5. When the torsion motor 51 rotates forward, the screw shaft 52 rotates forward, and the screw cylinder 53 advances accordingly.

  When the screw cylinder 53 moves forward, the linear motion is converted into a rotational motion by the link mechanism 61 of the cutting mechanism 6, and the cutter 62 rotates. When the cutter 62 rotates, the wire 301 is cut by the cutter 62.

  When the screw cylinder 53 moves forward, the pair of hooks 54 move forward. When the pair of hooks 54 have advanced, they grip the wires 301 around the plurality of reinforcing bars 201. Further, the pair of hooks 54 are rotated by the rotation of the screw shaft 52 in a state where the wire 301 is gripped. When the pair of hooks 54 rotate, the wire 301 is twisted. When the wire 301 is twisted, the torque acting on the screw shaft 52 increases. Torque acting on the screw shaft 52 is detected by a torque sensor 77.

  In subsequent S32, the controller 101 determines whether or not the torque detected by the torque sensor 77 is equal to or greater than the torque set in S12. If the detected torque is greater than or equal to the set torque, the controller 101 determines yes in S32 and proceeds to S33. On the other hand, when the detected torque is not equal to or greater than the set torque (less than), the controller 101 determines that it is no in S32 and stands by.

  In S <b> 33, the controller 101 stops the torsion motor 51. In subsequent S <b> 34, the controller 101 starts the reverse rotation of the torsion motor 51. When the torsion motor 51 reverses, the pair of hooks 54 release the wire 301 that has been gripped. After releasing the wire 301, the screw shaft 52 reverses, and the screw cylinder 53 moves backward accordingly. The position of the screw cylinder 53 is detected by a position sensor 78. When the screw cylinder 53 is retracted, the pair of hooks 54 are retracted.

  In subsequent S35, the controller 101 determines whether or not the position of the screw cylinder 53 detected by the position sensor 78 is the initial position. If the position of the screw cylinder 53 is the initial position in S35, the controller 101 determines yes and proceeds to S36. On the other hand, if the position of the screw cylinder 53 is not the initial position in S35, the controller 101 determines no and continues the operation.

  In S <b> 36, the controller 101 stops the torsion motor 51. Thereby, the twisting operation of the wire 301 is completed. As described above, the reinforcing bar binding device 1 binds the plurality of reinforcing bars 201 with the wires 301.

The configuration and operation of the reinforcing bar binding device 1 according to the first embodiment have been described above. As is clear from the above description, the reinforcing bar binding device 1 according to the present embodiment includes a feed mechanism 2 that feeds the wire 301 wound around the reel 24 by the rotation of the feed motor 21, and a wire 301 that is fed by the feed mechanism 2. Is provided around the plurality of reinforcing bars 201, and a cutting mechanism 6 that cuts the wire 301 fed by the feeding mechanism 2 at a predetermined position. In addition, the reinforcing bar binding device 1 includes a twisting mechanism 5 that twists wires 301 around a plurality of reinforcing bars 201 and a controller 101. Further, as shown in S18~S20 7, the controller 101 controls the feeding of the wire 301 on the basis of estimates of the feed length L _x of the wire 301, the estimated feed length L _x.

According to such a configuration, the feeding of the wire 301 can be controlled without detecting the feeding length of the wire 301 by a separate detection means. Further, since the feeding of the wire 301 is controlled based on the estimated feeding length L _x , the wire 301 can be fed out with an accurate length.

In the above embodiment, as shown in S16~S18 7, the feed length L _x of the wire 301 it is estimated based on the induced voltage V _M of the feed motor 21. The feed speed SPD of the wire 301 by the feed motor 21 changes according to the induced voltage E _M of the feed motor 21. When the induced voltage E _M of the feed motor 21 is low, the feed speed SPD of the wire 301 is slow. Conversely, when the induced voltage E _M of the feed motor 21 is high, the feed speed SPD of the wire 301 is fast. For this reason, if the induced voltage E _M of the feed motor 21 is known as shown in Equation 2, the delivery speed SPD of the wire 301 can be estimated, and as shown in Equation 3, based on the delivery speed SPD of the wire 301. Thus, the feed length L _x of the wire 301 can be estimated. According to said structure, even if it does not detect the feed length of the wire 301, the feed length of the wire 301 can be estimated correctly.

Further, in the above embodiment, as shown in Expression 1, the induced voltage E _M of the feed motor 21 is estimated based on the applied voltage V _M of the feed motor 21 and the current I flowing through the feed motor 21. According to such a configuration, the feed length of the wire 301 can be accurately estimated without detecting the feed length of the wire 301.

  Further, in the above embodiment, the reinforcing bar binding device 1 includes the dial 10 for setting the feed length of the wire 301, and the controller 101 is based on the feed length of the wire 301 set by the dial 10. To control the delivery of the wire 301. According to such a configuration, the user of the reinforcing bar binding device 1 can set the feed length of the wire 301 to a desired feed length.

  Although one embodiment has been described above, the specific mode is not limited to the above embodiment. In the following description, the same components as those described above are denoted by the same reference numerals, and the description thereof is omitted.

In the above embodiments, the induced voltage E _M of the feed motor 21, and the applied voltage V _M of the feed motor 21, and the current I flowing through the feed motor 21, is estimated based on the winding resistance R _M of the feed motor 21 However, it is not limited to this configuration. The induced voltage E _M of the feed motor 21 includes the applied voltage V _M of the feed motor 21, the current I flowing through the feed motor 21, the winding resistance _RM of the feed motor 21, the inductance L of the feed motor 21, and the feed motor. 21 may be estimated based on the time differential value dI / dt of the current I flowing through 21. The induced voltage E _M of the feed motor 21 is expressed by Equation 4.

In the above embodiment, the controller 101, estimates the applied voltage V _M of the feed motor 21, and the current I flowing through the feed motor 21, the induced voltage E _M based on the winding resistance R _M of the feed motor 21 However, it is not limited to this configuration. In other embodiments, the induced voltage E _M may be measured directly.

  In the above embodiment, the torque sensor 77 is configured to detect the torque, but is not limited to this configuration. In another embodiment, the current sensor 75 may be configured to detect the current of the torsion motor 51 in addition to the current of the feed motor 21. The current sensor 75 is configured to detect torque by detecting the current of the torsion motor 51.

  Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above. The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology exemplified in this specification or the drawings can achieve a plurality of objects at the same time, and has technical usefulness by achieving one of the objects.

1: Reinforcing bar binding device 2: Feeding mechanism 3: Rotation restricting mechanism 4: Guide mechanism 5: Torsion mechanism 6: Cutting mechanism 7: Grip 8: Trigger 9: Battery 10: Dial 11: First unit 12: Second unit 13: Third unit 21: Feed motor 22: Main driving roller 23: Driven roller 24: Reel 31: Solenoid 32: Rotation restricting arm 41: Guide pipe 42: Upper guide member 43: Lower guide member 44: Rebar arrangement area 51: Torsion motor 52: Screw shaft 53: Screw cylinder 54: Hook 61: Link mechanism 62: Cutter 75: Current sensor 76: Voltage sensor 77: Torque sensor 78: Position sensor 79: Regulator 85: Driver 86: Driver 87: Driver 101: Controller 102 : Memory 2 1: Rebar 241: rotation limiting protrusion 301: Wire

Claims (4)

A rebar binding device for binding a plurality of rebars with wires,
A delivery mechanism that sends out the wire wound around the reel by the rotation of the feed motor;
A guide mechanism for guiding the wire sent out by the sending mechanism around a plurality of reinforcing bars;
A cutting mechanism for cutting the wire fed by the feeding mechanism at a predetermined position;
A twisting mechanism that twists wires around multiple rebars;
Control means,
The reinforcing bar binding apparatus, wherein the control means estimates a wire feed length and controls the wire feed based on the estimated feed length.   The reinforcing bar binding apparatus according to claim 1, wherein a feed length of the wire is estimated based on an induced voltage of the feed motor.   The reinforcing bar binding apparatus according to claim 2, wherein the induced voltage of the feed motor is estimated based on an applied voltage of the feed motor and a current flowing through the feed motor. It has setting means for setting the wire feed length,
The reinforcing bar binding device according to any one of claims 1 to 3, wherein the control unit controls the wire feeding based on the wire feeding length set by the setting unit.

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