JP2020023337A - Binding machine - Google Patents

Abstract

To provide a binding machine which can check binding errors without visual confirmation.SOLUTION: A binding machine 10 which binds to-be-bound objects 50 by hitting in a plastic-deformable binding tool 41 having a pair of leg parts 41a, includes: a driver 25 which drives by a motor 20 and hits out the binding tool 41; and an abnormality treatment part 120 which detects binding errors by estimating the load applied on the driver 25.SELECTED DRAWING: Figure 13

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a binding machine that can be used for binding a harness, binding a bag mouth, binding a field line or an attraction string, and the like.

  For example, in a factory that manufactures home electric appliances, an operation of binding and assembling a plurality of harnesses used for power supply and signal communication is performed. The method of binding such a harness by manually winding an adhesive tape is mainstream, and workability is poor.

  In this regard, for example, if a binding machine such as that described in Patent Document 1 is used, the binding can be performed mechanically, so that the work of winding the tape can be omitted.

JP 2000-33526 A

  However, when a large amount of binding is performed using a binding machine, it is difficult to confirm the degree of fastening of the binding and the presence or absence of a binding error. In particular, when using the binding machine in unmanned equipment by robot control, etc., it is not possible to visually check the tightness of the binding and the presence or absence of a binding error during the binding work. There was a risk of getting worse.

  Therefore, an object of the present invention is to provide a binding machine capable of confirming the presence or absence of a binding error without visual confirmation.

  The present invention has been made in order to solve the above-described problem, and is a binding machine that binds a binding object by driving a plastically deformable binding tool having a pair of legs, and a driver that drives the binding tool. A clincher for clinching the legs of the tying tool launched by the driver to complete the tying, and an abnormality processing unit for detecting a tying error by estimating the load acting on the driver. It is characterized by.

  The present invention is as described above, and is a binding machine that binds an object to be bound by driving a plastically deformable binding tool having a pair of legs, and estimates a driver that drives the binding tool and a load acting on the driver. And an abnormality processing unit that detects a binding error. According to such a configuration, by estimating the load acting on the driver, it is possible to estimate the deformation resistance of the legs of the binding device and the degree of tightening of the binding. For example, if the load acting on the driver is too small, there is a possibility that the legs of the tying tool may not be correctly clinched, so it can be determined that there is a tying error. By utilizing the characteristics of the binding machine of the type in which a binding tool having a pair of legs is driven in this way, a binding error can be detected without visual confirmation. Therefore, even when the binding machine is used in an unmanned facility by robot control or the like, there is no need to check the actual thing after the binding operation, and the workability can be improved.

  Further, the abnormality processing unit may estimate a load acting on the driver with reference to a current value flowing through a motor that drives the driver. When the load acting on the driver increases, the value of the current flowing through the motor increases. Therefore, the load acting on the driver can be estimated with reference to the value of the current flowing through the motor. According to such a configuration, the load acting on the driver can be easily estimated only by checking the value of the current flowing through the motor.

  Further, the abnormality processing unit may determine a binding error based on whether or not the peak value of the current flowing through the motor has reached a predetermined value. Normally, the current value reaches a peak when the binding is completed (when the clinching of the binding device is completed). Therefore, it is possible to determine a binding error by referring to the current value at the time of completing the binding. That is, when the peak value of the current flowing through the motor has not reached the predetermined value, sufficient fastening strength has not been obtained, and it can be determined that there is a binding error.

  In addition, the abnormality processing unit may determine that a binding error has occurred when the timing at which the value of the current flowing through the motor starts to rise deviates from a predetermined range (when the timing is too early or too late). Good. Normally, the timing at which the current value starts to rise is the timing of the clinch start.If the current value starts to rise at a timing earlier than the clinch start, the driver does not slide smoothly and the object to be bound is thick. It is possible to detect that some problem such as too much has occurred. In addition, if the timing at which the current value starts to rise is too late (when the current value does not start to rise even at the normal clinch start timing), a problem such as the binding device is not set correctly has occurred. Can be detected.

  Further, the abnormality processing unit determines that a binding error has occurred when the timing at which the value of the current flowing through the motor reaches a peak deviates from a predetermined range (when the timing is too early or too late). Is also good. The timing when the current value reaches the peak is usually the timing at which the clinch ends. By referring to the clinch end timing, for example, if the clinch end timing is earlier or later than usual, some problems such as the object to be bound being too thick or the clinch not operating correctly, etc. This can be detected.

  Further, the abnormality processing unit may estimate a load acting on the driver with reference to a pulse for rotating the motor. When the load acting on the driver increases, the rotation speed of the motor decreases, and the pulse period increases. According to such a configuration, it is possible to easily estimate the load acting on the driver using the pulse signal for rotating the motor.

  Further, the abnormality processing unit may estimate the load acting on the driver with reference to the detection result of the load sensor provided on the driver or the clincher. According to such a configuration, the load acting on the driver can be estimated by directly measuring the load.

  Further, a history management unit that stores the history of the binding error detected by the abnormality processing unit may be provided. According to such a configuration, the presence or absence of a binding error can be confirmed later. For example, when a binding failure is found after shipment, it is possible to later confirm whether the cause of the binding failure is during the binding operation or after the binding operation. Also, by checking the frequency of occurrence of binding errors, it is possible to determine the skill level of the worker, which can be useful for work guidance.

It is an external view of the binding machine in which the binding tool was set. It is an external view just after binding a binding object with a binding machine. (A) It is a front view of a binding device, (b) It is a side view of a connecting device. (A) is an external view of a binding device which tied the thing to be tied, and (b) is a front view of the binding device which tied the thing to be tied. It is a perspective view showing the internal structure of a binding machine. It is a partially enlarged view near the output part of a binding machine, (a) The figure of a standby state, (b) The figure of the completion state of binding. (A) is a plan view of the binding machine before setting the binding tool, and (b) is a partially enlarged cross-sectional view of the vicinity of the tip of the binding machine in the above a. (A) is a plan view of the binding machine after setting the binding tool, and (b) is a partially enlarged cross-sectional view near the tip of the binding machine in the above a. It is a figure which shows the inside of the binding machine in a standby state, (a) The figure which does not omit the guide member, (b) The figure which omitted some guide members. It is a figure which shows the inside of the binding machine in the middle of binding, (a) The figure which does not omit a guide member, (b) The figure which omitted some guide members. It is a figure which shows the inside of the binding machine of the binding completion state, (a) The figure which does not omit a guide member, (b) It is the figure which omitted some guide members. It is a block diagram which shows the structure of a binding machine schematically. 7A is a graph showing a current waveform flowing through a motor, wherein FIG. 7A is a graph when there is no binding object, FIG. 7B is a graph when normal binding is performed, and FIG. It is a figure explaining a mode that clinch fails, and is a figure before (a) clinch and a figure after (b) clinch. It is an external view of the binding machine concerning a modification.

  An embodiment of the present invention will be described with reference to the drawings. In the description below, “front” means the direction in which the tying tool 41 is driven, and “rear” means the direction opposite to the direction in which the tying tool 41 is driven.

  The binding machine 10 according to the present embodiment is a hand-held binding machine 10 that binds the binding target object 50 with a plastically deformable binding tool 41. More specifically, the binding machine 10 can use a binding tool 41 having an opening 41c as shown in FIG. 3A, and closes the binding 41 by closing the opening 41c of the binding tool 41. The object 50 is bound. The binding machine 10 is used, for example, for binding a harness, binding a bag mouth, binding a field line or an attraction string, and the like.

  As shown in FIG. 1, the binding machine 10 is covered with a housing 11 and includes a motor housing 12, a grip 13, and an output unit 15. In the binding machine 10 according to the present embodiment, these portions are continuously provided back and forth along the launching direction D2 of the binding tool 41 (see FIG. 6A). That is, when viewed in the launching direction D2 of the binding tool 41, the motor housing 12, the grip 13, and the output unit 15 are arranged in this order from rear to front.

  The motor accommodating portion 12 is provided at a rear portion of the binding machine 10, and a power connection portion 12a for connecting an external power source is provided at a rear end portion. By receiving the voltage supply from the power supply connection part 12a, the binding machine 10 can execute various operations such as the ejection of the binding tool 41. A cord for connecting to an AC [0] power supply may be connected to the power supply connection portion 12a, or a harness for connecting to a rechargeable battery may be attached to the power supply connection portion 12a. Note that the binding machine 10 according to the present embodiment is of an electric type, but is not limited thereto, and the binding machine 10 may be of a compressed air type. In the case of the compressed air type binding machine 10, a connection portion for receiving supply of compressed air may be provided instead of the power supply connection portion 12a.

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

  The grip part 13 is a part that a user grips when using the binding machine 10. The grip portion 13 is provided at an intermediate portion of the housing 11, and is formed in a constricted shape so that a user can easily grip the grip portion. A trigger 14 is provided diagonally forward of the grip 13 at a position where the trigger 14 can be operated with the index finger when the grip 13 is gripped. The trigger 14 is manually operable to execute a binding operation, and in the present embodiment, is a trigger-like swinging member. When the user pulls the trigger 14, the switch 14a (see FIG. 5) disposed adjacent to the trigger 14 is turned on, and an operation signal is output from the switch 14a to the control unit 21. I have. The control unit 21 that has received the operation signal executes an operation of rotating the motor 20 to strike out the binding tool 41. Specifically, when the trigger 14 is operated, a series of cycles including the advance of the driver 25 to the binding position, the holding of the driver 25 at the binding position, and the retreat of the driver 25 to the standby position are performed. It is run continuously.

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

  The drive mechanism 22 includes a speed reduction mechanism 23 and a ball screw 24. The reduction mechanism 23 is connected to the rotation shaft of the motor 20 and is a mechanism for reducing the rotation of the motor 20 to obtain a large torque. The ball screw 24 is connected to the output shaft of the speed reduction mechanism 23. The ball screw 24 rotates the screw shaft 24a by the rotational force of the motor 20, and causes the nut 24b to linearly move back and forth by rotating the screw shaft 24a. Things. Specifically, when the motor 20 rotates forward, the nut 24b moves forward to execute the binding operation. When the motor 20 rotates in the reverse direction after the binding operation is completed, the nut 24b moves rearward and returns to the standby state.

  In the present embodiment, by incorporating the drive mechanism 22 in the grip portion 13, the size of the machine is reduced, and the machine is easy to handle. Moreover, since the rotating shaft of the motor 20 and the screw shaft 24a of the ball screw 24 are linearly arranged, the machine is slimmed down, and is configured to be easily used even in a narrow work place.

  The output unit 15 is provided near the tip of the binding machine 10. At the tip of the output portion 15, a projecting portion 17 projects in a substantially L-shape, and an insertion opening 16 for inserting the binding object 50 is opened inside the projecting portion 17. As shown in FIG. 5, the output unit 15 includes a driver 25, a guide member 30, and an interlocking mechanism 26. A magazine 35 is provided on the side of the output unit 15, as shown in FIGS.

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

  The insertion port 16 is opened in a direction different from the tip direction of the output unit 15 (the front-back direction of the binding machine 10). In the present embodiment, as shown in FIG. 6 and the like, when the ejecting direction of the binding tool 41 is the front-back direction, the opening is opened laterally so as to be substantially orthogonal to the front-back direction.

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

  The projection forming portion 17 provided with the clincher 18 is formed without a movable portion including the clincher 18, and has a simple and slim shape. For this reason, the protrusion forming portion 17 is easily inserted into the gap of the binding object 50 such as a harness.

  Moreover, the protruding portion 17 has a tapered shape as shown in FIG. Specifically, the outer side surface 17a of the protrusion forming portion 17 is inclined with respect to the opening direction D1 of the insertion port 16, and forms an acute angle with the inner side surface 17b where the clincher 18 is formed. As described above, the protrusion forming portion 17 is tapered in the opening direction D <b> 1 of the insertion port 16, and has a shape that can be easily inserted into a narrow gap.

  The housing 11 facing the clincher 18 has a pick-up surface 11a. The pick-up surface 11a is inclined with respect to the inner side surface 17b of the protrusion forming portion 17 on which the clincher 18 is formed, so that the insertion port 16 is largely opened. By forming the pick-up surface 11a, the binding object 50 such as a harness is easily guided to the inside of the insertion slot 16. The pick-up surface 11a covers a guide member 30 (described later) which is on standby before the operation, and when the object 50 to be bound is guided to the inside of the insertion slot 16, the object 50 to be bound is guided by the guide member. 30 is prevented from getting stuck.

  The driver 25 is an elongated plate that performs a rectilinear motion by the drive mechanism 22 in order to drive the binding tool 41 toward the insertion slot 16. The driver 25 is slidably guided inside the housing 11 and is capable of reciprocating in the ejection direction D2 of the binding tool 41. The driver 25 according to the present embodiment is fixed to a nut 24b of the ball screw 24, and projects forward of the nut 24b. For this reason, when the nut 24b advances, the binding tool 41 is driven out. The driver 25 presses the launched binding tool 41 against the clincher 18 to bend the leg 41a of the binding tool 41, thereby closing the opening 41c to complete the binding.

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

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

  The guide member 30 has a claw-shaped tip portion 30c for closing the insertion slot 16. In the present embodiment, a first guide portion 30d and a second guide portion 30e are provided at the distal end portion 30c.

  The first guide portion 30d is for guiding the tying tool 41 when the opening of the insertion opening 16 is closed, and in the state where the insertion opening 16 is closed as shown in FIG. It is formed so as to be parallel to D2. Inside the first guide portion 30d, a groove for guiding the side portion of the binding tool 41 is formed.

  The second guide portion 30e is for holding the object 50 to be bound, and is formed so as to enter the inside of the insertion slot 16 more than the first guide portion 30d when the opening of the insertion slot 16 is closed. I have. By holding the object 50 to be bound by the second guide portion 30e in this manner, the position of the object 50 to be bound is stabilized, and the object 50 to be bound can be securely held by the device 41 when the banding tool 41 is launched. it can.

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

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

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

  The inclined portion 27b is a surface that is inclined with respect to the launching direction D2 of the binder 41. The guide member 30 swings when the operation pin 30b slides on the inclined portion 27b.

  The horizontal portion 27c is a surface parallel to the launching direction D2 of the tying tool 41. When the operating pin 30b slides on the horizontal portion 27c, the guide member 30 is moved to the opening of the insertion slot 16. Is kept closed.

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

  The connecting tying tool 40 is configured by connecting a plurality of tying tools 41 to each other. Each tying member 41 is a member made of resin such as plastic, and includes a pair of legs 41a and a connecting portion 41b connecting the pair of legs 41a, and is formed in a substantially U-shape. An opening 41c for holding the object 50 to be bound is formed between the pair of legs 41a. When the binding tool 41 is punched out and clinched by the driver 25, the leg 41a is plastically deformed as shown in FIG.

  As shown in FIG. 7B, the magazine portion 35 includes a rib 35a that enters between the legs 41a of the tying member 41 (that is, the opening 41c). A groove 35b for guiding the connecting portion 41b of the binding tool 41 is formed so as to face the tip of the rib 35a.

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

  The magazine unit 35 is connected to the side of the output unit 15 and is configured to guide the connecting and binding device 40 into the output unit 15. A standby section 37 is provided inside the output section 15 that is continuous with the magazine section 35 so as to allow the binding tool 41 to stand by in a state where it can be punched out. The standby section 37 is provided between the driver 25 and the insertion slot 16, and the binding tool 41 waiting in the standby section 37 is driven out by the driver 25 in the direction of the insertion slot 16.

  Note that the opening 41 c of the binding device 41 that stands by in the standby unit 37 is open toward the launch direction D <b> 2 of the binding device 41, that is, toward the distal end of the output unit 15. On the other hand, the insertion port 16 is opened in a direction substantially orthogonal to the tip direction of the output unit 15. For this reason, in the present embodiment, the opening direction of the insertion port 16 and the opening direction of the binding tool 41 closed by the driver 25 are set to different directions.

  As shown in FIG. 8B, when attaching the connecting tying tool 40 to the magazine 35, the connecting tying tool 40 is attached so as to straddle the rib 35a, and the groove 35b of the magazine 35 is connected to the tying tool 41. The part 41b passes. When the connecting tying member 40 is mounted in this manner, the connecting tying member 40 is urged by the pusher 36 in the direction of the standby portion 37. As described above, the binding tool 41 can be driven out only by setting the connection binding tool 40. According to such a configuration, the operation of sending the binding tool 41 to the binding position before launching is unnecessary. In addition, since the tying tool 41 supplied to the standby unit 37 is on standby while being connected to the connecting tying tool 40, there is a problem that the tying tool 41 disconnected from the connecting tying tool 40 falls off from the tying machine 10. Also does not occur.

  In the present embodiment, the connecting tying tool 40 is urged in the direction of the standby unit 37 by the pusher 36, but the invention is not limited thereto, and the tying tool 41 is moved to the standby unit 37 in conjunction with the driving of the driver 25. A feeding mechanism may be provided.

  Next, the binding operation of the binding machine 10 will be described.

  When binding using the binding machine 10 according to the present embodiment, first, the binding object 50 is inserted into the insertion opening 16. At this time, as shown in FIG. 6, the opening direction D1 of the insertion port 16 is set to a direction different from the ejection direction D2 of the tying tool 41 (that is, the advancing / retreating direction of the driver 25), so that the tying object 50 is hooked. In this way, the object 50 to be bound can be engaged with the inside of the insertion slot 16.

  When the trigger 14 is operated in this state, the motor 20 rotates and the drive mechanism 22 operates. At this time, first, the guide member 30 is operated by the drive mechanism 22. In other words, in a standby state before the trigger 14 is operated, as shown in FIG. 9, the operating pin 30b is engaged with the hook 27a of the slide member 27, and the guide member 30 opens the opening of the insertion slot 16. It is in a state of being left. When the drive mechanism 22 starts operating from this state, as shown in FIG. 10, the slide member 27 moves forward, so that the operation pin 30b moves along the inclined portion 27b of the slide member 27. 30 swings to close the opening of the insertion slot 16. When the operating pin 30b reaches the horizontal portion 27c of the slide member 27, the guide member 30 is in a state in which the opening of the insertion port 16 is completely closed.

  Thereafter, when the motor 20 further rotates and the drive mechanism 22 operates, as shown in FIG. 11, the driver 25 drives out the tying tool 41 supplied to the standby unit 37, and the leg 41a of the tying out the tying tool 41 is moved. The clinching is completed by the clincher 18 (see FIG. 11).

  When the binding is completed as shown in FIG. 11, the motor 20 rotates in the reverse direction and returns to the standby state as shown in FIG. At this time, the driver 25 retreats from the standby unit 37, so that the standby unit 37 is vacant. Therefore, the pusher 36 pushes the connecting tying tool 40 in the magazine 35, and the next tying tool 41 is automatically moved to the standby unit 37. Sent to. When the slide member 27 retreats, the guide member 30 also swings in the opening direction. The guide member 30 swings to a position where the operation pin 30b is engaged with the hook 27a of the slide member 27, and returns to a state where the opening of the insertion port 16 is opened.

  The binding operation as described above is controlled by the control unit 21. More specifically, the control unit 21 according to the present embodiment is configured such that the CPU reads a program stored in the ROM, thereby controlling various input devices and output devices as shown in FIG.

  As shown in FIG. 12, the input device for the control unit 21 includes the above-described switch 14a, the current value measurement unit 60, the blockage sensor 45, and the guide sensor 46. As an output device of the control unit 21, as shown in FIG. 12, the motor 20 described above and the notification unit 38 are provided. Note that the input device and the output device are not limited to these devices, and may include other input devices and output devices.

  The current value measuring section 60 is for measuring an output current value supplied to the motor 20. The current value measurement unit 60 is configured to always (or at a predetermined cycle) measure the output current value supplied to the motor 20 while the motor 20 is operating, and to transmit the result to the control unit 21. .

  The clogging sensor 45 is a sensor for detecting clogging of the binding tool 41. The clog sensor 45 is arranged so as to face the insertion port 16 as shown in FIG. 9B, for example. The clog sensor 45 according to the present embodiment includes a detection unit 45a that protrudes from the main body so as to be able to protrude and retract. The detection unit 45a is provided so as to protrude into the launching path of the binding tool 41. For this reason, when the tying member 41 is present in the insertion slot 16, the detecting portion 45a is pushed in and the clogging is detected. In the present embodiment, if the state where the detection unit 45a is pushed in continues even after a predetermined time has elapsed after the binding is completed, it is determined that the clogging has occurred.

  When the clogging sensor 45 determines that a clog has occurred, a predetermined clogging error process is executed. As the clogging error process, for example, a process of notifying an error to an operator by a notifying unit 38 described later may be executed. Further, as the clogging error processing, the next bundling operation may not be performed until the clogging is eliminated. Further, when the trigger 14 is operated while the clogging is not resolved, the error may be notified by the notifying unit 38.

  If such a clogging sensor 45 is provided, a tying operation is not performed without noticing that the tying member 41 is clogged, so that a tying mistake can be prevented. In addition, by operating the machine in the clogged state, it is possible to prevent a load from being applied to the machine. Thereby, it is possible to prevent the durability of the machine from being damaged or the machine from being damaged.

  Further, when such a clogging error occurs, if the history management unit 130 described later stores the history information of the error, the state of the machine can be grasped using this history information. For example, when a clogging error frequently occurs, it can be determined that the need for maintenance is high. If it is determined that the need for maintenance is high, the notification means 38 may notify the worker.

  In the present embodiment, the clogging is detected by physically pressing the detection unit 45a of the clogging sensor 45. However, the present invention is not limited to this, and the clogging may be detected by another method. For example, a non-contact type sensor may be used as the clog sensor 45.

  The guide sensor 46 is a sensor for detecting a state in which the guide member 30 is completely closed. The guide sensor 46 is disposed at a position where the guide sensor 46 overlaps the tip of the guide member 30 when the guide member 30 is closed, as shown in FIGS. 9B, 10A, and 10B, for example. The guide sensor 46 according to the present embodiment includes a detection unit 46a protruding from the main body so as to be able to protrude and retract. The detection section 46a is provided so as to protrude so as to be able to contact the guide member 30. For this reason, when the guide member 30 is completely closed, the detection section 46a is pushed in, and it is detected that the guide member 30 is closed.

  If the guide sensor 46 detects that the guide member 30 is closed during the execution of the binding operation, the binding machine 10 executes the binding operation. That is, the binding tool 41 is driven out by the driver 25, and the binding is performed.

  On the other hand, if the guide sensor 46 does not detect that the guide member 30 is closed when the binding operation is performed, a predetermined guide error process is performed. As the guide error process, a process of interrupting the binding operation and returning the state of the machine to the state before binding is executed. At this time, the error may be notified to the operator by the notifying means 38 described later.

  By providing such a guide sensor 46, binding can be prevented from being performed in a state where the guide member 30 is not closed. For example, if the binding is performed in a state where the guide member 30 is not closed in order to bind the binding object 50 exceeding the maximum diameter allowed by the machine, a binding error occurs or the binding object 50 is damaged. There is a possibility that. By providing the guide sensor 46, such a problem can be avoided.

  In the present embodiment, the guide member 30 is detected by physically pressing the detection portion 46a of the guide sensor 46. However, the present invention is not limited to this, and the guide member 30 is detected by another method. May be. For example, a non-contact type sensor may be used as the guide sensor 46.

  The notifying means 38 is for notifying the operator of various information such as the state of the machine. The notifying unit 38 notifies a worker of information by generating sound, display, vibration, and the like. As shown in FIG. 1, the binding machine 10 according to the present embodiment includes an LED as the notification unit 38. The notification means 38 is not limited to the LED, and may include a liquid crystal screen as shown in FIG. In addition, a speaker, a vibration motor, or the like may be provided as the notification unit 38.

  Further, the control unit 21 realizes functions as a drive control unit 110, an abnormality processing unit 120, and a history management unit 130, as shown in FIG. 12, to control the input device and the output device described above.

  The drive control unit 110 controls the binding operation by controlling the drive of the motor 20. The drive control unit 110 receives an input signal from the switch 14a, drives the motor 20, and executes a binding process. Further, when the above-described clogging error or guide error occurs, execution of error processing may be controlled.

  The abnormality processing unit 120 detects a binding error by estimating the load acting on the driver 25. The abnormality processing unit 120 according to the embodiment estimates the load acting on the driver 25 with reference to the current value (current value flowing through the motor 20) measured by the current value measurement unit 60. Hereinafter, the processing of the abnormality processing unit 120 will be specifically described with reference to FIG. 13 illustrating a waveform of a current flowing through the motor 20.

  FIG. 13A is a current waveform when the binding process is performed in a state where the binding object 50 does not exist. As shown in this figure, in a period before the binding device 41 reaches the clincher 18 (a period before A1), a large resistance does not act on the driver 25, and the load acting on the driver 25 is small. The value is kept low. After the timing (A1) at which the tying tool 41 reaches the clincher 18 and starts clinching, the load acting on the driver 25 gradually increases because the deformation resistance of the tying tool 41 is applied. When the load acting on the driver 25 increases, the value of the current flowing through the motor 20 also gradually increases. Then, at the timing (B2) at which the clinch ends, the load acting on the driver 25 reaches a peak, so that the current flowing through the motor 20 also reaches a peak.

  Next, FIG. 13B shows a current waveform when the binding process is performed in a normal state where the binding object 50 exists. As shown in this figure, in the period before the tying member 41 reaches the clincher 18 (the period before B1), a large resistance does not act on the driver 25 and the load acting on the driver 25 is small. The value is kept low. Then, after the timing (B1) at which the tying tool 41 reaches the clincher 18 and the clinching is started, since the deformation resistance of the tying tool 41 is applied, the load acting on the driver 25 gradually increases. When the load acting on the driver 25 increases, the value of the current flowing through the motor 20 also gradually increases. Then, at the timing (B2) at which the clinch ends, the load acting on the driver 25 reaches a peak, so that the current flowing through the motor 20 also reaches a peak. At this time, since the binding tool 41 fastens the object 50 to be bound, the load acting on the driver 25 due to the fastening resistance further increases. Therefore, the peak of the current value shown in FIG. 13B is higher than the peak of the current value shown in FIG. In other words, the tighter the binding object 50, the higher the peak of the current value is detected.

  Finally, FIG. 13C shows a current waveform when a binding error occurs. More specifically, as shown in FIG. 14A, the tying tool 41 is slantedly punched with respect to the clincher 18 for some reason, and as shown in FIG. It is a current waveform when the part 41a is not correctly clinched. As shown in FIG. 13C, in a period before the binding device 41 reaches the clincher 18 (a period before C1), a large resistance does not act on the driver 25, and the load acting on the driver 25 is reduced. Since it is small, the current value is kept low. After the timing (C1) at which the tying tool 41 reaches the clincher 18 and starts clinching, the load acting on the driver 25 gradually increases, so that the current value also gradually increases. However, when the leg portion 41a of the tying member 41 is not correctly clinched, the deformation resistance of the leg portion 41a does not increase significantly, so that the load acting on the driver 25 does not greatly increase thereafter. That is, the peak of the current value is lower than the examples shown in FIGS. 13A and 13B.

  As described above, in the binding machine 10 that binds the substantially U-shaped binding tool 41 by clinching, it is possible to detect a binding error by referring to the peak of the current value. Therefore, the abnormality processing unit 120 according to the present embodiment determines a binding error based on whether or not the peak value of the current flowing through the motor 20 has reached a predetermined value.

  For example, the threshold value P1 shown in FIG. 13 may be used as the predetermined value to be compared with the peak value of the current. This threshold value P1 is set based on the load acting on the driver 25 when the leg 41a of the binding tool 41 is correctly clinched. As described above, when the threshold value P1 is used as the predetermined value to be compared with the peak value of the current, as shown in FIGS. 13A and 13B, when the peak value of the current reaches the threshold value P1, Determines that binding has been performed successfully. On the other hand, as shown in FIG. 13C, when the peak value of the current has not reached the threshold value P1, it is determined that a binding error has occurred. When this threshold value P1 is used, it can be set so that a binding error is not determined even when the binding process is executed in a state where the binding target object 50 does not exist as shown in FIG.

  Alternatively, the threshold value P2 shown in FIG. 13 may be used as a predetermined value to be compared with the peak value of the current. This threshold value P2 is set based on a load acting on the driver 25 when the leg 41a of the binding tool 41 is correctly clinched and the binding target 50 is tightened. As described above, when the threshold value P2 is used as the predetermined value to be compared with the peak value of the current, as shown in FIG. 13B, when the peak value of the current has reached the threshold value P2, the binding is normally performed. Judge that it was executed. On the other hand, as shown in FIGS. 13A and 13C, when the peak value of the current has not reached the threshold value P2, it is determined that a binding error has occurred. When this threshold value P2 is used, a setting can be made such that a binding error is determined when the binding process is executed in a state where the binding object 50 does not exist as shown in FIG.

  When the abnormality processing unit 120 detects a binding error, a predetermined error process may be executed. For example, the notifying unit 38 may notify the worker of the error. Alternatively, the machine may be stopped at the timing when a binding error is detected, and may return to the state before binding.

  The abnormality processing unit 120 according to the embodiment detects a binding error by referring to the peak of the current value. However, alternatively or in addition, the binding error may be detected by another method.

  For example, a timing at which the current value starts to rise (see A1 in FIG. 13A, B1 in FIG. 13B, and C1 in FIG. 13C) is detected, and this timing deviates from a predetermined range. If it is (the timing is too early or too late), it may be determined that there is a binding error. The timing at which the current value starts to rise is usually the timing of the clinch start. Therefore, if the current value starts to rise at a timing earlier than the clinch start, the driver 25 does not slide smoothly, and It is possible to detect that some problem has occurred, such as that the image is too thick. In addition, if the timing at which the current value starts to rise is too late (when the current value does not start to rise even at the normal clinch start timing), some problem such as the binding device 41 not being set correctly has occurred. Can be detected.

  The timing at which the current value starts to increase may be determined, for example, by the time from when the driver 14 starts driving by operating the switch 14a to when the current value starts to increase.

  Further, a timing at which the current value reaches a peak (see A2 in FIG. 13A and B2 in FIG. 13B) is detected, and when this timing deviates from a predetermined range (the timing is too early). If it is too late or too late), it may be determined that there is a binding error. The timing when the current value reaches the peak is usually the timing at which the clinch ends. By referring to the clinch end timing, for example, if the clinch end timing is too early or too late, the object 50 to be bound is too thick or the clinch is not operating properly. Can be detected.

  The timing at which the current value reaches the peak may be determined, for example, by the time from when the driver 14 starts driving the switch 14a to operate until the current value reaches the peak. Alternatively, the determination may be made based on the time from when the current value reaches a peak after exceeding the threshold value P1. Alternatively, it may be determined based on the time from when the threshold value P1 is exceeded to when the threshold value P2 is reached.

  The history management unit 130 manages the history of the binding work. The history management unit 130 can store, for example, a history of binding errors detected by the abnormality processing unit 120. For example, the history management unit 130 can store the number of times a mistake has occurred in binding after the machine was reset. Therefore, for example, after performing the binding operation continuously, it is possible to confirm whether or not a binding error has occurred and when the binding error has occurred. By using such a function, the presence or absence of a binding error can be confirmed later. For example, when a binding failure is found after shipping, it is possible to later confirm whether the cause of the binding failure is during the binding operation or after the binding operation. Also, by checking the frequency of occurrence of binding errors, the skill level of the worker can be determined, which can be useful for work guidance. In addition, even when the binding operation is automatically performed using a robot, the presence or absence of a binding error can be confirmed without visually confirming the actual product.

  The history management unit 130 may store the history of the current waveform measured by the current value measurement unit 60. That is, the measurement history of the current value flowing through the motor 20 may be stored not only when a binding error occurs but also when binding is performed normally. In this way, all binding histories can be confirmed later, so that work histories can be left. The work history thus left can be used, for example, as proof that the work has been completed without occurrence of a binding error. In addition, by checking the current waveform left as the work history, it is possible to check the degree of tightening of the binding object 50.

  Further, the history management unit 130 may store a history of the number of times of binding. Then, the stored binding times may be displayed to the user. As a method of displaying the number of times of binding to the user, for example, it may be displayed on a liquid crystal screen or the like, or may be output to the outside (for example, a terminal such as a smartphone, a control device, a server, or the like). Good. Alternatively, when the number of times of binding has reached a predetermined number, notification may be given by the notification means 38 (display, sound, vibration). At this time, the specified number used for the notification may be freely set by the user. With this configuration, for example, when a work instruction is issued to perform “bundling at five locations for one binding object 50”, the specified number is set to “5”, so that every five bindings are performed. The notification can be set to be executed. In addition, when there is a work instruction of “changing the binding strength after a predetermined number of times (eg, 10 times), by setting the specified number to“ 10 ”, the notification is executed every 10 times. It can be set as follows. Such a setting eliminates the need for the operator to count the number of times of binding, so that errors are less likely to occur and the working efficiency can be increased.

  As described above, the binding machine 10 according to the present embodiment is a binding machine 10 for driving a plastically deformable binding tool 41 having a pair of legs 41a and binding the object 50 to be bound. It includes a driver 25 that drives to drive the binding tool 41 and an abnormality processing unit 120 that detects a binding error by estimating a load acting on the driver 25. According to such a configuration, by estimating the load acting on the driver 25, it is possible to estimate the deformation resistance of the leg 41 a of the binding tool 41 and the degree of tightening of the binding. For example, when it is determined that the load acting on the driver 25 is small and the deformation resistance of the leg 41a of the tying tool 41 is too small, it can be determined that the leg 41a of the tying tool 41 is not correctly clinched. . Therefore, by utilizing the characteristics of the binding machine 10 of the type that drives the binding tool 41 having the pair of legs 41a, a binding error can be detected without visual confirmation.

  In the above embodiment, the description has been made on the assumption that the user holds the binding machine 10, but the binding machine 10 may be attached to a machine such as a robot arm. In this case, a portion attached to a machine such as a robot arm may be the grip portion 13.

  In this way, even when the binding machine 10 is used in an unmanned facility by robot control or the like, a binding error can be detected without visual confirmation. Therefore, there is no need to check the actual product after the binding operation, and the workability can be improved.

  In addition, the binding machine 10 according to the above-described embodiment is configured to receive the voltage supply from the power supply connection unit 12a. However, the present invention is not limited thereto, and the binding machine 10 may have a built-in power supply. The battery pack may be detachable. Further, the binding machine 10 according to the above-described embodiment includes the control unit 21, but is not limited thereto, and the control unit 21 may be arranged outside the machine. For example, the binding machine 10 may be operated by centralized control or the like.

  Further, in the above-described embodiment, the hand-held tying machine 10 has been described. However, the present invention is not limited thereto, and the present invention may be applied to a stationary tying machine 10.

  In the above-described embodiment, the abnormality processing unit 120 estimates the load acting on the driver 25 with reference to the value of the current flowing through the motor 20, but is not limited thereto.

  For example, the abnormality processing unit 120 may estimate the load acting on the driver 25 with reference to a pulse for rotating the motor 20. That is, if the load acting on the driver 25 increases, the speed of the driver 25 decreases, so that the rotation speed of the motor 20 also decreases and the pulse period increases. Therefore, even when the pulse waveform is referred to, the load acting on the driver 25 can be estimated as in the case where the current waveform illustrated in FIG. 13 is referred to.

  Alternatively, a load sensor may be provided in the driver 25 or the clincher 18, and the abnormality processing unit 120 may estimate the load acting on the driver 25 with reference to the detection result of the load sensor. According to such a configuration, the load acting on the driver 25 can be directly estimated.

  Further, in the above-described embodiment, the binding error is detected by estimating the load acting on the driver 25, but the binding error can be detected by another method.

  For example, it is also possible to install a camera capable of photographing a binding part in the binding machine 10 or a peripheral device, and confirm a binding error or a tightening condition of the binding target 50 from the photographed image.

  Alternatively, it is configured to detect the moving distance (stroke) of the driver 25 and determine whether or not the moving distance of the driver 25 is within a correct range, thereby confirming a binding error or a tightening condition of the binding object 50. It is also possible.

DESCRIPTION OF SYMBOLS 10 Binder 11 Housing 11a Pick-up surface 12 Motor accommodating part 12a Power supply connection part 13 Grip part 14 Trigger 14a Switch 15 Output part 16 Insertion port 17 Projection forming part 17a Outer side surface 17b Inner side surface 18 Clincher 20 Motor 21 Control part 22 Drive mechanism Reference Signs List 23 Speed reduction mechanism 24 Ball screw 24a Screw shaft 24b Nut 25 Driver 26 Interlocking mechanism 27 Slide member 27a Hook 27b Inclined portion 27c Horizontal portion 28 Connection member 30 Guide member 30a Swing shaft 30b Operating pin 30c Tip 30d First guide portion 30e First 2 guide section 35 magazine section 35a rib 35b groove section 36 pusher 37 standby section 38 notification means 40 connecting and tying tool 41 tying tool 41a leg 41b connecting section 41c opening 45 clogging sensor 45a detecting section 46 guy Launch direction of use the sensor 46a detecting unit 50 material to be bound 60 current measuring section 110 the drive control unit 120 the abnormality processing unit 130 history management unit D1 insertion port opening direction D2 closure (driver forward and backward direction)

The motor accommodating portion 12 is provided at a rear portion of the binding machine 10, and a power supply connection portion 12a for connecting an external power supply is provided at a rear end portion. By receiving the voltage supply from the power supply connection part 12a, the binding machine 10 can execute various operations such as the ejection of the binding tool 41. The power connections 12a, may be configured to code to connect to the ac power is connected, or may be the harness is attached to connecting the rechargeable battery. Note that the binding machine 10 according to the present embodiment is of an electric type, but is not limited thereto, and the binding machine 10 may be of a compressed air type. In the case of the compressed air type binding machine 10, a connection portion for receiving supply of compressed air may be provided instead of the power supply connection portion 12a.

Claims (7)

A binding machine that binds an object to be bound by driving a plastically deformable binding tool having a pair of legs,
A driver to strike out the tying tool,
A clincher for clinching the legs of the tying tool launched by the driver to complete the tying,
An abnormality processing unit that detects a binding error by estimating a load acting on the driver;
A binding machine, comprising: A motor that drives the driver,
The binding machine according to claim 1, wherein the abnormality processing unit estimates a load acting on the driver with reference to a current value flowing through the motor.   3. The binding machine according to claim 2, wherein the abnormality processing unit determines a binding error based on whether a peak value of a current flowing through the motor has reached a predetermined value. 4.   The abnormality processing unit is configured to determine whether at least one of a timing at which a current value flowing through the motor starts to increase or a timing at which a current value flowing through the motor reaches a peak is out of a predetermined range. The binding machine according to claim 2, wherein the binding is determined to be a binding error. A motor that drives the driver,
The binding machine according to claim 1, wherein the abnormality processing unit estimates a load acting on the driver with reference to a pulse for rotating the motor.   The binding machine according to claim 1, wherein the abnormality processing unit estimates a load acting on the driver with reference to a detection result of a load sensor provided on the driver or the clincher.   The binding machine according to any one of claims 1 to 6, further comprising a history management unit that stores a history of a binding error detected by the abnormality processing unit.

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