JP7385457B2 - Rebar binding machine - Google Patents

Description

The technology disclosed herein relates to a reinforcing bar tying machine.

Patent Document 1 discloses a reinforcing bar tying machine. The reinforcing bar binding machine has a motor, a feeding mechanism that executes a feeding process for feeding out the wire, a pulling process for pulling back the wire, and a control unit that controls the motor.

JP 2017-24752 Publication

A brushless motor is sometimes used as the motor of the above-described feeding mechanism. In a brushless motor, the relationship between torque and rotational speed and the relationship between torque and current change depending on how the advance angle is set in advance angle control. This specification provides a technique that enables advance angle control at a suitable advance angle when a brushless motor is used as a motor of a feed mechanism.

This specification discloses a rebar tying machine. The reinforcing bar binding machine includes a first brushless motor, a feeding mechanism that executes a feeding process for feeding out the wire, a pulling process for pulling back the wire, and a first inverter circuit connected to the first brushless motor. , a control unit may be provided that controls the first brushless motor via the first inverter circuit. The first brushless motor may include a first Hall sensor disposed on a first sensor board. In the feeding step, the control unit may advance the first brushless motor at a first advance angle. In the pulling back step, the control unit may advance the first brushless motor at a second advance angle. The first advance angle may be set larger than the second advance angle.

FIG. 33 shows the relationship between torque, rotation speed, and advance angle in advance angle control of a general brushless motor. As shown in FIG. 33, as the torque increases, the rotation speed decreases. Furthermore, as shown in FIG. 33, when the torque is small, the larger the advance angle in advance angle control is, the higher the rotation speed is, and when the torque is large, the larger the advance angle in advance angle control is, the lower the rotation speed is. Become.

FIG. 34 shows the relationship between torque, current, and advance angle in advance angle control of a general brushless motor. As shown in FIG. 34, the larger the torque, the larger the current. Further, as shown in FIG. 34, the larger the advance angle in the advance angle control, the larger the current.

In the above-mentioned reinforcing bar binding machine, a large torque does not act on the first brushless motor in the feeding process of feeding out the wire. In this case, by increasing the advance angle in the advance angle control, the number of rotations can be increased, and the time required for the feeding process can be shortened. Incidentally, when the advance angle in the advance angle control is increased, the current increases, but since the current of the first brushless motor is originally small in the feeding process, heat generation in the first brushless motor and the first inverter circuit does not become a problem.

On the other hand, in the pulling back process of pulling back the wire, a large torque acts on the first brushless motor. In this case, by reducing the advance angle in the advance angle control, the number of revolutions can be increased, and the time required for the pullback process can be shortened. Further, by reducing the advance angle in the advance angle control, the current flowing through the first brushless motor can be reduced, and excessive heat generation in the first brushless motor and the first inverter circuit can be suppressed.

In the above-mentioned reinforcing bar binding machine, regarding the control of the first brushless motor by the control unit, the advance angle in the advance angle control in the sending-out process is set to be larger than the advance angle in the advance-angle control in the pulling-back process. As a result, it is possible to shorten the time in the sending-out process, shorten the time in the pull-back process, and reduce the current.

It is a perspective view of the reinforcing bar binding machine 2 of an example. FIG. 2 is a side view showing the internal configuration of a reinforcing bar tying machine 2 according to an embodiment. It is a perspective view of the feed mechanism 24 of the reinforcing bar binding machine 2 of an Example. It is a sectional view of the vicinity of the guide mechanism 26 of the reinforcing bar binding machine 2 of the example. FIG. 7 is a side view of the holding part 82 and the cutting mechanism 28 in a state where the operated member 72 is at an initial position in the reinforcing bar binding machine 2 of the embodiment. FIG. 7 is a side view of the holding part 82 and the cutting mechanism 28 in a state where the operated member 72 is at the cutting position in the reinforcing bar binding machine 2 of the embodiment. It is a perspective view of the twisting mechanism 30 of the reinforcing bar binding machine 2 of an Example. It is a top view of the screw shaft 84, the clamp guide 86, the clamping member 90, and the biasing member 92 of the reinforcing bar binding machine 2 of an Example. FIG. 7 is a cross-sectional perspective view of the holding part 82 in a state where the outer sleeve 102 of the reinforcing bar binding machine 2 of the embodiment is in the forward position with respect to the clamp guide 86. It is a top view of the upper side clamping member 114 of the reinforcing bar binding machine 2 of an Example. It is a top view of the lower side clamping member 116 of the reinforcing bar binding machine 2 of an Example. It is a front view of the clamping member 90 of the reinforcing bar binding machine 2 of an Example. It is a cross-sectional perspective view of the clamping member 90 and the guide pin 110 in a state where the guide pin 110 is in the intermediate position between the upper guide hole 118a and the lower guide hole 126a regarding the reinforcing bar binding machine 2 of the example. It is a cross-sectional perspective view of the clamping member 90 and the guide pin 110 in a state where the guide pin 110 is located at the rear of the upper guide hole 118a and the lower guide hole 126a regarding the reinforcing bar binding machine 2 of the example. It is a perspective view of the rotation restriction part 150 of the reinforcing bar binding machine 2 of an Example. FIG. 7 is a cross-sectional perspective view of the holding portion 82 in a state where the stepped portion 102a of the outer sleeve 102 and the stepped portion 86c of the clamp guide 86 are in contact with each other in the reinforcing bar binding machine 2 of the embodiment. FIG. 7 is a side view of the holding part 82 and the rotation restricting part 150 with the base member 152 and biasing members 162 and 164 removed in the reinforcing bar binding machine 2 of the embodiment. It is an exploded perspective view of the feed motor 32 and the torsion motor 76 of the reinforcing bar binding machine 2 of an Example. It is a front view of the stators 174, 186 of the feed motor 32 and the torsion motor 76, and the sensor substrates 178, 190 of the reinforcing bar binding machine 2 of the embodiment. It is a diagram showing a circuit configuration of a control board 20 of a reinforcing bar binding machine 2 according to an embodiment. It is a figure showing an example of a circuit composition of inverter circuits 212 and 214 of reinforcing bar binding machine 2 of an example. It is a diagram showing an example of a circuit configuration of a motor control signal output destination switching circuit 204 of the reinforcing bar binding machine 2 of the embodiment. It is a figure which shows another example of the circuit structure of the motor control signal output destination switching circuit 204 of the reinforcing bar binding machine 2 of an Example. It is a figure which shows yet another example of the circuit structure of the motor control signal output destination switching circuit 204 of the reinforcing bar binding machine 2 of an Example. It is a figure showing an example of the circuit composition of brake circuits 218 and 220 of reinforcing bar binding machine 2 of an example. It is a diagram showing an example of a circuit configuration of a motor rotation signal input source switching circuit 206 of the reinforcing bar binding machine 2 of the embodiment. It is a figure which shows another example of the circuit structure of the motor rotation signal input source switching circuit 206 of the reinforcing bar binding machine 2 of an Example. It is a figure which shows yet another example of the circuit structure of the motor rotation signal input source switching circuit 206 of the reinforcing bar binding machine 2 of an Example. A timing chart of Hall sensor signals Hu, Hv, Hw and motor control signals UH, VH, WH, UL, VL, WL when the feed motor 32 and torsion motor 76 rotate forward in the reinforcing bar binding machine 2 of the reference example. be. Timing chart of Hall sensor signals Hu, Hv, Hw and motor control signals UH, VH, WH, UL, VL, WL when the feed motor 32 and torsion motor 76 rotate in reverse in the reinforcing bar binding machine 2 of the reference example. be. A timing chart of Hall sensor signals Hu, Hv, Hw and motor control signals UH, VH, WH, UL, VL, WL when the feed motor 32 and torsion motor 76 rotate forward in the reinforcing bar binding machine 2 of the embodiment. be. Timing chart of Hall sensor signals Hu, Hv, Hw and motor control signals UH, VH, WH, UL, VL, WL when the feed motor 32 and torsion motor 76 rotate in reverse in the reinforcing bar binding machine 2 of the embodiment. be. It is a graph showing the relationship between torque, rotation speed, and advance angle in advance angle control of a general brushless motor. It is a graph showing the relationship between torque, current, and advance angle in advance angle control of a general brushless motor. A timing chart of Hall sensor signals Hu, Hv, Hw and motor control signals UH, VH, WH, UL, VL, WL when the feed motor 32 and torsion motor 76 rotate forward in the modified reinforcing bar binding machine 2. be. A timing chart of Hall sensor signals Hu, Hv, Hw and motor control signals UH, VH, WH, UL, VL, WL when the feed motor 32 and torsion motor 76 rotate in reverse in the modified reinforcing bar binding machine 2. be. It is a flowchart of the process performed by MCU202 of the reinforcing bar binding machine 2 of an Example. 38 is a flowchart showing details of the feed motor first drive process in S2 of FIG. 37. FIG. 38 is a flowchart showing details of the torsion motor first drive process in S4 of FIG. 37. FIG. 38 is a flowchart showing details of the second feed motor drive process in S6 of FIG. 37. FIG. 38 is a flowchart showing details of the second torsion motor drive process in S8 of FIG. 37. FIG. 38 is a flowchart showing details of the torsion motor third drive process in S10 of FIG. 37. FIG. It is a figure explaining the operation timing of the feed motor 32 and the torsion motor 76 of the reinforcing bar binding machine 2 of an Example.

Representative and non-limiting specific examples of the present invention will be described in detail below with reference to the drawings. This detailed description is merely intended to provide those skilled in the art with details for implementing the preferred embodiment of the invention, and is not intended to limit the scope of the invention. Additionally, the additional features and inventions disclosed can be used separately or in conjunction with other features and inventions to provide a further improved rebar tying machine.

Furthermore, the features and combinations of steps disclosed in the following detailed description are not essential to practicing the invention in its broadest sense, and are intended solely for the purpose of specifically illustrating representative embodiments of the invention. shall be described. Additionally, various features of the exemplary embodiments described below, as well as those recited in the claims, may be used to provide additional and useful embodiments of the invention. They do not have to be combined exactly as shown or in the order listed.

All features recited in the specification and/or claims may be incorporated into the original disclosure as well as the specific features recited in the claims, independently of their constitution in the examples and/or claims. Limitations to the matters are intended to be disclosed separately and independently of each other. Furthermore, all references to numerical ranges and groups or clusters are intended to disclose intermediate configurations thereof as limitations on the specific subject matter recited in the original disclosure and claims.

In one or more embodiments, the rebar tying machine includes a first brushless motor, a feeding mechanism that performs a feeding process for feeding out the wire, a pulling process for pulling back the wire, and the first brushless motor. The motor may include a first inverter circuit connected to the motor, and a control unit that controls the first brushless motor via the first inverter circuit. The first brushless motor may include a first Hall sensor disposed on a first sensor board. In the feeding step, the control unit may advance the first brushless motor at a first advance angle. In the pulling back step, the control unit may advance the first brushless motor at a second advance angle. The first advance angle may be set larger than the second advance angle.

In the above-mentioned reinforcing bar binding machine, a large torque does not act on the first brushless motor in the feeding process of feeding out the wire. In this case, by increasing the advance angle in the advance angle control, the number of rotations can be increased, and the time required for the feeding process can be shortened. Incidentally, when the advance angle in the advance angle control is increased, the current increases, but since the current of the first brushless motor is originally small in the feeding process, heat generation in the first brushless motor and the first inverter circuit does not become a problem.

On the other hand, in the pulling back process of pulling back the wire, a large torque acts on the first brushless motor. In this case, by reducing the advance angle in the advance angle control, the number of revolutions can be increased, and the time required for the pullback process can be shortened. Further, by reducing the advance angle in the advance angle control, the current flowing through the first brushless motor can be reduced, and excessive heat generation in the first brushless motor and the first inverter circuit can be suppressed.

In the above-mentioned reinforcing bar binding machine, regarding the control of the first brushless motor by the control unit, the advance angle in the advance angle control in the sending-out process is set to be larger than the advance angle in the advance-angle control in the pulling-back process. As a result, it is possible to shorten the time in the sending-out process, shorten the time in the pull-back process, and reduce the current.

In one or more embodiments, the first Hall sensor is configured on the first sensor substrate to output a first Hall sensor signal of one of the first advance angle and the second advance angle. It may be placed in The sum of the first advance angle and the second advance angle may be 60°.

According to the above configuration, when performing advance angle control on one of the first advance angle and the second advance angle, the control unit outputs the motor control signal based on the first Hall sensor signal, and outputs the motor control signal based on the first Hall sensor signal. When performing advance angle control using the other of the first advance angle and the second advance angle, the motor control signal is output with a shift of one step (equivalent to 60 degrees in electrical angle) based on the first Hall sensor signal. This makes it possible to perform both advance angle control at the first advance angle in the sending-out process and advance angle control at the second advance angle in the pull-back process. The calculation load on the control unit can be reduced.

In one or more embodiments, the rebar tying machine includes a second brushless motor, and includes a twisting step of twisting the wire and an initial state return step of returning the wire to its initial state after twisting. The torsion mechanism may further include a second inverter circuit connected to the second brushless motor. The control unit may also control the second brushless motor via the second inverter circuit. The second brushless motor may include a second Hall sensor disposed on a second sensor board. In the twisting step, the control unit may advance the second brushless motor at a third advance angle. In the initial state return step, the control unit may advance the second brushless motor at a fourth advance angle. The third advance angle may be set smaller than the fourth advance angle.

In the above-mentioned reinforcing bar binding machine, a large torque acts on the second brushless motor during the twisting process of twisting the wire. In this case, by reducing the advance angle in the advance angle control, the number of rotations can be increased, and the time required for the twisting process can be shortened. Furthermore, by reducing the advance angle in the advance angle control, the current flowing through the second brushless motor can be reduced, and excessive heat generation in the second brushless motor and the second inverter circuit can be suppressed.

On the other hand, in the initial state return step of returning the torsion mechanism to its initial state, not so much torque acts on the second brushless motor. In this case, by increasing the advance angle in the advance angle control, the rotation speed can be increased, and the time required for the initial state return process can be shortened. Note that increasing the advance angle in advance angle control increases the current, but in the initial state return process, the current of the second brushless motor is originally small, so heat generation in the second brushless motor and second inverter circuit does not become a problem. do not have.

In the above reinforcing bar binding machine, regarding the control of the second brushless motor by the control unit, the advance angle in the advance angle control in the twisting process is set smaller than the advance angle in the advance angle control in the initial state return process. This makes it possible to shorten the time and reduce the current in the twisting process, and shorten the time in the initial state return process.

In one or more embodiments, the second Hall sensor is configured on the second sensor substrate to output a second Hall sensor signal at one of the third advance angle and the fourth advance angle. It may be placed in The sum of the third advance angle and the fourth advance angle may be 60°.

According to the above configuration, when performing advance angle control for one of the third advance angle and the fourth advance angle, the control unit outputs the motor control signal based on the second Hall sensor signal, and outputs the motor control signal based on the second Hall sensor signal. When performing advance angle control using the other of the 3rd and 4th advance angles, the motor control signal is output with a shift of one step (corresponding to 60° in electrical angle) based on the second Hall sensor signal. This makes it possible to perform both advance angle control at the third advance angle in the twisting process and advance angle control at the fourth advance angle in the initial state return process. The calculation load on the control unit can be reduced.

In one or more embodiments, the rebar tying machine includes a second brushless motor and performs a twisting step of twisting the wire and a return to initial state step of returning the wire to an initial state after twisting. The torsion mechanism may further include a second inverter circuit connected to the second brushless motor. The control unit may also control the second brushless motor via the second inverter circuit. The second brushless motor may include a second Hall sensor disposed on a second sensor board. In the twisting step, the control unit may advance the second brushless motor at the second advance angle. In the initial state return step, the control unit may advance the second brushless motor at the first advance angle.

According to the above configuration, the advance angle control that the control unit performs on the first brushless motor in the feeding process and the advance angle control that the control unit performs on the second brushless motor in the initial state return process are the same. The configuration can be simplified. Further, according to the above configuration, the advance angle control that the control unit performs on the first brushless motor in the pullback process and the advance angle control that the control unit performs on the second brushless motor in the twisting process are the same. The configuration can be simplified.

In one or more embodiments, the first Hall sensor is configured on the first sensor substrate to output a first Hall sensor signal of one of the first advance angle and the second advance angle. It may be placed in The second Hall sensor may be arranged on the second sensor board so as to output a second Hall sensor signal at one of the first advance angle and the second advance angle. The sum of the first advance angle and the second advance angle may be 60°.

According to the above configuration, a common component can be used as the first sensor board on which the first Hall sensor is arranged and the second sensor board on which the second Hall sensor is arranged.

(Example)
As shown in FIG. 1, the reinforcing bar tying machine 2 is a reinforcing bar tying machine that ties together a plurality of reinforcing bars R with wires W. For example, the reinforcing bar binding machine 2 binds small diameter reinforcing bars R with a diameter of 16 mm or less, and large diameter reinforcing bars R with a diameter larger than 16 mm (for example, 25 mm or 32 mm in diameter) with wires W. The diameter of the wire W is, for example, a value between 0.5 mm and 2.0 mm.

The reinforcing bar binding machine 2 includes a main body 4, a grip 6, a battery attachment part 10, a battery B, and a reel holder 12. The grip 6 is a member for a worker to grip. The grip 6 is provided at the lower rear side of the main body 4. The grip 6 is integrally formed with the main body 4. A trigger 8 is attached to the upper front side of the grip 6. A trigger switch 9 (see FIG. 2) that detects whether the trigger 8 is pressed is housed inside the grip 6. The battery attachment part 10 is provided at the lower part of the grip 6. The battery mounting portion 10 is integrally formed with the grip 6. Battery B is removably attached to battery attachment part 10. Battery B is, for example, a lithium ion battery. The reel holder 12 is arranged below the main body 4. The reel holder 12 is arranged in front of the grip 6. In this embodiment, the longitudinal direction of the torsion mechanism 30, which will be described later, is referred to as the front-rear direction, the direction orthogonal to the front-rear direction is referred to as the up-down direction, and the direction orthogonal to the front-rear direction and the up-down direction is referred to as the left-right direction.

The reel holder 12 includes a holder housing 14 and a cover member 16. The holder housing 14 is attached to the front lower part of the main body 4 and the front part of the battery attachment part 10. The cover member 16 is attached to the holder housing 14 so as to be rotatable around a rotation shaft 14a at the bottom of the holder housing 14. The holder housing 14 and the cover member 16 define an accommodation space 12a (see FIG. 2). A reel 18 around which the wire W is wound is arranged in the accommodation space 12a. That is, the reel holder 12 houses the reel 18 therein.

A display section 12b and an operation section 12c are provided on the rear surface of the reel holder 12. The operation unit 12c accepts operations from the user regarding various settings such as the binding force of the reinforcing bar binding machine 2. The display section 12b can display information regarding the current settings of the reinforcing bar tying machine 2.

As shown in FIG. 2, the reinforcing bar binding machine 2 includes a control board 20 and a display board 22. The control board 20 is housed in the battery mounting section 10. The control board 20 controls the operation of the reinforcing bar binding machine 2. The display board 22 is housed at the rear of the reel holder 12. The display board 22 is connected to the control board 20 by wiring (not shown). The display board 22 includes a setting display LED 22a (see FIG. 20) that emits light toward the display section 12b, and a setting switch 22b (see FIG. 20) that detects a user's operation on the operation section 12c.

The reinforcing bar binding machine 2 includes a feeding mechanism 24, a guiding mechanism 26, a cutting mechanism 28, and a twisting mechanism 30. The feeding mechanism 24 is housed in the lower front portion of the main body 4. The feeding mechanism 24 performs a feeding operation for feeding the wire W to the guide mechanism 26 and a pulling operation for pulling the wire W back from the guiding mechanism 26 . The guide mechanism 26 is arranged at the front of the main body 4. The guide mechanism 26 guides the wire W sent out from the feed mechanism 24 around the reinforcing bar R in an annular shape. The cutting mechanism 28 is housed in the lower part of the main body 4. The cutting mechanism 28 performs a cutting operation to cut the wire W wound around the reinforcing bar R. The twisting mechanism 30 is housed in the main body 4. The twisting mechanism 30 performs a twisting operation of twisting the wire W around the reinforcing bar R.

(Configuration of feeding mechanism 24)
As shown in FIG. 3, the feed mechanism 24 includes a feed motor 32, a deceleration section 34, and a feed section 36. The feed motor 32 is connected to the control board 20 by wiring (not shown). The feed motor 32 is driven by power supplied from the battery B. The drive of the feed motor 32 is controlled by the control board 20. The feed motor 32 is connected to a drive gear 42 of the feed section 36 via a speed reduction section 34 . The speed reducer 34 uses, for example, a planetary gear mechanism to slow down the rotation of the feed motor 32 and transmit it to the drive gear 42 .

In this embodiment, the feed motor 32 is a brushless motor. As shown in FIG. 18, the feed motor 32 includes a stator 174 including teeth 172 around which a coil 170 is wound, a rotor 176 disposed inside the stator 174, and a sensor board 178 fixed to the stator 174. ing. Stator 174 is made of a magnetic material. The rotor 176 includes permanent magnets in which magnetic poles are arranged in parallel in the circumferential direction. As shown in FIG. 19, a Hall sensor 180 is provided on the sensor board 178. The Hall sensor 180 includes a first Hall element 180a, a second Hall element 180b, and a third Hall element 180c. The first Hall element 180a, the second Hall element 180b, and the third Hall element 180c detect the magnetic force from the rotor 176. The Hall sensor 180 is located on the sensor board 178 at a position where the electrical angle is advanced by 25 degrees with respect to the forward rotation of the feed motor 32 and is retarded by 25 degrees with respect to the reverse rotation of the feed motor 32. It is located. In this embodiment, the control board 20 outputs a pattern every 60 degrees of electrical angle shifted by one step when the feed motor 32 rotates in the opposite direction. For this reason, the forward rotation of the feed motor 32 is controlled with an advance angle of 25 degrees, and the reverse rotation of the feed motor 32 is controlled with an advance angle of 60 degrees - 25 degrees = 35 degrees. It will be done.

As shown in FIG. 3, the feeding section 36 includes a base member 38, a guide member 40, a drive gear 42, a first gear 44, a second gear 46, a gear support member 48, and a biasing member 52. , is equipped with. The guide member 40 is fixed to the base member 38. The guide member 40 has a guide hole 40a. The guide hole 40a has a tapered shape with a wide lower end and a narrow upper end. The wire W is inserted through the guide hole 40a.

The drive gear 42 is connected to the speed reduction section 34 . The first gear 44 is rotatably supported by the base member 38. The first gear 44 meshes with the drive gear 42. The first gear 44 rotates as the drive gear 42 rotates. The first gear 44 has a groove 44a. The groove 44a is formed on the outer peripheral surface of the first gear 44 in a direction along the rotational direction of the first gear 44. The second gear 46 meshes with the first gear 44. The second gear 46 is rotatably supported by a gear support member 48. The second gear 46 has a groove 46a. The groove 46a is formed on the outer peripheral surface of the second gear 46 in a direction along the rotational direction of the second gear 46. The gear support member 48 is swingably supported by the base member 38 via a swing shaft 48a. The biasing member 52 biases the gear support member 48 in a direction in which the second gear 46 approaches the first gear 44 . Thereby, the second gear 46 is pressed against the first gear 44. As a result, the wire W is sandwiched between the groove 44a of the first gear 44 and the groove 46a of the second gear 46. When the gear support member 48 is pushed in against the biasing force of the biasing member 52, the second gear 46 separates from the first gear 44. Thereby, when replacing the reel 18, the wire W can be easily passed between the groove 44a of the first gear 44 and the groove 46a of the second gear 46.

The wire W is moved by rotating the feed motor 32 while the wire W is held between the groove 44a of the first gear 44 and the groove 46a of the second gear 46. In this embodiment, when the feed motor 32 rotates in the reverse direction, the drive gear 42 rotates in the direction D1 shown in FIG. 3, and the wire W is sent out toward the guide mechanism 26. When the feed motor 32 rotates forward, the drive gear 42 rotates in the direction D2 shown in FIG. 3, and the wire W is pulled back from the guide mechanism 26.

(Configuration of guide mechanism 26)
As shown in FIG. 4, the guide mechanism 26 includes a wire guide 56, an upper guide arm 58, and a lower guide arm 60. The wire W passed through the wire guide 56 after being sent out from the sending mechanism 24 . A protrusion 56a is formed inside the wire guide 56.

The upper guide arm 58 is provided at the upper front part of the main body 4. The upper guide arm 58 has an upper guide passage 58a. The wire W that has passed through the inside of the wire guide 56 passes through the upper guide passage 58a. A first guide pin 61 and a second guide pin 62 are arranged in the upper guide passage 58a. When the wire W passes through the upper guide passage 58a while contacting the protrusion 56a of the wire guide 56, the first guide pin 61, and the second guide pin 62, the wire W is given a downward curl.

The lower guide arm 60 is provided at the front lower part of the main body 4. The lower guide arm 60 has a lower guide passage 60a. The wire W that has passed through the upper guide passage 58a passes through the lower guide passage 60a. In FIG. 4, a part of the wire W that is hidden by the lower guide arm 60 and the twisting mechanism 30 and is not visible is illustrated by a broken line.

(Configuration of cutting mechanism 28)
As shown in FIG. 5, the cutting mechanism 28 includes a cutting member 66 and a link portion 68. The cutting member 66 is a member that cuts the wire W. As shown in FIG. 4, the cutting member 66 is arranged on a path through which the wire W sent from the feeding mechanism 24 to the guide mechanism 26 passes. The wire W passes through the interior of the cutting member 66. The cutting member 66 is rotatably supported by the main body 4 around a rotation axis 66a (see FIG. 5). When the cutting member 66 rotates in the direction D3 shown in FIG. 4, the wire W is cut by the cutting member 66.

As shown in FIG. 5, the link portion 68 includes a connecting member 70, an operated member 72, and a biasing member 74. The connecting member 70 connects the cutting member 66 and the operated member 72. The operated member 72 is rotatably supported by the main body 4 around a rotation axis 72a. The operated member 72 is normally urged to the initial position by the urging member 74. When a force larger than the biasing force of the biasing member 74 is applied to the operated member 72, the operated member 72 rotates around the rotation axis 72a. As a result, the connecting member 70 moves forward, and the cutting member 66 rotates around the rotation axis 66a. When the operated member 72 rotates around the rotation axis 72a from the initial position to the predetermined position shown in FIG. 6, the wire W is cut by the rotation of the cutting member 66. Hereinafter, the position of the operated member 72 in the above state will be referred to as a cutting position.

(Configuration of torsion mechanism 30)
As shown in FIG. 7, the torsion mechanism 30 includes a torsion motor 76, a deceleration part 78, and a holding part 82. The torsion motor 76 is connected to the control board 20 by wiring (not shown). The torsion motor 76 is driven by power supplied from the battery B. The drive of the torsion motor 76 is controlled by the control board 20. The torsion motor 76 is connected to a screw shaft 84 of the holding section 82 via a speed reduction section 78 . The speed reducer 78 uses, for example, a planetary gear mechanism to speed up the rotation of the torsion motor 76 and transmit the speed to the screw shaft 84 .

In this embodiment, the torsion motor 76 is a brushless motor. In this embodiment, the torsion motor 76 has the same configuration as the feed motor 32. As shown in FIG. 18, the torsion motor 76 includes a stator 186 including teeth 184 around which a coil 182 is wound, a rotor 188 disposed inside the stator 186, and a sensor board 190 fixed to the stator 186. ing. Stator 186 is made of a magnetic material. The rotor 188 includes permanent magnets having magnetic poles arranged in a row in the circumferential direction. As shown in FIG. 19, a Hall sensor 192 is provided on the sensor board 190. The Hall sensor 192 includes a first Hall element 192a, a second Hall element 192b, and a third Hall element 192c. The first Hall element 192a, the second Hall element 192b, and the third Hall element 192c detect the magnetic force from the rotor 188. The Hall sensor 192 is located on the sensor board 190 at a position where the electrical angle is advanced by 25 degrees with respect to the forward rotation of the torsion motor 76 and is retarded by 25 degrees with respect to the reverse rotation of the torsion motor 76. It is located. In this embodiment, the control board 20 outputs a pattern for every 60 degrees of electrical angle by one step when the torsion motor 76 rotates in the opposite direction. Therefore, the forward rotation of the torsion motor 76 is controlled with an advance angle of 25 degrees, and the reverse rotation of the torsion motor 76 is controlled with an advance angle of 60 degrees - 25 degrees = 35 degrees. It will be done.

In this embodiment, the torsion motor 76 and the feed motor 32 have the same configuration. Therefore, common parts are used for stator 174 and stator 186, common parts are used for rotor 176 and rotor 188, and common parts are used for sensor board 178 and sensor board 190. ing.

As shown in FIG. 7, the holding part 82 includes a screw shaft 84, a clamp guide 86 (see FIGS. 8 and 9), a biasing member 92 (see FIGS. 8 and 9), a sleeve 88, and a clamping member. It is equipped with 90.

The screw shaft 84 is connected to the speed reducer 78 . When the torsion motor 76 rotates forward, the screw shaft 84 rotates in the left-hand thread direction when viewed from the rear. When the torsion motor 76 rotates in the reverse direction, the screw shaft 84 rotates in a right-handed thread direction when viewed from the rear.

As shown in FIG. 8, the screw shaft 84 includes a large diameter portion 84a and a small diameter portion 84b. The large diameter portion 84a is located at the rear of the screw shaft 84, and the small diameter portion 84b is located at the front of the screw shaft 84. A spiral ball groove 84c is formed on the outer peripheral surface of the large diameter portion 84a. A ball 94 fits into the ball groove 84c. An annular washer 96 is arranged at the step between the large diameter portion 84a and the small diameter portion 84b. An engagement groove 84d is formed in the front portion of the narrow diameter portion 84b.

As shown in FIG. 9, the front portion of the narrow diameter portion 84b fits into the recess 86a of the clamp guide 86. The engagement pin 86b of the clamp guide 86 enters the engagement groove 84d of the narrow diameter portion 84b of the screw shaft 84, and is capable of engaging with the front and rear surfaces of the engagement groove 84d. A stepped portion 86c is formed on the outer peripheral surface of the clamp guide 86. The outer peripheral surface of the clamp guide 86 located behind the stepped portion 86c has a larger diameter than the outer peripheral surface of the clamp guide 86 located in front of the stepped portion 86c.

Further, the narrow diameter portion 84b is inserted through the biasing member 92. Biasing member 92 is arranged between washer 96 and clamp guide 86. The biasing member 92 biases the clamp guide 86 in a direction away from the washer 96 .

The screw shaft 84 and clamp guide 86 are inserted into a sleeve 88. The sleeve 88 includes an inner sleeve 100 and an outer sleeve 102. A large diameter portion 84a of the screw shaft 84 is inserted through the inner sleeve 100. A ball hole (not shown) is formed in the inner sleeve 100. A ball 94 fits into the ball hole. The inner sleeve 100 is connected to the screw shaft 84 via a ball 94 fitted between the ball groove 84c and the ball hole, that is, via a ball screw. In the range where the ball groove 84c is formed, when the screw shaft 84 rotates relative to the inner sleeve 100, the inner sleeve 100 moves in the front-rear direction relative to the screw shaft 84.

A screw shaft 84, a clamp guide 86, and an inner sleeve 100 are inserted into the outer sleeve 102. The outer sleeve 102 has a cylindrical shape extending in the front-rear direction. A stepped portion 102a is formed on the inner peripheral surface of the outer sleeve 102. The inner peripheral surface of the outer sleeve 102 located in front of the stepped portion 102a has a smaller diameter than the inner peripheral surface of the outer sleeve 102 located behind the stepped portion 102a. Outer sleeve 102 is fixed to inner sleeve 100 by a set screw 106. Outer sleeve 102 moves (ie, moves or rotates) with inner sleeve 100. In the range where the ball groove 84c is formed, when the screw shaft 84 rotates with respect to the inner sleeve 100, the outer sleeve 102 moves in the front-back direction with respect to the screw shaft 84 together with the inner sleeve 100. Furthermore, when the screw shaft 84 rotates relative to the inner sleeve 100, the outer sleeve 102 moves between the forward position and the reverse position relative to the clamp guide 86. In the following, the movement of the outer sleeve 102 toward the forward position (that is, forward) relative to the clamp guide 86 will be referred to as the outer sleeve 102 moving forward, and the outer sleeve 102 moving backward relative to the clamp guide 86. The movement of the outer sleeve 102 toward the position (that is, toward the rear) is referred to as the outer sleeve 102 retracting.

The holding part 82 further includes a support member 104. The support member 104 covers the outer peripheral surface of the outer sleeve 102. Support member 104 is rotatable relative to outer sleeve 102 . The support member 104 is movable in the front-back direction with respect to the outer sleeve 102. The outer sleeve 102 is supported by the main body 4 via a support member 104.

The clamping member 90 is supported at the front of the clamp guide 86. The holding member 90 is movably supported with respect to the outer sleeve 102 by two guide pins 110 (see FIG. 8) provided on the outer sleeve 102. The clamping member 90 is a member that clamps the wire W. The holding member 90 opens and closes in conjunction with the rotation of the screw shaft 84.

The clamping member 90 includes an upper clamping member 114 and a lower clamping member 116. The upper clamping member 114 faces the lower clamping member 116 in the vertical direction. As shown in FIG. 10, the upper holding member 114 includes an upper base portion 118, a first upper protrusion 120, an upper connecting portion 121, and a second upper protrusion 122. The upper base 118 is a portion supported by the clamp guide 86 and the guide pin 110. The upper base 118 includes two upper guide holes 118a. The two upper guide holes 118a have the same shape. The two upper guide holes 118a extend in the front-rear direction and are inclined to the right from the rear toward the front when the upper base 118 is viewed from above.

The first upper protrusion 120 extends forward from the left front end of the upper base 118. The upper connecting portion 121 extends from the center right end of the first upper protrusion 120 toward the right. The second upper protrusion 122 extends forward from the upper connecting part 121. The first upper protrusion 120 and the second upper protrusion 122 are separated from each other in the left-right direction. A first wire passage 124 is formed between the first upper protrusion 120 and the second upper protrusion 122 . The wire W passes through the first wire passage 124 after being sent out from the feeding mechanism 24 but before reaching the upper guide passage 58a of the guiding mechanism 26.

The holding member 90 further includes a first retaining portion 123 shown in FIG. The first retaining portion 123 is integrally formed with the upper holding member 114. The first retaining portion 123 extends downward from the front end of the second upper protrusion 122 . The first retaining portion 123 partially overlaps the lower holding member 116 in the front-back direction. The first retaining portion 123 prevents the wire W held by the holding member 90 from coming off from the holding member 90 .

As shown in FIG. 11, the lower holding member 116 includes a lower base portion 126, a first lower protrusion 128, a lower connecting portion 129, and a second lower protrusion 130. The lower base portion 126 is a portion supported by the clamp guide 86 and the guide pin 110. The lower base 126 includes two lower guide holes 126a. The shape of the lower guide hole 126a when the lower base 126 is viewed from above is plane symmetrical to the shape of the upper guide hole 118a when the upper base 118 is viewed from above with respect to a plane orthogonal to the left-right direction. In a relationship. That is, the two lower guide holes 126a extend in the front-rear direction and are inclined to the left from the rear toward the front when the lower base 126 is viewed from above.

The first lower protrusion 128 extends forward from the right front end of the lower base 126. The lower connecting portion 129 extends leftward from the center left end of the first lower protrusion 128 . The second lower protrusion 130 extends forward from the central front end of the lower connecting portion 129. The first lower protrusion 128 and the second lower protrusion 130 are separated from each other in the left-right direction. A second wire passage 132 is formed between the first lower protrusion 128 and the second lower protrusion 130 . The wire W passes through the second wire passage 132 after passing through the lower guide passage 60a of the guide mechanism 26.

The holding member 90 further includes a second retaining portion 131. The second retaining portion 131 is integrally formed with the lower holding member 116. The second retaining portion 131 extends leftward from the left front end of the second lower protrusion 130 . The second retaining portion 131 prevents the wire W held by the holding member 90 from coming off from the holding member 90 . The second retaining portion 131 and the lower connecting portion 129 are separated from each other in the front-rear direction. An auxiliary passage 134 is formed between the second retaining portion 131 and the lower connecting portion 129.

As shown in FIG. 8, with the upper clamping member 114 and the lower clamping member 116 overlapping each other in the vertical direction, the guide pins 110 of the outer sleeve 102 are inserted into the upper guide hole 118a and the lower guide hole 126a, respectively. is inserted into. When the outer sleeve 102 moves forward and backward relative to the clamp guide 86, the guide pin 110 moves forward and backward within the upper guide hole 118a and the lower guide hole 126a. When the guide pin 110 is disposed in front of the upper guide hole 118a and the lower guide hole 126a, the first wire passage 124 and the second wire passage 132 are open, as shown in FIG. 12. The state of the clamping member 90 at this time is called a fully open state.

When the outer sleeve 102 retreats with respect to the clamp guide 86, the guide pin 110 moves rearward within the upper guide hole 118a and the lower guide hole 126a. When the upper clamping member 114 moves to the right with respect to the clamp guide 86, the lower clamping member 116 moves to the left with respect to the clamp guide 86 (i.e., in the opposite direction to the direction in which the upper clamping member 114 moves). Move towards. The distance that the upper clamping member 114 moves toward the right is the same as the distance that the lower clamping member 116 moves toward the left. When the clamping member 90 is viewed in the vertical direction, the upper clamping member 114 and the lower clamping member 116 move toward each other. As shown in FIG. 13, when the guide pin 110 moves within the upper guide hole 118a and the lower guide hole 126a to the intermediate position, the second wire passage 132 is closed by the second upper protrusion 122. On the other hand, the first wire passage 124 is opened by an auxiliary passage 134 formed in the second lower protrusion 130. The state of the holding member 90 at this time is called a half-open state. When the wire W is arranged in the second wire passage 132, the wire W is clamped and fixed at the first clamping point P1 between the second upper protrusion 122 and the first lower protrusion 128. Hereinafter, the portion of the wire W that is clamped by the first clamping point P1 will be referred to as a first clamping point WP1. In the half-open state, the first retaining portion 123 closes the first clamping portion P1 from the front. In addition, in FIG. 13, the position of the first retaining portion 123 in the front-rear direction is illustrated by a broken line. The first retaining portion 123 is arranged between the reinforcing bar R (not shown in FIG. 13) and the first clamping point P1.

As shown in FIG. 14, when the guide pin 110 moves to the rear of the upper guide hole 118a and the lower guide hole 126a, the first wire passage 124 is closed by the second lower protrusion 130. The second wire passage 132 remains blocked by the second upper projection 122. The state of the clamping member 90 at this time is called a fully closed state. When the wire W is arranged in the first wire passage 124 , the wire W is transferred to the first upper protrusion 120 while the first clamped part WP1 of the wire W is held by the first clamped part P1 of the clamping member 90 . and the second lower protrusion 130, and is clamped and fixed at the second clamping point P2. Hereinafter, the portion of the wire W that is clamped by the second clamping point P2 will be referred to as a second clamping point WP2. In the fully closed state, the first retaining portion 123 closes the first clamping portion P1 from the front, and the second retaining portion 131 is disposed directly below and in front of the second clamping portion P2. In addition, in FIG. 14, the front end portion of the second retaining portion 131 is illustrated by a broken line having a shorter pitch than the broken line indicating the first retaining portion 123. The second retaining portion 131 is arranged between the reinforcing bar R (not shown in FIG. 14) and the second clamping point P2.

As shown in FIG. 7, the holding section 82 further includes a push plate 140. The push plate 140 is held between a rib 100a formed at the rear end of the inner sleeve 100 and the rear end of the outer sleeve 102. Push plate 140 moves in the front-rear direction with respect to screw shaft 84 along with inner sleeve 100 and outer sleeve 102 due to rotation of screw shaft 84 as driven by torsion motor 76 .

As shown in FIGS. 5 and 6, the push plate 140 operates the operated member 72 of the cutting mechanism 28. As shown in FIGS. As shown in FIG. 5, the push plate 140 is normally separated from the protruding piece 72b of the operated member 72. At this time, the operated member 72 is located at the initial position. When the push plate 140 moves backward with respect to the screw shaft 84 due to the rotation of the screw shaft 84, the push plate 140 comes into contact with the protruding piece 72b and pushes the operated member 72 backward. As a result, the operated member 72 rotates around the rotation axis 72a, the connecting member 70 moves forward, and the cutting member 66 rotates around the rotation axis 66a. The push plate 140 can operate the cutting member 66 by operating the operated member 72 . As shown in FIG. 6, when the operated member 72 rotates to the cutting position, the wire W passing through the cutting member 66 is cut by the cutting member 66. Thereafter, when the push plate 140 moves forward relative to the screw shaft 84 due to the rotation of the screw shaft 84, the operated member 72 is urged by the urging member 74 and rotates around the rotation axis 72a to the initial position. Thereby, the connecting member 70 and the cutting member 66 also return to the state shown in FIG. 5.

The push plate 140 is provided with an initial state detection magnet 140a and a grip detection magnet 140b. As shown in FIG. 7, the twisting mechanism 30 includes an initial state detection sensor 136 that detects the magnetic force from the initial state detection magnet 140a, and a grip detection sensor 138 that detects the magnetic force from the grip detection magnet 140b. The positions of the initial state detection sensor 136 and the grip detection sensor 138 are fixed with respect to the main body 4. When the torsion mechanism 30 is in the initial state, the initial state detection sensor 136 is arranged facing the initial state detection magnet 140a. Therefore, the initial state detection sensor 136 can detect whether or not the torsion mechanism 30 is in the initial state. In the torsion mechanism 30, when the clamping member 90 is in a half-open state, that is, when the clamping member 90 holds the front end of the wire W, the gripping detection sensor 138 is arranged to face the gripping detection magnet 140b. Therefore, the grip detection sensor 138 can detect whether or not the clamping member 90 in the twisting mechanism 30 is holding the front end of the wire W.

As shown in FIG. 7, fins 144 are formed on the rear outer peripheral surface of the outer sleeve 102. As shown in FIG. The fins 144 extend in the front-rear direction. Fins 144 allow or prohibit rotation of outer sleeve 102. In this embodiment, eight fins are arranged on the outer peripheral surface of the outer sleeve 102 at intervals of 45 degrees from each other. Furthermore, in this embodiment, the fins 144 include seven short fins 146 and one long fin 148. The length of the long fins 148 in the front-rear direction is longer than the length of the short fins 146 in the front-rear direction. In the longitudinal direction, the position of the front end of the long fin 148 is the same as the position of the front end of the short fin 146. On the other hand, the rear end portion of the long fin 148 is located further back than the rear end portion of the short fin 146 in the front-rear direction.

The reinforcing bar binding machine 2 further includes a rotation restriction section 150 shown in FIG. 15. As shown in FIG. 17, the rotation limiter 150 is disposed close to the outer sleeve 102. As shown in FIG. The rotation limiter 150 allows or prohibits rotation of the outer sleeve 102 by cooperating with the fins 144 . As shown in FIG. 15, the rotation limiting section 150 includes a base member 152, an upper stopper 154, a lower stopper 156, swing shafts 158 and 160, and biasing members 162 and 164. The base member 152 is fixed to the main body 4. The upper stopper 154 is swingably supported by the base member 152 via a swing shaft 158. The upper stopper 154 includes a regulating piece 154a. The regulating piece 154a is located below the upper stopper 154. The urging member 162 urges the regulating piece 154a in a direction to open outward (that is, in a direction in which the regulating piece 154a moves away from the base member 152).

When the screw shaft 84 is rotated in the right direction when viewed from the rear, the short fins 146 and the long fins 148 push the regulating piece 154a. Therefore, the upper stopper 154 does not prohibit rotation of the outer sleeve 102. On the other hand, when the screw shaft 84 is rotated in the left-hand thread direction when viewed from the rear, the short fins 146 and the long fins 148 come into contact with the regulating piece 154a in the rotational direction of the outer sleeve 102. Therefore, the upper stopper 154 prohibits rotation of the outer sleeve 102. When the screw shaft 84 is rotated in a right-handed direction when viewed from the rear, this corresponds to a case where the torsion mechanism 30 finishes twisting the wire W around the reinforcing bar R and returns to the initial state. Further, when the screw shaft 84 is rotated in the left-hand thread direction when viewed from the rear, this corresponds to a case where the torsion mechanism 30 pinches and twists the wire W around the reinforcing bar R.

The lower stopper 156 is swingably supported by the base member 152 via a swing shaft 160. The lower stopper 156 includes a regulating piece 156a. The regulating piece 156a is located above the lower stopper 156. The regulating piece 156a faces the regulating piece 154a. The rear end portion of the restriction piece 156a is disposed further back than the rear end portion of the restriction piece 154a. The front end of the regulating piece 156a is arranged further back than the front end of the regulating piece 154a. The urging member 164 urges the regulating piece 156a in a direction to open outward (that is, in a direction in which the regulating piece 156a moves away from the base member 152).

When the screw shaft 84 is rotated in the right-handed direction when viewed from the rear, the short fins 146 and the long fins 148 come into contact with the regulating piece 156a in the direction of rotation of the outer sleeve 102. Therefore, the lower stopper 156 prohibits rotation of the outer sleeve 102. On the other hand, when the screw shaft 84 is rotated in the left-hand thread direction when viewed from the rear, the short fins 146 and the long fins 148 push the regulating piece 156a. Therefore, the lower stopper 156 does not prohibit rotation of the outer sleeve 102.

In addition, regarding the mechanical configuration of the reinforcing bar binding machine 2, various changes may be made to the above configuration. For example, in the reinforcing bar binding machine 2, the reel holder 12 may be arranged at the rear of the main body 4, and the feeding mechanism 24 may be arranged between the reel holder 12 and the guide mechanism 26 of the main body 4. In this case, the reel 18, the feed motor 32, and the torsion motor 76 are all arranged above the grip 6. Alternatively, the control board 20 and the display board 22 may be housed inside the main body 4. In this case, the control board 20 and the display board 22 are arranged above the grip 6.

(Operation of reinforcing bar binding machine 2)
Next, with reference to FIGS. 4, 9, 16, and 17, the operation of the reinforcing bar binding machine 2 for bundling reinforcing bars R with wires W will be described. When the reinforcing bar binding machine 2 binds the reinforcing bars R with the wire W, a feeding process, a tip holding process, a pulling process, a rear end holding process, a cutting process, a pulling process, and a twisting process are performed in order. executed. Here, in the initial state before the reinforcing bar binding machine 2 performs the operation of binding the reinforcing bars R with the wires W, only the front part of the screw shaft 84 is disposed inside the inner sleeve 100, as shown in FIG. There is. Further, the long fin 148 is sandwiched between a regulating piece 154a of the upper stopper 154 and a regulating piece 156a of the lower stopper 156. Further, the outer sleeve 102 is in a forward position relative to the clamp guide 86. The two guide pins 110 are located in front of the two upper guide holes 118a and the two lower guide holes 126a, and the holding member 90 is in a fully open state. As shown in FIG. 5, the push plate 140 is separated from the protruding piece 72b of the operated member 72, and the operated member 72 is at the initial position.

(Feeding process)
When the feed motor 32 rotates in the reverse direction from the initial state, the feed mechanism 24 feeds out the wire W wound around the reel 18 by a predetermined length. The tip of the wire W passes through the interior of the cutting member 66, the first wire passage 124, the upper guide passage 58a, the lower guide passage 60a, and the second wire passage 132 in order. Thereby, as shown in FIG. 4, the wire W is wound around the reinforcing bar R in an annular shape.

(Tip holding process)
From this state, when the torsion motor 76 rotates forward, the screw shaft 84 rotates in the left-hand thread direction. The long fins 148 are in contact with the regulating piece 154a of the upper stopper 154 in the direction of rotation of the outer sleeve 102, and rotation of the outer sleeve 102 in the left-hand thread direction is prohibited. Therefore, the outer sleeve 102 moves back with respect to the clamp guide 86 together with the inner sleeve 100. As the outer sleeve 102 retreats, the two guide pins 110 move from the front to the intermediate position within the two upper guide holes 118a and the two lower guide holes 126a. The clamping member 90 changes from the fully open state to the half-open state, and the part near the tip of the wire W (i.e., the first cover) is placed in the first clamping point P1 between the second upper protrusion 122 and the first lower protrusion 128. The clamping point WP1) is clamped and fixed. Thereby, the portion near the tip of the wire W is held by the holding member 90. In this state, the first retaining portion 123 closes the first clamping portion P1 of the clamping member 90 from the front.

(Pullback process)
From this state, when the torsion motor 76 stops and the feed motor 32 rotates forward, the feed section 36 pulls back the wire W around the reinforcing bar R. The vicinity of the tip of the wire W is held by a clamping member 90, and the diameter of the wire W around the reinforcing bar R is reduced.

(Rear end holding process)
From this state, when the torsion motor 76 rotates forward again, the outer sleeve 102 and the inner sleeve 100 further retreat with respect to the clamp guide 86. As the outer sleeve 102 retreats, the two guide pins 110 move from the intermediate position to the rear within the two upper guide holes 118a and the two lower guide holes 126a. The clamping member 90 changes from the half-open state to the fully closed state, and the clamping member 90 changes from the half-open state to the fully closed state, and attaches the rear end of the wire W to the second clamping point P2 between the first upper protrusion 120 and the second lower protrusion 130. 2 clamped portion WP2) is clamped and fixed. As a result, the portion near the rear end of the wire W is held by the holding member 90. In this state, the first retaining part 123 is blocking the first clamping point P1 of the clamping member 90 from the front, and the second retaining part 131 is arranged directly below the second clamping part P2 of the clamping member 90. ing. Further, the first retaining portion 123 and the second retaining portion 131 are arranged between the reinforcing bar R and the wire W.

(Cutting process)
From this state, the outer sleeve 102 further retreats with respect to the clamp guide 86 as the torsion motor 76 rotates forward. As shown in FIG. 6, the push plate 140 has moved backward together with the outer sleeve 102, comes into contact with the protruding piece 72b of the operated member 72, and is pushed rearward. When the operated member 72 rotates around the rotation axis 72a to the cutting position, the cutting member 66 rotates around the rotation axis 66a to a predetermined position. As a result, the wire W passing through the cutting member 66 is cut. The wire W around the reinforcing bar R is held by the holding member 90 at two points, near the tip and near the rear end of the wire W.

(Tensioning process)
From this state, when the outer sleeve 102 further retreats relative to the clamp guide 86 as the torsion motor 76 rotates forward, the stepped portion 102a of the outer sleeve 102 hits the stepped portion 86c of the clamp guide 86, as shown in FIG. come into contact with Therefore, the outer sleeve 102 cannot retreat further with respect to the clamp guide 86, and retreats together with the clamp guide 86. As a result, the clamping member 90 moves backward, that is, the clamping member 90 moves in the direction away from the reinforcing bar R, and the wire W around the reinforcing bar R is pulled in the direction away from the reinforcing bar R. While the pulling process is being executed, the first retaining part 123 blocks the front of the first clamping point P1, and the second retaining part 131 is arranged directly in front of the second clamping point P2. . Therefore, when the wire W is moved forward with respect to the holding member 90 due to the tension applied to the wire W as the wire W is pulled, the portion WP1 near the tip of the wire W is attached to the first retaining portion 123. The rear end portion WP2 of the wire W abuts against the second retaining portion 131. Thereby, the wire W is pulled in the direction away from the reinforcing bar R without coming off from the clamping member 90.

(Twisting process)
From this state, when the outer sleeve 102 retreats together with the clamp guide 86 as the torsion motor 76 rotates forward, the long fins 148 move against the regulating piece 154a of the upper stopper 154 in the rotational direction of the outer sleeve 102, as shown in FIG. They no longer touch each other. This allows rotation of the outer sleeve 102 in the left-handed thread direction. In this state, the biasing member 92 is compressed, and a biasing force that biases the clamp guide 86 away from the washer 96 is applied from the biasing member 92 to the clamp guide 86 . Therefore, a frictional force acts between the ball 94 fitted in the ball hole of the inner sleeve 100 and the ball groove 84c of the screw shaft 84. As a result, when the clamp guide 86 rotates, the outer sleeve 102 does not move backward with respect to the screw shaft 84, and the outer sleeve 102 rotates in the left-hand thread direction together with the screw shaft 84. As a result, the clamp guide 86 and the clamping member 90 rotate in the left-handed thread direction, and the wire W held by the clamping member 90 is twisted. While the twisting process is being executed, the first retaining part 123 is blocking the front side of the first clamping point P1, and the second retaining part 131 is blocking the front side of the first clamping point P1. 2. It is arranged directly below and in front of the clamping point P2. Therefore, when the wire W moves forward with respect to the clamping member 90 due to the tension applied to the wire W as the wire W is twisted, the portion WP1 near the tip of the wire W is attached to the first retaining portion 123. The rear end portion WP2 of the wire W abuts against the second retaining portion 131. Thereby, the wire W is twisted without coming off from the holding member 90.

(Initial state return process)
Thereafter, the torsion motor 76 rotates in the opposite direction, and the screw shaft 84 rotates in a right-handed thread direction. The outer sleeve 102 rotates in the right-handed thread direction, and the short fins 146 or long fins 148 come into contact with the regulating piece 156a of the lower stopper 156, so that rotation of the outer sleeve 102 in the right-handed thread direction is prohibited. A biasing force for biasing the clamp guide 86 away from the washer 96 is applied from the biasing member 92 to the clamp guide 86, and the outer sleeve 102 moves forward together with the clamp guide 86. When the engagement pin 86b comes into contact with the front end of the engagement groove 84d, the outer sleeve 102 moves forward with respect to the clamp guide 86. When the two guide pins 110 move within the two upper guide holes 118a and the two lower guide holes 126a from the rear to the front, the holding member 90 changes to the fully open state. As a result, the wire W held by the clamping member 90 is removed from the clamping member 90. If the short fin 146 is in contact with the regulation piece 156a, when the outer sleeve 102 moves forward relative to the clamp guide 86 and the short fin 146 moves forward of the front end of the regulation piece 156a, the outer sleeve 102 will be moved again. Rotate in the right direction. When the long fins 148 come into contact with the regulating piece 156a, rotation of the outer sleeve 102 is prohibited. As a result, the torsion mechanism 30 returns to its initial state.

(Circuit configuration of control board 20)
As shown in FIG. 20, the control board 20 includes a control power supply circuit 200, an MCU (Micro Control Unit) 202, a motor control signal output destination switching circuit 204, a motor rotation signal input source switching circuit 206, and gate drive circuits 208, 210. , inverter circuits 212, 214, current detection circuit 216, brake circuits 218, 220, etc. are provided.

Control power supply circuit 200 adjusts the power supplied from battery B to a predetermined voltage, and supplies power to MCU 202, brake circuits 218, 220, and the like.

As shown in FIG. 21, the inverter circuit 212 includes switching elements 222a, 222b, 224a, 224b, 226a, and 226b. The switching elements 222a, 222b, 224a, 224b, 226a, and 226b are field effect transistors, and more specifically, MOSFETs with insulated gates. The switching element 222a connects the positive potential line 228 and the motor power line 232. The switching element 222b connects the negative potential line 230 and the motor power line 232. The switching element 224a connects the positive potential line 228 and the motor power line 234. The switching element 224b connects the negative potential line 230 and the motor power line 234. The switching element 226a connects the positive potential line 228 and the motor power line 236. The switching element 226b connects the negative potential line 230 and the motor power line 236. The positive potential line 228 is connected to the positive power supply potential of battery B. The negative potential line 230 is connected to the current detection circuit 216. Motor power lines 232, 234, 236 are connected to a coil 170 of feed motor 32 (see FIGS. 18 and 19).

Similarly, the inverter circuit 214 includes switching elements 238a, 238b, 240a, 240b, 242a, and 242b. The switching elements 238a, 238b, 240a, 240b, 242a, and 242b are field effect transistors, and more specifically, MOSFETs with insulated gates. The switching element 238a connects the positive potential line 244 and the motor power line 248. The switching element 238b connects the negative potential line 246 and the motor power line 248. The switching element 240a connects the positive potential line 244 and the motor power line 250. The switching element 240b connects the negative potential line 246 and the motor power line 250. The switching element 242a connects the positive potential line 244 and the motor power line 252. The switching element 242b connects the negative potential line 246 and the motor power line 252. The positive potential line 244 is connected to the positive power supply potential of battery B. The negative potential line 246 is connected to the current detection circuit 216. Motor power lines 248, 250, 252 are connected to coil 182 of torsion motor 76 (see FIGS. 18 and 19).

The gate drive circuit 208 switches each switching element 222a, 224a, 226a, 222b, 224b, 226b of the inverter circuit 212 between conduction and non-conduction according to motor control signals UH1, VH1, WH1, UL1, VL1, WL1. By switching, the operation of the feed motor 32 is controlled. Note that if the gate drive circuit 208 makes all the switching elements 222a, 224a, 226a, 222b, 224b, and 226b non-conductive while the feed motor 32 is rotating, the power supply to the feed motor 32 is cut off, and the feed motor 32 continues to rotate due to inertia and then stops. Further, when the feed motor 32 is rotating, if the gate drive circuit 208 makes the switching elements 222a, 224a, 226a non-conductive and the switching elements 222b, 224b, 226b conductive, the feed motor 32 has a so-called short circuit brake. As a result, the rotation of the feed motor 32 immediately stops. In the following, the motor control signals UH1, VH1, WH1, UL1, VL1, WL1 (in this case, the switching elements 222b, 224b, 226b are all conductive) in which UL1, VL1, and WL1 are all at H potential are short-circuited. Also called a brake signal.

Similarly, the gate drive circuit 210 makes each switching element 238a, 240a, 242a, 238b, 240b, 242b of the inverter circuit 214 conductive or non-conductive according to motor control signals UH2, VH2, WH2, UL2, VL2, WL2. By switching between the two, the operation of the torsion motor 76 is controlled. Note that if the gate drive circuit 210 makes all of the switching elements 238a, 240a, 242a, 238b, 240b, and 242b non-conductive while the torsion motor 76 is rotating, the power supply to the torsion motor 76 is cut off, and the torsion motor 76 continues to rotate due to inertia and then stops. Further, when the torsion motor 76 is rotating, if the gate drive circuit 210 makes the switching elements 238a, 240a, 242a non-conductive and the switching elements 238b, 240b, 242b conductive, the torsion motor 76 has a so-called short circuit brake. As a result, the rotation of the torsion motor 76 immediately stops. In addition, in the following, motor control signals UH2, VH2, WH2, UL2, VL2, WL2 in which UL2, VL2, and WL2 are all at H potential (in this case, switching elements 238b, 240b, and 242b are all conductive) are short-circuited. Also called a brake signal.

As shown in FIG. 20, current detection circuit 216 is arranged between inverter circuit 212, inverter circuit 214, and battery B's negative power supply potential. Current detection circuit 216 detects the magnitude of the current flowing through inverter circuit 212 and inverter circuit 214. Current detection circuit 216 outputs the detected current value to MCU 202.

The MCU 202 includes a motor control signal output port 202a, a motor rotation signal input port 202b, and a general-purpose input/output port 202c. The motor control signal output port 202a is provided for outputting motor control signals UH, VH, WH, UL, VL, and WL to the brushless motor, and is capable of faster signal processing than the general-purpose input/output port 202c. It is. The motor rotation signal input port 202b is provided for inputting Hall sensor signals Hu, Hv, and Hw from the brushless motor, and is capable of faster signal processing than the general-purpose input/output port 202c. The setting display LED 22a, setting switch 22b, trigger switch 9, initial state detection sensor 136, grip detection sensor 138, and current detection circuit 216 of the display board 22 are connected to the general-purpose input/output port 202c of the MCU 202.

A motor control signal output port 202a of the MCU 202 is connected to a motor control signal output destination switching circuit 204. The motor control signal output destination switching circuit 204 outputs motor control signals UH, VH, WH, UL, and VL output from the motor control signal output port 202a in response to the switching signal SW output from the general-purpose input/output port 202c of the MCU 202. , WL are switched between the gate drive circuit 208 and the gate drive circuit 210.

As shown in FIG. 22, the motor control signal output destination switching circuit 204 may include a demultiplexer 260. When the switching signal SW output from the MCU 202 is at H potential, the demultiplexer 260 outputs the motor control signal UH output from the MCU 202 to the gate drive circuit 208 as the motor control signal UH1. When the switching signal SW output from the MCU 202 is at L potential, the demultiplexer 260 outputs the motor control signal UH output from the MCU 202 to the gate drive circuit 210 as the motor control signal UH2. Although only the configuration corresponding to the motor control signal UH has been described here for ease of understanding, the motor control signal output destination switching circuit 204 can also be used for other motor control signals VH, WH, UL, VL, and WL. It has a similar configuration.

Alternatively, as shown in FIG. 23, the motor control signal output destination switching circuit 204 may include FETs 262 and 264 and a NOT gate 266. When the switching signal SW output from the MCU 202 is at H potential, the FET 262 is turned on and the FET 264 is turned off. In this case, the motor control signal output destination switching circuit 204 outputs the motor control signal UH output from the MCU 202 to the gate drive circuit 208 as the motor control signal UH1. When the switching signal SW output from the MCU 202 is at L potential, the FET 262 is turned off and the FET 264 is turned on. In this case, the motor control signal output destination switching circuit 204 outputs the motor control signal UH output from the MCU 202 to the gate drive circuit 210 as the motor control signal UH2. Although only the configuration corresponding to the motor control signal UH has been described here for ease of understanding, the motor control signal output destination switching circuit 204 can also be used for other motor control signals VH, WH, UL, VL, and WL. It has a similar configuration.

Alternatively, as shown in FIG. 24, the motor control signal output destination switching circuit 204 may be configured to include NOR gates 268, 270 and NOT gates 272, 274. When the switching signal SW output from the MCU 202 is at H potential, the NOR gate 268 outputs the motor control signal UH output from the MCU 202, and the NOR gate 270 outputs an L potential. In this case, the motor control signal output destination switching circuit 204 outputs the motor control signal UH output from the MCU 202 to the gate drive circuit 208 as the motor control signal UH1. When the switching signal SW output from the MCU 202 is at the L potential, the NOR gate 268 outputs the L potential, and the NOR gate 270 outputs the motor control signal UH output from the MCU 202. In this case, the motor control signal output destination switching circuit 204 outputs the motor control signal UH output from the MCU 202 to the gate drive circuit 210 as the motor control signal UH2. Although only the configuration corresponding to the motor control signal UH has been described here for ease of understanding, the motor control signal output destination switching circuit 204 can also be used for other motor control signals VH, WH, UL, VL, and WL. It has a similar configuration.

As shown in FIG. 25, the brake circuit 218 is connected to signal lines for motor control signals UL1, VL1, and WL1 that are output from the motor control signal output destination switching circuit 204 to the gate drive circuit 208. The brake circuit 218 applies a short-circuit brake to the feed motor 32 in response to the brake signal BR1 output from the general-purpose input/output port 202c of the MCU 202. The brake circuit 218 includes transistors 274a, 274b, 274c, and 274d, and resistors 276a, 276b, 276c, 276d, 276e, 276f, 276g, and 276h. When the brake signal BR1 input from the MCU 202 is at L potential, the transistor 274a is turned off, and the transistors 274b, 274c, and 274d are all turned off. The output motor control signals UL1, VL1, WL1 are input as they are. When the brake signal BR1 input from the MCU 202 is at H potential, the transistor 274a is turned on, and the transistors 274b, 274c, and 274d are all turned on, so that the motor control signals UL1, VL1, and WL1 input to the gate drive circuit 208 are are all at H potential. In this case, the short circuit brake signal is input to the gate drive circuit 208, and the short circuit brake is applied to the feed motor 32.

Similarly, the brake circuit 220 is connected to signal lines for motor control signals UL2, VL2, and WL2 that are output from the motor control signal output destination switching circuit 204 to the gate drive circuit 210. The brake circuit 220 applies a short-circuit brake to the torsion motor 76 in response to a brake signal BR2 output from the general-purpose input/output port 202c of the MCU 202. Brake circuit 220 has a similar configuration to brake circuit 218. The brake circuit 220 includes transistors 278a, 278b, 278c, and 278d, and resistors 280a, 280b, 280c, 280d, 280e, 280f, 280g, and 280h. When the brake signal BR2 input from the MCU 202 is at L potential, the transistor 278a is turned off, and the transistors 278b, 278c, and 278d are all turned off. The output motor control signals UL2, VL2, and WL2 are input as they are. When the brake signal BR2 input from the MCU 202 is at H potential, the transistor 278a is turned on, and the transistors 278b, 278c, and 278d are all turned on, so that the motor control signals UL2, VL2, and WL2 input to the gate drive circuit 210 are are all at H potential. In this case, the short circuit brake signal is input to the gate drive circuit 210, and the short circuit brake is applied to the torsion motor 76.

As shown in FIG. 20, the Hall sensor 180 of the feed motor 32 and the Hall sensor 192 of the torsion motor 76 are connected to a motor rotation signal input source switching circuit 206. The motor rotation signal input source switching circuit 206 is connected to the motor rotation signal input port 202b of the MCU 202. The motor rotation signal input source switching circuit 206 selects the Hall sensor signals Hu1, Hv1, Hw1 from the feed motor 32 and the Hall sensor signals Hu2, Hv2, Hw2 from the torsion motor 76 in accordance with the switching signal SW output from the MCU 202. Either one of them is input to the motor rotation signal input port 202b of the MCU 202.

As shown in FIG. 26, the motor rotation signal input source switching circuit 206 may include a multiplexer 282. When the switching signal SW output from the MCU 202 is at H potential, the multiplexer 282 outputs the Hall sensor signal Hu1 from the feed motor 32 to the MCU 202 as the Hall sensor signal Hu. When the switching signal SW output from the MCU 202 is at L potential, the multiplexer 282 outputs the Hall sensor signal Hu2 from the torsion motor 76 to the MCU 202 as the Hall sensor signal Hu. Although only the configuration corresponding to the Hall sensor signal Hu has been described here for easy understanding, the motor rotation signal input source switching circuit 206 has a similar configuration for the other Hall sensor signals Hv and Hw. There is.

Alternatively, as shown in FIG. 27, the motor rotation signal input source switching circuit 206 may include FETs 284 and 286 and a NOT gate 288. When the switching signal SW output from the MCU 202 is at H potential, the FET 284 is turned on and the FET 286 is turned off. In this case, the motor rotation signal input source switching circuit 206 outputs the Hall sensor signal Hu1 from the feed motor 32 to the MCU 202 as the Hall sensor signal Hu. When the switching signal SW output from the MCU 202 is at L potential, the FET 284 is turned off and the FET 286 is turned on. In this case, the motor rotation signal input source switching circuit 206 outputs the Hall sensor signal Hu2 from the torsion motor 76 to the MCU 202 as the Hall sensor signal Hu. Although only the configuration corresponding to the Hall sensor signal Hu has been described here for easy understanding, the motor rotation signal input source switching circuit 206 has a similar configuration for the other Hall sensor signals Hv and Hw. There is.

Alternatively, as shown in FIG. 28, the motor rotation signal input source switching circuit 206 may be configured to include NOR gates 290, 292, 294 and a NOT gate 296. When the switching signal SW output from the MCU 202 is at H potential, the NOR gate 290 inverts and outputs the Hall sensor signal Hu1 from the feed motor 32, and the NOR gate 292 outputs an L potential, so the NOR gate 294 A Hall sensor signal Hu1 from the feed motor 32 is output. In this case, the motor rotation signal input source switching circuit 206 outputs the Hall sensor signal Hu1 from the feed motor 32 to the MCU 202 as the Hall sensor signal Hu. When the switching signal SW output from the MCU 202 is at the L potential, the NOR gate 290 outputs the L potential, and the NOR gate 292 inverts and outputs the Hall sensor signal Hu2 from the torsion motor 76, so the NOR gate 294 A Hall sensor signal Hu2 from the torsion motor 76 is output. In this case, the motor rotation signal input source switching circuit 206 outputs the Hall sensor signal Hu2 from the torsion motor 76 to the MCU 202 as the Hall sensor signal Hu. Although only the configuration corresponding to the Hall sensor signal Hu has been described here for easy understanding, the motor rotation signal input source switching circuit 206 has a similar configuration for the other Hall sensor signals Hv and Hw. There is.

Note that, as shown in FIG. 20, the Hall sensor 180 of the feed motor 32 and the Hall sensor 192 of the torsion motor 76 are also connected to the general-purpose input/output port 202c of the MCU 202. The MCU 202 can monitor the Hall sensor signals Hu1, Hv1, Hw1 from the feed motor 32 and the Hall sensor signals Hu2, Hv2, Hw2 from the torsion motor 76, which are input to the general-purpose input/output port 202c.

(Advance angle control of feed motor 32 and torsion motor 76)
When controlling the operation of the feed motor 32 and the torsion motor 76, the MCU 202 outputs a motor control signal from the motor control signal output port 202a based on the Hall sensor signals Hu, Hv, and Hw input to the motor rotation signal input port 202b. Outputs UH, VH, WH, UL, VL, and WL. The advance angle control performed by the MCU 202 when controlling the operations of the feed motor 32 and the torsion motor 76 will be described below.

As a reference example, FIG. 29 shows Hall sensor signals Hu, Hv, Hw and motor control signals UH, VH, WH, UL, VL, WL when rotating the brushless motor in the forward direction without advance angle control. The timing chart is shown below. As a reference example, FIG. 30 shows Hall sensor signals Hu, Hv, Hw and motor control signals UH, VH, WH, UL, VL, WL when rotating the brushless motor in reverse without advance angle control. The timing chart is shown below.

FIG. 31 is a timing chart of the Hall sensor signals Hu, Hv, Hw and the motor control signals UH, VH, WH, UL, VL, WL when the brushless motor rotates forward in the reinforcing bar binding machine 2 of this embodiment. It shows. In the reinforcing bar binding machine 2 of this embodiment, when the feed motor 32 and the torsion motor 76 are rotated in the forward direction, the Hall sensors 180 and 192 are advanced by 25 degrees in electrical angle, and the Hall sensor signals Hu1, Hv1, Hw1, Hu2 , Hv2, and Hw2, and the MCU 202 outputs motor control signals UH, VH, WH, UL, VL, and WL based on the Hall sensor signals Hu, Hv, and Hw advanced by 25 degrees. Therefore, when the feed motor 32 and the torsion motor 76 rotate in the forward direction, advance angle control of 25° is performed.

FIG. 32 is a timing chart of Hall sensor signals Hu, Hv, Hw and motor control signals UH, VH, WH, UL, VL, WL when the brushless motor is reversely rotated in the reinforcing bar binding machine 2 of this embodiment. It shows. In the reinforcing bar binding machine 2 of this embodiment, when the feed motor 32 and the torsion motor 76 are rotated in reverse, the Hall sensors 180 and 192 are delayed by 25 degrees in electrical angle, and the Hall sensor signals Hu1, Hv1, Hw1, Hu2 , Hv2, and Hw2, the MCU 202 outputs the output patterns of the motor control signals UH, VH, WH, UL, VL, and WL by one step (corresponding to 60 degrees in electrical angle). Therefore, the MCU 202 outputs the motor control signals UH, VH, WH, UL, VL, and WL at an advance angle of 60°-25°=35°. That is, for reverse rotation of the feed motor 32 and the torsion motor 76, advance angle control of 35° is performed.

As described above, in the reinforcing bar binding machine 2 of this embodiment, the advance angle (for example, 35 degrees) when the feed motor 32 and the torsion motor 76 rotate in the reverse direction is smaller than the advance angle (for example, 25 degrees) when the feed motor 32 and the torsion motor 76 rotate in the forward direction. It is set large. The advantages of this configuration will be explained below.

FIG. 33 shows the relationship between torque, rotation speed, and advance angle in advance angle control of a general brushless motor. As shown in FIG. 33, as the torque increases, the rotation speed decreases. Furthermore, as shown in FIG. 33, when the torque is small, the larger the advance angle in advance angle control is, the higher the rotation speed is, and when the torque is large, the larger the advance angle in advance angle control is, the lower the rotation speed is. Become.

FIG. 34 shows the relationship between torque, current, and advance angle in advance angle control of a general brushless motor. As shown in FIG. 34, the larger the torque, the larger the current. Further, as shown in FIG. 34, the larger the advance angle in the advance angle control, the larger the current.

In the reinforcing bar binding machine 2 of this embodiment, when the feed motor 32 is rotated in the reverse direction, that is, when the wire W is sent out, a large torque does not act on the feed motor 32. In this case, by increasing the advance angle in the advance angle control, the number of rotations can be increased, and the time required for the feeding process can be shortened. Incidentally, when the advance angle in the advance angle control is increased, the current increases, but in the feeding process, the current of the feed motor 32 is originally small, so heat generation in the feed motor 32 and the inverter circuit 212 does not pose a problem.

Conversely, when the feed motor 32 is rotated forward, that is, when the wire W is pulled back, a large torque acts on the feed motor 32. In this case, by reducing the advance angle in the advance angle control, the number of revolutions can be increased, and the time required for the pullback process can be shortened. Further, by reducing the advance angle in the advance angle control, the current flowing through the feed motor 32 can be reduced, and excessive heat generation in the feed motor 32 and the inverter circuit 212 can be suppressed.

In this embodiment, regarding the feed motor 32, the advance angle in advance angle control during forward rotation is 25°, and the advance angle in advance angle control during reverse rotation is 35°. This makes it possible to shorten the time and reduce the current in the pull-back process, while also shortening the time in the sending-out process. Note that the advance angle in advance angle control during forward rotation and reverse rotation is not limited to the above values; for example, the advance angle in advance angle control during forward rotation is 20°, and the advance angle during reverse rotation is 20°. The advance angle in the advance angle control may be set to 40°.

In the reinforcing bar binding machine 2 of this embodiment, when the torsion motor 76 is rotated in the forward direction, that is, when the wire W is twisted, a large torque acts on the torsion motor 76. In this case, by reducing the advance angle in the advance angle control, the number of rotations can be increased, and the time required for the twisting process can be shortened. Further, by reducing the advance angle in the advance angle control, the current flowing through the torsion motor 76 can be reduced, and excessive heat generation in the torsion motor 76 and the inverter circuit 214 can be suppressed.

On the other hand, when the torsion motor 76 is reversely rotated, that is, when the torsion mechanism 30 is returned to its initial state, a large torque does not act on the torsion motor 76. In this case, by increasing the advance angle in the advance angle control, the rotation speed can be increased, and the time required for the initial state return process can be shortened. Incidentally, when the advance angle in the advance angle control is increased, the current increases, but since the current of the torsion motor 76 is originally small in the initial state return process, the heat generation of the torsion motor 76 and the inverter circuit 214 does not pose a problem.

In this embodiment, regarding the torsion motor 76, the advance angle in advance angle control during forward rotation is 25 degrees, and the advance angle in advance angle control during reverse rotation is 35 degrees. As a result, it is possible to shorten the time and reduce the current in the twisting process, and also shorten the time in the initial state return process. Note that the advance angle in the advance angle control during forward rotation and reverse rotation is not limited to the above values; for example, the advance angle in forward rotation is 20 degrees, and the advance angle in reverse rotation is 40 degrees. Good too.

In the above embodiment, when the feed motor 32 and the torsion motor 76 rotate forward, the Hall sensor signals Hu1, Hv1, Hw1, Hu2, Hv2 are transmitted with the Hall sensors 180 and 192 advanced by 25 degrees in electrical angle. , Hw2 and when the feed motor 32 and torsion motor 76 rotate in reverse, the Hall sensors 180 and 192 output the Hall sensor signals Hu1, Hv1, Hw1, Hu2, Hv2, Hw2 with a 25 degree delay in electrical angle. Hall sensors 180 and 192 are arranged on sensor boards 178 and 190 so as to output . Unlike this, the Hall sensor signals Hu1, Hv1, Hw1, Hu2, Hv2, Hw2 from the Hall sensors 180, 192 advance or retard the forward and reverse rotations of the feed motor 32 and torsion motor 76. The Hall sensors 180, 192 are arranged on the sensor boards 178, 190 so that the motor control signals UH, 192 are arranged at a desired advance angle with respect to the Hall sensor signals Hu, Hv, Hw through processing in the MCU 202. VH, WH, UL, VL, and WL may be output. In this case, the MCU 202 measures the time required for the electrical angle to advance by 60° from the Hall sensor signals Hu, Hv, and Hw, and from the measured time, the time corresponding to the electrical angle of 25° and the electrical angle of 35°. The corresponding times are calculated, and the timings at which the motor control signals UH, VH, WH, UL, VL, and WL are output are changed in forward rotation and reverse rotation, respectively. FIG. 35 shows the Hall sensor signals Hu, Hv, Hw and the motor control signals UH, VH, WH, UL when advance angle control is performed at 25 degrees when rotating the brushless motor in the forward direction using such a method. , VL, and WL. FIG. 36 shows Hall sensor signals Hu, Hv, Hw and motor control signals UH, VH, WH, UL when advance angle control is performed at 35 degrees when rotating the brushless motor in reverse using such a method. , VL, and WL. Note that when using such a method, it is necessary to recalculate the time corresponding to the electrical angle of 25° and the electrical angle of 35° every time the rotational speed of the feed motor 32 or the torsion motor 76 changes. As in the above embodiment, in a configuration in which the advance angle in the advance angle control during forward rotation and reverse rotation is set by the arrangement of the Hall sensors 180 and 192 on the sensor boards 178 and 190, the feed motor 32 and the torsion motor 76 Even if the number of revolutions changes, advance angle control can be performed at a desired advance angle during forward rotation and reverse rotation without performing any special processing in the MCU 202.

(Processing executed by MCU 202)
The MCU 202 executes the process shown in FIG. 37 when the trigger switch 9 is switched from off to on. In the process of FIG. 37, the MCU 202 performs the first feed motor drive process in S2 (see FIG. 38), the first torsion motor drive process in S4 (see FIG. 39), and the second feed motor drive process in S6 (see FIG. 40). , the second torsion motor drive process in S8 (see FIG. 41), and the third torsion motor drive process in S10 (see FIG. 42) are executed in this order.

(Feed motor first drive process)
The details of the feed motor first drive process will be described below with reference to FIG. In S12, the MCU 202 outputs the H potential as the switching signal SW, and switches the motor control signal output destination switching circuit 204 and the motor rotation signal input source switching circuit 206 to the feed motor 32 side.

In S14, the MCU 202 outputs motor control signals UH, VH, WH, UL, VL, and WL to reversely rotate the feed motor 32. As a result, the feed motor 32 rotates in the reverse direction, and a feeding process for feeding the wire W is started.

In S16, the MCU 202 waits until the amount of wire W fed out reaches a predetermined value. The feeding amount of the wire W can be calculated, for example, by counting the Hall sensor signals Hu, Hv, and Hw. It can be calculated based on the elapsed time after starting the drive of the feed motor 32 in S14. When the feeding amount of the wire W reaches a predetermined value (YES), the process proceeds to S18.

In S18, the MCU 202 outputs short circuit brake signals as motor control signals UH, VH, WH, UL, VL, and WL to stop the feed motor 32. This causes the feed motor 32 to be braked.

In S20, the MCU 202 outputs an H potential as the brake signal BR1. As a result, the brake circuit 218 maintains the motor control signals UL1, VL1, and WL1 at H potential. Note that if the brake circuit 218 maintains the motor control signals UL1, VL1, and WL1 at H potential before the MCU 202 outputs the short circuit brake signal in S18, current flows from the brake circuit 218 to the motor control signal output port 202a of the MCU 202. There is a risk. As in this embodiment, after the MCU 202 outputs the short-circuit brake signal in S18, the brake circuit 218 maintains the motor control signals UL1, VL1, and WL1 at H potential, so that the brake circuit 218 can control the motor of the MCU 202. Current can be prevented from flowing into the control signal output port 202a. After the process of S20, the process of FIG. 38 ends.

(Torsion motor first drive process)
Details of the torsion motor first drive process will be described below with reference to FIG. 39. In S22, the MCU 202 outputs the L potential as the switching signal SW, and switches the motor control signal output destination switching circuit 204 and the motor rotation signal input source switching circuit 206 to the torsion motor 76 side. Note that at the time of executing the process of S22, the brake circuit 218 maintains the motor control signals UL1, VL1, and WL1 at H potential, so the motor control signal output destination switching circuit 204 switches to the torsion motor 76 side. Even if the short-circuit brake signal from the MCU 202 is no longer output to the feed motor 32 side, the brake applied to the feed motor 32 is maintained.

In S24, the MCU 202 outputs motor control signals UH, VH, WH, UL, VL, and WL to rotate the torsion motor 76 in the forward direction. As a result, the torsion motor 76 rotates forward, and a tip holding process for holding the tip of the wire W is started.

In S26, the MCU 202 waits until the stop determination period starts. The stop determination period is a period during which it is assumed that the feed motor 32 has already stopped after the brake is applied to the feed motor 32. For example, the MCU 202 determines that the stop determination period has started when the elapsed time from when the brake started to be applied to the feed motor 32 in S18 of FIG. 38 reaches a predetermined time. When the stop determination period starts (YES), the process advances to S28.

In S28, the MCU 202 determines whether there is a change in the Hall sensor signals Hu1, Hv1, Hw1 from the feed motor 32 monitored by the general-purpose input/output port 202c. If there is a change in the Hall sensor signals Hu1, Hv1, Hw1 (in the case of YES), the process proceeds to S30. In S30, the MCU 202 determines that an error has occurred and executes error processing. If there is no change in the Hall sensor signals Hu1, Hv1, Hw1 (in the case of NO), the process proceeds to S32.

In S32, the MCU 202 determines whether the stop determination period has ended. For example, the MCU 202 determines that the stop judgment period has ended when the elapsed time since the start of the stop judgment period in S26 has reached a predetermined time. If the stop determination period has not ended (in the case of NO), the process returns to S28. When the stop determination period ends (YES), the process advances to S34.

In S34, the MCU 202 outputs the L potential as the brake signal BR1. As a result, the maintenance of the motor control signals UL1, VL1, and WL1 at the H potential by the brake circuit 218 is released.

In S36, the MCU 202 waits until the tip of the wire W is held. Whether or not the tip of the wire W is held can be determined based on the detection signal of the grip detection sensor 138. If the tip of the wire W is held (YES), the process advances to S38.

In S38, the MCU 202 outputs short circuit brake signals as motor control signals UH, VH, WH, UL, VL, and WL to stop the torsion motor 76. This causes the torsion motor 76 to be braked.

In S40, the MCU 202 outputs an H potential as the brake signal BR2. As a result, the brake circuit 220 maintains the motor control signals UL2, VL2, and WL2 at H potential. As in this embodiment, after the MCU 202 outputs the short-circuit brake signal in S38, the brake circuit 220 maintains the motor control signals UL2, VL2, and WL2 at H potential, so that the brake circuit 220 can control the motor of the MCU 202. Current can be prevented from flowing into the control signal output port 202a. After the process of S40, the process of FIG. 39 ends.

(Feed motor second drive process)
The details of the second feed motor drive process will be described below with reference to FIG. In S42, the MCU 202 outputs the H potential as the switching signal SW, and switches the motor control signal output destination switching circuit 204 and the motor rotation signal input source switching circuit 206 to the feed motor 32 side. Note that at the time of executing the process of S42, the brake circuit 220 maintains the motor control signals UL2, VL2, and WL2 at H potential, so the motor control signal output destination switching circuit 204 switches to the feed motor 32 side. Even if the short circuit brake signal from the MCU 202 is no longer output to the torsion motor 76 side, the brake applied to the torsion motor 76 is maintained.

In S44, the MCU 202 outputs motor control signals UH, VH, WH, UL, VL, and WL to rotate the feed motor 32 in the forward direction. As a result, the feed motor 32 rotates forward, and a pull-back process for pulling back the wire W is started.

In S46, the MCU 202 waits until the stop determination period starts. For example, the MCU 202 determines that the stop determination period has started when the elapsed time from when the brake started to be applied to the torsion motor 76 in S38 of FIG. 39 reaches a predetermined time. When the stop determination period starts (YES), the process advances to S48.

In S48, the MCU 202 determines whether there is a change in the Hall sensor signals Hu2, Hv2, Hw2 from the torsion motor 76 monitored by the general-purpose input/output port 202c. If there is a change in the Hall sensor signals Hu2, Hv2, Hw2 (in the case of YES), the process proceeds to S50. In S50, the MCU 202 determines that an error has occurred and executes error processing. If there is no change in the Hall sensor signals Hu2, Hv2, Hw2 (in the case of NO), the process advances to S52.

In S52, the MCU 202 determines whether the stop determination period has ended. For example, the MCU 202 determines that the stop judgment period has ended when the elapsed time since the start of the stop judgment period in S46 has reached a predetermined time. If the stop determination period has not ended (in the case of NO), the process returns to S48. When the stop determination period ends (YES), the process proceeds to S54.

In S54, the MCU 202 outputs the L potential as the brake signal BR2. This releases the brake circuit 220 from maintaining the motor control signals UL2, VL2, and WL2 at the H potential.

In S56, the MCU 202 waits until the pulling back of the wire W is completed. For example, the MCU 202 determines that the wire W has been pulled back when the current value detected by the current detection circuit 216 is equal to or greater than a predetermined value. When the pulling back of the wire W is completed (YES), the process advances to S58.

In S58, the MCU 202 outputs short circuit brake signals as motor control signals UH, VH, WH, UL, VL, and WL to stop the feed motor 32. This causes the feed motor 32 to be braked.

In S60, the MCU 202 outputs an H potential as the brake signal BR1. As a result, the brake circuit 218 maintains the motor control signals UL1, VL1, and WL1 at H potential. After the process of S60, the process of FIG. 40 ends.

(Torsion motor second drive process)
The details of the second torsion motor drive process will be described below with reference to FIG. 41. In S62, the MCU 202 outputs the L potential as the switching signal SW, and switches the motor control signal output destination switching circuit 204 and the motor rotation signal input source switching circuit 206 to the torsion motor 76 side. Note that at the time of executing the process of S62, the brake circuit 218 maintains the motor control signals UL1, VL1, and WL1 at H potential, so the motor control signal output destination switching circuit 204 switches to the torsion motor 76 side. Even if the short-circuit brake signal from the MCU 202 is no longer output to the feed motor 32 side, the brake applied to the feed motor 32 is maintained.

In S64, the MCU 202 outputs motor control signals UH, VH, WH, UL, VL, and WL to rotate the torsion motor 76 in the forward direction. As a result, the torsion motor 76 rotates forward, and a rear end holding process of holding the rear end of the wire W, a cutting process of cutting the wire W, a pulling process of pulling the wire W, and a twisting process of twisting the wire W are performed. They are executed in order.

In S66, the MCU 202 waits until the stop determination period starts. For example, the MCU 202 determines that the stop determination period has started when the elapsed time from when the brake started to be applied to the feed motor 32 in S58 of FIG. 40 reaches a predetermined time. When the stop determination period starts (YES), the process advances to S68.

In S68, the MCU 202 determines whether there is a change in the Hall sensor signals Hu1, Hv1, Hw1 from the feed motor 32 monitored by the general-purpose input/output port 202c. If there is a change in the Hall sensor signals Hu1, Hv1, Hw1 (in the case of YES), the process proceeds to S70. In S70, the MCU 202 determines that an error has occurred and executes error processing. If there is no change in the Hall sensor signals Hu1, Hv1, Hw1 (in the case of NO), the process advances to S72.

In S72, the MCU 202 determines whether the stop determination period has ended. For example, the MCU 202 determines that the stop judgment period has ended when the elapsed time since the start of the stop judgment period in S66 has reached a predetermined time. If the stop determination period has not ended (in the case of NO), the process returns to S68. When the stop judgment period ends (YES), the process advances to S74.

In S74, the MCU 202 outputs the L potential as the brake signal BR1. As a result, the maintenance of the motor control signals UL1, VL1, and WL1 at the H potential by the brake circuit 218 is released.

In S76, the MCU 202 waits until the twisting of the wire W is completed. For example, the MCU 202 determines that the twisting of the wire W has been completed when the current value detected by the current detection circuit 216 is equal to or greater than the current value corresponding to the set value of the binding force of the wire W. When the twisting of the wire W is completed (YES), the process advances to S78.

In S78, the MCU 202 outputs short circuit brake signals as motor control signals UH, VH, WH, UL, VL, and WL to stop the torsion motor 76. This causes the torsion motor 76 to be braked.

In S80, the MCU 202 waits until the torsion motor 76 stops. Whether or not the torsion motor 76 has stopped can be determined based on the Hall sensor signals Hu2, Hv2, Hw2 from the torsion motor 76 input to the motor rotation signal input port 202b. When the torsion motor 76 stops (YES), the process in FIG. 41 ends.

(Torsion motor third drive process)
The details of the third torsion motor drive process will be described below with reference to FIG. 42.

In S82, the MCU 202 outputs motor control signals UH, VH, WH, UL, VL, and WL to rotate the torsion motor 76 in the reverse direction. As a result, the torsion motor 76 rotates in the reverse direction, and an initial state return process is started in which the torsion mechanism 30 returns to its initial state.

In S84, the MCU 202 waits until the torsion mechanism 30 returns to its initial state. Whether or not the torsion mechanism 30 has returned to its initial state can be determined based on the detection signal from the initial state detection sensor 136. When the twisting mechanism 30 returns to its initial state (YES), the process advances to S86.

In S86, the MCU 202 outputs short circuit brake signals as motor control signals UH, VH, WH, UL, VL, and WL to stop the torsion motor 76. This causes the torsion motor 76 to be braked.

In S88, the MCU 202 waits until the torsion motor 76 stops. Whether or not the torsion motor 76 has stopped can be determined based on the Hall sensor signals Hu2, Hv2, Hw2 from the torsion motor 76 input to the motor rotation signal input port 202b. When the torsion motor 76 stops (YES), the process in FIG. 42 ends.

FIG. 43 shows the operation of the feed motor 32 and the torsion motor 76 in the series of processes shown in FIGS. 37-42. In the above process, after the feed motor 32 starts to be braked in the first feed motor drive process, and before the feed motor 32 completely stops, the torsion motor 76 is rotated in the forward direction in the first torsion motor drive process. start. As a result, the time required to bind the reinforcing bars R with the wire W can be shortened compared to the case where the torsion motor 76 starts rotating forward after the feed motor 32 has completely stopped. Further, in the above process, after the torsion motor 76 starts to be braked in the first torsion motor drive process and before the torsion motor 76 completely stops, the feed motor 32 is activated in the second feed motor drive process. Start forward rotation. As a result, the time required to bind the reinforcing bars R with the wire W can be shortened compared to the case where the forward rotation of the feed motor 32 is started after the torsion motor 76 has completely stopped. Furthermore, in the above process, after the feed motor 32 starts to be braked in the second feed motor drive process, and before the feed motor 32 completely stops, the torsion motor 76 is activated in the second torsion motor drive process. Start forward rotation. As a result, the time required to bind the reinforcing bars R with the wire W can be shortened compared to the case where the torsion motor 76 starts rotating forward after the feed motor 32 has completely stopped.

As described above, in one or more embodiments, the reinforcing bar binding machine 2 has a feeding motor 32 (an example of a first brushless motor), and has a feeding process for feeding out the wire W and a feeding process for pulling the wire W back. A feed mechanism 24 that executes the pullback process, an inverter circuit 212 (an example of a first inverter circuit) connected to the feed motor 32, and an MCU 202 (an example of a control unit) that controls the feed motor 32 via the inverter circuit 212. We are prepared. The feed motor 32 includes a Hall sensor 180 (an example of a first Hall sensor) arranged on a sensor board 178 (an example of a first sensor board). In the feeding process, the MCU 202 controls the advance angle of the feed motor 32 at a first advance angle (for example, 35°). In the pullback process, the MCU 202 controls the advance angle of the feed motor 32 at a second advance angle (for example, 25°). The first lead angle is set larger than the second lead angle.

In the reinforcing bar binding machine 2 described above, in the feeding process of feeding out the wire W, a very large torque does not act on the feeding motor 32. In this case, by increasing the advance angle in the advance angle control, the number of rotations can be increased, and the time required for the feeding process can be shortened. Incidentally, when the advance angle in the advance angle control is increased, the current increases, but in the feeding process, the current of the feed motor 32 is originally small, so heat generation in the feed motor 32 and the inverter circuit 212 does not pose a problem.

On the other hand, in the pulling back process of pulling back the wire W, a large torque acts on the feed motor 32. In this case, by reducing the advance angle in the advance angle control, the number of revolutions can be increased, and the time required for the pullback process can be shortened. Further, by reducing the advance angle in the advance angle control, the current flowing through the feed motor 32 can be reduced, and excessive heat generation in the feed motor 32 and the inverter circuit 212 can be suppressed.

In the above-mentioned reinforcing bar binding machine 2, regarding the control of the feed motor 32 by the MCU 202, the advance angle in the advance angle control in the sending out process is set to be larger than the advance angle in the advance angle control in the pulling back process. As a result, it is possible to shorten the time in the sending-out process, shorten the time in the pull-back process, and reduce the current.

In one or more embodiments, the Hall sensor 180 is configured to output the first Hall sensor signal Hu1, Hv1, Hw1 at one of the first advance angle and the second advance angle (e.g., the second advance angle). are arranged on the sensor board 178. The sum of the first advance angle and the second advance angle is 60°.

According to the above configuration, when performing advance angle control using one of the first advance angle and the second advance angle (for example, the second advance angle), the MCU 202 uses the first Hall sensor signals Hu1, Hv1, Hw1. When outputting motor control signals UH, VH, WH, UL, VL, and WL based on , by outputting the motor control signals UH, VH, WH, UL, VL, WL with a shift of one step (corresponding to 60 degrees in electrical angle) based on the first Hall sensor signals Hu1, Hv1, Hw1. Both the advance angle control at the first advance angle in the step and the advance angle control at the second advance angle in the pullback process can be performed. The calculation load on the MCU 202 can be reduced.

In one or more embodiments, the rebar tying machine 2 includes a torsion motor 76 (an example of a second brushless motor) that performs the torsion process of twisting the wire W and the initial state after twisting the wire W. It further includes a torsion mechanism 30 that executes an initial state return step of returning to the original state, and an inverter circuit 214 (an example of a second inverter circuit) connected to the torsion motor 76. MCU 202 also controls torsion motor 76 via inverter circuit 214 . The torsion motor 76 includes a Hall sensor 192 (an example of a second Hall sensor) disposed on a sensor board 190 (an example of a second sensor board). In the twisting process, the MCU 202 advances the torsion motor 76 at a third advance angle (for example, 25°). In the initial state return step, the MCU 202 advances the torsion motor 76 at a fourth advance angle (for example, 35°). The third lead angle is set smaller than the fourth lead angle.

In the reinforcing bar binding machine 2 described above, a large torque acts on the twisting motor 76 during the twisting process of twisting the wire W. In this case, by reducing the advance angle in the advance angle control, the number of rotations can be increased, and the time required for the twisting process can be shortened. Further, by reducing the advance angle in the advance angle control, the current flowing through the torsion motor 76 can be reduced, and excessive heat generation in the torsion motor 76 and the inverter circuit 214 can be suppressed.

Conversely, in the initial state return step of returning the torsion mechanism 30 to its initial state, not so much torque acts on the torsion motor 76. In this case, by increasing the advance angle in the advance angle control, the rotation speed can be increased, and the time required for the initial state return step can be shortened. Incidentally, when the advance angle in the advance angle control is increased, the current increases, but since the current of the torsion motor 76 is originally small in the initial state return process, the heat generation of the torsion motor 76 and the inverter circuit 214 does not pose a problem.

In the reinforcing bar binding machine 2 described above, regarding the control of the torsion motor 76 by the MCU 202, the advance angle in the advance angle control in the twisting process is set smaller than the advance angle in the advance angle control in the initial state return process. This makes it possible to shorten the time and reduce the current in the twisting process, and shorten the time in the initial state return process.

In one or more embodiments, the Hall sensor 192 is configured to output the second Hall sensor signal Hu2, Hv2, Hw2 at one of the third advance and the fourth advance (e.g., the third advance). are arranged on the sensor substrate 190. The sum of the third advance angle and the fourth advance angle is 60°.

According to the above configuration, when performing advance angle control using one of the third advance angle and the fourth advance angle (for example, the third advance angle), the MCU 202 uses the second Hall sensor signals Hu2, Hv2, Hw2. When outputting motor control signals UH, VH, WH, UL, VL, WL based on , by outputting the motor control signals UH, VH, WH, UL, VL, WL with a shift of one step (corresponding to 60 degrees in electrical angle) based on the second Hall sensor signals Hu2, Hv2, Hw2. Both the advance angle control at the third advance angle in the step of returning to the initial state and the advance angle control at the fourth advance angle in the initial state return step can be performed. The calculation load on the MCU 202 can be reduced.

In one or more embodiments, the reinforcing bar binding machine 2 includes a torsion motor 76 and performs a twisting process of twisting the wire W and an initial state return process of returning the wire W to the initial state after twisting. It further includes an inverter circuit 214 (an example of a second inverter circuit) connected to the torsion mechanism 30 and the torsion motor 76 . MCU 202 also controls torsion motor 76 via inverter circuit 214 . The torsion motor 76 includes a Hall sensor 192 (an example of a second Hall sensor) disposed on a sensor board 190 (an example of a second sensor board). In the torsion process, the MCU 202 advances the torsion motor 76 at a second advance angle (for example, 25°). In the initial state return step, the MCU 202 advances the torsion motor 76 at a first advance angle (for example, 35°).

According to the above configuration, the advance angle control that the MCU 202 performs on the feed motor 32 in the feeding process and the advance angle control that the MCU 202 performs on the torsion motor 76 in the initial state return process can be made to have the same advance angle. It is possible to simplify the configuration. Further, according to the above configuration, the advance angle control that the MCU 202 performs on the feed motor 32 in the pullback process and the advance angle control that the MCU 202 performs on the torsion motor 76 in the twisting process can be made to have the same advance angle. It is possible to simplify the configuration.

In one or more embodiments, the Hall sensor 180 is configured to output the first Hall sensor signal Hu1, Hv1, Hw1 at one of the first advance angle and the second advance angle (e.g., the second advance angle). are arranged on the sensor board 178. The Hall sensor 192 is arranged on the sensor board 190 so as to output the second Hall sensor signals Hu2, Hv2, Hw2 at one of the first advance angle and the second advance angle (for example, the second advance angle). You can. The sum of the first advance angle and the second advance angle is 60°.

According to the above configuration, a common component can be used as the sensor board 178 on which the Hall sensor 180 is arranged and the sensor board 190 on which the Hall sensor 192 is arranged.

2 : Rebar binding machine 4 : Main body 6 : Grip 8 : Trigger 9 : Trigger switch 10 : Battery mounting part 12 : Reel holder 12a : Accommodation space 12b : Display part 12c : Operation part 14 : Holder housing 14a : Rotation shaft 16 : Cover member 18: Reel 20: Control board 22: Display board 22a: Setting display LED
22b : Setting switch 24 : Feed mechanism 26 : Guide mechanism 28 : Cutting mechanism 30 : Twisting mechanism 32 : Feed motor 34 : Reduction part 36 : Feed part 38 : Base member 40 : Guide member 40a : Guide hole 42 : Drive gear 44 : First gear 44a: Groove 46: Second gear 46a: Groove 48: Gear support member 48a: Swing shaft 52: Biasing member 56: Wire guide 56a: Projection 58: Upper guide arm 58a: Upper guide passage 60: Lower Side guide arm 60a: Lower guide passage 61: First guide pin 62: Second guide pin 66: Cutting member 66a: Rotating shaft 68: Link portion 70: Connecting member 72: Operated member 72a: Rotating shaft 72b: Projecting piece 74 : Biasing member 76 : Torsion motor 78 : Reduction part 82 : Holding part 84 : Screw shaft 84a : Large diameter part 84b : Small diameter part 84c : Ball groove 84d : Engagement groove 86 : Clamp guide 86a : Recessed part 86b : Engagement pin 86c : Step part 88 : Sleeve 90 : Holding member 92 : Biasing member 94 : Ball 96 : Washer 100 : Inner sleeve 100a : Rib 102 : Outer sleeve 102a : Step part 104 : Support member 106 : Set screw 110 : Guide pin 114 : Upper clamping member 116 : Lower clamping member 118 : Upper base 118a : Upper guide hole 120 : First upper protrusion 121 : Upper connecting part 122 : Second upper protrusion 123 : First retaining part 124 : First wire passage 126 : Lower base 126a : Lower guide hole 128 : First lower protrusion 129 : Lower connecting part 130 : Second lower protrusion 131 : Second retaining part 132 : Second wire Passage 134: Auxiliary passage 136: Initial state detection sensor 138: Grip detection sensor 140: Push plate 140a: Initial state detection magnet 140b: Grip detection magnet 144: Fin 146: Short fin 148: Long fin 150: Rotation restriction section 152: Base Member 154: Upper stopper 154a: Regulating piece 156: Lower stopper 156a: Regulating piece 158: Swing shaft 160: Swing shaft 162: Biasing member 164: Biasing member 170: Coil 172: Teeth 174: Stator 176: Rotor 178: Sensor board 180: Hall sensor 180a: First Hall element 180b: Second Hall element 180c: Third Hall element 182: Coil 184: Teeth 186: Stator 188: Rotor 190: Sensor board 192: Hall sensor 192a: First Hall element 192b: Second Hall element 192c: Third Hall element 200: Control power supply circuit 202: MCU
202a: Motor control signal output port 202b: Motor rotation signal input port 202c: General-purpose input/output port 204: Motor control signal output destination switching circuit 206: Motor rotation signal input source switching circuit 208: Gate drive circuit 210: Gate drive circuit 212: Inverter circuit 214: Inverter circuit 216: Current detection circuit 218: Brake circuit 220: Brake circuit 222a: Switching element 222b: Switching element 224a: Switching element 224b: Switching element 226a: Switching element 226b: Switching element 228: Positive potential line 230 :Negative potential line 232 :Motor power line 234 :Motor power line 236 :Motor power line 238a :Switching element 238b :Switching element 240a :Switching element 240b :Switching element 242a :Switching element 242b :Switching element 244 :Positive potential line 246 :Negative Side potential line 248: Motor power line 250: Motor power line 252: Motor power line 260: Demultiplexer 262: FET
264: FET
266: NOT gate 268: NOR gate 270: NOR gate 272: NOT gate 274: NOT gate 274a: transistor 274b: transistor 274c: transistor 274d: transistor 276a: resistor 276b: resistor 276c: resistor 276d: resistor 276e: Resistor 276f : Resistor 276g : Resistor 276h : Resistor 278a : Transistor 278b : Transistor 278c : Transistor 278d : Transistor 280a : Resistor 280b : Resistor 280c : Resistor 280d : Resistor 280e : Resistor 280f : Resistor 280g: Resistor 280h: Resistor 282: Multiplexer 284: FET
286: FET
288: NOT gate 290: NOR gate 292: NOR gate 294: NOR gate 296: NOT gate

Claims (6)

A reinforcing bar binding machine,
a feeding mechanism that has a first brushless motor and executes a feeding process of feeding out the wire and a pulling process of pulling back the wire;
a first inverter circuit connected to the first brushless motor;
a control unit that controls the first brushless motor via the first inverter circuit;
The first brushless motor includes a first Hall sensor disposed on a first sensor board,
In the feeding step, the control unit controls the first brushless motor at a first advance angle;
In the pulling back step, the control unit controls the first brushless motor at a second advance angle;
A reinforcing bar tying machine, wherein the first advance angle is set larger than the second advance angle. A reinforcing bar binding machine,
a feeding mechanism that has a first brushless motor and executes a feeding process of feeding out the wire and a pulling process of pulling back the wire;
a first inverter circuit connected to the first brushless motor;
a twisting mechanism that includes a second brushless motor and executes a twisting step of twisting the wire and an initial state return step of returning to the initial state after twisting the wire;
a second inverter circuit connected to the second brushless motor;
a control unit that controls the first brushless motor via the first inverter circuit and controls the second brushless motor via the second inverter circuit ,
The first brushless motor includes a first Hall sensor disposed on a first sensor board,
The second brushless motor includes a second Hall sensor disposed on a second sensor board,
In the feeding step, the control unit controls the first brushless motor at a first advance angle;
In the pulling back step, the control unit controls the first brushless motor at a second advance angle;
In the twisting step, the control unit controls the second brushless motor at a third advance angle;
In the initial state return step, the control unit controls the second brushless motor at a fourth advance angle;
the first advance angle is set larger than the second advance angle,
The reinforcing bar binding machine , wherein the third advance angle is set smaller than the fourth advance angle . The second Hall sensor is arranged on the second sensor board so as to output a second Hall sensor signal of one of the third advance angle and the fourth advance angle,
The reinforcing bar tying machine according to claim 2 , wherein the sum of the third advance angle and the fourth advance angle is 60°. The first Hall sensor is arranged on the first sensor board so as to output a first Hall sensor signal of one of the first advance angle and the second advance angle,
The reinforcing bar tying machine according to any one of claims 1 to 3 , wherein the sum of the first advance angle and the second advance angle is 60°. A reinforcing bar binding machine,
a feeding mechanism that has a first brushless motor and executes a feeding process of feeding out the wire and a pulling process of pulling back the wire;
a first inverter circuit connected to the first brushless motor;
a twisting mechanism that includes a second brushless motor and executes a twisting step of twisting the wire and an initial state return step of returning to the initial state after twisting the wire;
a second inverter circuit connected to the second brushless motor;
a control unit that controls the first brushless motor via the first inverter circuit and also controls the second brushless motor via the second inverter circuit ,
The first brushless motor includes a first Hall sensor disposed on a first sensor board,
The second brushless motor includes a second Hall sensor disposed on a second sensor board,
In the feeding step, the control unit controls the first brushless motor at a first advance angle;
In the pulling back step, the control unit controls the first brushless motor at a second advance angle;
In the twisting step, the control unit controls the second brushless motor at the second advance angle;
In the initial state return step, the control unit controls the advance angle of the second brushless motor at the first advance angle;
A reinforcing bar tying machine, wherein the first advance angle is set larger than the second advance angle. The first Hall sensor is arranged on the first sensor board so as to output a first Hall sensor signal of one of the first advance angle and the second advance angle,
The second Hall sensor is arranged on the second sensor board so as to output a second Hall sensor signal at one of the first advance angle and the second advance angle,
The reinforcing bar tying machine according to claim 5, wherein the sum of the first advance angle and the second advance angle is 60°.

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