JPH09156608A - Method and device for controlling binding machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control the correct positioning with an inexpensive small motor by measuring the processing time and the torque of a feed motor and a stranding motor during the binding work, monitoring the condition while the comparative operation is made with the preset value, and performing the error correction. SOLUTION: A binding machine 30 to be preferably used in binding an overlapped part of reinforcements in the reinforcement arranging work surrounds an article to be bound by a binding wire (w) to be fed by a feed motor 17 at the binding position, and turns a hook 42 by a stranding motor 18 to strand the binding end part of the binding wire (w) to perform the binding. The binding work is performed through the hook origin positioning, the binding wire feeding, the hook stretching, the binding wire returning, and the binding wire stranding in this order. The processing time and the torque of the feed motor 17 and the stranding motor 18 are measured, the condition is monitored through the comparative operation with the preset value, and the error correction is performed when the processing time or the torque exceeds the preset value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a binding machine control method and apparatus for automatically binding rebars and other articles.

[0002]

2. Description of the Related Art Conventionally, for example, in arranging work in construction work, binding and fixing of overlapping portions of reinforcing bars are generally performed manually, and it requires skill and heavy labor to securely bind, resulting in poor work efficiency. , Its mechanization was required. In order to meet the demand, various binding machines capable of automatically binding reinforcing bars have recently been proposed (for example, Japanese Patent Laid-Open No. Sho 63-63).
No. 191719, etc.). However, the conventionally proposed binding machine has problems that the structure is complicated, the weight is heavy, the handling is inconvenient, and the binding machine is expensive. Furthermore, in each case, one binding wire is fed from the winding bobbin and wound around the joint portion of the reinforcing bar as it is, so that it is necessary to wind it a plurality of times in order to firmly bind it.
Compared to the case of manual tying, it requires a long tying wire,
The cost of binding wires was high. Further, there is a problem that it is difficult to obtain a strong binding force as compared with the case of binding by hand.

In order to solve the above-mentioned problems, the present inventors have a simple structure and are lightweight, and can easily and firmly bind rebars and the like without requiring skill, and the manufacturing cost is also conventional. By comparison, a binding machine that is inexpensive and has a short binding wire and can save running cost is provided (for example, Japanese Patent Laid-Open No. 7-69321).

[0004]

In order to reduce the size and weight of the binding machine, it is desirable that the feed motor and the twisting motor built into the binding machine be as small and lightweight as possible. Moreover, since the feed motor and the twisting motor in the binding machine are repeatedly rotated in the forward and reverse directions during the binding work, they are worn out and must be replaced after a predetermined number of times, which is inexpensive in order to save running costs. Adoption of a motor is required.

However, in order to automatically and firmly bind the reinforcing bars and the like, the rotation of these motors is driven by the binding wire feeding or the twisting step of the binding wire.
Accurate positioning control must be possible. Conventionally, generally as an accurate positioning control mechanism for a small motor, an encoder, potentiometer, resolver or the like is used to detect the rotation angle of the motor, and a servo motor or positioning motor is used as the motor to perform servo control. . However, encoders, servomotors, and the like are expensive, and if they are used in a binding machine that requires frequent replacement, the apparatus becomes expensive and running costs increase.

Therefore, the present invention solves the above-mentioned problems of the prior art, employs an inexpensive small motor, and enables accurate positioning control without using an encoder or the like, so that an article such as a reinforcing bar can be solidified. It is also an object of the present invention to provide a binding machine control method and a binding machine that can surely bind and obtain a lightweight and inexpensive binding machine.

[0007]

SUMMARY OF THE INVENTION A control method for a binding machine according to the present invention which solves the above-mentioned problems is to surround a binding position of an article to be bound by a binding wire sent by a feed motor and rotate a hook by a twisting motor. A method of controlling a binding machine for automatically binding the articles to be bound by twisting the binding ends of the binding wires, wherein the twist motor is driven to position the hook at the origin angle. Processing, feeding a binding wire with a feed motor to surround the article to be bound, binding wire feeding processing, hooking processing for rotating the hook to a position that engages with the tip end of the binding wire, and reversing the feeding motor Bundling line pullback process to tighten the binding line,
It consists of a bundled wire twisting process in which the twisting motor is driven to twist the hook by rotating the hook, and the specified drive torque and the specified processing time of the feed motor and the twisting motor are set in advance in the arithmetic control unit, and the processing is performed. Medium, processing time of the feed motor and the twisting motor, measuring the torque,
It is characterized in that the state is monitored while performing a comparison calculation with a set value, and if the processing time or torque exceeds the set value, error processing is performed.

In the hook origin position setting process, the twisting motor is rotated in the forward direction, and a specific detection point provided on the rotating portion that rotates integrally with the hook by the twisting motor passes near the origin sensor provided on the fixed portion. The origin position of the hook is detected by sending the stop signal to the twisting motor when the hook reaches the origin position again, and then the reverse rotation command is issued to reverse the twisting motor. It is desirable that the origin position can be set accurately and easily by sending a stop signal, taking in the braking time preset to stop at the origin position from the arithmetic control unit, and braking the twisting motor.

Further, in monitoring the torque of the feed motor and the twisting motor, the current value detected from the output current measuring resistor is input to the A / D converter of the arithmetic control unit to be converted into a digital value, and the numerical value thereof is displayed. Is preferably calculated by comparing with the set value of RAM. Further, the monitoring of the torque of the feed motor and the twisting motor, in the binding machine in which the feed motor and or the twisting motor is separated from the binding machine body, the load increase prediction value due to the disturbance load is set in advance in the arithmetic control unit, After the feed motor and / or the twisting motor is started, the rotation speed and the current value of the motor are measured at any time within a certain period of time, and the calculated value is compared with the specified current value, and when the load increases, the increased load is increased by the load. Calculated from the predicted value,
The value is added to the specified current value and stored in the calculation control unit as a specified current value during load, and the stored specified current value during disturbance load and the detected current value are compared and calculated. As a result, it is possible to eliminate the trouble caused by the disturbance load.

Further, in the twisting process of the binding machine, the twisting motor is rotated in the forward direction, the preset twisting torque value preset by the twisting torque selection switch and the output torque value of the twisting motor are arithmetically compared, and the set twisting torque value is reached. Sometimes the twisting motor is stopped to finish the twisting, and the twisting motor is reversed to disengage the binding wire from the hook, and when the hook reaches the origin position, a stop command is issued to the twisting motor and preset. It is desirable to brake the twisting motor for a certain braking time so that the hook stops at the home position. Further, it is desirable that after the binding wire twisting process is completed, the twisting motor is reversely rotated to release the engagement between the hook and the binding wire, and after confirming the origin position, the hook is stopped at the origin position.

Further, the method for locating the origin of the hook of the binding machine according to the present invention is directed to a binding machine for automatically binding the articles to be bound by twisting the binding ends of the binding wires by rotating the hook with a twisting motor. A method of setting the origin position of the hook,
The twist motor is rotated in the forward direction, and the origin position of the hook is detected by passing the vicinity of the origin sensor provided on the fixed part at a specific detection point provided on the rotating part that rotates integrally with the hook by the twist motor. When the hook reaches the origin position again, it sends a stop signal to the twisting motor, then issues a reverse rotation command to reverse the twisting motor, and after confirming that the origin position has passed,
Send the twisting motor stop signal, take in the braking time preset to stop at the origin position from the arithmetic control unit, brake the twisting motor, and finish the hook origin position processing when the specified time is reached It is characterized by doing.

The control device of the present invention for achieving the above-mentioned method of controlling the binding machine is such that a binding motor feeds a binding wire to surround a binding position of articles to be bound, and a twisting motor rotates a hook to bind a binding end of the binding wire. A control device for a binding machine that automatically binds the articles to be bound by twisting the parts together, and a specific detection point provided on the rotating part that rotates integrally with the hook by the twisting motor and an origin provided on the fixed part. It has a hook origin position detecting means consisting of a sensor, a binding wire detecting means for detecting the feed end of the binding wire surrounding the article to be bound, and a torque detecting means for detecting the torque of the binding wire feed motor and the twisting motor, respectively. Then, a detection signal is input from each of the detection means, and the specified drive torque and specified processing time of the feed motor and the twisting motor are stored in advance, and the feed motor and the twisting motor During sense, the process time, measures the torque value, monitors the state while comparing operation with the set value,
It has a technical means characterized by comprising an arithmetic control unit for controlling the binding wire feed motor and the twisting motor.

The hook origin position detecting means is provided in the rotating portion, and a fan-shaped output shaft fitting hole into which the output shaft of the twisting motor is fitted is formed in the shaft center portion thereof, and a magnet is provided on the outer peripheral portion thereof. An origin finding cam provided with an origin finding roller fitting recess, an origin sensor for detecting the magnet, and an outer circumference of the origin finding cam pressed into contact with the origin finding roller fitting depression. It is desirable that the hook can be more surely set to the origin position by configuring the hook with a positioning roller that positions the hook at the origin position.

The arithmetic control unit is a central processing unit CPU,
ROM for storing programs, RAM for writing data etc. at any time, timer, I / O port which is a bidirectional port,
It has an A / D converter and a PWM control output port which is a motor rotation command pulse generator. Further, the feed motor and the twisting motor are combined with four field effect transistors, respectively, and are incorporated in the arithmetic control unit.
By connecting to the MW control output port and adopting PMW control, it is possible to reliably perform reversible point control with power saving. Furthermore, a twisting torque selection switch capable of arbitrarily setting a twisting torque is provided, and the articles to be bound can be bound with the twisting torque set by the twisting torque selection switch.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION First, an embodiment of a binding machine to which the control device of the present invention is applied will be outlined with reference to FIG. FIG.
It is a schematic side view in the state which removed the side cover of the binding machine 30 to which the control apparatus of this invention is applied, and the operation | movement figure is shown by FIGS. 9-12. The binding machine according to the present embodiment has a built-in feed motor 17 for feeding a binding wire and a twisting motor 18 for twisting a binding wire by rotating a hook 42 so that the reinforcing bars can be automatically bound by carrying it with one hand. Has become.

In the binding machine of this embodiment, the transmission mechanism between the twisting motor 17 and the hook is constructed as follows, as shown in FIG. A spindle 33, which is rotationally driven by a twisting motor 18, is rotatably supported by a bearing case 35 fixed to the binding machine main body, and a heart-shaped origin finding cam 41 for origin positioning is fixed to the end of the spindle on the twisting motor side. Then, an inclined guide surface 37 for guiding the binding wire across the spindle axis is formed at the center of the opposite end, and the swinging member 38 is biased by the spring 40 so as to stand upright at the outer peripheral position thereof. And the hook 4 which is provided so as to be swingable and whose end portion of the binding wire engages with the end portion of the swing member.
2 are integrally formed.

The twisting motor 18 formed at the central portion of the heart-shaped origin finding cam 41 and the spindle 33.
The output shaft fitting hole 43 into which the output shaft 19 is fitted has a 270 ° fan shape as shown in FIG. 12, and the output shaft is formed in a semicircular cross section. Therefore, the fan-shaped radial surfaces 44 ₁ and 44 ₂ of the output shaft fitting hole 43 of the spindle that intersect at right angles form an engagement surface with the output shaft, and the output shaft 19 is within ± 90 ° at maximum with respect to the spindle 33. It can rotate freely without transmitting torque to the spindle. Further, an intermediate portion of the outer peripheral surface between the fan-shaped radial surfaces of the origin finding cam 41 is recessed in a heart shape, and serves as an origin finding recess 45 for engaging the origin finding roller 46 and positioning the spindle at the origin. The origin finding roller 46 is provided with the origin finding concave portion 45.
Is urged by a spring 47 so as to engage with. Further, the magnet 25 is fixed to the detection point on the outer peripheral surface of the origin-finding cam 41, and the origin-finding recess 45 and the origin-finding roller 46 are fitted to the fixed portion of the frame.
An origin position sensor S1 is fixed at a position where the magnet is detected.

In the binding machine configured as described above,
The surrounding guide 31 is in the open state shown in FIG. 9 (a) and in the same figure (b) by the lever mechanism formed by the bundled article engagement piece 32.
When the bundled article engaging piece 32 is pressed against the outer peripheral portion of the bundled article p in the open state, the surrounding guide 31 is rotated and closed, and the inner peripheral portion of the surrounding guide is closed. The article to be bound p is positioned in the position (FIG. 9 (b)).
When the surrounding guide 31 is in the open state, the detected piece swinging member 2
As shown in FIG. 9A, the magnet 8 provided at the base end of the magnet 8 is separated from the guide sensor S2, and it is detected that the surrounding guide is open. Further, when the surrounding guide is closed, the guide sensor senses the magnet 29, and the closed state can be recognized. With the surrounding guide closed, pressing the trigger switch 13 ₁ or 13 ₂ drives the binding wire feed motor 17 to start feeding the binding wire.

A binding wire w drawn from the winding bobbin 50
Is guided by the binding line guide pipe 34, penetrates the binding line guide hole 36 formed in the fixed bearing case 35, and is inclined in a direction intersecting the spindle axis.
Is guided to hit the front wall of the rocking member 38, slides on the surface thereof and engages with the engaging portion 39, and the rocking member 38 is pushed by the feed force thereof, and is counterclockwise in the figure. Rotate in the direction. Further, a binding wire is sent to the swing member 38.
When the end portion of the binding wire w hits the spindle case or an appropriate stopper member and is prevented from rotating, the binding force w of the fed wire gradually becomes approximately U at the tip in the feeding direction due to the feeding force thereof, as shown in FIG. 9C. Bend in a letter shape to create the starting point for double-line formation.

In the above process, in order for the binding wire penetrating through the binding wire guide hole 36 to securely engage with the engaging portion 39 via the front wall of the swinging member 38, the swinging member moves in the traveling direction of the binding wire. It is necessary to surely position it in the forward direction, and in the present invention, the angular position is set to the origin position by the origin origin cam 41 so that the swinging member is always located at the angular position at the start of binding. ing.

In this state, the binding wire w is further fed out so that the tip reaches the surrounding guide 31 while forming a loop by bending the tip into a substantially U shape. Then unity line w
At least a part of the outer line b is constrained by the surrounding guide 31 via the substantially U-shaped bent front end a and moves along the bottom guide surface thereof, while the inner line c of the surrounding guide 31 is formed. It spreads inward from the opening and at least a part of it directly contacts the outer periphery of the article to be bound p and advances while being guided by it.

When the bent front end a comes out of the surrounding guide, it hits the inclined guide surface of the swinging member 38 located in the direction of travel thereof and rides on that inclined surface, and when it goes over the hook, it is pushed to the side. There is no support, and the tip naturally moves to the center (Fig. 10 (a)). When this state is reached, a sensor (not shown) senses the tip of the loop and the feeding of the binding wire is stopped. Up to this step, the origin finding cam 41 is in the state shown in FIG.

Then, the twisting motor slightly rotates clockwise to rotate the hook to the engagement position with the loop tip position of the binding wire, and in that state, the binding wire feed motor reversely rotates to pull the binding wire. By pulling in the opposite direction, U
The character-shaped tip portion is engaged with the hook 42, and the binding wire is completely removed from the guide surface of the surrounding guide 31 and is engaged with the article to be bound to be in a tense state (Fig. 10 (b), Fig. 12 ( b)).
In this embodiment, the binding wire is fed from below so as to intersect the spindle axis. Therefore, when the binding wire is in a tensioned state, the binding wire proximal end side e also has a hook as shown in FIG. It is in the state of being located in the rotation range. Therefore, according to the present embodiment, a pulling mechanism for engaging the binding wire proximal end side with the hook at the start of twisting is not required,
It can be securely engaged by a simple mechanism, and by feeding the binding wire backward, the spread two wires become a close contact body, and the two wires do not spread at the time of binding and can be bound well.

When the twisting motor 18 rotates counterclockwise from this state, the origin-finding cam is returned to the origin position by the origin-finding roller (FIG. 12 (c)), and the twisting motor still rotates counterclockwise. Suruga, without transmitting torque to the spindle until rotated 90 ° from the state, the rotation of the engagement with the spindle in a fan radius surface 44 ₁ engaging surfaces of the cam output shaft when rotated 90 ° It begins (FIG. 12 (d)). Therefore, since the twisting motor can start rotating from the unloaded state, the starting is smooth, and accordingly, it is possible to employ a motor having a low torque.

In this state, the binding wire w projects through the binding wire guide hole of the fixed bearinging case 35 toward the spindle and the angular relation between the spiral cutter 48 provided on the spindle is shown in FIG. In the state shown in (d), the binding wire starts to be cut at the time when the twisting motor rotates approximately 90 ° counterclockwise (FIG. 12 (e)) from this state, and the binding wire is cut at about 90 °. End (Fig. 12
(F)). In this embodiment, when the spindle rotates, the binding wire guide hole and the helical cutter are gradually displaced from each other, and a shearing force acts on the binding wire to cut the binding wire. can do.

By continuing the rotation of the twisting motor even after the binding wire is cut, the engaging portion 39 and the hook 42 integrally provided on the swing member 38 attached to the spindle.
Also rotates together, and twisting proceeds in that state (Fig. 10).
(C), FIG. 12 (g) to (h)). At that time, as the twisting progresses, the hook is pulled toward the article to be bound and the swinging member falls down. Therefore, it is possible to twist in a state where the center of twist coincides with the spindle axis, and a gap with the article to be bound a is formed. Twisting can proceed until there is no more.

Further, since the hook and the engaging portion are extremely close to each other, the hook is on the relief groove side of the engaging portion, and the hook rotates integrally, the engaging portion is engaged with the twisting as the twisting progresses. The end of the binding wire gradually moves to the side of the escape groove and automatically disengages from the engaging portion, so that a disengagement failure does not occur without a special disengagement mechanism. When a predetermined torque is applied to the spindle, the end of the binding is automatically detected and the twisting is stopped (Fig. 11 (a), Fig. 12).
(I)). After that, the twisting motor is rotated in the reverse direction and the spindle is rotated in the clockwise direction, so that the bent portion of the binding wire is easily removed from the hook, and the binding is completed (FIG. 11).
(B), FIG. 12 (j)). After that, the twisting motor continues to rotate, the magnet is detected as passing through the origin sensor, and the spindle is positioned at the origin position and stopped by braking after a preset time (FIG. 12).
(K)). In this state, when the binding device is pulled to the front side, the surrounding guide 31 is opened and can be removed from the peripheral portion of the article to be bound a, so that the next work state can be quickly achieved.

Although the binding is performed as described above, the present binding machine is provided with the following control device according to the present invention so that the binding operation is automatically performed.
Hereinafter, a control device for a binding machine according to an embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a block diagram showing the overall configuration of a control device according to an embodiment of the present invention. First, the overall configuration of the present embodiment will be outlined. The control device according to the present embodiment has an arithmetic control unit 1, which is shown in FIG.
As shown in FIG. 2, a CPU 2 as a central processing unit, a ROM 3 for storing a program, an RA for writing data and the like at any time
M4, timer 5, I / O port 6 which is a bidirectional port,
It is composed of a microcomputer having an A / D converter 7 and a PWM control output port 8 which is a motor rotation command pulse generator, and various sensors for inputting various detection signals are connected to the arithmetic control unit 1 and the arithmetic control is performed. A bundled wire feeding motor 17 and a twisting motor 18 controlled by a control signal from the section are electrically connected. The R
In addition to the program, the OM stores data such as specified torque, specified temperature, specified processing time of the feed motor 17 and the twisting motor 18, and the like.

As a motor control method in the apparatus of this embodiment, the feed motor 17 and the twisting motor 18 are each composed of four field effect transistors 23 ₁ to 23 ₄ , 24.
A FET modules 15 and 16 in combination with _{1-24 4,}
By connecting to the PMW control output port built in the arithmetic control unit and controlling the motor by pulse width control, the PMW control is adopted to perform power saving control for forward rotation and reverse rotation of the motor.

Further, as an input signal to the arithmetic control unit 1, the origin position sensor S for detecting the origin position of the hook 42 is used.
1, a guide sensor S2 for detecting the open / closed state of the surrounding guide 31 and the tip position of the binding wire, an ON / OFF signal from the trigger switch 13 ₁ or 13 _2, etc., a condition setting signal from the twisting torque selection switch 14, etc., and a temperature sensor S3. The detection signal, the current value for monitoring the torque of the wire bundle feed motor and the twisting motor, etc. are input, and it operates while constantly monitoring the processing time, current value, element temperature, and hook position. .

As means for detecting the origin position of the hook,
In the present embodiment, the magnet 25 is provided on the outer peripheral surface of the heart-shaped origin finding cam 41 that rotates integrally with the spindle 33, and the origin position sensor S1 including a proximity switch for detecting the magnet is provided on the fixed frame portion of the apparatus main body. When the magnet 25 is provided and the magnet 25 is located closest to the origin position sensor S1, the hook is located at the origin position. Further, in this embodiment, as described above, the origin-exiting recessed portion 45 with which the origin-exiting roller 46 is engaged is formed on the outer peripheral portion of the heart-shaped cam. ) Is accurately positioned at the origin position.

An embodiment of the binding machine drive control method by the control device configured as described above will be outlined with reference to the flowchart of FIG. When the power switch 20 is turned on, the CPU 2 of the arithmetic control unit uses the data written in the ROM 3 to the RAM 4, the timer 5, the A / D converter 7,
Initialize the I / O port 6 and set the ROM setting value to R
Write to AM (step 1) and start hook position origin processing (step 2). After that, trigger switch 1
The condition is monitored until 3 ₁ or 13 ₂ is pressed, and when the trigger switch is pressed (step 3), it is judged whether or not it is operable (step 5). Is started (step 7). The binding wire twisting operation is completed by feeding the binding wire with the feed motor 17, rotating the twisting motor 18, and twisting the binding wire with the hook 42 (step 8). After that, the process waits until the trigger switch is pressed again.

When there is no trigger input signal in step 3, the processing time, current value, element temperature, and hook position are constantly monitored (step 4). The routine is repeated until is input. If it is in an abnormal state, the process proceeds to error processing, all operations are stopped, and only an error is displayed on the error display 21 (step 9). Although the above is an outline, the hook origin position finding process and the bundling process, which are the most characteristic parts of the present invention in the above operation, will be described in more detail.

Hook origin position finding processing The hook origin finding processing consists of origin finding forward rotation processing and origin finding reverse rotation processing, the respective flowcharts of which are shown in FIGS. 3 and 4, and the operation state of the apparatus. Are shown in FIG.

A) Origin finding normal rotation processing In the flowchart of FIG. 3, the output state of the CPU 2 is initialized from the data of the ROM 3 (step 1) CPU
The forward rotation command is issued from the PWM control output port 8 to the FET module 16 and the forward rotation side FET is turned on, whereby the twisting motor 18 starts forward rotation (step 2).

When the twisting motor 18 rotates, it is determined whether or not the origin position sensor S1 detects the magnet 25 (that is, it is below the position sensor and the output state of the sensor is L). Step 3). If the hook is not at the origin position, the magnet 25 monitors the specified drive torque value (step 4) and the specified processing time (step 5) written in the RAM 4 of the arithmetic control unit, and the magnet 25 detects the position of the origin position sensor S1 (see FIG. 12).
(b) and (d)), the processing of steps 3, 4 and 5 is continued, and the error processing is executed only when the set value of steps 4 and 5 is exceeded and the motor operation is stopped ( Step 6). After stopping, only error status is displayed and all operations are stopped. The specified torque value is written in the calculation control unit as a specified current value.

If the hook is at the origin position in step 3,
(Fig. 12 (b)) Further, as the motor further rotates, the origin position is deviated (Fig. 12 (c)). Therefore, if the origin position sensor output is H in step 7, it is normal and the hook is reset again. It rotates until it reaches the origin position (step 11), and when it reaches the origin position, it sends a stop signal to the twisting motor.
(Step 15, FIG. 12D).

If the states of step 7 and step 11 are NO within a predetermined time, the process proceeds to step 8 to step 10 and step 12 to step 14 as in the case of step 4 to step 6, and the abnormal state is checked. To do.

In steps 4, 8 and 12, the current value detected from the output current measuring resistor 26 (FIG. 1) is amplified by the current detection amplifier 27 (FIG. 1) and the output of the current detection amplifier 27 is calculated. The value is input to the control device A / D converter 7 and converted into a digital value, the numerical value is compared and calculated with the specified drive torque value set in the RAM 4, the state is monitored, and if it is less than or equal to the setting, the process proceeds to the next processing. ing. Further, in steps 5, 9, and 13, the processing time is measured by the timer 5 of the operation control unit, the data is compared and calculated with the data in the RAM 4, and if the time is less than the specified time, the next processing is performed.

If the set specified torque (current) and the specified time are exceeded, the process branches to error processing, the operation of the twisting motor 18 is stopped, and only the error is displayed (steps 6 and 1).
0, 14). If everything is okay, the twisting motor 18
Is stopped (step 15). However, since the twisting motor 18 rotates due to inertia even when the driving is stopped, the hook stops at a position deviating from the origin position (FIG. 12 (e)). The position must be reversed from the position, and the reverse processing shown in the flowchart of FIG. 4 is started.

B) Origin position reversal processing In the flowchart of FIG. 4, after the normal rotation is turned off, a reversal command is issued to reverse the twisting motor 18 (step 1).
6, FIG. 12 (f)). After confirming the origin position (steps 17 and 2)
1), the twisting motor 18 is turned off. Since the motor rotates due to inertia even after the twisting motor 18 is turned off, the twisting motor 18 is braked to stop the hook at the origin position. In step 25, a preset time after passing the origin position until the brake is applied is fetched from the RAM, the twisting motor 18 is braked, and when the specified time is reached, exactly one rotation is made and the operation is stopped at the origin position. ,
The hook origin position finding process is ended (step 26), and the next operation is waited for (FIG. 12 (h)). According to the present embodiment, since the heart-shaped origin finding cam having the above-mentioned configuration is adopted, even if the braking time is a little early, if the position is as shown in FIG. Since the positioning roller and the origin positioning recess are forcibly fitted together, the origin positioning process can be performed accurately.

Further, as in the case of the forward rotation processing, the processing time and torque value are measured during the reverse rotation, and the state is monitored while performing the comparison calculation with the specified value, and when the specified time is exceeded and when the specified torque is exceeded.
When (current) is exceeded, the process branches to error processing (steps 20 and 24), all operations are stopped, and only error display is performed.

Bundling Process The flowchart of FIG. 5 shows a series of bundling processes. As shown in the flow chart, the bundling process includes each part state monitoring process, a bundling line feeding process, a bundling line hooking process, a bundling line pullback process, a bundling line twisting process, and a bundling line removing process and an origin return process. There is.

When the origin position locating process is completed, the trigger switch 13 is actuated to input the trigger signal, and the bundling process is started, first, each part state monitoring process is performed to determine whether the operation is possible (step 1). Each part status monitoring process,
Before setting the status monitoring input port and moving to the twisted bundle operation, the information from the I / O port 6 and the numerical value from the A / D converter 7 are compared and calculated. Is ended, and the process proceeds to the binding wire feeding process. If the battery voltage drops or the FET modules 15 and 16 generate heat abnormally, all the operations are stopped by branching to error processing, and only error display is performed.

In the binding wire feed processing of step 2, when the trigger switch is input and the operation is enabled, it is confirmed by the guide sensor S2 whether the surrounding guide 31 is closed. If the guide is open, it is closed. When waiting and closing, the feeding operation is started. As for the rotation of the feed motor 17, the output from the PWM control output port 8 issues a forward rotation command to the FET module 15 according to the setting value of the RAM 4, and the forward rotation side FET is turned on, whereby the feed motor 17 rotates. When the rotation command is issued, the processing time monitoring timer 5 is set to start counting, and in order to monitor the state of the motor, the signal of the current detection amplifier 22 is converted by the A / D converter to change the state of the motor. Waiting for a signal from the guide sensor S2 while comparing and calculating. When the change in the signal of the guide sensor S2 is captured (FIG. 11 (c)), the specified time feed motor 17
Is turned off and then turned off, and the binding wire feeding process is completed.

Then, the binding wire hooking process for hooking the binding wire in step 3 is started. That is,
After the feed motor 17 is stopped, in order to hook the fed binding wire, a twisting command is issued to the twisting motor 18 to move the hook to the angle at which the binding wire hits the hook, and when the specified processing time is reached, the twisting motor Turn OFF 18 to finish. When the specified processing time of the twisting motor 18 exceeds the set maximum torque, the process branches to error processing, all operations are stopped, and only error display is performed.

After the twisting motor is stopped, in order to remove the slack of the binding wire with the binding wire hooked on the hook, the binding wire pullback process of step 4 is performed. In the binding wire pullback process, a reverse rotation command is issued to the feed motor 17 to reverse it. The conversion of the A / D converter is started at the same time as the reverse rotation command, the specified torque value and the output torque value of the feed motor 17 are calculated and compared, and when the specified torque is reached, the feed motor 17 is turned off. As a result, as shown in FIG. 11 (a), the binding wire engages with the hook and becomes tense around the article to be bound,
The next twisted wire twisting process is surely started. The processing time and the output torque are measured while the feed motor 17 is rotating, and when the specified time and the specified drive torque value are exceeded, the process branches to error processing, all operations are stopped, and only an error display is performed.

A detailed flow chart of the step of twisting the bundled wires in step 5 is shown in FIG. In the flowchart of FIG. 6, after the reverse rotation of the feed motor 17 is stopped, the torque value selected by the twisting torque selection switch 14 (FIG. 1) is acquired (step 1), and the twisting motor 18 is normally rotated (step 2). When the conversion of the A / D converter is started at the same time as the forward rotation command, the torque value acquired from the twisting torque selection switch 14 and the output torque value of the twisting motor 18 are arithmetically compared (step 3), and when the specified torque is reached ( In step 4), the twisting motor 18 is turned off, and the twisting operation is completed (steps 6 and 7, FIG. 12B, FIG. 9A). While the twisting motor 18 is rotating, the processing time is measured and the output torque is measured. If the specified time and the set specified drive torque value are exceeded, the process branches to error processing in step 8 to stop all operations. , Error display only.

When the twisting process of the binding wire is completed, the binding wire removing process and the origin returning process are performed. FIG. 7 shows a detailed flowchart of the binding line removal processing and the origin return processing, and the movements of the hook portion and the origin position sensor portion at that time are shown in FIG.
3 is shown.

In the flowchart of FIG. 7, when the twisting motor 18 finishes twisting in a normal state, a reverse rotation command is issued to the twisting motor 18 in order to return the origin position of the hook again and to remove the binding wire from the hook ( In step 1), the hook is reversed to disengage the binding wire from the hook (FIG. 13B). Further, as the twisting motor continues to rotate in the reverse direction, after the origin position is confirmed (step 2, FIG. 13 (d)), as in the case of the origin position setting processing shown in FIG. ), Turn off the twisting motor 18
(Step 14), the hook 35 is stopped at the origin position through FIG. 13 (e) (FIG. 13f).

The processing time and the torque value are measured during the reverse rotation, and the next processing is performed while performing the comparison calculation. The above series of operations is similar to the above-mentioned origin position reversal processing, and when the specified time is exceeded and when the set specified torque value is exceeded, it branches to error processing and stops all operations and only displays the error. To do.
When the original position is returned to normal, the trigger switch input monitoring state is entered again (step 15). Through the above process, the twisting process is completed, one bundling is completed, and the process returns to step 3 shown in the flowchart of FIG. 2 to wait for the input of a trigger signal for bundling of the next article to be bound.

As described above, according to the present invention, when the power switch is turned on, the hook position origin setting process is started, and then the state is monitored until the trigger switch is pressed,
When the trigger switch is pressed, it is judged whether it is in an operable state, and if it is in an operable state, the process for twisting the binding wire is started. Further, during the processing, the processing time and torque of the feed motor and the twisting motor are measured, and the state is monitored while performing comparison calculation with the set value. Therefore, the abnormality of the binding machine can be immediately detected, and the binding work can always be performed in a reliable operation state.Because the binding work is always started with the hook at the origin position, the hook and the binding line can be securely connected. It is possible to surely perform the bundling without engaging in the trouble and the bundling failure.

In the hook origin position setting process, the twisting motor is rotated in the forward direction to once pass through the origin position, then stopped, and then rotated in the reverse direction to stop at the origin position.
It is possible to always check whether the sensor and the motor are operating normally, and it is possible to prevent troubles due to malfunction. Also, the motor rotates due to inertia even if the twisting motor drive is stopped when passing the origin position, so the brake is applied to stop the hook at the origin position, but the braking time required to stop at the origin position is set in advance in RAM. By doing so, if the braking time is fetched from the RAM and the braking is applied, and the processing operation is ended when the specified time is reached, the hook can rotate exactly once and stop at the origin position.

Therefore, according to the present invention, the hook can be reliably stopped at the origin position by a simple method without using an encoder or the like. Further, during the hook origin position finding process, it is possible to immediately recognize the occurrence of a trouble or the like due to the absence of the origin position detection signal within the specified time or the motor torque exceeding the specified drive torque.

For monitoring the torque of the feed motor and the twisting motor, the current value detected from the output current measuring resistor is amplified by the current detection amplifier, and the output of the current detection amplifier is sent to the arithmetic and control unit A / D converter. Since the state is monitored while inputting and converting it into a digital value and comparing and calculating the numerical value with the set value of the RAM, it is possible to surely monitor without providing a special detector. Further, since the processing time is measured by the timer built in the arithmetic control unit and the arithmetic operation is compared with the data in the RAM, it is possible to surely find a trouble and prevent damage to the device.

Further, after the twisting process is completed, the twisting motor is reversed to remove the binding wire from the hook, and the origin position of the hook is set, so that the binding end of the binding wire is easily disengaged from the hook. , You can immediately move on to the next binding operation.

The preferred embodiment of the present invention has been described above.
The present invention is not limited to the above-described embodiments, and various design changes can be made within the scope of the technical idea thereof. For example, the origin position detecting means of the hook is not limited to the combination of the magnet and the proximity switch, and other known means such as an optical detection sensor can be adopted. Also,
In the above embodiment, the binding machine incorporates a binding wire feed motor and a twisting motor in the binding machine body, but either one of the binding wire feed motor and the twisting motor in order to reduce the weight of the binding machine body, or It goes without saying that the present invention can also be applied to a binding machine in which both are separated from the binding machine main body and attached to the waist with a band so that work can be performed.

At this time, for example, when the twisting motor is separated, in order to rotate the spindle provided in the binding machine body, it is necessary to transmit torque from the motor to the spindle through the flexible shaft. In the case of a flexible shaft, there is a possibility that a sudden disturbance load such as bending in the middle may be applied. In that case, the motor load becomes abnormally high and exceeds the preset current value in the apparatus of the above-described embodiment, and it is determined that the binding is abnormal, and the binding work is interrupted. In order to avoid such a problem, for example, the following method can be applied to the device.

A torque value (current value) that increases due to a sudden disturbance load is previously obtained by experiments, and the data table is stored in the ROM of the arithmetic control unit as a load increase prediction data value. After starting the twisting motor, the motor rotation speed and current value are measured every time within a fixed time, and the calculated values are compared with the specified torque value at no load stored in the RAM of the calculation control unit to increase the load. If you do, R
It is calculated from the data table (predicted value) stored in the OM, added to the tightening torque detection value in the normal time, and the numerical value is taken as the current tightening detection torque value (specified current value during disturbance load) of the arithmetic control unit. Store in RAM. At the same time, the tightening operation is monitored, and while comparing the current value with the data in the RAM at any time, a motor rotation command is issued until the set torque value is reached, and when the current value reaches the set value, the motor is stopped. Further, even during the above-mentioned arithmetic processing, the drive circuit may issue a rotation command to the motor so that the actual rotation speed and the command current value with respect to the command rotation speed are obtained by the calculation circuit on the drive circuit side.

[0061]

According to the present invention, accurate positioning control can be performed by a simple method using a light and small motor without using an expensive positioning device such as an encoder or an expensive motor such as a servomotor. It is possible to obtain a binding machine which is more reliable in operation than conventional binding machines, can firmly and reliably bind articles such as reinforcing bars, and is lightweight, inexpensive, and low in running cost.

Further, during the binding work, the processing time and drive torque of the feed motor and the twisting motor are measured, and the state is monitored while performing the comparison calculation with the set value, so that the abnormality of the binding machine can be immediately detected, and it is always reliable. Bundling work can be performed in various operating states.

The torque of the feed motor and the twisting motor is monitored by comparing the current value detected from the output current measuring resistor with the set value of the arithmetic control section, and the operation time is monitored by the arithmetic control. By measuring the processing time with a timer built in the unit and performing a comparison operation with the data in the RAM, it is possible to reliably monitor with a simple method without providing a special detector. Further, according to the configuration of claim 3, in the binding machine of the type in which the binding wire feed motor and the twisting motor are separated from the binding machine body, even if the flexible shaft bends and the disturbance load increases, error handling is performed. The binding can be continued satisfactorily without doing so.

Since the binding work is always started with the hook at the origin position, the hook and the binding wire are securely engaged,
Bundling can be reliably performed without causing troubles or defective binding. In addition, the feed motor and twisting motor are FE
By performing drive control by PMW control in combination with the T module, it is possible to reliably perform forward / reverse rotation control and to perform power saving drive. Further, according to the structure of claim 8, the origin can be more surely positioned, and since there is play between the output shaft of the twisting motor and the spindle at the time of rotation start of the twisting motor, a load is applied from the start of rotation of the motor. Since it does not occur, a motor having a relatively small torque can be adopted.

After the binding wire feeding process, the twisting motor is moved about the angle at which the binding wire is hooked on the hook, so that the hook can be securely engaged with the binding wire, and then the binding wire pull-back process is performed. Makes you nervous,
Twisting can be reliably started with the binding wires in close contact.

Furthermore, since the binding wire removing processing and the origin returning processing are performed after the twisting processing, the binding end portion of the binding wire can be surely removed from the hook, and the next binding operation can be started immediately.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an overall configuration of a binding machine control device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing the overall flow.

FIG. 3 is a flowchart of a normal rotation portion of hook origin position determination processing.

FIG. 4 is a flowchart of a reverse portion of a hook origin position finding process.

FIG. 5 is a flowchart of a bundling process.

FIG. 6 is a flowchart of a bundled wire twisting process.

FIG. 7 is a flowchart of an origin return process for removing a binding line.

FIG. 8 is a side view of the binding machine according to the embodiment of the present invention with the cover removed.

9 (a) to 9 (c) are side views of essential parts showing an operation sequence of the binding machine shown in FIG.

10 (a) to 10 (c) are side views of essential parts for each operation sequence of the binding machine following FIG.

11 (a) and 11 (b) are side views of essential parts in each operation order of the binding machine following FIG.

12A to 12K are schematic diagrams showing rotation angles in the binding operation order of the origin position finding cam portion.

[Explanation of symbols]

1 Calculation Control Unit 2 CPU 3 ROM 4 RAM 5 Timer 6 I / O Port 7 A / D Converter 8 PWM Control Output Port 13 Trigger Switch 14 Twist Torque Selection Switch 15, 16 FET Module 17 Feed Motor 18 Twist Motor 19 Output Shaft 21 , 26 Output current measuring resistor 22, 27 Current detection amplifier 23, 24 Field effect transistor 30 Bundling machine 31 Surrounding guide 32 Bundling article engaging piece 33 Spindle 36 Bundling guide pipe 35 Bearing case 37 Inclined guide surface 38 Swing member 39 Engagement part 40 Spring 41 Home search cam 42 Hook 43 Output shaft fitting hole 45 Home search recess 46 Home search roller 47 Cutter 50 Binding wire bobbin S1 Home position sensor S2 Guide sensor S3 Temperature sensor

Claims (11)

[Claims] 1. A binding wire fed by a feed motor surrounds a binding position of articles to be bound, and a twisting motor rotates a hook to twist the binding ends of the binding wires to automatically bind the articles to be bound. A method of controlling the binding machine, wherein the twisting motor is driven to locate the hook at an origin angle, a hook origination process is performed, a feeding motor is used to send a binding line, and a binding line feeding process is performed to surround a bound article,
A hooking process of rotating the hook to a position that engages with the tip end of the binding wire, a binding wire pulling back process of reversing the feed motor to tighten the binding wire, and a driving of the twisting motor to rotate the hook. It consists of a bundled wire twisting process for twisting, by setting the specified drive torque and specified processing time of the feed motor and the twisting motor in the arithmetic control unit in advance, and processing the feed motor and the twisting motor during the processing. A method for controlling a binding machine, which measures time and torque, monitors a state while comparing and calculating with a set value, and performs error processing when the processing time or the torque exceeds the set value. 2. The hook origin position locating process is performed by rotating the twisting motor in a normal direction and using a twisting motor to rotate the twisting motor integrally with a hook. The origin position of the hook is detected by passing through the neighborhood, and when the hook reaches the origin position again, a stop signal is sent to the twisting motor, then a reverse rotation command is issued to reverse the twisting motor, and after confirming that the origin position has passed, The control method for the binding machine according to claim 1, wherein a stop signal is sent to the twisting motor, a braking time preset to stop at the origin position is fetched from the arithmetic control unit, and the twisting motor is braked. . 3. The torque of the feed motor and the twisting motor is monitored by setting the specified drive torque as a specified current value in a calculation control unit and calculating the current value detected from the output current measuring resistor at any time. The control method for the binding machine according to claim 1 or 2, wherein the binding machine is inputted into the A / D converter and converted into a digital value, and the numerical value is compared and calculated with the specified current value. 4. The monitor of the torque of the feed motor and the twisting motor is performed by previously calculating a load increase prediction value due to a disturbance load in the operation control unit in the binding machine in which the feed motor and / or the twisting motor is separated from the binding machine body. After starting the feed motor and / or the twisting motor, the rotation speed and the current value of the motor are measured at any time within a certain period of time, and the calculated value is compared with the specified current value. Calculated from the predicted load increase value, added to the specified current value, and stored in the calculation control unit as the specified current value during load, and the detected current value during disturbance load is detected. The control method for the binding machine according to claim 3, wherein the control method is performed while comparing and calculating the current value. 5. The twisting process of the binding machine comprises rotating a twisting motor in a normal direction, calculating and comparing a preset set twisting torque value and an output torque value of the twisting motor, and when the set twisting torque value is reached, the twisting motor is turned on. The twisting is stopped to stop the twisting motor, and the twisting motor is rotated in the reverse direction to disengage the binding wire from the hook. When the hook reaches the home position, a stop command is issued to the twisting motor, and a preset brake is applied. The method of controlling the binding machine according to claim 1, 2, 3 or 4, wherein the twisting motor is braked for a period of time so that the hook stops at the origin position. 6. A method of controlling a binding machine in which a twisting motor is used to rotate a hook to twist the binding ends of a binding wire to automatically bind the articles to be bound, and the twisting motor is rotated in the forward direction to be integrated with the hook. The origin position of the hook is detected by passing a specific detection point provided on the rotating rotating part near the origin sensor provided on the fixed part, and the twisting motor stops when the hook reaches the origin position again. Send a signal, then issue a reverse rotation command to reverse the twisting motor,
After confirming that the origin position has been passed, send the twisting motor stop signal, take in the braking time preset to stop at the origin position from the arithmetic control unit, and brake the twisting motor to stop the hook at the origin position. A method for controlling a binding machine, which is characterized in that a hook origin position processing is performed. 7. A binding machine which automatically bundles the articles to be bound by surrounding the articles to be bound with a binding wire fed by a feed motor and rotating a hook by a twisting motor to twist the binding ends of the binding wires together. In the control device of the above, the hook origin position detecting means including a specific detection point provided on the rotating part that rotates integrally with the hook by the twisting motor and the origin sensor provided on the fixed part, and the surroundings of the bound article Bundling wire detecting means for detecting the feeding end of the bound binding wire,
It has a torque detecting means for detecting the torque of each of the binding wire feed motor and the twisting motor, inputs a detection signal from each of the detecting means, and stores the specified drive torque and the specified processing time of the feed motor and the twisting motor in advance. During the processing of the feed motor and the twisting motor, its processing time,
A control device for a binding machine, comprising a calculation control unit that measures a torque value, monitors a state while performing a comparison calculation with the set value, and controls the binding wire feed motor and the twisting motor. 8. The origin position detecting means of the hook is provided in the rotating part, and a fan-shaped output shaft fitting hole into which the output shaft of the twisting motor is fitted is formed in the shaft center part, and the fan-shaped output shaft fitting hole is formed in the outer peripheral part thereof. An origin-finding cam provided with a magnet and in which an origin-positioning roller fitting concave portion is formed, an origin sensor for detecting the magnet, and the origin-positioning roller fitting concave portion that is pressed against the outer peripheral portion of the origin-finding cam. By fitting
The control device for the binding machine according to claim 7, comprising a positioning roller that positions the hook at the origin position. 9. The arithmetic control unit is a central processing unit CP.
U, ROM for storing programs, RAM for writing data etc. at any time, timer, I / O port which is a bidirectional port, A / D converter, PWM control output port which is a motor rotation command pulse generator. Item 7. The control device for the binding machine according to Item 7. 10. The feed motor and the twisting motor are respectively combined with four field effect transistors,
10. The PMW control is performed by connecting to a PMW control output port built in the arithmetic control unit.
Controller for the binding machine described. 11. The twisting torque selection switch capable of arbitrarily setting the twisting torque, and the article to be bound can be bound with the twisting torque set by the twisting torque selection switch. The control device for the binding machine.