TW201722260A - Foreign matter detecting mechanism of electric scissors - Google Patents

Abstract

A foreign matter detecting mechanism of electric scissors detects pinching of a foreign matter in the electric scissors. The electric scissors have blade sections which are interlocked with a rotation of a motor. The mechanism includes a foreign matter detecting unit. The foreign matter detecting unit detects that the blade sections pinch the foreign matter. The foreign matter detecting unit detects the foreign matter based on torque information of the motor.

Description

Electric shear foreign body detection mechanism

The present invention relates to an electric shear that is used after the blade is opened and closed by electric power.

An electric shear is used for trimming a tree or the like, and the electric shearing system is configured to open and close a pair of blade portions by a driving force of a motor, and to cut a cutting object such as a branch.

In the case of fruit tree cultivation, etc., there is a case where a wire (metal wire) is placed on a pillar and a fruit tree scaffold is formed. In the case of the fruit tree cultivation using the fruit tree scaffolding, the operator cuts the wire by mistake. If the wire is cut, there is a case where the wire is pulled again. Further, even if the wire is not cut, a hard wire is caught, and a blade portion of the electric shearing blade is broken. When the electric shear is continuously used in a state where the blade is in a blade collapse, the blade is finally damaged or the object cannot be cut normally.

As a technique related to this problem, for example, Patent Document 1 discloses an electric shearing device in which a dedicated conductive sensor and a dedicated circuit are provided on a blade portion, and if electrical contact is detected at the blade portion, it is created. The closing action of the cutting edge is interrupted. The technique described in Patent Document 1 uses a special glove for preventing an injury. However, by applying this technique, it is possible to prevent the wire from being erroneously cut by detecting the wire at the blade portion.

[Prior patent documents] [Patent Literature]

[Patent Document 1] French Patent No. 2838998

However, in the technique described in Patent Document 1, since it is necessary to provide a dedicated conductive sensor and a dedicated circuit to the blade portion, there is a problem that the manufacturing cost becomes expensive. In addition, there is a problem that the machine becomes large, the blade portion becomes thick, the cutting performance is lowered, the maintenance of the blade portion becomes difficult, and the sensor is erroneously detected when the sap or moisture adheres to the blade portion. The question of possibility, etc.

Accordingly, an object of the present invention is to provide a foreign body detecting mechanism for an electric scissors, which is not provided with a dedicated sensor or circuit, and can prevent erroneous cutting of the wire.

The present invention has been developed in order to solve the above problems, and has the following features.

The invention of claim 1, wherein the invention includes a motorized shear that includes a blade that is interlocked with the rotation of the motor, and a foreign body detecting mechanism that detects the electric shear that is inserted into the foreign object, and is characterized in that: the detecting the blade is sandwiched by the foreign matter. The foreign matter detecting means; the detecting of the foreign matter by the foreign matter detecting means is performed according to the torque information of the motor.

The invention of claim 2 is characterized by not only the feature points of the invention of claim 1 but also the rate of change of the torque of the motor as the torque information of the motor.

The invention of claim 3 is characterized by not only the feature points of the invention of claim 1 or 2, but also if the rate of change of the torque of the motor is less than a predetermined threshold. When it is determined that the branch is cut, if the rate of change of the torque of the motor is equal to or greater than a predetermined threshold, it is judged that the foreign matter is caught.

The invention of claim 4 is characterized in that it is not only a feature point of the invention of any one of claims 1 to 3, but also characterized in that the foreign matter detecting means is closed by the blade portion. Angle, the threshold is selected from the preset threshold data, and the threshold value and the torque information of the motor are compared to perform foreign object detection.

The invention of claim 5 is characterized by not only the feature points of the invention of any one of claims 1 to 4, but also characterized in that the torque information of the motor is based on the current value of the motor, Any one of the voltage value or the rotational speed is presumed.

The invention of claim 6 is characterized by not only the feature points of the invention according to any one of the first to fifth aspects of the patent application, but also characterized in that the detection of the foreign matter by the foreign object detection means is It is invalid to judge that the blade is closed to a predetermined angle, and it is effective after it has been judged that the blade is closed to a predetermined angle.

The invention of claim 7 is characterized by not only the feature points of the invention according to any one of the first to sixth aspects of the patent application, but also characterized by the foreign matter detection mode for performing detection of foreign matter, and A continuous execution mode in which detection of foreign matter is not performed; and means for switching to switch between the two modes.

The invention of claim 8 is characterized by not only the feature points of the invention according to any one of claims 1 to 7, but also characterized in that when the foreign matter detecting means detects foreign matter, The motor stops.

The invention of claim 9 is characterized by not only the feature points of the invention according to any one of claims 1 to 7, but also characterized in that when the foreign matter detecting means detects foreign matter, The motor is reversed.

The invention of claim 10 is characterized by not only the feature points of the invention according to any one of the first to seventh aspects of the application, but also characterized in that: when the foreign object detecting means detects a foreign object, The user notified the exception.

The invention of claim 11 is characterized by not only the feature points of the invention of any one of claims 1 to 7, but also characterized in that when the foreign object detecting means detects foreign matter, Physically, the power path is cut so that the power of the motor is not transmitted to the blade.

The invention of claim 12 is characterized by not only the feature points of the invention according to any one of the first to seventh aspects of the application, but also characterized in that it includes adjusting the torque of the motor transmitted to the blade. a clutch mechanism that makes the clutch mechanism effective when the foreign matter detecting means detects a foreign object.

The invention of claim 1 is as described above, including detecting a foreign matter detecting means for inserting a foreign object into the blade portion; and detecting the foreign matter by the foreign matter detecting means is performed according to the torque information of the motor . According to this configuration, it is possible to reliably cut the object to be cut, such as a tree, without providing a dedicated sensor or circuit, and to detect foreign matter when the wire is thin and hard.

For example, when the object to be cut such as a tree and the wire are compared, the object to be cut is relatively thick and soft, and the wire is fine and hard. Therefore, in the case where the torque generated when the blade portion is to be closed is different from the usual value, since the possibility of cutting the wire is possible, foreign matter detection can be performed.

In addition, in the detection of foreign matter, the torque value of the motor can be directly used, and the slope of the torque value of the motor (the variation of the torque in a fixed time) can also be used.

Further, as described above in the second aspect of the patent application, as the above-described torque information of the motor, the rate of change of the torque of the motor is used. According to this configuration, since the increase in the torsion force at the time of starting the cutting of the foreign matter can be grasped, the foreign matter can be detected immediately.

In other words, the object to be cut, such as a tree, is thick and soft. Therefore, when the object to be cut is cut, the front and rear torque values near the center of the object to be cut are cut after the blade is inserted into the skin. Become the largest, and then, as the blade gradually closes, the torque value becomes smaller. In other words, there is a tendency that the increase in the torsion is slow when the object to be cut is cut.

On the other hand, since the foreign matter such as the wire is relatively thin and hard, when the foreign matter such as the wire is cut, the torque is rapidly increased immediately after the wire comes into contact with the blade.

If the slope of the torque value using the motor is used in this way, since the increase in the torsion force at the time of starting the cutting of the foreign matter can be grasped, the foreign matter can be detected immediately.

Further, as the invention of claim 3 is as described above, if the rate of change of the torque of the motor is less than a predetermined threshold, it is judged that the branch is cut, and if the rate of change of the torque of the motor is determined When the threshold is equal to or greater than the threshold value, it is judged that the foreign matter is caught, and it is judged that the branch is broken when the increase in the torsion is slow, and the foreign matter is controlled when the rapid rise is caused.

Further, as the invention of claim 4 is as described above, the foreign matter detecting means is adapted to the closing angle of the blade portion from the preset threshold The value data is selected as a threshold value, and the threshold value and the torque information of the motor are compared to perform foreign object detection. According to this configuration, since the thick branches and the thin wires can be distinguished from the angle of the blade portion, and the thin branches and the wires can be distinguished from the torque of the motor, the foreign matter can be reliably detected.

For example, the threshold value after the blade portion is closed to a predetermined angle in advance is set to be lower than the threshold value before the blade portion is closed to a predetermined angle (or a threshold value before the blade portion is closed to a predetermined angle) It is not set, and if the threshold is not set, the check of the threshold is not performed). In this way, in the case where the torque value of the motor rises before the blade portion is closed to a predetermined angle, since the possibility of cutting the thick trees is high, it is not detected as a foreign object, and on the other hand, after the blade portion is closed to a predetermined angle When the torque value of the motor rises, since it is highly likely to have a relatively thin and hard foreign matter such as a wire, it can be detected as a foreign matter.

Further, as described above in the fifth aspect of the patent application, the torque information of the motor is estimated based on any one of the current value, the voltage value, or the number of revolutions of the motor. According to this configuration, it is possible to detect an increase in the torsion force, that is, a foreign matter, without using a special sensor or the like.

Further, as the invention of claim 6 is as described above, the detection of the foreign matter by the foreign matter detecting means is invalid until it is judged that the blade is closed to a predetermined angle, and it is judged that the blade is closed to the predetermined After the angle becomes effective. According to this configuration, since the blade is closed to a predetermined angle, the foreign matter is not detected even if the torque value of the motor is increased. Therefore, when the object to be cut such as a tree is cut, the erroneous detection of the foreign matter does not occur. Further, when the blade portion is closed to a predetermined angle, the torque value of the motor rises, and since it is possible to cut a relatively thin and hard foreign matter such as a wire, it can be detected as a foreign matter.

Further, the invention of claim 7 is as described above, and has a foreign object detecting mode for detecting foreign matter detection and a continuous execution mode for detecting no foreign matter; and includes switching between the two modes. Switching means. According to this configuration, for example, when the thin and hard branches are cut, the continuous execution mode can be switched, so that the problem of erroneous detection of the foreign matter being caught can be avoided.

Further, as described in the eighth aspect of the patent application, as described above, when the foreign matter detecting means detects a foreign object, the motor is stopped. According to this configuration, since the cutting operation is not performed even when the foreign matter is detected, it is possible to avoid the problem that the wire is cut or the blade portion is chipped.

Further, as the invention of claim 9 is as described above, the motor is reversed when the foreign matter is detected to detect foreign matter. According to this configuration, since the cutting operation is not performed even when the foreign matter is detected, and the foreign matter caught in the blade portion is released, the problem of cutting the wire or causing the blade portion to be chipped can be avoided.

Further, as the invention of claim 10 is as described above, when the foreign matter detecting means detects a foreign object, the user is notified of the abnormality. According to this configuration, the user can immediately recognize and cope with foreign matter detection. For example, in the case of using a power clip that does not stop the cutting operation when a foreign object is detected, the user himself or herself can select whether or not to continue the cutting operation.

Further, as described above in the eleventh aspect of the patent application, when the foreign matter detecting means detects a foreign object, the power that physically cuts the power path into the motor is not transmitted to the blade. According to this configuration, since the cutting operation is not performed even when the foreign matter is detected, it is possible to avoid the problem that the wire is cut or the blade portion is chipped.

Further, the invention of claim 12 includes the clutch mechanism for adjusting the torque of the motor transmitted to the blade portion; and the foreign matter detecting means detects the foreign matter, thereby causing the clutch mechanism to become effective. According to this configuration, since the upper limit of the torsion force is lowered when foreign matter is detected, there is no occurrence of a torsion force in which the wire is cut or the blade portion is blade collapsed.

10‧‧‧ electric shears

11‧‧‧ Cable connection

12‧‧‧Motor (power source)

13‧‧‧Rolling screw mechanism

14‧‧‧Speed reduction mechanism

15‧‧‧ linkage mechanism

15a‧‧‧Drive shaft

15b‧‧‧1st link

15c‧‧‧2nd link

16‧‧‧Support members

16a‧‧‧Guide

17‧‧‧Shell

17a‧‧‧Connector cover

17b‧‧‧Operating Member Protection Department

17c‧‧‧Handle

17d‧‧‧ back end

17e‧‧‧ rear end face

18‧‧‧1st blade

18a‧‧‧cutting department

18b‧‧‧ Root

18c‧‧‧Connected shaft

19‧‧‧2nd blade

19a‧‧‧cutting department

19b‧‧‧ Root

19c‧‧‧ Connecting shaft

20‧‧‧Edge

22‧‧‧Operating components

22a‧‧‧Axis

22b‧‧‧1st Operation Department

22c‧‧‧roll

22d‧‧‧2nd Operation Department

23‧‧‧Wobble member

23a‧‧‧Swing axis

23b‧‧‧Pushing Department

24‧‧‧Micro Switch

24a‧‧‧Contact Department

25‧‧‧ Sensor

26‧‧‧Rotation detection department

30‧‧‧ cable

31‧‧‧core

32‧‧‧Connecting terminal

33‧‧‧Club Department

34A~34N‧‧‧Female Pin

35A~35D‧‧‧core wire

40‧‧‧Power supply unit

41‧‧‧ Horn

42‧‧‧LED

43‧‧‧ Cable connection

44‧‧‧Secondary battery

100‧‧‧Control substrate (foreign object detection means)

110‧‧‧Rotation judgment department

120‧‧‧ Current Detection Department

130‧‧‧Current Change Calculation Department

140‧‧‧ Current Judgment Department

Figure 1 is a right side view of the electric shear.

Fig. 2 is a right side view showing the internal structure of the electric shear.

Fig. 3 is a left side view showing the internal structure of the electric shear.

Fig. 4 is an explanatory view showing a cutting operation, Fig. 4(a) is a view showing a state in which the blade portion is opened, and Fig. 4(b) is a view showing a state in which the blade portion is closed.

Fig. 5 is an explanatory view showing the operation of the operating member, Fig. 5(a) is a view showing a state in which the operating member is not operated, and Fig. 5(b) is a view showing a state in which the first operating portion has been operated, Fig. 5 (c) is a diagram showing the state in which the second operation unit has been operated.

Fig. 6 is a block diagram showing the configuration of a foreign body detecting mechanism for electric shearing.

The seventh system shows a flowchart of the cutting operation of the electric shear.

Fig. 8 is a waveform diagram showing changes in current values when the object to be cut or foreign matter is cut.

Fig. 9(a) is a cross-sectional view showing a connection terminal of a cable, and Fig. 9(b) is a cross-sectional view showing a connection terminal of a cable according to a modification.

Figure 10 is a front view of the connection terminal of the cable.

Fig. 11 is a flow chart showing the cutting operation of the electric shear according to the modification.

Embodiments of the present invention will be described with reference to the drawings.

The electric scissors 10 of the present embodiment are used, for example, in the trimming of a tree, and the pair of blade portions 18 and 19 are opened and closed by the driving force of the motor 12 of the power source, and the object to be cut such as a branch is cut.

The electric shear 10 is as shown in FIGS. 1 to 3, and includes: a casing 17; a cable connecting portion 11 provided at a rear end portion of the casing 17, a motor 12; and a ball screw mechanism 13 for driving the motor 12 The rotation motion is converted into a linear motion motion; the support member 16 guides the linear motion of the ball screw mechanism 13; and the link mechanism 15 is used to convert the linear motion of the ball screw mechanism 13 into the opening and closing of the two blade portions 18, 19. The first blade portion 18 and the second blade portion 19 are operated by the link mechanism 15; the operation member 22 is provided as an operation portion for controlling the motor 12; and the swing member 23 is provided with the tracking operation member 22 The mode is swung; the micro switch 24 pushes the contact by the swinging member 23; the sensor 25 detects the rotation angle of the operating member 22; and the rotation detecting portion 26 detects the rotation of the motor 12.

The outer casing 17 is not particularly illustrated, and is composed of two divided pieces, and the operating mechanism is housed inside and covers almost the entire machine. The housing 17 includes a link cover portion 17a that covers a portion of the link mechanism 15 and an operating member protection portion 17b that is annularly formed to cover the periphery of the operating member 22; the handle portion 17c is gripped by the user The rear end portion 17d is formed at the rear portion of the handle portion 17c.

The link cover portion 17a accommodates the link mechanism 15 provided at the front end portion of the outer casing 17, and protrudes the first blade portion 18 and the second blade portion 19 from the front end portion.

The operation member protection portion 17b is provided behind the link cover portion 17a. Below the portion, it is disposed at the boundary (between) between the link cover portion 17a and the handle portion 17c. The operation member protection portion 17b is formed in a ring shape, and is arranged to hook the index finger into the annular operation member protection portion 17b when the user grips the handle portion 17c. Inside the operation member protection portion 17b, the operation member 22 is exposed to be operable. As will be described later, the first operation portion 22b (trigger) of the operation member 22 is exposed to the front (the handle portion 17c side) so as to be operable, and the second operation portion 22d of the operation member 22 is exposed to the front (the link cover portion 17a side). It is operational.

The handle portion 17c is formed to be thinner than the link cover portion 17a, and is slightly thinner than the rear end portion 17d, and has a shape that the user can easily grip. A ball screw mechanism 13 is built in the handle portion 17c.

The rear end portion 17d houses the motor 12 provided at the rear end of the outer casing 17, and the cable connecting portion 11 is provided at the rear end surface 17e.

The cable connecting portion 11 is for connecting a portion of the cable 30 and includes a terminal for connecting a power line or a signal line. The cable 30 connected to the cable connecting portion 11 is connected to the power supply device 40 (see Fig. 6). The power switch is placed in the power supply unit 40 or the cable 30, and the power switch 40 is supplied to the power clip 10 via the cable 30 by the power supply unit 40.

The motor 12 is a power source that causes the first blade portion 18 and the second blade portion 19 to be closed, and is operated by electric power supplied from the power supply device 40. The output shaft of the motor 12 is connected to a ball screw mechanism 13 which will be described later. Further, the speed reduction mechanism 14 or the like may be provided between the output shaft of the motor 12 and the ball screw mechanism 13, or the output shaft of the motor 12 may be directly connected to the ball screw mechanism 13.

The ball screw mechanism 13 converts the rotational motion of the motor 12 into a linear motion motion. The ball screw mechanism 13 is not particularly illustrated, and includes: a screw The shaft is rotated by the rotational force of the motor 12; and the nut portion is engaged with the thread groove of the screw shaft. Thereby, when the screw shaft is rotationally driven by the driving force of the motor 12, the nut portion linearly moves along the screw shaft. In the nut portion, a drive shaft 15a of a link mechanism 15 to be described later is connected, and the drive shaft 15a is formed to linearly move forward and backward integrally with the nut portion.

The support member 16 is for guiding the linear motion of the ball screw mechanism 13. A guide groove 16a extending in the guiding direction is provided to the support member 16, and the drive shaft 15a of the link mechanism 15 is engaged with the guide groove 16a. Therefore, the nut portion and the drive shaft 15a move in the extending direction of the guide groove 16a.

The link mechanism 15 is for converting the linear motion of the drive shaft 15a into the opening and closing operation of the first blade portion 18 and the second blade portion 19. The link mechanism 15 includes a first link 15b and a second link 15c that are coupled to be rotatable by the drive shaft 15a. The first link 15b is connected to the drive shaft 15a at one end, and is connected to the first blade portion 18 via a connecting shaft 18c at the other end. Further, the second link 15c is connected to one end of the drive shaft 15a, and the other end is connected to the second blade portion 19 via a connecting shaft 19c.

The first blade portion 18 and the second blade portion 19 are supported so as to be rotatable about the blade axis 20, and are combined to be branched at the blade axis 20. The first blade portion 18 is formed by cutting the blade at a distal end side of the blade shaft 20, and the root portion 18b closer to the root side than the blade axis 20 is rotatably connected to the first link 15b via the connecting shaft 18c. In the same manner, the second blade portion 19 is formed by cutting the blade 19a on the distal end side of the blade axis 20, and the root portion 19b closer to the root side than the blade axis 20 is connected to the second link 15c via the connecting shaft 19c. It can be rotated.

The link mechanism 15, the first blade portion 18, and the second blade portion 19 described above are operated by the linear motion of the ball screw mechanism 13 as shown in Fig. 4 .

Specifically, when the drive shaft 15a moves in the direction in which the blade axis 20 approaches, the first link 15b and the second link 15c operate in the opening direction. Thereby, the root portions 18b and 19b of the first blade portion 18 and the second blade portion 19 are displaced in the direction away from each other, and the cutting portions 18a and 19a of the first blade portion 18 and the second blade portion 19 are closed to each other. Turn it to perform the cutting action.

On the other hand, when the drive shaft 15a moves in the direction away from the blade axis 20, the first link 15b and the second link 15c operate in the closing direction. Thereby, the root portions 18b and 19b of the first blade portion 18 and the second blade portion 19 are displaced in the direction in which they approach each other, and the cutting portions 18a and 19a of the first blade portion 18 and the second blade portion 19 are opened in the direction of each other. Turn.

The operating member 22 of the present embodiment is mounted so as to be rotatable about the shaft 22a. The operation member 22 is formed in a substantially L shape in a side view as shown in FIG. 2 and the like, and includes a first operation portion 22b and a second operation portion 22d that extend in different directions from the position of the installation shaft 22a. The first operation unit 22b is an operation unit for controlling the operation of the motor 12, and controls the opening and closing (cutting) operation of the first blade portion 18 and the second blade portion 19 by controlling the operation of the motor 12. The second operation unit 22d is for performing an auxiliary operation (for example, switching of an operation mode). The first operation unit 22b and the second operation unit 22d are disposed to face each other, and are exposed to be operable inside the operation member protection portion 17b. Therefore, when the finger is inserted between the first operation portion 22b and the second operation portion 22d, as shown in FIG. 5(b), when the finger-to-shaft 22a is moved to the rear (the handle portion 17c side), the first operation can be operated. As shown in Fig. 5(c), when the finger-to-shaft 22a is moved to the front (the link cover portion 17a side), the second operation portion 22d can be operated. When the first operation unit 22b or the second operation unit 22d is operated, the operation member 22 is rotated about the shaft 22a. In this way, When the first operating portion 22b is pulled to operate close to the handle portion 17c, the electric shearer 10 performs an opening and closing operation by the first blade portion 18 and the second blade portion 19, and pushes the operation of the second operating portion 22d. When moving away from the handle portion 17c, an auxiliary action is performed. Further, the first operation unit 22b and the second operation unit 22d are provided so as not to be movable relative to each other. When the first operation unit 22b is operated, the second operation unit 22d also moves in the same direction as the first operation unit 22b in conjunction with the first operation unit 22b. When the second operation unit 22d is operated, the first operation unit 22b also moves in the same direction as the second operation unit 22d in conjunction with the second operation unit 22d. Therefore, the first operation unit 22b and the second operation unit 22d are not simultaneously operated, and are operated separately. When the first operation unit 22b is operated and the second operation unit 22d is operated, the operation member 22 is rotated in a different direction. .

Moreover, the roller 22c shown in FIG. 4 is provided in the inside of the 1st operation part 22b. This roller 22c is for pushing a swinging member 23 to be described later.

The swinging member 23 is a member that follows the rotation of the operating member 22 and swings when the first operating portion 22b of the operating member 22 is operated. This swinging member 23 is swingable about the swing shaft 23a, and is forced to swing by the roller 22c when the operating member 22 is rotated. The swinging member 23 includes a pressing portion 23b that is disposed to face the contact portion 24a of the microswitch 24 to be described later. When the borrowing roller 22c is forced to swing, the pressing portion 23b is pushed into the contact portion 24a of the microswitch 24.

The microswitch 24 is for detecting that the first operation portion 22b of the operation member 22 is operated. As described above, when the first operation portion 22b configured as the operation member 22 is operated, the swing member 23 turns the micro switch 24 into conduction, and by detecting the conduction or non-conduction of the micro switch 24, it is possible to determine whether or not the operation member 22 is operated. The first operation unit 22b is operated.

The sensor 25 is for detecting the angle of rotation of the operating member 22. As the sensor 25, as long as it is an operator who can detect the operation member 22, for example, a potentiometer connected to the shaft 22a can be used. In the case of using a potentiometer, the amount of operation of the operating member 22 can be carefully grasped.

The rotation detecting unit 26 is for detecting the rotation of the motor 12, and is constituted by, for example, a Hall IC or the like. When the rotation detecting unit 26 is configured by the Hall IC, the magnet is attached to the rotating portion of the shaft or the wheel of the motor 12, and the presence or absence of the magnet is detected by the Hall IC, whereby the rotation of the motor 12 is detected. The rotation of the motor 12 detected by the rotation detecting unit 26 is transmitted to the power supply device 40 via the cable 30 and used.

The operation of the electric shear 10 is controlled by the electric shear 10 or a control device built into the power supply unit 40. When the first operation portion 22b of the control device operating member 22 is operated to detect that the microswitch 24 is turned on, the sensor 25 detects the rotation angle of the operating member 22. Then, in response to the detected angle, the motor 12 is rotated forward, and the two blade portions 18 and 19 are operated in the closing direction, and when the first operating portion 22b of the operating member 22 is operated to the limit, the two blade portions 18 and 19 become Fully closed state. Further, when the first operation portion 22b is released, the operation member 22 is returned to the home position by a spring (not shown). When the sensor 25 detects that the operating member 22 is returned to the home position, the sensor 25 transmits a control signal to the control device. The control device that receives this control signal reverses the motor 12 and operates the two blade portions 18, 19 to a maximum opening angle. The 12 blades 18, 19 are returned to the starting position. At the same time, since the microswitch 24 becomes non-conductive when the operating member 22 returns to the home position, the two blade portions 18, 19 can be maintained at the stop of the maximum opening angle.

As shown in FIG. 6, the power supply device 40 that supplies electric power to the above-described electric scissor 10 includes a cable connecting portion 43, a secondary battery 44, a control substrate 100, a horn 41, and an LED 42.

The cable connecting portion 43 is for connecting a portion of the cable 30 and includes a terminal for connecting a power line or a signal line. That is, the cable connecting portion 43 is for connecting the electric shear 10 and the power supply device 40 using the cable 30.

The secondary battery 44 is for storing electric power supplied to the electric shear 10 . The secondary battery 44 is also used to drive the power supply unit 40.

The control board 100 is for controlling the operation of the electric scissors 10, and has a CPU, a memory, and a control circuit. In the present embodiment, the control board 100 constitutes a foreign matter detecting means for detecting the foreign matter between the two blade portions 18, 19. Further, the control board 100 has various functions in addition to the foreign matter detecting means, but the description of these functions will be omitted.

The control board 100 includes the rotation determining unit 110, the current detecting unit 120, the current change amount calculating unit 130, and the current determining unit 140, and constitutes the foreign matter detecting means.

The rotation determining unit 110 acquires a rotation signal of the motor 12 transmitted from the rotation detecting unit 26 of the electric scissor 10, and checks whether or not the amount of rotation of the motor 12 (the number of turns of the motor 12) reaches a predetermined amount of rotation. The rotation of the motor 12 is zeroed when the two blade portions 18, 19 are at the home position, and then the rotation signal of the motor 12 is gradually counted upward from the rotation detecting portion 26, thereby being measured. The rotation determining unit 110 determines that the two blade portions 18 and 19 are closed to a predetermined angle when the amount of rotation of the motor 12 reaches a predetermined amount of rotation.

The current detecting unit 120 supplies the electric shear 10 by measurement. The current value detects the current value supplied to the electric shear 10 . The current value measured by the current detecting unit 120 is used to calculate the torque value of the motor 12, in other words, for detecting foreign matter.

The current change amount calculation unit 130 calculates the amount of change in the current value for a fixed time (for example, 1 ms) based on the current value detected by the current detecting unit 120. Thereby, the slope of the torque value of the motor 12 at a fixed time (the amount of change in the torque in a predetermined time, that is, the rate of change in the torque) is estimated.

The current determination unit 140 acquires information on the amount of rotation of the motor 12 from the rotation determination unit 110, and acquires information on the torque of the motor 12 from the current change amount calculation unit 130 (the rate of change of the torque in the present embodiment). Then, based on these information, the possibility of pinching foreign matter is judged. Specifically, after estimating the closing angle of the two blade portions 18 and 19 based on the information acquired from the rotation determining unit 110, the current determining unit 140 selects a specific aspect corresponding to the closing angle from the preset threshold data. Limit. Then, the specific threshold value and the torque information of the motor 12 obtained from the current change amount calculating unit 130 are compared. When the amount of change in the current value calculated by the current change amount calculation unit 130 exceeds the specific threshold value, it is determined that the foreign matter is pinched and the predetermined error process is executed.

Further, the threshold data for comparison with the torque information of the motor 12 is preset to the machine in accordance with the purpose of use of the electric scissors 10 and the like. The threshold value included in the threshold data is managed in relation to the closing angle of the blade portions 18, 19 (the amount of rotation of the motor 12). The threshold is used to switch between at least two different thresholds. For example, the threshold B is used in a range where the rotation of the motor 12 is less than 60 turns, and the threshold B is used in a range in which the rotation of the motor 12 exceeds 60 turns, in response to the closing angle of the blades 18, 19 (motor 12 rotation amount) is used for switching.

Further, in the case where the closing angle of the blade portions 18 and 19 (the amount of rotation of the motor 12) is in a fixed range, it is not necessary to detect foreign matter, and the fixed range may be regarded as "no threshold". For example, the threshold value before the blade portions 18 and 19 are closed to a predetermined angle is not set, and only the threshold value after the blade portions 18 and 19 are closed to a predetermined angle is set, and the threshold value may not be set. The check of the threshold value of the borrowed current determination unit 140 is not performed. In this way, in the case where the torque value of the motor 12 rises before the blade portions 18, 19 are closed to a predetermined angle, since the possibility of cutting the thick branches is high, it is detected that it is not a foreign matter, and on the other hand, at the blade portion 18, When the torque value of the motor 12 rises after closing to a predetermined angle, since it has a possibility of cutting a relatively thin and hard foreign matter such as a wire, it can be detected as a foreign matter.

The horn 41 is used to output a buzzing sound when the power is turned on, or a buzzing sound when it is wrong.

The LED 42 is used for the action mode or error display of the electric shear 10 .

Next, the cutting operation and the foreign matter detecting operation of the electric scissors 10 will be described with reference to Fig. 7.

First, in step S100 shown in Fig. 7, the operating member 22 is operated, and the motor 12 starts driving.

In step S101, the rotation determining unit 110 acquires the amount of rotation of the motor 12. Then, the process moves to step S102.

In step S102, the current detecting unit 120 measures the current value at regular intervals, and based on the current value, the current change amount calculating unit 130 calculates the amount of change in the current value for a fixed period of time. Then, the process moves to step S103.

In step S103, the current determination unit 140 acquires information on the amount of rotation of the motor 12 from the rotation determination unit 110, and estimates the angle of closure of the two blade portions 18 and 19. Then, based on the closing angle, the threshold is selected from the preset threshold data. Moreover, the torque change information of the motor 12 (the amount of change in the current value in a fixed time) is obtained from the current change amount calculation unit 130. Next, check if the amount of change in this current value exceeds the threshold. When the amount of change in the current value exceeds the threshold value, it is judged that the foreign matter is caught, and the process proceeds to step S106. On the other hand, if the amount of change in the current value does not exceed the threshold value, the process proceeds to step S104.

In the case of moving to step S104, it is checked whether or not the two blade portions 18, 19 are completely closed. When it is detected that the two blade portions 18 and 19 are completely closed, the process proceeds to step S105. On the other hand, if the two blade portions 18 and 19 are not completely closed, the process returns to step S101.

In the case of moving to step S105, the motor 12 is stopped, and the processing is ended.

In the case of moving to step S106, that is, in the case where it is judged that the foreign matter is caught in step S103, the predetermined error processing is executed. The error processing of this embodiment is a process of stopping the motor 12 and inverting the motor 12. By performing this process, the blade portions 18 and 19 are opened before the foreign matter is cut even when a foreign matter such as a wire is caught.

As described above, the foreign matter detecting mechanism of the electric scissor 10 of the present embodiment performs the detection of foreign matter by monitoring the angle information of the blade portions 18 and 19 and the torque information of the motor 12. The structure of this detection is based on the following points of view.

That is, as shown in Fig. 8, when the thick branches are cut, the torque of the motor 12 starts to increase at the timing when the blade portions 18, 19 start to close, and the horse is near the predetermined angle. The torque of up to 12 becomes maximum (refer to the waveform in the vicinity of Fig. 8 where the amount of motor rotation of X is "50"). On the other hand, when the foreign matter such as the wire is cut, the torque of the motor 12 is rapidly increased immediately before the blade portions 18 and 19 are completely closed, and becomes the maximum value equivalent to X when the thick branch is cut (refer to Fig. 8). The motor rotation amount at Y is a waveform near "70").

Further, when the fine twigs are cut as shown by the waveform Z, the timing at which the torque of the motor 12 is increased is in the vicinity of the motor rotation amount "70" which is equivalent to the time when the wire is cut, but the torque is not so large.

As a result of the experiment, the case where the thin and hard iron wire is cut and the thin tree are cut, even if the timing of the torque variation of the motor 12 is the same, the maximum torque is different.

Further, in the case where the relatively thick and soft living tree is cut and the thin and hard wire is cut, even if the maximum torque of the motor 12 is equal, the timing of the torque variation is different.

The present inventors focused on the difference in the torque value or the variation timing due to the respective cutting targets, and created a threshold for determining the torque of the foreign matter in accordance with the angle of the blade portions 18 and 19.

In the present embodiment, the motor rotation amount at which the torque is maximum when the thick branch is cut is "50", and the motor rotation amount at which the torque value is maximized when the wire is cut is "70", and the difference is set. Limit. Therefore, when the value of the torsion is increased when the thick branches are cut, the operation of the foreign matter is prevented from being erroneously detected. Also, since the foreign matter is reliably detected, the wire or the shear is not damaged.

Moreover, the timing of closing the blade portions 18 and 19 to a predetermined angle may be used as a reference to switch the effective and invalid foreign object detecting operation, and may also be paired in The threshold value above the predetermined angle is set to a very large value, and the timing at which the blade portions 18 and 19 are closed to a predetermined angle substantially sets the foreign matter detecting operation to an invalid setting in advance.

For example, it is also possible to set the threshold value when the amount of rotation of the motor 12 is a predetermined amount of rotation (for example, "60") without setting the threshold value, and when the amount of rotation of the motor 12 is a predetermined amount of rotation (for example, "60"). In this way, the timing of the increase in the torsion force when the thick branches are cut (the rotation amount of the motor 12 is in the vicinity of "50"), since the threshold value is not set, the detection of the foreign matter is not substantially performed, and the foreign matter is detected. The measurement system does not occur. On the other hand, the timing at which the torque is increased when the wire is cut (the rotation amount of the motor 12 is in the vicinity of "70"), since the foreign matter is detected, the foreign matter can be reliably detected.

Further, by monitoring the torque value of the motor 12 and monitoring the amount of change in the torque, the effect of foreign matter detection can be improved. In other words, when the branch is cut as shown in Fig. 8, the blade portion surely penetrates the branch with the closing operation of the blade portions 18 and 19, so that the torque of the motor 12 starts to increase relatively slowly, but the wire is cut. In the case of foreign matter, since the blade portions 18 and 19 do not penetrate, the twist increases rapidly. By focusing on the rate of change of the torque value which varies depending on the respective cut objects, the accuracy of foreign matter detection can be improved. Moreover, since it is judged by the method of raising the torsion force when the blade portions 18 and 19 come into contact with the object to be cut, the influence on the electric shear 10 or the wire can be suppressed to a minimum.

At this time, if the rate of change of the torque of the motor 12 is less than the predetermined threshold, it is determined that the branch is cut, and if the rate of change of the torque of the motor 12 is equal to or greater than the predetermined threshold, it is judged that the foreign matter is caught. The established threshold value compared with the rate of change of the torsion may also be a fixed value or an upper limit waveform (or a lower limit wave). shape). In the case where the predetermined threshold value is a fixed value, the fixed value may be compared with the amount of change in the torque of the motor 12 within a fixed time. In the case where the predetermined threshold value is the upper limit value waveform (or the lower limit value waveform), it is only necessary to compare the change waveform of the upper limit value waveform (or the lower limit value waveform) with the torque of the motor 12.

Further, as shown by the waveform Z, in the case of cutting off the fine twigs, since the torque of the motor 12 does not become so large, the false detection of the foreign matter does not occur.

However, depending on the type of the branch, it is not possible to determine that the thin and hard branches are judged to be foreign objects such as iron wires when the thin and hard branches are cut. Therefore, the power clip 10 of the present embodiment has a foreign object detecting mode for detecting foreign matter detection and a continuous execution mode for detecting foreign matter. In the continuous execution mode, step S102, step S103, and step S106 in the flowchart are not executed, and foreign matter detection is not performed even after the blade portions 18, 19 are closed to a predetermined angle. Therefore, in the case of cutting a thin and hard branch, by switching to the continuous execution mode, erroneous detection of foreign matter can be avoided.

When the above mode is switched, the operating member 22 is operated in a direction different from that at the time of the cutting operation. That is, the second operation portion 22d of the operation member 22 is operated. When the second operation portion 22d of the operation member 22 is operated, the sensor 25 detects this operation. When the sensor 25 detects that the second operation unit 22d is operated, the sensor 25 transmits a control signal to the control device. The control device that receives this control signal changes the operation mode. Specifically, if it is the foreign object detection mode, it shifts to the continuous execution mode, and if it is the continuous execution mode, it shifts to the foreign object detection mode. The selected mode is held until the second operation portion 22d of the operation member 22 is operated, and the selected mode is applied to the subsequent operation.

In addition, the action mode is restored after the power of the electric shear 10 is lost. In other words, when the power of the electric shear 10 is lost in the state of the foreign matter detecting mode, the electric shear 10 is started in the state of the foreign matter detecting mode when the power is turned on next time. Further, when the power supply of the electric shear 10 is lost in the state in which the mode is continuously executed, the state-type electric shear 10 is continuously executed when the power is turned on next time.

Further, in the present embodiment, the second operation unit 22d that operates the operation member 22 switches the operation mode. However, the operation mode is not limited thereto, and the operation mode may be switched by another operation means. It can also be made to transfer to another mode by restarting after losing power.

Further, the cable 30 used in the present electric shear 10 includes the connection terminal 32 as shown in Fig. 9. The connection terminal 32 of the cable 30 includes a plurality of female pins 34A to 34N which are connected to the cable connecting portion 11 of the electric shear 10 and the cable connecting portion 43 of the power supply device 40.

A plurality of core wires 31 pass through the inside of the cable 30 and are used as signal wires or power wires, respectively. In the core wire 31 of the present embodiment, as shown in Fig. 9(a), at least one of the core wires 31 is branched into two in the vicinity of the connection terminal 32 to form the branching portion 33. The branched core wires 31 are electrically connected to the other female pins, respectively. Therefore, in the example shown in Fig. 9(a), the female pin 34A and the female pin 34K are used to transmit the same signal or electric power, and the female pin 34M and the female pin 34F are used to transmit the same signal or electric power. In this way, by providing a plurality of bus pins for one signal line or power line, other terminal parts (female pins, pins) can be used to maintain the function even if contact failure occurs in the terminal portion (female pin or pin). . Further, by increasing the terminal portion that transmits the same signal or power, the contact resistance can be reduced and malfunction can be prevented.

Further, in the above example, the core wire 31 is branched, but Alternatively, as shown in Fig. 9(b), a plurality of core wires 35A to 35D are formed for one signal line or power line. That is, in the example shown in Fig. 9(b), the female pin 34A and the female pin 34K are used to transmit the same signal or electric power, and the corresponding core wire 35A and the core wire 35B are used to transmit the same signal or electric power. Further, the female pin 34M and the female pin 34F are used to transmit the same signal or power, and the corresponding core wire 35C and the core wire 35D are used to transmit the same signal or power. In the case of being configured in this manner, the same effects as the examples shown in Fig. 9(a) can be obtained.

Further, instead of the examples shown in Figs. 9(a) and 9(b), or the examples shown in Figs. 9(a) and 9(b), resistance to contact resistance may be considered. Change the configuration of the female pins 34A~34N. That is, since the resistance values of the resistors connected to the respective signal lines or power lines in the circuit configuration are different, the resistance of the respective signal lines or the power lines to the contact resistance is different. The resistance to the contact resistance can also be considered, and the arrangement of the female pins 34A to 34N can be set.

Specifically, as shown in FIG. 10, when there are 10 female pins 34A to 34J disposed on the outer side and four female pins 34K to 34N disposed on the inner side, the resistance to the contact resistance is large. On the outer side, the resistance to the contact resistance is small, and the inner side is disposed. By configuring in this manner, it is possible to make a structure in which contact failure or malfunction is difficult to occur. That is, when the load acts on the connection terminal 32 of the cable 30, the outer mother pins 34A to 34J are easily subjected to the load. By connecting the signal wires or the power wires having high resistance to the contact resistance to the female pins 34A to 34J on the outer side of the load-bearing load in this manner, the influence of the sliding wear and the like can be minimized.

As a specific configuration, a method of sequentially distributing the inner mother pins 34K to 34N from the signal line or the power line having low resistance to contact resistance and distributing the remaining signal lines or power lines to the outer mother pins 34A to 34J is conceivable.

Further, as another arrangement, a method of allocating a signal line having low resistance to contact resistance to the inner mother pins 34K to 34N and distributing the remaining signal lines or power lines to the outer mother pins 34A to 34J is conceivable. In this configuration, the power line is disposed on the outside. This is because the corrosion of the power line due to the sliding friction is more difficult to accumulate than the signal line, so that the contact resistance is more difficult to increase than the signal line.

Further, as shown in Figs. 9(a) and 9(b), in the case where the plurality of pin pins correspond to one signal line or power line, it is preferable to arrange at least one bus bar on the inner side. By placing the two female pins on the inside as much as possible, it is possible to effectively prevent the occurrence of malfunction.

As described above, according to the present embodiment, foreign matter is detected by comparing the torque information of the motor 12 with the threshold set in accordance with the angle of the blade portions 18, 19. According to this configuration, it is possible to reliably cut the object to be cut such as a tree, and to detect the foreign matter when the wire is thin and hard.

In other words, when the object to be cut such as a tree is cut, the object to be cut such as a tree is relatively thick, so that the torque is maximized before the blade portions 18 and 19 are completely closed. Further, later, as the blade portions 18, 19 are gradually closed, the torsion force gradually becomes smaller. On the other hand, when cutting a thin and hard foreign matter such as a wire, the torque is maximized immediately before the blade portion is completely closed.

Further, the present inventors focused on the difference in the torsional force variation of each of the cutting targets, and made the timing of closing the blade portions 18 and 19 to a predetermined angle as a reference, and switching the foreign matter detecting operation to be effective or ineffective. Therefore, the foreign matter detecting means does not detect the maximum torque when the object to be cut is cut, but the maximum torque when the foreign matter such as the wire is cut is detected, so that the difference in torque is detected. It is often enlarged to detect foreign matter jamming.

Moreover, the detection of such foreign matter can also be performed without providing a dedicated sensor or circuit.

Further, there is a foreign object detecting mode for performing detection of foreign matter and a continuous execution mode for not detecting foreign matter, and includes switching means for switching the two modes. According to this configuration, since the continuous execution mode can be switched, for example, when the thin and hard branches are cut, the problem of erroneous detection of the foreign matter being caught can be avoided.

Further, when the foreign matter detecting means detects the foreign matter, the motor 12 is stopped. According to this configuration, since the cutting operation is not performed even when the foreign matter is detected, the problem that the wire is cut or the blade portions 18 and 19 are edge-ruptured can be avoided.

Further, when the foreign matter detecting means detects a foreign object, the motor 12 is reversed. According to this configuration, since the foreign matter sandwiched by the blade portions 18 and 19 is released without the further cutting operation when the foreign matter is detected, it is possible to avoid cutting the wire or causing blade edge collapse. The problem.

Further, in the above-described embodiment, the current value of the motor 12 is used, and the slope of the torque value of the motor 12 (the amount of fluctuation of the torque in a predetermined time) is estimated to detect foreign matter. However, the embodiment of the present invention is not limited thereto, and the torque value of the motor 12 may be estimated based on the voltage value of the motor 12 or the number of revolutions of the motor 12, not based on the current value of the motor 12. Further, when the foreign matter is detected, the slope of the torque value of the motor 12 is not calculated, and the torque value of the motor 12 (the current value detected by the current detecting unit 120) is directly used to detect the foreign matter. However, if the slope of the torque value of the motor 12 is used, since the increase in the torsion force at the time of starting the cutting of the foreign matter can be grasped, the pinching of the foreign matter can be detected immediately.

Further, in the above-described embodiment, a method of measuring the amount of rotation of the motor 12 is used as a method of determining that the blade portions 18 and 19 are closed to a predetermined angle. However, the embodiment of the present invention is not limited to this. For example, it is also possible to measure the operation time of the motor 12, and after the operation time of the motor 12 reaches a fixed time, it is judged that the blade portions 18, 19 have been closed to a predetermined angle. Further, it is also possible to detect the position of the drive shaft 15a of the link mechanism 15, and after the drive shaft 15a of the link mechanism 15 has moved to the predetermined position, it is judged that the blade portions 18, 19 have been closed to a predetermined angle.

Further, in the above-described embodiment, as the error processing when the foreign matter is detected, the motor 12 is stopped and the motor 12 is reversed. However, the embodiment of the present invention is not limited thereto, and only the motor 12 may be stopped. Further, it is also possible to notify the user of the abnormality by the horn 41 or the LED 42. If the user is notified of the abnormality, the user can immediately recognize and cope with the foreign object detection. For example, the user can be selected to continue the cutting operation.

Further, in the above-described embodiment, as a method of stopping the cutting operation by the error processing, the cutting operation is stopped by controlling the motor 12. However, the embodiment of the present invention is not limited to this.

For example, when the foreign matter detecting means detects a foreign object, the power for physically cutting the power path into the motor 12 may not be transmitted to the two blade portions 18, 19. In the case of the above configuration, since the cutting operation is not performed even when the foreign matter is detected, the problem of cutting the wire or causing the blade portion to be chipped can be avoided. For example, the cutting of the power path may be performed by releasing the meshing of the gear or the like.

Further, as another method, a clutch mechanism including adjustment of the torque transmitted to the motor 12 of the two blade portions 18, 19 may be performed, in the foreign body detection. When the measuring means detects foreign matter, the clutch mechanism becomes effective. In the case of the above configuration, since the upper limit value of the torsion force is lowered when the foreign matter is detected, the problem that the torque of the blade portion is not broken can be caused. As the clutch mechanism, for example, a well-known spring clutch can be used. As long as the clutch mechanism is ineffective, the torque is completely transmitted, and when the clutch mechanism is effective, the torque exceeding the allowable amount of torque transmission is not transmitted.

Further, the electric shear 10 of the above-described embodiment is a double-edged movable type in which both of the blade portions 18 and 19 are movable. However, the present invention is not limited thereto, and is a single blade in which one blade portion is fixed and the other blade portion is moved. The movable electric shear 10 can also be applied to the same invention.

(Modification of foreign matter detection operation)

In the above-described embodiment, the foreign matter detecting operation is performed based on the closing angle of the two blade portions 18 and 19 and the amount of change in the current value in the fixed time, but instead, the foreign matter detecting operation is performed by the method shown below. , you can get the same effect.

(First Modification)

In the present modification, the foreign matter detecting operation is performed based on whether or not the current value is equal to or greater than a predetermined threshold value.

That is, as shown in Fig. 11, in step S200, the operating member 22 is operated, and the motor 12 starts driving.

In step S202, the current detecting portion 120 measures the current value every fixed interval. This current value is obtained and used as the torque information of the motor 12 used for foreign matter detection. Then, the process moves to step S203.

In step S203, the foreign matter detecting means checks the electric power obtained in step S202. Whether the stream value exceeds the preset threshold. When the current value exceeds the threshold value, it is judged that the foreign matter is caught, and the process proceeds to step S206. On the other hand, if the current value does not exceed the threshold value, the process proceeds to step S204.

In the case of moving to step S204, it is checked whether or not the two blade portions 18, 19 are completely closed. When it is detected that the two blade portions 18 and 19 are completely closed, the process proceeds to step S205. On the other hand, if the two blade portions 18 and 19 are not completely closed, the process returns to step S202.

In the case of moving to step S205, the motor 12 is stopped, and the processing is ended.

In the case of moving to step S206, that is, in the case where it is judged that the foreign matter is caught in step S203, the predetermined error processing is executed. For example, the motor 12 is stopped and the motor 12 is reversed.

Further, in the above-described modification, the current value is obtained as the torque information of the motor 12, but instead, the voltage value supplied to the electric shear 10 may be measured and the voltage value may be obtained as the torque information of the motor 12.

(Second modification)

In the present modification, the foreign matter detecting operation is performed based on whether or not the amount of change in the current value is equal to or greater than a predetermined threshold value.

That is, as shown in Fig. 11, in step S200, the operating member 22 is operated, and the motor 12 starts driving.

In step S202, the current detecting portion 120 measures the current value every fixed interval. Based on this current value, the current change amount calculation unit 130 calculates the amount of change in the current value for a fixed period of time. The amount of change in the current value is obtained and used as the torque information of the motor 12 used for foreign matter detection. Then, the process moves to step S203.

In step S203, the foreign matter detecting means checks the electric power obtained in step S202. Whether the amount of change in the flow value exceeds the preset threshold. When the amount of change in the current value exceeds the threshold value, it is judged that the foreign matter is caught, and the process proceeds to step S206. On the other hand, if the amount of change in the current value does not exceed the threshold value, the process proceeds to step S204.

In the case of moving to step S204, it is checked whether or not the two blade portions 18, 19 are completely closed. When it is detected that the two blade portions 18 and 19 are completely closed, the process proceeds to step S205. On the other hand, if the two blade portions 18 and 19 are not completely closed, the process returns to step S202.

In the case of moving to step S205, the motor 12 is stopped, and the processing is ended.

In the case of moving to step S206, that is, in the case where it is judged that the foreign matter is caught in step S203, the predetermined error processing is executed. For example, the motor 12 is stopped and the motor 12 is reversed.

(Third Modification)

In the present modification, the foreign matter detecting operation is performed based on whether or not the angle change of the two blade portions 18 and 19 is equal to or greater than a predetermined threshold.

That is, as shown in Fig. 11, in step S200, the operating member 22 is operated, and the motor 12 starts driving.

In step S202, based on the information on the amount of rotation of the motor 12 obtained from the rotation determining unit 110, the angle change (angular velocity) of the two blade portions 18 and 19 is estimated. For example, the number of revolutions of the motor 12 at a fixed time is used as information on the angular velocity. The information of the angular velocity is obtained and used as the torque information of the motor 12 used for foreign matter detection. Then, the process moves to step S203.

In step S203, the foreign matter detecting means checks whether the angular velocity obtained in step S202 is less than the preset threshold value. When the angular velocity is less than the threshold value, it is judged that the foreign matter is caught, and the process proceeds to step S206. On the other hand, at angular velocity If it is equal to or greater than the threshold value, the process proceeds to step S204.

In the case of moving to step S204, it is checked whether or not the two blade portions 18, 19 are completely closed. When it is detected that the two blade portions 18 and 19 are completely closed, the process proceeds to step S205. On the other hand, if the two blade portions 18 and 19 are not completely closed, the process returns to step S202.

In the case of moving to step S205, the motor 12 is stopped, and the processing is ended.

In the case of moving to step S206, that is, in the case where it is judged that the foreign matter is caught in step S203, the predetermined error processing is executed. For example, the motor 12 is stopped and the motor 12 is reversed.

In this manner, in the present modification, when the amount of change (angular velocity) of the angles of the two blade portions 18 and 19 is equal to or greater than a predetermined threshold value, it is determined that the branch is cut, and if the amount of change in the angle (angular velocity) is less than the predetermined threshold Value, judge the foreign matter caught. Therefore, it can be judged that the branch is cut when the decrease in the closing speed of the two blade portions 18 and 19 is small, and the foreign matter is caught when the closing speed of the two blade portions 18 and 19 is greatly lowered.

(Fourth Modification)

In the present modification, the foreign matter detecting operation is performed based on whether or not the amount of change in the angular velocity of the two blade portions 18 and 19 is equal to or greater than a predetermined threshold.

That is, as shown in Fig. 11, in step S200, the operating member 22 is operated, and the motor 12 starts driving.

In step S202, based on the information on the amount of rotation of the motor 12 obtained from the rotation determining unit 110, the amount of change in angular velocity (angular acceleration) of the two blade portions 18 and 19 is estimated. For example, the number of revolutions of the motor 12 at a fixed time is obtained in a predetermined cycle, and the angular acceleration is calculated based on the difference from the number of revolutions of the motor 12 obtained last time. Acquire and use this angular acceleration as a result of foreign object detection The torque information of the motor 12 is used. Then, the process moves to step S203.

In step S203, the foreign matter detecting means checks whether the angular acceleration obtained in step S202 is less than the preset threshold. When the angular acceleration is less than the threshold value, it is judged that the foreign matter is caught, and the process proceeds to step S206. On the other hand, if the angular acceleration is equal to or greater than the threshold value, the process proceeds to step S204.

In the case of moving to step S204, it is checked whether or not the two blade portions 18, 19 are completely closed. When it is detected that the two blade portions 18 and 19 are completely closed, the process proceeds to step S205. On the other hand, if the two blade portions 18 and 19 are not completely closed, the process returns to step S202.

In the case of moving to step S205, the motor 12 is stopped, and the processing is ended.

In the case of moving to step S206, that is, in the case where it is judged that the foreign matter is caught in step S203, the predetermined error processing is executed. For example, the motor 12 is stopped and the motor 12 is reversed.

In this manner, in the present modification, if the angular acceleration is equal to or greater than the predetermined threshold, it is determined that the branch is cut, and if the angular acceleration is less than the predetermined threshold, it is judged that the foreign matter is caught. Therefore, it can be judged that the branch is cut when the closing speed of the two blade portions 18 and 19 is gradually lowered, and the foreign matter is caught when the closing speed of the two blade portions 18 and 19 is rapidly lowered.

(Fifth Modification)

In the present modification, the foreign matter detecting operation is performed based on the closing angle of the two blade portions 18 and 19 and the current value.

That is, as shown in Fig. 7, in step S100, the operating member 22 is operated, and the motor 12 starts driving.

In step S101, the rotation determining unit 110 acquires the amount of rotation of the motor 12. Of course Then, the process moves to step S102.

In step S102, the current detecting unit 120 measures the current value every fixed interval. This current value is obtained and used as the torque information of the motor 12 used for foreign matter detection. Then, the process moves to step S103.

In step S103, the current determination unit 140 acquires information on the amount of rotation of the motor 12 from the rotation determination unit 110, and estimates the angle of closure of the two blade portions 18 and 19. Then, based on the closing angle, the threshold is selected from the preset threshold data. The selected threshold value is compared with the current value obtained in step S102. When the current value exceeds the threshold value, it is judged that the foreign matter is caught, and the process proceeds to step S106. On the other hand, if the current value does not exceed the threshold value, the process proceeds to step S104.

In the case of moving to step S104, it is checked whether or not the two blade portions 18, 19 are completely closed. When it is detected that the two blade portions 18 and 19 are completely closed, the process proceeds to step S105. On the other hand, if the two blade portions 18 and 19 are not completely closed, the process returns to step S101.

In the case of moving to step S105, the motor 12 is stopped, and the processing is ended.

In the case of moving to step S106, that is, in the case where it is judged that the foreign matter is caught in step S103, the predetermined error processing is executed. For example, the motor 12 is stopped and the motor 12 is reversed.

(Sixth Modification)

In the present modification, the foreign matter detecting operation is performed based on the angular change (angular velocity) and the current value of the two blade portions 18 and 19.

That is, as shown in Fig. 7, in step S100, the operating member 22 is operated, and the motor 12 starts driving.

In step S101, based on the information about the amount of rotation of the motor 12 obtained from the rotation determining unit 110, the angle change (angular velocity) of the two blade portions 18 and 19 is estimated. For example, the number of revolutions of the motor 12 at a fixed time is used as information on the angular velocity. Then, the process moves to step S102.

In step S102, the current detecting portion 120 measures the current value at a fixed interval. Then, the process moves to step S103.

In step S103, it is checked whether the angular velocity obtained in step S101 is less than the preset threshold value, and whether the current value obtained in step S102 is equal to or greater than the preset threshold value. When the angular velocity is less than the threshold value and the current value is equal to or greater than the threshold value, it is judged that the foreign matter is caught, and the process proceeds to step S106. On the other hand, if the angular velocity is equal to or greater than the threshold value or the current value is less than the threshold value, the process proceeds to step S104.

In the case of moving to step S104, it is checked whether or not the two blade portions 18, 19 are completely closed. When it is detected that the two blade portions 18 and 19 are completely closed, the process proceeds to step S105. On the other hand, if the two blade portions 18 and 19 are not completely closed, the process returns to step S101.

In the case of moving to step S105, the motor 12 is stopped, and the processing is ended.

In the case of moving to step S106, that is, in the case where it is judged that the foreign matter is caught in step S103, the predetermined error processing is executed. For example, the motor 12 is stopped and the motor 12 is reversed.

(Seventh Modification)

In the present modification, the foreign matter detecting operation is performed based on the angle change (angular velocity) of the two blade portions 18 and 19 and the amount of change in the current value.

That is, as shown in FIG. 7, in step S100, the operating member 22 is operated, and The motor 12 starts to drive.

In step S101, based on the information about the amount of rotation of the motor 12 obtained from the rotation determining unit 110, the angle change (angular velocity) of the two blade portions 18 and 19 is estimated. For example, the number of revolutions of the motor 12 at a fixed time is used as information on the angular velocity. Then, the process moves to step S102.

In step S102, the current detecting portion 120 measures the current value at a fixed interval. Based on this current value, the current change amount calculation unit 130 calculates the amount of change in the current value for a fixed period of time. Then, the process moves to step S103.

In step S103, it is checked whether the angular velocity obtained in step S101 is less than the preset threshold value, and whether the amount of change in the current value obtained in step S102 is equal to or greater than the preset threshold value. When the angular velocity is less than the threshold value and the amount of change in the current value is equal to or greater than the threshold value, it is determined that the foreign matter is caught, and the process proceeds to step S106. On the other hand, if the angular velocity is equal to or greater than the threshold value or the amount of change in the current value is less than the threshold value, the process proceeds to step S104.

In the case of moving to step S104, it is checked whether or not the two blade portions 18, 19 are completely closed. When it is detected that the two blade portions 18 and 19 are completely closed, the process proceeds to step S105. On the other hand, if the two blade portions 18 and 19 are not completely closed, the process returns to step S101.

In the case of moving to step S105, the motor 12 is stopped, and the processing is ended.

In the case of moving to step S106, that is, in the case where it is judged that the foreign matter is caught in step S103, the predetermined error processing is executed. For example, the motor 12 is stopped and the motor 12 is reversed.

(eighth modification)

In the present modification, the duty ratio and the current value change according to the output of the motor 12 The amount of foreign matter detection is performed.

That is, as shown in Fig. 11, in step S200, the operating member 22 is operated, and the motor 12 starts driving.

In step S202, the current detecting portion 120 measures the current value every fixed interval. This current value is obtained and used as the torque information of the motor 12 used for foreign matter detection. Then, the process moves to step S203.

In step S203, a threshold value is selected from the preset threshold data based on the output task ratio of the motor 12. This threshold is set to be proportional to the output task ratio and goes high in segments or segments. Moreover, it is checked whether the current value obtained in step S202 exceeds the selected threshold value. When the current value exceeds the threshold value, it is judged that the foreign matter is caught, and the process proceeds to step S206. On the other hand, if the current value does not exceed the threshold value, the process proceeds to step S204.

In the case of moving to step S204, it is checked whether or not the two blade portions 18, 19 are completely closed. When it is detected that the two blade portions 18 and 19 are completely closed, the process proceeds to step S205. On the other hand, if the two blade portions 18 and 19 are not completely closed, the process returns to step S202.

In the case of moving to step S205, the motor 12 is stopped, and the processing is ended.

In the case of moving to step S206, that is, in the case where it is judged that the foreign matter is caught in step S203, the predetermined error processing is executed. For example, the motor 12 is stopped and the motor 12 is reversed.

If the threshold value is determined by referring to the output task ratio of the motor 12 in this manner, the accuracy of foreign matter detection can be improved more than when only the current value is referred to. That is, even if the current values are the same, if the output task ratio is different, the output of the motor 12 is different, so that the foreign matter detection can be improved by referring to both the current value and the output task. degree.

(Ninth Modification)

In the present modification, the foreign matter detecting operation is performed based on the current value and the voltage value.

That is, as shown in Fig. 11, in step S200, the operating member 22 is operated, and the motor 12 starts driving.

In step S202, the current value and the voltage value are measured at regular intervals, and the power value (current value x voltage value) is calculated. This power value is obtained and used as the torque information of the motor 12 used for foreign matter detection. Then, the process moves to step S203.

In step S203, the foreign matter detecting means checks whether the power value obtained in step S202 exceeds the preset threshold value. When the power value exceeds the threshold value, it is judged that the foreign matter is caught, and the process proceeds to step S206. On the other hand, if the power value does not exceed the threshold value, the process proceeds to step S204.

In the case of moving to step S204, it is checked whether or not the two blade portions 18, 19 are completely closed. When it is detected that the two blade portions 18 and 19 are completely closed, the process proceeds to step S205. On the other hand, if the two blade portions 18 and 19 are not completely closed, the process returns to step S202.

In the case of moving to step S205, the motor 12 is stopped, and the processing is ended.

In the case of moving to step S206, that is, in the case where it is judged that the foreign matter is caught in step S203, the predetermined error processing is executed. For example, the motor 12 is stopped and the motor 12 is reversed.

According to this method, the foreign matter detecting operation is performed based on the current value and the voltage value, and even if the voltage value varies depending on the use condition (such as the charging type tool of the present embodiment), the motor output can be accurately grasped. (The load is cut off), so the accuracy of foreign matter detection can be improved.

S100‧‧‧Detected trigger operation, motor drive

S101‧‧‧Get the amount of rotation of the motor

S102‧‧‧Get the torque information of the motor

S103‧‧‧Is it detected?

S104‧‧‧Is the closed position detected?

S105‧‧‧Stop the motor

S106‧‧‧Error handling

Claims (12)

The utility model relates to a foreign body detecting mechanism for electric shearing, which is a foreign body detecting mechanism for detecting an electric shear which is inserted with a foreign object, and includes a detecting device for detecting a foreign object which is sandwiched between the blade and the motor. The foreign matter detecting means; the detecting of the foreign matter by the foreign matter detecting means is performed according to the torque information of the motor. For example, the foreign body detecting mechanism of the electric shear of the first aspect of the patent application, wherein the torque of the motor is used as the torque information of the motor, and the rate of change of the torque of the motor is used. For example, the foreign body detecting mechanism of the electric shear of the second aspect of the patent application, wherein if the rate of change of the torque of the motor is less than a predetermined threshold, it is judged that the branch is cut, if the rate of change of the torque of the motor is a predetermined threshold Above the value, it is judged that foreign matter is caught. The foreign body detecting mechanism of the electric shear according to any one of claims 1 to 3, wherein the foreign matter detecting means selects a threshold from the preset threshold data according to a closing angle of the blade portion. And comparing the threshold value with the torque information of the motor to perform detection of the foreign object. The foreign body detecting mechanism of the electric shear according to any one of claims 1 to 3, wherein the torque information of the motor is estimated based on any one of a current value, a voltage value, or a rotational speed of the motor. The foreign body detecting mechanism of the electric shearing device according to any one of the items 1 to 3, wherein the detecting of the foreign matter by the foreign matter detecting means determines that the blade is closed to a predetermined angle is invalid, and the Blade closed to a predetermined angle After the degree becomes effective. The foreign body detecting mechanism of the electric scissor according to any one of claims 1 to 3, wherein the foreign object detecting mode for detecting the foreign matter is detected, and the continuous performing mode for detecting the foreign matter is not performed; The switching method of these two modes. The foreign body detecting mechanism of the electric scissors according to any one of claims 1 to 3, wherein the motor is stopped when the foreign matter detecting means detects the foreign matter. The foreign body detecting mechanism of the electric scissors according to any one of claims 1 to 3, wherein the motor is reversed when the foreign matter detecting means detects the foreign matter. The foreign body detecting mechanism of the electric scissors according to any one of claims 1 to 3, wherein the abnormality is notified to the user when the foreign matter detecting means detects the foreign matter. The foreign body detecting mechanism of the electric shear according to any one of claims 1 to 3, wherein when the foreign matter detecting means detects the foreign matter, the power of physically cutting the power path into the motor is not transmitted. To the blade. The foreign body detecting mechanism of the electric shear according to any one of claims 1 to 3, wherein the clutch mechanism for adjusting the torque of the motor transmitted to the blade portion is included; when the foreign matter detecting means detects the foreign matter, The clutch mechanism is made effective.