TWI626097B - Nail pulling machine and method for controlling nail withdrawal - Google Patents

Abstract

A nail pulling machine includes a clamping mechanism, a driving device, a rotation speed detector, a switch and a control module. The method for controlling nail removal includes: after the switch is touched, the control module controls the driving device to rotate the rotating member in the first direction of rotation, and drives the clamping mechanism to move in the first direction to pull the workpiece; Rotational speed of the rotating member; after the rotational speed detected by the control module is increased from a rotating speed lower than a first rotating speed range to the first rotating speed range, the driving device is controlled to cause the rotating member to rotate in the second rotating direction to drive the clamping mechanism toward Move in the second direction to release the part where the workpiece is pulled off. In this way, the purpose of automatic nail withdrawal is achieved.

Description

Nail pulling machine and method for controlling nail withdrawal

The invention relates to an electric tool; in particular, it relates to a nail pulling machine and a method for controlling withdrawal of the nail.

Pressing and pulling machine is used to pull the workpiece (such as pulling nails). After the workpiece is deformed and broken, it is used as a fixing part for fixing two objects. The conventional nail pulling machine includes a clamping mechanism, a driving device and a control switch. The clamping mechanism is used for clamping the workpiece. The driving device has a rotating member connected to the clamping mechanism, and the driving device is controlled by the control switch to make the rotating member rotate forward or reverse, thereby driving the clamping mechanism to pull or release the workpiece. When a person operates a conventional nail pulling machine, the operation control switch is in a nail pulling mode, so that the rotating part rotates forward so that the clamping mechanism pulls the workpiece. After that, the personnel must judge whether the workpiece is broken by feeling. When the workpiece is felt to be broken, the control switch is operated again to return to the nail mode, so that the rotating member is reversed, so that the clamping mechanism is pulled out of the part where the workpiece is broken.

However, when using the conventional nail puller, people often mistakenly judge that the workpiece has been pulled off due to lack of experience, and carry out the procedure of pulling back the nail, only to find that the workpiece is not pulled off after the nail is pulled back, and the nail must be pulled again. Will cause inconvenience in operation. In addition, when there are a large number of workpieces to be pulled, a person must repeatedly operate the control switch to a nail pulling mode and a nail removing mode, which will make it impossible to improve work efficiency.

In view of this, an object of the present invention is to provide a nail pulling machine and a method for controlling withdrawal of nails, which can automatically withdraw the part where the workpiece is broken after the workpiece is broken. In order to achieve the above object, the present invention provides a method for controlling the withdrawal of a nail pulling machine, wherein the nail pulling machine includes a clamping mechanism and a driving device, the clamping mechanism is used for clamping a workpiece, and the driving device has a The rotating member is used for driving the clamping mechanism to move. The driving device is controlled to rotate the rotating member in one of the opposite first rotation direction and the second rotation direction to drive the clamping mechanism along the opposite direction. A first direction and a second direction move back and forth; the method for controlling nail removal includes the following steps: A. controlling the driving device to rotate the rotating member in the first rotating direction to drive the clamping mechanism toward the first Move in the direction; and detect the rotational speed of the rotating member; B. after the detected rotational speed is increased from a rotational speed lower than a first rotational speed range to the first rotational speed range, control the driving device so that the rotational member follows the The second rotation direction rotates to drive the clamping mechanism to move in the second direction. The nail pulling machine provided by the present invention comprises: a clamping mechanism, a driving device, a rotation speed detector, a switch and a control module, wherein the clamping mechanism is used for clamping a workpiece and is driven by Reciprocating in the opposite first direction and a second direction, wherein when the clamping mechanism moves in the first direction, it clamps and pulls the workpiece, and when the clamping mechanism moves in the second direction, it retracts Work piece; the driving device comprises a rotating member for driving the clamping mechanism to move, the driving device is controlled to rotate the rotating member in one of the opposite one of the first rotation direction and the second rotation direction, wherein the When the rotating member rotates in the first rotation direction, it drives the clamping mechanism to move in the first direction, and when the rotating member rotates in the second rotation direction, it drives the clamping mechanism to move in the second direction; The detector detects the rotation speed of the rotating part; the switch is triggered to generate an activation signal; the control module is electrically connected to the driving device, the switch and the rotation speed detector to control the driving device according to the activation signal. After the rotating member is rotated in the first rotating direction, and after the rotating speed measured by the rotating speed detector is increased from a rotating speed lower than a first rotating speed range to the first rotating speed range, the driving device is controlled to make the rotating member Rotate in this second rotation direction.

The effect of the present invention is that the timing of the clamping mechanism breaking the workpiece can be judged directly by the rotation speed of the rotating member, and the clamping mechanism is controlled to retract the nail to achieve the purpose of automatically retracting the nail.

In order to explain the present invention more clearly, a preferred embodiment is described in detail below with reference to the drawings. Please refer to FIG. 1, a nail pulling machine 100 according to a preferred embodiment of the present invention includes a clamping mechanism 10, a driving device 20, a rotational speed detector 30, a switch 40, a control module 50 and A power supply (not shown), of which:

The clamping mechanism 10 is used for clamping a workpiece 200. The foregoing workpiece 200 is a pull nail as an example. The workpiece 200 has a nail portion and a cap portion. The nail portion has a nail head 201 and a nail rod 202. The cap portion has a cap body. 203 and a brim 204, the clamping mechanism 10 is driven to reciprocate in opposite first and second directions D1 and D2. After the nail rod 202 of the workpiece 200 penetrates the clamping mechanism 10, When the clamping mechanism 10 moves in the first direction D1, the nail rod 202 of the workpiece 200 is clamped and pulled, and when the clamping mechanism 10 moves in the second direction D2, the nail rod 202 of the workpiece 200 is withdrawn.

The driving device 20 includes a rotating member 22, which is used to drive the clamping mechanism 10 to move. The driving device 20 is controlled to cause the rotating member 22 to be in one of the opposite first rotation directions R1 and a second rotation direction R2. When the rotating member 22 rotates in the first rotation direction R1, the clamping mechanism is moved in the first direction D1, and when the rotating member 22 is rotated in the second rotation direction R2, the clamping mechanism 10 is moved in the second direction D2 .

In this embodiment, the driving device 20 includes a motor 24, and a rotating shaft 242 of the motor 24 is connected to a lead screw 26, and the lead screw 26 is connected to the clamping mechanism 10. The motor 24 is controlled to cause the rotating shaft 242 to drive the lead screw 26 to rotate, and further Drive the clamping mechanism 10 to move. The motor 24 is a brushless motor. At least one magnetic piece 246 (ie, a permanent magnet of the rotor) is disposed inside the housing 244 and rotates with the rotating shaft 242. The rotating member 22 of the driving device 20 includes a rotatable member, including a rotating shaft 242 and a lead screw 26. In practice, the rotating member 22 may also include a rotatable member such as a coupling (not shown) or a reducer (not shown) between the rotating shaft 242 and the lead screw 26. Other magnetic parts may be provided at any position of any member of the rotating member 22, and it is important that the magnetic member rotates with the rotating member.

The rotation speed detector 30 is disposed on the driving device 20 to detect the rotation speed of the rotating member 22. In this embodiment, the rotation speed detector 30 is a magnetic induction element (such as a Hall sensor) disposed on the housing 244 of the motor 24 and corresponding to the rotation path of the magnetic member 246.

The switch 40 is electrically connected to the control module 50, and the switch 40 is activated by a user to generate an activation signal.

The control module 50 is electrically connected to the motor 24 and the rotation speed detector 30 of the driving device 20, and is used to control the motor 24 to rotate the rotating member 22 in the first rotation direction R1 or the second rotation direction R2 according to the start signal.

The power supply is electrically connected to the motor 24, the rotation speed detector 30, and the control module 50 of the driving device 20 to provide the power required by each component of the nail puller 100. The aforementioned power source may be a battery or a transformer.

FIG. 2 is a schematic diagram showing the relationship between the rotation speed and time of the rotating member 22 (taking the rotating shaft 242 as an example) during the pulling of the workpiece 200 by the nail pulling machine 100 of FIG. 1. In FIG. 1, the front end of the clamping mechanism 10 is shown. Close to the rear side of the cap edge 204 of the workpiece 200, pass the cap body 203 through the target object 300 (take two plates as an example) and attach the front side of the cap edge 204 to the target object 300. The time point t0 in FIG. 2 is the time point when the rotating shaft 242 starts to rotate in the first rotation direction R1. The time point t0 to time point t1 is the rotation speed before the clamping mechanism 10 just pulls the workpiece 200 and the workpiece 200 has not clamped the target 300 (ie, the no-load or near-no-load rotation speed). At this time, the rotation speed is the highest. At time point t1, the clamping mechanism 10 gradually pulls the nail rod 202 of the workpiece 200, so that the nail head 201 pushes the cap body 203 backward, and the rotation speed starts to decrease. At the time point t2, the clamping mechanism 10 continues to pull the nail rod 202, the rotation speed starts to decrease steadily, and the cap body 203 is pushed by the nail head 201 to continue to expand and deform radially. At this time, the nail is successfully pulled. At time point t2, the rotation speed is about 85% of the rotation speed at time points t0 to t1. At the time point t3, the rotation speed is the lowest, and its rotation speed is about 60 to 80% of the rotation speed at the time point t0 to t1 (varies depending on the soft hardness of the nail rod 202 of different workpieces 200), which represents the nail rod of the workpiece 200 202 was pulled off and the speed started to increase. At time point t4, confirm that the workpiece 200 is completely pulled off, and then you can control the reverse rotation and withdrawal of nails along the second rotation direction R2, and the speed remains stable. The speed at time point t4 is about the time point t0 ~ t1. More than 85%.

With the above-mentioned principle, we can carry out the method for controlling the withdrawal of the nail pulling machine 100 of this embodiment, which includes the following steps shown in FIG. 3:

In step S01, after receiving the start signal, the control module 50 controls the motor 24 of the driving device 20 to rotate the rotating shaft 242 in the first rotation direction R1, and drives the clamping mechanism 10 to move in the first direction D1 to pull the nail of the workpiece 200. Rod 202.

During the operation of the motor 24, the control module 50 continuously detects the rotation speed of the rotation shaft 242 through the rotation speed detector 30, and continuously samples the rotation speed of the rotation shaft 242. In this embodiment, the rotation speed of the rotating shaft 242 of the motor 24 is taken as an example, but it is not limited to this. The rotation speed detector 30 can also detect the magnetic member set at any position of the rotating member 22, and The corresponding rotation speed is obtained. For example, when the magnetic member is disposed on the lead screw 26, the rotation speed of the lead screw 26 can be detected. The corresponding relationship between the rotation speed of different parts of the rotating member 22 and the time during the pulling process is the same, but the speed value is different.

In step S02, after the rotation speed detected by the rotation speed detector 30 is increased from the rotation speed lower than a first rotation speed range to the first rotation speed range (that is, the rotation speed at the time point t4 in FIG. 2), and cooperate with The multiple rotations of the continuous sampling fall within the first rotation speed range. The control module 50 controls the motor 24 to rotate the rotation shaft 242 in the second rotation direction R2 to drive the clamping mechanism 10 to move in the second direction. The aforementioned first rotation speed range corresponds to the rotation speed after confirming that the nail rod 202 of the workpiece 200 is pulled off. Thereby, the control module 50 can determine that the workpiece 200 has been pulled off, and then control the motor 24 to reverse the rotation shaft 242 so that the clamping mechanism 10 exits the portion where the workpiece 200 is pulled off.

In this embodiment, before step S02 or S01, a reference speed range is stored in the control module 50, and the reference speed range can be obtained by a reference speed range setting step, including the reference speed range tied to the gripping mechanism 10 just after pulling the workpiece 200 before the workpiece 200 is clamped by the workpiece 300, the rotation speed range corresponding to the rotation speed of the rotating shaft 242 of the motor 24 (that is, the rotation speed between the time point t0 and the time point t1 in FIG. 2), that is, in the nail pulling machine 100 Under no-load or near-no-load conditions, the stable speed of the rotating shaft 242 is detected and a predetermined speed range is obtained. The predetermined expansion can be selected according to requirements, such as ± 10% of the average value of the stable speed. Within, the reference speed range setting step can be re-executed each time the nail is pulled. In step S02, the control module 50 performs calculation based on the reference speed range to obtain the first speed range. The lower limit value of the first rotation speed range is more than 85% of the lower limit value of the reference rotation speed range and the upper limit value of the first rotation speed range is smaller than the lower limit value of the reference rotation speed range.

Step S01 may also include a calibration step. The calibration step includes controlling the motor 24 to rotate the rotating shaft 242 after the control module 50 receives the start signal, and within a predetermined time after the rotating shaft 242 changes from a stopped state to a rotated state. The rotation speed of the rotating shaft 242 is detected, and a predetermined extension is made based on the detected rotation speed to form a new reference rotation speed range and store it. In this way, even if components in the driving device 20 or the clamping mechanism 10 are worn or deteriorated, so that the rotation speed is changed, the mechanism can be used for correction.

In this embodiment, in order to determine whether the clamping mechanism 10 has successfully pulled the nail rod 202 of the workpiece 200, step S02 may further include a control module 50 to determine whether the detected rotational speed has dropped from the reference rotational speed range to a second rotational speed. The range (ie, the rotation speed at time point t3 in FIG. 2), and the rotation speeds of the multiple times in continuous sampling fall within the second rotation speed range, it is determined that the nail rod 202 of the workpiece 200 is successfully pulled. The upper limit value of the second rotation speed range is lower than the lower limit value of the first rotation speed range. The upper limit value of the second speed range may be set to 80% or less of the lower limit value of the reference speed range, and the lower limit value of the second speed range may be set to a smaller arbitrary value, such as 60% or more. In step S02, the control module 50 controls the motor 24 after the detected rotation speed is increased from the second rotation speed range to the first rotation speed range, and a plurality of times of continuous sampling falls within the first rotation speed range. The rotating shaft 242 is rotated in the second rotation direction R2, so that the clamping mechanism is retracted from the portion where the workpiece 200 is pulled off.

The aforementioned system makes the reference speed range based on the speed between t0 and time point t1. In one embodiment, a reference speed range setting step may be performed before step S01. The reference speed range setting step includes:

The control module 50 controls the motor 24 of the driving device 20 to rotate the rotating member in the second rotation direction R2 to drive the clamping mechanism 10 to move in the second direction D2; and

Detect the rotation speed of the rotating member (taking the rotating shaft 242 as an example) in the second rotation direction R2, and set the rotation speed range corresponding to the detected rotation speed as the reference rotation speed range.

In practice, the step of setting the reference speed range can be performed when the nail pulling machine 100 retracts the nail before. That is, when the nail is retracted at the previous time, the rotation speed range corresponding to the rotation speed of the rotating member 22 in the second rotation direction R2, for example, measured at a predetermined time (for example, 1 to 2 seconds) after the time point t4 in FIG. 2. The rotation speed range corresponding to the rotation speed of the rotating shaft 242 in the second rotation direction R2 is used as the reference rotation speed range.

In practice, the step of setting the reference speed range can also be performed after the power is turned on when the nail puller 100 is turned on.

The advantage of performing the reference speed range setting step each time the nail is pulled, the last time the nail is withdrawn, or each time the machine is turned on is that if the power source is a battery, its voltage will decrease as the number of uses increases, and if the battery voltage decreases When the reference speed range is reduced, a lower speed range can be obtained for the current first speed range, to avoid that the speed when the nail breaks cannot be increased to the first speed range when the battery is fully charged.

According to the above, the nail pulling machine 100 and the nail withdrawal control method of the present invention can directly judge the timing of the clamping mechanism to break the workpiece 200 by the rotation speed of the rotating member 22, and control the nail withdrawal of the clamping mechanism to achieve automatic withdrawal. The purpose of the nail. It is also worth mentioning that the use of a magnetic induction element in conjunction with a magnetic member to detect the rotation speed of the rotating member 22 can avoid noise interference and make the detection result more accurate.

The above descriptions are only the preferred and feasible embodiments of the present invention, and any equivalent changes made by applying the description of the present invention and the scope of patent application should be included in the patent scope of the present invention.

[this invention]
100‧‧‧Stitching Machine
10‧‧‧ clamping mechanism
20‧‧‧Drive
22‧‧‧Rotating parts
24‧‧‧ Motor
242‧‧‧Shaft
244‧‧‧shell
246‧‧‧magnetic parts
26‧‧‧ Lead screw
30‧‧‧speed detector
40‧‧‧ switch
50‧‧‧control module
D1‧‧‧ first direction
D2‧‧‧ Second direction
R1‧‧‧First turning direction
R2‧‧‧Second rotation direction
S01, S02‧‧‧step
t0 ~ t4‧‧‧Time
200‧‧‧ Workpiece
201‧‧‧ nail head
202‧‧‧ nail rod
203‧‧‧ Hat
204‧‧‧ brim
300‧‧‧ target

FIG. 1 is a block diagram of a nail pulling machine according to a preferred embodiment of the present invention. FIG. 2 is a schematic diagram showing the relationship between the rotation speed and time of a rotating member during the pulling of a workpiece by the nail pulling machine of the above preferred embodiment. FIG. 3 is a flow chart of a method for controlling the withdrawal of a nail pulling machine in the preferred embodiment.

Claims (16)

A nail withdrawal control method of a nail pulling machine, wherein the nail pulling machine includes a clamping mechanism and a driving device, the clamping mechanism is used for clamping a workpiece, and the driving device has a rotating member for driving the clamping mechanism to move The driving device is controlled to cause the rotating member to rotate in one of the opposite first rotation direction and the second rotation direction to drive the clamping mechanism to reciprocate in the opposite first direction and the second direction. Moving; the method for controlling the withdrawal of nails includes the following steps: A. controlling the driving device to rotate the rotating member in the first rotating direction to drive the clamping mechanism to move in the first direction; and detecting the rotation of the rotating member Rotation speed; B. After the detected rotation speed is increased from a rotation speed lower than a first rotation speed range to the first rotation speed range, control the driving device to rotate the rotating member in the second rotation direction to drive the clamp The holding mechanism moves in the second direction; wherein the method for controlling the withdrawal includes setting a reference speed range; wherein, in step B, the first speed range is calculated based on the reference speed range, and the first rotation Upper limit of the rotation speed below the lower limit of the reference range. The nail withdrawal control method of the nail pulling machine according to claim 1, wherein the lower limit value of the first rotation speed range is more than 85% of the lower limit value of the reference rotation speed range. The method for controlling the withdrawal of the nail pulling machine according to claim 1, wherein the workpiece is used for clamping a target object; the reference speed range is the rotation speed corresponding to the rotation speed of the rotating part before the workpiece is clamped by the target object. range. The nail withdrawal control method of the nail pulling machine according to claim 1, wherein before step A, a reference speed range setting step is included for setting the reference speed range, which includes: controlling the driving device so that the rotating member follows the Rotating in the second rotation direction to drive the clamping mechanism to move in the second direction; and detecting the rotation speed of the rotating member, and setting the rotation speed range corresponding to the detected rotation speed as the reference rotation speed range. The method for controlling the withdrawal of the nail puller according to claim 4, wherein the step of setting the reference speed range is performed when the nail puller is turned on. The method for controlling the withdrawal of the nail pulling machine as described in claim 4, wherein the step of setting the reference speed range is performed when the nail pulling machine is previously retracted. The nail removal control method of the nail pulling machine according to claim 1, wherein step B includes determining whether the detected rotation speed has decreased from the reference rotation speed range to a second rotation speed range, wherein The upper limit value is lower than the lower limit value of the first rotation speed range; and in step B, after the detected rotation speed is increased from the second rotation speed range to the first rotation speed range, the driving device is controlled so that the rotating member moves along the The second rotation direction is rotated. The nail withdrawal control method of the nail pulling machine according to claim 7, wherein the upper limit value of the second rotation speed range is 80% or less of the lower limit value of the reference rotation speed range. The method for controlling the withdrawal of the nail pulling machine according to claim 1, wherein step A includes detecting a rotation speed of the rotating member within a predetermined time after the rotating member changes from a stopped state to a rotating state, and detecting The measured rotational speed is expanded in advance to form the reference rotational speed range. The method for controlling the withdrawal of the nail pulling machine according to claim 1, wherein the rotating member is provided with a magnetic member to rotate with the rotating member; in step A, a magnetic induction element is used to sense the rotation of the magnetic member to detect the Rotational speed of rotating parts. A nail pulling machine includes a clamping mechanism for clamping a workpiece, and is driven to reciprocate in a first direction and a second direction opposite to each other, wherein when the clamping mechanism moves in the first direction Is to clamp and pull the workpiece, and the clamping mechanism is withdrawn when the clamping mechanism moves in the second direction; a driving device includes a rotating member for driving the clamping mechanism to move, and the driving device is controlled to make the rotation The member is rotated in one of the opposite first rotation direction and one of the second rotation direction, wherein when the rotation member rotates in the first rotation direction, the clamping mechanism is driven to move in the first direction, and the rotation member is along When the second rotation direction rotates, the clamping mechanism is driven to move in the second direction; a rotation speed detector detects the rotation speed of the rotating member; a switch is triggered to generate an activation signal; a control module, The driving device, the switch and the rotation speed detector are electrically connected to control the driving device to rotate the rotating member in the first rotation direction according to the start signal, and the rotation speed measured by the rotation speed detector is determined by Below After the rotation speed of the first rotation speed range is increased to the first rotation speed range, the driving device is controlled to rotate the rotating member in the second rotation direction; wherein the control module stores a reference rotation speed range, and the control module is based on the reference The rotation speed range calculates the first rotation speed range, and an upper limit value of the first rotation speed range is lower than a lower limit value of the reference rotation speed range. The nail pulling machine according to claim 11, wherein the lower limit value of the first rotation speed range is more than 85% of the lower limit value of the reference rotation speed range. The nail pulling machine according to claim 11, wherein the control module determines that the speed detected by the speed detector is decreased from the reference speed range to a second speed range, and then is increased from the second speed range to After the first rotation speed range, the driving device is controlled to rotate the rotating member in the second rotating direction. The nail pulling machine according to claim 13, wherein an upper limit value of the second rotation speed range is 80% or less of a lower limit value of the reference rotation speed range. According to the nail pulling machine of claim 11, a magnetic member is disposed on the rotating member; and the rotation speed detector is a magnetic induction element. The nail pulling machine according to claim 15, wherein the driving device includes a motor, and a rotating shaft of the motor constitutes the rotating member, and the magnetic member is disposed inside the casing of the motor; and the rotational speed detector is disposed on the motor. case.