JP2024006724A - power tool system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the working efficiency.

SOLUTION: A power tool system 100 includes: a drive part 13, an operation part 12, a drive control part 111, a tool body, a detection part 15, a storage part 17, and a parameter calculation part 112. The drive part 13 drives a tip tool by rotating a motor 131 to perform work to an object to be worked. The tool body holds the drive part 13, the operation part 12, and the drive control part 111. The detection part 15 detects a physical quantity indicating a spacial relationship of at least one of the tip tool and the tol body to the object to be worked. The parameter calculation part 112 obtains an optimal value of a control parameter according to the detection value of the physical quantity detected by the detection part 15 on the basis of a relationship stored in the storage part 17 while the operation part 12 is being operated. The drive control part 111 controls the operation of the drive part 13 according to the operation by a user to the operation part 12 on the basis of the optimal value of the control parameter obtained by the parameter calculation part 112.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

TECHNICAL FIELD This disclosure relates generally to power tool systems. The present disclosure more particularly relates to a power tool system that includes a portable tool body.

Patent Document 1 discloses a work management system. The work management system includes a control device and tools.

The tool is used when tightening fastening parts. The tool transmits tightening torque data to the control device. The control device includes a processing section. The processing unit executes a determination process to determine whether the work has been performed normally, based on the tightening torque applied to the fastening component by the tool and the captured image captured by the imaging device. If it is determined to be normal, the processing unit determines that the work at the current work location has been completed, and executes a process of transmitting an instruction signal regarding the next work location. If it is determined that there is an abnormality, the processing unit executes a process of transmitting a signal instructing to perform the work correctly.

JP2015-229210A

In a power tool system such as the work management system described in Patent Document 1, it is sometimes desired to improve the work efficiency of work using tools.

An objective of the present disclosure is to improve work efficiency.

A power tool system according to one aspect of the present disclosure includes a drive section, an operation section, a drive control section, a tool body, a detection section, a storage section, and a parameter calculation section. The drive unit includes a motor, and the rotation of the motor drives the tip tool to perform work on the work object. The operation unit is operated by a user. The drive control section controls the operation of the drive section in response to the user's operation on the operation section. The tool main body is portable and holds the drive section, the operation section, and the drive control section. The detection unit detects a physical quantity indicating a spatial relationship of at least one of the tip tool and the tool body with respect to the work object. The storage unit stores a correspondence relationship in which control parameters related to the operation of the drive unit are associated with the physical quantities. The parameter calculating section calculates an optimal value of the control parameter in accordance with the detected value of the physical quantity detected by the detecting section based on the correspondence relationship while the operating section is being operated. The drive control section controls the operation of the drive section based on the optimum value of the control parameter determined by the parameter calculation section.

According to the present disclosure, there is an advantage that it is possible to improve work efficiency.

FIG. 1 is a block diagram of a power tool system according to an embodiment. FIG. 2 is a system configuration diagram of the power tool system same as above. FIG. 3 is a schematic diagram of a power tool used in the above power tool system. FIG. 4 is a graph for explaining the operation of the above power tool system. FIG. 5 is a flowchart illustrating the operation of the above power tool system.

A power tool system according to an embodiment of the present disclosure will be described with reference to the drawings. Each of the figures described in the embodiments below is a schematic diagram, and the ratio of the size and thickness of each component in the figure does not necessarily reflect the actual size ratio.

(1) Overview As shown in FIG. 1, a power tool system 100 according to the present embodiment includes a power tool 1.

As shown in FIGS. 1 to 3, the power tool 1 includes a drive section 13, an operation section 12, a drive control section 111, and a tool body 10. The power tool 1 further includes a detection section 15, a storage section 17, and a parameter calculation section 112.

The drive unit 13 includes a motor 131. The drive unit 13 drives the tip tool 20 (see FIG. 3) by rotating the motor 131 to perform work on the work object W1. The work object W1 may include an object of any shape and made of any material such as metal, wood, or resin. In the example shown in FIG. 3, the work target W1 is a wall in which a screw hole H1 is formed. The work on the work object is, for example, the work of tightening the tightening member 200 into the screw hole H1 of the work object W1. The tightening member 200 is, for example, a screw, a bolt, or the like.

The operation unit 12 is operated by a user (operator). The drive control section 111 controls the operation of the drive section 13 in response to a user's operation on the operation section 12 .

The tool body 10 is portable and holds a drive section 13, an operation section 12, and a drive control section 111. In the power tool system 100 of this embodiment, the tool body 10 further includes a detection section 15, a storage section 17, and a parameter calculation section 112.

The detection unit 15 detects a physical quantity indicating the spatial relationship of at least one of the tip tool 20 and the tool body 10 with respect to the workpiece W1. The storage unit 17 stores a correspondence relationship in which control parameters related to the operation of the drive unit 13 are associated with physical quantities. The parameter calculation unit 112 controls the operation of the drive unit 13 in accordance with the detected value of the physical quantity detected by the detection unit 15 based on the correspondence stored in the storage unit 17 while the operation unit 12 is being operated. Find the optimal values of related control parameters. The drive control unit 111 controls the operation of the drive unit 13 based on the optimum value of the control parameter determined by the parameter calculation unit 112.

In the power tool system 100 of this embodiment, the control parameters include, for example, the maximum rotation speed that is the upper limit of the rotation speed of the motor 131. The parameter calculation unit 112 determines the optimum value of the maximum rotation speed as the optimum value of the control parameter. The drive control unit 111 controls the operation of the drive unit 13 based on the optimum value of the maximum rotation speed determined by the parameter calculation unit 112.

Here, when working on the work object W1 using the power tool 1, if the spatial relationship of the tip tool 20 and/or the tool body 10 with respect to the work object W1 deviates from the expected state, There is a possibility that the work cannot be performed properly. For example, when tightening the tightening member 200 into the screw hole H1 of the workpiece W1, if the tool body 10 is tilted more than expected with respect to the workpiece W1, problems such as so-called "galling" are likely to occur. . If the work on the work object W1 cannot be performed appropriately, the work object W1 may become a defective product or the work may need to be redone. In that case, work efficiency may decrease.

In the power tool system 100 of the present embodiment, while the operation unit 12 is being operated, the drive unit 13 is controlled in consideration of the spatial relationship of the tip tool 20 and/or the tool body 10 with respect to the workpiece W1. be done. Therefore, it is possible to reduce the possibility that the work on the work target W1 cannot be performed appropriately, and it is possible to improve work efficiency.

(2) Details Hereinafter, the power tool system 100 according to the present embodiment will be described in detail with reference to the drawings. The power tool system 100 includes a processing device 9 in addition to the power tool 1 .

(2.1) Processing device The processing device 9 is realized, for example, by an information processing device capable of performing appropriate arithmetic processing.

The form of the processing device 9 is not particularly limited. The processing device 9 may be any device that can communicate directly or indirectly with the power tool 1 and can execute desired processing according to a predetermined program. The processing device 9 may be, for example, a glasses-type, bracelet-type, or other wearable terminal worn by the user. The processing device 9 may be, for example, a portable information terminal such as a smartphone or a tablet terminal. The processing device 9 may be, for example, a stationary information terminal such as a notebook computer or a desktop computer.

As shown in FIG. 1, the processing device 9 includes a communication section 91, a control section 92, an operation section 93, and a display section 94.

The communication unit 91 is a communication module for communicating with the power tool 1 (in detail, the communication unit 16 described below). The communication unit 91 performs short-range wireless communication based on, for example, ZigBee (registered trademark).

The display unit 94 includes a thin display such as a liquid crystal display or an organic EL (Electro Luminescence) display, and the display content is controlled by the control unit 92.

The operation section 93 includes, for example, a touch switch provided on a flat display that constitutes the display section 94, and outputs a signal according to the operation to the control section 92. The operation unit 93 may include a button switch, a mouse, a keyboard, etc.

The control unit 92 controls the operations of the communication unit 91, the operation unit 93, the display unit 94, and the like. The control unit 92 is realized by a computer system having one or more processors and memory. The computer system functions as the control unit 92 by having one or more processors execute programs stored in memory. Although the program is pre-recorded in the memory of the control unit 92 here, it may also be provided via a telecommunications line such as the Internet or by being recorded on a non-temporary recording medium such as a memory card.

As shown in FIG. 1, the control section 92 includes a tool information reception section 921. The tool information reception unit 921 receives information (tool information) about the tip tool 20 attached to the tip tool mounting portion 134 (described later) of the tool body 10. The tool information receiving unit 921 receives tool information by, for example, receiving input from the user via the operation unit 93 while a predetermined input screen is displayed on the display unit 94.

The tool information may include the length of the tip tool 20. The tool information may include the diameter, type (eg, driver bit or socket bit), etc. of the tip tool 20. The tool information may include product information (manufacturer, model number, etc.) of the tip tool 20.

The control unit 92 transmits the received tool information to the power tool 1 via the communication unit 91.

(2.2) Power Tool The power tool 1 is a power tool for businesses used in factories, construction sites, etc., for example. The power tool 1 is used to tighten a plurality of tightening members 200 to a work object W1, for example, according to a design drawing, a work instruction, or the like. An example of this type of power tool 1 is an electric impact driver that tightens by rotating a tightening member 200 and applying impact force. Note that the power tool 1 is not limited to an electric impact driver, but may be an electric impact wrench, an electric drill driver that does not apply impact force, an electric torque wrench, or the like.

As shown in FIGS. 1 to 3, the power tool 1 includes a tool body 10, a control section 11, an operation section 12, a drive section 13, a sensor section 14, a detection section 15, a communication section 16, It includes a storage section 17 and a power supply section 18.

The tool body 10 holds a control section 11 , an operation section 12 , a drive section 13 , a sensor section 14 , a detection section 15 , a communication section 16 , a storage section 17 , and a power supply section 18 .

As shown in FIG. 3, the tool main body 10 includes a cylindrical body portion 101 and a grip portion 102 that protrudes from the circumferential surface of the body portion 101 in the radial direction.

An output shaft 133 of the drive section 13 protrudes from one end of the body section 101 in the axial direction. A tip tool mounting portion 134 is provided at the tip of the output shaft 133. The tip tool mounting portion 134 includes, for example, a chuck. A tip tool 20 (for example, a driver bit, a socket bit, etc.) matching the work object W1 and the tightening member 200 is removably attached to the tip tool attachment portion 134.

A battery pack 103 containing a power supply section 18 housed in a resin case is detachably attached to one end (lower end in FIG. 3) of the grip section 102.

The power supply unit 18 includes a storage battery. Power supply section 18 is housed within battery pack 103. The battery pack 103 is configured by housing a power supply unit 18 in a resin case. By removing the battery pack 103 from the tool body 10 and connecting the removed battery pack 103 to a charger, the storage battery of the power supply unit 18 can be charged. The power supply section 18 supplies the electrical circuit including the control section 11 and the drive section 13 (motor 131) with the power necessary for operation using the electric power charged in the storage battery. Although the power supply unit 18 and the battery pack 103 are included in the components of the power tool 1 in this embodiment, they may not be included in the components of the power tool 1.

The control section 11 controls the operations of the drive section 13, the sensor section 14, the detection section 15, the communication section 16, and the like. The control unit 11 is realized by a computer system having one or more processors and memory. The computer system functions as the control unit 11 by having one or more processors execute programs stored in memory. Although the program is pre-recorded in the memory of the control unit 11 here, it may also be provided via a telecommunications line such as the Internet or by being recorded on a non-temporary recording medium such as a memory card. The control unit 11 may be configured with, for example, an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). A computer system (circuit board 110, etc.) constituting the control section 11 is housed inside the grip section 102, for example.

As shown in FIG. 1, the control section 11 includes a drive control section 111. The drive control unit 111 controls the operation of the drive unit 13 (motor 131) in response to a user's operation on the operation unit 12.

The operating section 12 includes a trigger switch 121 provided on the grip section 102. When the trigger switch 121 is operated by the user, an operation signal proportional to the amount of retraction (operation amount) of the trigger switch 121 is output to the drive control unit 111 . The drive control section 111 adjusts the rotation speed of the motor 131 of the drive section 13 so that the motor 131 of the drive section 13 rotates at a speed according to the operation signal from the operation section 12 . The rotation speed of the motor 131 is the rotation speed of the motor 131, and means the number of times (speed) [rpm] that the rotor of the motor 131 rotates per unit time.

The drive section 13 includes a motor 131, an impact mechanism 132, an output shaft 133, and a tip tool attachment section 134.

The operation (rotation) of the motor 131 is controlled by the drive control section 111. The rotation of the output shaft of the motor 131 is transmitted to the output shaft 133 via the impact mechanism 132. If the output torque is below a predetermined level, the impact mechanism 132 is configured to decelerate the rotation of the output shaft of the motor 131 and transmit it to the output shaft 133. When the output torque exceeds a predetermined level, the impact mechanism 132 is configured to apply impact force to the output shaft 133 to rotate the output shaft 133. The motor 131 and impact mechanism 132 are housed within the body portion 101.

The sensor unit 14 measures the tightening torque by the output shaft 133. The sensor section 14 includes, for example, a magnetostrictive torque sensor 141 attached to the output shaft 133. The magnetostrictive torque sensor 141 uses a coil installed in a non-rotating part to detect a change in magnetic permeability in response to distortion caused by applying torque to the output shaft 133, and outputs a voltage signal proportional to the distortion. Thereby, the sensor unit 14 measures the torque applied to the output shaft 133. That is, the sensor unit 14 measures the torque (tightening torque) that the electric tool 1 applies to the tightening member 200. The sensor unit 14 outputs the measured torque (tightening torque) to the control unit 11. The sensor unit 14 may measure the torque applied to the output shaft of the motor 131. The sensor unit 14 may measure the tightening torque applied to the output shaft 133 based on the measured value of the torque applied to the output shaft of the motor 131 and the reduction ratio of the reduction mechanism. Note that the sensor section 14 is not limited to having the magnetostrictive torque sensor 141, and the means for realizing the sensor section 14 can be changed as appropriate. For example, the sensor unit 14 may measure the torque applied to the output shaft of the motor 131 by detecting the current flowing through the motor 131. Alternatively, the sensor section 14 may count the number of hits applied to the output shaft 133 by the impact mechanism 132 using a vibration sensor, and determine the tightening torque from the number of hits.

The drive control section 111 drives the motor 131 according to an operation signal input from the operation section 12 . The drive control section 111 includes an inverter circuit that converts the voltage from the power supply section 18 into a drive voltage for the motor 131. The drive voltage is, for example, a three-phase AC voltage including a U-phase voltage, a V-phase voltage, and a W-phase voltage. The inverter circuit can be realized using, for example, a PWM inverter and a PWM converter. The PWM converter generates a pulse width modulated PWM signal according to a target value (voltage command value) of the drive voltage. The PWM inverter drives the motor 131 by applying a drive voltage to the motor 131 according to this PWM signal. A PWM inverter includes, for example, a three-phase half-bridge circuit and a driver. In the PWM inverter, a driver turns on/off switching elements in each half-bridge circuit according to a PWM signal, so that a drive voltage according to a voltage command value is applied to the motor 131.

Here, the drive control section 111 controls the operation of the drive section 13 so that the rotation speed of the motor 131 does not exceed the maximum rotation speed. That is, the drive control unit 111 controls the operation of the drive unit 13 so that the rotational speed of the motor 131 does not exceed the maximum rotational speed even if the amount of retraction of the trigger switch 121 is the maximum detectable value. The maximum rotation speed of the motor 131 is a set value of the upper limit of the rotation speed of the motor 131.

The drive control unit 111 has a function of stopping the rotation of the motor 131 of the drive unit 13, for example, when the value of the tightening torque measured by the sensor unit 14 reaches a preset torque setting value. The torque setting value may be changeable, and is changed by the control unit 11 based on a setting signal transmitted from the processing device 9 in response to a user's operation on the operation unit 93, for example.

The detection unit 15 detects a physical quantity indicating the spatial relationship of at least one of the tip tool 20 and the tool body 10 with respect to the work object W1. The detection unit 15 detects the physical quantity while the operation unit 12 is being operated.

As shown in FIG. 1, the detection unit 15 includes a distance measurement sensor 151, a camera 152, and a physical quantity extraction unit 153. The physical quantity extraction unit 153 is realized here by a computer system that constitutes the control unit 11.

As shown in FIG. 3, the distance measurement sensor 151 is held in the tool body 10. The detection unit 15 (distance sensor 151) detects a parameter related to the distance between the tool body 10 (more specifically, the part of the tool body 10 where the distance sensor 151 is held) and the workpiece W1 as a physical quantity. To detect. Here, the distance-related parameter is distance. That is, the distance sensor 151 detects the distance between the tool body 10 and the work object W1 (the distance from the distance sensor 151 to the work object W1).

The distance measurement sensor 151 is, for example, a time-of-flight (TOF) type distance measurement sensor. The distance sensor 151 includes a light emitting part and a light receiving part, and based on the time from when the light emitted from the light emitting part is reflected by the workpiece W1 to when the light receiving part receives the reflected light, the distance measuring sensor 151 determines whether the tool body 10 ( The distance between the distance measuring sensor 151) and the work object W1 is detected. The distance measurement sensor 151 may be a direct TOF type sensor or an indirect TOF type sensor.

The distance sensor 151 transmits a signal indicating the detected physical quantity (distance between the tool body 10 and the work object W1) to the control unit 11. Note that the distance sensor 151 detects information for detecting the distance between the tool body 10 and the work object W1 (for example, the time from when the light emitting part emits light until the light receiving part receives the light), The distance itself between the tool body 10 and the work object W1 may be detected by another calculation device (for example, the physical quantity extraction unit 153) using the information.

In the power tool 1 of this embodiment, the detection unit 15 includes a plurality of distance measuring sensors 151. More specifically, the detection unit 15 includes three ranging sensors 151. The detection unit 15 may include two or four or more distance measuring sensors 151.

Here, the plurality of distance measuring sensors 151 are arranged at mutually symmetrical positions with the output shaft 133 as a reference when viewed from the front. For example, the three distance measuring sensors 151 are arranged at equal intervals (120 degree intervals) around the output shaft 133. For example, one of the three distance measuring sensors 151 is placed above the output shaft 133 when viewed from the front, another one is placed on the lower right side of the output shaft 133 when viewed from the front, and the rest One of them is arranged on the lower left side of the output shaft 133 when viewed from the front. In the present disclosure, "front" means the direction from the tool body 10 toward the tip tool 20, and "viewing from the front" means looking from the tip tool 20 side to the tool body 10 side.

The plurality of ranging sensors 151 transmit the detected physical quantities (distance from the ranging sensors 151 to the work object W1) to the physical quantity extraction unit 153.

The physical quantity extraction unit 153 detects a posture difference indicating a posture shift of one of the tip tool 20 and the tool body 10 with respect to the work object W1, based on the distance values detected by the plurality of distance measuring sensors 151. . That is, the detection unit 15 uses, as physical quantities, a posture difference indicating a deviation in the posture of at least one of the tip tool 20 and the tool body 10 with respect to the workpiece W1, and a plurality of distance measurement methods that respectively detect the distance to the workpiece W1. Detection is performed based on the detection result of sensor 151. Here, the physical quantity extraction unit 153 detects a difference in posture of the tool body 10 with respect to the work object W1. In the present disclosure, "posture difference" means the degree of deviation of the posture of the tool body 10 or the tip tool 20 (here, the tool body 10) with respect to the work object W1 from the reference posture. The "reference posture" is, for example, the posture of the tool body 10 in a state where the tool body 10 is directly facing the work object W1. The "reference posture" means that, for example, when the opposing surface of the work object W1 that faces the power tool 1 is flat, the axis of the tip tool 20 attached to the tip tool attachment part 134 is the same as that of the work object W1. This is the attitude of the tool body 10 in a state perpendicular to the opposing surface. In one specific example, the "posture difference" is the direction of the axis of the tip tool 20 determined from the distance values detected by the plurality of distance sensors 151, and the reference posture (the tip tool relative to the workpiece W1). It is the direction of the axis of the tip tool 20 (in a state where the tip tool 20 is facing directly) and the size of the angle formed by the axis.

The physical quantity extraction unit 153 detects a posture difference based on the difference between the plurality (three) distance values detected by the plurality (three) distance measuring sensors 151, respectively. For example, when the opposing surface of the workpiece W1 is flat, if the values of the distances respectively detected by the plurality of distance measuring sensors 151 are equal to each other, it is determined that the tool body 10 is directly facing the workpiece W1. I can say that (posture difference is 0). On the other hand, for example, if the distance value detected by the upper distance measurement sensor 151 is smaller than the distance value detected by the remaining two (lower left and lower right) distance measurement sensors 151, the tool body 10 is moved forward. It can be said that it is tilted diagonally downward. The magnitude of the inclination (the inclination angle with respect to the reference attitude, that is, the attitude difference) can be determined using the plurality (three) distance values respectively detected by the plurality (three) distance measuring sensors 151. It is possible.

The physical quantity extraction unit 153 transmits a signal containing the obtained physical quantity (posture difference) to the control unit 11.

The camera 152 is held in the tool body 10. The camera 152 photographs the front of the tool body 10. The camera 152 is attached, for example, to the upper surface of the body portion 101 of the tool body 10 (the upper surface in FIG. 3) so as to be able to photograph the front of the tool body 10. Here, the camera 152 captures at least the front end of the tip tool 20 (the part fitted into the head of the tightening member 200) and at least the rear end (the part including the head) of the tightening member 200. The angle of view and position are set so that the image can be taken. The camera 152 may be embedded in the tool body 10 (for example, the body portion 101) and formed integrally with the tool body 10, or may be detachably connected to a connector (for example, a USB connector) provided on the tool body 10. It may also be held in the tool body 10.

The camera 152 transmits the captured image to the physical quantity extraction unit 153.

The physical quantity extraction unit 153 obtains a physical quantity indicating the spatial relationship of at least one of the tip tool 20 and the tool body 10 with respect to the work object W1, based on the image captured by the camera 152. Here, the physical quantity extraction unit 153 detects a posture difference indicating a deviation in the posture of one of the tip tool 20 and the tool body 10 with respect to the work object W1, based on the image captured by the camera 152. In particular, the physical quantity extraction unit 153 detects the attitude difference of the tip tool 20 with respect to the work object W1.

The physical quantity extraction unit 153 detects a posture difference by performing image analysis of the captured image. As described above, the "posture difference" means the degree of deviation of the attitude of the tip tool 20 or the tool body 10 (here, the tip tool 20) with respect to the workpiece W1 from the reference posture. The "reference posture" is, for example, the posture of the tip tool 20 in a state where the tip tool 20 is directly facing the workpiece W1. The "reference posture" is a posture of the tip tool 20 in which the axis of the tip tool 20 is orthogonal to the opposing surface of the work object W1, for example, when the opposing surface of the work object W1 is flat. . In one specific example, the "posture difference" is the direction of the axis of the tip tool 20 determined from the image captured by the camera 152 and the reference posture (a state in which the tip tool 20 is orthogonal to the workpiece W1). The direction of the axis of the tip tool 20 at , and the size of the angle formed by .

The physical quantity extraction unit 153 detects a posture difference by analyzing the image captured by the camera 152. For example, the physical quantity extraction unit 153 extracts the normal direction of the opposing surface of the work object W1 (corresponding to the direction of the axis of the tip tool 20 in the reference posture) and the axis of the tip tool 20, based on the result of image analysis. The direction of and the angle formed by are determined as the posture difference. The direction of the axis of the tightening member 200 may be substituted for “the normal direction of the opposing surface of the work object W1”.

In this way, by determining the physical quantity using the camera 152, it becomes possible to detect the physical quantity more clearly, and it becomes possible to more accurately determine the optimal value of the control parameter.

The physical quantity extraction unit 153 transmits a signal indicating the obtained physical quantity (posture difference) to the control unit 11.

The communication unit 16 is, for example, a communication module for wirelessly communicating with the processing device 9. The communication unit 16 performs short-range wireless communication based on, for example, ZigBee (registered trademark). The communication unit 16 receives a signal including tool information from the processing device 9 using a wireless communication method. Note that the method of wireless communication between the communication unit 16 and the processing device 9 is, for example, a specified low power wireless station in the 920 MHz band (a wireless station that does not require a license), Wi-Fi (registered trademark), Bluetooth (registered trademark). ), etc., and may be wireless communication using radio waves as a medium. Further, the communication between the communication unit 16 and the processing device 9 may be wired communication.

The storage unit 17 includes, for example, a ROM (Read Only Memory), a nonvolatile memory, and the like. Non-volatile memory includes, for example, EEPROM or flash memory. The storage unit 17 stores a control program executed by the control unit 11. The storage unit 17 stores the “tool information” transmitted from the processing device 9. The tool information includes information on the length of the tip tool 20 attached to the tip tool mounting portion 134. The storage unit 17 also stores “correspondence” which will be described later.

As shown in FIG. 1, the control unit 11 further includes a parameter calculation unit 112. The parameter calculation unit 112 determines the optimum value of the control parameter related to the operation of the drive unit 13 according to the detected value of the physical quantity detected by the detection unit 15. The parameter calculation unit 112 determines the optimum value of the control parameter based on the correspondence stored in the storage unit 17.

The “correspondence relationship” stored in the storage unit 17 corresponds to a plurality of values (optimal values) of the control parameter to a plurality of possible values of the physical quantities (distance and attitude difference) detected by the detection unit 15. I'm wearing it. The “correspondence” is stored in advance in the storage unit 17 in the form of, for example, a data table or a relational expression.

That is, the "correspondence" is related to the operation of the drive unit 13 with respect to the physical quantity (distance, posture difference) indicating the spatial relationship of at least one of the tip tool 20 and the tool body 10 with respect to the workpiece W1. control parameters are associated with each other. In the power tool system 100 of the present embodiment, the control parameters include the maximum rotation speed of the motor 131 as described above, so the "correspondence" is a plurality of maximum rotation speeds for a plurality of values that the physical quantity can take. values (optimal values) are associated.

The parameter calculation unit 112 calculates a control parameter (maximum rotation speed) according to the detected value of the physical quantity detected by the detection unit 15 while the operation unit 12 is being operated (the trigger switch 121 is being pulled). Find the optimal value of. The drive control unit 111 then controls the operation of the drive unit 13 based on the optimum value of the control parameter determined by the parameter calculation unit 112.

The parameter calculation unit 112 determines the optimum value of the control parameter according to the distance-related parameter detected by the detection unit 15. Specifically, the parameter calculation unit 112 determines the optimum value of the maximum rotation speed of the motor 131 according to the distance value detected by the detection unit 15 (distance measurement sensor 151). The “distance value detected by the detection unit 15” may be the average value, maximum value, or minimum value of the distance values detected by the plurality (three) distance measuring sensors 151, or the “distance value detected by the plurality (three) distance sensors 151”. The value of the distance detected by a specific one of the distance measuring sensors 151 may be used.

The parameter calculation unit 112 responds to changes in the distance value detected by the distance measurement sensor 151 based on the “correspondence” while the operation unit 12 is being operated (the trigger switch 121 is being pulled). The optimum value of the maximum rotation speed of the motor 131 is changed accordingly. That is, when the operating part 12 is operated and the motor 131 is rotating, the tightening member 200 is gradually screwed into the workpiece W1 by the tip tool 20, thereby tightening the gap between the workpiece W1 and the tool body 10. The distance changes gradually. The parameter calculation unit 112 changes the optimum value of the maximum rotation speed according to this change in distance. Specifically, the parameter calculation unit 112 decreases the optimum value of the maximum rotation speed as the detected distance value decreases.

More specifically, the parameter calculation unit 112 calculates the difference between the “tool information (length of the tip tool 20)” stored in the storage unit 17 and the workpiece W1 detected by the detection unit 15 and the tool body 10. The distance L0 (see FIG. 3) between the workpiece W1 and the tip tool 20 is calculated based on the distance (and the distance from the distance measurement sensor 151 to the tip tool attachment part 134 if necessary). . As shown in FIG. 4, when the distance L0 is greater than or equal to the predetermined value L1 (in FIG. 4, the area to the left of the point where the distance L0 is the predetermined value L1), the parameter calculation unit 112 determines the optimum value of the maximum rotation speed. is the maximum value N1. On the other hand, when the distance L0 is smaller than the predetermined value L1 (in FIG. 4, the area on the right side of the part where the distance L0 is the predetermined value L1), the parameter calculation unit 112 calculates the optimum value of the maximum rotation speed to be 0 or more. Set to a value less than the maximum value N1. For example, when the distance L0 is smaller than the predetermined value L1, the parameter calculation unit 112 sets the optimum value of the maximum rotation speed to the predetermined value N2 (0≦N2<N1).

Thereby, at the start of tightening the tightening member 200 (L0≧L1), the motor 131 can be rotated at high speed (at the maximum value N1 of the maximum number of revolutions) to quickly perform the tightening work. Further, as the tightening member 200 approaches the seating position (the distance L0 becomes smaller than the predetermined value L1), the maximum rotation speed of the motor 131 becomes smaller, and the rotation speed of the motor 131 also becomes smaller. Then, the tightening member 200 is seated on the workpiece W1 while the motor 131 is rotating at a relatively low speed (rotational speed smaller than the maximum value N1). This makes it possible to suppress, for example, a reaction from the work object W1 that may occur due to the tightening member 200 being seated while the motor 131 is rotating at high speed.

The parameter calculation unit 112 calculates the optimum value of the control parameter according to the posture difference detected by the detection unit 15. The "posture difference" here may be a value determined based on the detection result of the ranging sensor 151 or a value determined based on an image captured by the camera 152.

For example, when the posture difference is outside the allowable range, the parameter calculation unit 112 sets the optimum value of the maximum rotation speed to 0. This prevents the tightening work of the tightening member 200 from being performed in a state where the tool body 10 is tilted more than expected with respect to the work object W1. Therefore, it is possible to suppress the occurrence of defects such as so-called "galling".

The advantages of this configuration will be explained with a comparison with a power tool of a comparative example. The power tool of the comparative example forcibly reduces the rotational speed of the motor to a value smaller than the maximum rotational speed at the start of the tightening operation when the operating section is operated. As a result, in the power tool of the comparative example, the posture difference easily falls within the allowable range, and occurrence of defects such as "galling" is suppressed. However, in the power tool of the comparative example, the rotation speed of the motor is forcibly reduced at the start of work, resulting in a decrease in work efficiency.

On the other hand, in the power tool system 100 of the present embodiment, if it is detected that the posture difference is outside the allowable range at the start of the tightening work of the tightening member 200, the operating unit 12 is operated to turn on the trigger switch 121. Even if the motor 131 is rotated, the drive control unit 111 does not start the rotation of the motor 131. Then, when the posture difference falls within the allowable range, the drive control unit 111 sets the maximum rotation speed to the maximum value N1 and starts rotating the motor 131. This makes it possible to improve work efficiency while suppressing the occurrence of defects in the work object W1.

The "tolerable range" of the posture difference may be changed as appropriate depending on the type of the tip tool 20, the type of the tightening member 200, the type of the workpiece W1, etc.

(3) Operation example A specific example of the operation of the power tool system 100 of this embodiment will be described with reference to the flowchart of FIG. 5.

When a user performs work using the power tool 1, the user first operates the operation unit 93 of the processing device 9 to input tool information (ST1). The processing device 9 transmits a signal including the received tool information to the power tool 1. When the power tool 1 receives a signal including tool information from the processing device 9, the power tool 1 stores the tool information in the storage unit 17.

The user sets the power tool 1 at a predetermined position and turns on the trigger switch 121 (ST2). When the trigger switch 121 is turned on, the detection unit 15 detects a physical quantity (ST3). Specifically, the physical quantity extraction unit 153 detects a posture difference based on an image captured by the camera 152, and the distance measurement sensor 151 detects the distance to the work target W1.

The control unit 11 (parameter calculation unit 112) determines whether the posture difference is within an allowable range (ST4). If the posture difference is outside the allowable range (ST4: No), the control unit 11 sets the maximum rotation speed of the motor 131 to 0, and stops the rotation of the motor 131 (does not start it) (ST9).

If the posture difference is within the allowable range (ST4: Yes), the control unit 11 (parameter calculation unit 112) determines whether the distance L0 between the work object W1 and the tip tool 20 is greater than or equal to a predetermined value L1. (ST5). If the distance L0 is greater than or equal to the predetermined value L1 (ST5: Yes), the control unit 11 sets the maximum rotation speed of the motor 131 to the maximum value N1. The control unit 11 (drive control unit 111) controls the drive unit 13 based on the amount of pull of the trigger switch 121 so that the rotation speed of the motor 131 does not exceed the maximum rotation speed (maximum value N1). Thereby, the user performs high-speed work using the power tool 1 (ST6).

While performing high-speed work, the detection unit 15 detects physical quantities (distance, posture difference) at any time (ST3). If the posture difference is outside the allowable range (ST4: No), the control unit 11 (parameter calculation unit 112) sets the maximum rotation speed of the motor 131 to 0 and stops the rotation of the motor 131.

When the distance L0 is less than the predetermined value L1 (ST5: No), the control unit 11 sets the maximum rotation speed of the motor 131 to the predetermined value N2 (<N1). Thereby, the user performs low-speed work using the power tool 1 (ST7). During low-speed work, the distance sensor 151 detects a physical quantity (distance) at any time. The control unit 11 (drive control unit 111) controls the drive unit 13 based on the amount of pull of the trigger switch 121 so that the rotation speed of the motor 131 does not exceed the maximum rotation speed.

When the distance L0 becomes 0 and the work is completed (ST8: Yes), the control unit 11 stops the motor 131 (ST9).

Note that the operation of the power tool system 100 is not limited to the flowchart in FIG. 5, and the order of steps may be changed, or some steps may be omitted or added. For example, the detection unit 15 may detect the physical quantity before the trigger switch 121 is turned on (ST2). Also, during low-speed work (ST7), the detection unit 15 may detect a posture difference, and the control unit 11 (parameter calculation unit 112) may determine whether the posture difference is within an allowable range.

(4) Modifications The above embodiment is just one of various embodiments of the present disclosure. The embodiments described above can be modified in various ways depending on the design, etc., as long as the objective of the present disclosure can be achieved. Modifications of the embodiment will be listed below. The above embodiment and the modified examples described below can be applied in combination as appropriate.

In a modified example, the control parameter related to the operation of the drive unit 13 for which the parameter calculation unit 112 determines the optimum value is not limited to the maximum rotation speed of the motor 131, but may be, for example, the maximum value of the motor current supplied to the motor 131. Alternatively, it may be the maximum duty of the PWM signal.

In one variation, the power tool system 100 may not include the processing device 9. The control unit 11 of the power tool 1 may have the function of the tool information reception unit 921. For example, a code for reading tool information is engraved on the surface of the tip tool 20 itself, and when the tip tool 20 is attached to the tip tool mounting section 134, the tool information receiving section 921 reads the code and reads the tool information. You may obtain it.

In a modified example, the power tool system 100 may not include the tool information reception unit 921. For example, if only the tip tool 20 of a predetermined length can be attached to the tip tool mounting portion 134, there is no need to acquire tool information.

In a modified example, at least some of the functions of the power tool 1 , such as the functions of the physical quantity extraction section 153 and the functions of the parameter calculation section 112 , may be provided in the processing device 9 .

In a modified example, the detection unit 15 may include only the physical quantity extraction unit 153 without the camera 152.

In a modified example, the physical quantity extraction unit 153 detects the distance between the tool body 10 and the work object W1 or the distance L0 between the tip tool 20 and the work object W1 based on the image captured by the camera 152. You can.

In a modified example, the detection unit 15 may detect the posture difference based on the detection result of an acceleration sensor, for example. In short, the configuration of the detection unit 15 that detects physical quantities is not limited to the configuration using the ranging sensor 151 and camera 152.

In a modified example, the detection unit 15 detects the amount of change (or amount of change per unit time) in the distance between the work object W1 and at least one of the tip tool 20 and the tool body 10 as a parameter related to the distance. May be detected.

In a modified example, the parameter calculation unit 112 may change the optimum value of the maximum rotation speed in multiple stages in a region where the distance L0 is less than or equal to a predetermined value L1, or may change the optimum value of the maximum rotation speed gradually as the distance L0 becomes smaller. The optimum value of the maximum rotation speed may be changed accordingly.

(5) Aspects As is clear from the embodiments and modifications described above, the following aspects are disclosed in this specification.

The power tool system (100) of the first aspect includes a drive section (13), an operation section (12), a drive control section (111), a tool body (10), a detection section (15), and a memory. section (17), and a parameter calculation section (112). The drive section (13) includes a motor (131). The drive unit (13) drives the tip tool (20) by rotating the motor (131) to perform work on the work object (W1). The operation unit (12) is operated by a user. The drive control section (111) controls the operation of the drive section (13) in response to a user's operation on the operation section (12). The tool body (10) is portable. The tool body (10) holds a drive section (13), an operation section (12), and a drive control section (111). The detection unit (15) detects a physical quantity indicating the spatial relationship of at least one of the tip tool (20) and the tool body (10) with respect to the workpiece (W1). The storage unit (17) stores a correspondence relationship in which the physical quantities described above are associated with control parameters related to the operation of the drive unit (13). The parameter calculation unit (112) calculates the optimum value of the control parameter according to the detected value of the physical quantity detected by the detection unit (15) based on the above-mentioned correspondence relationship while the operation unit (12) is being operated. seek. The drive control section (111) controls the operation of the drive section (13) based on the optimum value of the control parameter determined by the parameter calculation section (112).

According to this aspect, it is possible to reduce the possibility that the work object (W1) becomes a defective product, and it is possible to improve work efficiency.

In the power tool system (100) of the second aspect, in the first aspect, the detection unit (15) includes a physical quantity extraction unit (153) that obtains the above-mentioned physical quantity based on the image captured by the camera (152). . The parameter calculation unit (112) determines the optimum value of the control parameter according to the physical quantity determined by the physical quantity extraction unit (153).

According to this aspect, by using the camera (152), it becomes possible to detect the physical quantity more clearly, and it becomes possible to more accurately determine the optimal value of the control parameter.

In the power tool system (100) of the third aspect, in the first or second aspect, the detection unit (15) detects the work object (W1), the tip tool (20), and the tool body (10) as the above-mentioned physical quantities. ) is detected. A parameter calculation unit (112) determines the optimum value of the control parameter according to the distance-related parameter detected by the detection unit (15).

According to this aspect, during work, it is possible to dynamically determine the optimum value of the control parameter according to the distance-related parameter.

In the power tool system (100) of the fourth aspect, in the third aspect, the control parameter includes a maximum rotation speed that is an upper limit of the rotation speed of the motor (131). The parameter calculation unit (112) determines the optimum value of the maximum rotation speed as the optimum value of the control parameter.

According to this aspect, it is possible to determine the optimum maximum rotational speed value according to the value of the detected physical quantity.

In the power tool system (100) of the fifth aspect, in the fourth aspect, the detection unit (15) detects the distance between the workpiece (W1), the tip tool (20), and the tool body (10). Detect the distance between at least one of the The parameter calculation unit (112) decreases the optimum value of the maximum rotation speed as the detected distance value decreases.

According to this aspect, it is possible to suppress the reaction from the work object (W1) that may occur when the tightening member (200) is seated while the motor (131) is rotating at high speed, and the work object (W1) It becomes possible to reduce the possibility that the product becomes a defective product, and it becomes possible to improve work efficiency.

In the power tool system (100) of the sixth aspect, in any one of the first to fifth aspects, the detection unit (15) detects, as physical quantities, the tip tool (20) and the tool body for the workpiece (W1). A posture difference indicating a deviation in at least one of the postures in (10) is detected based on the detection results of a plurality of distance measuring sensors (151) each detecting the distance to the work object (W1). A parameter calculation unit (112) calculates optimal values of control parameters according to the posture difference detected by the detection unit (15).

According to this aspect, it is possible to obtain the optimum value of the control parameter according to the posture difference.

In the power tool system (100) of the seventh aspect, in any one of the first to sixth aspects, the control parameter includes a maximum rotation speed that is an upper limit of the rotation speed of the motor (131). The detection unit (15) detects, as the above-mentioned physical quantity, a posture difference indicating a posture shift of at least one of the tip tool (20) and the tool body (10) with respect to the workpiece (W1). The parameter calculation unit (112) sets the optimum value of the maximum rotation speed to 0 when the posture difference is outside the allowable range.

According to this aspect, it is possible to suppress the occurrence of defects such as so-called "galling", and it is possible to improve work efficiency.

100 Power tool system 10 Tool main body 111 Drive control section 112 Parameter calculation section 12 Operation section 13 Drive section 131 Motor 15 Detection section 151 Distance sensor 152 Camera 153 Physical quantity extraction section 17 Storage section 20 Tip tool 200 Tightening member W1 Work object

Claims (7)

a drive unit that has a motor and drives a tip tool by rotation of the motor to perform work on a work object;
an operation unit operated by a user;
a drive control unit that controls the operation of the drive unit according to the user's operation on the operation unit;
a portable tool body that holds the drive section, the operation section, and the drive control section;
a detection unit that detects a physical quantity indicating a spatial relationship of at least one of the tip tool and the tool body with respect to the work object;
a storage unit that stores a correspondence relationship in which control parameters related to the operation of the drive unit are associated with the physical quantities;
a parameter calculation unit that calculates an optimal value of the control parameter in accordance with the detection value of the physical quantity detected by the detection unit based on the correspondence relationship while the operation unit is being operated;
Equipped with
The drive control unit controls the operation of the drive unit based on the optimum value of the control parameter determined by the parameter calculation unit.
Power tool system. The detection unit includes a physical quantity extraction unit that obtains the physical quantity based on an image captured by a camera,
The parameter calculation section calculates an optimal value of the control parameter according to the physical quantity obtained by the physical quantity extraction section.
The power tool system according to claim 1. The detection unit detects, as the physical quantity, a parameter related to the distance between the work object and at least one of the tip tool and the tool body,
The parameter calculation unit calculates an optimal value of the control parameter according to the distance-related parameter detected by the detection unit.
The power tool system according to claim 1. The control parameter includes a maximum rotation speed that is an upper limit of the rotation speed of the motor,
The parameter calculation unit determines the optimum value of the maximum rotation speed as the optimum value of the control parameter.
The power tool system according to claim 3. The detection unit detects a distance between the work object and at least one of the tip tool and the tool body, as a parameter related to the distance,
The parameter calculation unit decreases the optimum value of the maximum rotation speed as the detected value of the distance decreases.
The power tool system according to claim 4. The detection unit includes a plurality of distance measuring sensors that detect, as the physical quantities, a posture difference indicating a deviation in the posture of at least one of the tip tool and the tool body with respect to the work object, and a distance to the work object, respectively. Detect based on the detection results of
The parameter calculation unit calculates an optimal value of the control parameter according to the posture difference detected by the detection unit.
The power tool system according to claim 1. The control parameter includes a maximum rotation speed that is an upper limit of the rotation speed of the motor,
The detection unit detects, as the physical quantity, a posture difference indicating a deviation in posture of at least one of the tip tool and the tool body with respect to the work object,
The parameter calculation unit sets the optimum value of the maximum rotation speed to 0 when the posture difference is outside an allowable range.
The power tool system according to claim 1.

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