CN103223655A - A precision-fastening handheld cordless power tool - Google Patents

Abstract

The invention relates to a precision-fastening handheld cordless power tool. The cordless power tool includes a pistol housing having an upper portion that merges into a downwardly extending handle, a DC motor residing in the upper portion of the housing, the DC motor having a rotor that drives an output shaft; a torque transducer on board the tool in communication with the output shaft; and a dynamic motor control circuit residing in the housing in communication with the motor and torque transducer. The dynamic motor control circuit includes a Kelvin resistor in communication with the motor for measuring motor current and digital hall switches in communication with the motor for measuring motor speed. The motor current can vary by at least 100 A during operation.

Description

Accurate fastening handheld cordless electric tool

Related application

The rights and interests and the priority of the U.S. Provisional Patent Application 61/617502 of U.S. Provisional Patent Application submission March 29 in 61/591468,2012 of present patent application requirement submission on January 27th, 2012 and the U.S. Provisional Patent Application of submitting on April 23rd, 2,012 61/636873, their content is incorporated this paper by reference into, as all being documented in herein.

Technical field

The present invention relates to electric tool and be particularly suitable for cordless power tool.

Background technology

Often reversing in electric tool and other rotary machine monitored in expectation.Under the situation that the rope electric tool is arranged, for example nut spanner or screwdriver, institute's data monitored allows to measure rotation torque output and calculates the output that is produced by this instrument thus.But, when implementing (wireless) electric tool of sane, economic battery energy supply, run into serious technological challenge, especially for accurate use.The instrument voltage of battery performance is low and therefore, for enough power is arranged, with high electric current and/or high power density operation.And the compactness of handheld cordless electric tool is essential, adds the high electric current and the financial cost target of quick change, has proposed great circuit reliability challenge, comprises signal and/or noise jamming, dynamically motor control problem and heat management challenge.

Summary of the invention

That embodiments of the invention relate to is wireless, accurate electric hand tool, and it has airborne closed-loop dynamic control circuit, this circuit directly measure moment of torsion and exact current is provided and the motor position data to realize accurate fastening control output.

Embodiments of the invention adopt four line Kelvin resistors to realize reliable current measurement.

Some embodiment relate to cordless power tool, and described electric tool comprises: the pistol type housing, and described housing has the top of the handle that is fused to downward extension; The DC motor, it is placed in the top of housing, and described DC motor has the rotor that drives output shaft; Be positioned at the torque transducer on this instrument, it is communicated by letter with output shaft; With dynamic motor control circuit, it is placed in the housing and with motor and communicates by letter with torque transducer.Dynamically motor control circuit comprises and communicates by letter with the Kelvin resistor of measuring motor current with motor and communicate by letter with motor to measure the digital Hall switch of motor speed.Motor current can be with 100A variation at least in running.

The electric tool handle can have the lower part, and this lower part engages releasable and rechargeable batteries.This instrument can comprise that the batteries of the lower part that is attached to electric tool and this batteries can be about 36V or lower low tension battery group.

The Kelvin resistor is four terminal devices, and wherein two terminals are used for current sense and two terminals as current path.Dynamically motor control circuit is constructed such that being used in the electric current that switches between about 150A peace treaty-150A moves this motor.

Electric tool can comprise the power circuit board (the normally part of motor control circuit) that is placed in the handle that keeps the Kelvin resistor.Power circuit board also comprises at least one high-gain difference current amplifier and a plurality of low inductance 3 node capacitor devices, and the input of described capacitor next-door neighbour high-gain amplifier power is installed (for example on power circuit board) to stop or to reduce outside EMI and/or other signal disturbs.

Cordless power tool also can comprise: the circuits for triggering plate, and it is placed in the below of the motor in the housing; Processor circuit board, it is placed in the lower part of handle and with circuits for triggering and communicates by letter; And power circuit board, it is placed between circuits for triggering plate and the processor circuit board and with processor circuit and communicates by letter.Power circuit board can have the length bigger than the major part of the length of handle.Power circuit board can comprise a plurality of isolated two main lip-deep one radiators that are positioned at power circuit board, and each one radiator is included in the Heat Conduction Material of the certain volume in the corresponding fill area that limits of circuit.

Cordless power tool can comprise the switching device of communicating by letter with motor, and described switching device comprises switching device, and described switching device directly is installed on the relative main surface of power circuit board each other with facing, the heat that reduces the radiation discharging thus and/or produce.

Cordless power tool can comprise the power circuit board that is positioned at handle, and wherein power circuit board has the bigger length of major part than the length of handle, and power circuit board can comprise motor drive circuit.This instrument can comprise the cooling inlet air flow path, and this path comprises at least one air inlet portion of the bottom that is close to handle.Inlet air flow path can be configured to guide air to flow through the top section that power circuit board arrives instrument before discharging housing by the discharge port on the top at housing.

Cordless power tool can comprise processor circuit board, and it is arranged in lower part of frame and is in basically substantially horizontal orientation with the power amplifier board quadrature.Processor circuit comprise be routed to from next-door neighbour's handle housing wall at the inner surface of a main surface of power amplifier board electric wire to the top of housing.

Dynamically motor control circuit can be a closed control circuit, and it is maintained in the housing so that accurate moment of torsion output to be provided.Closed control circuit can comprise with remain on handle in the motor power circuit board of communicating by letter.Power circuit board can have switching device.Motor can have can be at least about the resolution ratio control motor current of 0.1A to dynamic range the between+150A and closed control circuit at pact-150A.

Electric tool can be accurate fastening electric tool.Power circuit board can be elongated, has identical with the length of the handle that has the lower part that comprises the battery interface basically height.Power circuit board has the first and second main surfaces, described main surface erectly is placed in the handle portion, in the first and second main surfaces, have longitudinally-spaced one metal heat sink on each, and be installed in the switching device of the corresponding switching device of directly facing each other on the top of each radiator.

Power circuit board can comprise high-gain difference current amplifier.Power circuit board can comprise the first and second power switching devices, and these power switching devices directly are placed on the relative main side of power circuit board basically each other with facing.

Power circuit board can separate with whole digital circuits, so that the interaction and the power circuit board of isolation or minimizing current switching noise and digital circuit can comprise motor drive circuit thus, described motor drive circuit comprises power MOSFET, and it has the gate driver of each phase of three-phase that is used for motor, for the 5V power supply of whole circuit board energy supplies of tool interior be used for the 12V booster power of gate driver.

Electric tool can comprise processor plate, trigger board, power amplifier board, display board and RF subcarrier plate, and all these is in housing.Processor plate can be in the bottom of handle and between power amplifier board and releasable batteries.Processor plate can comprise motor control figure signal processor, motor position analog circuit, phase current sensing circuit, torque signal circuit and power supply.Display board can be positioned at the rear end part of housing (going up cylindrical part), and communicates by letter with the exterior visual display, and described display has keyboard user interface.The RF subcarrier plate can be oriented to contiguous display board and be used for wireless fastening transfer of data.

Wireless power can be included in the circuit overcurrent protection in the housing.The overcurrent circuit can comprise a pair of dual comparator, described comparator monitoring convergent-divergent electric current (scaled current), positive and negative both.The overcurrent circuit with the convergent-divergent electric current of monitoring and predetermined trip value (trip value) relatively and be configured to that convergent-divergent electric current when monitoring is in or cause that motor pulsewidth modulation (PWM) signal skips a circulation and reduce the electric current demand thus when surpassing the trip value of being scheduled to.This circuit allows pwm signal enabling after over-current condition is alleviated to avoid over-current condition occurring and need not to stop fastening in active fastening operating period thus.

Other embodiment relates to the method for operating accurate fastening cordless power tool.This method comprises: wireless, electric hand tool (a) is provided, and it has the rechargeable battery power supply; (b) use the Kelvin resistor that remains in the electric tool to measure motor current; (c) based on the moment of torsion output of determining electric tool from the moment of torsion data of airborne transducer; (d) use the fastening target workpiece of this cordless power tool to the moment of torsion that limits; (e) control motor in motor current of use measuring during fastening step and transducer moment of torsion Data Dynamic ground to be utilizing at least about the resolution ratio of 0.1A at the current practice scope adjusted motor current between the 1-100A at least, thus thus accurately control stop and allowing motor to export accurately fastening to realize.

The current practice scope can be at pact-150A between about 150A.

This method also can comprise the fastening value that storage is associated with at least 100 independent fastening operations, wirelessly fastening value is relayed to remote equipment then.

This method also can comprise using fills out the power switch burn-off of copper zone from the power amplifier board in the handle of electric tool on the power circuit board.

This method can comprise the dual comparator monitoring overcurrent situations of using monitoring convergent-divergent electric current (positive and negative both), and the convergent-divergent electric current of monitoring compared with predetermined trip value to be in or to cause that motor pulsewidth modulation (PWM) signal skips a circulation to reduce the electric current demand when surpassing predetermined trip value with the convergent-divergent electric current in monitoring, allows pwm signal to alleviate enabling afterwards to avoid over-current condition occurring and need not to stop fastening in active fastening operating period thus in over-current condition then.

Other embodiment relates to the computer program of the wireless fastening electric tool that is used to have motor.This computer program comprises non-transient state computer-readable recording medium, and it has the computer readable program code of specializing in this medium.Computer readable program code comprises: (a) be configured to use the Kelvin resistor that remains in the electric tool to measure the computer readable program code of motor current; (b) be configured to computer readable program code based on the moment of torsion output of determining electric tool from the moment of torsion data of airborne transducer; Thereby (c) be configured in fastening operating process to use the motor current measured and transducer moment of torsion Data Dynamic control motor with utilize at least about the resolution ratio of 0.1A the current practice scope adjusted motor current between the 1-100A at least thus accurately control stop and move motor output to realize accurate fastening computer readable program code.

Electro-motor can be the brushless electric motor.

The accurate wireless instrument optionally utilizes the angle control of torque monitoring with (a) or (b) utilizes the moment of torsion control operation of angle monitor.

Embodiments of the invention can comprise that at least one Hall base location sensor is to realize angle orientation.

Embodiments of the invention can comprise the optimal ventilation position of tool housing.

Embodiments of the invention comprise 4Nm, 8Nm and 12Nm with three different low torque mode operations.

In certain embodiments, drive rotating shaft and can comprise thrust bearing and the output revolving shaft that breaks away from gear drive and transducer, and load and impact basically that (if not fully) absorbs by housing, rather than transducer.

In certain embodiments, instrument can comprise a plurality of Hall elements, and it is inner and communicate by letter with motor control circuit to allow in angle monitor or the angle orientation at least one that described sensor is maintained at motor.

Some embodiment relate to the fastening electric tool of handheld cordless, and it comprises: housing; Be arranged in the motor of housing, described motor has the motor that drives output shaft; Torque transducer in the housing, it is communicated by letter with output shaft; Dynamic motor control circuit, it is arranged in housing and communicates by letter with torque transducer with motor, and dynamic motor control circuit comprises with motor communicates by letter to measure the Kelvin resistor of motor current; And airborne indicator, it is kept by housing and can contact user interface communication with onboard external, described user interface has at least one load button that is positioned to next-door neighbour's display, the icon that is defined that is associated of display exhibits and different selectable setting wherein, to allow the user can selection manipulation parameter, this comprises soft or hard interface architecture and angle or torque monitoring.

Above and other objects of the present invention and aspect have been explained particularly in the disclosed below specification.

What it should be noted that is that the each side of describing with reference to an embodiment of the present invention can be included among the different embodiment, although do not describe these aspects with reference to this different embodiment.Also promptly, all the feature of embodiment and/or any embodiment can be combined by any way and/or in combination.The applicant keeps the right that changes any Original submission claim and submit any new claim to, therefore comprise and to revise any Original submission claim to be subordinated to and/or to comprise the right of any feature of any other claim, although do not propose claim at first by this way.Specific explanations these and other objects of the present invention and/or aspect in the disclosed below specification.

Description of drawings

Figure 1A is the side elevation view according to the exemplary cordless power tool of the embodiment of the invention.

Figure 1B is the exploded view according to the equipment shown in Figure 1A of the embodiment of the invention.

Fig. 2 is the block diagram according to the circuit of the cordless power tool of the embodiment of the invention.

Fig. 3 is the curve map according to the accurate moment of torsion output of the embodiment of the invention.

Fig. 4 A is half a side view of the tool housing shown in Figure 1A, and it illustrates some the internal circuit plate member according to the embodiment of the invention.

Fig. 4 B is the face side parallax stereogram according to the part excision of the instrument shown in Figure 1A of the embodiment of the invention.

Fig. 4 C is the rearview according to the display of the instrument shown in Figure 1A of the embodiment of the invention/UI part.

Fig. 4 D is the schematic diagram according to the circuit board of the embodiment of the invention and circuit control input and output.

Fig. 5 A-5C is moment of torsion-angle curve map that the difference control according to the different fastening pattern that is provided by individual tool of the embodiment of the invention is provided with, and described instrument comprises moment of torsion control that utilizes angle monitor and the angle control that utilizes torque monitoring.

Fig. 6 A is the enlarged side view according to the power circuit board of the embodiment of the invention.

Fig. 6 B is the top view of the power circuit board shown in Fig. 6 A, illustrates the one radiator according to the embodiment of the invention.

Fig. 6 C is the rearview according to the power circuit board shown in Fig. 6 B of the embodiment of the invention.

Fig. 7 is the block diagram according to the electric tool of the embodiment of the invention.

Fig. 8 is the sketch according to the current measurement circuit of the embodiment of the invention.

Fig. 9 is the sketch according to the example of the torque measurement circuit of the embodiment of the invention.

Figure 10 is the sketch according to the example of the motor drive circuit of the embodiment of the invention.

Figure 11 is the sketch of the example of trigger board according to some embodiments of the invention.

Figure 12 is the sketch of the example of circuit overcurrent protection according to some embodiments of the invention.

Figure 13 A is the circuit diagram of the example of top electric tool (for example nut spanner) circuit according to some embodiments of the invention.

Figure 13 B is the circuit diagram according to the motor control circuit that has Hall element of the embodiment of the invention.

Figure 14 is the flow chart of example of operation that can be used for controlling cordless power tool according to the embodiment of the invention.

Figure 15 is the data handling system according to the embodiment of the invention.

Figure 16 A is according to the schematic diagram of the instrument of the controller PCM radio communication embodiment of the invention and in working position/factory.

Figure 16 B-16D is the schematic diagram according to the accurate cordless power tool wireless system of the embodiment of the invention.

Figure 17 A-17D is the screenshot capture according to the display screen of the instrument of the embodiment of the invention.

Figure 18 is the vertical view according to the parameter that can be used for adjustment means of the embodiment of the invention and/or the control input annex that has display and user interface of communicating by letter with instrument.

The specific embodiment

More fully describe the present invention now with reference to accompanying drawing, wherein embodiments of the invention are illustrated in the accompanying drawings.But, the present invention can many different modes implement and should not be understood that to be limited to embodiment disclosed herein.In institute's drawings attached, identical Reference numeral is represented components identical.In the accompanying drawings, some layer, parts or feature may show with clear by exaggerative, and dotted line represents optional feature or operation, except as otherwise noted.And the order of operation (or step) is not limited to the order that provides in accompanying drawing and/or claim, unless expressly stated otherwise.In the accompanying drawings, the thickness in line, layer, feature, parts and/or zone may show and dotted line is represented feature or the operation chosen wantonly with clear by exaggerative, except as otherwise noted.

Technical term used herein only is for the purpose of describing specific embodiment and is not to be intended to limit the invention.When using in this article, singulative " ", " one " and " this " are considered to also comprise plural form, unless context clearly demonstrates in addition.It should also be understood that, term " comprises ", " comprising " in being used in present specification the time, stipulate the existence of the feature of being stated, zone, step, operation, element and/or parts, but do not got rid of the existence of one or more further features, zone, step, operation, element, parts and/or their group or additional.

It should be understood that when the feature such as layer, zone or substrate be called as another feature or element " on " time, it can be located immediately on this another feature or the element or can also have intermediate features and/or element.By contrast, when element is called as on " being located immediately at " another feature or the element, just there is not intermediary element.It will also be appreciated that it can directly connect, be attached or coupled to this other element or can have intermediary element when feature or element are called as " connection ", " attached " or " connection " to another feature or element.By contrast, when feature or element are called as " directly connecting ", " directly attached " or " directly connecting " to another element, just there is not intermediary element.Although be described or illustrate with reference to an embodiment, so description or illustrated feature are applicable to other embodiment.Term " about " refer to less than 20%+/-change, normally+/-10%.

Unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) all have the meaning equivalent in meaning with those skilled in the art institute common sense.It should also be understood that, for example those terms that define in common dictionary should be interpreted as having and the consistent implication of they implications under the background of the application and association area, and should not be under the idealized or too mechanical meaning and explained, unless so definition herein.

Term " wireless " electric tool refers to does not need the wired electric tool of external power source to operate that be electrically connected to of plug-in type.On the contrary, cordless power tool has electro-motor, and it is by for example rechargeable battery energy supply of airborne battery.The battery of certain limit can be suitable for the wireless instrument of certain limit.Embodiments of the invention are particularly suitable for fastened tools, for example screwdriver, ratchet and nut spanner.Embodiments of the invention can be particularly suitable for accurate fastening electric tool, and it can be used to expect in the application to the control more accurately of applied output.

Figure 1A and 1B illustrate the example of cordless power tool 10, and it comprises enclosure body 10b, motor 15, gear-box 16 and instrument output shaft 18.As shown, housing 10b holds motor 15 and partly centers on gear-box 16.But, can use other housing and gear-box structure.Gear-box 16 seals known (unshowned) and drives system.Enclosure body 10b can comprise for example glass-filled nylon of shock-resistant moulding material.Drive system and can comprise the durable metal planetary gear structure.Lower part of frame is divided can engage and discharge rechargeable batteries 25(Figure 1A).Batteries 25 keeps single lattice battery to limit for example about 36V or lower low pressure (rechargeable) battery, comprises 24V or lower, for example 20V, 18V, 12V etc.In certain embodiments, batteries 25 is 20V lithium-ions battery list lattice batteries.As shown in Fig. 4 B and the 16B, batteries 25 can be provided as interchangeable different size 25A, 25B respectively.Different batteries can be 5 and 10 single lattice batt battery groups.Charger 125(Figure 16 B) can be configured to these two kinds of size chargings.

Enclosure body 10b can comprise external control, for example trigger 11 and the UI(user interface that has keyboard and display 40).

Enclosure body 10b can randomly be provided as two case members that can cooperate 10 ₁With 10 ₂, as shown in Figure 1B.Electric tool 10 can be configured to " pistol " type electric tool, and it has cylindrical basically or barrel-shaped top 10u, and this top is fused to the handle portion 10h of downward extension.

Fig. 2 illustrates the block diagram of closed loop electric tool circuit 10c.Electric tool circuit 10c also can directly measure the moment of torsion from the torque transducer 180 of communicating by letter with outside output shaft 18.Torque transducer 180 can be maintained at tool body inside and be positioned between motor output shaft (upstream of output shaft 18) and the driving system, for example be close to gear ring, for example describe in PCT/US2011/030653, the content of the document is incorporated this paper by reference into, as record in this article in full.

Electric tool circuit 10c can comprise a plurality of circuit board 10b.The circuit board that illustrates comprises power circuit board 40, digital processing unit circuit board 60(, and it can comprise at least one processor 10p), display board 70, radio communication plate 75 and trigger board 80.Radio communication plate 75 permission instruments randomly or optionally with outside (long-range) equipment 90 radio communications.One or more sons that are provided as on the extra plate that separates in the circuit board separately divide and/or circuit board in two or more circuit board structures that are combined or break into other.Circuit board is printed circuit board (PCB) normally.Term " circuit board " refers to flexible PCB substrate and the circuit board substrate of rigidity and their combination basically.

As shown in FIG. 2, circuit 10c can comprise that a plurality of Hall element 151(that are connected to motor 15 are maintained at the inside of motor 15 usually).Hall element 151 can be connected to the digital circuit board 60 that is positioned to away from the motor 15 in the instrument 10.It can be selectable tool operation pattern that motor Hall element 151 can the permission instrument has angle monitor and/or positioning control and this control.Hall element 151 can comprise at least three Hall elements 151, and they can be positioned at the inside inside of the housing of motor (for example) (seeing, for example Figure 13 B) of motor 15.

Instrument can have wireless option, this option can allow to utilize input/output commands to carry out process control by the UI on instrument and/or the remote computer 140, UI communicates by letter and/or is associated with airborne indicator 40, the parameter (seeing, for example Figure 17 A-17D) that airborne indicator 40 can allow workman or long-distance user to utilize a kind of in a plurality of different tool operations of procedure Selection and/or regulate some definition.

Instrument 10 can be configured to that " scene " files that database, selectable tool configuration switch, a plurality of instrument 10 and public wireless receiver/gateway 144(Figure 16 B-16D) communicate by letter, usually allow about 5-20 instrument, more generally be about 10 instruments, between by receiver 144 time radio communication.Only instrument 10 or can produce the preventative maintenance alarm via external equipment 90 preventative maintenance may be suitable or instrument need maintain or check or demarcate to notify user, custodian or other personnel (local or long-range).Alarm can be provided as the audio or video alarm, for example message on the airborne indicator 40 or icon and/or color indicator LED lamp (for example, yellow color or red color, flicker or lasting).

Figure 16 C and 16D illustrate and have stand 145 instrument monitoring/control system 10s of implementing procedure person.Implementing procedure person stands and 145 can be configured to connect by input port 10p for example at Figure 16 C(and Fig. 4 D) shown in USB port insert the cord of instrument.

Figure 16 C and 16D illustrate instrument programming station 145 and comprise that controller (for example, at least one processor), be depicted as computer 140, its can with receiver 144(for example, independently receiver or be integrated in receiver in controller/process control module) communicate by letter with switch 141.Instrument 10 can single 1:1(instrument-wireless receiver under single process control module operation control model 144s) operation sequential or with many times of instruments-receiver ratio, for example, be generally 10:1 instrument-wireless receiver operation sequential by instrument process control module or receiver 144m.

(LAN or " LAN ") ability that system 10s can be configured to have Ethernet, many I/O(are usually between 5-10, for example about 8), fieldbus card, the serial port that is used for barcode scanner and printer be connected with the ICS(internet share compatible) software.Computer 140 can be any suitable form of computers, comprises fixing or portable form, for example desktop computer, notebook computer, electronic notebook, electronics board, smart mobile phone etc.

Fig. 3 illustrates in certain embodiments, and Wireless Power Tools 10 can be implemented in the high-caliber repeatability of hitting in the export target moment of torsion all the time.This is defined as the ability of instrument.Ability has been defined and is provided by industrywide standard (ISO5393) and has been used for descriptive tool and realizes its target and almost do not have the public of ability of deviation to measure with this target in the life period of the instrument repeatability with height.This is defined as average (mean value) of six SIGMA divided by total sample number.In order to determine the whole capability of instrument, on the limit range of the torque value of certain limit and junction surface rigidity, extract several samples, for example about 50 or 100 samples, and after the life test of continuity, repeat to guarantee the uniformity along with the time.The result who implements this control method is, fastening electric tool can be exported at nominal torque under (with the RPM limit), and for example 4Nm, 8Nm and 12Nm realize low ability, for example about 6.25% or still less, usually about 5%, about 4%, about 3%, about 2% or still less.The instrument that has less than 5% ability is considered to " A " level instrument because standard deviation (SIGMA) reduces, as by the ability numerical value institute that reduces provably repeatability improve.The accuracy of this degree has been indicated by instrument and has been realized good control.The meaning was that the moment of torsion output (on average) of fastening electric tool has the substandard deviation when term " accurately " and its derivatives were used in this article, for example defined target (presetting) output torque value+/-3SIGMA in and usually pact+/-6SIGMA in.The SIGMA grade is represented the mean value of actual torque output apart from its target.It shows with average (or average) desired value also have how many variations.Substandard deviation indicated number strong point trends towards very near mean value, and scatters on wide range of values in high standard deviation indicated number strong point.Six SIGMA grades refer to a kind of fastening process, and wherein the moment of torsion output of statistics expection about 99.99966% is positioned at standard deviation tolerance range (about 3.4 defectives per 1,000,000).

In certain embodiments, electro-motor 15 can be the brushless electric motor.

Embodiments of the invention comprise 4Nm, 8Nm and 12Nm with three different low torque mode operations, have about 1500,1150 and 750 rpms (RPM) respectively.Instrument can have the adjustable speed between about 10% and about 100%.

As shown in Fig. 4 A and the 4B, radio board 75 is closely spaced apart with display board 70 in the rear end part 10r of housing.Alternatively, radio board 75 and display board 70 are consisted of integrated or single plate (not shown).Still with reference to Fig. 4 A, trigger board 80 can be positioned at (Fig. 4 B) below the motor 15 in the lower part of the top of handle 10h or bucket 10u.Power amplifier board 50 can be positioned at handle 10h.As shown, processor plate 60 is positioned at the office, bottom of the handle 10h that is in plate and processor plate 60 belows.Electric wire 12 can upwards connect up from battery interface 25i and think some electrical components energy supply and/or provide signal circuit to connect by housing handle 10h arrival upper shell 10u, in by housing handle 10h process, hide ground and open with a long marginating compartment of power amplifier board 50, and between (tight spacing is opened) inwall of the housing when an end of trigger board 80 and housing carry out the transition to barrel 10u from handle.

The air that is used to cool off can enter instrument 10 through air intake 10i and can flow through the top 10u of power amplifier board 50 to instrument near the bottom of handle 10h, discharge from housing through discharging port 10e afterwards.The optimal ventilation position that embodiments of the invention can comprise tool housing is perflation ventilation mouth 10i for example, its form is a plurality of slots, the elongated hole of substantial horizontal orientation for example, the end portion (for example, Figure 1B, 4B) of the pistol handle of next-door neighbour's batteries top, position.

Accumulator terminal can be positioned near the bottom of handle 10h, thereby allows the short connection easily between battery 25 and the power amplifier board 50.

Component protection can be provided by Transient Voltage Suppressor (TVS) equipment, and this equipment can be positioned on the power amplifier board 50, realizes that at power amplifier board 50 accumulator terminal connects 25i.This additional TVS equipment can protect sensing unit not to be subjected to influence by switch the electricity overload that causes from the inductance load of motor drive circuit.

Instrument 10 can have transducer 180 and transducer control 180c, as shown in Fig. 4 B.Transducer control 180c can provide a plurality of structures, the algorithm to the moment of torsion traceability of NIST, dominant moment of torsion, data filing, speed control, soft start, downshift, cover (Gang) counting, the cycle count of closed-loop control, single digital combination ability, individual tool and can be the ICS compatibility.

Fig. 4 C illustrates the plate 50,60,70,75 and 80 according to the embodiment of the invention, and they have from these plates to other plate and/or for example exemplary circuitry input and output (being represented by arrow and solid line) of motor 15 and torque transducer 180 of other parts.For example, radio board 75 is sent and is received radio signals with solid line radio communication 10w.Display board 70 control displays 40 and from the input of contiguous airborne keyboard.Power amplifier board 50 sends power to motor 15.The DSP(processor) plate 60 tells power amplifier board how transmitted power is to motor 15.Trigger board 80 sensing triggers 11 and reversing button motion also can be supported headlight and buzzer parts.

Fig. 4 D illustrates the example of airborne instrument display 40, and it comprises programmable load button 40b, and this button can comprise the elastomeric pad 40p that has the arrow selection; X button 40x(is used for cancellation and selects item maybe action to be closed) and check button 40c(be used to allow sure selection or action).Instrument 10 can comprise USB or other communication interface port one 0p, its can be positioned on the instrument any position with at least one airborne processor 10p(usually on control panel 60, Fig. 2) communicate by letter with display 40.Instrument 10 can be configured to the output mode and the adjusting of display definition, and described pattern and adjusting can be selected, cancel selection or regulate based on UI button 40b.Term " button " refers to various UI inputs widely, comprising touch-screen and sense of touch button.

Fig. 5 A-5C is the curve map according to the exemplary fastening scheme that is allowed by instrument 10 of the embodiment of the invention.Instrument 10 is configured to use the hall effect sensor 151 and the airborne torque transducer 180 that have closed control loop to move with moment of torsion control that has angle monitor or the angle control that has torque monitoring.Instrument 10 can be in torque control mode and angle control model with the height of the height that has defined and low torque limitation and definition and the operation of low angle limit.Fig. 5 A illustrates target torque in the square frame of curve map upper right side.The angle (M α) of monitoring between threshold value moment of torsion and target torque can help detection or recognizer component and junction surface problem.Most of users do not know to use any angle limit and seldom use this feature.Target torque is between about 60-70% of surrender moment of torsion (+/-30% the load that requires is disperseed) usually.

Fig. 5 B shows angle on target (T α) can be from the threshold value torque measurement.Angle on target is selected as producing final moment of torsion usually, and this final moment of torsion is (+/-15% clamping load disperses) between about 60-70% of surrender moment of torsion.

Fig. 5 C illustrates the multizone agreement, wherein the first maximum incision moment of torsion and angle increase on " A " slope, height in the zone of locating at " B " of preponderating and the low torque limitation of preponderating, then to tightening the zone, wherein moment of torsion is located to be increased to finally to tighten target in the end in zone " C ".

Instrument 10 can be constructed to instrument compact, that weight is light relatively.The compact essence of enclosure body 10b defines little inner envelope and/or circuit block closely is positioned at together and can causes signal interruption and/or reliability or malfunction potentially.In order to overcome these obstacles, embodiments of the invention are by being placed on processor plate below the motor 15 and below the power amplifier board 50, data signal parts and some analog component (switch etc.) being separated.In certain embodiments, compact tools 10 can heavily about 1.5-6 pound, for example between about 1.5-2.5 pound, and not about 2.00 pounds (not including batteries) about 5 pounds or still less usually to the band batteries, comprise about 4 pounds or still less of band batteries 25, about 3.5 pounds usually, about 3 pounds or even still less.

In certain embodiments, power amplifier board 50 has the length more than the major part of the length that has occupied handle 10h, and more generally is whole length of handle 10h basically.Power amplifier board 50 can be basically smooth and can with the housing member 10 of handle 10h ₁Or 10 ₂An inner surface closely spaced apart.In other embodiments, plate 50 can be centrally located between two inner surfaces of facing of handle 10h.In some implementations, power amplifier board 50 can from bigger lower end 50l to less top or upper end 50u narrow down gradually.

Heat management is for the parts that are associated with on-board circuitry, and especially those reliable operation and/or life-spans that are installed to the parts on the circuit board are important.The typical method that shifts out heat from semiconductor equipment is to them with heat spreader attachment.Fig. 6 A and 6B illustrate, and in certain embodiments, power amplifier board 50 does not require any independent radiator that separates, because circuit board 50 self is configured to provide (one) of separating on space radiator.This structure require to have Heat Conduction Material for example the fill area of copper as respectively in the top side of plate 50 and the spreader region 169 of bottom side 50t, 50b ₁, 169 ₂, 169 ₃To remove heat.In addition, switching device 188 for example push-and-pull switch comprises semiconductor device, for example has the MOSFET of gate driver, and switching device can be mounted corresponding switching device 188 ₁, 188 ₂, 188 ₃, they directly are positioned at the opposite side (main surface) of plate 50 each other in the face of ground.The loss of electricity trace can be reduced or be minimized, because it offers an opportunity for the radiation discharging, thereby has caused generation heat still less.This layout can be eliminated the needs to traditional radiator.

Embodiments of the invention are used for the resistance sensing of the current measurement of motor control, but carry out resistance sensing in the mode very different with tradition (non-accurate type instrument).The standard mode of measuring electric current is to use low values of resistors and use the difference amplifier measurement to stride across the voltage drop of this resistor in current path.This is inappropriate for the accurate wireless instrument that has high electric current, wide and dynamic opereating specification.Accurate wireless instrument 10 has the dynamic range requirement of non-constant width, crosses over 1-100A at least usually, and in certain embodiments at pact-150A between+the 150A, have about 0.2A or lower resolution ratio, for example at least about 0.1A or between about 0.2-0.1A.

Fig. 7 is the block diagram of electric tool 10, and it illustrates the current measurement circuit 200 that electric tool 10 has the fastened tools output (for example moment of torsion) that is used to control output shaft 18 of communicating by letter with DC motor 15.Fig. 8 is the circuit diagram of current measurement circuit 200, its illustrate with motor (shown in this example of circuit for PhW) the Kelvin resistor 150 of communicating by letter, wherein two terminals are used for current measurement and two terminals are in current path.

As shown in FIG. 8, in certain embodiments, the resistor 145(that current measurement circuit 200 can adopt very little value for example, microhm is to milliohm scope or lower, usually about below 0.005 ohm), be depicted as 0.001 ohm, it can bring further operation challenge.For example, the soldering portion that resistor is connected to circuit board can introduce the resistance with the proportional significant quantity of actual measurement resistance.

As shown in FIG. 8, in order to overcome this technology barrier, can use four terminal Kelvin resistor 150(Fig. 8).Such equipment provides two terminals that are used for that electric current is carried to two terminals of motor 15 and are exclusively used in measurement.This layout has reduced the error resistance that (if not Removing All) introduced by soldering portion basically.Resistor R 23 can have identical or essentially identical value with R24, is usually less than 100 ohm, and more generally about 49.9 ohm.R25 can have than R23 and the bigger value of R24, the twice of R23 and R24 normally, for example about in certain embodiments 100 ohm.

Another problem may be noise susceptible to conduction and radiation of using small-signal like this to cause under the situation that changes high electric current fast existing.Can use the high-gain difference current amplifier 160(Fig. 8 that on each lead-in wire, has input filter 170).This high-gain amplifier 160 exportable phase current W.Term " high-gain " meaning is that described parts can amplify signal 10X at least.In certain embodiments, the high-gain current amplifier can provide about 20 gain.

In addition, current measurement circuit 200 can comprise that small value capacitor 146(is depicted as C43), it can be oriented near the pin 2 of amplifier 160 and 3 and be connected to the V of pin 3 _OFFSETAnd control ground connection.This capacitor 146 can be to be lower than 10

, usually about 0.1

To about 1

Between.

For the cordless power tool 10 of compactness, have little inner envelope, the chance that is used to cool off air stream may be limited, so circuit protection can help to provide safety and operation protection.Several parameters can be considered, and plate is placed and/or design to be used for.For example, may since normally motor operated, motor counter electromotive force (bemf), have electric transient state because overvoltage/overcurrent that motor shutdown or fault cause and overall thermal are managed.Normal motor operated during, bemf can appear at each and be driven the coil two ends.The coil node is positioned at the abutment of high side source electrode and low side drain.When downside was closed, the coil node was hanged down by the value of bemf immediately and drives, thereby made the equal amount of voltage (Vgs) rising of high side.May surpass the rated voltage Vgs of the door of switching device to source electrode, this may damage equipment.Usually, Zener (zener) diode will be placed with and stride across door to source electrode, and wherein negative electrode is positioned at a means of locating this equipment of conduct protection.In most of the cases, this gate voltage is limited in maximum rated voltage once or second of the three ten-day periods of the hot season in diode enough.But, under the situation of very compact electronic wireless instrument, this moderate protection may be not enough.This is because diode may can not provide reliable protection turn-on time too slowly.For example, use the 15V Zener, the difference of 5V at least between Zener rated value and voltage (Vgs) rated value can be used to address this problem.Conservative more Zener selects beginning to connect also therefore by never allowing Vgs to realize the protection of more sane level near maximum rated level with the voltage lower than 18V diode.

Fig. 9 illustrates the example of torque measurement circuit 210, and it is from torque transducer 180(Fig. 2,13A) acquisition torque signal data 180s.Instrument control circuit 10c can be configured to use the moment of torsion data directly to measure moment of torsion and dynamically to control motor output accurately fastening to realize.

Figure 10 is the example of motor drive circuit 188c.One of the fault mode of push-and-pull drive circuit 188c (Figure 10) is (for example one 188 on two switches ₁, 188 ₂, 188 ₃, Fig. 6 A, 10) be in the connection chance of (being called " leading directly to ") simultaneously, thereby cause direct short-circuit circuit and certain unit failure almost.Simultaneously, the compact essence of circuit 10c and the high power that is switched can be on any not protected electric trace induced potential.In order to realize protection, all switching devices 188 all have the protectiveness resistor, for example are connected 10 between door and the source electrode

Pull-down-resistor.In addition, switching device 188 also can have safety and connect resistor, and for example 10

Resistor, it can be connected ground connection and between the input of each gate driver, can not connected by induced potential further to guarantee switching device.As the protection of the 3rd level, commutation circuit can comprise that noise connects resistor, for example 1

Resistance, it can be provided with the chance with clutter noise incident connection switch under the situation that is limited in the cable fault by connect with the input of each gate driver.This resistance can equally be divided between power amplifier board 50 and processor (for example DSP) plate 60 basically.

In certain embodiments, provide braking at a high speed to realize accurate torque capability.But, this can produce regenerative voltage transient state (motor is as generator) at the battery tension top.If do not suppress, these transient states may surpass the twice of battery tension.The transient state of this size has the risk that causes the whole parts electrical overloads faults on the supply bus.Therefore, Transient Voltage Suppressor can be configured to stride across accumulator terminal and be restricted to level of security will supply voltage.

Overcurrent protection can be by overcurrent sensing circuit 220(Figure 12) provide, it comprises a pair of dual comparator.These equipment stare at the convergent-divergent size of current, positive and negative, and with its value comparison with pre-programmed.Tripping operation zone input on the digital signal processor 61 on their the output driving processor plate 60.Trip value or threshold value can be by the resistor network settings.When the convergent-divergent electric current was crossed the threshold value of pre-programmed, the output of comparator was driven to logical zero, thereby the motor pwm signal that causes correspondence is skipped a circulation.This circulation is skipped and has been reduced the electric current demand that begins to be forced the motor coast at overcurrent when battery extracts.After over-current condition alleviates, the PWM enabling.This design allows to handle the overcurrent incident safely during fastening and need not to stop fastening active.

As mentioned above, electric tool 10 can comprise five circuit boards that separate, and they are placed in the housing of instrument, will provide further describing each plate below.

The accurate wireless instrument optionally has the angle control of moment of torsion detection with (a) or (b) has the moment of torsion control operation of angle detection.

As above described with reference to Fig. 2, in certain embodiments, instrument 10 can comprise at least one Hall base location sensor 151, is used for angle detection and/or location.It is 84737-cable-2 that Figure 13 A illustrates Hall element input cable 15lc.This cable 151c can be hall position sensor the signal path that is derived from motor 15 is provided, and wherein hall position sensor 151 internally is installed to motor control electron plate, it typically is dsp board 60.Figure 13 B shows exemplary motor control circuit 10m, wherein the Hall element 151 in the motor 15 by cable 151c be connected to DSP60(only be depicted as have Hall base motor control circuit parts).

Power amplifier board 50 common and all digital circuits are separated to minimize from the high current switching noise that influences sensitive circuit.Power amplifier board 50 comprises motor drive circuit 188c(Figure 10), it comprises the power MOSFETS that is used for each phase of three-phase and gate driver, for 5 volts of power supplys of all plate energy supplies of tool interior be used for the 12V supercharging power supply of gate driver.The power supply can be little and efficiently, switches with higher frequency, therefore uses the inductor of smaller szie.Extra circuit can be arranged, and its monitoring battery signal and the signal of controlling from processor plate 60 are to close power supply and improvement or the maximization life of storage battery and to minimize or reduce battery discharge rate.

Processor (DSP) plate 60 comprises the power supply of motor control DSP61, motor position analog circuit, phase current sensing circuit, torque signal circuit and DSP.The position of processor plate 60 keeps its motor 15 from the high switching signal of switch 188 and instrument from power amplifier board enough far away.This position also allows the handle of instrument to become to be used to be connected to the conduit of all holding wires 12 of processor plate 60.Figure 13 A is the top, horizontal figure of example of the parts of electric tool circuit 10c.

The trigger that trigger plate 80 can be positioned in instrument is more than 11 and in parallel basically.As shown in Figure 11, trigger plate 80 comprises three Hall effect equipment 190 usually, the position of described monitoring of equipment trigger: by drawn half 190 ₂=wake up/headlight connects and drawn 190 fully ₃=motor allows.The 3rd Hall effect 190 ₁Be used to by the definite motor direction in the position of slide switch.Trigger plate 80 also comprises loudspeaker, is used for the alert operator incident, and the headlight LED of instrument, and securing member working region on every side is used to throw light on.

Display board 70 is positioned in the place, the back side of instrument usually, thereby in use in the face of the operator.Display board 70 can be the tools interfaces that leads to the external world.It has the OLED display with watch end of run to tighten data, structure be set, diagnosis and failure code.See for example PCT/US2011/030653, the content of the document is incorporated into by reference, as all being documented in herein.UI can comprise keyboard, button keyboard for example, its allow on user's roll screen menu, be provided with and tighten strategy and read back the end of run data.Four LED can be arranged on this plate, yellow color, green color, red color and blue color, they are by the illumination of the pipe of the LED in the housing of instrument.These LED make the operator watch the state of instrument fast and tighten the result.The USB port of instrument can be configured to upload nearly 1000 fastening operations and be used to construct this instrument.USB port can be positioned in the top of instrument.USB port 10p also can be used to download new software version, keep the up-to-date feature of tool renewal.Instrument 10 can with long-range and/or annex computer GUI input accessory device 142(Figure 18 for example) wirelessly and/or the hardwire rope cooperate to limit operating parameter, Data transmission or otherwise to communicate by letter.

The icon that display 40 can be configured to show the definition that is associated with different selectable settings can selection manipulation parameter with run user, this comprises soft or hard interface architecture and angle or torque monitoring, (for example operates soon or slowly, rabbit escape speed), be used for height and low torque limitation and height and low angle limit upper and lower arrow, tighten control type (angle on target or moment of torsion) etc., for example shown in Figure 17 A-17D.

Radio board 75(is also referred to as the RF subcarrier plate) can be carried on the back on display board 70 by the back of the body, radio board keeps radio module, for example 802.15.4 radio module.Radio module wirelessly spreads out of the end of run data from instrument 10, and by external equipment 90(Fig. 2) import construction data into instrument.External equipment 90 can be communicated by letter with several tools and can be called as process control module or multiplex's tool module.Radio module can randomly comprise built-in aerial, and it directly on radio board 75, has eliminated the needs to exterior antenna.Data between instrument and the radio module can be processed in the microprocessor of display board.

Figure 14 illustrates the exemplary operation that can be carried out by cordless power tool according to the embodiment of the invention.Can use the Kelvin resistor that is used for current measurement to determine all motor currents (frame 300) mutually.Two terminals in four terminals of Kelvin resistor can be used to current sense (frame 304).

Can use the moment of torsion output (frame 310) of determining tool spindle from the data of transducer.Can use cordless power tool target workpiece to be fastened to the moment of torsion (frame 320) of definition.Rotor-position of use determining in fastening step and transducer Data Dynamic ground control motor to be using the resolution adjustment motor current at least about 0.1A on the current practice scope of 100A at 1A at least, and accurately control motor output out of service accurately fastening to realize (frame 330) thus.

Embodiments of the invention can adopt the form of whole software embodiment or have the form of the embodiment of software and hardware aspect concurrently, and all these are generically and collectively referred to as " circuit " or " module " in this article.And the present invention can take the form of the computer program on computer-usable storage medium, and this medium has the computer usable program code of specializing in this medium.Any suitable computer-readable medium all can be used, and comprises hard disk, CD-ROM, optical storage apparatus, for example those support the transmission medium or the magnetic storage apparatus of internets or Intranet.Some circuit, module or routine can be used that assembler language is write as or or even microcode write as to improve performance and/or internal memory and used.Any or all the function that is to be further appreciated that program module also can use the digital signal processor of hardware component separately, one or more special IC (ASIC) or programming or microcontroller to implement.Embodiments of the invention are not limited to specific programming language.

The computer program code that is used to carry out operation, method step or action, module or the circuit (or their part) of the data handling system that this paper discusses can be write as by high-level programming language, for example Python, Java, the asynchronous script of AJAX(), C and/or C++, thereby in order to develop conveniently.And the computer program code that is used to carry out the exemplary embodiment operation also can be write as by other programming language, such as but not limited to, interpretative code.Some modules or routine can with assembler language or or even microcode write as to strengthen the property and/or internal memory uses.But, embodiment is not limited to specific programming language.Any or all the function that also will be appreciated that program module also can use hardware component, one or more special IC (ASIC) or programmed digital signal processor separately or microcontroller to implement.

Reference has partly been described the present invention according to the flowchart illustrations and/or the block diagram of method, device (system) and the computer program of the embodiment of the invention.It should be understood that each frame of flowchart illustrations and/or block diagram and the combination of flowchart illustrations and/or block diagram center can be implemented by computer program instructions.These computer program instructions can be provided to the processor of all-purpose computer, special-purpose computer or other programmable data treating apparatus to produce machine, make described instruction carry out by the processor of computer or other programmable data treating apparatus, the device that is implemented in the function/action of stipulating in one or more frames of flow chart and/or block diagram is set up in described instruction.

These computer program instructions also can be stored in the computer-readable memory, but described instruction instruct computer or other programmable data treating apparatus move in a particular manner, make the instruction that is stored in the computer-readable memory produce a manufacturing, comprising command device, this command device is implemented in the function/action of stipulating in one or more frames of flow chart and/or block diagram.

Computer program instructions also can be uploaded to computer or thereby other programmable data treating apparatus produces computer-implemented process to cause that a series of operating procedure is performed on computer or other programmable device, makes the instruction of carrying out on computer or other programmable device provide to be used for the whole of function/action that one or more frames of being implemented in flow chart and/or block diagram are stipulated or the step of some.

Herein flow chart in some accompanying drawing and block diagram illustrations exemplary architecture, function and the operation of possible embodiment of the embodiment of the invention.In this respect, each frame table in flow chart or the block diagram shows module, sections or code section, and it comprises the one or more executable instructions that are used to implement the regulation logic function.Be also to be noted that at some the function of putting down in writing in the frame can be not according to occurring in sequence of putting down in writing in the accompanying drawing among other the embodiment.For example, two frames that illustrate continuously can side by side be performed basically in practice or frame can be performed with the order of putting upside down sometimes or two or more frame can be combined, and this depends on related function.

Figure 15 is the block diagram of circuit or data handling system, and it can use with the electric tool circuit 10c of cordless power tool 10.Circuit and/or data handling system can be comprised in one or more digital signal processors.As shown in Figure 15, at least one processor 410 is maintained in the cordless power tool and comprises by the memory 414 of address/data bus 448 with processor communication.Processor 410 can be any commercially available or the customization microprocessor.Memory 414 has been represented the memory device of whole levels, wherein comprises the software and the data of the function that is used for the implementation data treatment system.Memory 414 can include but not limited to the equipment of following type: buffer memory, ROM, PROM, EPROM, EEPROM, flash memory, SRAM and DRAM.

Figure 15 illustrate memory 414 can comprise be used in data handling system-operating system 449-in the software and the data of some classes; Application program 454; I/O (I/O) device driver 458; With data 455.Data 456 can comprise equipment (instrument special use) operation control or the limit that is used for each instrument.Figure 15 also illustrates application program 454 can comprise that current measurement module 452 and PWM circulation skips overcurrent module 451.

What those skilled in the art it will also be appreciated that is, operating system 449 can be to be suitable for any operating system of using with data handling system, for example OS/2, AIX or from the zOS of IBM Corporation, Armonk, NY, WindowsCE, WindowsNT, Windows95, Windows98, Windows2000, WindowsXP, WindowsVisa, Windows7, WindowsCE or from other version of window of Microsoft, Redmond, WA, PalmOS, SymbianOS, CiscoIOS, VxWorks, Unix or Linux, MacOS from Apple computer, LabView, or proprietary operating systems.

I/O device driver 458 generally include by application program 454 software routines by operating system 449 visits with devices communicating such as I/O FPDP, data storage 456 and some memory 414 parts.Application program 454 has illustrated that the program of the various features of implementation data treatment system also can comprise at least one application, and it supports the operation according to the embodiment of the invention.At last, data 455 representatives are by the static state and the dynamic data of the application program 454 that can be arranged in memory 414, operating system 449, I/O device driver 458 and the use of other software program.

Though for example the present invention has been described, as those skilled in the art are aware, when still benefiting from the present invention's instruction, also can have utilized other structure with reference to module 451,452 as the application program among Figure 15.For example, module and/or also can be comprised in other this type of logical partitioning of operating system 449, I/O device driver 458 or data handling system.Therefore, the present invention should not be understood that to be subject to the structure of Figure 15, and it should be considered to cover can implement any structure that this paper describes operation.In addition, one or more in the module, promptly module 451,452, can communicate by letter with other parts or be included in whole or in part in other parts, for example independent or single processor or the different circuit in the housing of instrument.

The I/O device driver generally includes software routines, thereby application program is by this software routines of operating system access and devices communicating such as I/O FPDP, data storage and some memory unit.Application program has illustrated that the program of the various features of implementation data treatment system also can comprise at least one application, and it supports the operation according to the embodiment of the invention.Data represented static state and the dynamic data that uses by application program, operating system, I/O device driver etc.

In certain embodiments, display or remote computer display can be used to limit the wireless tool operative configuration, allow individual tool to carry out the function of some different conventional tool thus.

In certain embodiments, instrument OLED display when fastening circulation finishes in the past m after second deepening the n% of high-high brightness.Benefit: the circulation #(number that has increased every charge in batteries) ﹠ has prolonged the life-span of OLED display module.

In certain embodiments, the PWM brightness that can be used to control LED is to preserve battery power and to increase the circulation #(number of every charge in batteries) ﹠ prolongs the life-span of LED.In addition, increased the comfortable factor of eyes.

In certain embodiments, can utilize the electronics ID pairing of controller PCM implementation tool.This instrument that makes can not be operated outside the scope of controller PCM, thereby realizes antitheft purpose.This guarantees that also instrument is used in the assigned address in the manufacturing facility.

In certain embodiments, the OLED display can be used, and it provides low-yield use, vivid on-screen data and wide visual angle to watch easily in industrial environment.

In certain embodiments, can under error condition, be used on the tool display screens to attract the operator to note in the white text under the grey background.For all other display modes, text color can be reversed.

In certain embodiments, can degree of will speed up meter or motion detector be placed in the instrument and be arranged to " sleep pattern " with " waking " instrument or with instrument to save energy and to improve the performance of response time aspect.

In certain embodiments, strain gauge can be placed in the handle for tool to help changing the motor control algolithm to strengthen ergonomics and control.

In certain embodiments, touch sensor can be integrated in the instrument display or go up to realize biological input, for example, and as the fingerprint scanner that is used for safety and/or ID purpose.

In certain embodiments, be used for that system is ready, the independent state LED of Ethernet and radio communication can be set at controller PCM.

In certain embodiments, can implement unique identifier, for example the tool identification of being undertaken by the position ID in the facility.

Controller PCM can handle from the tool data more than an instrument.

PLC can be configured to be arranged on selection fastening program/structure on the instrument with closed loop procedure control.

Use because the Ethernet problem is not connected under the situation of controller PCM in host PC, the PCM controller can continue to write down the fastening circulation from whole instruments on local flash memory.When PC uses when reconnecting, come the total data of self-controller PCM to be suggested and in database, keep with filing and permanent recording by the PC application memory.

Instrument can comprise instrument to instrument communication to preserve under the situation of machine and the transmission critical data at controller PCM.

Other optional feature comprises one or more in the following feature.

The frequency hopping feature is used to find suitable channel and switches to this channel in real time, and the middle sleep pattern on motor controller DSP is to preserve storage battery energy.

Controller PCM has the one or more regulation that is used for following communication protocol:

Receive the TCP/IP of bar code scan data

Transmit the TCP/IP of fastening data

Receive the serial RS-232 of barcode data

Transmit the serial RS-232 of fastening data

Ethernet-IP supports

Fieldbus is supported

Facility network is supported

ModbusRTU supports

Interbus-S supports

ModbusTCP supports

EPA (Profinet) is supported.

The instrument that also is not configured for frequency hopping can have their frequency hopping structure, and this is constructed subsequently by the PCM initialization, and this PCM makes frequency hopping be activated really.This has simplified the initial setting up of frequency hopping.

PCM can carry out the optimum channel that energy scan will jump to when needing occurring with sensing periodically.Needs to frequency hopping can be by by main radio the percentage that inferior wireless instrument connects being determined.In certain embodiments, be connected to time radio but not during main radio in more tools, but instrument or system's frequency hopping.Instrument can initially be connected to master or the inferior radio of PCM when they are switched on.PCM can notify all instruments by broadcast when wanting frequency hopping.

In certain embodiments, the instrument that is not connected to PCM immediately can upgrade the connection data automatically at the PCM that searches them on the RF of each permission channel and when finding connection.

In certain embodiments, the consumer can limit the channel group used by radio to improve discovery time and to limit the noise pollution of other possible radio net.

In certain embodiments, can have two (or more) independent, radio module independently, each all has their antenna on controller PCM.Each antenna on controller PCM can be located with the best that realizes workplace by the scene and be watched.

Electro-motor can be the brushless electric motor.

The accurate wireless instrument optionally has the angle control of torque monitoring with (a) or (b) has the moment of torsion control operation of angle monitor.

Embodiments of the invention can comprise that Hall base location sensor is to carry out angle orientation.

Embodiments of the invention can comprise the optimal ventilation position of tool housing.

Embodiments of the invention comprise about 4Nm, about 8Nm and about 12Nm with three kinds of different low torque mode operations.

In certain embodiments, drive rotating shaft and can comprise thrust bearing and output revolving shaft, output revolving shaft and gear drive and transducer break away from, and load and impact basically (if not whole) by the housing absorption, rather than pass through transducer.

Embodiments of the invention provide the computer program of the wireless fastening electric tool that is used to have motor.Computer program comprises non-transient state computer-readable recording medium, and it has the computer readable program code of specializing in this medium.Computer readable program code comprises that (a) is configured to use the Kelvin resistor that remains in the electric tool to measure the computer readable program code of motor current; (b) be configured to computer readable program code based on the moment of torsion output of determining electric tool from the moment of torsion data of airborne transducer; Thereby (c) be configured in fastening operating process to use the motor current measured and transducer moment of torsion Data Dynamic control motor with utilize at least about the resolution ratio of 0.1A the current practice scope adjusted motor current between the 1-100A at least thus accurately control stop and move motor output to realize accurate fastening computer readable program code.

Embodiments of the invention can cover the equipment by the one or more expressions in the following scheme.

1, the fastening electric tool of a kind of handheld cordless comprises:

Housing;

Be positioned at the motor of housing, described motor has the rotor that drives output shaft;

Be positioned at the torque transducer of housing, it is communicated by letter with output shaft;

Be positioned at the dynamic motor control circuit of housing, it is communicated by letter with torque transducer with motor, and dynamically motor control circuit comprises the Kelvin resistor, and described Kelvin resistor is communicated by letter with motor to measure motor current; With

Airborne indicator by the housing maintenance, it can contact user interface communication with onboard external, described user interface has at least one load button that is positioned to next-door neighbour's display, the definition icon that is associated of display exhibits and different selectable setting wherein, to allow the user can selection manipulation parameter, comprising soft or hard interface architecture and angle or torque monitoring.

2, the fastening electric tool of a kind of handheld cordless comprises:

Housing with handgun shape, it has the top of the handle that is fused to downward extension;

Be positioned at the motor on the top of housing, described motor has the rotor that drives output shaft;

Be positioned at the torque transducer of housing, it is communicated by letter with output shaft;

Be positioned at the dynamic motor control circuit of housing, it is communicated by letter with torque transducer with motor, dynamically motor control circuit comprises Kelvin resistor and digital Hall switch, described Kelvin resistor is communicated by letter with motor to measure motor current, and described digital Hall switch is communicated by letter with motor to measure motor speed; With

By the airborne indicator that housing keeps, it can contact user interface communication with onboard external, and user interface is positioned to that next-door neighbour's display one of can be selected with the permission user in the tool configuration of a plurality of different definition and target torque value.

3, as scheme 1 or 2 described electric tools, wherein airborne indicator and user interface are positioned on the end sections on top of housing, thereby deviate from output shaft, and wherein user interface comprises at least one elastomer input selector button, and wherein instrument also comprises the USB input port that is kept by housing.

4, as any described electric tool in the scheme of front, wherein airborne indicator is showed a series of visual input options, described option has the icon of definition, and described icon allows the user to select, cancel and selecting and the parameter of regulating different definition, comprising moment of torsion angle and speed of torque.

5, as any described electric tool in the scheme of front, wherein user interface has a plurality of isolated elastomer load buttons, comprises direction navigation pad and selection and cancellation selector button.

6, the fastening electric tool of a kind of handheld cordless comprises:

Housing with handgun shape, it has the top of the handle that is fused to downward extension;

Be positioned at the motor on the top of housing, described motor has the rotor that drives output shaft;

Be positioned at the torque transducer of housing, it is communicated by letter with output shaft;

Be positioned at the dynamic motor control circuit of housing, it is communicated by letter with torque transducer with motor, dynamically motor control circuit comprises Kelvin resistor and digital Hall switch, described Kelvin resistor is communicated by letter with motor to measure motor current, and described digital Hall switch is communicated by letter with motor to measure motor speed; With

By the airborne indicator that housing keeps, it can contact user interface communication with onboard external, and user interface is positioned to that next-door neighbour's display one of can be selected with the permission user in the tool configuration of a plurality of different definition and target torque value.

7, any described electric tool in the scheme as described above, wherein airborne indicator and user interface are positioned on the end sections on top of housing, thereby deviate from output shaft, and wherein user interface comprises at least one elastomer input selector button, and wherein instrument also comprises the USB input port that is kept by housing.

8, as any described electric tool in the scheme of front, wherein airborne indicator is showed a series of visual input options, described option has the icon of definition, and described icon allows the user to select, cancel and selecting and the parameter of regulating different definition, comprising moment of torsion angle and speed of torque.

9, as scheme 1 described electric tool, wherein user interface has a plurality of isolated elastomer load buttons, comprises direction navigation pad and selection and cancellation selector button.

10, each described cordless power tool in the scheme as described above, wherein motor control circuit comprises:

The flip-flop circuit plate, it flatly settles below the motor in the top of housing;

Processor circuit board, it flatly is positioned to next-door neighbour's battery and communicates by letter with flip-flop circuit in the lower part of handle; With

Power circuit board, it extends upward between flip-flop circuit plate and processor circuit board and between them, and power circuit board is communicated by letter with processor circuit, and wherein power circuit board has the length bigger than the major part of decreased food.

11, each described cordless power tool in the scheme as described above, wherein motor control circuit comprises the power circuit board that is arranged in handle, wherein power circuit board has the length bigger than the major part of decreased food, wherein power circuit board comprises motor drive circuit, and its middle shell comprises the cooling inlet air flow path, described path comprises a plurality of isolated air inlet of the bottom that is close to handle, inlet air flow path is configured to guide air to flow through the top section that power circuit board arrives instrument, discharges from housing afterwards.

12, each described cordless power tool in the scheme as described above, wherein dynamically motor control circuit is thereby that the closed control circuit that remains in the housing provides accurate moment of torsion output, wherein the closed loop motor control circuit comprises the small current measurement resistor, described small current measurement resistor and Kelvin resistor electric connection are to determine the accurate motor current during all mutually, wherein closed control circuit comprises the power circuit board of communicating by letter with motor, power circuit board has switching device, and wherein motor has at dynamic range and the closed control circuit of pact-150A between the pact+150A and can control motor current at least about the resolution ratio of 0.1A.

13, each described cordless power tool in the scheme as described above, its middle shell has handgun shape, it has the top of the handle that is fused to downward extension, wherein electric tool is accurate fastening electric tool, wherein motor control circuit comprises elongated power circuit board, this power circuit board has the same with the length of handle basically height, and have a lower part that comprises the battery interface, wherein power circuit board comprises the first and second main surfaces, described main surface erectly is arranged in handle portion, and in the first and second main surfaces, having longitudinally-spaced one metal heat sink on each, the switching device that is used for corresponding switching device directly is installed in each radiator top each other with facing.

14, each described cordless power tool in the scheme as described above, wherein motor control circuit comprises processor plate, the trigger plate, power amplifier board, display board and RF subcarrier plate, all in housing, wherein processor plate is in the base portion office of handle and between power amplifier board and releasable batteries, wherein processor plate comprises motor control figure signal processor, the motor position analog circuit, the phase current sensing circuit, the torque signal circuit, and power supply, wherein display board be positioned at housing top the rearward end office and communicate by letter with display, wherein the RF subcarrier plate is oriented to contiguous display board to realize wireless fastening transfer of data.

15, the fastening electric tool of a kind of handheld cordless comprises:

Housing;

Be positioned at the motor of housing, motor has the rotor that drives output shaft;

Be positioned at the torque transducer of housing, it is communicated by letter with output shaft;

Be positioned at a plurality of Hall elements of motor inside;

Be positioned at the dynamic motor control circuit of housing, it is communicated by letter with motor, Hall element and torque transducer; And

Airborne indicator by the housing maintenance, it can contact user interface communication with onboard external, described user interface has at least one load button that is positioned to next-door neighbour's display, the definition icon that is associated of display exhibits and different selectable setting wherein can selection manipulation parameter to allow the user.

The front has illustrated that the present invention should not be understood that to be defined in this.Although described exemplary embodiments more of the present invention, those skilled in the art are not breaking away from fact under the situation of novel teachings of the present invention and advantage, can recognize easily in the exemplary embodiment and can carry out many improvement.Therefore, all these improve and all are considered in the involved scope of the present invention that limits in the claims.In the claims, if used device to add the function clause, should be considered to so cover and be described to carry out the structure of described function herein, and be not only structural equivalent way, also have equivalent configurations.Therefore, it should be understood that previous contents has illustrated the present invention and should not be understood that to be limited to disclosed specific embodiment, and the improvement of the disclosed embodiments and other embodiment is considered to comprise within the scope of the appended claims.The present invention is by following claim definition, and the equivalent way of claim is also contained in it.

Claims (20)

1. fastening electric tool of handheld cordless comprises:

Housing;

Be positioned at the motor of housing, described motor has the rotor that drives output shaft;

Be positioned at the torque transducer of housing, it is communicated by letter with output shaft; With

Be positioned at the dynamic motor control circuit of housing, it is communicated by letter with torque transducer with motor, dynamically motor control circuit comprises Kelvin resistor and digital Hall switch, described Kelvin resistor is communicated by letter with motor to measure motor current, described digital Hall switch is communicated by letter with motor to measure motor speed, and wherein motor current can change 100A at least in operating process.

2. cordless power tool as claimed in claim 1 also comprises:

Rechargeable batteries, it is attached to the lower part of electric tool releasedly, and wherein batteries is about 36V or low tension battery group still less; And

A plurality of Hall elements, it is maintained at the inside of motor and communicates by letter with motor control circuit, thereby allows in angle monitor or the supervision location at least one.

3. cordless power tool as claimed in claim 1, wherein the Kelvin resistor comprises four terminals, two be used for current sense and two as circuit paths, and wherein dynamically motor control circuit be constructed such that the electric current that is used between about 150A peace treaty-150A moves motor.

4. cordless power tool as claimed in claim 1, its middle shell has handgun shape, it has the top of the handle that is fused to downward extension, instrument also comprises the power circuit board that is arranged in handle, power circuit board keeps the Kelvin resistor, and power circuit board also comprises at least one high-gain difference current amplifier and a plurality of low inductance 3 node capacitor devices that are installed on the power circuit board.

5. cordless power tool as claimed in claim 1, its middle shell has handgun shape, and it has the top of the handle that is fused to downward extension, and wherein motor control circuit comprises:

The flip-flop circuit plate, it is positioned at below the motor in the top of housing;

Processor circuit board, it is arranged in the lower part of handle and communicates by letter with flip-flop circuit; With

Power circuit board, it is communicated by letter between flip-flop circuit plate and processor circuit board and with processor circuit, wherein power circuit board has the length bigger than the major part of decreased food, wherein power circuit board comprises two main lip-deep a plurality of isolated one radiators that are positioned at power circuit board, and each one radiator is included in the Heat Conduction Material of the certain volume in the fill area of corresponding definition of circuit.

6. cordless power tool as claimed in claim 5, also comprise the switching device of communicating by letter with motor, switching device comprises switching device, and described switching device directly is installed on the relative main surface of power circuit board each other with facing, with the heat that reduces the radiation discharging thus and/or produce.

7. cordless power tool as claimed in claim 1, its middle shell has handgun shape, it has the top of the handle that is fused to downward extension, wherein motor control circuit comprises the power circuit board that is positioned at handle, wherein power circuit board has the length greater than the major part of the length of handle, and wherein power circuit board comprises motor drive circuit; And its middle shell comprises the cooling inlet air flow path, described path comprises at least one air inlet of the bottom that is close to handle, described inlet air flow path is configured to guide air to flow through the top section that power circuit board arrives instrument, discharges from housing by the discharge port on the top of housing afterwards.

8. cordless power tool as claimed in claim 1, its middle shell has handgun shape, it has the top of the handle that is fused to downward extension, wherein motor control circuit comprises processor circuit board, described processor circuit board is positioned at the bottom of handle, and be in the substantially horizontal orientation that is substantially normal to power amplifier board, wherein the electric wire of from processor circuit is close to the inner surface wiring of handle case body wall, arrives the top of housing through a main surface of power amplifier board.

9. cordless power tool as claimed in claim 1, wherein dynamically motor control circuit is thereby that the closed control circuit that remains in the housing provides accurate moment of torsion output, wherein the closed loop motor control circuit comprises the small current measurement resistor, described small current measurement resistor and Kelvin resistor electric connection are to determine the accurate motor current during all mutually, wherein closed control circuit comprises the power circuit board of communicating by letter with motor, power circuit board has switching device, and wherein motor has at dynamic range and the closed control circuit of pact-150A between the pact+150A and can control motor current at least about the resolution ratio of 0.1A.

10. cordless power tool as claimed in claim 1, its middle shell has handgun shape, it has the top of the handle that is fused to downward extension, wherein electric tool is accurate fastening electric tool, wherein motor control circuit comprises elongated power circuit board, this power circuit board has the same with the length of handle basically height, and have a lower part that comprises the battery interface, wherein power circuit board comprises the first and second main surfaces, described main surface erectly is arranged in handle portion, and in the first and second main surfaces, having longitudinally-spaced one metal heat sink on each, the switching device that is used for corresponding switching device directly is installed in each radiator top each other with facing.

11. cordless power tool as claimed in claim 10, wherein power circuit board comprises high-gain difference current amplifier, and wherein power circuit board comprises the first and second power switching devices, and described switching device directly is positioned on the relative main side of power circuit board in the face of ground basically each other.

12. cordless power tool as claimed in claim 1, wherein motor control circuit comprises power circuit board, described power circuit board separates to isolate or to reduce the interaction of current switching noise and digital circuit thus with whole digital circuits, and wherein power circuit board comprises motor drive circuit, and described motor drive circuit comprises the power MOSFET of the gate driver that has each phase of three-phase that is used for motor, for the 5V power supply of whole circuit board energy supplies of tool interior be used for the 12V supercharging power supply of gate driver.

13. cordless power tool as claimed in claim 1, its middle shell has handgun shape, it has the cylindrical upper section branch of the handle that is fused to downward extension, wherein motor control circuit comprises processor plate, the trigger plate, power amplifier board, display board and RF subcarrier plate, all in housing, wherein processor plate is in the base portion office of handle and between power amplifier board and releasable batteries, wherein processor plate comprises motor control figure signal processor, the motor position analog circuit, the phase current sensing circuit, the torque signal circuit, and power supply, wherein display board is positioned at rearward end office that the cylindrical upper section of housing divides and communicates by letter with the display of the exterior visual with keyboard user interface, and wherein the RF subcarrier plate is oriented to contiguous display board to realize wireless fastening transfer of data.

14. cordless power tool as claimed in claim 1; also be included in the circuit overcurrent protection in the housing; the overcurrent circuit comprises a pair of dual comparator; described comparator monitoring convergent-divergent size of current; positive and negative both; wherein the overcurrent circuit is with the convergent-divergent electric current of monitoring and predetermined trip value comparison and be configured to that convergent-divergent electric current when monitoring is in or cause that motor pulsewidth modulation (PWM) signal skips a circulation and reduce the electric current demand thus when surpassing predetermined trip value, allows pwm signal to alleviate enabling afterwards to avoid over-current condition occurring and need not to stop fastening in active fastening operating period thus in over-current condition then.

15. the method for the accurate fastening cordless power tool of operation comprises:

Wireless electric hand tool is provided, and it has rechargeable battery feed;

The Kelvin resistor that use remains in the electric tool is measured motor current;

Based on the moment of torsion output of determining electric tool from the moment of torsion data of airborne transducer;

Use cordless power tool the target instrument to be fastened to the moment of torsion of definition; And

During fastening step, use motor current and the transducer moment of torsion Data Dynamic control motor measured, with on the current practice scope between the 1-100A at least with resolution adjustment motor current at least about 0.1A, thereby thus accurately control stop and move motor and export accurately fastening to realize.

16. method as claimed in claim 15, wherein the current practice scope arrives between about 150A at pact-150A.

17. method as claimed in claim 15 also comprises the fastening value that storage is associated with at least 100 independent fastening operations, wirelessly fastening value is relayed to remote equipment then.

18. method as claimed in claim 15, also comprise use in the copper fill area on the power circuit board power switch burn-off from the power amplifier board of the handle of electric tool.

19. method as claimed in claim 15, also comprise the dual comparator monitoring overcurrent situations of using monitoring convergent-divergent size of current, positive and negative, and the convergent-divergent electric current of monitoring and predetermined trip value comparison be in the convergent-divergent electric current in monitoring or cause that motor pulsewidth modulation (PWM) signal skips a circulation to reduce the electric current demand when surpassing the predetermined trip value, allow then pwm signal after over-current condition is alleviated enabling to avoid over-current condition occurring and need not to stop fastening in active fastening operating period thus.

20. the fastening electric tool of handheld cordless comprises:

Housing;

Be positioned at the motor of housing, motor has the rotor that drives output shaft;

Be positioned at the torque transducer of housing, it is communicated by letter with output shaft;

Be positioned at a plurality of Hall elements of motor inside;

Be positioned at the dynamic motor control circuit of housing, it is communicated by letter with torque transducer with motor, and dynamically motor control circuit comprises the Kelvin resistor, and this Kelvin resistor is communicated by letter with motor with side amount motor current; And

Airborne indicator by the housing maintenance, it can contact user interface communication with onboard external, described user interface has at least one load button that is positioned to next-door neighbour's display, the definition icon that is associated of display exhibits and different selectable setting wherein, to allow the user can selection manipulation parameter, comprising soft or hard interface architecture and angle or torque monitoring.

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