CN104656550B - The control method of electric tool and system, electric tool - Google Patents
The control method of electric tool and system, electric tool Download PDFInfo
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- CN104656550B CN104656550B CN201410709408.6A CN201410709408A CN104656550B CN 104656550 B CN104656550 B CN 104656550B CN 201410709408 A CN201410709408 A CN 201410709408A CN 104656550 B CN104656550 B CN 104656550B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
The invention provides a kind of control method of electric tool, comprising the steps: to detect the parameter x for representing output shaft load; Calculate the preset function f (x) of described parameter x; Meet according to described preset function f (x) and pre-conditionedly judge that described output shaft load reduction is to being equal to or less than default load, and then change the rotating speed of described motor.The present invention is also supplied to the electric tool of a kind of control system and this control system of application.Compared with prior art, the control method of electric tool provided by the present invention and control system, nut and bolt can be unclamped but to make nuts and bolt be separated, and user can manual separation nuts and bolt according to demand, meets the special operation condition demand that user only needs to unclamp nut.
Description
Technical field
The present invention relates to field of power tools, particularly relate to a kind of control method of electric tool.
The invention still further relates to a kind of control system of this control method of application.
The invention still further relates to a kind of electric tool of this control system of application.
Background technology
Existing electric tool, as electric impact wrench, provides electric current by the power supply loaded, and carrys out drive motor and rotates, thus working head is rotated to be screwed or removal by threaded fastener.
But, under some special operation condition, such as user is when the fastener of loose framing scaffold, motor due to electric impact wrench is High Rotation Speed all the time, in very short time, the nuts and bolt on fastener is just completely segregated, cause fastener drop and framing scaffold fall apart, user's difficulty has the sufficient reaction time to dodge, and is very easily injured by a crashing object by framing scaffold.
Existing when utilizing electric impact wrench contacting piece to carry out removal, usually rely on the experience of user to close down electronic charging spanner in advance, prevent the nuts and bolt on fastener to be completely segregated and cause framing scaffold and fall apart; Because the length of nut is shorter, the accuracy ensureing to close down electric impact wrench is difficult to by experience, user often needs the high-frequency action of repeatedly opening and closing down electric impact wrench, just can reach construction object, greatly reduce the efficiency of fastener removal, efficiency not even as hand screwdriver is next is high, have impact on the market outlook of the electric tool of similar electric impact wrench greatly.
Therefore be necessary that the control method proposing a kind of new electric tool solves the problems referred to above.
Summary of the invention
The invention provides a kind of control method of electric tool, can be totally released on bolt but not removal nut.
To achieve the above object of the invention, the invention provides a kind of control method of electric tool, wherein electric tool comprises motor and connects the output shaft of motor, and described control method comprises the steps: to detect the parameter x for representing output shaft load; Calculate the preset function f (x) of described parameter x; Meet according to described preset function f (x) and pre-conditionedly judge that described output shaft load reduction is to being equal to or less than default load, and then change the rotating speed of described motor.
Preferably, the N order derivative that described preset function f (x) is parameter x, described N is positive integer; Describedly pre-conditionedly be: the value of preset function f (x) is equal to or less than default derivative threshold.
Preferably, described parameter x is the supply current value of motor or the torque value of output shaft.
Preferably, electric motor starting in described electric tool after the second preset duration, starts to detect the parameter x for representing output shaft load.
Preferably, described control method also comprises the following steps before the parameter x detected for representing output shaft load: preset speed governing requirement command collection, it comprises multiple speed governing requirement command, the concrete mode of one of the rotating speed step of the corresponding a kind of described change motor of each speed governing requirement command; Obtain user's speed governing requirement command; The concrete mode of the step of the rotating speed of described change motor is confirmed according to user's speed governing requirement command.
Preferably, the step of described change motor speed is specially: control motor and periodically switch between rotating and reverse.
Preferably, the concrete mode of the step of described change motor speed is: obtain described preset function f (x) meet described pre-conditioned time object time, this object time from electric tool motor start after start at; When object time is after predetermined time, after the first preset duration, closing down motor.
Preferably, the concrete mode of the step of described change motor speed is: obtain described preset function f (x) meet described pre-conditioned time object time, this object time from electric tool motor start after start at; When object time is after predetermined time, after motor rotation predetermined amount, close down motor.
Preferably, the concrete mode of the step of described change motor speed is: obtain described preset function f (x) meet described pre-conditioned time object time, this object time from electric tool motor start after start at; When object time is after predetermined time, reduce motor speed.
Preferably, the concrete mode of the step of described change motor speed is: obtain described parameter x meet described pre-conditioned time object time, this object time from electric tool motor start after start at; When object time is before predetermined time, immediately close down motor.
Compared with prior art, the control method of electric tool provided by the present invention, nut and bolt can be totally released but to make nuts and bolt be separated, and user can manual separation nuts and bolt according to demand, meets the special operation condition demand that user only needs to unclamp nut.
The invention provides a kind of control system of electric tool, can be totally released on bolt but not removal nut.
To achieve the above object of the invention, the invention provides a kind of control system of electric tool, wherein, electric tool comprises motor and connects the output shaft of motor, and described control system comprises: detection module, detects the parameter x for representing output shaft load; Computing module, calculates the preset function f (x) of described parameter x; Control module, comprising: function judges submodule, meets pre-conditionedly judge that described output shaft load reduction is to being equal to or less than default load according to described preset function f (x); Electrical motor gearshift submodule, and then the rotating speed changing described motor.
Preferably, the N order derivative that described preset function f (x) is parameter x, described N is positive integer; Describedly pre-conditionedly be: the value of preset function f (x) is equal to or less than default derivative threshold.
Preferably, described parameter x is the supply current value of motor or the torque value of output shaft.
Preferably, electric motor starting in described electric tool after the second preset duration, detection module starts to detect the parameter x for representing output shaft load.
Preferably, described control system also comprises pattern setting module, described pattern setting module comprises: submodule is preset in instruction, for default speed governing requirement command collection, it comprises multiple speed governing requirement command, the concrete mode of one of the rotating speed step of the corresponding a kind of described change motor of each speed governing requirement command; Instruction obtains submodule, for obtaining user's speed governing requirement command; Instructions match submodule, for confirming the concrete mode of the step of the rotating speed of described change motor according to user's speed governing requirement command.
Preferably, described electrical motor gearshift submodule specifically for: control motor and periodically switch between rotating and reverse.
Preferably, described electrical motor gearshift submodule comprises: moment acquiring unit, with electric tool motor startup for starting at the moment, obtain described parameter x meet described pre-conditioned time object time; Moment judging unit, judges object time whether after predetermined time; Motor control unit, when object time is whether after predetermined time, closes down motor after the first preset duration.
Preferably, described electrical motor gearshift submodule comprises: moment acquiring unit, with electric tool motor startup for starting at the moment, obtain described parameter x meet described pre-conditioned time object time; Moment judging unit, judges object time whether after predetermined time; Motor control unit, when object time is whether after predetermined time, closes down motor after controlling motor rotation predetermined amount.
Preferably, described electrical motor gearshift submodule comprises: moment acquiring unit, with electric tool motor startup for starting at the moment, obtain described parameter x meet described pre-conditioned time object time; Moment judging unit, judges object time whether after predetermined time; Motor control unit, when object time is whether after predetermined time, reduces motor speed.
Preferably, described electrical motor gearshift submodule comprises: moment acquiring unit, with electric tool motor startup for starting at the moment, obtain described parameter x meet described pre-conditioned time object time; Moment judging unit, judges object time whether after predetermined time; Motor control unit, when object time is whether after predetermined time, closes down motor immediately.
Compared with prior art, the control system of electric tool provided by the present invention, nut and bolt can be totally released but to make nuts and bolt be separated, and user can manual separation nuts and bolt according to demand, meets the special operation condition demand that user only needs to unclamp nut.
The invention provides a kind of control system of electric tool, can be totally released on bolt but not removal nut.
To achieve the above object of the invention, the invention provides a kind of electric tool, described electric tool comprises: power supply; Motor, obtains the electric power of power supply to provide rotary power; Output shaft, obtains the rotary power of motor and exports; Control system according to foregoing summary, described control system and motor and power supply are electrically connected.
Preferably, described electric tool also comprises: system activation member, and it is for the described control system of exercisable startup.
Compared with prior art, electric tool provided by the present invention, can be totally released nut and bolt and nuts and bolt but can not be made to be separated, and user can manual separation nuts and bolt according to demand, meets the special operation condition demand that user only needs to unclamp nut.
Accompanying drawing explanation
Above-described object of the present invention, technical scheme and beneficial effect by the detailed description that can realize specific embodiments of the invention below, can describe and clearly obtain simultaneously by reference to the accompanying drawings.
Fig. 1 is the structural representation of electric tool in first embodiment of the invention.
Fig. 2 is the concrete module map of control system in the electric tool shown in Fig. 1.
Fig. 3 is for the electric tool shown in Fig. 1 is when loose nut, and nut is combined closely with bolt, supplies the electric current curve map over time of its motor.
Fig. 4 is for the electric tool shown in Fig. 1 is when loose nut, and nut and bolt, in conjunction with loose, supply the electric current curve map over time of its motor.
Fig. 5 is the concrete module map of control system in second embodiment of the invention.
Fig. 6 is the concrete module map of control system in third embodiment of the invention.
Fig. 7 is the process flow diagram of the control method of electric tool in first embodiment of the invention.
Fig. 8 is the process flow diagram of the control method of electric tool in second embodiment of the invention.
Fig. 9 is the process flow diagram of the control method of electric tool in third embodiment of the invention.
Related elements reference numeral in diagram is as follows:
Electric tool, 10 functions judge submodule, 462
Motor, 12 electrical motor gearshift submodules, 464
Working head, 14 moment acquiring units, 4642
Output shaft, 16 moment judging units, 4644
Framing scaffold, 20 motor control units, 4646
Nut, 32 Part I, A
Bolt, 34 first flex points, H
Control system, 40a, 40b, 40c Part II, B
Presetting module, 41 Second Inflexion Points, I
Submodule is preset in instruction, 412 Part III, C
Instruction obtains submodule, 414 the 3rd flex points, J
Instructions match submodule, 416 Part IV, D
Detection module, 42 Part V, E
Clock module, 43 initial parts, M
Computing module, 44 center sections, N
Control module, 46 last parts, O
Embodiment
Describe the present invention below with reference to embodiment shown in the drawings.But these embodiments do not limit the present invention, the structure that those of ordinary skill in the art makes according to these embodiments, method or conversion functionally are all included in protection scope of the present invention.
Control method provided by the present invention and control system can be applicable to polytype electric tool, below main with electric impact wrench 10 for specific embodiment is described.
Shown in ginseng Fig. 1, in one embodiment of the invention, the output shaft 16 that electric impact wrench 10 comprises motor 12, working head 14 and is connected between motor 12 and working head 14; The working head 14 of electric impact wrench 10 drives removal framing scaffold 20 top nut 32 at motor 12, thus nut 32 and bolt 34 will be made to unclamp, and is convenient to dismantle framing scaffold 20.
Also be provided with control system 40a in electric impact wrench 10, control system 40a is positioned on circuit board, for when electric impact wrench 10 carries out nut 32 removal, controls the rotating speed of motor 12.
Shown in ginseng Fig. 2, in first embodiment of the invention, control system 40a comprises detection module 42, computing module 44 and control module 46.
Detection module 42 represents the parameter x of output shaft 16 load for detecting.
Electric impact wrench 10 to carry out in the process of fastening or removal in torque nut 32 to it, due to the existence of the screw threads for fastening power between nut 32 and bolt 34, nut 32 can apply a moment of resistance by the output shaft 16 of working head 14 pairs of electric impact wrenches 10, when the driving torque that motor 12 exports in electric impact wrench 10 overcomes this moment of resistance, working head 14 starts fastening or removal nut 32.
The moment of resistance is directly proportional to the screw threads for fastening power between nut 32 and bolt 34, be screwed in the process of bolt 34 at nut 32, between nut 32 and bolt 34, screw threads for fastening power also increases gradually, and when nut 32 and bolt 34 are fully tightened, screw threads for fastening power reaches peak value; Otherwise, in the process of electric impact wrench 10 removal nut 32, screw threads for fastening power is in peak value, initial time, the moment of resistance that the output shaft 16 of electric impact wrench 10 bears is maximum, motor 12 in electric impact wrench 10 is now needed to export larger driving torque to overcome the moment of resistance being positioned at peak value, after nut 32 and bolt 34 depart from and tighten completely, the moment of resistance that the output shaft 16 of electric impact wrench 10 bears is reduced to gently, and the driving torque that motor 12 exports also synchronously is reduced to gently.
Parameter x is for representing the load of electric impact wrench 10 output shaft 16, namely for representing the moment of resistance that electric impact wrench 10 output shaft 16 bears, because the moment of resistance remains consistent with the output torque of electric impact wrench 10 motor 12, by calling the parameter relevant to motor 12 output torque as aforementioned parameters x, then can realize the size of the load being identified output shaft 16 by monitoring parameter x.
The preset function f (x) of computing module 44 calculating parameter x.
In the first embodiment of the present invention, the first order derivative that this preset function f (x) is parameter x.
Wherein, control module 46 comprises function and judges submodule 462 and electrical motor gearshift submodule 464; Function judges submodule 462 monitoring parameter x, judge whether the preset function f (x) of parameter x meets pre-conditioned, to confirm on output shaft 16 whether load has been reduced to based on aforementioned judged result and be equal to or less than default load, if, motor speed is changed by electrical motor gearshift submodule 464, if not, detection module 42 obtains current parameter x again, and then computing module 44 calculates current preset function f (x), function judges submodule 462 and then judges whether current preset function f (x) meets pre-conditioned.
Shown in ginseng Fig. 3, Fig. 3 describe adopt electric impact wrench 10 removal to be combined with bolt 34 more closely nut 32 time, supply the electric current curve over time of its motor 12; Wherein, alphabetical t represents the time that motor 12 is started working, and alphabetical i represents the current value of the motor 12 being supplied to electric impact wrench 10.
Curve in Fig. 3 comprises Part I A, the first flex point H, Part II B, Second Inflexion Point I, Part III C, the 3rd flex point J, Part IV D, Part V E and Part VI F.
Wherein Part I A is one section of upcurve, and it represents that motor 12 has just started to start, and now nut 32 applies the moment of resistance not yet to working head 14, and Part I A can think linear substantially; That follow hard on Part I A is the first flex point K and follow-up Part II B, first flex point K has a downward-sloping sudden change relative to Part I A, Part II B is a decline curve, this represents that nut 32 has started to push against with working head 14, and nut 32 pairs of working heads 14 apply the moment of resistance; After Second Inflexion Point I, entering the Part III C of basic horizontal, now working head 14 starts to overcome the moment of resistance to the nut 32 that comes up; As time goes on, there is downward transition at the 3rd flex point J place in Part III C, and form the Part IV D obviously declined, and now nut 32 is close to being fully released; Enter Part V E subsequently, this part is the straight line of one section of level substantially, and show that nut 32 is fully released, motor 12 is in light condition, finally enters Part VI F, and now motor 12 is closed down, and current i also reduces to 0.
Ginseng Fig. 4 shown in, Fig. 4 describe adopt electric impact wrench 10 at removal when bolt 34 is in conjunction with loose nut 32, supply the electric current curve over time of its motor 12; Wherein, alphabetical t represents the time that motor 12 is started working, and alphabetical i represents the current value of the motor 12 being supplied to electric impact wrench 10.
Wherein initial part M is one section of upcurve, and it represents that motor 12 has just started to start, and now nut 32 applies the moment of resistance not yet to working head 14, and initial part M can think linear substantially; Follow hard on the follow-up center section N of initial part F, center section N is a decline curve, and this represents that nut 32 has started to push against with working head 14, and nut 32 pairs of working heads 14 apply the moment of resistance; Because nut 32 and bolt 34 combine not tight, just nut 32 and bolt 34 is made to unclamp in working head 14 very short time, now directly enter the part (non-label) of basic horizontal, this part is the straight line of one section of level substantially, show that nut 32 is fully released, motor 12 is in light condition; Finally enter last part O, now motor 12 is closed down, and current i also reduces to 0.
In first embodiment of the invention, parameter x is the current value of motor 12 in supply electric impact wrench 10, the first derivative values that preset function f (x) is parameter x, aforementioned pre-conditioned, be: in supply electric impact wrench 10, the first order derivative of the current value of motor 12 is equal to or less than default derivative threshold.
In the process of electric tool work, current i can produce noise, the relation curve of current i t in time can show as irregular curve or burr, thus affect the calculating of its first derivative values.In order to avoid the impact of the noise of current i, can comprise the following steps when calculating first derivative values, electric current can be measured at multiple continuous time interval, its current value be respectively i1, i2, i3 ... in.And respectively to measure obtain current i 1, i2, i3 ... in asks first order derivative di1/dt1, di2/dt2, di3/dt3 to the time ... din/dtn, and the n of a gained di/dt is tried to achieve average; Then whether the judgement being equal to or less than default derivative threshold is met to the numerical value of its average.
Certainly, the relation curve for current i t in time shows as irregular curve or burr, and also can adopt the multiple modification methods such as such as linear regression, this is technology well known to those of ordinary skill in the art, does not repeat at this.
Current curve in composition graphs 3 and Fig. 4, set pre-conditioned in default derivative threshold be the first derivative values of the current value of predeterminated position in Part IV D in Fig. 3, be equally also the first derivative values of the current value of predeterminated position in center section N in Fig. 4; Obvious Part IV D can be more precipitous than waveform in Part II B, thus accurately can identify predeterminated position, drop at preset function f (x) and to be equal to or less than in Fig. 3 in Part IV D or the first derivative values of the current value of predeterminated position in center section N in Fig. 4, show that electric current sharply declines, nut 32 unclamps with bolt 34, the rotating speed of electrical motor gearshift submodule 464 and then change motor 12.
In first embodiment of the invention, electrical motor gearshift submodule 464 comprises moment acquiring unit 4642, moment judging unit 4644 and motor control unit 4646.
As starting at the moment when starting using electric tool motor, moment acquiring unit 4642 starts timing, when the first order derivative of the current value supplying motor 12 in electric impact wrench 10 is equal to or less than default derivative threshold, moment acquiring unit 4642 generates the current moment and exports moment judging unit 4644 to as object time T2, predetermined time T1 is stored in moment judging unit 4644, according to the front and back of object time T2 and predetermined time T1, motor control unit 4646 selects the mode of different change motor speeds.
According to Fig. 3, because nut 32 is combined tightr with bolt 34, object time T2 is after predetermined time T1, and moment judging unit 4644 exports corresponding steering order to motor control unit 4646, and then motor control unit 4646 closes down motor 12 after the first preset duration; Thus fully unclamp nut 32 and bolt 34, but the two can not depart from again.
This first preset duration can be arranged to departing from stroke needed for bolt completely from current location according to nut 32, and with at the end of the first preset duration, nut 32 also still can not depart from bolt 34 for benchmark; Preferably, the first preset duration is 10 milliseconds.
According to Fig. 4, because nut 32 is combined loosely with bolt 34, object time T2 is before predetermined time T1, and moment judging unit 4644 exports another steering order to motor control unit 4646, and then motor control unit 4646 closes down motor 12 immediately; Thus prevent excessive nut 32 and bolt 34 and the two is departed from.
It should be noted that: described " closing down motor " comprises stopping to motor and brake above, does not repeat at this.
Selected the mode of different change motor 12 rotating speeds for different object time T2 by basis, at nut 32, nut 32 can be produced to greatest extent in bolt 34, but can not be separated with bolt 34, reduce the time spent by the manual removal nut 32 of user, significantly improve Consumer's Experience.
Shown in ginseng Fig. 5, in the second embodiment of the present invention, control system 40b is compared with other embodiments, and difference is only: control system 40b also comprises presetting module 41, and this presetting module 41 comprises instruction and presets submodule 412, instruction acquisition submodule 414 and instructions match submodule 416.
Wherein, instruction presets submodule 412 for default speed governing requirement command collection, and it comprises multiple speed governing requirement command, the concrete mode of one of the rotating speed step of the corresponding a kind of described change motor of each speed governing requirement command; Instruction obtains submodule 414 for obtaining user's speed governing requirement command; Instructions match submodule 416 is for confirming the concrete mode of the step of the rotating speed of described change motor according to user's speed governing requirement command.
Follow-up, the mode that electrical motor gearshift submodule 464 confirms according to instructions match submodule 416 changes motor speed.
Stroke according to nut complete removal on bolt sets different speed change patterns, such as, Long travel is set as the first speed change pattern, by, short stroke is set as the second speed change pattern; User, according to the different strokes of nut, sends best user's speed governing requirement command, and then obtains the pattern of most suitable change motor speed; Subsequently, speed-variable module changes motor speed by this gear shift mode.
Make user can select to change according to operating mode the mode of motor speed, improve the adaptive faculty of control system to different operating mode, thus ensure that under different operating mode, nut total energy removal is to optimum position.
Preferably, switch toggle by arranging pattern on electric impact wrench and in toggle week side dimension model diagram, be convenient to user and operate the speed change pattern that toggle selects correspondence in advance before use.
Shown in ginseng Fig. 6, in the third embodiment of the present invention, control system 40c is relative to the first embodiment, and difference is: control system 40c also comprises clock module 43, this clock module 43 for providing start time, and controls detection module at this start time start detection parameter x.
Wherein, start time is the timing node after electric tool start after the second preset duration.
Current curve in composition graphs 3 and Fig. 4, aforesaid time starting point can be the T0 moment, and the current i in T0 moment is arranged in Fig. 3 Part II B and Fig. 4 center section N; Before the T0 time, control system does not start, and in the T0 moment, control system starts to start, and to be got parms x by its detection module.
Certainly, the second preset duration also can be 0, and aforesaid time starting point was for 0 moment.
By setting the second preset duration, when control system is started, working head pushes against with nut, and nut has started to apply the moment of resistance to working head, and nut is about to be come up; Control system can be detected faster, and preset function f (x) meets the pre-conditioned moment, avoid in Part I A or initial part M, working head does not also push against with nut, the low and energy dissipation of cause control system there is no work efficiency that work requirements causes.
In the fourth embodiment of the present invention, control system is compared with the first embodiment; Difference is only: the second derivative that preset function f (x) is parameter x, is pre-conditionedly: preset function f (x) is equal to or less than default derivative threshold equally.
Certainly, preset function f (x) can be the pluriderivative of parameter x equally, does not repeat at this.
In the fifth embodiment of the present invention, control system is compared with the first embodiment, and difference is only: parameter x is the output torque value of motor 12; Pre-conditionedly be: the first derivative values of output torque is equal to or less than predetermined torque derivative threshold.
Detect motor output torque value to obtain by torque sensor; The method obtaining predetermined torque derivative threshold with reference to the mode of aforementioned acquisition predetermined current derivative, by building the torque curve of motor, can specify the first derivative values of moment of torsion during empty load of motor, and then it can be used as predetermined torque derivative threshold, not repeating at this.
In the sixth embodiment of the present invention, control system is compared with previous embodiment, parameter x corresponding in control system and pre-conditionedly adopt mode mentioned any one of the aforementioned first to the 5th embodiment, difference is: preset function f (x) meet pre-conditioned residing object time T2 after predetermined time T1 time, electrical motor gearshift submodule 464 closes down motor after motor rotation predetermined amount.
In the seventh embodiment of the present invention, control system is compared with the 6th embodiment, difference is only: preset function f (x) meet pre-conditioned residing object time T2 after predetermined time T1 time, electrical motor gearshift submodule 464 closes down motor after reducing motor speed.
In the eighth embodiment of the present invention, control system is compared with the 6th embodiment, difference is only: preset function f (x) meet pre-conditioned residing object time T2 after predetermined time T1 time, electrical motor gearshift submodule 464 reduces motor speed, reduce prompting user by rotating speed, make user manually close down motor.
In the ninth embodiment of the present invention, control system is compared with the 6th embodiment, difference is only: no matter preset function f (x) meet pre-conditioned residing object time T2 after predetermined time T1 or before time, electrical motor gearshift submodule 464 is all by making motor periodically switch between rotating and reverse continuously, point out user, make user manually close down motor.
Compared with prior art, in embodiments of the invention, nut and bolt can unclamp and nuts and bolt but can not be made to be separated by control system, and user can manual separation nuts and bolt according to demand, meets the special operation condition demand that user only needs to unclamp nut.
Shown in ginseng Fig. 7, in first embodiment of the invention, the control method of electric tool comprises the steps:
Step S20, detects the parameter x representing output shaft 16 load.
Electric impact wrench 10 to carry out in the process of fastening or removal in torque nut 32 to it, due to the existence of the screw threads for fastening power between nut 32 and bolt 34, nut 32 can apply a moment of resistance by the output shaft 16 of working head 14 pairs of electric impact wrenches 10, when the driving torque that motor 12 exports in electric impact wrench 10 overcomes this moment of resistance, working head 14 starts fastening or removal nut 32.
The moment of resistance is directly proportional to the screw threads for fastening power between nut 32 and bolt 34, be screwed in the process of bolt 34 at nut 32, between nut 32 and bolt 34, screw threads for fastening power also increases gradually, and when nut 32 and bolt 34 are fully tightened, screw threads for fastening power reaches peak value; Otherwise, in the process of electric impact wrench 10 removal nut 32, screw threads for fastening power is in peak value, initial time, the moment of resistance that the output shaft 16 of electric impact wrench 10 bears is maximum, motor 12 in electric impact wrench 10 is now needed to export larger driving torque to overcome the moment of resistance being positioned at peak value, after nut 32 and bolt 34 depart from and tighten completely, the moment of resistance that the output shaft 16 of electric impact wrench 10 bears is reduced to gently, and the driving torque that motor 12 exports also synchronously is reduced to gently.
Parameter x is for representing the load of electric impact wrench 10 output shaft 16, namely for representing the moment of resistance that electric impact wrench 10 output shaft 16 bears, because the moment of resistance remains consistent with the output torque of electric impact wrench 10 motor 12, by calling the parameter relevant to motor 12 output torque as aforementioned parameters x, then can realize the size of the load being identified output shaft 16 by monitoring parameter x.
Enter step S40 subsequently, the preset function f (x) of calculating parameter x.
Enter step S60 subsequently, it specifically comprises:
S62, judge whether the preset function f (x) of parameter x meets pre-conditioned, to confirm on output shaft 16 whether load has been reduced to based on aforementioned judged result and be equal to or less than default load, if so, perform step S64; If not, step S20 is returned;
S64, change the rotating speed of described motor.
Shown in ginseng Fig. 3, Fig. 3 describe adopt electric impact wrench 10 removal to be combined with bolt 34 more closely nut 32 time, supply the electric current curve over time of its motor 12; Wherein, alphabetical t represents the time that motor 12 is started working, and alphabetical i represents the current value of the motor 12 being supplied to electric impact wrench 10.
Curve in Fig. 3 comprises Part I A, the first flex point H, Part II B, Second Inflexion Point I, Part III C, the 3rd flex point J, Part IV D, Part V E and Part VI F.
Wherein Part I A is one section of upcurve, and it represents that motor 12 has just started to start, and now nut 32 applies the moment of resistance not yet to working head 14, and Part I A can think linear substantially; That follow hard on Part I A is the first flex point K and follow-up Part II B, first flex point K has a downward-sloping sudden change relative to Part I A, Part II B is a decline curve, this represents that nut 32 has started to push against with working head 14, and nut 32 pairs of working heads 14 apply the moment of resistance; After Second Inflexion Point I, entering the Part III C of basic horizontal, now working head 14 starts to overcome the moment of resistance to the nut 32 that comes up; As time goes on, there is downward transition at the 3rd flex point J place in Part III C, and form the Part IV D obviously declined, and now nut 32 is close to being fully released; Enter Part V E subsequently, this part is the straight line of one section of level substantially, and show that nut 32 is fully released, motor 12 is in light condition, finally enters Part VI F, and now motor 12 is closed down, and current i also reduces to 0.
Ginseng Fig. 4 shown in, Fig. 4 describe adopt electric impact wrench 10 at removal when bolt 34 is in conjunction with loose nut 32, supply the electric current curve over time of its motor 12; Wherein, alphabetical t represents the time that motor 12 is started working, and alphabetical i represents the current value of the motor 12 being supplied to electric impact wrench 10.
Wherein initial part M is one section of upcurve, and it represents that motor 12 has just started to start, and now nut 32 applies the moment of resistance not yet to working head 14, and initial part M can think linear substantially; Follow hard on the follow-up center section N of initial part F, center section N is a decline curve, and this represents that nut 32 has started to push against with working head 14, and nut 32 pairs of working heads 14 apply the moment of resistance; Because nut 32 and bolt 34 combine not tight, just nut 32 and bolt 34 is made to unclamp in working head 14 very short time, now directly enter the part (non-label) of basic horizontal, this part is the straight line of one section of level substantially, show that nut 32 is fully released, motor 12 is in light condition; Finally enter last part O, now motor 12 is closed down, and current i also reduces to 0.
In first embodiment of the invention, parameter x is the current value of motor 12 in supply electric impact wrench 10, the first derivative values that preset function f (x) is parameter x, aforementioned pre-conditioned, be: in supply electric impact wrench 10, the first derivative values of the current value of motor 12 is equal to or less than default derivative threshold.
In the process of electric tool work, current i can produce noise, the relation curve of current i t in time can show as irregular curve or burr, thus affect the calculating of its first derivative values.In order to avoid the impact of the noise of current i, can comprise the following steps when calculating first derivative values, electric current can be measured at multiple continuous time interval, its current value be respectively i1, i2, i3 ... in.And respectively to measure obtain current i 1, i2, i3 ... in asks first order derivative di1/dt1, di2/dt2, di3/dt3 to the time ... din/dtn, and the n of a gained di/dt is tried to achieve average; Then whether the judgement being less than default derivative threshold is met to the numerical value of its average.
Certainly, the relation curve for current i t in time shows as irregular curve or burr, and also can adopt the multiple modification methods such as such as linear regression, this is technology well known to those of ordinary skill in the art, does not repeat at this.
Current curve in composition graphs 3 and Fig. 4, set pre-conditioned in predetermined current be the first derivative values of the current value of predeterminated position in Part IV D in Fig. 3, be equally also the first derivative values of the current value of predeterminated position in center section N in Fig. 4; Obvious Part IV D can be more precipitous than waveform in Part II B, thus accurately can identify predeterminated position, be convenient to preset function f (x) drop to and to be equal to or less than in Fig. 3 in Part IV D or the first derivative values of the current value of predeterminated position in center section N in Fig. 4, show that electric current sharply declines, nut 32 unclamps with bolt 34, is changed the rotating speed of motor 12 by step S64.
In first embodiment of the invention, aforementioned S64 specifically comprises the steps:
S642, when starting using electric tool motor as starting at the moment, when the first order derivative of the current value supplying motor 12 in electric impact wrench 10 is equal to or less than default derivative threshold, obtain the current moment and as object time T2;
S644, judge object time T2 before predetermined time T1 or after, if after which, perform S646, if before it, perform S648;
S646, after the first preset duration, close down motor 12;
S648, immediately close down motor 12.
According to Fig. 3, because nut 32 is combined comparatively tight with bolt 34, object time T2, after predetermined time T1, closes down motor 12 by S646 after the first preset duration; Thus fully unclamp nut 32 and bolt 34, but the two can not depart from again.
This first preset duration can be arranged to departing from stroke needed for bolt completely from current location according to nut 32, and with at the end of the first preset duration, nut 32 also still can not depart from bolt 34 for benchmark; Preferably, the first preset duration is 10 milliseconds.
According to Fig. 4, because nut 32 is combined loosely with bolt 34, object time T2, before predetermined time T1, closes down motor 12 immediately by S648; Thus prevent excessive nut 32 and bolt 34 and the two is departed from.
It should be noted that: described " closing down motor " comprises stopping to motor and brake two steps above, does not repeat at this.
Selected the mode of different change motor 12 rotating speeds for different object time T2 by basis, at nut 32, nut 32 can be produced to greatest extent in bolt 34, but can not be separated with bolt 34, reduce the time spent by the manual removal nut 32 of user, significantly improve Consumer's Experience.
Shown in ginseng Fig. 8, in the second embodiment of the present invention, control method is compared with other embodiments, and difference is only: control method also comprises the step S10 before being positioned at step S20, and it specifically comprises:
S12, default speed governing requirement command collection, it comprises multiple speed governing requirement command, the concrete mode of one of the rotating speed step of the corresponding a kind of described change motor of each speed governing requirement command;
S14, acquisition user speed governing requirement command;
S16, confirm the concrete mode of the step of the rotating speed of described change motor according to user's speed governing requirement command.
Stroke according to nut complete removal on bolt sets different speed change patterns, such as, Long travel is set as the first speed change pattern, by, short stroke is set as the second speed change pattern; User, according to the different strokes of nut, sends best user's speed governing requirement command, and then obtains the pattern of most suitable change motor speed; Later step S80 changes motor speed by this gear shift mode.
Make user can select to change according to operating mode the mode of motor speed, improve the adaptive faculty of control method to different operating mode, thus ensure that under different operating mode, nut total energy removal is to optimum position.
Preferably, switch toggle by arranging pattern on electric impact wrench and in toggle week side dimension model diagram, be convenient to user and operate the speed change pattern that toggle selects correspondence in advance before use.
Shown in ginseng Fig. 9, in the third embodiment of the present invention, control method method is relative to the first embodiment, and difference is: control method also comprises step S30, and this step S30 specifically comprises: provide start time, and step S20 starts at this start time.
Wherein, start time is the timing node after electric tool start after the second preset duration.
Current curve in composition graphs 3 and Fig. 4, aforesaid time starting point can be the T0 moment, and the current i in T0 moment is arranged in Fig. 3 Part II B and Fig. 4 center section N; Before the T0 time, control method does not start, and in the T0 moment, starts to start its step S20.
Certainly, the second preset duration also can be 0, and aforesaid time starting point was for 0 moment.
By setting the second preset duration, when control method is started, working head pushes against with nut, and nut has started to apply the moment of resistance to working head, and nut is about to be come up; Control method can be detected faster, and preset function f (x) meets the pre-conditioned moment, avoid in Part I A or initial part M, working head does not also push against with nut, the low and energy dissipation of cause control method there is no work efficiency that work requirements causes.
In the fourth embodiment of the present invention, control method is compared with the first embodiment; Difference is only: the second derivative that preset function f (x) is parameter x, is pre-conditionedly: preset function f (x) is equal to or less than default derivative threshold equally.
Certainly, preset function f (x) can be the pluriderivative of parameter x equally, does not repeat at this.
In the fifth embodiment of the present invention, control method is compared with the first embodiment, and difference is only: parameter x is the output torque value of motor 12; Pre-conditionedly be: the first derivative values of output torque is equal to or less than predetermined torque derivative threshold.
Detect motor output torque value to obtain by torque sensor; The method obtaining predetermined torque derivative threshold with reference to the mode of aforementioned acquisition predetermined current derivative, by building the torque curve of motor, can specify the first derivative values of moment of torsion during empty load of motor, and then it can be used as predetermined torque derivative threshold, not repeating at this.
In the sixth embodiment of the present invention, control method is compared with previous embodiment, parameter x corresponding in control method and pre-conditionedly adopt mode mentioned any one of the aforementioned first to the 5th embodiment, difference is: preset function f (x) meet pre-conditioned residing object time T2 after predetermined time T1 time, step S646 is adjusted to: after motor rotation predetermined amount, close down motor.
In the seventh embodiment of the present invention, control method is compared with the 6th embodiment, difference is only: preset function f (x) meet pre-conditioned residing object time T2 after predetermined time T1 time, step S646 is adjusted to: close down motor after reducing motor speed.
In the eighth embodiment of the present invention, control method is compared with the 6th embodiment, difference is only: preset function f (x) meet pre-conditioned residing object time T2 after predetermined time T1 time, step S646 is adjusted to: reduce motor speed, reduce prompting user by rotating speed, make user manually close down motor.
In the ninth embodiment of the present invention, control method is compared with the 6th embodiment, difference is only: preset function f (x) meet pre-conditioned residing object time T2 after predetermined time T1 time, step S646 and S648 all can be adjusted to: periodically switch between rotating and reverse continuously by making motor.Point out user, make user manually close down motor
Compared with prior art, in embodiments of the invention, nut and bolt can unclamp and nuts and bolt but can not be made to be separated by control method, and user can manual separation nuts and bolt according to demand, meets the special operation condition demand that user only needs to unclamp nut.
Be to be understood that, although this instructions is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should by instructions integrally, technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
A series of detailed description listed is above only illustrating for feasibility embodiment of the present invention; they are also not used to limit the scope of the invention, all do not depart from the skill of the present invention equivalent implementations done of spirit or change all should be included within protection scope of the present invention.
Claims (22)
1. a control method for electric tool, wherein electric tool comprises motor and connects the output shaft of motor, and it is characterized in that, described control method comprises the steps:
In the process of loosening fasteners, detect the parameter x for representing output shaft load;
Calculate the preset function f (x) of described parameter x;
Meet according to described preset function f (x) and pre-conditionedly judge that described output shaft load reduction is to being equal to or less than default load, and then change the rotating speed of described motor.
2. control method according to claim 1, is characterized in that, the N order derivative that described preset function f (x) is parameter x, and described N is positive integer; Describedly pre-conditionedly be: the value of preset function f (x) is equal to or less than default derivative threshold.
3. control method according to claim 2, is characterized in that, described parameter x is the supply current value of motor or the torque value of output shaft.
4. control method according to claim 1, is characterized in that, electric motor starting in described electric tool also, after the second preset duration, starts to detect the parameter x for representing output shaft load.
5. control method according to claim 1, is characterized in that, described control method also comprises the following steps before the parameter x detected for representing output shaft load:
Preset speed governing requirement command collection, it comprises multiple speed governing requirement command, the concrete mode of one of the rotating speed step of the corresponding a kind of described change motor of each speed governing requirement command;
Obtain user's speed governing requirement command;
The concrete mode of the step of the rotating speed of described change motor is confirmed according to user's speed governing requirement command.
6. control method according to claim 1, is characterized in that, the step of described change motor speed is specially: control motor and periodically switch between rotating and reverse.
7. control method according to claim 1, is characterized in that, the concrete mode of the step of described change motor speed is:
Obtain described preset function f (x) meet described pre-conditioned time object time, this object time from electric tool motor start after start at;
When object time is after predetermined time, after the first preset duration, closing down motor.
8. control method according to claim 1, is characterized in that, the concrete mode of the step of described change motor speed is:
Obtain described preset function f (x) meet described pre-conditioned time object time, this object time from electric tool motor start after start at;
When object time is after predetermined time, after motor rotation predetermined amount, close down motor.
9. control method according to claim 1, is characterized in that, the concrete mode of the step of described change motor speed is:
Obtain described preset function f (x) meet described pre-conditioned time object time, this object time from electric tool motor start after start at;
When object time is after predetermined time, reduce motor speed.
10. control method according to claim 1, is characterized in that, the concrete mode of the step of described change motor speed is:
Obtain described parameter x meet described pre-conditioned time object time, this object time from electric tool motor start after start at;
When object time is before predetermined time, immediately close down motor.
11. a control system for electric tool, wherein, electric tool comprises motor and connects the output shaft of motor, and it is characterized in that, described control system comprises:
Detection module, in the process of loosening fasteners, detects the parameter x for representing output shaft load;
Computing module, calculates the preset function f (x) of described parameter x;
Control module, comprising:
Function judges submodule, meets pre-conditionedly judge that described output shaft load reduction is to being equal to or less than default load according to described preset function f (x);
Electrical motor gearshift submodule, and then the rotating speed changing described motor.
12. control system according to claim 11, is characterized in that, the N order derivative that described preset function f (x) is parameter x, described N is positive integer; Describedly pre-conditionedly be: the value of preset function f (x) is equal to or less than default derivative threshold.
13. control system according to claim 12, is characterized in that, described parameter x is the supply current value of motor or the torque value of output shaft.
14. control system according to claim 11, is characterized in that, electric motor starting in described electric tool after the second preset duration, detection module starts to detect the parameter x for representing output shaft load.
15. control system according to claim 11, is characterized in that, described control system also comprises pattern setting module, and described pattern setting module comprises:
Submodule is preset in instruction, and for default speed governing requirement command collection, it comprises multiple speed governing requirement command, the concrete mode of one of the rotating speed step of the corresponding a kind of described change motor of each speed governing requirement command;
Instruction obtains submodule, for obtaining user's speed governing requirement command;
Instructions match submodule, for confirming the concrete mode of the step of the rotating speed of described change motor according to user's speed governing requirement command.
16. control system according to claim 11, is characterized in that, described electrical motor gearshift submodule specifically for: control motor and periodically switch between rotating and reverse.
17. control system according to claim 11, is characterized in that, described electrical motor gearshift submodule comprises:
Moment acquiring unit, with electric tool motor startup for starting at the moment, obtain described parameter x meet described pre-conditioned time object time;
Moment judging unit, judges object time whether after predetermined time;
Motor control unit, when object time is whether after predetermined time, closes down motor after the first preset duration.
18. control system according to claim 11, is characterized in that, described electrical motor gearshift submodule comprises:
Moment acquiring unit, with electric tool motor startup for starting at the moment, obtain described parameter x meet described pre-conditioned time object time;
Moment judging unit, judges object time whether after predetermined time;
Motor control unit, when object time is whether after predetermined time, closes down motor after controlling motor rotation predetermined amount.
19. control system according to claim 11, is characterized in that, described electrical motor gearshift submodule comprises:
Moment acquiring unit, with electric tool motor startup for starting at the moment, obtain described parameter x meet described pre-conditioned time object time;
Moment judging unit, judges object time whether after predetermined time;
Motor control unit, when object time is whether after predetermined time, reduces motor speed.
20. control system according to claim 11, is characterized in that, described electrical motor gearshift submodule comprises:
Moment acquiring unit, with electric tool motor startup for starting at the moment, obtain described parameter x meet described pre-conditioned time object time;
Moment judging unit, judges object time whether after predetermined time;
Motor control unit, when object time is whether after predetermined time, closes down motor immediately.
21. 1 kinds of electric tools, is characterized in that, described electric tool comprises:
Power supply;
Motor, obtains the electric power of power supply to provide rotary power;
Output shaft, obtains the rotary power of motor and exports;
According to claim 11 to the control system according to any one of 20, described control system and motor and power supply are electrically connected.
22. according to electric tool described in claim 21, it is characterized in that, described electric tool also comprises: system activation member, and it is for the described control system of exercisable startup.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410709408.6A CN104656550B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
| CN201610128189.1A CN105929788A (en) | 2014-09-02 | 2014-11-28 | Electric tool control method and system, and electric tool |
| PCT/CN2015/088893 WO2016034136A1 (en) | 2014-09-02 | 2015-09-02 | Control method and control system for electric tool, and electric tool |
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| CN201410443716 | 2014-09-02 | ||
| CN2014104437169 | 2014-09-02 | ||
| CN201410709408.6A CN104656550B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
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| CN201610128189.1A Division CN105929788A (en) | 2014-09-02 | 2014-11-28 | Electric tool control method and system, and electric tool |
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| CN201410709408.6A Active CN104656550B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
| CN201410708970.7A Active CN104656549B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
| CN201610128189.1A Pending CN105929788A (en) | 2014-09-02 | 2014-11-28 | Electric tool control method and system, and electric tool |
| CN201610321415.8A Pending CN105843160A (en) | 2014-09-02 | 2014-11-28 | Electric tool control method and electric tool |
| CN201410709443.8A Active CN104656551B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
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| CN201610321415.8A Pending CN105843160A (en) | 2014-09-02 | 2014-11-28 | Electric tool control method and electric tool |
| CN201410709443.8A Active CN104656551B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
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| Publication number | Publication date |
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| CN104656549B (en) | 2016-04-13 |
| CN104656551A (en) | 2015-05-27 |
| CN104647264A (en) | 2015-05-27 |
| CN104656550A (en) | 2015-05-27 |
| CN104656551B (en) | 2016-09-14 |
| CN105843160A (en) | 2016-08-10 |
| CN105929788A (en) | 2016-09-07 |
| CN105856140A (en) | 2016-08-17 |
| CN104656549A (en) | 2015-05-27 |
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