EP2338646B1 - Control method for a handheld machine tool - Google Patents

Control method for a handheld machine tool Download PDF

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Publication number
EP2338646B1
EP2338646B1 EP10192907.3A EP10192907A EP2338646B1 EP 2338646 B1 EP2338646 B1 EP 2338646B1 EP 10192907 A EP10192907 A EP 10192907A EP 2338646 B1 EP2338646 B1 EP 2338646B1
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EP
European Patent Office
Prior art keywords
electric motor
rotation
control method
jam
tool
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EP10192907.3A
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German (de)
French (fr)
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EP2338646A2 (en
EP2338646A3 (en
Inventor
Dieter Profunser
Michael Wierer
Alexander Hoop
Hans Böni
Manuel Gut
Christof Freischläger
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Hilti AG
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Hilti AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
    • B25F5/001—Gearings, speed selectors, clutches or the like specially adapted for rotary tools

Definitions

  • the present invention relates to a control method for a hand-held machine tool and a machine tool as indicated in the preamble of claim 1 and from WO 2009/102082 A2 known.
  • a protective mechanism for a drill is known, which is intended to protect the user against excessive loading when blocking a drill. Once a jam is detected or expected, the drill disables. There may be cases in which the drill permanently jammed.
  • One object is a control method that protects the user and counteracts a permanent jamming of a drill.
  • a driving electric motor rotates in a direction opposite to a rotation direction before a blockage reverse rotation for a duration when a blockage is detected. Immediately thereafter, the electric motor rotates again in the direction of rotation before the blockage.
  • the control method proves surprisingly qualitatively different from a brief interruption of the drive train by a slip clutch during blocking and a periodic interruption in a permanent blocking. While the user can subsequently, also with the assistance of the electric motor, try to solve the tool, however, tests show a much lower success rate than with an active reversal of the direction of rotation. This is particularly surprising because the drill is jammed in a blockage usually not only in forward but also in the reverse direction. It is believed that releasing the drill when turning the direction of rotation could have a positive effect. The added value outweighs the obvious disadvantage of a higher load on the drill when turning contrary to the standard direction of rotation for which gear wheels and clutches are not designed or can only be designed with additional effort.
  • the hand-held rotating machine tool e.g. for a drill, has an electric motor for driving a rotating tool, a sensor device for detecting a blockage of the tool; a driving device that, in response to a blockage detected by the sensor device, reverses a direction of rotation of the electric motor for a duration prior to the blockage, and immediately thereafter causes the electric motor to rotate again in the rotational direction.
  • the direction of rotation thus changes briefly after a blockade of a forward direction to a reverse direction and then immediately back in a forward direction.
  • the engine is not switched off in the meantime, but is alternately braking and accelerating. Changing the direction of rotation can also be repeated several times.
  • An embodiment provides that the duration is 25 ms to 1000 ms.
  • One embodiment provides that a sensor device detects a rotation of a tool holder counter to the working direction and, in response thereto, causes the electric motor to rotate in the direction of rotation before the blockage.
  • An embodiment provides that a sensor device based on a power consumption, e.g. the current consumption, the electric motor detects a blockage of the drill.
  • a rotational acceleration during the blockage is detected and the duration determined as a function of the detected rotational acceleration of the housing.
  • threshold values for detecting a blockage infestation for a second duration are reduced after a first blockage incident. After a blockade has been detected for the first time, as a precaution, an immediately following blockage can be expected when the drill is turning forward. As a result, the reaction time is advantageously reduced.
  • the second duration may be twice to five times the aforementioned duration.
  • Fig. 1 shows a hand-held drill 10 .
  • the drilling machine 10 has a machine housing 11 and one or two handles 12 for holding the drilling machine 10 by a user.
  • the handle 12 may be rigidly attached to the machine housing 11 or by means of vibration damping elements 13 on the machine housing 11 .
  • an electric motor 14 drives a spindle 15 .
  • the electric motor 14 is, for example, a mechanically or electronically commutating DC motor or an asynchronous AC motor.
  • a transmission 16 and / or an overload clutch 17 for example a slip clutch may be connected.
  • the spindle 15 transmits its rotational movement by means of a tool holder 18 on a drill 19th
  • a direction of rotation of the rotational movement of the spindle 15 and thus also of the electric motor 14 is typically fixed and matched to the design of the drill 19 .
  • the direction of rotation for standard operation is hereinafter referred to as working direction 20 or forward.
  • machine tools such as a screwdriver, the working direction 20 can be adjusted by a user.
  • An actuating button 21 for activating the drilling machine 10 is preferably arranged on the handle 12 or on the machine housing 11 .
  • the actuating button 21 is connected in a circuit between a power source 22 , such as a battery or a mains connection, and the electric motor 14 .
  • the drill 10 shuts off when the user releases the actuation button 21 .
  • the actuating button 21 may also include a locking mechanism, which has a permanent operation of the drill 10 also without continuous actuation of the actuating button 21 allows.
  • the actuating button 21 activates a drive device 23 for the electric motor 14 as soon as it is pressed.
  • the control device 23 controls the direction of rotation of the electric motor 14 and optionally also the power output of the electric motor 14 .
  • the control device 23 controls the direction of rotation of the electric motor 14 in various ways.
  • a mechanically commutating DC motor eg universal motor
  • a current flow direction is set by the windings depending on the desired direction of rotation.
  • the direction of rotation is predetermined by a time sequence in which windings of the electric motor 14 are supplied with power.
  • the drilling machine 10 applies to the user a retroactive torque which results in response to the torque transmitted to the workpiece by the drill 19 .
  • the retroactive torque is low.
  • a high retroactive torque results due to the abruptly braked rotating assemblies.
  • the user can no longer counteract this retroactive torque sufficiently, which is why the entire drill 10 including the handles 12 begins to rotate about the axis of rotation of the drill 19 .
  • Fig. 2 illustrates a control method for the drilling machine 10 that takes into account locking of the drill 19 .
  • the driving device 23 is activated or released (start action 101 ).
  • the electric motor 14 is connected to the power source 22 and rotates in the operating direction 20 (operation action 102 ).
  • the spindle 15 and the drill 19 inserted into the tool holder 18 rotate forward, in the working direction 20 .
  • the control device 23 can actively decelerate the electric motor 14 .
  • the windings can be short-circuited.
  • a sensor device 24 monitors the operating behavior upon blocking of the drill 19 (monitoring action 105 ). As soon as the sensor device 24 detects a blockage (blockade case 106 , time t0), the direction of rotation of the electric motor 14 is reversed. The electric motor 14 is actively decelerated to standstill (safety action 107 ). A first duration T1 until the electric motor 14 is stopped depends inter alia on a torque of the electric motor 14 . As soon as the stoppage of the electric motor 14 is reached, this immediately accelerates backwards, counter to the previous working direction 20 (reversing action 108 ).
  • the electric motor 14 rotates backwards. Compared to the time at which a blocking has been detected, the electric motor 14 is rotated back by one angle.
  • the spindle 15 and the drill 19 at least partially follow the reverse rotation of the electric motor 14 . Due to the inertia and elasticity of the components in the power transmission path, such as the spindle 15, and also the drill 19, they twist during locking and relax during reverse rotation of the electric motor 14 .
  • the direction of rotation is then changed again to the second duration T2 and the electric motor 14 rotates forward again (operation recording action 109 ).
  • the sensor device 24 again monitors the operating behavior, if it has been deactivated during the reverse rotation expediently.
  • the cause of the blockage is often not resolved after a single reset of the electric motor 14 by an angle by the safety action 107 and reversing action 108 and the subsequent operation recording action 109 .
  • the sensor device 24 recognizes again a blockage (blockade case 106, time t1) and in this case will again trigger a reset of the electric motor 14 , ie the safety action 107 , reversing action 108 and the subsequent operation recording action 109 .
  • the direction of rotation of the electric motor 14 changes in sequence almost periodically for several cycles.
  • the electric motor 14 remains permanently in operation for several cycles.
  • the sensor device 24 has one or more acceleration sensors 25 on the machine housing 11 or the handle 12 , the preferably offset from a rotational axis 26 of the spindle 15 are arranged.
  • the acceleration sensors 25 detect a rotational movement of the machine housing 11 .
  • the detected acceleration values are conditioned and compared with a measure that is characteristic for blocking.
  • the measure may be based on the current acceleration value and a history of the acceleration values.
  • the sensor device 24 recognizes this as a blockage (blockage case 105 ).
  • the recognition of a new blocking within 20 ms to 2000 ms can be based on criteria other than the detection of the previous blockage. In particular, a lower threshold can be used.
  • the sensor device 24 has one or more current sensors 27 , which detect a power consumption of the electric motor 14 .
  • the power consumption typically increases abruptly when the drill 19 turns stiffly just before a blockage.
  • the current sensors 27 may be included, for example, in a motor drive for the electrically commutated electric motor.
  • the degree of blockage detection may be based on the current values and the acceleration values described above.
  • the second duration T2 for which the electric motor 14 rotates backward be predetermined for the drill 10 fixed.
  • a sensor device 28 is provided which determines a direction of rotation of the tool holder 18 . After a reverse rotation of the tool holder 18 , for example, determined by an angle of 2 degrees to 5 degrees, the second duration T2 is terminated and the electric motor 14 rotates forward again.
  • the sensor device 28 can detect, for example, the rotation of the tool holder 18 by means of inductive sensors.
  • Another embodiment determines the torque acting on the spindle 15 , ie the torque output by the electric motor 14 , during the second duration T2. As soon as the torque falls below a threshold, the second duration T2 is terminated. It is assumed that the electric motor 14 outputs a lower torque with decreasing load. The load is reduced as soon as the drill 19 and other elements 15 , 16 , 17 , 18 to be rotated are accelerated against their moments of inertia and rotate backwards.
  • a sensor device 29 with strain sensors detects a tension of the spindle 15 .
  • the second duration T2 ends when the sensor device 29 detects a drop in a tension below a threshold value. The tension leaves when the drill 19 rotates backwards and is not accelerated further or to a lesser extent.
  • the methods and sensor devices that trigger termination of the second duration T2 can be combined in a variety of ways.
  • the second duration T2 may be set to a predetermined maximum value of e.g. 10 ms to 25 ms.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Drilling And Boring (AREA)
  • Portable Power Tools In General (AREA)
  • Percussive Tools And Related Accessories (AREA)
  • Motor And Converter Starters (AREA)

Description

GEBIET DER ERFINDUNGFIELD OF THE INVENTION

Die vorliegende Erfindung betrifft ein Steuerungsverfahren für eine handgeführte Werkzeugmaschine und eine Werkzeugmaschine, wie im Oberbegriff von Anspruch 1 angegeben und aus der WO 2009/102082 A2 bekannt.The present invention relates to a control method for a hand-held machine tool and a machine tool as indicated in the preamble of claim 1 and from WO 2009/102082 A2 known.

Aus der US 5,584,619 A ist ein Schutzmechanismus für eine Bohrmaschine bekannt, welcher bei einem Blockieren eines Bohrers den Anwender vor einer übermäßigen Belastung schützen soll. Sobald ein Blockieren erkannt oder erwartet wird, deaktiviert sich die Bohrmaschine. Es können Fälle auftreten, in den sich der Bohrer dauerhaft verklemmt.From the US 5,584,619 A For example, a protective mechanism for a drill is known, which is intended to protect the user against excessive loading when blocking a drill. Once a jam is detected or expected, the drill disables. There may be cases in which the drill permanently jammed.

OFFENBARUNG DER ERFINDUNGDISCLOSURE OF THE INVENTION

Eine Aufgabe besteht in einem Steuerungsverfahren, das den Anwender schützt und einem dauerhaften Verklemmen eines Bohrers entgegenwirkt.One object is a control method that protects the user and counteracts a permanent jamming of a drill.

Bei dem erfindungsgemäßen Steuerungsverfahren für eine handgeführte Werkzeugmaschine, dreht sich ein antreibender Elektromotor in einer gegenüber einer Drehrichtung vor einer Blockade umgekehrten Drehrichtung für eine Dauer, wenn eine Blockade erfasst wird. Unmittelbar anschließend an die Dauer dreht sich der Elektromotor wieder in der Drehrichtung vor der Blockade.In the control method for a walk-behind machine tool of the present invention, a driving electric motor rotates in a direction opposite to a rotation direction before a blockage reverse rotation for a duration when a blockage is detected. Immediately thereafter, the electric motor rotates again in the direction of rotation before the blockage.

Das Steuerungsverfahren erweist sich überraschend als qualitativ verschieden von einem kurzzeitigen Unterbrechen des Antriebsstrangs durch eine Rutschkupplung beim Blockieren und eines periodischen Unterbrechens bei einem dauerhaften Blockieren. Dabei kann der Anwender zwar nachfolgend, ebenfalls mit Unterstützung des Elektromotors, versuchen das Werkzeug zu lösen, Versuche zeigen aber eine bei weitem geringere Erfolgsrate als bei einer aktiven Umkehr der Drehrichtung. Dies ist insbesondere auch deshalb überraschend, als dass der Bohrer bei einer Blockade zumeist nicht nur in Vorwärts- sondern auch in Rückwärtsrichtung verklemmt ist. Es wird vermutet, dass das Entspannen des Bohrers beim Umdrehen der Drehrichtung einen positiven Einfluss haben könnte. Der Mehrwert überwiegt den offensichtlichen Nachteil einer höheren Belastung der Bohrmaschine beim Drehen entgegen der standardmäßigen Drehrichtung für welche Zahnräder und Kupplungen nicht ausgelegt oder nur mit Mehraufwand auslegbar sind.The control method proves surprisingly qualitatively different from a brief interruption of the drive train by a slip clutch during blocking and a periodic interruption in a permanent blocking. While the user can subsequently, also with the assistance of the electric motor, try to solve the tool, however, tests show a much lower success rate than with an active reversal of the direction of rotation. This is particularly surprising because the drill is jammed in a blockage usually not only in forward but also in the reverse direction. It is believed that releasing the drill when turning the direction of rotation could have a positive effect. The added value outweighs the obvious disadvantage of a higher load on the drill when turning contrary to the standard direction of rotation for which gear wheels and clutches are not designed or can only be designed with additional effort.

Die handgeführte drehende Werkzeugmaschine, z.B. für einen Bohrer, hat einen Elektromotor zum Antreiben eines drehenden Werkzeugs, eine Sensoreinrichtung zum Erfassen einer Blockade des Werkzeugs; eine Ansteuerungseinrichtung, die ansprechend auf eine durch die Sensoreinrichtung erfasste Blockade eine Drehrichtung des Elektromotors vor der Blockade für eine Dauer umkehrt und unmittelbar anschließend den Elektromotor veranlasst wieder in der Drehrichtung zu drehen. Die Drehrichtung wechselt somit nach einer Blockade kurzzeitig von einer Vorwärtsrichtung zu einer Rückwärtsrichtung und sofort anschließend wieder in eine Vorwärtsrichtung. Der Motor wird dabei nicht zwischenzeitlich abgeschaltet, sondern ist alternierend am Bremsen und Beschleunigen. Das Wechseln der Drehrichtung kann auch mehrfach wiederholt werden.The hand-held rotating machine tool, e.g. for a drill, has an electric motor for driving a rotating tool, a sensor device for detecting a blockage of the tool; a driving device that, in response to a blockage detected by the sensor device, reverses a direction of rotation of the electric motor for a duration prior to the blockage, and immediately thereafter causes the electric motor to rotate again in the rotational direction. The direction of rotation thus changes briefly after a blockade of a forward direction to a reverse direction and then immediately back in a forward direction. The engine is not switched off in the meantime, but is alternately braking and accelerating. Changing the direction of rotation can also be repeated several times.

Eine Ausgestaltung sieht vor, dass die Dauer 25 ms bis 1000 ms beträgt.An embodiment provides that the duration is 25 ms to 1000 ms.

Eine Ausgestaltung sieht vor, dass eine Sensoreinrichtung ein Drehen einer Werkzeugaufnahme entgegen der Arbeitsrichtung erfasst und darauf ansprechend ein Drehen des Elektromotors in Drehrichtung vor der Blockade veranlasst.One embodiment provides that a sensor device detects a rotation of a tool holder counter to the working direction and, in response thereto, causes the electric motor to rotate in the direction of rotation before the blockage.

Die Aufgabe wird durch ein Steuerungsverfahren gemäß Patentanspruch 1 gelöst. Eine Ausgestaltung sieht vor, dass eine Sensoreinrichtung basierend auf einer Leistungsaufnahme, z.B. der Stromaufnahme, des Elektromotors eine Blockade des Bohrers erkennt.The object is achieved by a control method according to claim 1. An embodiment provides that a sensor device based on a power consumption, e.g. the current consumption, the electric motor detects a blockage of the drill.

Erfindungsgemäß wird eine Drehbeschleunigung bei der Blockade erfasst und die Dauer in Abhängigkeit der erfassten Drehbeschleunigung des Gehäuses festgelegt. Je geringer die Drehbeschleunigung beim Anschlagen des Bohrers ist, um so stabiler scheint ein Anwender die Maschine trotz Blockade führen zu können. Es zeigt sich, dass es vorteilhaft ist, die Dauer zu vergrößern, wenn der Anwender die Maschine gut führen kann, d.h. die Drehbeschleunigung gering ist. Andernfalls muss die Dauer verringert werden.According to the invention, a rotational acceleration during the blockage is detected and the duration determined as a function of the detected rotational acceleration of the housing. The lower the rotational acceleration when striking the drill, the more stable a user seems to be able to guide the machine despite blockage. It can be seen that it is advantageous to increase the duration if the user can guide the machine well, i. the spin is low. Otherwise, the duration must be reduced.

Eine Ausgestaltung sieht vor, dass nach einem ersten Blockadefall Schwellwerte zum Erkennen eines Blockadefalls für eine zweite Dauer verringert werden. Nachdem erstmals eine Blockade erkannt wurde, kann vorsorglich bereits eine unmittelbar nachfolgende Blockade beim Vorwärtsdrehen des Bohrers erwartet werden. Hierdurch wird die Reaktionszeit vorteilhaft verringert. Die zweite Dauer kann das zweifache bis fünffache der zuvor genannten Dauer betragen.According to one embodiment, threshold values for detecting a blockage infestation for a second duration are reduced after a first blockage incident. After a blockade has been detected for the first time, as a precaution, an immediately following blockage can be expected when the drill is turning forward. As a result, the reaction time is advantageously reduced. The second duration may be twice to five times the aforementioned duration.

KURZE BESCHREIBUNG DER FIGURENBRIEF DESCRIPTION OF THE FIGURES

Die nachfolgende Beschreibung erläutert die Erfindung anhand von exemplarischen Ausführungsformen und Figuren. In den Figuren zeigen:

  • Fig. 1 eine handgeführte Bohrmaschine und
  • Fig. 2 ein Steuerungsverfahren.
The following description explains the invention with reference to exemplary embodiments and figures. In the figures show:
  • Fig. 1 a hand-held drill and
  • Fig. 2 a control method.

AUSFÜHRUNGSFORMEN DER ERFINDUNGEMBODIMENTS OF THE INVENTION

Fig. 1 zeigt eine handgeführte Bohrmaschine 10. Die Bohrmaschine 10 hat ein Maschinengehäuse 11 und einen oder zwei Handgriffe 12 zum Halten der Bohrmaschine 10 durch einen Anwender. Der Handgriff 12 kann starr mit dem Maschinengehäuse 11 oder mittels vibrationsdämpfender Elemente 13 an dem Maschinengehäuse 11 angelegt sein. Fig. 1 shows a hand-held drill 10 . The drilling machine 10 has a machine housing 11 and one or two handles 12 for holding the drilling machine 10 by a user. The handle 12 may be rigidly attached to the machine housing 11 or by means of vibration damping elements 13 on the machine housing 11 .

In dem Maschinengehäuse 11 treibt ein Elektromotor 14 eine Spindel 15 an. Der Elektromotor 14 ist beispielsweise ein mechanisch oder elektronisch kommutierender Gleichstrommotor oder ein asynchroner Wechselstrommotor. In einem Kraftübertragungspfad zwischen Spindel 15 und Elektromotor 14 können ein Getriebe 16 und/oder eine Überlastkupplung 17, z.B. eine Rutschkupplung geschaltet sein. Die Spindel 15 überträgt ihre Drehbewegung mittels einer Werkzeugaufnahme 18 auf einen Bohrer 19.In the machine housing 11 , an electric motor 14 drives a spindle 15 . The electric motor 14 is, for example, a mechanically or electronically commutating DC motor or an asynchronous AC motor. In a power transmission path between the spindle 15 and the electric motor 14 , a transmission 16 and / or an overload clutch 17 , for example a slip clutch may be connected. The spindle 15 transmits its rotational movement by means of a tool holder 18 on a drill 19th

Bei der Bohrmaschine 10 ist eine Drehrichtung der Drehbewegung der Spindel 15 und damit auch des Elektromotors 14 typischerweise fest vorgegeben und auf die Bauweise der Bohrer 19 abgestimmt. Die Drehrichtung für den standardmäßigen Betrieb wird nachfolgend als Arbeitsrichtung 20 oder vorwärts bezeichnet. Bei anderen Handwerkzeugmaschinen, z.B. einem Schrauber, kann die Arbeitsrichtung 20 durch einen Benutzer eingestellt werden.In the drill 10 , a direction of rotation of the rotational movement of the spindle 15 and thus also of the electric motor 14 is typically fixed and matched to the design of the drill 19 . The direction of rotation for standard operation is hereinafter referred to as working direction 20 or forward. In other hand machine tools, such as a screwdriver, the working direction 20 can be adjusted by a user.

Ein Betätigungstaster 21 zum Aktivieren der Bohrmaschine 10 ist vorzugsweise an dem Handgriff 12 oder an dem Maschinengehäuse 11 angeordnet. In einer Ausführungsform ist der Betätigungstaster 21 in einen Stromkreis zwischen einer Stromquelle 22, z.B. einem Akku oder einem Netzanschluss, und dem Elektromotor 14 geschaltet. Die Bohrmaschine 10 schaltet sich ab, wenn der Anwender den Betätigungstaster 21 loslässt. Der Betätigungstaster 21 kann auch einen Verriegelungsmechanismus beinhalten, der einen dauerhaften Betrieb der Bohrmaschine 10 auch ohne durchgehendes Betätigen des Betätigungstasters 21 ermöglicht.An actuating button 21 for activating the drilling machine 10 is preferably arranged on the handle 12 or on the machine housing 11 . In one embodiment, the actuating button 21 is connected in a circuit between a power source 22 , such as a battery or a mains connection, and the electric motor 14 . The drill 10 shuts off when the user releases the actuation button 21 . The actuating button 21 may also include a locking mechanism, which has a permanent operation of the drill 10 also without continuous actuation of the actuating button 21 allows.

Der Betätigungstaster 21 aktiviert eine Ansteuerungseinrichtung 23 für den Elektromotor 14, sobald er gedrückt wird. Die Ansteuerungseinrichtung 23 kontrolliert die Drehrichtung des Elektromotors 14 und gegebenenfalls auch die Leistungsabgabe des Elektromotors 14. Je nach Typ des Elektromotors 14 steuert die Ansteuerungseinrichtung 23 in verschiedener Weise die Drehrichtung des Elektromotors 14. Bei einem mechanisch kommutierenden Gleichstrommotor, z.B. Universalmotor, wird eine Stromflussrichtung durch die Wicklungen in Abhängigkeit der gewünschten Drehrichtung eingestellt. Bei einem asynchronen Wechselstrommotor oder einem elektrisch kommutierenden Gleichstrommotor wird die Drehrichtung durch eine Zeitabfolge vorgegeben, in welcher Wicklungen des Elektromotors 14 mit Strom gespeist werden.The actuating button 21 activates a drive device 23 for the electric motor 14 as soon as it is pressed. The control device 23 controls the direction of rotation of the electric motor 14 and optionally also the power output of the electric motor 14 . Depending on the type of electric motor 14 , the control device 23 controls the direction of rotation of the electric motor 14 in various ways. In a mechanically commutating DC motor, eg universal motor, a current flow direction is set by the windings depending on the desired direction of rotation. In an asynchronous AC motor or an electrically commutating DC motor, the direction of rotation is predetermined by a time sequence in which windings of the electric motor 14 are supplied with power.

Die Bohrmaschine 10 übt auf den Anwender ein rückwirkendes Drehmoment aus, welches sich als Reaktion auf das von dem Bohrer 19 auf das Werkstück übertragene Drehmoment ergibt. Solang das Werkstück beim Bohren nachgibt, ist das rückwirkende Drehmoment gering. Bei einem Blockieren eines Bohrers in dem Werkstück ergibt sich aufgrund der schlagartig abgebremsten rotierenden Baugruppen ein hohes rückwirkendes Drehmoment. Der Anwender kann diesem rückwirkenden Drehmoment nicht mehr ausreichend entgegenwirken, weshalb sich die gesamte Bohrmaschine 10 einschließlich der Handgriffe 12 um die Drehachse des Bohrers 19 zu drehen beginnt. Um Verletzungen des Anwenders vorzubeugen ist es nun vorteilhaft, die Handgriffe 12 von allen oder zumindest einen Teil der rotierenden Baugruppen zu entkoppeln und/oder abzubremsen, um Verletzungen des Anwenders vorzubeugen.The drilling machine 10 applies to the user a retroactive torque which results in response to the torque transmitted to the workpiece by the drill 19 . As long as the workpiece yields during drilling, the retroactive torque is low. When a drill bit is locked in the workpiece, a high retroactive torque results due to the abruptly braked rotating assemblies. The user can no longer counteract this retroactive torque sufficiently, which is why the entire drill 10 including the handles 12 begins to rotate about the axis of rotation of the drill 19 . To prevent injury to the user, it is now advantageous to decouple and / or decelerate the handles 12 from all or at least a portion of the rotating assemblies to prevent injury to the user.

Fig. 2 illustriert ein Steuerungsverfahren für die Bohrmaschine 10, das ein Blockieren des Bohrers 19 berücksichtigt. Wenn der Anwender den Betätigungstaster 21 betätigt (Einschaltfall 100) wird die Ansteuerungseinrichtung 23 aktiviert oder freigeschaltet (Startaktion 101). Ansprechend auf Steuersignale der Ansteuerungseinrichtung 23 wird der Elektromotor 14 mit der Stromquelle 22 verbunden und dreht sich in Arbeitsrichtung 20 (Betriebsaktion 102). Die Spindel 15 und der in die Werkzeugaufnahme 18 eingesetzte Bohrer 19 drehen sich vorwärts, in Arbeitsrichtung 20. Sobald der Anwender den Betätigungstaster 21 loslässt (Abschaltfall 103), wird der Elektromotor 14 von der Stromquelle 22 getrennt (Stoppaktion 104). Zusätzlich kann die Ansteuerungseinrichtung 23 den Elektromotor 14 aktiv abbremsen. Hierzu können beispielsweise die Wicklungen kurzgeschlossen werden. Fig. 2 illustrates a control method for the drilling machine 10 that takes into account locking of the drill 19 . When the user actuates the operation button 21 (turn-on case 100 ), the driving device 23 is activated or released (start action 101 ). In response to control signals from the driver 23 , the electric motor 14 is connected to the power source 22 and rotates in the operating direction 20 (operation action 102 ). The spindle 15 and the drill 19 inserted into the tool holder 18 rotate forward, in the working direction 20 . As soon as the user releases the actuating button 21 (switch-off case 103 ), the electric motor 14 is disconnected from the current source 22 (stop action 104 ). In addition, the control device 23 can actively decelerate the electric motor 14 . For this example, the windings can be short-circuited.

Solange die Bohrmaschine 10 in Betrieb ist, d.h. der Anwender den Betätigungstaster 21 betätigt, überwacht eine Sensoreinrichtung 24 das Betriebsverhalten auf ein Blockieren des Bohrers 19 hin (Überwachungsaktion 105). Sobald die Sensoreinrichtung 24 ein Blockieren erkennt (Blockadefall 106, Zeitpunkt t0), wird die Drehrichtung des Elektromotors 14 umgedreht. Der Elektromotor 14 wird dazu aktiv bis zum Stillstand abgebremst (Sicherheitsaktion 107). Eine erste Dauer T1 bis der Elektromotor 14 gestoppt ist, hängt unter Anderem von einem Drehmoment des Elektromotors 14 ab. Sobald der Stillstand des Elektromotor 14 erreicht ist, beschleunigt dieser sofort rückwärts weiter, entgegen der vorigen Arbeitsrichtung 20 (Umkehraktion 108). Für eine zweite Dauer T2 im Bereich z.B. zwischen 25 ms und 1000 ms, vorzugsweise zwischen 25 ms und 200 ms, dreht sich der Elektromotor 14 rückwärts. Gegenüber dem Zeitpunkt, an dem ein Blockieren erfasst wurde, wird der Elektromotor 14 um einen Winkel zurückgedreht. Die Spindel 15 und der Bohrer 19 folgen zumindest teilweise der rückwärtslaufenden Drehbewegung des Elektromotors 14. Aufgrund der Trägheit und Elastizität der Komponenten in dem Kraftübertragungspfad, z.B. der Spindel 15, und auch des Bohrers 19 verdrillen sich diese während des Blockierens und entspannen sich während des Rückwärtsdrehens des Elektromotors 14. Die Drehrichtung wird anschließend an die zweite Dauer T2 erneut gewechselt und der Elektromotor 14 dreht wieder vorwärts (Betriebaufnahmeaktion 109). Die Sensoreinrichtung 24 überwacht wieder das Betriebsverhalten, falls sie zweckmäßigerweise während des Rückwärtsdrehens deaktiviert wurde.As long as the drilling machine 10 is in operation, ie the user actuates the actuation button 21 , a sensor device 24 monitors the operating behavior upon blocking of the drill 19 (monitoring action 105 ). As soon as the sensor device 24 detects a blockage (blockade case 106 , time t0), the direction of rotation of the electric motor 14 is reversed. The electric motor 14 is actively decelerated to standstill (safety action 107 ). A first duration T1 until the electric motor 14 is stopped depends inter alia on a torque of the electric motor 14 . As soon as the stoppage of the electric motor 14 is reached, this immediately accelerates backwards, counter to the previous working direction 20 (reversing action 108 ). For a second duration T2 in the range, for example, between 25 ms and 1000 ms, preferably between 25 ms and 200 ms, the electric motor 14 rotates backwards. Compared to the time at which a blocking has been detected, the electric motor 14 is rotated back by one angle. The spindle 15 and the drill 19 at least partially follow the reverse rotation of the electric motor 14 . Due to the inertia and elasticity of the components in the power transmission path, such as the spindle 15, and also the drill 19, they twist during locking and relax during reverse rotation of the electric motor 14 . The direction of rotation is then changed again to the second duration T2 and the electric motor 14 rotates forward again (operation recording action 109 ). The sensor device 24 again monitors the operating behavior, if it has been deactivated during the reverse rotation expediently.

Die Ursache der Blockade ist häufig nach einem einmaligen Rücksetzen des Elektromotors 14 um einen Winkel durch die Sicherheitsaktion 107 und Umkehraktion 108 und die anschließende Betriebaufnahmeaktion 109 nicht behoben. Die Sensoreinrichtung 24 erkennt erneut ein Blockieren (Blockadefall 106, Zeitpunkt t1) und wird in diesem Fall erneut ein Rücksetzen des Elektromotors 14, d.h. die Sicherheitsaktion 107, Umkehraktion 108 und die anschließende Betriebaufnahmeaktion 109 auslösen. Die Drehrichtung des Elektromotors 14 wechselt in Folge nahezu periodisch für mehrere Zyklen. Der Elektromotor 14 bleibt während der mehreren Zyklen dauerhaft in Betrieb. Einzig ein Drehsinn des von ihm ausgeübten Drehmoments wechselt von in Arbeitsrichtung 20 zur gegenläufigen Richtung (Sicherheitsaktion 107, Umkehraktion 108) und wieder zur Arbeitsrichtung (Betriebaufnahmeaktion 109). Der Elektromotor 14 würde nur abgeschaltet, falls der Anwender den Betätigungstaster 21 loslässt (Abschaltfall 103).The cause of the blockage is often not resolved after a single reset of the electric motor 14 by an angle by the safety action 107 and reversing action 108 and the subsequent operation recording action 109 . The sensor device 24 recognizes again a blockage (blockade case 106, time t1) and in this case will again trigger a reset of the electric motor 14 , ie the safety action 107 , reversing action 108 and the subsequent operation recording action 109 . The direction of rotation of the electric motor 14 changes in sequence almost periodically for several cycles. The electric motor 14 remains permanently in operation for several cycles. Only one direction of rotation of the torque exerted by him changes from working direction 20 to the opposite direction (safety action 107 , reversing action 108 ) and back to the working direction (operation recording action 109 ). The electric motor 14 would only be switched off if the user releases the actuating button 21 (switch-off case 103 ).

In einer Ausführungsform hat die Sensoreinrichtung 24 einen oder mehrere Beschleunigungssensoren 25 an dem Maschinengehäuse 11 oder dem Handgriff 12, die vorzugsweise versetzt zu einer Drehachse 26 der Spindel 15 angeordnet sind. Die Beschleunigungssensoren 25 erfassen eine Drehbewegung des Maschinengehäuses 11. Die erfassten Beschleunigungswerte werden aufbereitet und mit einem Maß verglichen, das charakteristisch für ein Blockieren ist. Das Maß kann beispielsweise auf dem aktuellen Beschleunigungswert und einer Historie der Beschleunigungswerte basieren. Sobald das Maß einen Schwellwert überschreitet, erkennt die Sensoreinrichtung 24 dies als ein Blockieren (Blockadefall 105). Das Erkennen eines erneuten Blockierens innerhalb von 20 ms bis 2000 ms kann anhand anderer Kriterien erfolgen, als das Erkennen des vorhergehenden Blockierens. Insbesondere kann ein geringerer Schwellwert angesetzt werden.In one embodiment, the sensor device 24 has one or more acceleration sensors 25 on the machine housing 11 or the handle 12 , the preferably offset from a rotational axis 26 of the spindle 15 are arranged. The acceleration sensors 25 detect a rotational movement of the machine housing 11 . The detected acceleration values are conditioned and compared with a measure that is characteristic for blocking. For example, the measure may be based on the current acceleration value and a history of the acceleration values. As soon as the measure exceeds a threshold value, the sensor device 24 recognizes this as a blockage (blockage case 105 ). The recognition of a new blocking within 20 ms to 2000 ms can be based on criteria other than the detection of the previous blockage. In particular, a lower threshold can be used.

In einer weiteren Ausführungsform hat die Sensoreinrichtung 24 einen oder mehrere Stromsensoren 27, die eine Leistungsaufnahme des Elektromotors 14 erfassen. Die Leistungsaufnahme steigt typischerweise sprunghaft an, wenn der Bohrer 19 sich kurz vor einer Blockade schwergängig dreht. Die Stromsensoren 27 können beispielsweise in einer Motoransteuerung für den elektrisch kommutierten Elektromotor enthalten sein. Das Maß zum Erkennen des Blockierens kann auf den Stromwerten und auf den obig beschriebenen Beschleunigungswerten basieren.In a further embodiment, the sensor device 24 has one or more current sensors 27 , which detect a power consumption of the electric motor 14 . The power consumption typically increases abruptly when the drill 19 turns stiffly just before a blockage. The current sensors 27 may be included, for example, in a motor drive for the electrically commutated electric motor. The degree of blockage detection may be based on the current values and the acceleration values described above.

In einer nicht erfindungsgemäßen Ausgestaltung kann die zweite Dauer T2 für die der Elektromotor 14 sich rückwärts dreht, für die Bohrmaschine 10 fest vorgegeben sein. In einer Ausgestaltung ist eine Sensoreinrichtung 28 vorgesehen, die eine Drehrichtung der Werkzeugaufnahme 18 ermittelt. Nachdem ein Rückwärtsdrehen der Werkzeugaufnahme 18, z.B. um einen Winkel von 2 Grad bis 5 Grad ermittelt wird, wird die zweite Dauer T2 beendet und der Elektromotor 14 dreht sich wieder vorwärts. Die Sensoreinrichtung 28 kann beispielsweise das Drehen der Werkzeugaufnahme 18 mittels induktiver Sensoren erfassen.In a non-inventive embodiment, the second duration T2 for which the electric motor 14 rotates backward, be predetermined for the drill 10 fixed. In one embodiment, a sensor device 28 is provided which determines a direction of rotation of the tool holder 18 . After a reverse rotation of the tool holder 18 , for example, determined by an angle of 2 degrees to 5 degrees, the second duration T2 is terminated and the electric motor 14 rotates forward again. The sensor device 28 can detect, for example, the rotation of the tool holder 18 by means of inductive sensors.

Eine andere Ausgestaltung ermittelt das auf die Spindel 15 wirkende Drehmoment, d.h. das von dem Elektromotor 14 abgegebene Drehmoment, während der zweiten Dauer T2. Sobald das Drehmoment unter einen Schwellwert fällt, wird die zweite Dauer T2 beendet. Es wird angenommen, dass der Elektromotor 14 mit fallender Last ein geringeres Drehmoment abgibt. Die Last reduziert sich, sobald der Bohrer 19 und andere zu drehenden Elemente 15, 16, 17, 18 gegen ihre Trägheitsmomente beschleunigt sind und sich rückwärts drehen.Another embodiment determines the torque acting on the spindle 15 , ie the torque output by the electric motor 14 , during the second duration T2. As soon as the torque falls below a threshold, the second duration T2 is terminated. It is assumed that the electric motor 14 outputs a lower torque with decreasing load. The load is reduced as soon as the drill 19 and other elements 15 , 16 , 17 , 18 to be rotated are accelerated against their moments of inertia and rotate backwards.

In einer weitere Ausgestaltung erfasst eine Sensoreinrichtung 29 mit Dehnungssensoren eine Verspannung der Spindel 15. Die zweite Dauer T2 endet, wenn die Sensoreinrichtung 29 ein Abfallen einer Verspannung unter einen Schwellwert erfassen. Die Verspannung lässt nach, wenn der Bohrer 19 sich rückwärts dreht und nicht weiter oder in geringem Maß beschleunigt wird.In a further embodiment, a sensor device 29 with strain sensors detects a tension of the spindle 15 . The second duration T2 ends when the sensor device 29 detects a drop in a tension below a threshold value. The tension leaves when the drill 19 rotates backwards and is not accelerated further or to a lesser extent.

Die Verfahren und Sensoreinrichtungen, die ein Beenden der zweiten Dauer T2 auslösen, können in vielfältiger Weise kombiniert werden. Zusätzlich kann die zweite Dauer T2 auf einen vorgegebenen Maximalwert von z.B. 10 ms bis 25 ms begrenzt werden.The methods and sensor devices that trigger termination of the second duration T2 can be combined in a variety of ways. In addition, the second duration T2 may be set to a predetermined maximum value of e.g. 10 ms to 25 ms.

Die Ausführungsformen verdeutlichen Beispiele der Erfindung. Diese sind nicht beschränkend auszulegen, insbesondere können zwischen den angeführten Aktionen weitere Aktionen ausgeführt werden, soweit dies nicht explizit anders gefordert ist.The embodiments illustrate examples of the invention. These are not to be construed restrictively, in particular, further actions can be carried out between the actions mentioned, unless otherwise explicitly required.

Claims (7)

  1. Control method for a hand-guided rotary machine-tool (10), in particular a drill, wherein in response to detection of a jam of a rotating tool (24) a driving electric motor (19) reverses its direction of rotation for a period of time from its direction of rotation (20) prior to the jam and immediately thereafter resumes rotating in the direction (20) prior to the jam, characterized in that a rotary acceleration of a housing (11) or handgrip (12) of the handheld machine-tool (10) upon jamming is detected and the time-period is set as a function of the rotary acceleration detected.
  2. Control method according to Claim 1, characterized in that the time-period is 25 ms to 1000 ms.
  3. Control method according to Claim 1 or Claim 2, characterized in that a sensor device (28, 29) detects rotation of the tool (19) in the opposite direction to the working direction (20) and in response thereto triggers rotation of the electric motor (14) in the direction of rotation (20) prior to the jam.
  4. Control method according to any one of the preceding claims, characterized in that a sensor device (27) detects a tool jam on the basis of a power consumption of the electric motor (14).
  5. Control method according to any one of the preceding claims, characterized in that a sensor device detects a tool jam on the basis of a rotary acceleration (25) of the handheld machine-tool (10).
  6. Control method according to any one of the preceding claims, characterized in that after a first jam, threshold values for detection of a jam are reduced for a second time-period.
  7. Control method according to any one of the preceding claims, characterized in that following an initial jam, the direction of rotation is periodically changed at least five times.
EP10192907.3A 2009-12-16 2010-11-29 Control method for a handheld machine tool Active EP2338646B1 (en)

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EP2338646A3 (en) 2013-12-04
CN102101186A (en) 2011-06-22

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