EP2527091A2 - Tournevis et procédé de commande dýun tournevis - Google Patents

Tournevis et procédé de commande dýun tournevis Download PDF

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Publication number
EP2527091A2
EP2527091A2 EP12165857A EP12165857A EP2527091A2 EP 2527091 A2 EP2527091 A2 EP 2527091A2 EP 12165857 A EP12165857 A EP 12165857A EP 12165857 A EP12165857 A EP 12165857A EP 2527091 A2 EP2527091 A2 EP 2527091A2
Authority
EP
European Patent Office
Prior art keywords
drive
electric motor
braking
motor
motor current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12165857A
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German (de)
English (en)
Other versions
EP2527091B1 (fr
EP2527091A3 (fr
Inventor
Michael Kaufmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
C&E Fein GmbH and Co
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C&E Fein GmbH and Co
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Publication date
Application filed by C&E Fein GmbH and Co filed Critical C&E Fein GmbH and Co
Publication of EP2527091A2 publication Critical patent/EP2527091A2/fr
Publication of EP2527091A3 publication Critical patent/EP2527091A3/fr
Application granted granted Critical
Publication of EP2527091B1 publication Critical patent/EP2527091B1/fr
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Classifications

    • 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
    • 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
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers

Definitions

  • the invention relates to a screwdriver with a drive comprising an electric motor which is coupled to a drive shaft for driving a tool for tightening a screw with a predetermined torque, with a current sensor for detecting a motor current, with a control device for controlling the drive, the is designed to decelerate the drive upon reaching a braking criterion.
  • Such a screwdriver is from the DE 10 2008 033 866 A1 known.
  • the known screwdriver comprises a limiting device for limiting a delivery torque provided on the output side of the drive train to a maximum torque value.
  • the control device controls the drive motor, monitors the drive train, switches it off when a shutdown criterion is reached, and actuates a braking device for actively braking the drive motor by means of a rotating field opposite the respective direction of rotation of the drive motor.
  • the limiting device for limiting the output side provided output torque to a maximum torque value controls the energizing means via the drive motor for braking operation under at least one braking condition, wherein a quotient of the output torque and a rotational energy present in the drive train is less than or equal to a maximum value. In this way it should be prevented that damage occurs by excessive braking especially in small screws or delicate workpieces.
  • WO 2009/107563 A2 is a screwdriver with a brushless EC motor known in which the motor current and the number of revolutions of the motor shaft is used to estimate the tightening torque of a screw. The drive is stopped when the estimated tightening torque exceeds a certain estimated value.
  • the object of the invention is to provide a screwdriver and a method for controlling a screwdriver with a high repeat accuracy for a predetermined tightening torque for a large number of screw connections. This should be guaranteed to work as effectively as possible.
  • control device is designed on the basis of the predetermined torque for calculating a limit value for the motor current at which the drive is put into a waiting state, and that the control device when exceeding the limit value for the motor current for the determination of the braking criterion on the basis of the predetermined torque for calculating an activation time or a rotation angle at which the braking process is initiated, at least as a function of the kinetic energy of the drive at the time of exceeding the limit for the motor current is formed, wherein the electric motor is energized during the waiting state until the initiation of the braking process, not or only partially energized.
  • the object of the invention is achieved in this way.
  • the drive in a first phase of the screwing operation, is initially driven without limitation until the previously determined Criterion for the wait state is reached when a limit for the motor current is exceeded. If the limit of the motor current is exceeded, the kinetic energy of the drive is also detected at this time and used for the determination of the braking criterion for braking. During the waiting state until the initiation of the braking process, the motor is either further energized or not energized or only partially energized.
  • a first component is the torque generated by energization of the electric motor until reaching the waiting state of the drive. This represents the largest component of the tightening torque.
  • a second part of the tightening torque is based on the transmitted torque from the time the limit value is exceeded until the onset of braking. If the motor continues to be energized during this time, which is preferred according to the invention, this proportion is likewise generated by the motor current.
  • the third part of the tightening torque is generated by the kinetic energy of the drive during the braking process. The more energy is removed from the drive by the braking process, the lower the torque component of the tightening torque during the braking process. This has the advantage that the time between the exceeding of the limit value for the motor current and the standstill of the screwdriver is low. Thus, the shutdown time of the drive can be set later, whereby the repeatability increases.
  • control device is designed for calculating an average value, in particular a moving average, of the motor current which is used for the calculation of the limit value for the motor current.
  • the limit value for the motor current is derived from a directly proportional relationship between the torque and the motor current.
  • the electric motor is an electronically commutated electric motor, in particular a permanent magnet synchronous motor (PMSM) or BLDC motor.
  • PMSM permanent magnet synchronous motor
  • the output torque is directly proportional to the motor current.
  • the predetermined torque can be derived in a particularly simple manner from a measurement of the motor current.
  • At least one sensor for detecting at least one parameter is provided, which is selected from the group consisting of a temperature of a transmission to which the electric motor is coupled, a temperature of the electric motor, a rotational speed of the electric motor, a transmission ratio of the transmission and a supply voltage of the screwdriver consists.
  • the kinetic energy of the drive at the time of exceeding the limit value for the motor current is estimated on the basis of parameters that include at least the rotational speed of the drive, and the moment of inertia of the drive, ie, the rotating parts of the drive.
  • the drive comprises an electric motor and a gearbox coupled thereto
  • the rotational speed of the electric motor and the gear ratio of the gearbox or of the drive are taken into account as parameters.
  • the parameters comprise at least one further parameter which is selected from the group consisting of a supply voltage of the screwdriver, a temperature of the electric motor and a temperature of a transmission coupled to the electric motor.
  • the repeat accuracy of the tightening torque can be further increased since the actual engine speed is dependent on the supply voltage, i. the battery voltage, if an accumulator is used for power supply, as well as the temperature of the engine and transmission is dependent. Likewise, the speed is influenced by the position of the accelerator switch.
  • control device is designed to store a functional relationship between the braking criterion and the parameters that are used to determine the braking criterion, and to determine the braking criterion, taking into account the functional relationship.
  • the parameters which are included in the determination of the braking criterion, in particular on the basis of the kinetic energy of the drive at the time of exceeding the limit value for the motor current, are preferably determined empirically and stored the functional relationship in a memory.
  • the control device can then take these parameters into account when determining the braking criterion.
  • the parameter values which are generally determined analogously, are preferably converted into digital values via A / D converters and can then be taken into account simply in an additive or subtractive manner in the determination of the braking criterion.
  • the predetermined torque is adjustable, preferably by means of a suitable actuator, such as with the aid of a potentiometer.
  • the potentiometer at lower torques on a higher resolution than at higher torques.
  • a potentiometer with a corresponding characteristic curve for example in a logarithmic or expotential characteristic curve or else in software via the control device.
  • a read-in value may be multiplied by a proportionality constant to obtain a linear progression of torque provided to the tool through the potentiometer's adjustment path.
  • a more sensitive adjustment of the tightening torque at low tightening torques is advantageous, since the tightening torques for tightening, in particular at lower values, generally have to be observed more accurately, while at high tightening torques a certain deviation is less significant.
  • the electric motor can be carried out according to a further embodiment of the invention, a short-circuiting of the electric motor for a first period of time. This is the conventional short-circuit braking in electric motors.
  • control device is additionally designed for the braking of the electric motor for energizing the electric motor for a second period of time counter to its original direction of rotation.
  • a certain disadvantage is that, in the case of the use of a rechargeable battery with active counter-energization, energy is required from the rechargeable battery and the number of screwings per rechargeable battery charge thus drops.
  • the control device may have a pulse width modulation controller for controlling the electric motor.
  • the pulse width modulation control can be used, in particular, to effect a pulse-width-modulated current supply in the direction of rotation, a pulse width-modulated short circuit or a pulse-width-modulated current supply counter to the original direction of rotation of the electric motor.
  • the screwdriver on an accumulator for power supply.
  • an accumulator for power supply Preferably in the form of a nickel-cadmium rechargeable battery, a lithium-ion rechargeable battery, a lithium-polymer rechargeable battery or a nickel-metal hydride rechargeable battery.
  • the state of charge of the accumulator is preferably taken into account in the determination of the braking criterion.
  • the electric motor has a permanently excited rotor, which is associated with at least one position sensor, preferably a Hall sensor, for detecting the position of the rotor.
  • control device for indirect detection of the position of the rotor via the mutual induction of a field winding of the electric motor may be formed.
  • FIG. 1 an inventive screwdriver is shown in simplified form and designated overall by the numeral 10.
  • the screwdriver 10 has a housing 11 with a pistol-shaped handle.
  • a drive 12 is accommodated, which consists of an electric motor 14 and a gear 16 which is driven by the electric motor 14 via the motor shaft 18.
  • the gear 16 drives a drive shaft 20, at the outer end thereof a receptacle for a tool 22, e.g. a bit, is provided.
  • the screwdriver 10 could be operated in principle by means of a mains voltage, this has in the present case an accumulator 40 as an energy source, which is interchangeable received at the bottom of a pistol-shaped handle.
  • the accumulator 40 can be, for example, a lithium-ion accumulator.
  • the screwdriver 10 is controlled by a central control device 36, which is coupled to the electric motor 14, the transmission 16 and a throttle switch 32 via suitable connection lines. Furthermore, the control device 36 is coupled to the accumulator 40 with the interposition of a current sensor 38 and a voltage sensor 39.
  • an actuating element 34 is provided in the region of the housing 11 facing away from the tool 22, which may be, for example, a potentiometer. Again, this is suitably connected in line with the control device 36. Further, 16 sensors 24, 26, 28, 30 are provided on the electric motor 14 and the transmission, which are designed to detect the transmission temperature, the engine temperature, the rotational speed of the electric motor 14 and a gear recognition and connected to the control device 36 in a suitable manner are.
  • the corresponding potentiometer preferably has a higher resolution at lower torques and a lower resolution at higher torques, so that especially at low torques a sensitive adjustment is possible.
  • Fig. 2 schematically shows a simplified representation of the control of the screwdriver.
  • the electric motor 14 is formed in the present case as a permanent-magnet EC motor in the form of a BLDC motor. It has a rotor 42 with two permanent-magnetic poles and three field windings 60, 62, 64, which are arranged in the described case in the form of a star connection. It is understood that alternatively a triangular circuit could be used and that both the number of field windings and the number of poles could be varied.
  • the excitation windings 60, 62, 64 are controlled by associated driver circuits 48, 50, 52 from the central control device 36.
  • a position sensor 58 may be provided be coupled to the controller 36.
  • the position sensor 58 may be designed as a Hall sensor, for example.
  • the position sensor 58 is designed to detect the magnetic field of the pole pairs of the rotor 42 or a separately provided on the motor shaft 18 sensor disc (not shown) for determining the position.
  • the drivers 48, 50, 52 serve to selectively drive individual excitation windings 60, 62, 64, for example with a high signal, a low signal or else a zero signal in order to form the alternating field.
  • the signal can basically have a block-shaped, a sinusoidal or a pulse-width-modulated curve.
  • the drivers 48, 50, 52 may in particular be integrated or discrete power transistors.
  • the outputs of the drivers 48, 50, 52 are connected to the field windings 60, 62, 64.
  • Fig. 2 are also simplified short-circuit switch 54, 56 indicated, which are adapted to short-circuit the field windings 60, 62, 64 in the event of braking.
  • the short-circuit switches 54, 56 can be coupled to the excitation windings 60, 62 in order to short-circuit them.
  • the short-circuiting switches 54, 56 illustrated here are designed, for example, to short-circuit the exciter winding 60 with the exciter winding 62.
  • further short-circuiting switches can be provided, for example, to short-circuit the excitation winding 60 with the field winding 64 or the field winding 62 with the field winding 64.
  • short-circuiting switches 54, 56 are shown as illustrative only as separate elements. The functionality of the shorting switches 54, 56 can also be accomplished via the controller 36 using the drivers 48, 50, 52.
  • a microprocessor 37 is indicated, and a memory 43 which serves as a program memory and in which also parameterized characteristics can be stored.
  • the control device 36 comprises a clock generator 44 and a pulse width modulation controller (PWM) 46. It goes without saying in that the said components can readily be fully integrated or designed as part of the control device 36 or discretely.
  • PWM pulse width modulation controller
  • the screwdriver 10 is designed to tighten screws with a high repeat accuracy with a predetermined torque that is preset.
  • the motor current I M is measured in amperes at the base of the circuit (bus current), cf.
  • Current sensor 38 in Fig. 1 k t is the proportionality constant.
  • n [1 / min] k e * U [V].
  • k e is a proportionality constant. This describes how high the induced voltage U in the motor 14 is at a certain speed n.
  • a difference between the external voltage (battery voltage) and the internal, induced voltage EMK is necessary. The larger the available voltage U, the faster the motor rotates.
  • Fig. 5 Furthermore, the relationship between the braking time t [ms] and the speed n [1 / min] is shown. It can be seen that the braking time at the maximum speed of about 24000 rpm is about 25 ms, while at a speed of only about 7000 rpm it is 5 ms. Due to the hybrid brake used according to the DE 10 2010 032 335.7 , which is hereby incorporated by reference in its entirety, results as shown in FIG Fig. 5 a nearly linear relationship between the braking time and the initial number of revolutions of the electric motor 14. It is understood that both speed and braking time are engine-specific and can thus change.
  • the basic principle of the screwdriver according to the invention is first to drive the drive 12 or the electric motor 14 in a first phase of the screwing until the motor current I M exceeds the limit value I 1 . Thereafter, a wait state begins until the start of braking. At the time of exceeding the limit value I 1 by the motor current I M , the kinetic energy E kin contained in the rotating parts of the drive is detected and used to calculate a time at which the braking of the motor begins. This will be explained below with reference to Fig. 3 explained in more detail.
  • the motor is preferably energized further.
  • the tightening torque of the fitting consists of three parts: The first (and largest) part of the tightening torque is generated in the phase until the start of the waiting state when the limit value I 1 is exceeded by the motor current I M.
  • the torque M generated by the motor current I M is in this case directly proportional to the motor current I M , as explained above.
  • a second portion of the tightening torque is also generated by the motor current I M during the waiting state until the time of application of the braking, since the electric motor 14 is preferably energized further during this phase.
  • the third portion of the tightening torque is due to the kinetic energy of the drive 12 during the braking phase until the speed 0 is reached. The more energy is extracted from the drive with the help of the hybrid brake or short-circuit brake, the lower the torque deviation after exceeding the threshold I 1 .
  • the tightening torque additionally applied after exceeding the limit value I 1 by the motor current I M depends on various parameters. These include the battery voltage, the engine temperature, the gearbox temperature, the position of the accelerator switch and the selected gear.
  • the voltage of the accumulator 40 decreases, the less residual charge in the accumulator 40 is present. In a fully charged accumulator, the speed n of the electric motor 14 is greater than in an almost empty accumulator 40th
  • the user of the screwdriver 10 may also influence the speed n of the screwdriver 10 by means of the accelerator switch 32.
  • the screwdriver 10 may include both a single and a multi-speed transmission, also the set gear should be detected. Since both the output torque M and the output speed depend thereon, parameters within the controller 36 and microprocessor 37, respectively, may be adjusted to obtain the best possible tightening result.
  • the signals of the sensors 24, 26, 28, 30 for the transmission temperature, the engine temperature, the rotational speed and the gear recognition and the voltage sensor 39 for monitoring the battery voltage of the control device 36 are supplied.
  • the deviations caused by these parameters are determined empirically and stored in the memory 43, so that the control device 36 can make a corresponding compensation.
  • a shut-off torque set with the aid of the adjusting element 34 is first read in, cf. Step 74.
  • Step 76 becomes calculated from the read-off switching torque from the known direct proportional relationship between torque M and motor current I M, a limit I 1 for the motor current at which a shutdown of the drive 12 takes place.
  • the set shutdown torque M is divided by the proportionality constant k t in order to determine the motor current.
  • a certain value ⁇ is subtracted therefrom, to permit compensation for the after exceeding the limit value I 1 for the motor current I M are still generated torque components IM. For example, 10% of the calculated motor current is subtracted to determine the limit I 1 .
  • the screwing process is started according to item 78. During the screwing process, the motor current I M is constantly measured by means of the current sensor 38, wherein averaging takes place.
  • the application time t 1 of the brake is calculated and the screwing operation first continues according to number 90.
  • the time t the braking time t> t 1 so the engine is decelerated according to 94 until it finally comes to a standstill in accordance with 96.
  • the cumulative angle of rotation could be determined in case of exceeding the braking is initiated.
  • the position sensor 58 could be used.
  • FIGS. 6 and 7 For example, a screwing process is shown with a slow speed.
  • Fig. 6 shows by way of example the course of the motor current I M as a function of the time t.
  • the screwing process starts first in the diagram with the idle. The start is not shown. The first, very long increase, for example, marks the thread furrowing of a self-tapping sheet-metal screw. Then there is a small plateau in which the current increases only very slightly. This area extends from the end of the thread furrow to the head rest. The headrest is characterized by a very strong rising current. If the current I M exceeds the threshold I 1 , then the time (or alternatively the angle of rotation) is calculated until the beginning of the deceleration.
  • Fig. 7 is a section of Fig. 6 shown enlarged.
  • FIGS. 8 and 9 the course of a screw connection is shown at a high speed.
  • the course essentially corresponds to that in Fig. 6 shown course.
  • the period between the exceeding of the limit value I 1 of the motor current I M and at the beginning of the braking process t 1 is less than in the illustration according to FIG Fig. 6 and / or 7.
  • the time of the active deceleration is extended.
  • the time between the exceeding of the limit value for the current I 1 and the end of the deceleration process is the same length as at low speed.
  • 95 denotes the braking process.
  • the braking current is limited to a maximum value, as can be seen by the horizontal course to the end of the braking process.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
EP12165857.9A 2011-05-23 2012-04-27 Tournevis et procédé de commande d'un tournevis Active EP2527091B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102011102275A DE102011102275A1 (de) 2011-05-23 2011-05-23 Schrauber und Verfahren zum Steuern eines Schraubers

Publications (3)

Publication Number Publication Date
EP2527091A2 true EP2527091A2 (fr) 2012-11-28
EP2527091A3 EP2527091A3 (fr) 2016-09-14
EP2527091B1 EP2527091B1 (fr) 2017-10-04

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EP (1) EP2527091B1 (fr)
CN (1) CN102794732B (fr)
DE (1) DE102011102275A1 (fr)

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CN102960328A (zh) * 2012-12-03 2013-03-13 南京德朔实业有限公司 一种电动拔草器
JP2014104537A (ja) * 2012-11-27 2014-06-09 Makita Corp 電動工具
CN104156013A (zh) * 2013-05-13 2014-11-19 南京德朔实业有限公司 控制直流电动工具扭力输出的方法
EP2840705A3 (fr) * 2013-08-12 2016-01-06 C. & E. Fein GmbH Procédé de commande d'un outil électrique avec un moteur électrique commuté électroniquement
EP3228423A1 (fr) * 2016-04-06 2017-10-11 HILTI Aktiengesellschaft Comportement de commutation optimise par application d'un dispositif d'accouplement a patinage electronique
EP3211786A4 (fr) * 2014-10-22 2018-05-02 Changzhou Globe Co., Ltd. Système de commande et procédé de commande à puissance constante et double vitesse reposant sur un outil électrique à courant continu sans balai
EP3719947A1 (fr) * 2019-04-05 2020-10-07 Schneider Electric Industries SAS Procédés et systèmes de protection électrique
WO2021244790A1 (fr) * 2020-06-04 2021-12-09 Festool Gmbh Dispositif d'outil électrique et procédé
RU2811677C2 (ru) * 2019-04-05 2024-01-15 Шнейдер Электрик Эндюстри Сас Системы и способы электрической защиты

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CN105269508A (zh) * 2015-11-25 2016-01-27 柴可 一种自动力矩螺丝刀的实现方法
CN109213008B (zh) * 2017-07-04 2024-04-09 苏州宝时得电动工具有限公司 电动工具转动控制的方法及装置
US11586175B2 (en) 2017-12-08 2023-02-21 Connectec Japan Corporation Tool, task management device, task management method, and task management system
DE102017223148A1 (de) * 2017-12-19 2019-06-19 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Prozesskontrolle bei Schraubprozessen
DE102018114275A1 (de) * 2018-06-14 2019-12-19 Metabowerke Gmbh Verfahren zur Steuerung des Drehmoments eines Elektrohandwerkzeuggeräts
CN111185874B (zh) * 2018-11-15 2023-09-08 南京泉峰科技有限公司 冲击螺丝批、旋转冲击工具及其控制方法
EP3756826A1 (fr) * 2019-06-27 2020-12-30 Hilti Aktiengesellschaft Procédé de fonctionnement d'une machine-outil et machine-outil
JP7378060B2 (ja) * 2019-10-09 2023-11-13 パナソニックＩｐマネジメント株式会社 電動工具
CN111168616A (zh) * 2020-01-10 2020-05-19 北京天泽电力集团有限公司 一种充电式扭矩扳手的控制系统
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JP2014104537A (ja) * 2012-11-27 2014-06-09 Makita Corp 電動工具
CN102960328A (zh) * 2012-12-03 2013-03-13 南京德朔实业有限公司 一种电动拔草器
CN102960328B (zh) * 2012-12-03 2014-07-30 南京德朔实业有限公司 一种电动拔草器
CN104156013A (zh) * 2013-05-13 2014-11-19 南京德朔实业有限公司 控制直流电动工具扭力输出的方法
EP2840705A3 (fr) * 2013-08-12 2016-01-06 C. & E. Fein GmbH Procédé de commande d'un outil électrique avec un moteur électrique commuté électroniquement
EP3211786A4 (fr) * 2014-10-22 2018-05-02 Changzhou Globe Co., Ltd. Système de commande et procédé de commande à puissance constante et double vitesse reposant sur un outil électrique à courant continu sans balai
WO2017174300A1 (fr) * 2016-04-06 2017-10-12 Hilti Aktiengesellschaft Comportement en coupure à utilisation optimisée d'un accouplement à glissement électronique
EP3228423A1 (fr) * 2016-04-06 2017-10-11 HILTI Aktiengesellschaft Comportement de commutation optimise par application d'un dispositif d'accouplement a patinage electronique
EP3719947A1 (fr) * 2019-04-05 2020-10-07 Schneider Electric Industries SAS Procédés et systèmes de protection électrique
FR3094848A1 (fr) * 2019-04-05 2020-10-09 Schneider Electric Industries Sas Procédés et systèmes de protection électrique
CN111799749A (zh) * 2019-04-05 2020-10-20 施耐德电器工业公司 电气保护系统和方法
US11108221B2 (en) 2019-04-05 2021-08-31 Schneider Electric Industries Sas Electric protection systems and methods
RU2811677C2 (ru) * 2019-04-05 2024-01-15 Шнейдер Электрик Эндюстри Сас Системы и способы электрической защиты
WO2021244790A1 (fr) * 2020-06-04 2021-12-09 Festool Gmbh Dispositif d'outil électrique et procédé

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EP2527091B1 (fr) 2017-10-04
DE102011102275A1 (de) 2012-11-29
EP2527091A3 (fr) 2016-09-14
CN102794732B (zh) 2016-08-03

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