EP2674252B1 - Werkzeugmaschine und Steuerungsverfahren - Google Patents

Werkzeugmaschine und Steuerungsverfahren Download PDF

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Publication number
EP2674252B1
EP2674252B1 EP13171675.5A EP13171675A EP2674252B1 EP 2674252 B1 EP2674252 B1 EP 2674252B1 EP 13171675 A EP13171675 A EP 13171675A EP 2674252 B1 EP2674252 B1 EP 2674252B1
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EP
European Patent Office
Prior art keywords
magnetic coil
current
racket
acceleration phase
control
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.)
Active
Application number
EP13171675.5A
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German (de)
English (en)
French (fr)
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EP2674252A1 (de
Inventor
Klaus Raggl
Michael Wierer
Chafic Abu Antoun
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.)
Hilti AG
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Hilti AG
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Publication of EP2674252A1 publication Critical patent/EP2674252A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D11/00—Portable percussive tools with electromotor or other motor drive
    • B25D11/06—Means for driving the impulse member
    • B25D11/064—Means for driving the impulse member using an electromagnetic drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
    • B25D2250/141—Magnetic parts used in percussive tools
    • B25D2250/145—Electro-magnetic parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
    • B25D2250/195—Regulation means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
    • B25D2250/221—Sensors

Definitions

  • the present invention relates to a machine tool according to the preamble of claim 8, which can drive a chiseling tool.
  • a bat is accelerated immediately by magnetic coils and strikes the tool.
  • Machine tools of this type are for example from the publication US 2010/0206593 known.
  • the invention also relates to a control method according to the preamble of claim 1. Such a method is known from US 2010/0206593 known.
  • a machine tool has a tool holder adapted to movably support a chiseling tool along a movement axis.
  • a percussion mechanism preferably a magneto-pneumatic percussion mechanism, includes a primary drive which has a magnet coil arranged around the axis of motion, preferably a first magnet coil and a second magnet coil successively in the direction of impact.
  • the striking mechanism has a racket and an anvil consecutively on the axis of movement inside the magnetic coils, and in the direction of impact.
  • the striker protrudes at least partially into the magnet coil and / or a yoke of the magnet coil.
  • the striking mechanism can have an air spring acting in the impact direction on the club.
  • a regulated current source forms, with at least the second magnetic coil, a circuit in which a current regulated by the current source to a desired value flows.
  • the control terminates an acceleration phase when a change of the current flowing in the magnetic coil, current flowing or a change of a control variable of the control circuit of the current source that is typical for one impact is detected.
  • the change typical of a stroke can be identified based on a pattern stored for the change in the current flowing in the solenoid, or a typical change in a control variable of the control circuit of the current source when the bat is hit the striker.
  • the increase of the current in the circuit results from an interplay of the regulated current source and the voltage induced by the racket in the magnetic coil.
  • the moving racket induces a voltage in the solenoid which counteracts the current supplied by the power source.
  • the current source compensates for this by increasing the of it to the Magnetic coil applied voltage.
  • the induced voltage increases with the speed of the racket.
  • the stroke of the club on the striker results in a very large change in speed and thus a large change in the induced voltage.
  • the regulated current source needs some time to adjust the voltage applied by it and reacts with a change in the manipulated variable. This pattern is unique to the beat. Furthermore, this method detects a shock regardless of the position of the anus, for example, if this has not reached its normal position.
  • An embodiment provides that the controller terminates the acceleration phase when a rate of change of the flowing current and / or the manipulated variable of the control loop exceed a threshold value.
  • An embodiment provides that the control sets the setpoint to zero when the acceleration phase is ended.
  • the primary drive is switched off after the blow.
  • An embodiment provides that a current sensor measures the current flowing in the magnetic coil and a discriminator triggers the termination of the acceleration phase when the measured current exceeds a threshold value.
  • the threshold can be between 5% and 10% greater than the setpoint.
  • the regulated power source may have a control loop.
  • a discriminator triggers the termination of the acceleration phase when the manipulated variable in the control loop exceeds a threshold value.
  • An embodiment provides that the primary drive arranged around the axis of movement and in succession a first magnetic coil, a permanent and radially magnetized ring magnet, e.g. of permanent magnets, and includes a second solenoid. Within the primary drive partially an air spring, the racket and the striker are arranged.
  • the control method provides that during the acceleration phase, the current source in the first solenoid coil and the second magnetic coil feeds a current.
  • a first magnetic field generated by the first magnetic coil within the first magnetic coil is destructively superimposed in the acceleration phase with the magnetic field of the annular magnet.
  • a second magnetic field generated by the second magnetic coil within the second magnetic coil is structurally superposed in the acceleration phase with the magnetic field of the annular magnet.
  • Fig. 1 shows a hand-held electric chisel 1 as an example of a chiseling machine tool.
  • a magneto-pneumatic percussion 2 generates by means of a guided on a movement axis 3 racket 4 periodically or aperiodically blows in a direction of impact 5.
  • a tool holder 6 holds on the axis of movement 3 on the striking mechanism 2 adjacent a chisel 7.
  • the chisel tool 7 is in the tool holder. 6 guided movably along the movement axis 3 and can drive in the direction of impact 5 driven by the blows in eg a substrate.
  • a lock 8 limits the axial movement of the chisel tool 7 in the tool holder 6.
  • the lock 8 is, for example, a pivotable bracket and is preferably unlocked manually without tools to exchange the chisel tool 7 can.
  • the striking mechanism 2 is arranged in a machine housing 9 .
  • a handle 10 applied to the machine housing 9 allows the user to hold the electric chisel 1 and guide it during operation.
  • a system switch 11 with which the user can operate the impact mechanism 2 is preferably attached to the handle 10 .
  • the system switch 11 activates, for example, a controller 12 of the striking mechanism 2.
  • Fig. 2 shows the magneto-pneumatic impact mechanism 2 in longitudinal section.
  • the striking mechanism 2 has only two movable components: a racket 4 and an anvil 13.
  • the racket 4 and the striker 13 lie on the common axis of movement 3; the striker 13 follows in the direction of impact 5 on the racket 4.
  • the racket 4 is reciprocated between a beating point 14 and an upper turning point 15 on the movement axis 3 .
  • the bat 4 strikes the striker 13 .
  • the position of the impact point 14 along the axis is predetermined by the striker 13 .
  • the striker 13 preferably rests in its home position 16 and preferably returns to this home position 16 after each strike before the striker 4 strikes the striker 13 a next time.
  • This preferred operation is assumed for the following description.
  • the magneto-pneumatic impact mechanism 2 has, in contrast to a conventional pneumatic percussion 2, a high tolerance to the actual position of the striker 13. This can be disengaged in a strike even in the direction of impact 5 relative to the basic position 16 .
  • the basic position 16 thus indicates along the direction of impact 5 the earliest position at which the racket 4 can hit the striker 13 .
  • Fig. 3 schematically illustrates the movement of the racket 4 and the striker 13 in three successive beats over time 19th
  • the racket 4 In its rest position, the racket 4 typically abuts the striker 13 .
  • For a stroke of the racket 4 is moved back against the direction of impact 5 and accelerated after reaching the upper inflection point 15 in the direction of impact 5 .
  • the bat 4 bounces at the end of its movement in the direction of impact 5 in the impact point 14 on the striker 13.
  • the striker 13 receives significantly more than half of the kinetic energy of the racket 4 and is deflected in the direction of impact 5 .
  • the striker 13 pushes the chisel tool 7 against it in the direction of impact 5 in front of him into the ground.
  • the striker 13 is in the basic position in the direction of impact 5 on a housing-fixed stop 20 .
  • the stop 20 may, for example, a Damping element included.
  • the exemplary striker 13 has radially projecting wings 21, which can rest against the stop 20 .
  • the racket 4 is driven without contact by a magnetic primary drive 22 .
  • the primary drive 22 raises the racket 4 against the direction of impact 5 .
  • the primary drive 22 is preferably active only temporarily during the raising of the racket 4 to the upper inflection point 15 .
  • the primary drive 22 accelerates the racket 4 after exceeding the upper inflection point 15 until reaching the impact point 14.
  • the primary drive 22 can be activated at about the same time as the upper inflection point 15 is exceeded.
  • the primary drive 22 remains active until impact.
  • An air spring 23 supports the primary drive 22 during the movement of the racket 4 in the direction of impact 5, from the upper point of inflection to just before the impact point.
  • the air spring 23 is arranged on the movement axis 3 in the direction of impact 5 in front of the racket 4 and acts on the racket 4th
  • the racket 4 consists mainly of a cylindrical base body whose lateral surface 24 is parallel to the movement axis 3 .
  • a front end face 25 points in the direction of impact 5.
  • the front end face 25 is flat and covers the entire cross section of the racket 4.
  • a rear end face 26 is preferably also flat.
  • the racket 4 is inserted into a guide tube 27 .
  • the guide tube 27 is coaxial with the movement axis 3 and has a cylindrical inner wall 28.
  • the lateral surface 24 of the racket 4 abuts against the inner wall 28 .
  • the racket 4 is forcibly guided in the guide tube 27 on the movement axis 3 .
  • a cross-section of the racket 4 and a hollow cross-section of the guide tube 27 are matched to a low running clearance precisely matched.
  • the racket 4 closes like a flying seal the guide tube 27.
  • a sealing ring 29 made of rubber can be used in the lateral surface 24 compensate for tolerances in manufacturing.
  • the guide tube 27 is closed at its front in the direction of impact 5 .
  • a closure 30 is inserted into the guide tube 27 , whose cross section corresponds to the hollow cross section of the guide tube 27 .
  • the inwardly directed closure surface 31 is preferably flat and perpendicular to the movement axis 3.
  • the closure 30 is mounted at a fixed distance 32 to the striker 13 resting in the basic position 16 .
  • the cavity between the closure 30 and the striker 13, in the basic position 16, is the area of the guide tube 27 which is effective for the striker 4 and within which the striker 4 can move.
  • the maximum stroke 18 is substantially the distance 32 less the length 33 of the racket 4th
  • the one-sided closed guide tube 27 and the racket 4 close off a pneumatic chamber 34 .
  • a volume of the pneumatic chamber 34 is proportional to a distance 35 between the closing surface 31 and the rear end surface 26 of the racket. The volume is variable due to the movement axis 3 movable racket 4 .
  • the air compressed or decompressed upon movement in the pneumatic chamber 34 results in the action of the air spring 23.
  • the maximum volume occupies the pneumatic chamber 34 at the point of impact 14 , ie when the club 4 hits the striker 13 .
  • the pressure in the pneumatic chamber 34 is the lowest and advantageously equal to the ambient pressure.
  • the potential energy of the air spring 23 is in the impact point 14 by definition equal to zero.
  • the smallest volume reaches the pneumatic chamber 34 in the upper inflection point 15 of the racket 4; the pressure can rise to about 16 bar.
  • the stroke of the striker 4 is limited by a control method to set the volume and pressure of the pneumatic chamber 34 at the upper inflection point 15 to a target value.
  • the potential energy of the air spring 23 should be in the upper inflection point 15 in a narrow range of values, regardless of external influences. In particular, this makes the percussion mechanism 2 robust with respect to the position of the striker 13 during impact, although its position has a great influence on the duration of flight of the striker 4 up to the upper inflection point 15 .
  • the air spring 23 is provided with one or more ventilation openings 36 to compensate for losses in the amount of air in the air spring 23 .
  • the ventilation openings 36 are closed by the bat 4 during the compression of the air spring 23 .
  • the beater 4 releases the vent holes 36 just before the impact point 14 when the pressure in the air spring 23 differs by less than 50% from the ambient pressure.
  • the beater 4 passes over the one vent 36 when it has moved away from the beating position by more than 5% of its stroke 18 .
  • the primary drive 22 is based on reluctance forces acting on the club 4 .
  • the main body of the racket 4 is made of a soft magnetic steel. Compared to a permanent magnet, the racket 4 is distinguished by its low coercive force of less than 4000 A / m, preferably less than 2500 A / m. An external magnetic field with this low field strength can already reverse polarization of the racket 4 . An applied external magnetic field pulls the magnetizable racket 4 into areas of highest field strength, regardless of their polarity.
  • the primary drive 22 has along the movement axis 3 a cavity into which the guide tube 27 is inserted.
  • the primary drive 22 creates a permanent magnetic field 37 and a two-part switchable magnetic field 38 in the cavity and within the guide tube .
  • the magnetic fields 37, 38 divide the cavity and effective area of the guide tube 27 along the axis of travel 3 into an upper portion 39, a middle one Section 40 and a lower section 41.
  • Field lines of the magnetic fields 37, 38 extend in the upper portion 39 and the lower portion 41 substantially parallel to the movement axis 3 and in the central portion 40 substantially perpendicular to the movement axis 3.
  • the magnetic fields 37, 38 differ in their parallel or antiparallel orientation of the field lines to the direction of impact 5.
  • the field lines (dash-dot pattern) of the permanent magnetic field 37 shown by way of example extend in the upper portion 39 of the guide tube 27 substantially antiparallel to the direction of impact 5 and in a lower portion 41 of the lead ungsrohrs 27 substantially parallel to the impact direction 5.
  • the different running direction of the field lines of the permanent magnetic field 37 in the upper section 39 is compared to the running direction in the lower portion 41 substantially.
  • the field lines of the switchable magnetic field 38 run during a phase (shown in phantom) within the upper portion 39 and lower portion 41 of the guide tube 27 largely in the direction of impact 5 and during another phase (not shown) within both sections 39, 41 substantially antiparallel to the direction of impact 5.
  • the permanent magnetic field 37 and the switchable magnetic field 38 are thus destructively superposed in one of the two sections 39 and the other of the sections 41 constructively.
  • the magnetic fields 37, 38 overlap constructively depends on a current switching cycle of the controller 12 from.
  • the racket 4 is pulled in each case in the section 39, 41 with constructive overlay.
  • An alternating reversal of the switchable magnetic field 38 drives the reciprocating movement of the racket 4.
  • the permanent magnetic field 37 is generated by a radially magnetized ring magnet 42 of a plurality of permanent magnets 43 .
  • Fig. 4 shows the ring magnet 42 in a section in the plane IV-IV.
  • the exemplary permanent magnets 43 are preferably bar magnets.
  • the permanent magnets 43 are oriented in the radial direction. Their magnetic field axes 44, ie from their south pole to north pole, are perpendicular to the movement axis 3.
  • the permanent magnets 43 are all the same orientation, in the illustrated example, their north pole N to the axis of movement 3 and the south pole S away from the axis of movement 3.
  • In the circumferential direction between the permanent magnets 43 may be an air gap or a non-magnetizable material 45, for example plastic.
  • Ring magnet 42 is arranged along the movement axis 3 between the closure surface 31 and the striker 13 .
  • the ring magnet 42 is arranged asymmetrically, in particular closer to the sealing surface 31 than at the striker 13.
  • the position of the ring magnet 42 divides the guide tube 27 along the scan axis 3, which is in the impact direction 5 in an upper section 39 in front of the ring magnet 42, and a lower portion 41, which is in the direction of impact 5 after the ring magnet 42 .
  • the field lines in the upper section 39 extend largely in the opposite direction compared to the field lines in the lower section 41.
  • the permanent magnets 43 preferably comprise an alloy of neodymium.
  • the field strength at the poles of the permanent magnets 43 is preferably above 1 Tesla, for example up to 2 Tesla.
  • the switchable magnetic field 38 is generated with an upper magnetic coil 46 and a lower magnetic coil 47 .
  • the upper magnetic coil 46 is arranged in the direction of impact 5 in front of the ring magnet 42, preferably directly adjacent to the ring magnet 42 .
  • the upper magnetic coil 46 encloses the upper portion 39 of the guide tube 27.
  • the lower magnetic coil 47 is arranged in the direction of impact 5 after the ring magnet 42, preferably adjacent thereto, and surrounds the lower portion 41.
  • the two magnetic coils 39 , 46 are in the same direction of rotation the movement axis 3 is traversed by a current 48 .
  • the upper magnetic field 49 generated by the upper magnetic coil 46 and the lower magnetic field 50 generated by the magnetic coil 47 are oriented substantially parallel to the axis of movement 3 and both in the same direction along the axis of movement 3 , ie either the field lines of both magnetic fields 49, 50 inside of the guide tube 27 in the direction of impact 5 or against the direction of impact 5.
  • the current 48 is fed from a controllable current source 51 in the magnetic coils 46, 47 .
  • the two magnetic coils 46, 47 and the current source 51 are connected in series ( Fig. 5 ).
  • a length 52, ie dimension along the axis of movement 3, of the lower magnetic coil 47 is preferably greater than the length 53 of the upper magnetic coil 46, the aspect ratio being in the range between 1.75: 1 to 2.25: 1.
  • the respective magnitudes of the magnetic coils 46, 47 to the field strength of the upper magnetic field 49 and to the field strength of the lower magnetic field 50 within the guide tube 27 are preferably the same.
  • the ratio of the number of turns of the upper magnetic coil 46 to the number of turns of the lower magnetic coil 47 may correspond to the aspect ratio.
  • Radial dimensions 54 and a surface density are preferably the same for both solenoids 46, 47 (without the other components of the percussion mechanism).
  • a magnetic yoke 55 can guide the magnetic fields 37, 38 outside the guide tube 27 .
  • the yoke 55 has, for example, a hollow cylinder or a cage of a plurality of ribs extending along the movement axis 3, which surrounds the two magnet coils 46, 47 and the ring magnet 42 made of permanent magnets 43 .
  • An annular upper end 56 of the yoke 55 covers the upper magnetic coil 46 against the direction of impact 5 from.
  • An annular lower termination 57 adjoins the guide tube 27 at the level of the striker 13 .
  • the lower end 57 covers the lower magnetic coil 47 in the direction of impact 5 from.
  • the magnetic fields 37, 38 are guided in the upper portion 39 and the lower portion 41 parallel or anti-parallel to the movement axis 3 .
  • a radial recirculation takes place in the lower portion 41 largely within the striker 13.
  • the field lines are thus preferably substantially perpendicular to the end face 26 of the racket 4 and the striking surface 58 of the striker 13.
  • the radial return in the upper portion 39 can ungroundung, ie the air, carried into the yoke 56 .
  • the magnetic yoke 55 is made of a magnetizable material, preferably of electric sheet.
  • the guide tube 27 is not magnetizable. Suitable materials for the guide tube 27 include chrome steel, alternatively aluminum or plastics.
  • the closure 30 of the guide tube 27 is preferably made of a non-magnetizable material.
  • the racket 4 preferably overlaps in each position with both magnetic coils 46, 47.
  • the rear end face 26 protrudes into the upper magnetic coil 46 when the racket 4 abuts the striker 13 or at least into the ring magnet 42.
  • the rear end face 26 projects beyond at least the axial center of the ring magnet 42.
  • the vent opening 36 of the pneumatic chamber 34 is disposed at the axial height of the ring magnet 42 facing the end of the upper magnetic coil 46 .
  • the distance 35 to the ring magnet 42 is preferably less than 1 cm.
  • a controller 12 of the striking mechanism 2 controls the current source 51 .
  • the current source 51 adjusts the current 48 outputted by it to a desired value 60 predetermined by the controller 12 by means of an actuating signal 59 .
  • the current source 51 preferably includes a control circuit 61 for stabilizing the output current 48 to the target value 60 .
  • a tap measures the actual current 62.
  • a differential amplifier 63 forms from the actual current 48 and the desired value 60 a manipulated variable 64, which the current source 51 for driving the Electricity is supplied.
  • the power source 51 is powered by a power supply 65, such as a power supply or a battery pack.
  • the controller 12 switches the setpoint 60 and indirectly the current 48 during a reciprocating movement of the racket 4.
  • Fig. 6 illustrates an exemplary repetitive switching pattern over time 19.
  • the switching pattern is essentially subdivided into three different phases.
  • One cycle begins with an active return phase 66.
  • the club 4 is accelerated from the strike position against the direction of impact 5 .
  • the active return phase 66 ends when the air spring 23 has reached a predetermined potential energy.
  • the active return phase 66 is immediately followed by a resting phase 67 , which ends when the racket 4 reaches the upper turning point 15 .
  • the acceleration phase 68 begins .
  • the racket 4 is accelerated in the direction of impact 5 , preferably continuously until the racket 4 strikes the striker 13 .
  • a pause 69 can be made after the acceleration phase 68 before the next active return phase 66 begins.
  • the controller 12 initiates a new strike with an active return phase 66 .
  • the controller 12 provides the regulated current source 51 with a first value 70 as the desired value 60 .
  • the sign of the first value 70 specifies that the current 48 circulates in the magnet coils 47 in such a way that the magnetic field 49 of the upper magnet coil 46 constructively overlaps with the permanent magnetic field 37 in the upper section 39 of the guide tube 27 .
  • the racket 4 is now accelerated in the upper portion 39 against the direction of impact 5 and against a force of the air spring 23 .
  • the kinetic energy of the racket 4 increases continuously. Due to the backward movement, the air spring 23 is compressed at the same time and the potential energy stored in it increases due to the volume work performed.
  • the current 48 preferably passes through both magnetic coils 46, 47.
  • the magnetic fields 37, 38 destructively overlap in the lower portion 41.
  • the magnitude of the first value 70 may be selected such that the magnetic field 50 generated by the lower magnetic coil 47 is the permanent magnetic field 37 of the permanent magnets 43 destructively compensated.
  • the magnetic field strength in the lower portion 41 is preferably lowered to zero or less than 10% of the magnetic field strength in the upper portion 39 .
  • the current source 51 and the magnetic coils 46, 47 are for the current 48 with the current of the first value 70 designed.
  • the first value 70 may be kept constant during the active return phase 66 .
  • the controller 12 triggers the end of the active return phase 66 based on a prediction of the potential energy of the air spring 23 at the upper inflection point 15.
  • the primary drive 22 is deactivated, for example, when the potential energy reaches a target value without further assistance from the primary drive 22 ,
  • the potential energy has already reached a part of the target value and the current kinetic energy of the racket 4 is converted to the upper inflection point 15 in the previously missing part of the target value. Losses in the conversion can be taken into account by a table 72 stored in the controller 12 .
  • the target value is in the range between 25% and 40%, eg at least 30% and eg at most 37%, of the impact energy of the club 4.
  • a forecasting device 73 continuously compares the operating conditions of the hammer mechanism 2.
  • An exemplary forecast is based on a pressure measurement.
  • the forecasting device 73 picks up the signals of the pressure sensor 74 .
  • the measured pressure is compared with a threshold value.
  • the predictor 73 outputs to the controller 12 a control signal 59 .
  • the control signal 59 signals that when the primary drive 22 is switched off immediately, the potential energy reaches the target value.
  • the controller 12 terminates the active return phase 66.
  • the predictor 73 preferably loads the threshold from the stored lookup table 72.
  • the lookup table 72 may contain exactly one threshold. Preferably, however, several predetermined thresholds for different operating conditions are stored. For example, threshold values for different temperatures may be stored in the pneumatic chamber 34 .
  • the forecasting device 73 also receives a signal of a temperature sensor 75 in addition to the signal of the pressure sensor 74 . Depending on the latter, for example, the threshold value is selected.
  • the forecasting device 73 can estimate the speed of the racket 4 from a pressure change.
  • Lookup table 72 may include different thresholds for the current pressure for different speeds. Since a faster club 4 tends to compress the air spring 23 more, the threshold for a higher speed is lower than for a lower speed. The Selecting the threshold depending on the speed or pressure change can improve the reproducibility of the target value.
  • the end of the active return phase 66 is also the beginning of the idle phase 67.
  • the controller 12 sets the setpoint 60 for the current 48 to zero.
  • the switchable magnetic field 38 is switched off and the primary drive 22 is deactivated.
  • the permanent magnetic field 37 acts on the racket 4 .
  • the permanent magnetic field 37 has a field strength substantially constant along the movement axis 3 , it exerts little or no force on the beater 4 .
  • the current 48 in the quiescent phase 67 can be set to a negative value to the setpoint value 60 .
  • the amount of current 48 is small compared to that of the target value 60 , so as not to disturb the backward movement, eg less than 10%.
  • the racket 4 is decelerated during the resting phase 67 by the air spring 23 to a standstill.
  • the potential energy of the air spring 23 is thereby increased by a part of the kinetic energy of the racket 4 before the racket 4 comes to a standstill ie to the upper inflection point 15 .
  • the sequence of the active return phase 66 and the resting phase 67 proves to be particularly energy efficient in the tested percussion structures, in particular turning off the current 48 to zero at the end of the active return phase 66.
  • the efficiency of the primary drive 22 decreases with decreasing distance 35 of the racket 4 of the upper turning point 15.
  • the racket 4 is as long as the primary drive 22 acts efficiently accelerated to a high speed. If the forecast shows that the club 4 will now reach the desired upper turning point 15 without the primary drive 22 , the increasingly inefficient primary drive 22 is deactivated.
  • the current 48 is lowered continuously or in several steps to zero.
  • an adaptive adaptation of the trajectory of the racket 4 to reach the upper inflection point 15 can be made.
  • the rest phase 67 preferably closes before reaching the upper inflection point 15 .
  • the duration of the active recovery phase 66 resulting from the forecast may vary.
  • the striker 13 does not reach its home position 16 prior to a strike , which requires the striker 4 to travel a greater distance for the next shot.
  • the absorbed kinetic energy for the racket 4 would not be sufficient up to the desired upper inflection point 15 against the force of the air spring 23 .
  • the controller 12 triggers the end of the idle phase 67 based on reaching the upper inflection point 15. With the end of the idle phase 67 , the acceleration phase 68 begins .
  • the controller 12 triggers the beginning of the acceleration phase 68 based on the reversal motion of the racquet 4.
  • a position or motion sensor can directly detect the reverse movement of the racket 4 .
  • the detection of the reverse motion is indirectly based on a pressure change in the pneumatic chamber 34.
  • a pressure sensor 74 is coupled to the pneumatic chamber 34 .
  • the pressure sensor 74 is, for example, a piezoresistive pressure sensor 74.
  • the pressure sensor 74 may be arranged in the pneumatic chamber 34 or may be coupled to the pneumatic chamber 34 via an air channel.
  • the pressure sensor 74 is preferably arranged on or in the closure 30 .
  • the pressure sensor 74 is assigned an evaluation device 76 .
  • the evaluation device 76 monitors a pressure change in the pneumatic chamber 34. As soon as the pressure change assumes a negative value, ie the pressure drops, the evaluation device 76 outputs to the controller 12 a control signal 77 indicating the reaching of the upper inflection point 15 by the beater 4 ,
  • the pressure in the pneumatic chamber 34 can be measured in the upper inflection point 15 and stored as the threshold value in a table of the evaluation device 76 .
  • the threshold value can be stored as a function of various operating conditions, in particular a temperature in the pneumatic chamber 34 .
  • the evaluation device 76 determines the present operating condition, for example by querying a temperature sensor, and reads out the associated threshold value from the table. The two methods can be combined redundantly and output the control signal 77 separately.
  • the controller 12 begins the acceleration phase 68 when the control signal 77 is received.
  • the controller 12 sets the set point 60 for the current 48 to a second one Value 78.
  • the sign of the second value 78 is chosen such that the lower magnetic field 50 of the lower magnetic coil 47 is structurally superimposed on the permanent magnetic field 37 within the guide tube 27 . This results in a high field strength in the lower portion 41 of the guide tube 27.
  • the current 48 is fed during the acceleration phase 68 in the lower magnetic coil 47 and preferably in the upper magnetic coil 46 .
  • the permanent magnetic field 37 in the upper portion 39 is preferably attenuated or completely destructively balanced by the magnetic field 38 of the upper magnetic coil 46 within the guide tube 27 .
  • the racket 4 is pulled into the stronger magnetic field in the lower portion 41 .
  • the racket 4 undergoes an acceleration in the direction of impact 5 continuously during the acceleration phase 68.
  • the kinetic energy reached up to the impact point 14 is approximately the impact energy of the racket 4.
  • An alternative or additional determination of the reaching of the upper inflection point 15 is based on a change in the voltage induced in the upper magnet coil 46 due to the movement of the racket 4.
  • the racket 4 may overlap with the upper yoke ring 56 before reaching the upper inflection point 15 .
  • the magnetic field 49 of the ring magnet 42 flows in the upper area 39 almost closed without air gap on the racket 4 in the upper yoke 56.
  • the magnetic field 50 of the ring magnet 42 flows in the lower portion 41 via a large air gap to the lower yoke ring 57.
  • the air gap in the lower region 41 increases even further, whereby the magnetic flux increases proportionately in the upper region.
  • the proportion of the magnetic flux in the upper region 39 decreases .
  • the change in the magnetic flux induces a voltage in the upper magnetic coil 46 .
  • Characteristic of the inflection point 15 is a change in the sign of the induced voltage.
  • the current source 51 preferably regulates the current 48 before reaching the point of inflection 15 to zero in order to comply with the quiescent phase 67 .
  • the control loop continuously adjusts the manipulated variable 64 to keep the current 48 against the induced voltage to zero. On the change of the sign of the induced voltage, the control loop 62 reacts with a much larger manipulated variable 64.
  • the control signal 77 can thus be triggered, for example, when exceeding a threshold value by the manipulated variable 64 .
  • the magnitude of the second value 78 is preferably adjusted so that the upper magnetic field 49 just destructively compensates for the permanent magnetic field 37 or decreases to at least 10% of its field strength.
  • the current 48 in the magnetic coils 46, 47 increases at the beginning of the acceleration phase 68 to the desired value 60 .
  • a switching edge is given example, only by a time constant, which is due to the inductance of the solenoid coils 46, 47 and the retroactive effect of the racket.
  • the controller 12 preferably keeps the set point 60 continuously at the second value 78 during the acceleration phase 68 .
  • the air spring 23 supports the acceleration of the racket 4 in the direction of impact 5. In the air spring 23 stored potential energy is largely converted into kinetic energy of the racket 4 . In the impact point 14 , the air spring 23 is preferably completely relaxed. Near the point of impact 14 , the vent opening 36 is released by the racket 4 . The ventilation opening 36 leads to a weakening of the air spring 23 without lowering its effect on the racket 4 completely to zero. However, the air spring 23 has already transmitted significantly more than 90% of its potential energy to the racket 4 at this time.
  • the controller 12 triggers the end of the acceleration phase 68 based on a rise 79 of the current 48 in the lower solenoid 47 and the current 48 fed from the current source 51 , respectively.
  • electromagnetic induction occurs across the lower solenoid coil 47, a voltage drop against which the current source 51 feeds the current 48 .
  • the voltage drop suddenly disappears.
  • the current 48 increases briefly until the regulated current source 51 regulates the current 48 back to the desired value 60 .
  • a current sensor 80 can detect the current 48 circulating in the lower magnetic coil 47 .
  • An associated discriminator 81 compares the measured current 48 with a threshold value and outputs an end signal 82 when the threshold value is exceeded.
  • the end signal 82 indicates to the controller 12 that the club 4 has hit the striker 13 .
  • the threshold value is selected, for example, as a function of the second value 78 , ie the setpoint value 60 for the acceleration phase 68.
  • the threshold value may be 5% to 10% greater than the second value 78 .
  • a rate of change of the current 48 with the current sensor 80 may be detected and compared against the discriminator 81 against a rate of change threshold.
  • the current source 51 counteracts with its control circuit 61 the increase 79 of the current 48 in the circuit 83 .
  • the manipulated variable 64 changes .
  • the manipulated variable 64 can also be monitored. It can both the absolute value or, preferably, a rate of change of the manipulated variable 64 are compared with a threshold value and the end signal 82 is output in response thereto.
  • the controller 12 Upon receipt of the end signal 82 , the controller 12 terminates the acceleration phase 68.
  • the setpoint 60 is set to zero. Accordingly, the current output of the current source 51 decreases to a current 48 equal to zero. The racket 4 is not further accelerated in the direction of impact 5 .
  • the controller 12 may begin immediately after the acceleration phase 68 or after a break, the next active return phase 66 .

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Percussive Tools And Related Accessories (AREA)
EP13171675.5A 2012-06-15 2013-06-12 Werkzeugmaschine und Steuerungsverfahren Active EP2674252B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012210082A DE102012210082A1 (de) 2012-06-15 2012-06-15 Werkzeugmaschine und Steuerungsverfahren

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EP2674252A1 EP2674252A1 (de) 2013-12-18
EP2674252B1 true EP2674252B1 (de) 2017-03-01

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US (1) US20130333904A1 (zh)
EP (1) EP2674252B1 (zh)
JP (1) JP2014000668A (zh)
CN (1) CN103507041B (zh)
DE (1) DE102012210082A1 (zh)

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US11260517B2 (en) 2015-06-05 2022-03-01 Ingersoll-Rand Industrial U.S., Inc. Power tool housings
WO2016196918A1 (en) 2015-06-05 2016-12-08 Ingersoll-Rand Company Power tool user interfaces
CN107635726A (zh) * 2015-06-05 2018-01-26 英古所连公司 具有用户可选择操作模式的动力工具
WO2016196979A1 (en) 2015-06-05 2016-12-08 Ingersoll-Rand Company Impact tools with ring gear alignment features
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WO2019147919A1 (en) 2018-01-26 2019-08-01 Milwaukee Electric Tool Corporation Percussion tool
CN110259375B (zh) * 2019-06-14 2021-04-20 浙江理工大学 用于低冲击场合的电磁谐振式气动冲击器及其工作方法
EP3756823A1 (de) * 2019-06-27 2020-12-30 Hilti Aktiengesellschaft Verfahren zur erkennung eines zustands einer werkzeugmaschine, sowie eine werkzeugmaschine
CN114918878B (zh) * 2022-05-29 2023-08-22 熊国华 一种低噪音电锤装置

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Also Published As

Publication number Publication date
JP2014000668A (ja) 2014-01-09
US20130333904A1 (en) 2013-12-19
EP2674252A1 (de) 2013-12-18
CN103507041B (zh) 2017-04-26
DE102012210082A1 (de) 2013-12-19
CN103507041A (zh) 2014-01-15

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