JP6035677B2 - Electric tool - Google Patents

Description

  The present invention relates to an electric tool, and more particularly to an electric tool that outputs a rotational driving force.

  A conventional impact wrench as a power tool includes a motor, a spindle rotated by the motor, a hammer rotated by the spindle, and an anvil hit by the hammer. A tip tool is detachably provided on the anvil, and a fastener such as a bolt is fastened to the processing member by the tip tool (see, for example, Patent Document 1).

JP 2009-72888 A

  However, in a tightening operation for a hard member, since the repulsive force of the hammer that strikes the anvil is large, a so-called cam end collision occurs in which the hammer largely retreats and collides with the spindle. Due to the cam end collision, the hammer and the spindle are temporarily locked, and the hammering timing of the hammer and the anvil deviates, and the hammering force is not sufficiently transmitted to the anvil. Such a hitting failure occurs continuously once it occurs, causing a decrease in the tightening force of the impact wrench, vibration, and increase in noise.

  In the conventional electric power tool, in order to prevent the occurrence of continuous hitting failure, after the cam end collision occurs, the collision is detected and the control of the motor is changed. However, in such a power tool, since the occurrence of the cam end collision itself cannot be suppressed, further improvement has been desired. Then, an object of this invention is to provide the electric tool which can suppress generation | occurrence | production of a hitting defect.

  In order to achieve the above object, a housing, a motor accommodated in the housing, a power supply unit for supplying driving power to the motor, a hammer rotated by the motor, and a hammer being struck by the hammer The anvil that rotates, a load detection unit that detects a load of the motor, and the drive that is supplied to the motor after the load detected by the load detection unit starts to increase and before the load starts to decrease There is provided a power tool including a control unit that reduces a duty ratio of electric power.

  According to such a configuration, since the duty ratio of the driving power of the motor is decreased after the load starts to increase and before the load starts to decrease, the cam end collision occurs, the load increases, and the load Compared with the case where the increase is detected and the duty ratio of the motor is lowered, the occurrence of the cam end collision itself can be suppressed. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  The load detecting unit detects a tightening torque of the anvil, and the control unit detects the duty of the driving power after the tightening torque reaches a peak by the hammer hitting the anvil. It is preferable to reduce the ratio.

  According to such a configuration, by detecting the tightening torque, it is possible to reduce the duty ratio of the drive power of the motor before the occurrence of the cam end collision, thereby suppressing the occurrence of the cam end collision itself. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  Further, the hammer is movable between a striking position for striking the anvil and a separation position that is the most separated in the axial direction of the anvil and the motor, and the control unit has the tightening torque of the hammer. It is preferable to reduce the duty ratio of the driving power after reaching the peak and before the hammer reaches the separation position.

  According to such a configuration, since the duty ratio of the driving power is reduced before the hammer reaches the separated position, the rotational force transmitted to the hammer before the hammer reaches the separated position is reduced, and the hammer is moved to the separated position. It is possible to suppress the occurrence of a cam end collision that occurs when the operation is performed.

  Further, it is preferable that the load detection unit detects a current of the motor, and the control unit decreases the duty ratio of the driving power after the current has changed from a decrease to an increase.

  According to such a configuration, by detecting the current of the motor, the duty ratio of the driving power of the motor can be reduced before the cam end collision occurs, and the occurrence of the cam end collision itself can be suppressed. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  Moreover, it is preferable that the said control part reduces the said duty ratio of the said drive electric power, after the said current changes from a fall to a raise, and before the said current begins to fall.

  According to such a configuration, since the duty ratio of the driving power of the motor is decreased after the current starts to decrease and before the current starts decreasing, the cam end collision occurs and the current increases. Compared with the case where the increase in current is detected to reduce the duty ratio of the motor, the occurrence of cam end collision itself can be suppressed.

  Further, it is preferable that the load detection unit detects a rotation speed of the motor, and the control unit decreases the duty ratio of the drive power after the rotation speed has changed from an increase to a decrease.

  According to such a configuration, by detecting the rotation speed of the motor, the duty ratio of the driving power of the motor can be reduced before the cam end collision occurs, and the occurrence of the cam end collision itself can be suppressed. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  Moreover, it is preferable that the said control part reduces the said duty ratio of the said drive electric power, after the said rotation speed changes from a raise to a fall, and before the said rotation speed changes from a fall.

  According to such a configuration, since the duty ratio of the driving power of the motor is reduced after the rotation speed has changed from rising to lowering and before the rotation speed has changed from rising to lowering, the cam end collision occurs and the rotation speed is reduced. Compared with the case where the number decreases and the decrease in the rotational speed is detected to reduce the motor duty ratio, the occurrence of cam end collision itself can be suppressed.

  According to another aspect of the present invention, a housing, a motor accommodated in the housing, a power supply unit that supplies driving power to the motor, a hammer rotated by the motor, and the hammer are struck. An anvil that rotates by the motor, a load detector that detects a load of the motor, and a duty of the driving power that is supplied to the motor when a rate of change of the load detected by the load detector exceeds a predetermined threshold And a control unit that shifts to a low duty mode with a reduced ratio.

  According to such a configuration, when the rate of change of the load detected by the load detection unit exceeds a predetermined threshold value, the mode shifts to the low duty mode, so that the cam end collision may occur due to the increase of the rate of change of the load. The occurrence of a cam end collision can be suppressed by predicting the performance and shifting to the low duty mode. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  Preferably, the load detection unit detects a tightening torque of the anvil, and the control unit shifts to the low duty mode when a change rate of the tightening torque exceeds a predetermined threshold.

  According to such a configuration, the occurrence of a cam end collision can be suppressed by shifting the tightening torque to the low duty mode based on the detection result of the detection. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  Further, it is preferable that the load detection unit detects a current of the motor, and the control unit shifts to the low duty mode when the current exceeds a predetermined threshold.

  According to such a configuration, the occurrence of a cam end collision can be suppressed by shifting to the low duty mode based on the detection result of the motor current. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  Further, it is preferable that the load detection unit detects a rotation number of the motor, and the control unit shifts to the low duty mode when the rotation number exceeds a predetermined threshold.

  According to such a configuration, the occurrence of the cam end collision can be suppressed by shifting to the low duty mode based on the detection result of the rotation number of the motor. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  According to another aspect of the present invention, a housing, a motor accommodated in the housing, a power supply unit that supplies driving power to the motor, a hammer rotated by the motor, and the hammer are struck. And an anvil that rotates according to the behavior of the hammer during the striking, and a control unit that shifts to a low duty mode in which a duty ratio of the driving power supplied to the motor is reduced. Provides power tools.

  According to such a configuration, it is possible to predict the occurrence of a cam end collision by judging the behavior of the hammer between hits, and to suppress the occurrence of a cam end collision by shifting to the low duty mode. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  Moreover, it is preferable that the said control part transfers to the said low duty mode, when the period between the said strikes exceeds a predetermined threshold value.

  According to such a configuration, when the cycle exceeds a predetermined threshold, it is determined that a cam end collision may occur, and the occurrence of the cam end collision can be suppressed by shifting to the low duty mode. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  In addition, it further includes a load detection unit that detects a current of the motor, and the control unit shifts to the low duty mode when an integrated value of the current in a period between the hits exceeds a predetermined threshold value. It is preferable.

  According to such a configuration, when the integrated value of the current exceeds a predetermined threshold, it is determined that a cam end collision may occur, and the occurrence of the cam end collision can be suppressed by shifting to the low duty mode. . Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  According to another aspect of the present invention, a housing, a motor accommodated in the housing, a power supply unit that supplies driving power to the motor, a hammer rotated by the motor, and the hammer are struck. An anvil that is rotated by the vibration, a vibration detection unit that detects vibration caused by the impact, and a duty ratio of the drive power supplied to the motor when the vibration detected by the vibration detection unit exceeds a predetermined threshold value. There is provided a power tool characterized by having a control unit for lowering.

  According to such a configuration, when the vibration exceeds a predetermined threshold, it is determined that a cam end collision may occur, and the occurrence of the cam end collision can be suppressed by shifting to the low duty mode. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  In another aspect of the present invention, a housing, a motor including an output shaft accommodated in the housing, a power supply unit that supplies driving power to the motor, and an axial direction of the output shaft that is rotated by the motor A spindle formed with a first groove extending in a direction crossing the first groove, an engaging member that partially accommodates the first groove, and a second groove that partially accommodates the engaging member. A hammer that is movable in a direction, wherein rotation of the spindle is transmitted via the engagement member, a biasing member that biases the hammer in the axial direction, and rotation by being struck by the hammer And an anvil that controls the duty ratio of the drive power to be supplied to the motor before a cam end collision occurs where the engagement member abuts against the axial end of the first groove. It provides an electric tool which is characterized in that.

  According to such a configuration, the cam end collision occurs because the duty ratio of the driving power supplied to the motor is reduced before the cam end collision occurs in which the engaging member contacts the axial end of the first groove. Can be suppressed. Thereby, the vibration and energy loss which generate | occur | produce in a power tool at the time of a cam end collision can be prevented.

  ADVANTAGE OF THE INVENTION According to this invention, the electric tool which can suppress generation | occurrence | production of a bad hit can be provided.

Sectional drawing of the impact wrench which concerns on the 1st Embodiment of this invention. The disassembled perspective view of the impact mechanism of the impact wrench which concerns on the 1st Embodiment of this invention. The perspective view of the impact mechanism of the impact wrench which concerns on the 1st Embodiment of this invention. Schematic for demonstrating operation | movement of the impact mechanism of the impact wrench which concerns on the 1st Embodiment of this invention. The control block diagram of the motor of the impact wrench which concerns on the 1st Embodiment of this invention. The schematic diagram of control of the impact wrench which concerns on the 1st Embodiment of this invention. The flowchart of the impact wrench which concerns on the 1st Embodiment of this invention. The flowchart of the impact wrench of the 4th and 5th modification of the 1st Embodiment of this invention. Schematic of the control of the impact wrench according to the second embodiment of the present invention. The flowchart of the impact wrench which concerns on the 2nd Embodiment of this invention.

  Hereinafter, an impact wrench 1 which is an example of an electric power tool according to a first embodiment of the present invention will be described with reference to FIGS. An impact wrench 1 shown in FIG. 1 mainly includes a housing 2, a motor 3, a gear mechanism 4, and an impact mechanism 5. The housing 2 is made of resin and forms the outer shell of the impact wrench 1, and is mainly composed of a substantially cylindrical body portion 21 and a handle portion 22 extending from the body portion 21.

  As shown in FIG. 1, the motor 3 is arranged in the body portion 21 so that the longitudinal direction thereof coincides with the axial direction of the motor 3, and the gear mechanism 4 toward the one end side in the axial direction of the motor 3. The impact mechanism 5 is arranged side by side. In the following description, the direction from the motor 3 toward the gear mechanism 4 and the impact mechanism 5 is defined as the front side, and the direction parallel to the axial direction of the motor 3 is defined as the front-rear direction. The vertical direction is defined with the direction in which the handle portion 22 extends from the body portion 21 as the lower side, and the left and right directions viewed from the back of the impact wrench 1 are defined as the left and right directions.

  The body portion 21 is formed with an inlet and an exhaust port (not shown) for sucking and discharging outside air into the body portion 21 by a fan 34 described later.

  The handle portion 22 extends from a substantially central position in the front-rear direction of the body portion 21 toward the lower side and is configured integrally with the body portion 21. A switch mechanism 6 is built in the handle portion 22, and a power cable 23 that can be connected to a commercial power source (not shown) extends at a distal end position in the extending direction. In the handle portion 22, a trigger 24 serving as an operation location of the operator is provided at the front side position from the trunk portion 21. A rectifier circuit 25 for converting alternating current from the power cable 23 into direct current is accommodated in the lower portion of the handle portion 22.

  As shown in FIG. 1, the motor 3 is a brushless motor mainly composed of a rotor 32 having an output shaft 31 and a permanent magnet 32 </ b> A, and a stator 33 arranged at a position facing the rotor 32. It arrange | positions in the trunk | drum 21 so that the axial direction of the axis | shaft 31 may correspond with the front-back direction. The output shaft 31 protrudes forward and backward of the rotor 32, and is rotatably supported on the body portion 21 by a bearing at the protruding portion. In the output shaft 31, a fan 34 that rotates coaxially with the output shaft 31 is provided at a portion protruding forward. A pinion gear 31A is provided so as to rotate integrally with the output shaft 31 at the foremost end position of the portion protruding to the front side.

  A substrate 35 provided with a plurality of Hall elements 35A is provided behind the motor 3. The plurality of hall elements 35A are arranged at predetermined intervals in the circumferential direction of the output shaft 31, for example, every 60 degrees, at positions facing the permanent magnet 32A in the front-rear direction.

  A control board 37 including a triaxial acceleration sensor 36 is provided on the outer side in the radial direction of the motor 3. The triaxial acceleration sensor 36 can detect acceleration in the XYZ axis directions. In the present embodiment, acceleration in the thrust direction (axial direction) of the output shaft 31 is detected as acceleration in the Z-axis direction, and acceleration in the rotational direction (circumferential direction) of the output shaft 31 is detected as acceleration in the X and Y-axis directions. To detect. Thereby, the impact of the impact operation of the impact mechanism 5 can be detected not only in the axial direction but also in the rotational direction. The control board 37 is electrically connected to the board 35 and the rectifier circuit 25 by wiring. Detailed control of the motor 3 will be described later. Since the triaxial acceleration sensor 36 is provided in the vicinity of the motor 3 and on the extension line in the axial direction of the impact mechanism 5, the impact generated by the impact mechanism 5 can be accurately detected.

  The gear mechanism 4 includes a pair of planetary gears 41 that mesh with the pinion gear 31 </ b> A, an outer gear 42 that meshes with the planetary gear 41, and a spindle 43 that holds the planetary gear 41. The planetary gear 41 is a planetary gear mechanism in which the pinion gear 31A is a sun gear, and the rotation from the pinion gear 31A is decelerated and transmitted to the spindle 43. The planetary gear 41 includes a rotation shaft 41A extending in the front-rear direction, and the rotation shaft 41A is rotatably supported by the spindle 43. As shown in FIG. 2, the spindle 43 includes a gear support portion 43A and a shaft portion 43B, and the planetary gear 41 is supported by the gear support portion 43A. When the planetary gear 41 rotates around the pinion gear 31A, the spindle 43 is rotated by the rotation. In the following description, the axial direction, the rotational direction, and the radial direction refer to directions with respect to the output shaft 31.

  The shaft portion 43B extends in the front-rear direction, and two substantially V-shaped grooves 43a are formed to face each other with respect to the rotation axis of the shaft portion 43B. Each groove 43a is formed so that the V-shaped opening faces rearward. A ball 51 described later is provided in the groove 43a so as to be movable along the groove. The substantially V-shaped groove 43a is configured by combining two sides extending obliquely rearward and downward. When the spindle 43 is rotating forward, the ball 51 reciprocates only one side and the spindle 43 is reversed. When rotating, the ball 51 reciprocates only on the other side. The groove 43a corresponds to the first groove portion of the present invention, and the ball 51 corresponds to the locking member of the present invention.

  The impact mechanism 5 includes a ball 51, a stopper 52, a spring 53, a washer 54, a ball 55, a hammer 56, and an anvil 57. The stopper 52 has a substantially cylindrical shape, and is formed with a hole 52a that penetrates in the front-rear direction and into which the shaft portion 43B is inserted. The front end surface of the stopper 52 can come into contact with the hammer 56, and the hammer 56 is prevented from retracting beyond a predetermined amount.

  The spring 53 is a coil spring and is externally mounted on the shaft portion 43B. The rear end portion of the spring 53 is in contact with the stopper 52, and the front end portion is in contact with the washer 54. As a result, the spring 53 biases the hammer 56 forward via the washer 54. The washer 54 has a substantially disk shape and is provided between the hammer 56 and the spring 53. A sphere 55 is provided between the washer 54 and the spring 53.

  As shown in FIG. 3, the hammer 56 has a substantially cylindrical shape, and is formed with a through hole 56 a that penetrates in the front-rear direction and into which the shaft portion 43 </ b> B is inserted. The through hole 56a is formed with a stepped portion 56A that protrudes inward in the radial direction, and the stepped portion 56A and the front end surface of the stopper 52 can come into contact with each other. In front of the step portion 56A, a receiving portion 56B that protrudes further inward in the radial direction than the step portion 56A and receives the washer 54 is provided. The receiving portion 56B is formed with a concave portion 56b recessed forward. Since the ball 55 is rotatably supported by the recess 56 b, the washer 54 and the spring 53 can be rotated relative to the hammer 56.

  Two grooves 56c that are recessed inward in the radial direction are formed in front of the receiving portion 56B. Each groove part 56c is formed in the position which opposes each groove | channel 43a, and is supporting the ball | bowl 51 with the groove | channel 43a. Accordingly, the hammer 56 is held with respect to the spindle 43, and the ball 51 moves in the groove 43a, so that the hammer 56 can move relative to the spindle 43 in the front-rear direction and the circumferential direction. When the hammer 56 moves rearward by a predetermined amount or more, the front end surface of the hammer 56 is positioned rearward of the groove 43a, so that the ball 51 is detached from the groove 43a. However, since the stepped portion 56A and the front end surface of the stopper 52 are in contact with each other, the hammer 56 is prevented from moving backward by a predetermined amount or more, so that the ball 51 is prevented from being detached. On the front end surface of the hammer 56, two engaging protrusions 56C protruding forward are provided at positions facing each other with respect to the through hole 56a. The groove 56c corresponds to the second groove of the present invention.

  The anvil 57 has a substantially cylindrical shape and extends in the front-rear direction. The anvil 57 is provided with two engaged protrusions 57A that protrude outward in the radial direction. A tool holding portion 57B to which a tip tool (not shown) can be attached and detached is provided at the tip portion of the anvil 57. The two engaged protrusions 57 </ b> A are provided at positions facing each other with respect to the rotation axis of the anvil 57.

  When the spindle 43 is rotated by the motor 3, the ball 51, the hammer 56, the spring 53, and the stopper 52 rotate together with the spindle 43. As a result, the engaging protrusion 56C and the engaged protrusion 57A engage with each other, and the hammer 56 and the anvil 57 rotate together to perform tightening work such as bolts (rotation mode). As the tightening operation proceeds, the load on the anvil 57 becomes heavier, and when the load exceeds a predetermined value, the hammer 56 moves backward against the biasing force of the spring 53. At this time, the ball 51 moves backward in the groove 43a. When the hammer 56 retracts beyond the height in the front-rear direction of the engaging protrusion 56C, the engaging protrusion 56C gets over the engaged protrusion 57A. Since the rotational force of the spindle 43 is transmitted to the hammer 56 via the ball 51, the hammer 56 continues to rotate, and each engaging projection 56C is engaged with the engaged projection 57A that has been engaged. Each of the mating protrusions 57A is hit (blow mode). Thereby, the anvil 57 rotates and a rotational force is transmitted to a tip tool (not shown).

  The hammer 56 moves rearward against the urging force of the spring 53 due to the repulsive force caused by the engaging protrusion 56 </ b> C hitting the engaged protrusion 57 </ b> A. At this time, the ball 51 moves backward in the groove 43a (FIG. 4C). Since the hammer 56 rotates while moving backward, the engaging protrusion 56C gets over the engaged protrusion 57A hit. The rearward movement amount of the hammer 56 varies depending on the hardness of the processed member, the shape of the tip tool, and the like. The hammer 56 is positioned at a position farthest away from the anvil 57 in the front-rear direction, and then advances again by the urging force of the spring 53 (FIG. 4D), and the ball 51 moves forward in the groove 43a. When the ball 51 is positioned at the foremost position of the groove 43a (FIG. 3), each engaging protrusion 56C strikes the engaged protrusion 57A at the position opposite to the engaged protrusion 57A hit earlier. At this time, a portion of the front end surface of the hammer 56 where the engagement protrusion 56C is not provided and the rear surface of the engagement protrusion 57A are in contact with each other, and at the same time, the rotational side surface of the engagement protrusion 56C and the engagement protrusion The spring constant of the spring 53 and the mass and shape of the hammer 56 and the anvil 57 are designed so that the rotational side surface of the 57A abuts. The striking state at this time is referred to as the optimum striking state and is shown in FIG. 4A. The position of the hammer 56 when the ball 51 is in the foremost position corresponds to the striking position of the present invention. Thereby, the rotational energy of the hammer 56 can be efficiently transmitted to the anvil 57.

  During the tightening operation with the impact wrench 1, the end tool and a stopper such as a bolt may mesh with each other and become relatively unrotatable. Then, since the hammer 56 strikes the anvil 57 while the anvil 57 is not rotatable, most of the rotational energy of the hammer 56 is returned to the hammer 56 as a repulsive force, and the hammer 56 is compared with the optimum strike state. Retreat greatly. Thereby, the ball 51 collides with the rear end of the groove 43a, and so-called cam end collision as shown in FIG. 4B occurs. Due to the cam end collision, the vibration generated in the impact wrench 1 is increased, and rotational energy is lost to reduce the impact force.

  Further, the hit timing of the hammer 56 and the anvil 57 may be shifted, and a phenomenon such as pre-hit or overshoot may occur. The pre-hit state is shown in FIG. 4E, and the overshoot state is shown in FIG. 4F. When the repulsive force of the hammer 56 against the anvil 57 is small, the hammer 56 moves forward at an earlier timing than in the optimum striking state, so that the front end face of the engaging protrusion 56C and the rear face of the engaged protrusion 57A collide. A pre-hit occurs. Pre-hit is likely to occur particularly when the load on the tip tool is suddenly reduced during the tightening operation or when the voltage of the commercial power supply is uneasy. Thereafter, the hammer 56 continues to rotate and the ball 51 is positioned at the foremost position of the groove 43a. Since the hit timing is shifted, the engaging protrusion 56C and the engaged protrusion 57A are separated from each other when the ball 51 is at the foremost position. Further rotation of the hammer 56 causes the ball 51 to ride from one side of the side of the substantially V-shaped groove 43a that is currently reciprocating to the other side, resulting in overshoot. The hammer 56 is slightly retracted due to overshoot, and the engaging protrusion 56C strikes the engaged protrusion 57A in the retracted state, so that the rotational energy of the hammer 56 is not sufficiently transmitted to the anvil 57. Thus, once the batting timing is shifted, pre-hits and overshoots are continuously generated and the batting force is reduced. Therefore, it is necessary to quickly return the batting timing to the optimum batting state. It should be noted that problems such as cam end collision, pre-hit, overshoot, etc. occur not only in the above-described case but also in various situations depending on the machining member and the tip tool used.

  Next, the configuration of the drive control system of the motor 3 will be described with reference to FIG. In the present embodiment, the motor 3 is constituted by a three-phase brushless DC motor. The brushless DC motor rotor 32 includes a plurality of sets (two sets in this embodiment) of permanent magnets 32A including N poles and S poles, and the stator 33 is a star-connected three-phase stator winding U. , V, W. The energization direction and time for the stator windings U, V, and W are controlled based on a position detection signal from the hall element 35A disposed to face the permanent magnet 32A.

  The electronic elements mounted on the substrate 35 include six switching elements Q1 to Q6 such as FETs connected in a three-phase bridge format. The gates of the six switching elements Q1 to Q6 connected in bridge are connected to the control signal output circuit 61, and the drains or sources of the six switching elements Q1 to Q6 are star-connected stator windings. Connected to U, V, W. As a result, the six switching elements Q1 to Q6 perform a switching operation by the switching element drive signals (drive signals such as H4, H5, and H6) input from the control signal output circuit 61, and the full-wave rectification is performed by the rectifier circuit 25. Electric power is supplied to the stator windings U, V, and W as three-phase (U-phase, V-phase, and W-phase) voltages Vu, Vv, and Vw.

  Of the switching element drive signals (three-phase signals) for driving the gates of the six switching elements Q1 to Q6, three negative power supply side switching elements Q4, Q5, and Q6 are converted to pulse width modulation signals (PWM signals) H4. H5 and H6 are supplied to the motor 3 by changing the pulse width (duty ratio) of the PWM signal based on the detection signal of the operation amount (stroke) of the trigger 24 by the calculation unit 62 provided on the control board 37. Is adjusted to control the start / stop and rotation speed of the motor 3.

  Here, the PWM signal is supplied to any one of the positive power supply side switching elements Q1 to Q3 or the negative power supply side switching elements Q4 to Q6 of the substrate 35, and the switching elements Q1 to Q3 or the switching elements Q4 to Q6 are switched at high speed. As a result, the power supplied to the stator windings U, V, W from the DC voltage of the rectifier circuit 25 is controlled. Since the PWM signal is supplied to the negative power supply side switching elements Q4 to Q6, the electric power supplied to each stator winding U, V, W is adjusted by controlling the pulse width of the PWM signal, so that the motor 3 The rotation speed can be controlled.

  The control board 37 includes a control signal output circuit 61, a calculation unit 62, a voltage detection circuit 63, a current detection circuit 64, an applied voltage setting circuit 65, a triaxial acceleration detection circuit 66, and a rotor position detection circuit 67. And a torque detection circuit 72. The calculation unit 62 outputs a drive signal based on a processing program and data, although not shown, a rotation condition determination unit 68, a rotation speed detection unit 69, a correction parameter derivation unit 70, and a prediction unit 71. A central processing unit (CPU), a ROM for storing processing programs, control data, various threshold values, and the like, and a RAM for temporarily storing data. The control board 37 and the calculation unit 62 correspond to the control unit of the present invention.

  Based on the output signal of the rotor position detection circuit 67, the arithmetic unit 62 forms a drive signal for switching predetermined switching elements Q1 to Q6 alternately and outputs the control signal to the control signal output circuit 61. As a result, the predetermined windings of the stator windings U, V, and W are alternately energized to rotate the rotor 32 in the set rotation direction. In this case, the drive signal applied to the negative power supply side switching elements Q4 to Q6 is output as a PWM modulation signal based on the output control signal of the applied voltage setting circuit 65. The voltage value and the current value supplied to the motor 3 are measured by the voltage detection circuit 63 and the current detection circuit 64, and the values are fed back to the calculation unit 62 so that the set drive power and current are obtained. Adjusted. A current detected by the current detection circuit 64 is shown in FIG. The PWM signal may be applied to the positive power supply side switching elements Q1 to Q3. The current detection circuit 64 is an example of a load detection unit of the present invention.

  The applied voltage setting circuit 65 outputs a control signal to the calculation unit 62 based on the operation of the trigger 24. The triaxial acceleration detection circuit 66 outputs each acceleration in the thrust direction and the rotational direction to the calculation unit 62 based on a signal from the triaxial acceleration sensor 36.

  The torque detection circuit 72 outputs the tightening torque to the calculation unit 62 based on a signal from the torque sensor 26 for detecting the tightening torque of the tip tool.

  Based on the output signal from the triaxial acceleration detection circuit 66, the rotation condition determination unit 68 determines whether or not the hammer 56 and the anvil 57 are in the optimal hit state. The rotation speed detection unit 69 detects the rotation speed of the motor 3 based on the signal from the rotor position detection circuit 67. The rotational speed detected by the rotational speed detection unit 69 is shown in FIG. The correction parameter deriving unit 70 derives a correction parameter for adjusting the PWM duty of the control of the motor 3 according to the determination result of the rotation condition determination unit 68. The prediction unit 71 calculates the slope of the current detected by the current detection circuit 64 as shown in FIG.

  Next, operation | movement of the impact wrench 1 is demonstrated based on FIG.6 and FIG.7.

  The motor 3 is operated by connecting the power cable 23 to a commercial power source (not shown) and pulling the trigger 24 (t0 in FIG. 6). Thereby, the flowchart of FIG. 7 is started (S1). Next, the current detection circuit 64 detects the current flowing through the motor 3 (S2). In the present embodiment, a current is detected as an example of a motor load. Since the load applied to the tip tool (anvil 57) is small in the initial stage of the fastening operation of the stopper, when the hammer 56 and the anvil 57 rotate together and the load applied to the tip tool (anvil 57) increases, the spring 53 The hammer 56 moves backward against the biasing force, and the hammer 56 starts hitting the anvil 57 (t1 in FIG. 6). Thereby, the impact wrench 1 shifts from the rotation mode to the impact mode. When the first impact occurs at time t1, the current detected by the current detection circuit 64 becomes the minimum value at the impact timing, as shown in FIG. 6B. Specifically, it changes from descending to ascending at the timing of impact. As shown in FIG. 6 (B), the rotation speed changes from rising to falling at the timing of impact. As shown in FIGS. 6E and 6F, the tightening torque and the acceleration peak at time t1. After the impact, the hammer 56 moves backward along the groove 43a of the spindle 43. At this time, since the spindle 43 and the hammer 56 rotate relatively, the load on the motor 3 increases. As a result, the current shown in FIG. 6B rises and the rotational speed shown in FIG. 6D falls. At time t2, the hammer 56 is located at the separated position, and the current gradient becomes zero as shown in FIG. Along with this, the rotation speed gradient shown in FIG. At this time, since the cam end collision does not occur, the ball 51 and the rear end of the groove 43a are separated from each other. Thereafter, the hammer 56 advances along the groove 43a. At this time, since the hammer 56 moves forward while rotating in the same direction as the rotation direction of the spindle 43, the load on the motor 3 decreases. As a result, the current shown in FIG. 6B decreases and the rotational speed shown in FIG. 6D increases.

  At time t3 shown in FIG. 6, a pre-hit occurs, and the current and the rotational speed pulsate temporarily. Furthermore, a slight tightening torque is generated. Due to the occurrence of a pre-hit, the timing of hitting is incorrect, and overshoot continues at time t4. At this time, similarly, the current and the rotational speed pulsate temporarily, and a slight tightening torque is generated.

  The hammer 56 strikes the anvil 57 again at time t5 shown in FIG. At this time, since the slope of the current shown in FIG. 6A is smaller than the threshold value, the detected value is appropriate (S3: YES). When the hammer 56 strikes the anvil 57 again at time t6, the current changes from falling to rising, and then the current slope shown in FIG. 6A exceeds the threshold (S3: NO). This means that since the repulsive force received from the anvil 57 of the hammer 56 at the time of striking at the time t6 is large, the load on the motor 3 has risen sharply due to the hammer 56 retreating rapidly. That is, in this state, it is expected that a cam end collision as shown by a virtual dotted line in FIG. At the virtual dotted line, a cam end collision occurs at time t8 when the hammer 56 reaches the separated position. Further, in FIG. 6F, the vibration generated by the cam end collision appears at time t8 as indicated by a virtual dotted line. Therefore, in the present invention, at time t6, the predicting unit 71 calculates the duty ratio so as to be in the optimum hitting state as shown by the thick line in FIG. 6B, and at time t7, the duty ratio is decreased to enter the low duty mode. Transition (S4). That is, the load of the motor 3 starts to increase at t6, and shifts to the low duty mode before the hammer 56 is positioned at the separation position (before it is positioned at the peak after t6). In the present invention, “after the load starts to increase and before the load starts to decrease” corresponds to after time t6 and before time t8 in FIG. A period between t6 and t7 is a time delay for the prediction unit 71 to calculate the duty ratio.

  Since the mode is changed to the low duty mode at time t7, the current gradient in FIG. 6A sharply decreases as shown by a thick line, and the current of FIG. Further, the rotational speed shown in FIG. 6D also decreases as the duty ratio decreases. In the next impact, the current gradient does not exceed the threshold value, so the detected value is appropriate (S3: YES), and the duty ratio remains as it is (FIG. 6C). Although not shown in FIG. 6, if the slope of the current exceeds the threshold value at the next strike, it is determined that the detected value is not appropriate (S3: NO), and the predicting unit 71 calculates and lowers the duty ratio again. . The operations from S2 to S4 are repeated until the trigger 24 is turned off (S5: NO). When the trigger 24 is turned off (S5: YES), the tightening operation is completed. As a result, the low-duty mode once set is canceled, and therefore, when the trigger 24 is turned on again, the duty ratio becomes 100%.

  In the present embodiment, the low duty mode is continued after shifting to the low duty mode, but the duty may be returned to 100% after a predetermined time has elapsed. For example, when the tip tool and the stop are temporarily locked, the cam end collision may occur, so the low duty mode is preferable, but if the lock is released, the cam end collision may occur. Since it becomes low, efficient work can be performed by returning the duty ratio.

  According to such a configuration, the duty ratio of the driving power of the motor 3 is reduced after the hammer 56 hits the anvil 57 and then the current starts to increase and before the current starts to decrease. As a result, the current load increases (dotted line in FIG. 6B), and the occurrence of the cam end collision itself can be suppressed as compared with the case where the increase in current is detected and the motor duty ratio is decreased. Thereby, the vibration and energy loss which generate | occur | produce in the impact wrench 1 at the time of a cam end collision can be prevented.

  According to such a configuration, since the prediction unit 71 calculates the current change rate based on the current detected by the current detection circuit 64 and shifts to the low duty mode when the current change rate exceeds a predetermined threshold, the change rate By predicting the possibility of occurrence of a cam end collision as a result of the increase, and shifting to the low duty mode, the occurrence of a cam end collision can be suppressed. Thereby, the vibration and energy loss which generate | occur | produce in the impact wrench 1 at the time of a cam end collision can be prevented.

  Next, a first modification of the first embodiment of the present invention will be described with reference to FIG. In the above-described embodiment, the voltage detection circuit 63 is used as an example of the load detection unit. However, in the first modification, the rotation speed detection unit 69 is used as the load detection unit.

  The prediction unit 71 calculates the inclination of the rotation speed shown in FIG. The ROM (not shown) of the calculation unit 62 stores a threshold value for the rotation speed gradient. In the flowchart of FIG. 7, the rotation speed detection unit 69 detects the rotation speed of the motor 3 as a motor load (S2). If the repulsive force received from the anvil 57 of the hammer 56 increases at time t6, the load on the motor 3 increases rapidly, and the inclination of the rotational speed immediately after time t6 also decreases rapidly. If the inclination of the rotational speed falls below the threshold value, it is determined that the detected value is not appropriate (S3: NO), and the mode is shifted to the low duty mode at time t7 (S4).

  According to such a configuration, by detecting the rotation speed of the motor 3, the duty ratio of the driving power of the motor 3 can be reduced before the cam end collision occurs, and the occurrence of the cam end collision itself can be suppressed. Thereby, the vibration and energy loss which generate | occur | produce in the impact wrench 1 at the time of a cam end collision can be prevented.

  Next, a second modification of the first embodiment of the present invention will be described with reference to FIG. In the second modification, a torque detection circuit 72 is used as a load detection unit.

  The prediction unit 71 calculates the inclination of the tightening torque shown in FIG. The ROM (not shown) of the calculation unit 62 stores a threshold value of the inclination of the tightening torque. In the flowchart of FIG. 7, the torque detection circuit 72 detects the tightening torque in S2. When the repulsive force received from the anvil 57 of the hammer 56 increases at time t6, the inclination of the tightening torque immediately after time t6 also increases abruptly, as with the current inclination. When the torque gradient exceeds the threshold value, it is determined that the detected value is not appropriate (S3: NO), and the mode is shifted to the low duty mode at time t7 (S4).

  According to such a configuration, by detecting the tightening torque by the torque sensor 26, the duty ratio of the driving power of the motor 3 can be reduced before the cam end collision occurs, thereby suppressing the occurrence of the cam end collision itself. it can. Thereby, the vibration and energy loss which generate | occur | produce in the impact wrench 1 at the time of a cam end collision can be prevented.

  Next, a third modification of the first embodiment of the present invention will be described with reference to FIG. In the third modification, a triaxial acceleration detection circuit 66 is used as a load detection unit. The triaxial acceleration detection circuit 66 detects vibration generated in the impact wrench 1 by detecting acceleration in the triaxial direction.

  The prediction unit 71 calculates the gradient of acceleration shown in FIG. The ROM (not shown) of the calculation unit 62 stores a threshold value of acceleration gradient. In the flowchart of FIG. 7, the torque detection circuit 72 detects the tightening torque in S2. When the repulsive force received from the anvil 57 of the hammer 56 increases at time t6, the vibration generated in the impact wrench 1 increases and the inclination of acceleration increases. In this case, it is expected that the hammer 56 will retreat rapidly and a cam end collision will occur. When the acceleration gradient exceeds the threshold value, it is determined that the detected value is not appropriate (S3: NO), and the mode is shifted to the low duty mode at time t7 (S4).

  According to such a configuration, when the inclination of acceleration exceeds a predetermined threshold, it is determined that a cam end collision may occur, and the occurrence of the cam end collision can be suppressed by shifting to the low duty mode. Thereby, the vibration and energy loss which generate | occur | produce in the impact wrench 1 at the time of a cam end collision can be prevented.

  Next, a fourth modification of the first embodiment of the present invention will be described with reference to FIGS. In the fourth modified example, the mode is changed to the low duty mode in accordance with the behavior of the hammer 56 between the hammer 56 and the anvil 57. Specifically, the occurrence of a cam end collision is predicted by calculating the period between each hit.

  The prediction unit 71 calculates the hitting period based on the current shown in FIG. That is, the prediction unit 71 calculates the previous hitting cycle at the hitting timing. Specifically, at time t5, which is the second hit (S11: YES), a cycle T1 from time t1 to time t5 is calculated (S12), and whether the calculated value is appropriate by comparing with a threshold value. Is determined (S13). That is, the prediction unit 71 repeatedly executes S12 to S5 for each hit, and compares the calculated period with the threshold value. At time t6, which is the third blow (S11: YES), a cycle T2 from time t5 to time t6 is calculated and compared with a threshold value (S13). T2 calculated at time t6 is longer than the period T1 calculated at time t5. This is because the retraction amount of the hammer 56 has increased. If the hammer 56 moves forward and strikes the anvil 57 in this state, the repulsive force may increase and a cam end collision may occur. Therefore, when the period T2 exceeds the threshold, it is determined that the calculated value is not appropriate (S13: NO), and the mode is shifted to the low duty mode at time t7 (S4).

  According to such a configuration, when the cycle exceeds a predetermined threshold, it is determined that a cam end collision may occur, and the occurrence of the cam end collision can be suppressed by shifting to the low duty mode. Thereby, the vibration and energy loss which generate | occur | produce in the impact wrench 1 at the time of a cam end collision can be prevented.

  Next, a fifth modification of the first embodiment of the present invention will be described with reference to FIGS. In the fifth modification, the mode is changed to the low duty mode according to the behavior of the hammer 56 between the hammer 56 and the anvil 57. Specifically, the occurrence of a cam end collision is predicted by calculating the integral value of the current in the period between each hit.

  The predicting unit 71 calculates the integrated value I1 of the current of the cycle T1 from the time t1 to the time t5 at the time t5 that is the second blow (S11: YES), and compares it with the threshold value to calculate the value. Is determined to be appropriate (S13). That is, the prediction unit 71 repeatedly executes S12 to S5 for each hit, and compares the calculated integrated value with the threshold value. At time t6, which is the third hit (S11: YES), an integrated value I2 from time t5 to time t6 is calculated and compared with a threshold value (S13). As shown in FIG. 6B, I2 calculated at time t6 is larger than the integral value I1 calculated at time t5. This is because the retraction amount of the hammer 56 has increased. If the hammer 56 moves forward and strikes the anvil 57 in this state, the repulsive force may increase and a cam end collision may occur. Therefore, when the integral value I2 exceeds the threshold value, it is determined that the calculated value is not appropriate (S13: NO), and the mode is shifted to the low duty mode at time t7 (S4). In the case of the fifth modified example, not only the time on the horizontal axis of the graph but also the increase in the current value on the vertical axis can be detected together. Compared with the fourth modified example that detects only the time. In addition, the accuracy of the occurrence prediction of the cam end collision can be improved.

  According to such a configuration, when the integrated value of the current exceeds a predetermined threshold, it is determined that a cam end collision may occur, and the occurrence of the cam end collision can be suppressed by shifting to the low duty mode. . Thereby, the vibration and energy loss which generate | occur | produce in the impact wrench 1 at the time of a cam end collision can be prevented.

  Next, a second embodiment of the present invention will be described with reference to FIGS. The same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 9, immediately after time t6, when the slope of the current shown in FIG. 9A exceeds the threshold value, it is determined that the detected value is not appropriate (S3: NO in FIG. 10), and time t6 ′ The motor 3 is braked. Specifically, as shown in FIG. 9C, the duty ratio is set to zero during tmsec (from time t6 ′ to time t7). Since the motor 3 is temporarily stopped at the time t6 ′, the current gradient in FIG. 9A decreases as shown by the bold line, and the current in FIG. 9B also enters the state shown by the bold line. Further, the rotational speed shown in FIG. 9D also decreases as the motor 3 is temporarily stopped. Thereby, a cam end collision can be avoided. Since the motor 3 is temporarily stopped, as shown in FIG. 9 (E), the tightening torque at time t9 is reduced, but the tightening torque at time t10, which is the next hit, is the optimum hit state. It has become.

  In the second embodiment as well, as in the modification of the first embodiment, the detected value of S3 is changed to the current gradient, and the rotation speed gradient shown in FIG. Any one of the torque gradient shown in (E), the acceleration gradient shown in FIG. 9 (F), the striking cycle, and the integral value of the current may be adopted.

  According to such a configuration, since it is not necessary to calculate the duty ratio in the prediction unit 71, the time delay is shorter than that in the first embodiment. That is, time t6 to time t6 ′ that is the time delay of the second embodiment is shorter than time t6 to time t7 that is the time delay of the first embodiment. Thus, even when the hitting cycle is early, it is possible to reliably avoid the cam end collision.

  Next, a modification of the second embodiment of the present invention will be described. In the second embodiment, the motor 3 is temporarily stopped. However, in the modified example, the arithmetic unit 62 controls the motor 3 to positively reversely rotate. At this time, the time for controlling to reversely rotate is shorter than the time tmsec for stopping the motor 3 in the second embodiment. As a result, the time delay is further shortened than in the second embodiment, so that a cam end collision can be reliably avoided.

  In addition, the impact wrench of this invention is not limited to embodiment mentioned above, A various deformation | transformation and improvement are possible in the range described in the claim.

  In the embodiment and the modification described above, the detected value of S3 is changed to the current gradient, and the rotation speed gradient shown in FIG. 6D or FIG. ), The acceleration gradient shown in FIG. 6 (F) or FIG. 9 (F), the striking cycle, and the integral value of the current are employed, but at least two of these are combined. May be. Thereby, it is possible to increase the accuracy of prediction that a cam end collision will occur.

  In the above-described embodiment, an impact wrench is used as an example of the electric tool, but an impact driver may be used. The impact cycle of the impact wrench is about 30 msec, while the impact cycle of the impact driver is 15 to 20 msec. Therefore, when the present invention is applied to an impact driver, it is preferable to apply the second embodiment in consideration of the fact that the influence of the time delay becomes large. Even when the first embodiment is applied, the effects of the present invention can be obtained.

  In the above-described embodiment, an electric motor is used as the motor 3, but an air motor may be used.

1..Impact wrench 2..Housing 3..Motor 4..Gear mechanism 5..Impact mechanism 24..Trigger 25..Rectifier circuit 26 ... Torque sensor 31 ... Output shaft 36..Triaxial acceleration Sensor 37 ... Control board 43a ... Groove 51 ... Ball 56 ... Hammer 56c ... Groove 57 ... Anvil 62 ... Calculation unit 67 ... Rotor position detection circuit 68 ... Rotation condition determination unit 69 ..Rotation speed detector 70 ..Correction parameter derivation unit 72... Torque detection circuit

Claims (7)

A housing;
A motor housed in the housing;
A power supply unit for supplying driving power to the motor;
A hammer rotated by the motor;
An anvil that rotates by being struck by the hammer;
A load detector for detecting the load of the motor;
A controller that reduces a duty ratio of the driving power supplied to the motor after the load detected by the load detector starts to increase and before the load starts to decrease. Electric tool to do. The load detector detects a tightening torque of the anvil;
2. The power tool according to claim 1, wherein the control unit lowers the duty ratio of the driving power after the tightening torque reaches a peak when the hammer strikes the anvil. 3. The hammer is movable between a striking position for striking the anvil and a spacing position most spaced apart in the axial direction of the anvil and the motor,
The said control part reduces the said duty ratio of the said drive electric power after the said fastening torque reaches the said peak and before the said hammer reaches | attains the said separation position. Electric tool. The load detection unit detects the current of the motor,
2. The power tool according to claim 1, wherein the control unit reduces the duty ratio of the driving power after the current changes from falling to rising. 3.   5. The power tool according to claim 4, wherein the control unit reduces the duty ratio of the driving power after the current starts to decrease and before the current starts to decrease. The load detection unit detects the number of rotations of the motor,
2. The power tool according to claim 1, wherein the control unit reduces the duty ratio of the driving power after the rotation speed has changed from rising to falling. Wherein, according to claim 6, wherein the rotation speed after turned from rising to lowering, and the rotational speed is equal to or decreasing the duty ratio of the drive power before starts to increase downward Electric tool.

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