JP6484918B2 - Electric working machine - Google Patents

Description

  The present invention relates to an electric working machine that transmits power of an electric motor to a tip tool.

  2. Description of the Related Art Conventionally, an electric working machine that performs work by transmitting power of an electric motor to a tip tool is known. In order to improve the workability of the electric working machine, a technique for driving the electric motor by one operation has been proposed, and examples of the technique are described in Patent Documents 1 and 2. The electric working machine described in Patent Document 1 is a grinding machine, and the grinding machine has a housing having a grip and a power supply cable attached to the grip. An electric motor is provided inside the housing, and a tip tool that is driven by the power of the electric motor is provided. A sensor unit is provided in the housing, and the sensor unit detects a force with which the operator presses the tip tool against the object. The sensor unit outputs a signal corresponding to the detected force, and the signal output from the sensor unit is input to the adjustment unit. When the operator presses the tip tool against the object, the electric motor is driven, and the adjustment unit controls the rotation speed, torque, and the like of the electric motor according to the force pressing the tip tool against the object.

  The electric working machine described in Patent Document 2 is a drill, and the drill is provided continuously to the power head that holds the tip tool, the electric motor that drives the power head, the housing that houses the electric motor, and the housing. And a power supply attached to the grip. In addition, a force sensor is provided in the grip, and when the operator grips the grip and presses the tip tool against the object, the force sensor generates a voltage signal corresponding to the magnitude of the pressed force. A control unit is provided in the housing, and a voltage signal is input to the control unit. When the operator holds the grip and presses the tip tool against the object, the electric motor is driven, and the control unit controls the current and voltage supplied to the electric motor according to the voltage signal.

Special table 2007-518582 JP 2010-69616 A

  However, in the electric working machine described in Patent Documents 1 and 2 described above, the electric power supplied to the electric motor is controlled according to the force pressing the tip tool against the object, and the rotational speed and torque of the electric motor are controlled. Therefore, there is a problem that it takes a long time to practice until the operator gets used to handling the electric working machine.

  An object of the present invention is to improve workability for an operator to use an electric working machine.

An electric working machine according to an embodiment includes an electric motor having a rotation shaft that can rotate around an axis, a housing that houses the electric motor, a housing that is provided continuously with the housing, and that intersects the axis. to and a grip which is extended in the direction, a working machine body for supporting the tool mounting part which working tool power of the electric motor is transmitted is removably disposed within the housing, the tool mounting part A detection unit that detects movement in the front-rear direction along the axis, and provided in front of a connection portion between the grip and the housing, and the operator holds the grip along the axis by the operator. It has been an operating unit capable of reciprocating, and a control unit for controlling the electric motor, wherein the control section, when the tool mounting part is not moving backward, by operating the operating unit Wherein without driving the electric motor, when the tool mounting part is moved backward, said regardless of the force pressing the tool bit on the object, according to the operation amount of the operation unit, the electric motor To control the power supplied to the.

According to an embodiment of the present invention, when the tip tool is pressed against the object, the electric power supplied to the electric motor according to the operation amount of the operation unit is independent of the force pressing the tip tool against the object. Can be controlled. Therefore, workability for the operator to use the electric working machine is improved.

It is side surface sectional drawing which shows the impact driver which is an example of the electrically-driven working machine of this invention. It is a block diagram which shows the control system of an impact driver. (A), (B) is a side view which shows the usage example of an impact driver. It is a flowchart which shows the example of control which can be performed with an impact driver. (A), (B) is a diagram which shows the relationship between the applied voltage with respect to a brushless motor, and the operation amount of an operation mode switch. It is a time chart which shows the time-dependent change of the rotation speed of a brushless motor, and an applied voltage. It is a flowchart which shows the other example of control which can be performed with an impact driver. It is a time chart which shows the time-dependent change of the rotation speed of a brushless motor, and an applied voltage. (A), (B) is a partial side sectional view showing another example of arrangement of a pressing force detection switch in an impact driver.

  Hereinafter, an impact driver which is an embodiment of the electric working machine of the present invention will be described in detail with reference to FIG. The impact driver 10 shown in FIG. 1 includes a battery pack 11 that houses battery cells that can be charged and discharged, and a brushless motor 12 that is an electric motor that is driven by power supplied from the battery pack 11. The brushless motor 12 is a power source that converts electrical energy into kinetic energy. The impact driver 10 has a housing 13, and the brushless motor 12 is disposed inside the housing 13.

  The brushless motor 12 has a rotating shaft 14, a rotor 15, and a stator 16. The rotor 15 is fixed to the rotating shaft 14, and the rotor 15 has a permanent magnet and can rotate integrally with the rotating shaft 14. The rotating shaft 14 is rotatably supported by two bearings 17.

  The brushless motor 12 of this embodiment is a three-phase four-pole DC electric motor. The permanent magnet has four pole magnets having different polarities, specifically, two N poles and two S poles. S poles and N poles are alternately arranged in the circumferential direction of the rotating shaft 14. Further, the stator 16 is disposed so as to surround the rotor 15, and the stator 16 includes a stator core 18 in which a plurality of conductive core plates are laminated and a three-phase, that is, as shown in FIG. , U-phase, V-phase, and W-phase stator coils 13U, 13V, and 13W. The three stator coils 13U, 13V, and 13W are star-connected to each other. In the brushless motor 12, when electric power is supplied to the stator coils 13U, 13V, and 13W, a rotating magnetic field is formed and the rotor 15 rotates. The brushless motor 12 can switch the rotation direction of the rotor 15 forward and backward by switching the direction of energization to the stator coils 13U, 13V, and 13W.

  The impact driver 10 has an anvil 20 to which a tip tool 19 is attached and detached. The anvil 20 is rotatably supported by a sleeve 21 attached to the housing 13. The anvil 20 is rotatable about the axis A1.

  On the other hand, a speed reducer 22 is provided inside the housing 13. The speed reducer 22 is disposed between the brushless motor 12 and the anvil 20 in a direction along the axis A1. The reduction gear 22 is a power transmission device that transmits the torque of the brushless motor 12 to the anvil 20, and the reduction gear 22 is configured by a single pinion type planetary gear mechanism. The speed reducer 22 rotates a sun gear 23 disposed coaxially with the rotary shaft 14, a ring gear 24 provided so as to surround the outer periphery of the sun gear 23, and a plurality of pinion gears 25 meshed with the sun gear 23 and the ring gear 24, and And a revolvingly supported carrier 26. The ring gear 24 is fixed to the housing 13 and cannot rotate.

  A spindle 27 that rotates together with the carrier 26 about the axis A1 is provided. That is, the rotating shaft 14, the speed reducer 22, the spindle 27, and the anvil 20 of the brushless motor 12 are provided around the axis A1. The spindle 27 is disposed between the anvil 20 and the speed reducer 22 in the direction along the axis A1, and an end portion of the spindle 27 on the anvil 20 side projects from the axis portion along the axis A1. 28 is formed. A cylindrical holder 29 is attached in the housing 13, and the end portion of the spindle 27 in the longitudinal direction is rotatably supported by the holder 29 via a bearing 30. Further, two first cam grooves 27 b are provided on the outer peripheral surface of the spindle 27.

  On the other hand, a holding hole 31 concentric with the axis A <b> 1 is provided at the end portion of the anvil 20 on the spindle 27 side, and the shaft portion 28 is rotatably inserted into the holding hole 31. That is, the anvil 20 and the spindle 27 are relatively rotatable about the axis A1. Further, the anvil 20 is provided with a tool mounting hole 32 concentric with the axis A1. The tool attachment hole 32 is opened in a portion of the anvil 20 exposed to the outside of the housing 13, and the tool attachment hole 32 is provided for attaching and detaching the tip tool 19.

  An annular hammer 33 is attached to the outer periphery of the spindle 27. The hammer 33 is disposed between the speed reducer 22 and the anvil 20 in a direction along the axis A1. The hammer 33 can rotate relative to the spindle 27 and can move relative to the spindle 27 in a direction along the axis A1. On the inner peripheral surface of the hammer 33, two second cam grooves 33a extending in the direction along the axis A1 are formed.

  One ball 34 is held with the first cam groove 27b and the second cam groove 33a as a set. The ball 34 is a metal rolling element. For this reason, the hammer 33 is movable in the direction along the axis A <b> 1 within a range in which the ball 34 can roll with respect to the spindle 27. Further, the hammer 33 is movable with respect to the spindle 27 in the circumferential direction around the axis A1 within a range in which the ball 34 can roll.

  Further, an annular plate 35 is attached between the first cam groove 27 b and the carrier 26 in the direction along the axis A <b> 1 on the outer periphery of the spindle 27. A compression spring 36 is provided in a compressed state between the hammer 33 and the plate 35 in the direction along the axis A1. Since the carrier 26 is in contact with the bearing 30 and the holder 29, the movement in the direction along the axis A <b> 1 is restricted, and the pressing force of the compression spring 36 is applied to the hammer 33. The hammer 33 is pressed toward the anvil 20 in the direction along the axis A <b> 1 by the pressing force of the compression spring 36.

  A projecting portion 37 projecting in the radial direction is provided at an end portion of the anvil 20 on the hammer 33 side. Two protrusions 37 are provided at intervals of 180 degrees in the circumferential direction of the anvil 20. On the other hand, a protrusion 38 that protrudes in the direction along the axis A1 is provided at the end of the hammer 33 on the anvil 20 side. Two protrusions 38 are provided at intervals of 180 degrees in the circumferential direction of the hammer 33. The protrusion 37 and the protrusion 38 are disposed on the same circumference with the axis A1 as the center, and the protrusion 37 and the protrusion 38 can be engaged and released.

  A grip 39 is provided continuously to the housing 13. The grip 39 extends from the outer surface of the housing 13 in a direction intersecting with the axis A1. The grip 39 is a place where an operator grips with a hand, and a pressing force detection switch 40 and an operation mode changeover switch 41 are provided at a connection place between the grip 39 and the housing 13. The pressing force detection switch 40 detects whether or not the tip tool 19 attached to the anvil 20 is pressed against the object. The operation mode changeover switch 41 is provided for the operator to switch between a plurality of operation modes for controlling the brushless motor 12. The operation mode changeover switch 41 can be operated with the index finger while the operator holds the grip 39 with his hand. The operation mode will be described later.

  Both the pressing force detection switch 40 and the operation mode switching switch 41 are operated by an operator. The pressing force detection switch 40 and the operation mode switching switch 41 are attached to the grip 39 in a state in which the reciprocating operation is possible in the direction along the axis A1. The pressing force detection switch 40 and the operation mode switching switch 41 are regulated so that the operating range for the grip 39 is a predetermined stroke. Further, in the grip 39, elastic members that generate a force repelling the operation force applied to the pressing force detection switch 40 and the operation mode switching switch 41 are provided. The elastic member includes a metal spring.

  When the operator operates the pressing force detection switch 40 or the operation mode switching switch 41, the operator is operated against the force of the elastic member. When the operator does not apply an operating force to the pressing force detection switch 40 or the operation mode switching switch 41, the switch to which no force is applied stops at an initial position protruding a predetermined amount from the grip 39.

  Further, a light 42 is provided outside the sleeve 21 in the housing 13. As the light 42, for example, a light emitting diode (LED) can be used. The light 42 illuminates a location where the tip tool 19 is pressed against the screw 43, a location where the screw 43 is pressed against the wood 44, and the like.

  Next, a usage example of the impact driver 10, that is, an outline of control for supplying power to the brushless motor 12 will be described. The conditions for determining whether or not to supply power to the brushless motor 12 will be described later. If electric power is not supplied to the brushless motor 12, the rotating shaft 14 is stopped. Further, the hammer 33 pressed by the compression spring 36 comes into contact with the anvil 20 and stops. For this reason, as shown in FIG. 3A, even if the tip tool 19 is in contact with the screw 43, the tip tool 19 does not rotate.

  On the other hand, when electric power is supplied to the brushless motor 12, the rotating shaft 14 rotates. The torque of the rotating shaft 14 is transmitted to the sun gear 23 of the speed reducer 22. When torque is transmitted to the sun gear 23, the ring gear 24 becomes a reaction force element, and the carrier 26 becomes an output element. That is, when the torque of the sun gear 23 is transmitted to the carrier 26, the torque is amplified by the rotation speed of the carrier 26 being lower than the rotation speed of the sun gear 23.

  When torque is transmitted to the carrier 26, the spindle 27 rotates together with the carrier 26. The torque of the spindle 27 is transmitted to the hammer 33 via the ball 34. The torque of the hammer 33 is transmitted to the anvil 20 by the engaging force between the protrusion 38 and the protrusion 37, and the anvil 20 rotates. For this reason, the rotational force of the anvil 206 is transmitted to the screw 43 through the tip tool 19, and the screw 43 is screwed into the wood 44 as shown in FIG. When the screw 43 is screwed into the wood 44 and the frictional resistance between the wood 44 and the screw 43 increases and the rotational force necessary to rotate the tip tool 19 increases, the anvil 20 stops and the ball 34 and the The ball 34 rolls in the first cam groove 27b and the second cam groove 33a by the reaction force generated at the contact point with the inner surface of the two cam grooves 33a, and the hammer 33 moves in a direction away from the anvil 20.

  Here, the hammer 33 moves along the axis A <b> 1 against the pressing force of the compression spring 36. Then, the protrusion 38 and the protrusion 37 are released, and the rotational force of the hammer 33 is not transmitted to the anvil 20. Further, when the rotation of the hammer 33 is continued and the protrusion 38 gets over the protrusion 37, the pressing force applied to the hammer 33 by the compression spring 36 is higher than the force in the direction to move the hammer 33 away from the anvil 20. Become. Then, the ball 34 rolls in the first cam groove 27 b and the second cam groove 33 a, so that the hammer 33 and the spindle 27 rotate relative to each other, and the hammer 33 moves in a direction approaching the anvil 20.

  Thereafter, the projecting portion 38 of the rotating hammer 33 collides with the projecting portion 37 of the stopped anvil 20, and a striking force in the rotational direction is applied to the anvil 20 and the tip tool 19. Note that the screw 43 can be loosened by reversing the rotation direction of the rotating shaft 14 of the brushless motor 12.

  Next, the control system of the impact driver 10 will be described with reference to FIGS. A mounting portion 45 is provided at the end of the grip 39 opposite to the housing 13, and a main body side terminal 46 is provided at the mounting portion 45. The battery pack 11 is detachable from the mounting portion 45. The battery pack 11 includes a storage case 47 and battery cells stored in the storage case 47. The battery cell is a secondary battery that can be charged and discharged, and a lithium ion battery, a nickel hydrogen battery, a lithium ion polymer battery, a nickel cadmium battery, or the like can be used as the battery cell. The battery pack 11 has a battery side terminal connected to the electrode of the battery cell. When the battery pack 11 is attached to the mounting portion 45, the main body side terminal 46 and the battery side terminal are connected.

  An inverter circuit 48 is provided in a path for supplying the electric power of the battery pack 11 to the brushless motor 12. The inverter circuit 48 includes six switching elements Q1 to Q6 such as FETs connected in a three-phase bridge format. In the example of FIG. 2, switching elements Q <b> 1 to Q <b> 3 are connected to the positive electrode side of battery pack 11, and switching elements Q <b> 4 to Q <b> 6 are connected to the negative electrode side of battery pack 11, respectively. An inverter circuit board 49 is provided between the bearing 17 and the stator 16, and the inverter circuit 48 is mounted on the inverter circuit board 49.

  The inverter circuit board 49 is provided with a rotor position detecting element 50 that detects the rotational position of the rotor 15. The rotor position detecting element 50 is configured by a Hall element or the like, and the rotor position detecting element 50 is spaced from the inverter circuit board 49 at a predetermined interval in the circumferential direction of the rotor 15, for example, every 60 degrees. Three are arranged.

  A control circuit board 51 is provided in the mounting portion 45. A control circuit 52 is provided on the control circuit board 51. The control circuit 52 includes a calculation unit 53, a control signal output circuit 54, a motor current detection circuit 55, a battery voltage detection circuit 56, a rotor position detection circuit 57, a motor rotation number detection circuit 58, and a control circuit voltage. A detection circuit 59, switch operation detection circuits 60 and 61, and an applied voltage setting circuit 62 are provided.

  A signal output from the rotor position detection element 50 is input to the rotor position detection circuit 57, and the rotor position detection circuit 57 detects the rotation phase of the rotor 15 and is output from the rotor position detection circuit 57. The received signal is input to the calculation unit 53.

  The arithmetic unit 53 includes a central processing unit (CPU) that outputs a drive signal for the inverter circuit 48 based on the processing program and data, a ROM for storing the processing program and control data, and a RAM for temporarily storing the data. And a microcomputer including a timer.

  A resistor Rs is arranged in a path for supplying power from the battery pack 11 to the inverter circuit 48, and the motor current detection circuit 55 detects the current value supplied to the brushless motor 12 from the voltage drop of the resistor Rs and detects it. The signal is output to the arithmetic unit 53. The battery voltage detection circuit 56 detects the voltage supplied from the battery pack 11 to the inverter circuit 48 and outputs a detection signal to the calculation unit 53.

  The rotor position detection circuit 57 receives the output signal of each rotor position detection element 50 and outputs the position signal of the rotor 15 to the calculation unit 53 and the motor rotation number detection circuit 58. The motor rotation number detection circuit 58 detects the rotation number of the rotor 15 from the input position signal and outputs the detection result to the calculation unit 53.

  The switch operation detection circuit 61 detects whether or not the tip tool 19 attached to the anvil 20 is pressed against the wood 44 via the screw 43, and outputs a signal corresponding to the detection result to the calculation unit 53. When the tip tool 19 is pressed against the wood 44 via the screw 43, the pressing force detection switch 40 is turned on. If the tip tool 19 is in contact with the screw 43 but is not pressed against the wood 44, the pressing force detection switch 40 is turned off.

  The voltage of the battery pack 11 is supplied to the entire control circuit 52 at a predetermined voltage value via the control circuit voltage supply circuit 63. The control circuit voltage detection circuit 59 detects the voltage value supplied from the control circuit voltage supply circuit 63 to the control circuit 52 and outputs the detection result to the calculation unit 53. The calculation unit 53 obtains the energization direction, energization timing, energization period, and the like for the brushless motor 12 based on signals input from various circuits and outputs the signals to the control signal output circuit 54.

  In addition, the display part 64 is provided in the housing 13 or the mounting part 45 etc., and the display part 64 is comprised by the liquid crystal display, the lamp | ramp, etc. A display signal is output from the calculation unit 53 to the display unit 64. The operator can visually check the display unit 64 to check the rotation speed of the rotor 15, the operation mode of the brushless motor 12, and the like. Further, a temperature detection sensor 65 that detects the temperature of the brushless motor 12 is provided in the housing 13, and an output signal of the temperature detection sensor 65 is input to the calculation unit 53.

  In the present embodiment, the switch operation detection circuit 60 detects whether or not the operation mode changeover switch 41 is operated when the pressing force detection switch 40 is not operated, and outputs a signal corresponding to the detection result to the calculation unit 53. Output to. The switch operation detection circuit 60 outputs an ON signal when the operation mode changeover switch 41 is operated, and outputs an OFF signal when the operation mode changeover switch 41 is not operated.

  On the other hand, when the operation mode changeover switch 41 is operated in a state where the pressing force detection switch 40 is not operated, the calculation unit 53 turns the brushless motor 12 on every time the operation mode changeover switch 41 is turned on and off once. Switch the operation mode to be controlled. On the other hand, the applied voltage setting circuit 62 detects the operation amount of the operation mode changeover switch 41 in a state where the pressing force detection switch 40 is operated, and outputs a signal corresponding to the detection result to the calculation unit 53. . The operation amount of the operation mode changeover switch 41 is a movement amount based on the initial position.

  Based on the position detection signal of the rotor position detection circuit 57, the arithmetic unit 53 is a drive signal for executing switching control for alternately turning on and off predetermined switching elements Q1 to Q3, and predetermined switching elements. A pulse modulation width signal for switching control of Q4 to Q6 is formed and output to the control signal output circuit 54.

  The control signal output circuit 54 outputs the switching element drive signal H1 to the gate of the switching element Q1, and outputs the switching element drive signal H2 to the gate of the switching element Q2, based on the drive signal from the calculation unit 53. The switching element drive signal H3 is output to the gate of Q3, the pulse width modulation signal H4 is output to the gate of the switching element Q4, the pulse width modulation signal H5 is output to the gate of the switching element Q5, and the pulse is applied to the gate of the switching element Q6. The width modulation signal H6 is output. That is, the three switching elements Q1 to Q3 are separately turned on / off by the switching element drive signal, and the three switching elements Q4 to Q6 are separately turned on / off by the pulse width modulation signal, A certain duty ratio is controlled.

  By this control, each of the stator coils 13U, 13V, and 13W is alternately energized in a predetermined energization direction, a predetermined energization timing, and a predetermined period, so that the rotor 15 rotates in a target rotation direction. It is rotated with the target torque. The target rotation direction, target rotation speed, and target torque can be set by the operator operating the operation mode switch 41.

  Through the above control, the drains or sources of the six switching elements Q1 to Q6 are individually connected or disconnected to the star-connected stator coils 13U, 13V, and 13W. The switching element Q1 performs a switching operation based on the switching element drive signal H1 input from the control signal output circuit 54, and the switching element Q2 performs a switching operation based on the switching element drive signal H2 input from the control signal output circuit 54. Q3 performs a switching operation by the switching element drive signal H3 input from the control signal output circuit 54. The switching element Q4 performs a switching operation by the pulse width modulation signal H4 input from the control signal output circuit 54, and the switching element Q5 performs a switching operation by the pulse width modulation signal H5 input from the control signal output circuit 54. Q6 performs a switching operation by the pulse width modulation signal H6 input from the control signal output circuit 54. The voltage applied to the inverter circuit 48 is supplied to the stator coil 13U as the voltage Vu corresponding to the U phase, supplied to the stator coil 13V as the voltage Vv corresponding to the V phase, and as the voltage Vw corresponding to the W phase. It is supplied to the stator coil 13W.

  When the pressing force detection switch 40 is turned on, electric power is supplied to the brushless motor 12 to generate torque on the rotating shaft 14. In this case, among the six switching elements Q1 to Q6, the PWM signals H4, H5, and H6 are supplied to the gates of the three switching elements Q4, Q5, and Q6 connected to the negative electrode side of the battery pack 11. The In addition, the calculation unit 53 changes the pulse width of the PWM signal, that is, the duty ratio, according to the operation amount of the operation mode changeover switch 41. With this control, the power supplied to the brushless motor 12 can be controlled, and the rotation direction of the rotor 15 is switched, the switching between starting and stopping of the brushless motor 12 is performed, and the rotation speed and torque of the rotor 15 are controlled. The PWM signal is an abbreviation for Pulse Width Modulation signal and means a pulse width modulation signal.

  Further, the calculation unit 53 obtains the target rotational speed of the rotor 15 based on the signal input from the applied voltage setting circuit 62. The computing unit 53 detects the actual rotational speed of the rotor 15 based on the signal input from the motor rotational speed detection circuit 58. Then, the calculation unit 53 controls the duty ratio of the pulse width modulation signals H4, H5, and H6, and executes feedback control so that the actual rotational speed of the rotor 15 approaches the target rotational speed.

  Instead of supplying the PWM signal to the switching elements Q4 to Q6 (low side switch) connected to the negative electrode side of the battery pack 11, the switching elements Q1 to Q3 (high side switch) connected to the positive electrode side of the battery pack 11 are used. ) May be provided.

  FIG. 4 is a flowchart illustrating a specific control example of the impact driver 10. First, in step S <b> 1, the control circuit 52 determines whether or not the tip tool 19 is pressed against the wood 44 from the signal of the pressing force detection switch 40. As shown in FIG. 3A, when the pressing force detection switch 40 is turned off, the control circuit 52 determines NO in step S1, and repeats the determination in step S1.

  On the other hand, if the control circuit 52 determines in step S1 that the tip tool 19 is pressed against the wood 44 (YES), the control circuit 52 executes the process of step S2. The control circuit 52 supplies power to the brushless motor 12 to drive it in step S2. For this reason, the torque of the rotating shaft 14 is transmitted to the tip tool 19, and the screw 43 is screwed into the wood 44 as shown in FIG. The control circuit 52 determines in advance the amount of power to be supplied to the brushless motor 12 when executing the process of step S <b> 2, and the number of rotations of the rotor 15 is a value corresponding to the amount of power supplied.

  Further, the control circuit 52 determines whether or not the operation mode changeover switch 41 is turned on in step S3 while the brushless motor 12 is rotating. If it is determined YES in step S3, the control circuit 52 executes the process of step S4 and returns to step S2. In step S4, the control circuit 52 controls the amount of power supplied to the brushless motor 12 according to the amount of operation of the operation mode changeover switch 41. That is, the target rotational speed of the rotor 15 is obtained according to the operation amount of the operation mode changeover switch 41, and control is performed to bring the actual rotational speed of the rotor 15 close to the target rotational speed. A specific control example of step S4 will be described later.

  On the other hand, if NO is determined in step S3, the control circuit 52 proceeds to step S5 and determines whether or not the pressing force detection switch 40 is turned off. If the control circuit 52 determines NO in step S5, it returns to step S3. If the control circuit 52 determines YES in step S5, it proceeds to step S6 to stop the brushless motor 12 and ends the control routine of FIG.

  The control circuit 52 can execute the control example 1 or the control example 2 in step S4 described above. In the control example 1, the smaller the operation amount of the operation mode changeover switch 41 is, the higher the voltage applied to the brushless motor 12 is. On the other hand, the greater the operation amount of the operation mode changeover switch 41 is, the higher the voltage applied to the brushless motor 12 is. Is a characteristic of lowering. The relationship between the operation amount of the operation mode changeover switch 41 and the applied voltage of the brushless motor 12 in the control example 1 is expressed as, for example, the diagram of FIG. When the operation mode changeover switch 41 is at the initial position, the operation amount is minimum, and when the operation mode changeover switch 41 increases from the initial position toward the maximum operation amount, the voltage applied to the brushless motor 12 decreases. When the control circuit 52 executes the control example 1 in step S4, the amount of electric power supplied to the brushless motor 12 decreases as the operation amount of the operation mode changeover switch 41 increases, and the rotation speed of the rotor 15 becomes descend.

  On the other hand, in the control example 2, the smaller the operation amount of the operation mode changeover switch 41 is, the lower the voltage applied to the brushless motor 12 is. On the other hand, the greater the operation amount of the operation mode changeover switch 41 is, the more the brushless motor 12 is. The voltage applied to is increased. The relationship between the operation amount of the operation mode changeover switch 41 and the applied voltage of the brushless motor 12 in this control example 2 is expressed as, for example, the diagram of FIG. When the operation mode changeover switch 41 decreases from the maximum operation amount toward the initial position, the voltage applied to the brushless motor 12 decreases.

  When the control circuit 52 executes the control example 1 in step S4, the amount of electric power supplied to the brushless motor 12 decreases as the operation amount of the operation mode changeover switch 41 increases, and the rotation speed of the rotor 15 becomes descend. When the control circuit 52 executes the control example 2 in step S4, the amount of electric power supplied to the brushless motor 12 decreases as the operation amount of the operation mode changeover switch 41 decreases, and the rotation speed of the rotor 15 becomes descend.

  FIG. 6 is an example of a time chart comprehensively showing the control examples 1 and 2. First, a case where the control circuit executes the control example 1 will be described. The pressing force detection switch is turned off before time t1, and no voltage is applied to the brushless motor. Further, the mode switch is not pushed before time t1. When the pressing force detection switch is turned on at time t1, the control circuit starts applying a voltage to the brushless motor. Here, the voltage applied to the brushless motor increases with a predetermined gradient as time passes. For this reason, the rotation speed of the brushless motor increases after time t1. The duty ratio is maintained at 100% after time t2, and the rotation speed of the brushless motor is controlled to be constant. Note that the mode switch is not pressed even at time t2. As described above, the control circuit 52 executes the soft start for increasing the voltage applied to the brushless motor at a predetermined gradient with time from time t1 to time t2.

  The pressing force detection switch is pressed after time t3, and the operation of the operation mode switch is started. When the operation amount of the operation mode switch increases with time, the control circuit decreases the duty ratio of the applied voltage to the brushless motor after time t3. For this reason, the rotation speed of the brushless motor decreases after time t3. When the pressing force detection switch is turned off at time t4, the control circuit sets the applied voltage to the brushless motor to 0% at time t4, and the brushless motor stops at time t4.

  Next, the case where the control circuit executes the control example 2 will be described with reference to the time chart of FIG. The pressing force detection switch is turned off before time t1, and no voltage is applied to the brushless motor. Also, the operation mode switch is not pressed. When the pressing force detection switch is turned on at time t1 and the operation mode changeover switch is operated, the control circuit starts applying a voltage to the brushless motor, and the voltage increases at a predetermined gradient. For this reason, the rotation speed of the brushless motor increases after time t1. The duty ratio is maintained at 100% after time t2, and the rotation speed of the brushless motor is controlled to be constant.

  When the pressing force detection switch is kept pressed after time t3 and the operation amount of the operation mode change switch decreases, the control circuit decreases the duty ratio of the voltage applied to the brushless motor. For this reason, the rotation speed of the brushless motor decreases after time t3. When the pressing force detection switch is turned off at time t4, the control circuit sets the applied voltage to the brushless motor to 0% at time t4, and the brushless motor stops at time t4.

  FIG. 7 is a flowchart illustrating an example in which the operation mode changeover switch 41 is operated to switch the operation mode of the brushless motor 12. First, the control circuit 52 determines whether or not the brushless motor 12 is stopped in step S11. If the control circuit 52 determines NO in step S11, it continues the determination process in step S11.

  On the other hand, when the control circuit 52 determines YES in step S11, the control circuit 52 determines whether or not the operation for turning on and off the operation mode changeover switch 41 has been performed once in step S12. The control circuit 52 determines that the operation mode changeover switch 41 is turned on when the operation amount of the operation mode changeover switch 41 becomes maximum. If the control circuit 52 determines that the operation mode changeover switch 41 is not turned on in step S12, the control routine of FIG.

  On the other hand, if it is determined YES in step S12, the control circuit 52 determines whether or not “operation mode 1” is currently selected in step S13. When it is determined YES in step S13, the control circuit 52 performs a process of changing from “operation mode 1” to “operation mode 2” in step S14.

  The control circuit 52 determines whether or not “operation mode 2” is currently selected in step S15 when NO is determined in step S13 or after the processing of step S14. If it is determined YES in step S15, the control circuit 52 performs a process of changing from “operation mode 2” to “operation mode 3” in step S16.

  When it is determined NO in step S15 or after performing the process of step S16, the control circuit 52 determines whether or not “operation mode 3” is currently selected in step S17. If it is determined YES in step S17, the control circuit 52 performs a process of changing from “operation mode 3” to “operation mode 4” in step S18.

  The control circuit 52 determines whether or not “operation mode 4” is currently selected in step S19 when NO is determined in step S17 or after the processing of step S18. If it is determined YES in step S19, the control circuit 52 performs a process of changing from “operation mode 4” to “operation mode 1” in step S20, and ends the control routine of FIG. If the control circuit 52 determines NO in step S19, it returns to the determination in step S13.

  As described above, the control circuit 52 operates to control the brushless motor 12 each time the operation mode changeover switch 41 that has been turned off is operated, is once turned on, and is turned off once. Change the mode sequentially. The contents of “operation mode 1” to “operation mode 4” executed by the control circuit 52 are as follows.

  The control circuit 52 rotates the rotating shaft 14 forward in the “operation mode 1” and reversely rotates the rotating shaft 14 in the “operation mode 2”. For example, when the screw 43 is tightened as shown in FIG. 3, the direction in which the tip tool 19 rotates clockwise in a plan view of the impact driver 10 is the forward rotation of the rotating shaft 14.

  The control circuit 52 can set the amount of power supplied to the brushless motor 12 in the “operation mode 3” to “low” and the amount of power supplied to the brushless motor 12 in the “operation mode 4” to “high”. For example, the control for setting the amount of power supplied to the brushless motor 12 to “low” includes the control for setting the duty ratio of the voltage applied to the brushless motor 12 to 50%. The control for setting the amount of power supplied to the brushless motor 12 to “high” includes the control for setting the duty ratio of the voltage applied to the brushless motor 12 to 100%.

  The control circuit 52 may not execute all of the four types of operation modes described based on the flowchart of FIG. That is, the control circuit 52 executes control for switching at least two types of operation modes when an operation for turning on and off the operation mode changeover switch 41 is performed once. At least two types of operation modes differ in the amount of power supplied to the brushless motor 12, the output, and the like.

  Examples of combinations of two types of operation modes that can be executed by the control circuit 52 will be sequentially described. For example, every time the operation of turning on and off the operation mode changeover switch 41 is repeated once, control for alternately switching between “operation mode 3” and “operation mode 4” may be executed. An example of control in which the control circuit 52 switches between “operation mode 3” and “operation mode 4” alternately will be described with reference to the time chart of FIG.

  First, the pressing force detection switch is turned off before time t1, and no voltage is applied to the brushless motor. Further, the operation mode changeover switch is not pushed before time t1. When the pressing force detection switch is turned on at time t1, the control circuit starts applying a voltage to the brushless motor. The control circuit increases the voltage applied to the brushless motor with a predetermined gradient as time passes, and sets the duty ratio at time t2 to 100%. That is, the control circuit executes the control of “operation mode 4”.

  In this way, the control circuit 52 can execute the soft start that increases the voltage applied to the brushless motor with a predetermined gradient with time from time t1 to time t2. For this reason, the rotation speed of the brushless motor increases between time t1 and time t2, and the supply voltage to the brushless motor is maintained at a duty ratio of 100% after time t2. Therefore, the rotation speed of the brushless motor is controlled to be constant after time t2.

  When the first operation for turning on / off the operation mode changeover switch is executed at time t3 with the pressing force detection switch being pressed, the control circuit changes from “operation mode 4” to “operation”. Change to "Mode 3". That is, the control circuit reduces the voltage applied to the brushless motor from a duty ratio of 100% to 50%. For this reason, the rotation speed of the brushless motor decreases from time t3 and is maintained at a predetermined rotation speed between time t3 and time t4.

  Further, when the second operation of turning on / off the operation mode changeover switch is performed at time t4 in a state where the pressing force detection switch is turned on, the control circuit switches from “operation mode 3” to “operation mode 4”. Switch to. That is, the control circuit increases the voltage applied to the brushless motor from the duty ratio of 50% to 100%. For this reason, the rotation speed of the brushless motor rises from time t4 and is maintained at a predetermined rotation speed between time t4 and time t5.

  Thereafter, when the third operation for turning on / off the operation mode changeover switch is performed at time t5 in a state where the pressing force detection switch is on, the control circuit operates from “operation mode 4” to “operation mode 3”. Switch to. That is, the control circuit reduces the voltage applied to the brushless motor from a duty ratio of 100% to 50%. For this reason, the rotation speed of the brushless motor decreases from time t5 and is maintained at a predetermined rotation speed between time t5 and time t6.

  In addition, the control circuit 52 stops the brushless motor 12 by alternately switching between “operation mode 5” and “operation mode 6” each time the operation of switching the operation mode switch 41 on and off is repeated once. It is also possible to change the conditions to be performed.

  For example, it is possible to switch between “operation mode 5” and “operation mode 6” having different torques as conditions for stopping the brushless motor 12. For example, the brushless motor 12 performs feedback control that brings the actual rotational speed of the rotor 15 closer to the target rotational speed. When the load torque at the time of tightening the screw 43 increases, the current value supplied to the brushless motor 12 is increased in order to suppress a decrease in the actual rotational speed of the rotor 15. Here, even if the pressing force detection switch 40 is turned on, it is possible to execute control to suppress overtightening of the screw 43 by stopping the brushless motor 12 when the current value increases to a predetermined value. To stop the brushless motor 12 is to set the duty ratio of the voltage applied to the brushless motor 12 to 0%.

  Then, when executing the control to suppress overtightening of the screw 43, the current value for stopping the brushless motor 12 is made different between the “operation mode 5” and the “operation mode 6”. For example, in the “operation mode 5”, the brushless motor 12 is stopped when a current value of 10 A is supplied to the brushless motor 12, and in the “operation mode 6”, the brushless motor 12 is supplied with a current value of 20 A. The motor 12 can be stopped.

  Next, an example of switching between “operation mode 7” and “operation mode 8” in which the temperature of the brushless motor 12 as a condition for stopping the brushless motor 12 is different will be described. The temperature of the brushless motor 12 is increased by energization, the heat of the brushless motor 12 is transmitted to the grip 39, and the temperature of the grip is increased.

  Therefore, the temperature at which the brushless motor 12 is stopped can be set higher in “operation mode 8” than in “operation mode 7”. Then, if the operator selects “driving mode 7” according to the environment in which the impact driver 10 is used and the season, the temperature rise of the grip 39 can be suppressed.

  Furthermore, it is also possible to switch between “operation mode 9” and “operation mode 10” in which the voltage of the battery pack 11 as a condition for stopping the brushless motor 12 is different. For example, the voltage at which the brushless motor 12 is stopped can be made higher in “operation mode 10” than in “operation mode 9”. Then, the operator can eliminate variations in the tightening torque of the screw 43 by selecting “operation mode 10” according to the torque necessary for tightening the screw 43 and the like.

  Furthermore, it is possible to switch between “operation mode 11” and “operation mode 12” with different drive times as conditions for stopping the brushless motor 12. The drive time is an elapsed time after the operation of the brushless motor 12 is started. For example, the driving time can be made longer in “driving mode 12” than in “driving mode 11”. Then, the operator can eliminate variations in the tightening torque of the screw 43 by selecting the “operation mode 12” according to the length of the screw 43 and the like.

  In the impact driver 10 described above, the operation mode changeover switch 41 can be operated to change the lighting 42 between lighting and extinguishing.

  Furthermore, another example of the position where the pressing force detection switch is provided will be described with reference to FIGS. In FIG. 9, the pressing force detection switch 66 is provided in the housing 13. The housing 13 has an annular wall 67 provided on the outer side of the sleeve 21 in the radial direction about the axis A1. The pressing force detection switch 66 is provided between the wall 67 and the protrusion 37 in the direction along the axis A1, and the output signal of the pressing force detection switch 66 is a switch operation detection circuit 61 as shown in FIG. Is input. An elastic body 68 is provided in the holding hole 31. The elastic body 68 is, for example, a metal compression coil spring, and the force of the elastic body 68 is applied to the anvil 20. That is, the anvil 20 is pushed along the axis A <b> 1 in a direction away from the hammer 33 by the force of the elastic body 68.

  When the tip tool 19 is not pressed against the screw 43, the protrusion 37 of the anvil 20 is pressed against the pressing force detection switch 66 by the force of the elastic body 68 as shown in FIG. That is, the pressing force detection switch 66 is turned off. On the other hand, when the tip tool 19 is pressed against the screw 43, it moves in a direction approaching the hammer 33 against the force of the elastic body 68. As a result, as shown in FIG. 9B, the protrusion 37 of the anvil 20 is separated from the pressing force detection switch 66, and the pressing force detection switch 66 is turned on.

  Then, instead of the pressing force detection switch 40 of FIG. 1, the impact driver 10 including the pressing force detection switch 66 shown in FIG. 9 can execute the same control as the impact driver 10 shown in FIG.

  The impact driver 10 in this embodiment can obtain at least one of the following effects.

  (1) By pressing the tip tool 19 against the screw 43, the operator operates the operation mode changeover switch 41 without re-gripping the grip 39, regardless of the force pressing the tip tool 19 against the screw 43. Any one of two or more operation modes can be arbitrarily selected. For this reason, the operability or workability of the impact driver 10 can be improved.

  (2) When the brushless motor 12 is stopped, each time the operator repeats the operation of turning on and off the operation mode switch 41 once, the operation mode is easily switched with one hand without re-gripping the grip 39. Therefore, the operability or workability of the impact driver 10 can be improved.

  (3) The rotational speed of the rotating shaft 14 of the brushless motor 12 can be arbitrarily changed according to the operation amount of the operation mode changeover switch 41, and workability is improved.

  (4) The power supplied to the brushless motor 12 can be increased as the operation amount of the operation mode changeover switch 41 is smaller. Therefore, by simply pressing the tip tool 19 against the screw 43, the rotary shaft 14 can be rotated at high speed without operating the operation mode changeover switch 41, and workability is improved.

  (5) When the stopped brushless motor 12 is driven, the amount of power supplied to the brushless motor 12 can be increased as time passes. That is, the rotational speed of the rotating shaft 14 gradually increases. Therefore, a low reaction can be achieved when the screw 43 is tightened, and workability is improved.

  (6) With the operator holding the grip 39, the operation mode changeover switch 41 can be operated with the index finger, and workability is improved.

  The control circuit 52 in the present embodiment corresponds to the first power control unit and the second power control unit of the present invention. The impact driver 10 in the present embodiment corresponds to the electric working machine of the present invention, and the operation mode changeover switch 41 corresponds to the operation unit of the present invention. The rotation direction of the rotating shaft 14, the torque of the rotating shaft 14, the number of rotations of the rotating shaft 14 and the like in the present embodiment are included in the rotation state of the electric motor in the present invention. In addition, the rotation speed of the rotating shaft 14 and the rotor 15 is a rotation speed per unit time, and is synonymous with a rotation speed. Further, the wood 44 and the screw 43 correspond to the object of the present invention. The housing 13 and the grip 39 correspond to the working machine body of the present invention.

  It goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. For example, in the flowchart of FIG. 7, every time the operation mode changeover switch is operated, the mode is switched in the order of “operation mode 1” to “operation mode 4”. The operation mode may be selectively switched, and the operation mode may be switched over from the operation mode 1 to the operation mode 3 by operating the touch panel. In this case, the touch panel corresponds to the operation unit of the present invention. The operation unit of the present invention includes a switch, a touch panel, a movable lever, a rotary knob or a dial. Furthermore, the control circuit can perform the determinations of steps S13, 15, 17, and 19 shown in FIG.

  The electric working machine of the present invention is not limited to an impact driver, and includes a driver drill, a disc grinder, and the like. The object of the present invention includes concrete, gypsum board and the like in addition to wood. The object of the present invention includes screws and bolts. The tip tool of the present invention includes a socket, an extension bar, and an adapter in addition to a grindstone, a drill bit, a tap, and the like. In addition, the electric working machine of the present invention includes a structure capable of supplying the electric power of the AC power source to the DC electric motor without going through the battery pack. In this case, a rectifier that converts alternating current into direct current is provided. Furthermore, the electric motor used in the electric working machine of the present invention may be either a brushless motor or a motor with a brush. The number of poles of the permanent magnet used for the electric motor is not limited to four, but may be six or eight. The electric motor in the present invention may be either a DC electric motor or an AC electric motor.

  DESCRIPTION OF SYMBOLS 10 ... Impact driver, 12 ... Brushless motor, 13 ... Housing, 19 ... Tip tool, 39 ... Grip, 40 ... Pushing force detection switch, 41 ... Operation mode switch, 42 ... Light, 44 ... Object, 52 ... Control circuit .

Claims (12)

An electric motor having a rotating shaft rotatable about an axis;
A tip tool that includes a housing that houses the electric motor, and a grip that is continuously provided in the housing and extends in a direction that intersects the axis, and transmits the power of the electric motor. A work implement body that supports a tool attaching / detaching part to which
A detection unit that is provided in the housing and detects movement in the front-rear direction along the axis of the tool attaching / detaching unit ;
An operation portion that is provided in front of a connection portion between the grip and the housing, and that can be reciprocated along the axis by the operator in a state where the operator grips the grip;
A control unit for controlling the electric motor;
Have
Wherein, when the tool mounting part is not moving backward, without driving the electric motor also operates the operating unit, when the tool mounting part is moved backward, the An electric working machine that controls electric power supplied to the electric motor in accordance with an operation amount of the operation unit regardless of a force pressing the tip tool against the object. The control unit supplies power to the electric motor when the detection unit detects that the tip tool is pressed against the object and the tool attaching / detaching unit moves rearward. The electric working machine described. The detection unit is provided in the housing,
A hammer for applying a striking force in the rotational direction to the tip tool is provided in the housing,
The electric working machine according to claim 1 or 2, wherein the detection unit detects that the tip tool is pressed against the object and the tool attaching / detaching unit moves rearward in a direction approaching the hammer . The electric work machine according to claim 1, wherein the control unit switches a rotation direction of the selected electric motor when the operation unit is operated in a state where the electric motor is stopped . The said control part increases the electric energy supplied to the said electric motor with progress of time from the time of the said front-end tool being pressed on the said target object, The any one of Claims 1-4 . Electric working machine. The electric work machine according to any one of claims 1 to 5 , wherein the control unit switches an operation mode of the electric motor when the operation unit is operated in a state where the electric motor is stopped. The electric working machine according to claim 6 , wherein the operation mode includes an operation mode in which a rotation direction of the electric motor is different . The electric working machine according to any one of claims 6 to 7 , wherein the operation mode includes an operation mode in which a torque when tightening a screw for stopping the rotating electric motor is different . The electric working machine according to any one of claims 6 to 8, wherein the operation mode includes an operation mode in which the temperature of the grip for stopping the rotating electric motor is different . The electric working machine according to any one of claims 6 to 9 , wherein the operation mode includes an operation mode in which a voltage applied to the electric motor for stopping the rotating electric motor is different . The electric working machine according to any one of claims 6 to 10 , wherein the operation mode includes an operation mode in which a driving time of the electric motor from a start to a stop of the electric motor is different . The detector includes a detector and a detected element. In a state where the tip tool is not pressed against the object, the detector and the detected element are close to each other, and the tip tool is the target. The electric working machine according to claim 1, wherein the detector and the detection target are spaced apart from each other when pressed against an object .

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