WO2016034136A1 - Procédé de commande et système de commande pour outil électrique et outil électrique - Google Patents

Procédé de commande et système de commande pour outil électrique et outil électrique Download PDF

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Publication number
WO2016034136A1
WO2016034136A1 PCT/CN2015/088893 CN2015088893W WO2016034136A1 WO 2016034136 A1 WO2016034136 A1 WO 2016034136A1 CN 2015088893 W CN2015088893 W CN 2015088893W WO 2016034136 A1 WO2016034136 A1 WO 2016034136A1
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WO
WIPO (PCT)
Prior art keywords
motor
preset
parameter
time
power tool
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Application number
PCT/CN2015/088893
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English (en)
Chinese (zh)
Inventor
邓强
牟国良
张士松
饶越
徐静涛
Original Assignee
苏州宝时得电动工具有限公司
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Priority claimed from CN201410709408.6A external-priority patent/CN104656550B/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2016034136A1 publication Critical patent/WO2016034136A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers

Definitions

  • the invention relates to the field of power tools, and in particular to a method for controlling a power tool.
  • the invention also relates to a control system to which the control method is applied.
  • the invention also relates to a power tool to which the control system is applied.
  • Existing power tools such as electric impact wrenches, provide current through a loaded power source to drive the motor to rotate, thereby rotating the working head to tighten or remove the threaded fastener.
  • the present invention provides a method of controlling a power tool that can be completely released on a bolt without removing the nut.
  • the present invention provides a control method for a power tool, wherein the power tool includes a motor and an output shaft that connects the motor, and the control method includes the following steps: detecting the representation Outputting a parameter x of the axle load; determining that the output shaft load is reduced to be equal to or less than a preset load according to the parameter x meeting a preset condition, thereby changing the rotational speed of the motor.
  • the parameter x is one of a current value supplied to the motor, an output torque value of the output shaft, or an acceleration value of the power tool;
  • the preset condition includes: the parameter X is equal to or smaller than a first preset threshold .
  • the parameter x is one of a current value supplied to the motor, an output torque value of the output shaft, or an acceleration value of the power tool;
  • the preset condition includes: within a third preset time period, the parameter X The duration is equal to or less than the first preset threshold.
  • the parameter x is one of a current value supplied to the motor, an output torque value of the output shaft, or an acceleration value of the power tool;
  • the preset condition includes: the parameter is greater than or equal to a second preset threshold Decrease to less than or equal to the first preset threshold.
  • the specific manner of the step of changing the rotation speed of the motor comprises: starting the power tool motor as the starting time, acquiring the target time when the parameter x meets the preset condition; when the target time is after the preset time After the first preset period of time, the motor is turned off, or the motor is turned off after the motor is operated for a preset number of turns, or the motor speed is reduced.
  • the specific manner of the step of changing the rotation speed of the motor comprises: starting the power tool motor as the starting time, acquiring the target time when the parameter x meets the preset condition; when the target time is before the preset time , immediately shut down the motor.
  • the present invention further provides a control method for a power tool, wherein the power tool includes a motor and an output shaft that connects the motor, and the control method includes the following steps: detecting a parameter x indicating an output shaft load; Determining a preset function f(x) of the parameter x; determining that the output shaft load is reduced to be equal to or less than a preset load according to the preset function f(x) according to a preset condition, thereby changing the rotational speed of the motor.
  • the preset function f(x) is an N-th derivative of the parameter x, and the N is a positive integer; the preset condition is: the value of the preset function f(x) is equal to or smaller than a preset derivative threshold. .
  • the parameter x is a current value supplied to the motor or an output torque value of the output shaft.
  • the specific manner of the step of changing the rotational speed of the motor is: acquiring the preset function f(x) The target time when the preset condition is met, the target time starts from the start of the power tool motor; when the target time is after the preset time, the motor is turned off after the first preset time period, or the motor is preset to run. Turn off the motor after the number of turns, or reduce the motor speed.
  • the step of changing the rotation speed of the motor is: acquiring a target moment when the preset function f(x) meets the preset condition, and the target moment starts from a start of the power tool motor;
  • the present invention further provides a control method for a power tool, wherein the power tool includes a motor and an output shaft that connects the motor, and the control method includes the following steps: detecting a parameter x indicating an output shaft load; calculating a parameter x a preset function f(x); determining that the output shaft load is reduced to be equal to or less than a preset load according to the parameter x and its preset function f(x) according to a preset condition, thereby changing the rotation speed of the motor .
  • the parameter x is a current value supplied to the motor
  • the preset function f(x) is a first derivative value of the parameter x
  • the preset condition includes: the current value supplied to the motor is less than the first value The preset threshold value, the first derivative value of the current value supplied to the motor is negative.
  • the step of changing the rotation speed of the motor is: taking the power tool motor as the starting time, and acquiring the target time when the parameter x and the preset function f(x) meet the preset condition;
  • the target time is after the preset time, the motor is turned off after the first preset time period, or the motor is turned off after the motor is operated for a preset number of turns, or the motor speed is reduced.
  • the step of changing the rotation speed of the motor is: taking the power tool motor as the starting time, and acquiring the target time when the parameter x and the preset function f(x) meet the preset condition; Immediately shut down the motor when the target time is before the preset time.
  • the parameter x for indicating the output shaft load is detected.
  • control method further comprises the following steps of detecting a parameter x for indicating an output shaft load: a preset speed control demand instruction set, which includes a plurality of speed adjustment demand instructions, each speed control demand instruction corresponding to the A specific way of changing the speed of the motor; obtaining a user speed demand request; and confirming the specific manner of the step of changing the motor speed according to the user speed demand request.
  • the step of changing the motor speed is specifically: controlling the motor to periodically switch between forward rotation and reverse rotation.
  • the parameter is a current supplied to the motor
  • the first preset threshold is a current value of the power tool in an idle state.
  • the power tool is an impact wrench
  • the impact wrench is selectively forward or reverse
  • the control method performs a function according to the parameter x or the parameter x.
  • At least one of f(x) meets a preset condition to determine that the output shaft load is reduced to be equal to or less than a preset load, thereby changing the rotational speed of the motor.
  • the electric tool is an impact wrench
  • the impact wrench can selectively loosen or tighten the nut
  • the control method performs according to the parameter x or parameter x.
  • At least one of the functions f(x) meets a preset condition to determine that the output shaft load is reduced to be equal to or less than a preset load, thereby changing the rotational speed of the motor.
  • the present invention also provides another method of controlling an impact wrench, the impact wrench comprising a motor and an output shaft connecting the motor, the impact wrench selectively loosening or tightening the nut, the impact wrench loose
  • the control method comprises the steps of: detecting a parameter characterizing the output shaft load; determining whether the release condition is satisfied, the release condition characterizing that the nut is switched from the tightened state to the released state; When the release condition is satisfied, change the speed of the motor.
  • the release condition is that the parameter x, or at least one of the functions f(x) of the parameter x meets a preset condition.
  • the control method of the power tool provided by the invention can completely loosen the nut and the bolt without separating the nut and the bolt, and the user can manually separate the nut and the bolt according to the requirement, so as to satisfy the user only need to loosen the nut.
  • the special working conditions of the nut are opened.
  • the present invention provides a control system for a power tool that is fully detachable from the bolt but does not remove the nut.
  • the present invention provides a control system for a power tool, wherein the power tool includes a motor and an output shaft that connects the motor, the control system includes: a detection module that detects a parameter x indicating an output shaft load; Control module, including: parameter determination sub-module, according to The parameter x meets a preset condition to determine that the output shaft load is reduced to be equal to or less than a preset load; the first motor shift sub-module receives a signal of the parameter determination sub-module, thereby changing the rotational speed of the motor.
  • the parameter x is one of a current value supplied to the motor, an output torque value of the output shaft, or an acceleration value of the power tool;
  • the preset condition includes: the parameter X is equal to or smaller than a first preset threshold.
  • the parameter x is one of a current value supplied to the motor, an output torque value of the output shaft, or an acceleration value of the power tool;
  • the preset condition includes: within a third preset time period, the parameter X The duration is equal to or less than the first preset threshold.
  • the parameter x is one of a current value supplied to the motor, an output torque value of the output shaft, or an acceleration value of the power tool;
  • the preset condition includes: the parameter is greater than or equal to a second preset threshold Decrease to less than or equal to the first preset threshold.
  • the first motor shifting sub-module includes: a first time acquiring unit, wherein the power tool motor is started as a starting time, and the target time when the parameter x meets the preset condition is acquired; the time determining unit determines the target Whether the time is after the preset time; the motor control unit, when the target time is after the preset time, shut down the motor after the first preset time, or control the motor to run the preset number of turns, then shut down the motor, or reduce the motor speed .
  • the first motor shifting sub-module includes: a first time acquiring unit, wherein the power tool motor is started as a starting time, and the target time when the parameter x meets the preset condition is acquired; the time determining unit determines the target Whether the time is before the preset time; the motor control unit immediately shuts down the motor when the target time is before the preset time.
  • the present invention also provides a control system for another power tool, wherein the power tool includes a motor and an output shaft that connects the motor, the control system includes: a detection module that detects a parameter for indicating an output shaft load
  • the second calculation module calculates a preset function f(x) of the parameter x;
  • the second control module includes: a function determination sub-module, and determines that the preset function f(x) meets a preset condition
  • the output shaft load is reduced to be equal to or less than a preset load; the second motor shift sub-module receives a signal that determines the sub-module, thereby changing the rotational speed of the motor.
  • the preset function f(x) is an N-th derivative of the parameter x, and the N is a positive integer; the preset condition is: the value of the preset function f(x) is equal to or smaller than a preset derivative threshold. .
  • the parameter x is a current value supplied to the motor or a torque value of the output shaft.
  • the second motor shifting sub-module includes: a second time acquiring unit, wherein the power tool motor is started as a starting time, and the target time when the function f(x) meets the preset condition is acquired; the time determining unit , determining whether the target time is after the preset time; the motor control unit, after the target time is after the preset time, shutting down the motor after the first preset time period, or controlling the motor to operate the preset number of turns, then shutting down the motor, or Reduce the motor speed.
  • a second time acquiring unit wherein the power tool motor is started as a starting time, and the target time when the function f(x) meets the preset condition is acquired
  • the time determining unit determining whether the target time is after the preset time
  • the motor control unit after the target time is after the preset time, shutting down the motor after the first preset time period, or controlling the motor to operate the preset number of turns, then shutting down the motor, or Reduce the motor speed.
  • the second motor shifting sub-module includes: a second time acquiring unit, wherein the power tool motor is started as a starting time, and the target time when the function f(x) meets the preset condition is acquired; the time determining unit , to determine whether the target time is before the preset time; the motor control unit, when the target time is before the preset time, immediately shut down the motor.
  • the present invention also provides a control system for another power tool, wherein the power tool includes a motor and an output shaft that connects the motor, the control system includes: a detection module that detects a parameter for indicating an output shaft load
  • the third computing module calculates a preset function f(x) of the parameter x;
  • the third control module includes: a parameter function determining sub-module, according to the parameter x and its preset function f(x) meeting a preset condition It is determined that the output shaft load is reduced to be equal to or less than a preset load; the third motor shift sub-module receives the signal of the parameter determination sub-module, thereby changing the rotational speed of the motor.
  • the parameter x is a current value supplied to the motor
  • the preset function f(x) is a first derivative value of the parameter x
  • the preset condition includes: the current value of the supply motor is smaller than the first pre-predetermined The threshold value is set, and the first derivative value of the current value supplied to the motor is negative.
  • the third motor shifting sub-module includes: a third time acquiring unit, wherein the power tool motor is started as a starting time, and the target time when the parameter x and the function f(x) meet the preset condition are acquired; The time determination unit determines whether the target time is after the preset time; the motor control unit turns off the motor after the first preset time period after the target time is after the preset time, or controls the motor to operate after the preset number of turns Motor, or reduce motor speed.
  • the third motor shifting sub-module includes: a third time acquiring unit, wherein the power tool motor is started as a starting time, and the target time when the parameter x and the function f(x) meet the preset condition are acquired; The time determination unit determines whether the target time is before the preset time; the motor control unit immediately shuts down the motor when the target time is before the preset time.
  • the detecting module starts detecting a parameter x for indicating the output shaft load.
  • the control system further includes a preset module, where the preset module includes: an instruction preset sub-module, configured to preset a speed control demand instruction set, and includes a plurality of speed control demand instructions, each speed adjustment requirement
  • the instruction corresponds to a specific manner of the step of changing the rotation speed of the motor;
  • the instruction acquisition sub-module is configured to acquire a user speed adjustment demand instruction;
  • the instruction matching sub-module is configured to confirm the change of the motor rotation speed according to the user speed adjustment demand instruction.
  • the motor shifting sub-module controls the motor to periodically switch between forward rotation and reverse rotation.
  • the parameter is a current supplied to the motor
  • the first preset threshold is a current value of the power tool in an idle state.
  • control system of the power tool provided by the invention can completely loosen the nut and the bolt without separating the nut and the bolt, and the user can manually separate the nut and the bolt according to the requirement, so as to satisfy the user only need to loosen the nut.
  • the special working conditions of the nut are opened.
  • the present invention provides a power tool that can be fully released on a bolt without removing the nut.
  • the present invention provides a power tool including: a power source; a motor that acquires power of the power source to provide rotational power; an output shaft that acquires rotational power of the motor and outputs;
  • the system is electrically connected to the motor and the power source.
  • the power tool further comprises: a system activation component for operatively starting the control system.
  • the power tool is an impact wrench
  • the impact wrench selectively loosens or tightens a nut
  • the impact wrench performs a loosening nut action, operating the system starting component to activate the control system.
  • the power tool is an impact wrench, and the impact wrench can be selectively rotated or reversed.
  • the system activation component is operated to activate the control system when the impact wrench performs a reverse action.
  • the power tool provided by the invention can completely loosen the nut and the bolt without separating the nut and the bolt, and the user can manually separate the nut and the bolt according to the requirement, so that the user only needs to loosen the nut. Special working conditions.
  • the invention also provides a power tool, which can automatically monitor whether a slip phenomenon occurs, and take corresponding measures when the slip phenomenon occurs to reduce the damage of the slip head to the working head, the screw head, the surface of the workpiece and the like.
  • the present invention provides a power tool including: a working head; a motor that drives the working head to output power after starting; a power source to power the motor; a detecting component, a detecting and characterizing device The parameter of the working head load is output and the detection signal is output; and the control module receives the detection signal, and determines that the working head intermittently outputs power when the load of the working head is decreased according to the detection signal.
  • the present invention also provides another power tool, the power tool, driving a fastener embedded in a workpiece, the power tool comprising: a working head; a motor, driving the working head to output power after starting; Providing power to the motor; detecting a component, detecting a parameter characterizing the load of the working head and outputting a detection signal; and a control module determining whether the working head is separated from the fastener according to the detection signal, when determining As a result, the torque transmission to the working head is interrupted, and the criterion for separating the working head from the fastener is that the load of the working head is reduced.
  • control module shields reception of the detection signal within a preset time after the motor is started.
  • control module determines that the load of the working head is reduced when the amount of reduction of the parameter characterizing the working head load is not less than a first threshold within a preset time period.
  • the control module determines that the The load on the work head is reduced.
  • control module determines that the amount of decrease in the parameter characterizing the head load is less than a first threshold and greater than or equal to a second threshold.
  • the control module determines that the load of the working head is reduced. small.
  • the control module determines that the load of the working head is reduced.
  • At least one of a function of a second derivative, a function of a second derivative, a high order derivative or a high order derivative of the parameter characterizing the head load is a negative value and an absolute value thereof is not less than a fifth threshold
  • the control module determines that the load of the working head is reduced.
  • said parameter characterizing said head load is a current flowing through said motor.
  • control module intermittently outputs power to the working head by controlling a supply current of the power supply to the motor to output a pulse.
  • the power tool further includes an adjustment component operatively in different states and transmitting an adjustment signal corresponding to the state thereof, the control module adjusting the power source to the motor according to the adjustment signal The output current of the output pulse.
  • control module adjusts a supply current of a pulse output by the power source to the motor by adjusting at least one of a time width of a supply current of a single pulse or a time interval between supply currents of two adjacent pulses. .
  • the present invention also provides another power tool, the power tool comprising: a housing; a motor housed in the housing; a first working head and a second working head, the first work The head and the second working head are selectively driven by the motor; the detecting component detects a parameter characterizing the load of the power tool and outputs a detection signal; and the control module receives the detection signal and controls according to the detection signal The first working head and the second working head work; when the first working head is driven by the motor and the load of the power tool is reduced, the control module interrupts the torque output to the first working head .
  • the first working head is a screwdriver.
  • the second working head is a drill bit, and when the second working head is driven by the motor, and the load of the second working head is greater than or equal to a preset load value, the control module changes to the first The torque output of the two working heads.
  • the power tool further includes a triggering member and a sensing member, the triggering member is disposed on the first working head and/or the second working head, and the sensing member is disposed on the housing.
  • the sensing component sends an sensing signal to the control module, and the control module determines, according to the sensing signal, that the first working head or the second working is driven by the motor. head.
  • the present invention also provides a power tool control method, comprising the steps of: detecting a parameter characterizing a workload of a working head; outputting a detection signal according to the parameter characterizing the load of the working head; and receiving the detection signal And determining, when the load of the working head is reduced according to the detection signal, controlling the working head to intermittently output power.
  • the present invention also provides a power tool control method, the power tool driving the fastener embedded in the workpiece, comprising the steps of: detecting a parameter characterizing the load of the working head; determining, according to the parameter characterizing the load of the working head Whether the working head is separated from the fastener; when the judgment result is YES, the torque transmission to the working head is interrupted; the criterion for separating the working head from the fastener is that the load of the working head is reduced.
  • the power tool control method further includes the steps of: starting the motor; and shielding the receiving of the detection signal within a preset time after the motor is started.
  • the step of determining that the load of the working head is reduced according to the detection signal is specifically: when the amount of the parameter that characterizes the working head load is not less than a first threshold in a certain period of time, determining The load of the working head is reduced.
  • the specific step of determining the load reduction of the working head according to the detection signal is: when the amount of the parameter indicating the workload of the working head load is less than a first threshold and greater than or equal to a second threshold When appearing at least twice, the control module determines that the load of the working head is reduced.
  • determining that the amount of reduction of the parameter characterizing the workload of the working head is less than a first threshold and greater than A specific step of equal to or equal to the second threshold is to determine that the parameters characterizing the head load at at least three adjacent points in time are sequentially decreased.
  • the specific step of determining the load reduction of the working head according to the detection signal is: when the function of the first derivative or the first derivative of the parameter characterizing the working head load is a negative value and an absolute value thereof When not less than the second threshold, it is judged that the load of the working head is reduced.
  • the specific step of determining the load reduction of the working head according to the detection signal is: when the first derivative of the parameter characterizing the working head load is a negative value and the absolute value thereof is not less than a third threshold, And when the value of the parameter characterizing the head load is lower than the fourth threshold, it is determined that the load of the working head is reduced.
  • the specific step of determining the load reduction of the working head according to the detection signal is: when characterizing the second derivative of the parameter of the working head load, a function of the second derivative, a high order derivative, or a high When at least one of the functions of the order derivative is a negative value and the absolute value thereof is not less than the fifth threshold, it is judged that the load of the working head is decreased.
  • the parameter characterizing the head load is a current flowing through the motor.
  • the specific step of controlling the intermittent output power of the working head is to output a pulsed supply current to the motor.
  • control method further comprises the steps of: operatively adjusting the adjustment elements disposed on the power tool to be in different states; adjusting the width or adjacent of the supply current of the single pulse in response to the different states of the adjustment elements The time interval between the supply currents of the two pulses.
  • the power tool control method further includes the step of continuously outputting power when the power tool is restarted after the power tool is turned off.
  • the power tool control method further includes the step of continuously outputting power after the working head intermittently outputs the power preset time.
  • the present invention also provides another power tool control method, the power tool including a motor and a first working head and a second working head, the first working head and the second working head being alternatively Driven by the motor, the power tool control method includes the steps of: detecting a parameter characterizing a load of the power tool; confirming whether the first work head is driven by the motor; When the first working head is driven by the motor, it is confirmed whether the load of the power tool is reduced; when the load of the power tool is decreased, the motor is changed to drive the first working head.
  • the specific step of confirming whether the first working head is driven by the motor is: sensing a trigger member disposed on the first working head and/or the second working head through an inductive member disposed on the housing; receiving An inductive signal from the inductive element; confirming whether the first working head is driven by the motor based on the sensing signal.
  • the power tool and the control method thereof provided by the invention can automatically monitor whether a slip phenomenon occurs, and take corresponding measures when the slip phenomenon occurs to reduce the slip on the working head, the screw head, the surface of the workpiece, etc. Damage.
  • FIG. 1 is a schematic structural view of a power tool according to a preferred embodiment of the present invention.
  • FIG. 2 is a detailed block diagram of a first preferred embodiment of the control system of the first inventive concept.
  • Fig. 3 is a graph showing the current of the electric tool shown in Fig. 1 when the nut is loosely combined with the bolt, and the current supplied to the motor is changed with time.
  • Fig. 4 is a graph showing the relationship between the current supplied to the motor and the time when the nut is loosely coupled with the bolt when the power tool shown in Fig. 1 is loosened.
  • FIG. 5 is a detailed block diagram of a second preferred embodiment of the control system of the first inventive concept.
  • FIG. 6 is a detailed block diagram of a third preferred embodiment of the control system of the first inventive concept.
  • Fig. 7 is a flow chart showing a first preferred embodiment of the control method of the electric power tool according to the first inventive concept.
  • Fig. 8 is a flow chart showing a second preferred embodiment of the control method of the electric power tool according to the first inventive concept.
  • Fig. 9 is a flow chart showing a third preferred embodiment of the control method of the electric power tool according to the first inventive concept.
  • Figure 10 is a detailed block diagram of a first preferred embodiment of the control system of the second inventive concept.
  • FIG 11 is a detailed block diagram of a second preferred embodiment of the control system of the second inventive concept.
  • Figure 12 is a detailed block diagram of a third preferred embodiment of the control system of the second inventive concept.
  • Figure 13 is a flow chart showing a first preferred embodiment of the control method of the electric power tool according to the second inventive concept.
  • Figure 14 is a flow chart showing a second preferred embodiment of the control method of the power tool in the second inventive concept.
  • Fig. 15 is a flow chart showing a third preferred embodiment of the control method of the electric power tool according to the second invention concept.
  • Figure 16 is a detailed block diagram of a first preferred embodiment of the control system of the third inventive concept.
  • Figure 17 is a detailed block diagram of a second preferred embodiment of the control system of the third inventive concept.
  • FIG 18 is a detailed block diagram of a third preferred embodiment of the control system of the third inventive concept.
  • Fig. 19 is a flow chart showing a first preferred embodiment of the control method of the electric power tool according to the third invention concept.
  • Fig. 20 is a flow chart showing a second preferred embodiment of the control method of the electric power tool according to the third invention concept.
  • Figure 21 is a flow chart showing a third preferred embodiment of the control method of the electric power tool in the third inventive concept.
  • Fig. 22 is a block diagram showing the power tool of the first embodiment of the fifth invention concept.
  • FIG. 23 is a flowchart of a method of controlling a power tool according to a first embodiment of the fifth invention concept.
  • Control system 40 first control module, 46a
  • Preset module 41 second control module, 46b
  • control method and control system provided by the present invention can be applied to various types of power tools.
  • an electric impact wrench 10 includes a motor 12, a working head 14 and an output shaft 16 connected between the motor 12 and the working head 14; the working head 14 of the electric impact wrench 10 is in the motor 12 is driven to remove the nut 32 from the scaffolding 20, thereby loosening the nut 32 and the bolt 34 to facilitate disassembly of the scaffolding 20.
  • a control system 40 is also disposed within the electric impact wrench 10, and the control system 40 is located on the circuit board for controlling the rotational speed of the motor 12 when the electric impact wrench 10 performs the removal of the nut 32.
  • control system 40 includes a detection module 42 and a first control module 46a.
  • the detection module 42 is operative to detect a parameter x indicative of the load of the output shaft 16.
  • the nut 32 passes through the working head 14 to the output of the electric impact wrench 10 due to the presence of the thread fastening force between the nut 32 and the bolt 34.
  • the shaft 16 applies a resistive torque.
  • the working head 14 begins to tighten or remove the nut 32.
  • the resistance torque is proportional to the thread fastening force between the nut 32 and the bolt 34.
  • the thread fastening force between the nut 32 and the bolt 34 is also gradually increased, and the nut 32 and the bolt 34 are When fully tightened, the thread tightening force reaches a peak; conversely, during the removal of the nut 32 by the electric impact wrench 10, the thread tightening force is already at a peak, and the resistance of the output shaft 16 of the electric impact wrench 10 at the initial moment is The moment is the largest.
  • the motor 12 of the electric impact wrench 10 needs to output a large rotating torque to overcome the resistance torque at the peak, and the resistance of the output shaft 16 of the electric impact wrench 10 after the nut 32 and the bolt 34 are completely tightened. The moment is reduced to a gentle level, and the rotational torque output by the motor 12 is also simultaneously reduced to a gentle level.
  • the parameter x is used to indicate the load of the output shaft 16 of the electric impact wrench 10, that is, the resistance torque that the output shaft 16 of the electric impact wrench 10 is subjected to, and the resistance torque is consistent with the output torque of the motor 12 of the electric impact wrench 10,
  • the parameter related to the output torque of the motor 12 as the aforementioned parameter x
  • the magnitude of the load of the output shaft 16 can be identified by monitoring the parameter x.
  • the first control module 46a is configured to determine that the output shaft load is reduced to be equal to or less than a preset load according to the parameter x meeting a preset condition, thereby changing the rotation speed of the motor 12.
  • the first control module 46a includes a parameter determination sub-module 462a and a first motor shift sub-module 464a; the parameter determination sub-module 462a monitors the parameter x, determines whether the value of the parameter x meets a preset condition, and confirms the output shaft based on the foregoing judgment result. Whether the load on the 16 has been reduced to the preset load, and if so, the motor speed is changed by the first motor shift sub-module 464a. If not, the detecting module 42 reacquires the current parameter x, and the parameter determining sub-module 462a further determines whether the current parameter x is Meet the preset conditions.
  • FIG. 3 depicts a current curve of the current supplied to the motor 12 when the nut 32 is tightly coupled with the bolt 34, and the letter t indicates that the motor 12 starts to work.
  • the letter i represents the motor 12 provided to the electric impact wrench 10 Current value.
  • the curve in FIG. 3 includes a first portion A, a first inflection point H, a second portion B, a second inflection point I, a third portion C, a third inflection point J, a fourth portion D, a fifth portion E, and a sixth portion F.
  • the first part A is a rising curve, which indicates that the motor 12 has just started to start.
  • the nut 32 has not applied a resistance torque to the working head 14, and the first part A can be regarded as linear;
  • the first part A is the first The inflection point K and the subsequent second portion B, the first inflection point K has a downwardly inclined abrupt change with respect to the first portion A, and the second portion B is a descending curve, which indicates that the nut 32 has begun to abut against the working head 14, the nut 32 applies a resistance torque to the working head 14; after passing the second inflection point I, enters the third portion C of the basic level, at which time the working head 14 begins to overcome the resistance torque to slowly loosen the nut 32; as time passes, the third Part C undergoes a downward transition at the third inflection point J and forms a substantially descending fourth portion D, at which point the nut 32 is nearly completely released; then enters the fifth portion E, which is substantially a level
  • the straight line indicates that the
  • Fig. 4 depicts a graph of current supplied to the motor 12 over time when the electric impact wrench 10 is used to remove the loose nut 32 coupled with the bolt 34; wherein the letter t indicates that the motor 12 is operating. Time, the letter i represents the current value of the motor 12 supplied to the electric impact wrench 10.
  • the initial portion M is a rising curve indicating that the motor 12 has just started to start, at which time the nut 32 has not applied a resisting torque to the working head 14, and the initial portion M can be considered to be linear; following the subsequent intermediate portion of the initial portion F Part N, the middle portion N is a descending curve, which means that the nut 32 has begun to abut against the working head 14, and the nut 32 applies a resisting torque to the working head 14; since the nut 32 and the bolt 34 are not tightly coupled, the working head 14 is short.
  • the nut 32 and the bolt 34 are loosened at this time, and directly enter the substantially horizontal portion (not labeled), which is basically a horizontal straight line, indicating that the nut 32 has been completely loosened, and the motor 12 is in an idle state; Finally, the final part O is entered, at which time the motor 12 is turned off and the current i is also reduced to zero.
  • the parameter x is the current value of the motor 12 supplied to the electric impact wrench 10
  • the preset condition is that the current value of the motor 12 supplied to the electric impact wrench 10 is equal to or less than the preset power.
  • the preset current threshold in the preset condition is set to the current value I0 when the motor 12 is idling in the fifth part E of FIG. 3, which is also the final part of FIG.
  • the current value of the current supplied to the motor 12 can be obtained by collecting the current value multiple times and obtaining an average value, thereby reducing the current value error caused by the current fluctuation, which will not be described herein.
  • the preset current threshold is not limited to the current value I0 when the motor 12 is idling, or may be slightly larger or smaller than the no-load current value I0.
  • the nut 32 and the bolt 34 are also Nearly completely loosened, the resistance torque of the nut 32 to the output shaft 16 of the electric impact wrench 10 is also close to the resistance torque at the time of no-load, and the control precision of the electric impact wrench 10 can also be ensured.
  • the first motor shift sub-module 464a further includes a first time acquisition unit 4642a, a time determination unit 4644, and a motor control unit 4646.
  • the first time acquiring unit 4642a starts counting.
  • the first time acquiring unit 4642a generates the current time.
  • the target control unit 4464 outputs a preset time T1 as the target time T2, and the motor control unit 4646 selects a different mode of changing the motor rotation speed based on the target time T2 and the preset time T1.
  • the time determining unit 4464 outputs a corresponding control command to the motor control unit 4646, and the motor control unit 4646 passes the first preset. After the length of time, the motor 12 is turned off; thereby loosening the nut 32 and the bolt 34 sufficiently, but the two are not disengaged.
  • the first preset duration may be set according to the required stroke of the nut 32 from the current position to the complete disengagement of the bolt, so that at the end of the first preset duration, the nut 32 will still not be disengaged from the bolt 34 as a reference; preferably, the first The preset duration is 10 milliseconds.
  • the target time T2 is before the preset time T1
  • the time determining unit 4464 outputs another control command to the motor control unit 4646.
  • the motor control unit 4646 then shuts down the motor 12 immediately; thereby preventing the excess nut 32 and the bolt 34 from disengaging.
  • shutdown motor includes stopping and braking the motor, and will not be described here.
  • the nut 32 can be rotated out of the bolt 34 to the maximum extent, but not separated from the bolt 34, reducing manual operation by the user. The time taken to remove the nut 32 greatly increases the user experience.
  • the control system 40 is different from the first embodiment of the first concept of the present invention in that the control system 40 is only
  • the preset module 41 further includes an instruction preset sub-module 412, an instruction acquisition sub-module 414, and an instruction matching sub-module 416.
  • the command preset sub-module 412 is configured to preset a speed control demand instruction set, and includes a plurality of speed control demand instructions, and each speed control demand instruction corresponds to a specific manner of the step of changing the rotation speed of the motor;
  • the sub-module 414 is configured to obtain a user speed adjustment demand instruction;
  • the instruction matching sub-module 416 is configured to confirm the specific manner of the step of changing the motor speed according to the user speed adjustment demand instruction.
  • the first motor shift sub-module 464a changes the motor speed in accordance with the manner confirmed by the command matching sub-module 416.
  • different shift modes are set, for example, the long stroke is set to the first shift mode, and the medium and short strokes are set to the second shift mode; the user according to the different stroke of the nut
  • the best user speed control demand command is issued to obtain the most suitable mode for changing the motor speed; then, the shifting module changes the motor speed through the shift mode.
  • the user can select the way to change the motor speed according to the working condition, and improve the adaptability of the control system to different working conditions, thereby ensuring that the nut can always be removed to the optimal position under different working conditions.
  • the mode switching button is set on the electric impact wrench and the mode icon is marked on the circumference of the button, so that the user can operate the dial button to select the corresponding shift mode before use.
  • control system 40 is different from the first embodiment under the first concept in that the control system 40 further includes
  • the clock module 43 is configured to provide a time start point and control the detection module to start the detection parameter x at the time start.
  • the time starting point is a time node after the second preset time period after the power tool is turned on.
  • the foregoing time starting point may be T0 time, the current i at time T0 is located in the second part B in FIG. 3 and the middle part N in FIG. 4; before the T0 time, the control system does not start.
  • the control system starts to start and acquires the parameter x through its detection module. It can be understood by those skilled in the art that before the T0 time, the detection module detects the startup work, but the first control module does not start receiving the signal of the detection module or does not process the signal transmitted by the detection module.
  • the second preset duration may also be 0, and the aforementioned starting point of time is 0.
  • the second preset duration By setting the second preset duration, when the control system is started, the working head has been pressed against the nut, the nut has begun to apply a resisting torque to the working head, and the nut is about to be slowly released; so that the control system can detect it faster.
  • the parameter x meets the preset condition, it is avoided that in the first part A or the initial part M, the working head is not yet in contact with the nut, resulting in inefficient work and energy waste caused by the control system having no working demand.
  • the control system is different from the first embodiment only in that the parameter x is the output torque value of the motor, and the preset conditions include: the output torque of the motor The value is equal to or less than the preset torque threshold.
  • the detection motor output torque value can be obtained by the torque sensor; and the output torque of the motor at no load is used as the preset torque threshold.
  • control system is different from the first embodiment only in that the parameter x is the rotational speed value of the motor, and the preset condition includes: the rotational speed value of the motor is equal to Or greater than the preset speed threshold.
  • the detection motor speed value can be obtained by a speed detecting component such as a Hall element or a magnetic nail; and the speed of the motor at the time of no-load is used as a preset speed threshold.
  • the control system is different from the first embodiment only in that the parameter x is the acceleration value of the power tool, and the acceleration value is caused by the vibration of the power tool.
  • Preset conditions include: the acceleration of the output shaft is equal to or less than the preset acceleration Threshold
  • the detection of the output shaft acceleration value can be obtained by setting an acceleration sensor in the tool, and the rotation speed of the motor at the time of no-load is used as the preset speed threshold.
  • the control system is compared with the foregoing embodiment, and the corresponding parameter x and the preset condition in the control system can be used in the foregoing first to sixth embodiments.
  • the method mentioned in any one of the following; the difference is that when the target time T2 at which the parameter x meets the preset condition is after the preset time T1, the first motor shifting sub-module 464a is turned off after the motor is operated by the preset number of turns. Motor.
  • the control system is different from the seventh embodiment under the first concept only in that the target time T2 at which the parameter x meets the preset condition is After the preset time T1, the first motor shifting sub-module 464a turns off the motor after reducing the motor speed.
  • the control system is different from the seventh embodiment under the first concept only in that the target time T2 at which the parameter x meets the preset condition is After the preset time T1, the first motor shifting sub-module 464a reduces the motor speed, prompting the user by the speed reduction, causing the user to manually shut down the motor.
  • the control system is different from the seventh embodiment under the first concept only in that the target time T2 is satisfied regardless of the parameter x meeting the preset condition.
  • the first motor shifting sub-module 464a can prompt the user to cause the user to manually shut down the motor by periodically switching the motor between continuous forward and reverse rotations, either before or after the preset time T1.
  • the control system is different from the first embodiment of the first concept only in that the preset condition is that the motor is supplied to the electric impact wrench 10
  • the current value of 12 continues to be equal to or less than the preset current threshold for a third predetermined duration.
  • the preset current threshold is the current value I0 when the motor 12 is idling in the fifth part E of FIG. 3, and is also the current value I0 when the motor 12 is idling in the final part 0 of FIG.
  • the control system is different from the first embodiment under the first concept only in that the preset condition is that the control module determines the current
  • the value is decreased by less than or equal to the second preset threshold to be less than or equal to the first preset threshold.
  • the second preset threshold is greater than the first preset threshold.
  • the second preset threshold is a load value
  • the first preset threshold is a no-load value.
  • the control system can loosen the nut and the bolt without separating the nut and the bolt, and the user can manually separate the nut and the bolt according to the requirement, so that the user only needs to loosen the nut. Special working conditions.
  • control method of the power tool includes the following steps:
  • step S20 a parameter x indicating the load of the output shaft 16 is detected.
  • the nut 32 passes through the working head 14 to the output of the electric impact wrench 10 due to the presence of the thread fastening force between the nut 32 and the bolt 34.
  • the shaft 16 applies a resistive torque.
  • the working head 14 begins to tighten or remove the nut 32.
  • the resistance torque is proportional to the thread fastening force between the nut 32 and the bolt 34.
  • the thread fastening force between the nut 32 and the bolt 34 is also gradually increased, and the nut 32 and the bolt 34 are When fully tightened, the thread tightening force reaches a peak; conversely, during the removal of the nut 32 by the electric impact wrench 10, the thread tightening force is already at a peak, and the resistance of the output shaft 16 of the electric impact wrench 10 at the initial moment is The moment is the largest.
  • the motor 12 of the electric impact wrench 10 needs to output a large rotating torque to overcome the resistance torque at the peak, and the resistance of the output shaft 16 of the electric impact wrench 10 after the nut 32 and the bolt 34 are completely tightened. The moment is reduced to a gentle level, and the rotational torque output by the motor 12 is also simultaneously reduced to a gentle level.
  • the parameter x is used to indicate the load of the output shaft 16 of the electric impact wrench 10, that is, the resistance torque that the output shaft 16 of the electric impact wrench 10 is subjected to, and the resistance torque is consistent with the output torque of the motor 12 of the electric impact wrench 10,
  • the parameter related to the output torque of the motor 12 as the aforementioned parameter x
  • the magnitude of the load of the output shaft 16 can be identified by monitoring the parameter x.
  • step S40 determining that the output shaft load is reduced to be equal to or less than a preset load according to the parameter x meeting the preset condition, thereby changing the rotation speed of the motor.
  • the step S40 specifically includes:
  • step S42 monitoring parameter x, determining whether the value of the parameter x meets a preset condition, based on the foregoing judgment knot To confirm whether the load on the output shaft 16 has been reduced to the preset load, and if so, execute step S44;
  • FIG. 3 depicts a current curve of the current supplied to the motor 12 when the nut 32 is tightly coupled with the bolt 34, and the letter t indicates that the motor 12 starts to work. At the time, the letter i indicates the current value of the motor 12 supplied to the electric impact wrench 10.
  • the curve in FIG. 3 includes a first portion A, a first inflection point H, a second portion B, a second inflection point I, a third portion C, a third inflection point J, a fourth portion D, a fifth portion E, and a sixth portion F.
  • the first part A is a rising curve, which indicates that the motor 12 has just started to start.
  • the nut 32 has not applied a resistance torque to the working head 14, and the first part A can be regarded as linear;
  • the first part A is the first The inflection point K and the subsequent second portion B, the first inflection point K has a downwardly inclined abrupt change with respect to the first portion A, and the second portion B is a descending curve, which indicates that the nut 32 has begun to abut against the working head 14, the nut 32 applies a resistance torque to the working head 14; after passing the second inflection point I, enters the third portion C of the basic level, at which time the working head 14 begins to overcome the resistance torque to slowly loosen the nut 32; as time passes, the third Part C undergoes a downward transition at the third inflection point J and forms a substantially descending fourth portion D, at which point the nut 32 is nearly completely released; then enters the fifth portion E, which is substantially a level
  • the straight line indicates that the
  • Fig. 4 depicts a graph of current supplied to the motor 12 over time when the electric impact wrench 10 is used to remove the loose nut 32 coupled with the bolt 34; wherein the letter t indicates that the motor 12 is operating. Time, the letter i represents the current value of the motor 12 supplied to the electric impact wrench 10.
  • the initial portion M is a rising curve indicating that the motor 12 has just started to start, at which time the nut 32 has not applied a resisting torque to the working head 14, and the initial portion M can be considered to be linear; following the subsequent intermediate portion of the initial portion F Part N, the middle portion N is a descending curve, which means that the nut 32 has begun to abut against the working head 14, and the nut 32 applies a resisting torque to the working head 14; since the nut 32 and the bolt 34 are not tightly coupled, the working head 14 is short.
  • the part is basically a horizontal straight line, indicating that the nut 32 has been completely loosened, the motor 12 is in an idle state; finally enters the final part O, this When the motor 12 is turned off, the current i is also reduced to zero.
  • the parameter x is the current value of the motor 12 supplied to the electric impact wrench 10
  • the preset condition is that the current value of the motor 12 supplied to the electric impact wrench 10 is equal to or smaller than Preset current threshold.
  • the preset current threshold in the preset condition is set to the current value I0 when the motor 12 is idling in the fifth part E of FIG. 3, which is also the final part of FIG.
  • the current value I0 when the motor 12 is idling when the current value as the parameter x falls to the current value I0 when the motor 12 is idling, it indicates that the nut 32 has been loosened with the bolt 34, thereby changing the rotational speed of the motor 12.
  • the current value of the current supplied to the motor 12 can be obtained by collecting the current value multiple times and obtaining an average value, thereby reducing the current value error caused by the current fluctuation, which will not be described herein.
  • the preset current threshold is not limited to the current value I0 when the motor 12 is idling, or may be slightly larger or smaller than the no-load current value I0.
  • the nut 32 and the bolt 34 are also Nearly completely loosened, the resistance torque of the nut 32 to the output shaft 16 of the electric impact wrench 10 is also close to the resistance torque at the time of no-load, and the control precision of the electric impact wrench 10 can also be ensured.
  • the target time T2 is after the preset time T1, after the first preset time period is passed through S446, the motor 12 is turned off; thereby fully loosening the nut 32 and the bolt 34. But the two will not leave.
  • the first preset duration may be set according to the required stroke of the nut 32 from the current position to the complete disengagement of the bolt, so that at the end of the first preset duration, the nut 32 will still not be disengaged from the bolt 34 as a reference; preferably, the first The preset duration is 10 milliseconds.
  • the target time T2 is immediately turned off by the S448 before the preset time T1; thereby preventing the nut 32 and the bolt 34 from being disengaged.
  • shutdown motor includes two steps of stopping and braking the motor, and will not be described here.
  • the nut 32 can be rotated out of the bolt 34 to the maximum extent, but not separated from the bolt 34, reducing manual operation by the user. The time taken to remove the nut 32 greatly increases the user experience.
  • control method is different from the other embodiments of the present invention only in that the control method further includes the step before step S20.
  • S10 which specifically includes:
  • a preset speed regulation demand instruction set which includes a plurality of speed regulation demand instructions, and each speed adjustment demand instruction corresponds to a specific manner of the step of changing the rotation speed of the motor;
  • step S80 changes the motor speed through the shift mode.
  • the user can select the way to change the motor speed according to the working condition, and improve the adaptability of the control method to different working conditions, thereby ensuring that the nut can always be removed to the optimal position under different working conditions.
  • the mode switching button is set on the electric impact wrench and the mode icon is marked on the circumference of the button, so that the user can operate the dial button to select the corresponding shift mode before use.
  • control The method of the method is different from the first embodiment of the control method provided by the first concept of the present invention.
  • the method further includes the step S30, the step S30 specifically includes: providing a time start point, and step S20 starts at the time start point. .
  • the time starting point is a time node after the second preset time period after the power tool is turned on.
  • the foregoing time starting point may be T0 time, the current i at time T0 is located in the second part B in FIG. 3 and the middle part N in FIG. 4; before the T0 time, the control method does not start.
  • the start of step S20 is started.
  • the second preset duration may also be 0, and the aforementioned starting point of time is 0.
  • the control method when the control method is started, the working head has been pressed against the nut, the nut has begun to apply a resistance torque to the working head, and the nut is about to be slowly released; so that the control method can detect more quickly.
  • the parameter x meets the preset condition, it is avoided that in the first part A or the initial part M, the working head is not yet in contact with the nut, resulting in inefficient work and energy waste caused by the control method having no working demand.
  • the control method is different from the first embodiment of the first concept of the present invention in that the parameter x is the output torque value of the motor,
  • the condition includes that the output torque value of the motor is equal to or less than a preset torque threshold.
  • the detection motor output torque value can be obtained by the torque sensor; and the output torque of the motor at no load is used as the preset torque threshold.
  • the control method is different from the first embodiment of the first concept of the present invention in that the parameter x is the rotational speed value of the motor, and the preset Conditions include: the motor speed value is equal to or greater than the preset speed threshold.
  • the detection motor speed value can be obtained by a speed detecting component such as a Hall element or a magnetic nail; and the speed of the motor at the time of no-load is used as a preset speed threshold.
  • the control method is different from the first embodiment of the first concept of the present invention in that the parameter x is an acceleration value of the power tool, The acceleration value is caused by the vibration of the power tool.
  • the preset conditions include: the acceleration of the output shaft is equal to or less than the preset acceleration threshold.
  • Detecting the output shaft acceleration value can be obtained by the built-in acceleration sensor in the tool.
  • the speed of the motor is used as the preset speed threshold.
  • the control method is different from the foregoing embodiment only in that the parameter x and the preset condition corresponding to the control method can adopt the first aspect of the present invention.
  • the method mentioned in any one of the foregoing first to sixth embodiments is different in that, when the target time T2 at which the parameter x meets the preset condition is after the preset time T1, the step S446 is adjusted to: Shut down the motor after the motor has been running for a preset number of turns.
  • the control method is different from the seventh embodiment of the first concept of the present invention in that the parameter x is in accordance with the preset condition.
  • the step S446 is adjusted to: turn off the motor after reducing the motor speed.
  • the control method is different from the seventh embodiment of the first concept of the present invention in that the parameter x is in accordance with the preset condition.
  • the step S446 is adjusted to: reduce the motor speed. The user is prompted by the speed reduction to cause the user to manually shut down the motor.
  • the control method is different from the seventh embodiment of the first concept of the present invention in that the parameter x is in accordance with the preset condition.
  • steps S446 and S448 can be adjusted to: the motor periodically switches between continuous forward and reverse. By prompting the user in this way, the user manually shuts down the motor.
  • the control method is different from the first embodiment of the first concept in that the preset condition is that the motor is supplied to the electric impact wrench 10
  • the current value of 12 continues to be equal to or less than the preset current threshold for a third predetermined duration.
  • the preset current threshold is the current value I0 when the motor 12 is idling in the fifth part E of FIG. 3, and is also the current value I0 when the motor 12 is idling in the final part 0 of FIG.
  • the control method is different from the first embodiment in the first concept in that the preset condition is that the control module determines that the current value is greater than Or equal to the second preset threshold, reduced to less than or equal to the first preset threshold.
  • the second preset threshold is greater than the first preset threshold.
  • the second preset threshold is a load value
  • the first preset threshold is a no-load value.
  • control system 40 includes a detection module 42, a second calculation module 44a, and a second control module 46b.
  • the detection module 42 is operative to detect a parameter x indicative of the load of the output shaft 16.
  • the nut 32 passes through the working head 14 to the output of the electric impact wrench 10 due to the presence of the thread fastening force between the nut 32 and the bolt 34.
  • the shaft 16 applies a resistive torque.
  • the working head 14 begins to tighten or remove the nut 32.
  • the resistance torque is proportional to the thread fastening force between the nut 32 and the bolt 34.
  • the thread fastening force between the nut 32 and the bolt 34 is also gradually increased, and the nut 32 and the bolt 34 are When fully tightened, the thread tightening force reaches a peak; conversely, during the removal of the nut 32 by the electric impact wrench 10, the thread tightening force is already at a peak, and the resistance of the output shaft 16 of the electric impact wrench 10 at the initial moment is The moment is the largest.
  • the motor 12 of the electric impact wrench 10 needs to output a large rotating torque to overcome the resistance torque at the peak, and the resistance of the output shaft 16 of the electric impact wrench 10 after the nut 32 and the bolt 34 are completely tightened. The moment is reduced to a gentle level, and the rotational torque output by the motor 12 is also simultaneously reduced to a gentle level.
  • the parameter x is used to indicate the load of the output shaft 16 of the electric impact wrench 10, that is, the resistance torque that the output shaft 16 of the electric impact wrench 10 is subjected to, and the resistance torque is consistent with the output torque of the motor 12 of the electric impact wrench 10,
  • the parameter related to the output torque of the motor 12 as the aforementioned parameter x
  • the magnitude of the load of the output shaft 16 can be identified by monitoring the parameter x.
  • the second calculation module 44a calculates a preset function f(x) of the parameter x.
  • the preset function f(x) is the first derivative of the parameter x.
  • the second control module 46b includes a function determining sub-module 462b and a second motor shifting sub-module 464b; the function determining sub-module 462b monitors the parameter x, and determines whether the preset function f(x) of the parameter x meets a preset condition, based on the foregoing The result of the determination is to confirm whether the load on the output shaft 16 has decreased to be equal to or less than the preset load. If so, the motor speed is changed by the second motor shift sub-module 464b.
  • the detecting module 42 reacquires the current parameter x, and then the second The calculation module 44a calculates the current preset function f(x), and the function determination sub-module 462b further determines whether the current preset function f(x) conforms to the preset. condition.
  • FIG. 3 depicts a current curve of the current supplied to the motor 12 when the nut 32 is tightly coupled with the bolt 34, and the letter t indicates that the motor 12 starts to work. At the time, the letter i indicates the current value of the motor 12 supplied to the electric impact wrench 10.
  • the curve in FIG. 3 includes a first portion A, a first inflection point H, a second portion B, a second inflection point I, a third portion C, a third inflection point J, a fourth portion D, a fifth portion E, and a sixth portion F.
  • the first part A is a rising curve, which indicates that the motor 12 has just started to start.
  • the nut 32 has not applied a resistance torque to the working head 14, and the first part A can be regarded as linear;
  • the first part A is the first The inflection point K and the subsequent second portion B, the first inflection point K has a downwardly inclined abrupt change with respect to the first portion A, and the second portion B is a descending curve, which indicates that the nut 32 has begun to abut against the working head 14, the nut 32 applies a resistance torque to the working head 14; after passing the second inflection point I, enters the third portion C of the basic level, at which time the working head 14 begins to overcome the resistance torque to slowly loosen the nut 32; as time passes, the third Part C undergoes a downward transition at the third inflection point J and forms a substantially descending fourth portion D, at which point the nut 32 is nearly completely released; then enters the fifth portion E, which is substantially a level
  • the straight line indicates that the
  • Fig. 4 depicts a graph of current supplied to the motor 12 over time when the electric impact wrench 10 is used to remove the loose nut 32 coupled with the bolt 34; wherein the letter t indicates that the motor 12 is operating. Time, the letter i represents the current value of the motor 12 supplied to the electric impact wrench 10.
  • the initial portion M is a rising curve indicating that the motor 12 has just started to start, at which time the nut 32 has not applied a resisting torque to the working head 14, and the initial portion M can be considered to be linear; following the subsequent intermediate portion of the initial portion F Part N, the middle portion N is a descending curve, which means that the nut 32 has begun to abut against the working head 14, and the nut 32 applies a resisting torque to the working head 14; since the nut 32 and the bolt 34 are not tightly coupled, the working head 14 is short.
  • the nut 32 and the bolt 34 are loosened inside, and directly enter the basic horizontal portion (not labeled), which is basically a section of water.
  • a flat straight line indicates that the nut 32 has been completely released and the motor 12 is in an unloaded state; finally, the final portion O is entered, at which time the motor 12 is shut down and the current i is also reduced to zero.
  • the parameter x is the current value of the motor 12 supplied to the electric impact wrench 10
  • the preset function f(x) is the first derivative value of the parameter x, and the aforementioned preset condition Then, the first derivative of the current value of the motor 12 supplied to the electric impact wrench 10 is equal to or smaller than the preset derivative threshold.
  • the current i will generate noise, and the current i will appear as an irregular curve or burr on the relationship of time t, thereby affecting the calculation of the first derivative value.
  • the following steps may be included in the calculation of the first derivative value, and the current may be measured at a plurality of consecutive time intervals, the current values of which are i1, i2, i3, ... in, respectively.
  • the first derivatives di1/dt1, di2/dt2, di3/dt3, ... din/dtn are obtained for the measured currents i1, i2, i3, ..., respectively, and the obtained n di/dt are obtained.
  • the average is then judged whether the value of the average is consistent with a threshold equal to or less than the preset derivative.
  • the preset derivative threshold in the preset condition is set as the first derivative value of the current value in the preset position in the fourth portion D in FIG. 3, which is also the middle portion in FIG.
  • the first derivative value of the current value smaller than the preset position in the fourth portion D of FIG. 3 or the intermediate portion N in FIG. 4 indicates that the current drops sharply, the nut 32 has been loosened with the bolt 34, and the second motor shift submodule 464b The rotational speed of the motor 12 is then varied.
  • the second motor shifting sub-module 464b includes a second timing acquisition unit 4642b, a timing determination unit 4464, and a motor control unit 4646.
  • the second time acquiring unit 4642b starts counting.
  • the second time acquiring unit 4642b Generate the current moment as the target time T2
  • the output to the time determination unit 4644 stores the preset time T1.
  • the motor control unit 4646 selects different ways of changing the motor rotation speed according to the target time T2 and before and after the preset time T1.
  • the time determining unit 4464 outputs a corresponding control command to the motor control unit 4646, and the motor control unit 4646 passes the first preset. After the length of time, the motor 12 is turned off; thereby loosening the nut 32 and the bolt 34 sufficiently, but the two are not disengaged.
  • the first preset duration may be set according to the required stroke of the nut 32 from the current position to the complete disengagement of the bolt, so that at the end of the first preset duration, the nut 32 will still not be disengaged from the bolt 34 as a reference; preferably, the first The preset duration is 10 milliseconds.
  • the target timing T2 is before the preset time T1
  • the timing determining unit 4464 outputs another control command to the motor control unit 4646, and the motor control unit 4646 immediately shuts down the motor. 12; thereby preventing the nut 32 and the bolt 34 from being disengaged.
  • shutdown motor includes stopping and braking the motor, and will not be described here.
  • the nut 32 can be rotated out of the bolt 34 to the maximum extent, but not separated from the bolt 34, reducing manual operation by the user. The time taken to remove the nut 32 greatly increases the user experience.
  • control system 40 is different from the first embodiment of the second inventive concept of the present invention, except that the control system 40 further includes
  • the preset module 41 includes an instruction preset sub-module 412, an instruction acquisition sub-module 414, and an instruction matching sub-module 416.
  • the command preset sub-module 412 is configured to preset a speed control demand instruction set, and includes a plurality of speed control demand instructions, and each speed control demand instruction corresponds to a specific manner of the step of changing the speed of the motor;
  • the acquisition sub-module 414 is configured to obtain a user speed adjustment demand instruction;
  • the instruction matching sub-module 416 is configured to confirm the specific manner of the step of changing the rotation speed of the motor according to the user speed adjustment demand instruction.
  • the second motor shifting sub-module 464b changes the motor speed in accordance with the manner confirmed by the command matching sub-module 416.
  • different shift modes are set, for example, the long stroke is set to the first shift mode, and the medium and short strokes are set to the second shift mode; the user according to the different stroke of the nut
  • the best user speed control demand command is issued to obtain the most suitable mode for changing the motor speed; then, the shifting module changes the motor speed through the shift mode.
  • the user can select the way to change the motor speed according to the working condition, and improve the adaptability of the control system to different working conditions, thereby ensuring that the nut can always be removed to the optimal position under different working conditions.
  • the mode switching button is set on the electric impact wrench and the mode icon is marked on the circumference of the button, so that the user can operate the dial button to select the corresponding shift mode before use.
  • control system 40 differs from the first embodiment of the second inventive concept of the present invention in that the control system 40 further includes a clock module. 43.
  • the clock module 43 is configured to provide a time start point and control the detection module to start the detection parameter x at the time start.
  • the time starting point is a time node after the second preset time period after the power tool is turned on.
  • the foregoing time starting point may be T0 time, the current i at time T0 is located in the second part B in FIG. 3 and the middle part N in FIG. 4; before the T0 time, the control system does not start.
  • the control system starts to start and acquires the parameter x through its detection module.
  • the second preset duration may also be 0, and the aforementioned starting point of time is 0.
  • the control system By setting the second preset duration, when the control system is started, the working head has been pressed against the nut, the nut has begun to apply a resisting torque to the working head, and the nut is about to be slowly released; so that the control system can detect it faster.
  • the preset function f(x) meets the preset condition, it is avoided that in the first part A or the initial part M, the working head is not yet in contact with the nut, resulting in the work efficiency and energy caused by the control system having no working demand. waste.
  • the control system is compared with the first embodiment of the second inventive concept of the present invention; the only difference is that the preset function f(x) is the parameter x
  • the preset condition is: the preset function f(x) is also equal to or smaller than the preset derivative threshold.
  • the preset function f(x) can also be a multi-order derivative of the parameter x, and will not be described here.
  • control system is different from the first embodiment of the second inventive concept of the present invention in that the parameter x is the output torque value of the motor 12;
  • the condition is that the first derivative of the output torque is equal to or less than the preset torque derivative threshold.
  • the motor output torque value can be obtained by the torque sensor; the method for obtaining the preset torque derivative threshold can refer to the foregoing method for obtaining the preset current derivative, and by constructing the torque curve of the motor, the first derivative value of the torque when the motor is not loaded is clarified. It is used as the preset torque derivative threshold, and will not be described here.
  • the control system is compared with the foregoing embodiment of the second inventive concept of the present invention, the corresponding parameter x and the preset condition in the control system can adopt the present invention.
  • the mode mentioned in any one of the foregoing first to fifth embodiments under the second inventive concept, the difference is that the target time T2 at which the preset function f(x) meets the preset condition is at the preset time T1 Thereafter, the second motor shifting sub-module 464b shuts down the motor after the motor has been operated for a predetermined number of turns.
  • control system is different from the sixth embodiment of the second inventive concept of the present invention only in that the preset function f(x) meets the preset condition.
  • the target time T2 is at a preset time T1
  • the second motor shifting sub-module 464b lowers the motor speed and then shuts down the motor.
  • the control system is different from the sixth embodiment of the second inventive concept of the present invention only in that the preset function f(x) meets the preset condition.
  • the target time T2 is at a preset time T1
  • the second motor shifting sub-module 464b lowers the motor speed, prompting the user by the speed reduction, so that the user manually shuts down the motor.
  • the control system is different from the sixth embodiment of the second inventive concept of the present invention only in that the preset function f(x) conforms to the preset condition.
  • the second motor shifting sub-module 464b can prompt the user to make the user manually shut down by periodically switching the motor between continuous forward and reverse rotations. Motor.
  • the control system can loosen the nut and the bolt without separating the nut and the bolt, and the user can manually separate the nut and the bolt according to the requirement, and the utility model can be used. The user only needs to loosen the special working condition of the nut.
  • control method of the power tool includes the following steps:
  • step S20 a parameter x indicating the load of the output shaft 16 is detected.
  • the nut 32 passes through the working head 14 to the output of the electric impact wrench 10 due to the presence of the thread fastening force between the nut 32 and the bolt 34.
  • the shaft 16 applies a resistive torque.
  • the working head 14 begins to tighten or remove the nut 32.
  • the resistance torque is proportional to the thread fastening force between the nut 32 and the bolt 34.
  • the thread fastening force between the nut 32 and the bolt 34 is also gradually increased, and the nut 32 and the bolt 34 are When fully tightened, the thread tightening force reaches a peak; conversely, during the removal of the nut 32 by the electric impact wrench 10, the thread tightening force is already at a peak, and the resistance of the output shaft 16 of the electric impact wrench 10 at the initial moment is The moment is the largest.
  • the motor 12 of the electric impact wrench 10 needs to output a large rotating torque to overcome the resistance torque at the peak, and the resistance of the output shaft 16 of the electric impact wrench 10 after the nut 32 and the bolt 34 are completely tightened. The moment is reduced to a gentle level, and the rotational torque output by the motor 12 is also simultaneously reduced to a gentle level.
  • the parameter x is used to indicate the load of the output shaft 16 of the electric impact wrench 10, that is, the resistance torque that the output shaft 16 of the electric impact wrench 10 is subjected to, and the resistance torque is consistent with the output torque of the motor 12 of the electric impact wrench 10,
  • the parameter related to the output torque of the motor 12 as the aforementioned parameter x
  • the magnitude of the load of the output shaft 16 can be identified by monitoring the parameter x.
  • step S40 the preset function f(x) of the parameter x is calculated.
  • step S60 which specifically includes:
  • step S62 Determine whether the preset function f(x) of the parameter x meets the preset condition, and confirm whether the load on the output shaft 16 has decreased to be equal to or less than the preset load based on the foregoing determination result, and if yes, execute step S64; if not, Returning to step S20;
  • FIG. 3 depicts a current curve of the current supplied to the motor 12 when the nut 32 is tightly coupled to the bolt 34 by the electric impact wrench 10; Indicates the time at which the motor 12 starts operating, and the letter i indicates the current value of the motor 12 supplied to the electric impact wrench 10.
  • the curve in FIG. 3 includes a first portion A, a first inflection point H, a second portion B, a second inflection point I, a third portion C, a third inflection point J, a fourth portion D, a fifth portion E, and a sixth portion F.
  • the first part A is a rising curve, which indicates that the motor 12 has just started to start.
  • the nut 32 has not applied a resistance torque to the working head 14, and the first part A can be regarded as linear;
  • the first part A is the first The inflection point K and the subsequent second portion B, the first inflection point K has a downwardly inclined abrupt change with respect to the first portion A, and the second portion B is a descending curve, which indicates that the nut 32 has begun to abut against the working head 14, the nut 32 applies a resistance torque to the working head 14; after passing the second inflection point I, enters the third portion C of the basic level, at which time the working head 14 begins to overcome the resistance torque to slowly loosen the nut 32; as time passes, the third Part C undergoes a downward transition at the third inflection point J and forms a substantially descending fourth portion D, at which point the nut 32 is nearly completely released; then enters the fifth portion E, which is substantially a level
  • the straight line indicates that the
  • Fig. 4 depicts a graph of current supplied to the motor 12 over time when the electric impact wrench 10 is used to remove the loose nut 32 coupled with the bolt 34; wherein the letter t indicates that the motor 12 is operating. Time, the letter i represents the current value of the motor 12 supplied to the electric impact wrench 10.
  • the initial portion M is a rising curve indicating that the motor 12 has just started to start, at which time the nut 32 has not applied a resisting torque to the working head 14, and the initial portion M can be considered to be linear; following the subsequent intermediate portion of the initial portion F Part N, the middle portion N is a descending curve, which means that the nut 32 has begun to abut against the working head 14, and the nut 32 applies a resisting torque to the working head 14; since the nut 32 and the bolt 34 are not tightly coupled, the working head 14 is short.
  • the nut 32 and the bolt 34 are loosened at this time, and directly enter the substantially horizontal portion (not labeled), which is basically a horizontal straight line, indicating that the nut 32 has been completely loosened, and the motor 12 is in an idle state; Finally, the final part O is entered, at which time the motor 12 is turned off and the current i is also reduced to zero.
  • the parameter x is an electric impact wrench
  • the current value of the motor 12 in the 10th, the preset function f(x) is the first derivative value of the parameter x, and the preset condition is: the first derivative value of the current value of the motor 12 supplied to the electric impact wrench 10 is equal to or smaller than Preset derivative threshold.
  • the current i will generate noise, and the current i will appear as an irregular curve or burr on the relationship of time t, thereby affecting the calculation of the first derivative value.
  • the following steps may be included in the calculation of the first derivative value, and the current may be measured at a plurality of consecutive time intervals, the current values of which are i1, i2, i3, ... in, respectively.
  • the first derivatives di1/dt1, di2/dt2, di3/dt3, ... din/dtn are obtained for the measured currents i1, i2, i3, ..., respectively, and the obtained n di/dt are obtained.
  • the average is then judged whether the value of the average is consistent with a threshold less than the preset derivative.
  • the preset current in the preset condition is set as the first derivative value of the current value in the preset position in the fourth portion D in FIG. 3, which is also the middle portion N in FIG.
  • the first derivative value of the current value in the preset position obviously, the fourth portion D is steeper than the waveform in the second portion B, so that the preset position can be accurately recognized, and the preset function f(x) is reduced to be equal to or smaller than
  • the first derivative value of the current value in the fourth portion D in FIG. 3 or in the intermediate portion N in FIG. 4 indicates that the current drops sharply, the nut 32 has been loosened with the bolt 34, and the motor 12 is changed by step S64. Rotating speed.
  • the target time T2 is after the preset time T1, after the first preset time period is passed through S646, the motor 12 is turned off; thereby fully loosening the nut 32 and the bolt 34. But the two will not leave.
  • the first preset duration may be set according to the required stroke of the nut 32 from the current position to the complete disengagement of the bolt, so that at the end of the first preset duration, the nut 32 will still not be disengaged from the bolt 34 as a reference; preferably, the first The preset duration is 10 milliseconds.
  • the target time T2 is immediately turned off by the S648 before the preset time T1; thereby preventing the nut 32 and the bolt 34 from being disengaged.
  • shutdown motor includes two steps of stopping and braking the motor, and will not be described here.
  • the nut 32 can be rotated out of the bolt 34 to the maximum extent, but not separated from the bolt 34, reducing manual operation by the user. The time taken to remove the nut 32 greatly increases the user experience.
  • control method is different from the other embodiments in that the control method further includes the step S10 before the step S20, which specifically includes:
  • the preset speed regulation demand instruction set includes a plurality of speed regulation demand instructions, and each speed adjustment demand instruction corresponds to a specific manner of the step of changing the speed of the motor;
  • step S80 changes the motor speed through the shift mode.
  • the user can select the way to change the motor speed according to the working condition, and improve the control method.
  • the adaptability of different working conditions ensures that the nut can always be removed to the optimal position under different working conditions.
  • the mode switching button is set on the electric impact wrench and the mode icon is marked on the circumference of the button, so that the user can operate the dial button to select the corresponding shift mode before use.
  • control method is different from the first embodiment of the second inventive concept of the present invention in that the control method further includes step S30, Step S30 specifically includes: providing a time start point, and step S20 is started at the time start point.
  • the time starting point is a time node after the second preset time period after the power tool is turned on.
  • the foregoing time starting point may be T0 time, the current i at time T0 is located in the second part B in FIG. 3 and the middle part N in FIG. 4; before the T0 time, the control method does not start.
  • the start of step S20 is started.
  • the second preset duration may also be 0, and the aforementioned starting point of time is 0.
  • the control method By setting the second preset duration, when the control method is started, the working head has been pressed against the nut, the nut has begun to apply a resistance torque to the working head, and the nut is about to be slowly released; so that the control method can detect more quickly.
  • the preset function f(x) meets the preset condition, it is avoided that in the first part A or the initial part M, the working head is not yet in contact with the nut, resulting in the work efficiency and energy caused by the control method having no working demand. waste.
  • the control method is compared with the first embodiment of the second inventive concept of the present invention; the only difference is that the preset function f(x) is the parameter x
  • the preset condition is: the preset function f(x) is also equal to or smaller than the preset derivative threshold.
  • the preset function f(x) can also be a multi-order derivative of the parameter x, and will not be described here.
  • control method is different from the first embodiment of the second inventive concept of the present invention, except that the parameter x is the output torque value of the motor 12;
  • the condition is that the first derivative of the output torque is equal to or less than the preset torque derivative threshold.
  • the motor output torque value can be obtained by the torque sensor; the method for obtaining the preset torque derivative threshold can refer to the foregoing method for obtaining the preset current derivative, and by constructing the torque curve of the motor, the first derivative value of the torque when the motor is not loaded is clarified. It is used as the preset torque derivative threshold, and will not be described here.
  • control method and the second aspect of the present invention may adopt the method mentioned in any one of the foregoing first to fifth embodiments of the second inventive concept of the present invention, as compared with the foregoing embodiment under the concept of the present invention.
  • the difference is that when the target time T2 at which the preset function f(x) meets the preset condition is after the preset time T1, the step S646 is adjusted to: shut down the motor after the motor runs the preset number of turns.
  • control method is different from the sixth embodiment of the second inventive concept of the present invention only in that the preset function f(x) meets the preset condition.
  • step S646 is adjusted to: turn off the motor after reducing the motor speed.
  • step S646 is adjusted to: reduce the motor speed, prompt the user by the speed reduction, so that the user manually shuts down the motor.
  • the control method is different from the sixth embodiment of the second inventive concept of the present invention in that the preset function f(x) meets the preset condition.
  • steps S646 and S648 can be adjusted to periodically switch between the continuous forward and reverse rotations of the motor. To prompt the user to manually shut down the motor.
  • control system 40 includes a detection module 42, a third calculation module 44c, and a control module 46.
  • the detection module 42 is operative to detect a parameter x indicative of the load of the output shaft 16.
  • the nut 32 passes through the working head 14 to the output of the electric impact wrench 10 due to the presence of the thread fastening force between the nut 32 and the bolt 34.
  • the shaft 16 applies a resistive torque.
  • the working head 14 begins to tighten or remove the nut 32.
  • the resistance torque is proportional to the thread fastening force between the nut 32 and the bolt 34.
  • the thread fastening force between the nut 32 and the bolt 34 is also gradually increased, and the nut 32 and the bolt 34 are When fully tightened, the thread tightening force reaches a peak; on the contrary, during the process of removing the nut 32 from the electric impact wrench 10, the thread tightening force is already at the peak, the initial moment, the electric impact wrench
  • the output shaft 16 of 10 is subjected to the maximum resistance torque.
  • the motor 12 of the electric impact wrench 10 needs to output a large rotating torque to overcome the resistance torque at the peak.
  • the electric impact wrench The resistance torque of the output shaft 16 of 10 is reduced to a gentle level, and the rotational torque output by the motor 12 is also reduced to a gentle level.
  • the parameter x is used to indicate the load of the output shaft 16 of the electric impact wrench 10, that is, the resistance torque that the output shaft 16 of the electric impact wrench 10 is subjected to, and the resistance torque is consistent with the output torque of the motor 12 of the electric impact wrench 10,
  • the parameter related to the output torque of the motor 12 as the aforementioned parameter x
  • the magnitude of the load of the output shaft 16 can be identified by monitoring the parameter x.
  • the third calculation module 44c calculates a preset function f(x) of the parameter x, which is the first derivative of the parameter x.
  • the control module 46 determines that the output shaft load is reduced to be equal to or less than a preset load according to the parameter x and its preset function f(x) according to a preset condition, thereby changing the rotational speed of the motor.
  • the control module 46 includes a parameter function determining sub-module 462c and a third motor shifting sub-module 464c.
  • the parameter determination sub-module 462c monitors the parameter x, determines whether the parameter x and its preset function f(x) meet the preset condition, and determines that the load on the output shaft 16 has been reduced to the preset load when both are met, and if so, The motor speed is changed by the third motor shift sub-module 464c. If not, the detecting module 42 reacquires the current parameter x, and the third calculating module 44c calculates the current preset function f(x), and the parameter determining sub-module 462c further determines Whether the current preset function f(x) meets the preset condition.
  • FIG. 3 depicts a current curve of the current supplied to the motor 12 when the nut 32 is tightly coupled with the bolt 34, and the letter t indicates that the motor 12 starts to work. At the time, the letter i indicates the current value of the motor 12 supplied to the electric impact wrench 10.
  • the curve in FIG. 3 includes a first portion A, a first inflection point H, a second portion B, a second inflection point I, a third portion C, a third inflection point J, a fourth portion D, a fifth portion E, and a sixth portion F.
  • the first part A is a rising curve, which indicates that the motor 12 has just started to start.
  • the nut 32 has not applied a resistance torque to the working head 14, and the first part A can be regarded as linear; the first part A is the first Inflection point K and subsequent second part B, the first inflection point K is relative to
  • the first portion A has a downwardly sloping abrupt change
  • the second portion B is a descending curve, which indicates that the nut 32 has begun to abut against the working head 14, and the nut 32 applies a resisting torque to the working head 14; after passing the second inflection point I Entering the third level C of the basic level, the working head 14 begins to overcome the resistance torque to slowly loosen the nut 32; as time passes, the third portion C undergoes a downward jump at the third inflection point J, and Forming a fourth portion D that is significantly lowered, at which point the nut 32 is nearly completely released; then entering the fifth portion E, which is substantially a horizontal straight line, indicating that the
  • Fig. 4 depicts a graph of current supplied to the motor 12 over time when the electric impact wrench 10 is used to remove the loose nut 32 coupled with the bolt 34; wherein the letter t indicates that the motor 12 is operating. Time, the letter i represents the current value of the motor 12 supplied to the electric impact wrench 10.
  • the initial portion M is a rising curve indicating that the motor 12 has just started to start, at which time the nut 32 has not applied a resisting torque to the working head 14, and the initial portion M can be considered to be linear; following the subsequent intermediate portion of the initial portion F Part N, the middle portion N is a descending curve, which means that the nut 32 has begun to abut against the working head 14, and the nut 32 applies a resisting torque to the working head 14; since the nut 32 and the bolt 34 are not tightly coupled, the working head 14 is short.
  • the nut 32 and the bolt 34 are loosened at this time, and directly enter the substantially horizontal portion (not labeled), which is basically a horizontal straight line, indicating that the nut 32 has been completely loosened, and the motor 12 is in an idle state; Finally, the final part O is entered, at which time the motor 12 is turned off and the current i is also reduced to zero.
  • the parameter x is the current value of the motor 12 supplied to the electric impact wrench 10
  • the preset function f(x) is the first derivative value of the parameter x
  • the aforementioned preset condition is Therefore, the current value of the motor 12 supplied to the electric impact wrench 10 is less than the preset current threshold, and the first derivative of the current value is equal to or smaller than the preset derivative threshold.
  • the current i will generate noise, and the current i will appear as an irregular curve or burr on the relationship of time t, thereby affecting the calculation of the first derivative value.
  • the following steps may be included in the calculation of the first derivative value, and the current may be measured at a plurality of consecutive time intervals, the current values of which are i1, i2, i3, ... in, respectively. And respectively Calculate the first derivative di1/dt1, di2/dt2, di3/dt3...din/dtn for the measured currents i1, i2, i3, ... in for time, and obtain the average of the obtained n di/dt Then, the value of the average is judged whether it meets the threshold smaller than the preset derivative.
  • the current value of the current supplied to the motor 12 can be obtained by collecting the current value multiple times and obtaining an average value, thereby reducing the current value error caused by the current fluctuation, which will not be described herein.
  • the preset current threshold in the preset condition is set as the current value of the preset position in the fourth part D in FIG. 3, and the preset derivative threshold is the first derivative value of the current.
  • the preset derivative threshold is the first derivative value of the current; in the fourth function D or the graph in the preset function f(x)
  • the first derivative value of the current value of the preset position in the middle portion N of 4 indicates that the current drops sharply, the nut 32 has been loosened with the bolt 34, and the third motor shifting sub-module 464c further changes the rotational speed of the motor 12.
  • the third motor shifting sub-module 464c includes a third timing acquisition unit 4642c, a timing determination unit 4464, and a motor control unit 4646.
  • the third time acquiring unit 4642c starts counting.
  • the third time acquiring unit 4642c generates the current time.
  • the target control unit 4464 outputs a preset time T1 as the target time T2, and the motor control unit 4646 selects a different mode of changing the motor rotation speed based on the target time T2 and the preset time T1.
  • the time determining unit 4464 outputs a corresponding control command to the motor control unit 4646, and the motor control unit 4646 passes the first preset. After the length of time, the motor 12 is turned off; thereby loosening the nut 32 and the bolt 34 sufficiently, but the two are not disengaged.
  • the first preset duration can be based on the required stroke of the nut 32 from the current position to the complete detachment of the bolt.
  • the row is set so that at the end of the first preset duration, the nut 32 is still not deviated from the bolt 34; preferably, the first predetermined duration is 10 milliseconds.
  • the target timing T2 is before the preset time T1
  • the timing determining unit 4464 outputs another control command to the motor control unit 4646, and the motor control unit 4646 immediately shuts down the motor. 12; thereby preventing the nut 32 and the bolt 34 from being disengaged.
  • shutdown motor includes stopping and braking the motor, and will not be described here.
  • the nut 32 can be rotated out of the bolt 34 to the maximum extent, but not separated from the bolt 34, reducing manual operation by the user. The time taken to remove the nut 32 greatly increases the user experience.
  • control system 40 is different from the other embodiments only in that the control system 40 further includes a preset module 41, and the preset module 41 includes The instruction preset sub-module 412, the instruction acquisition sub-module 414, and the instruction matching sub-module 416.
  • the command preset sub-module 412 is configured to preset a speed control demand instruction set, and includes a plurality of speed control demand instructions, and each speed control demand instruction corresponds to a specific manner of the step of changing the rotation speed of the motor;
  • the sub-module 414 is configured to obtain a user speed adjustment demand instruction;
  • the instruction matching sub-module 416 is configured to confirm the specific manner of the step of changing the motor speed according to the user speed adjustment demand instruction.
  • the third motor shift sub-module 464c changes the motor speed in accordance with the manner confirmed by the command matching sub-module 416.
  • different shift modes are set, for example, the long stroke is set to the first shift mode, and the medium and short strokes are set to the second shift mode; the user according to the different stroke of the nut
  • the optimal user speed control demand command is issued to obtain the most suitable mode for changing the motor speed; then, the third motor speed shift sub-module 464c changes the motor speed through the shift mode.
  • the user can select the way to change the motor speed according to the working conditions, and improve the control system.
  • the adaptability of different working conditions ensures that the nut can always be removed to the optimal position under different working conditions.
  • the mode switching button is set on the electric impact wrench and the mode icon is marked on the circumference of the button, so that the user can operate the dial button to select the corresponding shift mode before use.
  • control system 40 is different from the first embodiment of the third inventive concept in that the control system 40 further includes a clock module 43, the clock module. 43 is used to provide a time start point, and the control module starts the detection parameter x at the time start.
  • the time starting point is a time node after the second preset time period after the power tool is turned on.
  • the foregoing time starting point may be T0 time, the current i at time T0 is located in the second part B in FIG. 3 and the middle part N in FIG. 4; before the T0 time, the control system does not start.
  • the control system starts to start and acquires the parameter x through its detection module.
  • the second preset duration may also be 0, and the aforementioned starting point of time is 0.
  • the control system By setting the second preset duration, when the control system is started, the working head has been pressed against the nut, the nut has begun to apply a resisting torque to the working head, and the nut is about to be slowly released; so that the control system can detect it faster.
  • the preset function f(x) meets the preset condition, it is avoided that in the first part A or the initial part M, the working head is not yet in contact with the nut, resulting in the work efficiency and energy caused by the control system having no working demand. waste.
  • control system is compared with the first embodiment of the third inventive concept of the present invention; the only difference is that the preset function f(x) is the second derivative of the parameter x
  • the preset condition is that the preset function f(x) is also equal to or smaller than the preset derivative threshold.
  • the preset function f(x) can also be a multi-order derivative of the parameter x, and will not be described here.
  • the control system is different from the first embodiment of the third inventive concept of the present invention only in that the parameter x and the preset function f(x) are both in compliance with each other.
  • the third motor shift sub-module 464c turns off the motor after the motor runs the preset number of turns.
  • control system is different from the fifth embodiment of the third inventive concept of the present invention only in that the parameter x and the preset function f(x) are both in compliance with each other.
  • the third motor shifting sub-module 464c turns off the motor after lowering the motor speed.
  • the control system is different from the fifth embodiment of the third inventive concept of the present invention only in that the parameter x and the preset function f(x) are both in compliance with each other.
  • the third motor shifting sub-module 464c lowers the motor speed, prompting the user by the speed reduction, so that the user manually shuts down the motor.
  • the control system is different from the fifth embodiment of the third inventive concept of the present invention only in that the parameter x and the preset function f(x) are in compliance with each other. Whether the target time T2 at which the condition is located is after or after the preset time T1, the third motor shifting sub-module 464c can prompt the user to make the user manually close by periodically switching the motor between continuous forward and reverse rotations. Stop the motor.
  • the control system can loosen the nut and the bolt without separating the nut and the bolt, and the user can manually separate the nut and the bolt according to the requirement, so that the user only needs to loosen the nut. Special working conditions.
  • control method of the power tool includes the following steps:
  • step S20 a parameter x indicating the load of the output shaft 16 is detected.
  • the nut 32 passes through the working head 14 to the output of the electric impact wrench 10 due to the presence of the thread fastening force between the nut 32 and the bolt 34.
  • the shaft 16 applies a resistive torque.
  • the working head 14 begins to tighten or remove the nut 32.
  • the resistance torque is proportional to the thread fastening force between the nut 32 and the bolt 34.
  • the thread fastening force between the nut 32 and the bolt 34 is also gradually increased, and the nut 32 and the bolt 34 are When fully tightened, the thread tightening force reaches a peak; conversely, during the removal of the nut 32 by the electric impact wrench 10, the thread tightening force is already at a peak, and the resistance of the output shaft 16 of the electric impact wrench 10 at the initial moment is The moment is the largest.
  • the motor 12 of the electric impact wrench 10 needs to output a large rotating torque to overcome the resistance torque at the peak, and the resistance of the output shaft 16 of the electric impact wrench 10 after the nut 32 and the bolt 34 are completely tightened. Moment reduced to gentle, motor The rotational torque of the 12 outputs is also reduced to a gentle level.
  • the parameter x is used to indicate the load of the output shaft 16 of the electric impact wrench 10, that is, the resistance torque that the output shaft 16 of the electric impact wrench 10 is subjected to, and the resistance torque is consistent with the output torque of the motor 12 of the electric impact wrench 10,
  • the parameter related to the output torque of the motor 12 as the aforementioned parameter x
  • the magnitude of the load of the output shaft 16 can be identified by monitoring the parameter x.
  • step S40 the preset function f(x) of the parameter x is calculated.
  • step S60 it is determined that the output shaft load is reduced to be equal to or less than a preset load according to the parameter x and its preset function f(x) according to a preset condition, thereby changing the rotational speed of the motor.
  • Step S60 specifically includes:
  • step S622 determining whether the parameter x meets the preset condition, if yes, executing step S624; if not, returning to step S20;
  • step S624 determining whether the preset function f(x) of the parameter x meets the preset condition, and if so, executing step S64; if not, returning to step S20;
  • FIG. 3 depicts a current curve of the current supplied to the motor 12 when the nut 32 is tightly coupled with the bolt 34, and the letter t indicates that the motor 12 starts to work. At the time, the letter i indicates the current value of the motor 12 supplied to the electric impact wrench 10.
  • the curve in FIG. 3 includes a first portion A, a first inflection point H, a second portion B, a second inflection point I, a third portion C, a third inflection point J, a fourth portion D, a fifth portion E, and a sixth portion F.
  • the first part A is a rising curve, which indicates that the motor 12 has just started to start.
  • the nut 32 has not applied a resistance torque to the working head 14, and the first part A can be regarded as linear;
  • the first part A is the first The inflection point K and the subsequent second portion B, the first inflection point K has a downwardly inclined abrupt change with respect to the first portion A, and the second portion B is a descending curve, which indicates that the nut 32 has begun to abut against the working head 14, the nut 32 applies a resistance torque to the working head 14; after passing the second inflection point I, enters the third portion C of the basic level, at which time the working head 14 begins to overcome the resistance torque to slowly loosen the nut 32; as time passes, the third Part C undergoes a downward transition at the third inflection point J and forms a fourth portion D that is significantly lowered, at which point the nut 32 is nearly completely released;
  • the part is basically a horizontal straight line, indicating that the
  • Fig. 4 depicts a graph of current supplied to the motor 12 over time when the electric impact wrench 10 is used to remove the loose nut 32 coupled with the bolt 34; wherein the letter t indicates that the motor 12 is operating. Time, the letter i represents the current value of the motor 12 supplied to the electric impact wrench 10.
  • the initial portion M is a rising curve indicating that the motor 12 has just started to start, at which time the nut 32 has not applied a resisting torque to the working head 14, and the initial portion M can be considered to be linear; following the subsequent intermediate portion of the initial portion F Part N, the middle portion N is a descending curve, which means that the nut 32 has begun to abut against the working head 14, and the nut 32 applies a resisting torque to the working head 14; since the nut 32 and the bolt 34 are not tightly coupled, the working head 14 is short.
  • the nut 32 and the bolt 34 are loosened at this time, and directly enter the substantially horizontal portion (not labeled), which is basically a horizontal straight line, indicating that the nut 32 has been completely loosened, and the motor 12 is in an idle state; Finally, the final part O is entered, at which time the motor 12 is turned off and the current i is also reduced to zero.
  • the parameter x is the current value of the motor 12 supplied to the electric impact wrench 10
  • the preset function f(x) is the first derivative value of the parameter x
  • the aforementioned preset condition is Therefore, the current value of the motor 12 supplied to the electric impact wrench 10 is less than the preset current threshold, and the first derivative of the current value is equal to or smaller than the preset derivative threshold.
  • the current i will generate noise, and the current i will appear as an irregular curve or burr on the relationship of time t, thereby affecting the calculation of the first derivative value.
  • the following steps may be included in the calculation of the first derivative value, and the current may be measured at a plurality of consecutive time intervals, the current values of which are i1, i2, i3, ... in, respectively.
  • the first derivatives di1/dt1, di2/dt2, di3/dt3, ... din/dtn are obtained for the measured currents i1, i2, i3, ..., respectively, and the obtained n di/dt are obtained.
  • the average is then judged whether the value of the average is consistent with a threshold less than the preset derivative.
  • the current value of the current supplied to the motor 12 can be obtained by collecting the current value multiple times and obtaining an average value, thereby reducing the current value error caused by the current fluctuation, which will not be described herein.
  • the preset current threshold in the preset condition is set as the first derivative value of the current value in the preset position in the fourth portion D in FIG. 3, which is also the middle portion in FIG.
  • the first derivative value of the current value of the preset position in N; the first derivative of the current value at the preset position in the fourth portion D of FIG. 3 or the intermediate portion N of FIG. 4 in the preset function f(x) The value indicates a sharp drop in current, the nut 32 has been loosened with the bolt 34, and the third motor shift sub-module 464c in turn changes the speed of the motor 12.
  • the target time T2 is after the preset time T1, after the first preset time period is passed through S646, the motor 12 is turned off; thereby fully loosening the nut 32 and the bolt 34. But the two will not leave.
  • the first preset duration may be set according to the required stroke of the nut 32 from the current position to the complete disengagement of the bolt, so that at the end of the first preset duration, the nut 32 will still not be disengaged from the bolt 34 as a reference; preferably, the first The preset duration is 10 milliseconds.
  • the target time T2 is immediately turned off by the S648 before the preset time T1; thereby preventing the nut 32 and the bolt 34 from being disengaged.
  • shutdown motor includes two steps of stopping and braking the motor, and will not be described here.
  • the nut 32 can be rotated out of the bolt 34 to the maximum extent, but not separated from the bolt 34, reducing manual operation by the user. The time taken to remove the nut 32 greatly increases the user experience.
  • control method is different from the other embodiments in that the control method further includes the step S10 before the step S20, which specifically includes:
  • a preset speed regulation demand instruction set which includes a plurality of speed regulation demand instructions, and each speed adjustment demand instruction corresponds to a specific manner of the step of changing the rotation speed of the motor;
  • step S80 changes the motor speed through the shift mode.
  • the user can select the way to change the motor speed according to the working condition, and improve the adaptability of the control method to different working conditions, thereby ensuring that the nut can always be removed to the optimal position under different working conditions.
  • the mode switching button is set on the electric impact wrench and the mode icon is marked on the circumference of the button, so that the user can operate the dial button to select the corresponding shift mode before use.
  • control method method is different from the first embodiment of the third inventive concept of the present invention in that the control method further includes step S30, which is S30 specifically includes: providing a time start point, and step S20 is started at the time start point.
  • the time starting point is a time node after the second preset time period after the power tool is turned on.
  • the foregoing time starting point may be T0 time, the current i at time T0 is located in the second part B in FIG. 3 and the middle part N in FIG. 4; before the T0 time, the control method does not start.
  • the start of step S20 is started.
  • the second preset duration may also be 0, and the aforementioned starting point of time is 0.
  • the control method By setting the second preset duration, when the control method is started, the working head has been pressed against the nut, the nut has begun to apply a resistance torque to the working head, and the nut is about to be slowly released; so that the control method can detect more quickly.
  • the preset function f(x) meets the preset condition, it is avoided that in the first part A or the initial part M, the working head is not yet in contact with the nut, resulting in the work efficiency and energy caused by the control method having no working demand. waste.
  • control method is compared with the first embodiment of the third inventive concept of the present invention; the only difference is that the preset function f(x) is the second derivative of the parameter x
  • the preset condition is that the preset function f(x) is also equal to or smaller than the preset derivative threshold.
  • the preset function f(x) can also be a multi-order derivative of the parameter x, and will not be described here.
  • the control method is different from the first embodiment of the third inventive concept of the present invention only in that the parameter x and the preset function f(x) are both in compliance with each other.
  • the step S646 is adjusted to: shut down the motor after the motor runs the preset number of turns.
  • control system is different from the fifth embodiment of the third inventive concept of the present invention only in that the parameter x and the preset function f(x) are both in compliance with each other.
  • the step S646 is adjusted to: turn off the motor after reducing the motor speed.
  • the control system is different from the fifth embodiment of the third inventive concept of the present invention only in that the parameter x and the preset function f(x) are both in compliance with each other.
  • the step S646 is adjusted to: reduce the motor speed, and prompt the user by the speed decrease, so that the user manually shuts down the motor.
  • the control system is different from the fifth embodiment of the third inventive concept of the present invention only in that the parameter x and the preset function f(x) are in compliance with each other. It is determined whether the target time T2 at which the condition is located is after or after the preset time T1, and both of steps S646 and S648 can be adjusted such that the motor periodically switches between continuous forward and reverse. By prompting the user in this way, the user manually shuts down the motor.
  • the present invention also provides a first embodiment under the fourth inventive concept.
  • the power tool is Impact wrench.
  • the impact wrench can optionally loosen or tighten the nut. In the process of loosening the nut by the impact wrench, any one of the control methods of the first invention concept, the second invention concept, and the third invention concept described above is executed.
  • the present invention also provides a second embodiment of the fourth inventive concept.
  • the power tool is an impact wrench.
  • the impact wrench can optionally be rotated forward or reverse. In the process of inverting the impact wrench, any of the control methods according to the first inventive concept, the second inventive concept, and the third inventive concept described above is executed.
  • the power tool is an impact wrench.
  • the impact wrench includes a motor and an output shaft that connects the motor.
  • the impact wrench can optionally loosen or tighten the nut.
  • the control method of the embodiment comprises the steps of: detecting a parameter characterizing the output shaft load; determining whether the release condition is satisfied, the release condition indicating that the nut is converted from the tightened state to the loosened state. State; when the release condition is satisfied, the rotation speed of the motor is changed.
  • the release condition is that the parameter x, or at least one of the functions f(x) of the parameter x, meets a preset condition.
  • the power tool further includes a system starting component, a system startup component operable start control system, and the control system is the first inventive concept and the second invention. Any of the control systems provided under the concept and the third inventive concept.
  • the power tool is an impact wrench that selectively loosens or tightens the nut, and when the impact wrench performs a loosening nut action, the operating system activation component activates the aforementioned control system.
  • the power tool is an impact wrench, and the impact wrench is selectively forward or reverse. When the impact wrench performs a reverse action, the operating system activation component activates the aforementioned control system.
  • the control method can loosen the nut and the bolt without separating the nut and the bolt, and the user can manually separate the nut and the bolt according to the requirement, so that the user only needs to loosen the nut. Special working conditions.
  • Fig. 22 shows a power tool according to a preferred embodiment of the fifth invention for mounting a screw, the electric tool comprising a motor, a working head, a power source, a detecting element 10' and a control module 20'.
  • the working head After the motor is started, the working head outputs power, and the power source is used to power the motor.
  • the detecting element 10' is for detecting a parameter characterizing the head load and outputting a detection signal.
  • Control module 20' is used to connect When the detection signal output from the detecting element 10' is judged based on the detection signal to judge that the load of the working head is reduced, the control module 20' controls the head to intermittently output power, thereby changing the output mode.
  • the way to change the output mode also includes reducing the speed, stopping, intermittently outputting power, etc., and changing the output mode of the motor to the working head.
  • the above power tool is provided with a detecting element 10' for detecting parameters indicative of the head load in real time.
  • the detecting component 10' can detect that the parameter characterizing the working head load occurs due to the change of the mounting state of the screw.
  • the control module 20' intermittently outputs power according to the detection sent by the detecting component 10', thereby achieving monitoring of the screw slip or the working head jumping out of the screw head groove, changing the power tool The working condition and the purpose of improving the working efficiency of the screw installation.
  • the control module 20' shields the detection and reception of the detection signal within a preset time after the motor is started. In other embodiments, shielding may also be performed by means of the detection element 10' being turned off within a preset time after the motor is started.
  • the parameter indicative of the head load detected by the detecting element 10' is the current flowing through the motor.
  • the control module 20' can determine the load of the working head based on the change in the current value.
  • the control module 20' determines that the load of the head is decreased.
  • the difference between the maximum value and the minimum value of the parameter is positive during a certain period of time and is not less than the first threshold. More preferably, the difference between the parameter value at the first time point and the parameter value at the last time point in a certain period of time is positive and not less than the first threshold.
  • the embodiment is directed to the case where the working head is completely slipped relative to the screw cap, and the load of the electric tool is sharply reduced after the slipping, thereby appearing in the The amount of decrease in the load parameter over a certain period of time is not less than the first threshold.
  • the working head frequently slips relative to the screw cap, that is, after the working head and the screw cap slip, the working head and the screw cap are immediately engaged, and then the working head and the screw cap are again slipped, and then the working head is The screw cap is then engaged immediately, so that it is cycled multiple times. Since each working head and the screw cap slip for a short time and then immediately engage, the load will appear a short, small decrease and then increase, so the load parameter is reduced less than the first threshold for a period of time. But greater than or equal to the second threshold, the first threshold is greater than the second threshold. In response to this situation, the present invention proposes the following two preferred embodiments.
  • control module 20' determines that the load on the head is reduced when the parameter characterizing the head load occurs at least twice during a certain period of time and the two decreases are intermittent. In another embodiment, the control module 20' determines the working head when the state in which the decreasing amount of the parameter indicating the working head load is less than the first threshold and the value greater than or equal to the second threshold occurs at least twice in the preset time period. The load is reduced.
  • control module 20' determines that the parameter characterizing the head load is decreased once when the parameters characterizing the head load are sequentially decreased at at least three adjacent points in time. In one embodiment, when the parameters characterizing the head load at at least three adjacent points in time are sequentially decreased, the control module 20' determines that the amount of decrease in the parameter characterizing the head load is less than the first threshold and is greater than or A state equal to the second threshold occurs once.
  • control module 20' determines the load reduction of the working head based at least in part on the first derivative, the second derivative, or the higher derivative of the parameter characterizing the head load.
  • the load reduction of the working head is determined based at least in part on the first derivative, including but not limited to the following cases: 1) the first derivative is negative, and the absolute value is greater than or equal to the preset value, 2) consecutive N first derivative values are Negative, and the absolute value is greater than or equal to the preset value, 3) consecutive N first-order derivative values are negative, and part of the absolute value is greater than or equal to the preset value, part is less than the preset value, 4) consecutive N ones
  • the order derivatives are all negative, and the absolute value of the latter first derivative is not less than the absolute value of the previous first derivative, that is, the continuous N first derivatives are negative and their absolute values are gradually increased, 5) consecutive N ones
  • the order derivatives are all negative and their absolute values are parabolic, that is, the continuous N first-order derivatives are negative and their absolute values increase
  • the function of the first-order derivative is greater than or equal to the preset value, and the function is Any possible function that exists in mathematics.
  • the case where the load reduction of the working head is judged based in part on the second derivative or the higher order derivative, including but not limited to, is similar to the case where the load reduction of the working head is determined based at least in part on the first derivative, including but not limited to, and is no longer List one by one.
  • control module 20' determines that the load of the head is reduced when the function of the first derivative or the first derivative of the parameter characterizing the head load is negative and its absolute value is not less than the second threshold.
  • the control module 20 'Determine the load on the work head is reduced.
  • At least one of the functions of the second derivative, the second derivative function, the higher derivative, the higher derivative of the parameter characterizing the head load is a negative value and the absolute value thereof is not less than the fifth threshold.
  • the control module 20' determines that the load of the working head is reduced, the control module 20' outputs a discontinuous supply current to the motor by controlling the power source to intermittently output power to the working head.
  • the intermittent supply current corresponds to the supply current of the interrupted pulses. That is, the control module 20' corresponds to a supply current that outputs a pulse to the motor by controlling the power source to intermittently output power to the head.
  • the working head In the normal output state, the working head continuously outputs power to complete the screw installation. In the state where the working head intermittently outputs power, it can adapt to the working condition of large torque, better control the process of installing the screw, effectively reduce the screw slip or the working head jumps out of the screw head groove, etc., so that the working head load is reduced. The occurrence of the state improves the success rate and working efficiency of the mounting screws.
  • the power tool also includes an adjustment member 30' that is steerable and transmits an adjustment signal that the operator can operatively control.
  • the control module 20' acquires the adjustment signal and adjusts the intermittent supply current of the power supply to the motor based on the adjustment signal.
  • the power tool can work in a mode with adjustable pulse frequency, adjustable pulse duty cycle, and adjustable pulse frequency and pulse duty cycle. Therefore, according to the actual situation, the appropriate output frequency and the capacity ratio are selected to meet the requirements of different working conditions.
  • control module 20' adjusts the intermittent supply current of the power supply to the motor by adjusting at least one of the time width of the single supply current or the time interval between the two adjacent supply currents. It is equivalent to adjusting the supply current of the pulse output from the power source to the motor by adjusting at least one of the time width of the supply current of the single pulse or the time interval between the supply currents of the adjacent two pulses.
  • the above-mentioned electric tool can detect the change of the current flowing through the motor during the process of installing the screw through the detecting component 10', thereby detecting the change of the load of the working head, and thereby intermittently outputting the power through the control module 20', thereby effectively reducing the power.
  • the occurrence of the slip state improves the efficiency of screw installation.
  • the working head includes a first working head and a second working head mounted to the rotating head.
  • the first working head and the second working head are switchably connected to the motor by rotation of the rotating head, and are alternatively driven by the motor.
  • the control module 20' determines, based on the detection signal, that the amount of decrease in the load of the first working head is not less than the first threshold value for a certain period of time, and the control head intermittently outputs power.
  • the control module 20' controls the second working head to continuously output power.
  • the operator can select the first working head or the second working head to output torque as needed.
  • the first working head is a screwdriver and the second working head is used to realize a drill having a constant output torque.
  • the second working head can also be a working head of an electric wrench, a hammer or an impact drill.
  • the power tool also includes a trigger member and a sensing member.
  • the trigger member is disposed on the first working head and/or the second working head.
  • the sensing component is disposed on the main body of the power tool and rotates relative to the triggering member for sensing the triggering component, and sends a sensing signal to the control module 20' according to the sensing result, and the control module 20' determines the first working head of the motor driving according to the sensing signal.
  • Two work heads Specifically, during the switching between the first working head and the second working head, when the sensing component senses the triggering component, the triggering component is rotated to the position corresponding to the sensing component with the first working head and/or the second working head.
  • the sensing element outputs an electrical signal to the sensing element 10'.
  • the first working head When the first working head is rotated to a predetermined position corresponding to the sensing member, the first working head is in an operating state, and the detecting member 10' detects a parameter characterizing the first working head load. When the second working head is in the working state, the detecting element 10' does not need to detect the parameters characterizing the first working head and the second working head load.
  • the power tool can detect and automatically load the corresponding output mode after switching to the first working head, complete the automatic switching of the output mode, and improve the working efficiency of the power tool.
  • FIG. 23 is a schematic diagram of a power tool control method according to a fifth invention, which is used for mounting a screw, and includes the following steps:
  • S120 Output a detection signal according to a parameter characterizing the workload of the working head.
  • the reception of the detection signal is masked within a preset time after startup.
  • the step of detecting the operating parameters of the power tool may further include the step of: shielding the detection of the parameter characterizing the working head load within a preset time after the startup, thereby improving the accuracy of the detection.
  • the parameter characterizing the head load is the current flowing through the motor.
  • the step of determining the load reduction of the working head according to the detection signal is specifically: determining the load of the working head when the parameter indicating the load of the working head load is not less than the first threshold in a certain period of time Reduced.
  • the specific step of determining the load reduction of the working head according to the detection signal is: when the parameter characterizing the head load occurs at least twice in a certain period of time, and when the two times decrease occurs, The control module 20' determines that the load of the work head is reduced.
  • the specific step of determining the load reduction of the working head according to the detection signal is: determining parameters for characterizing the head load when the parameters characterizing the head load at at least three adjacent time points are sequentially decreased. Decrease once.
  • the specific step of determining the load reduction of the working head according to the detection signal is: when the function of the first derivative or the first derivative of the parameter characterizing the head load is a negative value and the absolute value thereof is not When less than the second threshold, the control module 20' determines that the load of the head is decreasing.
  • the specific step of determining the load reduction of the working head according to the detection signal is: when the first derivative of the parameter characterizing the head load is a negative value and the absolute value thereof is not less than the third threshold, and the working head is characterized When the value of the parameter of the load is lower than the fourth threshold, the control module 20' determines that the load of the working head is reduced.
  • the specific step of determining the load reduction of the working head according to the detection signal is: in the function of characterizing the second derivative, the function of the second derivative, the high derivative or the high derivative of the parameter of the working head load
  • the control module 20' determines that the load of the working head is reduced.
  • the working head is in the normal output state of continuous output power.
  • control module 20 adjusts the working state of the working head to output the power state, so that the working head intermittently outputs power, thereby changing the mounting manner, avoiding the screw slipping and the working head jumping out of the groove of the screw head.
  • the step of controlling the intermittent output power of the working head is specifically: adjusting the intermittent supply current output to the motor by adjusting at least one of the time width of the single supply current or the time interval between the adjacent two supply currents.
  • the supply current of the pulse output by the power source to the motor is adjusted by adjusting at least one of a time width of a supply current of a single pulse or a time interval between supply currents of two adjacent pulses.
  • the above electric power tool control method further includes the following steps: when the working head intermittently outputs power, the power tool is restarted after the power tool is turned off, and the working head continuously outputs power.
  • the working head continuously outputs power when the working head intermittently outputs the power preset time.
  • the preset time can be adjusted according to the operator's needs to automatically return to the normal output mode for quick screw tightening.
  • the power tool includes a switchable first working head and a second working head.
  • the first working head and the second working head are switchably connected to the motor by rotation of the rotating head.
  • the operator can select the first working head or the second working head to output power as needed.
  • the first working head is used to implement the screwdriver function
  • the second working head is used to realize the drilling function with constant output torque.
  • the step of detecting the operating parameters of the power tool further includes the steps of: determining whether the first working head is working, and if so, performing the step of detecting the working parameter to characterize the working head load.
  • the specific step of determining whether it is the first working head is: sensing the triggering component, and sending the sensing signal to the control module 20' according to the sensing result, and the control module 20' determines that the first working head or the second working head is driven by the motor according to the sensing signal.
  • the power tool can automatically load different output modes according to the first working head, and automatically switch the output mode according to different working heads to improve work efficiency.
  • the screw slip by detecting the parameters characterizing the load of the working head, the screw slip can be obtained, and the load of the working head is reduced, thereby automatically adjusting the working mode of the power tool, thereby changing the working state of the power tool working head.
  • the occurrence of the screw slip state is reduced.
  • different working modes can be automatically loaded to meet the requirements of different installation conditions, and the installation efficiency and success rate of the screw are improved.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

L'invention concerne un procédé de commande pour un outil électrique. Le procédé de commande comprend les étapes suivantes: la détection d'un paramètre x qui est utilisé pour exprimer une charge d'arbre de sortie d'un moteur; et la détermination que la charge d'arbre de sortie est réduite pour être égale ou inférieure à une charge prédéfinie selon que le paramètre x remplit une condition prédéterminée, et donc pour modifier la vitesse de rotation du moteur. L'invention concerne également un système de commande et un outil électrique qui applique le système de commande. Au moyen du procédé de commande et du système de commande pour l'outil électrique, un écrou et un boulon peuvent être desserrés sans être séparés, l'écrou et le boulon peuvent être séparés manuellement par un utilisateur selon les besoins, et l'exigence en matière de condition de travail spécifique de desserrage de l'écrou uniquement par l'utilisateur est satisfaite.
PCT/CN2015/088893 2014-09-02 2015-09-02 Procédé de commande et système de commande pour outil électrique et outil électrique WO2016034136A1 (fr)

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
CN201410443716 2014-09-02
CN201410443716.9 2014-09-02
CN201410708970.7 2014-11-28
CN201410709408.6A CN104656550B (zh) 2014-09-02 2014-11-28 电动工具的控制方法及系统、电动工具
CN201410709546.4 2014-11-28
CN201410709408.6 2014-11-28
CN201410709443.8 2014-11-28
CN201410709546.4A CN104647264A (zh) 2014-09-02 2014-11-28 电动工具及其控制方法
CN201410709443.8A CN104656551B (zh) 2014-09-02 2014-11-28 电动工具的控制方法及系统、电动工具
CN201410708970.7A CN104656549B (zh) 2014-09-02 2014-11-28 电动工具的控制方法及系统、电动工具
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CN114614703A (zh) * 2022-03-17 2022-06-10 广东新比克斯实业股份有限公司 基于电力输出管控智能化电动工具
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CN114614703A (zh) * 2022-03-17 2022-06-10 广东新比克斯实业股份有限公司 基于电力输出管控智能化电动工具

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