WO2020200188A1 - 智能电动工具及其系统和控制方法 - Google Patents

智能电动工具及其系统和控制方法 Download PDF

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Publication number
WO2020200188A1
WO2020200188A1 PCT/CN2020/082328 CN2020082328W WO2020200188A1 WO 2020200188 A1 WO2020200188 A1 WO 2020200188A1 CN 2020082328 W CN2020082328 W CN 2020082328W WO 2020200188 A1 WO2020200188 A1 WO 2020200188A1
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WO
WIPO (PCT)
Prior art keywords
mode
working condition
condition set
electric tool
characteristic data
Prior art date
Application number
PCT/CN2020/082328
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English (en)
French (fr)
Inventor
王鹏臣
王宏伟
赵金标
李阳
徐中全
周慧龙
Original Assignee
南京德朔实业有限公司
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Application filed by 南京德朔实业有限公司 filed Critical 南京德朔实业有限公司
Publication of WO2020200188A1 publication Critical patent/WO2020200188A1/zh
Priority to US17/480,174 priority Critical patent/US20220001526A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
    • B25F5/001—Gearings, speed selectors, clutches or the like specially adapted for rotary tools
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D16/00—Portable percussive machines with superimposed rotation, the rotational movement of the output shaft of a motor being modified to generate axial impacts on the tool bit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/28—Manual switches
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
    • H02K7/145—Hand-held machine tool
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter

Definitions

  • This application relates to a smart electric tool, for example, to a smart electric tool and its system and control method.
  • Chinese patent CN107544426A discloses a control method for stopping at a preset position under different working conditions, which only discloses how to obtain the average value and slope value of the parameters characterizing the output shaft load to interrupt the torque output of the smart electric tool; but for products In practical applications, the matching of workpieces of different materials with different types of screws will produce dozens or even hundreds of different working conditions.
  • matching wooden workpieces of different materials with small, medium and large screws will produce dozens of or Hundreds of working conditions
  • metal plate workpieces of different materials are matched with small, medium and large screws to produce dozens or hundreds of working conditions
  • other workpieces of different materials are matched with small, medium, and large screws to produce hundreds of or Thousands of working conditions, each of which has a corresponding theoretical load threshold to judge whether the smart electric tool has reached the preset position, for example, the bottom surface of the screw head touches the surface of the workpiece at the preset position.
  • Chinese patent CN107544426A only discloses An ideal theoretical solution, such as obtaining the parameter value that characterizes the output shaft load and its slope value to interrupt the torque output of the smart electric tool, but in fact, when obtaining the average value of the parameter characterizing the output shaft load and its slope value Many actual working conditions affect it. For example, the user uses different degrees of force to drive the screw into the workpiece during manual operation, which has a great impact on the judgment of the slope value of the current based on the output shaft of the smart power tool. Therefore, this prediction cannot be effectively identified. Set the location and use it to accurately stop.
  • the present application provides an intelligent electric tool, a system and a control method thereof, which can integrate intelligent control for different working conditions, so that the fastener bottoms out or the drilling breakthrough is reliable at the expected position, and the judgment accuracy is improved.
  • An embodiment provides a smart tool system, including: a smart electric tool, including: an output shaft for outputting torque; a motor for driving the output shaft to rotate; a housing for accommodating the motor; a detection unit for detecting intelligence Electric tool operating parameters; storage device for storing at least a first threshold value corresponding to the first working condition set and a second threshold value corresponding to the second working condition set; a control unit, which is in communication connection with the detection unit and the storage device; control unit It is configured to drive the motor to run in different working modes by establishing the functional relationship f(x,y,M), where x is the first characteristic data, and the first characteristic data is a certain operating parameter, the first order of the certain operating parameter Any one of the derivative and the second derivative of the certain operating parameter; y is the second characteristic data, and the second characteristic data is another operating parameter, the first derivative of the other operating parameter, and the second derivative of the other operating parameter In any one of the order derivatives, M is the matched first working mode or second working mode; it is also configured to obtain the first characteristic
  • the intelligent electric tool is controlled to run in the first working mode; it is configured to analyze the first characteristic data and the second characteristic data of the intelligent electric tool to determine that it belongs to A second working condition set in a set of multiple working conditions, wherein the second working condition set is matched with a second threshold; when the detected data reaches the second threshold matched by the second working condition set, it is judged to be tight
  • the piece is close to bottoming out or drilling breakthrough, and the intelligent electric tool is controlled to run in the second working mode.
  • the second working mode is different from the first working mode.
  • the smart tool system includes an adjustment component for switching the smart tool system to one or a combination of woodworking mode, metal mode, and drill mode.
  • the smart electric tool includes a transmission component, the adjustment component is connected with the transmission component, the adjustment component is adjusted to switch the woodworking mode, the metal mode or the drill mode, and the adjustment component drives the transmission component to make the smart power tool switch and select the woodworking mode , Metal mode, and the output speed range corresponding to the drill mode.
  • the adjustment assembly includes an adjustment cup, which is set to switch the woodworking mode, metal mode, and drill mode of the smart electric tool;
  • the transmission assembly includes a planetary gear set, a gear box and a connecting rod, and the planetary gear set is set on the gear Inside the box, a connecting rod connects the adjusting cup and the planetary gear set; the connecting rod is arranged on the lower side of the gear box.
  • the woodworking mode is suitable for nailing fasteners into wooden workpieces
  • the storage device is set to store the first working condition set, the second working condition set, and the Nth working condition set of the woodworking mode
  • the metal mode is suitable for tightening Pieces are nailed into the metal workpiece
  • the storage device is set to store the metal mode of the first working condition set, the second working condition set, the Nth working condition set
  • the drill mode is suitable for drilling the workpiece
  • the storage device is set to store the drill file mode The first working condition set, the second working condition set, and the Nth working condition set.
  • the first working condition set or the second working condition set includes at least two or more working conditions.
  • control unit detects the first characteristic data and/or the second characteristic data N seconds before the smart electric tool acts on the workpiece to analyze and determine the type of the working condition set in the current working mode.
  • the first threshold matched by the first working condition set includes the threshold of the second characteristic data
  • the control unit is configured to control the smart electric tool to enter the first working mode when detecting that the second characteristic data reaches the first threshold.
  • the first threshold matched by the first working condition set includes thresholds of the first characteristic data and the second characteristic data
  • the control unit is configured to detect that the first characteristic data and the second characteristic data respectively reach the first thresholds, and control The smart power tool enters the first working mode.
  • the first characteristic data is the current of the smart electric tool
  • the second characteristic data is the current slope value of the smart electric tool
  • the first characteristic data is the voltage of the smart electric tool
  • the second characteristic data is the voltage slope value of the smart electric tool
  • the intelligent electric tool analyzes the types of operating conditions of the intelligent tool system according to the cluster analysis algorithm.
  • the second characteristic data is the first or second derivative of the first characteristic data.
  • An embodiment provides a control method of a smart tool system.
  • the control method includes: starting the smart electric tool, detecting the operating parameters of the smart electric tool and analyzing the first characteristic data and the second characteristic data to determine the first characteristic data belonging to a set of multiple working conditions.
  • the working condition set or the second working condition set wherein the first working condition set is matched with a first threshold, and the second working condition set is matched with a second threshold; the first threshold or the second threshold corresponding to the first working condition set is obtained The second threshold corresponding to the working condition set; when the detected data reaches the first threshold matched by the first working condition set, it is judged that the fastener is close to bottoming or drilling breakthrough, and the smart electric tool is controlled to work at the first Mode operation; when the detected data reaches the second threshold value matched by the second working condition set, it is determined that the fastener is close to bottoming or drilling breakthrough, and the intelligent electric tool is controlled to operate in the second working mode.
  • the first characteristic data and the second characteristic data of different working conditions are collected, and the working conditions are classified according to the first characteristic data and the second characteristic data and stored in the smart electric tool.
  • An embodiment provides a smart electric tool.
  • the smart electric tool includes: an output shaft for outputting torque; a motor for driving the output shaft to rotate; a housing for accommodating the motor; and a detection unit for detecting the operation of the smart electric tool Parameters; storage device for storing multiple thresholds corresponding to multiple working condition sets and at least including a first threshold corresponding to the first working condition set and a second threshold corresponding to the second working condition set; a control unit, and
  • the detection unit and the storage device are electrically connected or communicated, and configured to obtain the first characteristic data and/or the second characteristic data by analyzing the operating parameters of the detected smart electric tool when the smart electric tool is in operation, and then analyze and determine that it belongs to multiple working conditions
  • the first set of operating conditions in the collection where the first set of operating conditions matches the first threshold; when the detected data reaches the first threshold of the first set of operating conditions, it is determined that the fastener is close to bottoming Or drill a breakthrough, control the smart electric tool to run in the first working mode; and configure to
  • the smart power tool includes at least woodworking mode, metal mode and drill mode.
  • the woodworking mode is suitable for nailing fasteners into wooden workpieces.
  • the storage device is set to store the first and second working conditions of the woodworking mode. Set, Nth working condition set; Metal mode is suitable for nailing fasteners into metal workpieces, and the storage device is set to store the first working condition set, second working condition set, and Nth working condition set of the metal mode; drilling mode It is suitable for drilling workpieces.
  • the storage device is set to store the first working condition set, the second working condition set and the Nth working condition set of the drilling file mode.
  • Fig. 1 is a schematic diagram of the three-dimensional structure of the smart electric tool of the present application
  • FIG. 1 is an internal schematic diagram of the smart electric tool of Figure 1;
  • Fig. 3 is another internal schematic diagram of the smart electric tool of Fig. 1 from another angle;
  • FIG. 4 is a cross-sectional view of the head of the smart electric tool of FIG. 1;
  • FIG. 5 is a graph of parameter changes in the woodworking mode when the smart electric tool of the present application is running
  • Fig. 6 is a flow chart of using the intelligent electric tool woodworking mode of the present application.
  • Fig. 7 is a method of working condition detection and classification of the present application.
  • Figure 8 is a control logic diagram of the smart electric tool of the present application.
  • Figure 9 is a flow chart of the smart electric tool metal mode usage of the present application.
  • FIG. 10 is a parameter change diagram in the drill mode when the smart electric tool of the present application is running.
  • Figure 11 is a flow chart of the use of the smart electric tool drill mode of the present application.
  • Figure 12 is a structural diagram of the smart electric tool of the present application.
  • Fig. 13 is a control logic diagram of the smart electric tool of the present application.
  • a smart power tool 100 is proposed.
  • the smart power tool 100 is an impact tool, such as an electric drill, an impact drill, and other smart power tools 100, which are used for functional fastening
  • the workpiece is punched on the workpiece or directly acts on the workpiece.
  • the smart electric tool 100 includes a motor 20, an output shaft 10, and a switch 72.
  • the switch 72 controls the turning on and off of the motor 20.
  • the motor 20 drives the output shaft 10 to rotate about the first axis 101, and the output shaft 10 outputs torque.
  • the smart electric tool 100 further includes a transmission assembly 40 and a housing 30.
  • the transmission assembly 40 is connected to the motor 20 and the output shaft 10.
  • the housing 30 is used to accommodate the motor 20, the transmission assembly 40, etc., and forms a grip for the user to hold.
  • the output shaft 10 is connected to a tool chuck, and the tool chuck is used to detachably install tool accessories to match fasteners of different sizes.
  • the fasteners can be connecting tools such as screws.
  • the smart power tool 100 includes a detection unit and an adjustment component 50.
  • the detection unit is used to detect the operating parameters of the smart power tool 100, such as current, and the adjustment component 50 is used to control the working modes of the smart power tool 100, such as woodworking mode, metal mode, and drilling mode. File mode.
  • the intelligent electric tool 100 also includes a control unit for controlling its operation. The control unit controls the operation of the intelligent electric tool 100 according to the working mode and the operating parameters of the intelligent electric tool 100 detected by the detection unit. The control unit functions in the intelligent electric tool 100.
  • the control unit controls the smart electric tool 100 to decelerate or stop running at a predetermined speed.
  • the smart power tool 100 is implemented as a two-speed smart power tool 100, or a multi-speed smart power tool 100.
  • the two-speed smart power tool 100 corresponds to a high output speed and a low output speed; the multi-speed smart power tool 100 includes multiple output speeds and adjusts
  • the component 50 is connected to the transmission component 40, and the output speed or output speed range of the smart electric tool 100 is switched through the adjustment component 50.
  • the transmission assembly 40 includes a gear set and a gear box 41, and a connecting rod connected to the transmission assembly 40 is also provided. 52.
  • the transmission assembly 40 includes a planetary gear set 42 and a gear box 41.
  • the planetary gear set 42 is a planetary gear set 42 arranged in the gear box 41, and the planetary gear set 42 is packaged by the gear box 41.
  • the planetary gear set 42 includes a speed-regulating gear, a first gear and a plurality of second gears. The second gear and the first gear form a planetary gear structure.
  • the first gear serves as a sun gear
  • the second gear is a planetary gear and meshes with the sun gear.
  • the speed regulating gear meshes with the first gear and the second gear separately from the outside, and can slide on the first gear and the second gear, so that the speed regulating gear meshes with the second gear separately or simultaneously with the first gear and the second gear To switch the output speed of the output shaft.
  • the adjustment assembly 50 adjusts the reduction ratio of the planetary gear set 42 by controlling the position of the speed adjustment gear.
  • the adjustment assembly 50 also includes an adjustment cup 51 and a connecting rod 52 directly connected to the adjustment cup 51.
  • the adjustment assembly 50 includes an adjustment cup 51 and is implemented as a cup. It is rotatably connected to one end of the housing 30 and connected to the transmission assembly 40 for controlling the transmission ratio of the transmission assembly 40 to adjust the speed of the smart electric tool 100.
  • the connecting rod 52 can be driven to rotate inside the housing 30 along with the rotation of the adjusting cup 51.
  • the adjusting assembly 50 also includes a connecting piece connected with the speed adjusting gear. One end of the connecting rod 52 is connected to the adjusting cup 51 and one end is connected to the connecting piece.
  • the connecting rod 52 is clamped to a plane or a curved surface with different heights, so that the connecting rod 52 As the adjusting cup 51 rotates, the connecting rod 52 is restricted by planes or curved surfaces with different heights to move back and forth along the first axis 101 to drive the speed adjusting gear to slide relatively.
  • the adjustment assembly 50 includes an adjustment key, and has a connecting rod 52 connected to the adjustment key.
  • the connecting rod 52 is driven to move by the adjustment member.
  • the adjustment assembly 50 further includes a connection member connected to the speed adjustment gear. ,
  • the connecting rod 52 connects the connecting piece and the adjustment key, and the user selects the output speed by dialing the adjustment key.
  • the connecting rod 52 is under the gear box 41 and hidden inside the fuselage. Compared with the connecting rod 52 of other electric drills above the gear box 41, it reduces the structure above the fuselage and can make the fuselage more slender.
  • the output shaft is 10 lines to the machine. The distance between the top of the body is reduced, and the working range of the electric drill is increased; the mode display and the shift structure are placed in the adjustment cup 51 in the middle of the fuselage at the same time. The relative position of the mode display structure and the connecting rod 52 on the circumference of the adjustment cup 51 facilitates the arrangement of the two-part structure and reduces the assembly cost.
  • the smart electric tool also includes a reversing switch 71 that controls the forward and reverse rotation of the motor.
  • the reversing switch 71 is arranged close to the switch 72, and the reversing switch 72 is arranged directly in front of the grip part of the smart electric tool, so that the reverse is reversed.
  • the pressing direction of the switch is parallel to the first axis, thereby facilitating the operation of the intelligent electric tool by the user.
  • the control unit includes at least a drive circuit and a control element.
  • the control element is connected to the drive circuit.
  • the control element can be a circuit board or a single-chip microcomputer.
  • the control element stores an algorithm for the smart electric tool 100 and is connected to the motor 20 through the drive circuit.
  • the control element The speed and other operating states of the smart electric tool 100 are adjusted by controlling parameters such as the voltage of the motor 20.
  • the smart electric tool 100 further includes a power source connected to the drive circuit.
  • the power source is one or more battery packs 60, and the battery pack 60 is pluggable with respect to the smart electric tool 100 .
  • the smart electric tool 100 has one or more working modes.
  • the working mode includes at least the woodworking mode.
  • the adjusting component 50 can adjust the working mode.
  • the adjusting cup 51 or the adjusting key is for the user to adjust the working mode. Different working modes correspond to different speeds, that is, the user passes
  • the adjustment cup 51 or adjustment key selects the working mode, such as woodworking mode.
  • the adjustment key or adjustment cup 51 moves the transmission assembly 40 through the connecting rod 52 to change the transmission ratio of the transmission assembly 40, adjust the working mode of the smart electric tool 100 and switch to the corresponding output Rotating speed.
  • the output speed is relatively low, and the detection unit detects the current working mode adjusted by the user and sends it to the control unit; or the detection unit detects the operating parameters of the smart power tool 100 and the smart power tool is detected by the control unit 100 operating parameter analysis to obtain one or more characteristic data to determine the working mode, or to determine a certain type of working condition set belonging to multiple working condition sets.
  • the smart electric tool 100 includes a reminder light, a speed regulating cup or an adjustment key is linked to a reminder light switch, and the current working mode is displayed through the light to remind the user of the currently selected lighting state.
  • the control unit is configured to drive the motor to run in different operating modes by establishing a functional relationship f(x, y, M), where x is the first characteristic data, and the first characteristic data is a certain operating parameter, Either the first derivative and the second derivative of the certain operating parameter; y is the second characteristic data, and the second characteristic data is another operating parameter, the first derivative of the other operating parameter, and the other operating parameter Any one of the second derivative of, M is the matched first working mode or second working mode.
  • the first characteristic data and the second characteristic data may be different forms of the same operating parameter, which does not pose a limitation here.
  • the working mode can include woodworking mode.
  • the woodworking mode is a mode for nailing fasteners into wooden workpieces.
  • the woodworking mode includes different kinds of working condition sets, among which different kinds of working condition sets are working conditions in which different types of wooden workpieces are matched with different types of screws . For example, when a screw is driven into a wooden workpiece, the woodworking mode is divided into the first working condition set, the second working condition set, and the Nth working condition set. Different working condition sets correspond to the state in which different types of screws are driven into different types of wooden workpieces. For example, screws with different diameters and wooden workpieces of different materials correspond to different working condition sets.
  • the parameters of the corresponding working conditions are obtained by operating tests on wooden workpieces of different screws and materials, and are classified through cluster analysis or big data analysis, and the parameter interval is divided, and the screw type and the corresponding
  • the wooden workpiece types of the workpiece are divided into the same working condition in the same parameter interval, and the first working condition set, the second working condition set, and the Nth working condition set are generated correspondingly.
  • the woodworking mode there are at least two types of the first working condition set and the second working condition set.
  • the working conditions are set to multiple.
  • a method of statistical classification based on empirical data can also be used, which is not limited here.
  • the control unit includes a storage device for storing data and algorithms for controlling the automatic stop of the intelligent electric tool.
  • the storage device can be set as a storage device. Through pre-work on various types of fasteners and plates, relevant parameters can be obtained by testing, and the corresponding parameters can be classified and stored in the storage device. Testing of screws and wooden workpieces with different effects on smart power tools In, the first characteristic data and the second characteristic data of the previous N seconds are acquired, and different working conditions are classified according to the first characteristic data and the second characteristic data, and the corresponding first characteristic data interval and the second characteristic data interval are divided, namely the first characteristic data interval and the second characteristic data interval.
  • a working condition set includes all working condition sets of the first characteristic data interval and the second characteristic data interval, such as a working condition set of various types of screws being driven into pine.
  • the first characteristic data and the second characteristic data are obtained by analyzing the operating parameters of the detected smart electric tool to determine the first working condition set belonging to a plurality of working condition sets, where the first working condition set The first threshold is matched; when the detected data reaches the first threshold matched by the first working condition set, it is judged that the fastener is close to bottoming, and the intelligent electric tool is controlled to run in the first working mode, the first working mode It is a kind of control intelligent electric tool to automatically stop or slow down, voice reminder, and warning light reminder. Smart electric tools can be equipped with reminder lights or alarms.
  • the second working condition set matches the second threshold; when the detected When the data reaches the second threshold matched by the second working condition set, it is judged that the fastener is close to bottoming or drilling breakthrough, and the smart electric tool is controlled to run in the second working mode.
  • the second working mode is to control the smart electric tool automatically A kind of stop, voice reminder, and warning light reminder.
  • the first threshold and the second threshold are one of a point value, a discrete value, and an interval value, and the form of the threshold value corresponding to different working condition sets can be set differently.
  • the detection unit can be a detection unit that can be implemented as a current sensor, a voltage sensor, a Hall sensor, etc., for detecting the current, voltage, and rotation speed of the output shaft 10 of the smart electric tool, so as to obtain the first characteristic data and the first characteristic data when the smart electric tool is running.
  • Characteristic data Taking current as an example, the first type of state data may be the current value of the motor when the smart electric tool is running, and the corresponding second type of state data is the current slope value of the motor.
  • the second working condition set, the Nth working condition set, and the corresponding current average value and current slope average value of the previous N seconds are stored in the storage device for actual operation by obtaining the first N seconds corresponding to the smart power tool
  • the current slope value and current value of the previous N seconds are weighted to obtain the current slope average value and current average value of the previous N seconds, and the parameter interval corresponding to the stored different working condition sets is retrieved, Get the type of working condition set corresponding to the actual screw and wooden workpiece.
  • the first N seconds are set to the first 0.5 seconds.
  • the corresponding current slope thresholds of the fasteners of different working condition sets of the smart electric tool are repeatedly detected, and the thresholds are recorded in the storage device of the smart electric tool.
  • the detection unit detects N seconds before the smart power tool runs or selects a certain period of time to obtain the average current slope and current average, which can be obtained by means of table lookup or data comparison
  • the type of the current working condition that is, the specific first working condition set, the second working condition set, and the Nth working condition set.
  • the detection unit continues to detect the current slope value of the smart electric tool.
  • the control unit controls to enter the first Working mode, the first working mode corresponds to the first working condition set. It is judged that the screw is close to bottoming or the operating state after the screw bottomed.
  • the smart electric tool stops, or slows down, or decelerates at the first speed.
  • the first characteristic data trend in actual operation is obtained by obtaining the first characteristic data and/or the second characteristic data of a time period, and obtaining the current working condition type by means of table lookup or calculation; and In time period b, the corresponding threshold value or threshold value interval is obtained based on the working condition type judged in time period a, and it is judged that the fastener is close to bottoming or the fastener is bottoming.
  • the intelligent electric tool is controlled in the first working mode or the second working mode Operation in two working modes, for example, the first working mode can be running at the first constant speed, or continuous deceleration or intermittent deceleration, or stopping; the second working mode can be running at the second constant speed or continuous deceleration Or intermittently slow down or stop.
  • the first threshold matched by the first operating condition set includes the threshold of the second characteristic data
  • the control unit is configured to control the smart electric tool to enter the first threshold when the second characteristic data reaches the first threshold.
  • the working mode for example, only by setting the corresponding threshold value for the current slope as a criterion for judging whether to bottom out; and in some other embodiments of the present application, the first threshold value matched by the first working condition set includes the first characteristic data and For the threshold of the second characteristic data, the control unit is configured to detect that the first characteristic data and the second characteristic data reach the first threshold respectively, and control the smart electric tool to enter the first working mode, that is, the two characteristic values such as current and current The slopes respectively set corresponding thresholds, which are mainly based on consideration of different specific working conditions.
  • the output power, output speed, and user's initial pressing degree of the smart power tool can also be used.
  • the principle of any first feature data and/or second feature data and the corresponding threshold when the influence finally bottoms out is the same as the above classification method, and will not be detailed here.
  • the first characteristic data and/or the second characteristic data obtained by the detection are analyzed to determine the first of the multiple working condition sets in the woodworking mode.
  • Working condition set where the first working condition set matches the first threshold; when the detected data reaches the first threshold matched by the first working condition set in the woodworking mode, it is judged that the fastener is close to bottoming, then Control the smart electric tool to run in the first working mode; and when the user adjusts to the woodworking mode and the smart power tool is operating in the second working condition set, it is determined that it belongs to the woodworking by analyzing the first characteristic data and/or the second characteristic data obtained by detection
  • the second working condition set in different working condition sets in the mode, where the second working condition set matches a second threshold, and when the detected data reaches the second threshold matched by the second working condition set in the woodworking mode, it is judged For the fastener to approach the bottom, the power tool is controlled to run in the second working
  • the weighted average value of the first characteristic data and the second characteristic data in the previous N seconds is obtained.
  • step S1 enter the woodworking mode
  • step S2 and judge whether a1 ⁇ average current slope ⁇ b1 and c1 ⁇ average current ⁇ d1, this is the first major working condition or Working condition set; if yes, go to step S3 to determine whether the current slope> h1 and current> m1; if yes, go to step S8, PWM controls the motor to slow down or stop according to the degree of switch pressing, if step S2 judges no, then go to step S4, judge whether a1 ⁇ average current slope ⁇ b1 and e1 ⁇ average current ⁇ f1, which is the second largest working condition category or working condition set; if yes, go to step S5 to judge whether the current slope is >n1; if yes
  • step S6 refers to the judgment of other working condition parameters, not limited to a certain range, this is the third largest working condition Class or working condition set until the interval of the current first characteristic data of the smart electric tool is selected, and S6 is judged according to the setting. If yes, go to step S7 to judge whether the current slope>i 1 and current>j1; if yes , Step S8 is executed, PWM controls the motor to slow down and stop according to the degree of switch pressing, and the process ends after S8.
  • the second feature data is within the first or second derivative of the first feature data.
  • the second feature data is set to be the second derivative of the first feature data, it is passed multiple times before assembly Detect the state data of the smart electric tool in different working condition sets, obtain the first characteristic data and its second derivative at the bottom of the threshold or threshold interval, and store it in the storage device for the judgment of the actual smart electric tool operation Refer to the conditions so that when the smart electric tool is working on the fastener, it detects the completion status in time and controls the smart power tool to stop or rotate at a reduced speed to prevent excessive work from damaging the workpiece and causing damage to the smart power tool.
  • the detection unit or the control unit obtains the deviation of the actual load parameter that characterizes the output shaft of the power tool, so that the threshold parameter for judging that the fastener is close to bottoming is corresponding to the current working condition, thereby improving the control of the intelligent power tool.
  • the accuracy of stopping for example, the accuracy rate of the related technology power tool self-stop is about 20%, and the accuracy rate of the intelligent power tool self-stop using the implementation of this application is greater than or equal to 80%, which reduces the misjudgment of the smart power tool on bottoming. Thereby preventing the accidental stop from interfering with the user's use and enhancing the user's sense of use.
  • the smart electric tool may use a cluster analysis algorithm in advance and store the classification results in the storage device; or directly perform the cluster analysis algorithm online to obtain the classification results, for example:
  • is the Euclidean cluster between the i-th cluster center and the j-th data point class; wherein, U ij d ij is the correction factor, i.e. degree of membership correction coefficient for the j-th data point X i i-th cluster center distance C i, and m ⁇ [1, ⁇ ) is a weighted exponent. Adjusting m will affect the convergence speed.
  • Table 1 provides an implementation of the classification of working conditions in woodworking mode. Taking the fastener as a screw as an example, in woodworking mode, the relevant parameters of the test screw under different working conditions are set.
  • the above cluster analysis algorithm or other big data analysis algorithms can be used to classify the working conditions to realize the function of the screw mode bottoming out when the workpiece is wooden under most working conditions; as shown in the following table,
  • the condition classification can be roughly divided into four working condition sets of small screws 301, medium screws 302, the first type of large screws 303, and the second type of large screws 304.
  • the current slope interval and current interval corresponding to the first N seconds are obtained, and the proximity contact
  • the sudden change threshold of the current slope corresponding to the bottom or bottoming, and the above-mentioned parameters are stored in the storage device.
  • the working mode is adjusted to the woodworking mode through the adjustment component 50.
  • the smart power tool runs at the speed corresponding to the woodworking mode, and the detection unit obtains the average current slope and current average value of the previous N seconds, and passes Check the table or calculation method to get the current working condition type to obtain the corresponding sudden change threshold, and detect the real-time current slope of the smart electric tool, and control the intelligent electric tool to stop running or decrease when the current slope is greater than the sudden change threshold of the corresponding working condition Speed rotation.
  • FIG 7 it is a schematic diagram corresponding to the four different working condition sets in Table 1, that is to say, a method for detecting and classifying working conditions according to the first characteristic data and/or the second characteristic data is provided, according to the detection of different screw types
  • the current value and/or the current slope value are classified into one category, so as to classify the working conditions and form different types of working conditions Or working condition set.
  • the smart electric tool can be divided into two, three, four or more working condition sets according to the specific working mode, which is not limited here.
  • Step S11 is executed to test the first characteristic data and the second characteristic data when the smart electric tool acts on different types of drills and workpieces.
  • Step S12 is executed according to the first characteristic data.
  • the second characteristic data divide the working conditions of the smart electric tool into at least two working condition types and store the classified data in the smart electric tool.
  • Step S13 is executed to test when the fasteners of different working condition types are close to bottoming or when bottoming out
  • the threshold value and/or threshold value interval of a characteristic data and/or second characteristic data, and stored in the smart electric tool execute step S14, start the smart electric tool, detect the first characteristic data and the second characteristic data to determine the current operating condition type;
  • Step S15 is executed to determine whether the real-time first characteristic data and or the second state reaches the threshold and/or threshold interval of the corresponding operating condition type;
  • Step S16 is executed to determine that the fastener is close to bottoming or bottoming, and the smart electric tool is controlled to stop Turn or reduce speed output.
  • the adjustment component may be provided on a mobile terminal, where the mobile terminal and the smart electric tool are separately provided and connected to each other in communication.
  • the first working condition set or the second working condition set includes at least two or more working conditions; in some other embodiments of the present application, the first working condition set or the second working condition set may be one or Multiple working conditions are not limited here.
  • a threshold value can be set for a parameter that characterizes the output shaft load of an electric tool, for example, a threshold value is set for the first characteristic data or the second characteristic data; it can also be at least two characterizing electric tools.
  • the parameter setting threshold value of the output load for example, the corresponding threshold value is set for the first characteristic data and the second characteristic data, so that one or more modes of the electric tool, such as woodworking mode, metal mode, or drill mode, can be classified into working conditions Afterwards, threshold control can be used to correct or eliminate the deviation of the detection unit or control unit to obtain the actual load parameters of the output shaft of the power tool when the user uses different degrees of force to operate the power tool, so that the smart tool or smart tool system can be more intelligent and accurately identified Predetermine the position, thereby improving the accuracy of controlling the automatic stop of the smart power tool, reducing the misjudgment of the smart power tool for bottoming, thereby preventing the misstop from interfering with the user's use, and improving the user's sense of use.
  • threshold control can be used to correct or eliminate the deviation of the detection unit or control unit to obtain the actual load parameters of the output shaft of the power tool when the user uses different degrees of force to operate the power tool, so that the smart tool or smart tool system can be more intelligent and
  • the threshold interval of the relevant characteristic parameters which can better correct or eliminate the deviation of the detection unit or the control unit to obtain the actual load parameter of the output shaft of the electric tool when the user uses different degrees of force to operate the electric tool.
  • the working mode includes at least the metal mode
  • the adjusting component can adjust the working mode
  • the adjusting cup or the adjusting key is for the user to adjust the working mode
  • different working modes correspond to different speeds, that is, the user selects the working mode through the adjusting cup or intelligently according to the running program
  • the adjustment key or the adjustment cup moves the transmission component through the connecting rod to change the transmission ratio of the transmission component, adjust the working mode of the smart electric tool and switch to the corresponding output speed.
  • the detection unit detects the current working mode adjusted by the user and sends it to the control unit, or the control unit directly senses the working mode of the smart electric tool, such as the metal mode.
  • the metal mode is suitable for nailing fasteners into metal workpieces
  • the storage device is set to store the first working condition set, the second working condition set, and the Nth working condition set of the metal mode.
  • the control unit is configured to, when the smart electric tool is in operation, obtain the first characteristic data and the second characteristic data by analyzing the detected operating parameters of the smart electric tool to determine the first working condition set belonging to the multiple working condition sets, wherein, The first working condition set is matched with a first threshold; when the detected data reaches the first threshold matched by the first working condition set, it is judged that the fastener is close to bottoming, and the smart electric tool is controlled to work at the first Mode operation; similarly, the first working mode can be running at the first constant speed, or continuous deceleration or intermittent deceleration; the second working mode can be running at the second constant speed, or continuous deceleration or intermittent deceleration get on.
  • the first threshold and the second threshold are one of a point value, a discrete value, and an interval value, and
  • the control unit analyzes and determines the second working condition set belonging to multiple working condition sets through the collected first characteristic data and second characteristic data of the smart electric tool, wherein the second working condition set matches the second threshold; When the received data reaches the second threshold value matched by the second operating condition set, it is determined that the fastener is close to bottoming, and the intelligent electric tool is controlled to operate in the second operating mode.
  • Metal mode is a mode for nailing fasteners into metal workpieces.
  • the metal mode includes different sets of working conditions, among which different sets of working conditions are working conditions where different types of metal workpieces are matched with different types of screws.
  • the metal mode of the smart electric tool or the smart electric system is different from the above-mentioned woodworking mode in that the first characteristic data and/or the second characteristic data and the corresponding threshold values are different, and the The working conditions of different types of metal workpieces and different types of screws are classified into different working conditions after cluster analysis or big data analysis.
  • step S21 enter metal mode
  • step S22 determines whether a2 ⁇ average current slope ⁇ b2 and c2 ⁇ average current ⁇ d2, if yes, perform step S23 to determine whether current Slope>h2 and current>m2, if yes, go to step S28, PWM controls the motor to slow down or stop according to the degree of switch pressing, if step S22 judges no, go to step S24, judge whether a2 ⁇ average current slope ⁇ b2 and e2 ⁇ Average current ⁇ f2, if yes, go to step S25 to determine whether the current slope>n2, if yes, go to step S28, PWM controls the motor to slow down or stop according to the degree of switch pressing, if step S4 judges no, go to step S26, S26 is yes Refers to the judgment of other working condition parameters, not limited to a certain interval range, until the interval of the current first characteristic data of the smart electric tool is selected, and S26 is judged according to the setting, if it is, step S22, determine whether a2 ⁇ average current slope ⁇ b2 and
  • a2, b2, c2, d2, h2, m2, e2, f2, n2, i2, and j2 involved in the metal mode are the same as a1, b1, c1, d1, h1, m1, e1 in the woodworking mode
  • the specific numerical values of f1, n1, i1, and j1 are different.
  • the type of screws of smart power tools can also be used to affect the first feature data and/or second feature data when bottoming out, and
  • the factors and principles corresponding to the threshold are roughly the same as the provided classification methods, so I won't go into details here.
  • the working mode can also include at least the drill mode.
  • the drill mode can be manually set through the adjustment component, so that the control component obtains the current working mode in the drill mode, or it can be determined by running analysis based on the first characteristic data and/or the second characteristic data program Currently it is necessary to switch to the drill mode, which is not limited here.
  • the drill file mode is the working mode for the drill to break through the workpiece when drilling holes on the workpiece.
  • the drill file mode includes different types of working conditions or different working condition sets.
  • the storage device is set to store the first working condition set and the first working condition set of the drill file mode.
  • the drill mode of the smart electric tool or smart electric system is different from the above-mentioned woodworking mode in that it is based on the first characteristic data and/or the second characteristic data when the drill bit breaks through the workpiece, and the corresponding threshold value.
  • the numerical value is different, and the numerical interval division of different working condition sets formed by cluster analysis for different types of workpieces and different types of screw matching working condition categories is also different.
  • the control unit is configured to, when the smart electric tool is in operation, obtain the first characteristic data and the second characteristic data by analyzing the detected operating parameters of the smart electric tool to determine the first working condition set belonging to the multiple working condition sets, wherein, The first working condition set is matched with a first threshold; when the detected data reaches the first threshold matched by the first working condition set, it is judged that the smart electric tool has a drilling breakthrough, and the smart electric tool is controlled to work at the first Mode operation; configured to analyze and determine a second working condition set belonging to a plurality of working condition sets when the first characteristic data and second characteristic data of the smart electric tool are collected, wherein the second working condition set matches a second Threshold; when the detected data reaches the second threshold matched by the second working condition set, it is determined that the smart electric tool has a drilling breakthrough, and the smart electric tool is controlled to operate in the second working mode.
  • the first threshold and the second threshold are one of a point value, a discrete value, and an interval value, and the form of the threshold value corresponding to different working condition sets can be set differently.
  • the first working mode can be running at the first constant speed, continuous deceleration or intermittent deceleration, or stalling; the second working mode can be running at the second constant speed, or continuous deceleration or intermittent deceleration. , Or stall, the first working mode can be the same as the second working mode, or the first working mode and the second working mode can be designed to be different according to the working conditions.
  • misjudged as a drill breaking through the workpiece can mean that when the drill is approaching or approaching the breakthrough workpiece, it runs in an appropriate first mode or second mode to match and run in an appropriate first mode or second mode, so that excessive drilling gear may cause adverse effects such as impact to the user.
  • the first mode can be running at the first constant speed, or continuous deceleration or intermittent deceleration; the second mode can be running at the second constant speed or continuous deceleration. Or decelerate intermittently.
  • Step S31 is executed to enter the drill mode, and step S32 is executed to determine whether a3 ⁇ average current slope ⁇ b3 and c3 ⁇ average current ⁇ d3. If yes, perform step S33 to determine Whether the current slope>h3 and current>m3, if yes, go to step S38, PWM controls the motor to slow down or stop according to the degree of switch pressing, if step S32 judges no, go to step S34, judge whether a3 ⁇ average current slope ⁇ b3 and e3 ⁇ average current ⁇ f3, if yes, go to step S35 to determine whether the current slope is >n3, if yes, go to step S38, PWM controls the motor to slow down or stop according to the degree of switch pressing, if step S34 judges no, go to step S36, S36 refers to the judgment of other working condition parameters, not limited to a certain interval range, until the interval of the current first characteristic data of the smart electric tool is selected, and S36 is judged according to the setting.
  • step S37 is executed to judge whether Current slope>i3 and current>j3, if yes, perform step S38, PWM controls the motor to slow down and stop according to the degree of switch pressing, and the process ends after S38.
  • PWM controls the motor to slow down and stop according to the degree of switch pressing, and the process ends after S38.
  • the specific values of a3, b3, c3, d3, h3, m3, e3, f3, n3, i3, j3 involved in the drill mode and a1, b1, c1, d1, h1, m1, e1 in the woodworking mode , F1, n1, i1, and j1 have different specific values.
  • the woodworking mode, metal mode, or drill mode can be a predetermined mode set on the smart power tool or smart power tool system, or it can be a certain segment of the entire operating program or mode The procedure is not limited here.
  • the smart electric tool system can automatically determine or recognize a certain working condition set in a plurality of working condition sets based on the detected first characteristic data and/or second characteristic data, and determine whether or not according to the corresponding threshold The entry fastener is close to bottoming or drilling breakthrough to match the proper working mode.
  • the first operating condition set or the second operating condition set includes at least two or more operating conditions; while in some other embodiments of the present application, the first operating condition set or the second operating condition set
  • the condition set includes one or more working conditions, one of which refers to the working condition where a workpiece matches a screw. It can also be that a corresponding threshold interval can be set for a working condition or working condition set to correct or eliminate the deviation of the detection unit or the control unit to obtain the actual load parameter of the output shaft of the electric tool when the user uses different degrees of force to operate the electric tool. Thereby, the accuracy of identifying the predetermined position of the controlled intelligent electric tool is improved, and the misjudgment of the intelligent electric tool is reduced, thereby preventing the misjudgment from affecting the user operation and improving the user experience.
  • control unit may be configured to establish a functional relationship f(x, y, M) based on at least the first characteristic data and the second characteristic data to drive the motor to run in different matching modes; it may also be configured to be based on The first characteristic data or the second characteristic data establishes a functional relationship f(x, M) or f(y, M) to drive the motor to run in a suitable or optimal working mode.
  • the smart power tool or smart power tool system can automatically recognize and enter a certain working mode based on the first characteristic data and/or the second characteristic data, such as woodworking mode, metal mode or drilling mode, and enter the certain working mode. There is no restriction on a certain working condition class or working condition set in the mode.
  • the above method is not only applicable to the situation where the fastener touches the bottom or the drill hole breaks through, but also can be controlled by other functions such as grinding and nailing, which is not limited here.
  • the detection unit, the storage device, and the control unit may be independent devices separated from each other; or they may be integrated in the same chip and be an integrated unit with detection, storage and control functions.
  • the detection unit, storage device, and control unit may be provided on the smart electric tool 100a; referring to FIG. 12, part of the detection unit, storage device, and control unit may also be provided on the smart power tool 100a, and the other part
  • the external terminal 200 such as a mobile phone that is electrically connected or communicated with the smart tool is not limited here.
  • step S41 is executed to determine whether it is in the loading process. If step S42 is executed, the current average value of the smart electric tool in the previous N seconds and For current slope, run step S43 to obtain the corresponding working mode and fastener type or drill bit type and other operating conditions, and perform step S44 to determine whether the threshold is reached, if not, run step S48 to maintain the loading state until the output torque stops; If the threshold is reached in step S44, step S45 is executed to interrupt the output torque of the tool shaft and stop; and step S46 is executed to determine whether the switch is released. If step S47 is executed, the stop state is maintained; if not, the process is executed in a loop.
  • control unit may be selected to be installed outside the smart electric tool, such as shown in FIG. 1 and communicatively connected to the smart electric tool, for analyzing relevant parameters of the smart electric tool and controlling the operation of the smart electric tool.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Drilling And Boring (AREA)
  • Portable Power Tools In General (AREA)

Abstract

一种智能工具系统及其控制方法，包括：智能电动工具（100），包括：输出轴（10），用于输出扭力；电机（20），用于驱动所述输出轴转动；壳体（30），用于容纳所述电机；检测单元，用于检测智能电动工具运行参数；储存装置，用于储存至少第一工况集对应的第一阈值和与第二工况集对应的第二阈值；控制单元，与检测单元和储存装置通信连接，被配置成通过建立函数关系f（x,y,M）以驱动电机以不同工作模式运行。

Description

智能电动工具及其系统和控制方法
本申请要求申请日为2019年4月4日、申请号为201910272338.5，申请日为2019年6月3日、申请号为201910474357.6，以及申请日为2019年9月30日、申请号为201910943076.0的中国专利申请的优先权，以上申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及一种智能电动工具，例如涉及智能电动工具及其系统和控制方法。
背景技术
在使用比如电钻、螺丝批之类的扭力输出工具，用户面临诸多不便，比如，在操作智能电动工具时，通过人为识别到螺钉头底面已触碰到工件表面的情况，才启动开关来停止智能电动工具扭矩输出，由于钻孔突破的时间很快，用户经常来不及反应，以及时控制调速扳机结束电钻的运转，因此也很容易打坏后面的物体。
用户在使用电钻或螺丝批时，还需要高度关注工作的完成情况，在发生螺钉脱开，打滑时以及击穿工件时，需要及时控制停止，消耗用户精力并且用户经常不能及时控制，从而造成不必要的损坏。
相关技术中，有一些在突破工件或螺钉触底自动控制停转的设计，但精度不高，经常出现判断失误，从而给用户的使用带来了不便。中国专利CN107544426A公开一种在不同工况下在预设位置停机的控制方法，其仅揭示了如何获取表征输出轴负载的参数的平均值及其斜率值来中断智能电动工具扭矩输出；但对于产品实际应用来讲，不同材质的工件与不同型号的螺钉匹配会产生几十种、甚至上百上千种不同工况，例如不同材质的木板工件与小、中、大螺钉匹配产生几十种或上百种工况，不同材质的金属板工件与小中大型号螺钉匹配产生几十种或上百种工况，以及其他不同材料的工件与小中第一类大型螺钉匹配产生上百种或上千种工况，每种工况都有对应的理论负载阈值来判断智能电动工具是否已到达预设位置，例如在此预设位置螺钉头底面触碰到工件表面，中国专利CN107544426A仅公开揭示了一种理想的理论方案，例如获得表征 输出轴负载的参数值、及其斜率值来中断智能电动工具扭矩输出，但实际上在获取表征输出轴负载的参数的平均值及其斜率值时有很多实际工况对其影响，例如人为操作时用户使用不同程度的力将螺钉打入工件，对基于智能电动工具输出轴的电流的斜率值的判断有很大影响，因此并不能有效识别此预设位置并以此进行准确停机。
发明内容
本申请提供了一种智能电动工具及其系统和控制方法，可针对不同种工况集智能化控制，使得紧固件在预期位置触底或钻孔突破可靠，提升判断准确率。
一实施例提出一种智能工具系统，包括：智能电动工具，包括：输出轴，用于输出扭力；电机，用于驱动输出轴转动；壳体，用于容纳电机；检测单元，用于检测智能电动工具运行参数；储存装置，用于储存至少第一工况集对应的第一阈值和与第二工况集对应的第二阈值；控制单元，与检测单元和储存装置通信连接或；控制单元被配置成通过建立函数关系f(x,y,M)以驱动电机以不同工作模式运行，其中x为第一特征数据，第一特征数据为某一运行参数、该某一运行参数的一阶导数和该某一运行参数的二阶导数中其中任一个；y为第二特征数据，第二特征数据为另一运行参数、该另一运行参数的一阶导数和该另一运行参数的二阶导数中的任何一个，M为匹配的第一工作模式或第二工作模式；还被配置成当智能电动工具在作业时，通过检测得到的智能电动工具运行参数分析获得第一特征数据和第二特征数据来确定属于多个工况集中的第一工况集，其中，其中该第一工况集匹配有第一阈值；当检测到的数据到达该第一工况集匹配的第一阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第一工作模式运行；被配置成当采集的智能电动工具的第一特征数据和第二特征数据来分析确定属于多个工况集中的第二工况集，其中，该第二工况集匹配有第二阈值；当检测到的数据到达该第二工况集匹配的第二阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第二工作模式运行。
可选的，第二工作模式不同于第一工作模式。
可选的，智能工具系统包括调节组件，用于切换智能工具系统到木工模式、金属模式和钻档模式的一种或组合。
可选的，智能电动工具包括传动组件，调节组件与传动组件连接，调节组件被调节挡位切换木工模式、金属模式或钻档模式，调节组件带动传动组件使 得智能电动工具切换与选择的木工模式、金属模式、钻档模式对应的输出速度区间。
可选的，调节组件包括调节杯，调节杯被设置用于切换智能电动工具的木工模式、金属模式、钻档模式；传动组件包括行星齿轮组、齿轮箱以及连接杆，行星齿轮组设置在齿轮箱内部，连接杆连接调节杯和行星齿轮组；连接杆被设置在齿轮箱下侧。
可选的，木工模式适用于将紧固件钉入木质工件，储存装置被设置储存木工模式的第一工况集、第二工况集、第N工况集；金属模式适用于将紧固件钉入金属工件，储存装置被设置储存金属模式的第一工况集、第二工况集、第N工况集；钻档模式适用于对工件钻孔，储存装置被设置储存钻档模式的第一工况集、第二工况集、第N工况集。
可选的，第一工况集或第二工况集至少包括两个及以上的工况。
可选的，控制单元检测智能电动工具作用在工件前N秒的第一特征数据和/或第二特征数据分析确定当前工作模式下的工况集种类。
可选的，第一工况集匹配的第一阈值包括第二特征数据的阈值，控制单元被配置检测到第二特征数据到达第一阈值时，控制智能电动工具进入第一工作模式。
可选的，第一工况集匹配的第一阈值包括第一特征数据和第二特征数据的阈值，控制单元被配置检测到第一特征数据和第二特征数据分别到达第一阈值时，控制智能电动工具进入第一工作模式。
可选的，第一特征数据为智能电动工具的电流，第二特征数据为智能电动工具的电流斜率值。
可选的，第一特征数据为智能电动工具的电压，第二特征数据为智能电动工具的电压斜率值。
可选的，智能电动工具根据聚类分析算法分析智能工具系统的工况种类。
可选的，第二特征数据为第一特征数据的一阶或二阶导数。
一实施例提供一种智能工具系统的控制方法，控制方法包括：启动智能电动工具，检测智能电动工具运行参数分析获得第一特征数据和第二特征数据来确定属于多个工况集中的第一工况集或第二工况集，其中，该第一工况集匹配有第一阈值，该第二工况集匹配有第二阈值；获取第一工况集对应的第一阈值或第二工况集对应的第二阈值；当检测到的数据到达该第一工况集匹配的第一 阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第一工作模式运行；当检测到的数据到达该第二工况集匹配的第二阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第二工作模式运行。
可选的，不同工况的第一特征数据和第二特征数据被采集，并根据第一特征数据和第二特征数据对工况分类并储存在智能电动工具内。
一实施例提供一种智能电动工具，智能电动工具包括：输出轴，用于输出扭力；电机，用于驱动输出轴转动；壳体，用于容纳电机；检测单元，用于检测智能电动工具运行参数；储存装置，用于储存与多个工况集对应的多个阈值且至少包括与第一工况集对应的第一阈值和与第二工况集对应的第二阈值；控制单元，与检测单元和储存装置电连接或通信，配置成当智能电动工具在作业时，通过检测得到的智能电动工具运行参数分析获得第一特征数据和/或第二特征数据来分析确定属于多个工况集中的第一工况集，其中，该第一工况集匹配有第一阈值；当检测到的数据到达该第一工况集匹配的第一阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第一工作模式运行；以及配置成当智能电动工具在作业时，通过检测得到的智能电动工具运行参数分析获得第一特征值和/或第二特征值来分析确定属于多个工况集中的第二工况集，其中，该第二工况集匹配有第二阈值；当检测到的数据到达该第二工况集匹配的第二阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第二工作模式运行。
可选的，智能电动工具至少包括木工模式、金属模式和钻档模式，木工模式适用于将紧固件钉入木质工件，储存装置被设置储存木工模式的第一工况集、第二工况集、第N工况集；金属模式适用于将紧固件钉入金属工件，储存装置被设置储存金属模式的第一工况集、第二工况集、第N工况集；钻档模式适用于对工件钻孔，储存装置被设置储存钻档模式的第一工况集、第二工况集、第N工况集。
附图说明
图1是本申请的智能电动工具的立体结构示意图；
图2是图1智能电动工具的内部示意图；
图3是图1的智能电动工具的另一个角度内部示意图；
图4是图1的智能电动工具的头部剖视图；
图5是本申请的智能电动工具运行时木工模式下参数变化图；
图6是本申请的智能电动工具木工模式使用流程图；
图7是本申请的工况检测分类的方法；
图8是本申请的智能电动工具控制逻辑图；
图9是本申请的智能电动工具金属模式使用流程图；
图10是本申请的智能电动工具运行时钻档模式下参数变化图；
图11是本申请的智能电动工具钻档模式使用流程图；
图12是本申请的智能电动工具的一种结构图；
图13是本申请的智能电动工具的一种控制逻辑图。
具体实施方式
参照图1和图2，在本申请的第一实施方式中，提出一种智能电动工具100，智能电动工具100为冲击类工具，如电钻、冲击钻等智能电动工具100，用于作用紧固件到工件上或直接作用到工件打孔。智能电动工具100包括电机20和输出轴10，开关72。开关72控制电机20的开启和关闭。电机20驱动输出轴10以第一轴线101为轴转动，通过输出轴10输出扭力。智能电动工具100还包括传动组件40和壳体30，传动组件40连接电机20和输出轴10，壳体30用于容纳电机20、传动组件40等，并形成供用户握持的握持部。输出轴10连接工具夹头，工具夹头用于可拆卸地安装工具附件，以匹配不同尺寸的紧固件。紧固件可以为螺钉等连接工具。
智能电动工具100包括检测单元和调节组件50，检测单元用于检测智能电动工具100的运行参数，如电流等，调节组件50用于控制智能电动工具100的工作模式例如木工模式、金属模式和钻档模式。智能电动工具100还包括用于控制其运行的控制单元，控制单元根据工作模式和检测单元检测的智能电动工具100的运行参数，控制智能电动工具100的运行，控制单元在智能电动工具100作用的紧固件触底时控制智能电动工具100以预定速度减速或停转运行，或者智能电动工具100钻档突破时，控制单元控制智能电动工具100以预定速度减速或停转运行。
智能电动工具100被实施为双速智能电动工具100、或多速智能电动工具100，双速智能电动工具100对应高输出转速和低输出转速；多速智能电动工具100包括多输出转速，且调节组件50连接于传动组件40，并通过调节组件50切换智能 电动工具100的输出转速或输出转速区间。
参照图3和图4，现给出一种切换输出转速的结构，以双速智能电动工具100为例，传动组件40包括齿轮组和齿轮箱41，还设有连接于传动组件40的连接杆52，传动组件40包括行星齿轮组42和齿轮箱41，可选的，行星齿轮组42为行星齿轮组42被设置在齿轮箱41中，由齿轮箱41包装行星齿轮组42。行星齿轮组42包括调速齿轮，第一齿轮和多个第二齿轮，第二齿轮与第一齿轮形成行星齿轮结构，第一齿轮作为太阳轮，而第二齿轮为行星齿轮并与太阳轮啮合。调速齿轮从外部分别与第一齿轮和第二齿轮啮合，并可在第一齿轮和第二齿轮上滑动，使得调速齿轮分别与第二齿轮啮合或者同时与第一齿轮和第二齿轮啮合，以切换输出轴的输出速度。
调节组件50通过控制调速齿轮位置调节行星齿轮组42减速比，调节组件50还包括调节杯51和与调节杯51直接连接的连接杆52，调节组件50包括调节杯51，被实施为杯状并可旋转地与壳体30一端连接，并连接到传动组件40用于控制传动组件40的传动比以调节智能电动工具100的转速。连接杆52可随着调节杯51的旋转被带动在壳体30内部旋转。调节组件50还包括与调速齿轮连接的连接件，连接杆52一端连接于调节杯51，一端连接于连接件，且连接杆52被卡接到具有不同高度的平面或曲面，使得连接杆52在随着调节杯51旋转时，连接杆52被具有不同高度的平面或曲面限位沿着第一轴线101前后移动，以带动调速齿轮相对地滑动。
在另一种实施方式中，调节组件50包括调节键，并具有与调节键之间连接的连接杆52，连接杆52被调节件带动位移，调节组件50还包括与调速齿轮连接的连接件，连接杆52连接连接件和调节键，用户通过拨动调节键选择输出转速。
连接杆52在齿轮箱41下方，隐藏在机身内部，相比其他电钻的连接杆52在齿轮箱41上方，其减少了机身上方结构，可以让机身更纤细，输出轴10线至机身顶部距离减小，提高该电钻的作业范围；模式显示与换挡结构同时放在机身中部的调节杯51，用户只需关注调节所需模式，无需关注高低速档位，方便操作。模式显示结构与连接杆52在调节杯51圆周上的相对位置，便于两部分结构的排布，减少装配成本。
智能电动工具还包括控制电机正转和反转的反转开关71，反转开关71被设置靠近开关72，且反转开关72被设置在智能电动工具的握持部的正前方，使得反转开关的按动方向和第一轴线平行，从而方便用户对智能电动工具的操作。
控制单元至少包括驱动电路和控制元件，控制元件连接于驱动电路，控制元件可以是电路板或单片机，且控制元件储存对于智能电动工具100运行的算法，并通过驱动电路连接于电机20，控制元件通过控制电机20的电压等参数调节智能电动工具100的转速和其它运行状态。在本申请的一个实施例中，智能电动工具100还包括电源，电源连接于驱动电路，可选的，电源为一个或多个电池包60，并使得电池包60相对智能电动工具100可插拔。
智能电动工具100具有一个或多个工作模式，工作模式至少包括木工模式，调节组件50可以调节工作模式，调节杯51或调节键供用户以调节工作模式，不同工作模式对应不同转速，即用户通过调节杯51或者调节键选择工作模式，如木工模式，调节键或调节杯51通过连接杆52移动传动组件40改变传动组件40的传动比，调节智能电动工具100的工作模式并切换到对应的输出转速。木工模式下，输出转速相对较低，检测单元检测用户所调节的当前工作模式，并发送给控制单元；或者由检测单元检测智能电动工具100运行参数，并由控制单元通过检测得到的智能电动工具100运行参数分析获得一种或多种特征数据来确定工作模式、或确定属于多个工况集中的某一类工况集。可选的，智能电动工具100包括提示灯，调速杯或调节键连动到提示灯开关，通过灯光显示当前工作模式，提醒用户当前选择的照明状态。控制单元被配置成通过建立函数关系f(x,y,M)以驱动电机以不同工作模式运行，其中x为第一特征数据，第一特征数据为某一运行参数、该某一运行参数的一阶导数和该某一运行参数的二阶导数中其中任一个；y为第二特征数据，第二特征数据为另一运行参数、该另一运行参数的一阶导数和该另一运行参数的二阶导数中的任何一个，M为匹配的第一工作模式或第二工作模式。这里，第一特征数据和第二特征数据可以是同一运行参数的不同形式的体现，在此不造成限制。
工作模式可以包括木工模式，木工模式是将紧固件钉入木质工件的模式，木工模式包括不同种工况集，其中不同种工况集为不同类型的木质工件与不同类型螺钉匹配的工况。例如将螺钉打入木质工件，木工模式被划分为第一工况集、第二工况集、第N工况集，不同工况集对应不同类型的螺钉钉入不同类型的木质工件的状态，如直径不同的螺钉、不同材质的木质工件，分别对应不同工况集。在本申请的一个实施例中，通过对不同螺钉、材质的木质工件作业测试，获取对应工况的参数，并通过聚类分析或大数据分析进行分类，划分参数区间，将螺钉类型和对应的工件木质工件类型在同一参数区间的划分为同一工况，并 对应生成第一工况集、第二工况集、第N工况集。木工模式下设置至少有第一工况集、第二工况集两种类型，为了提升智能电动工具触底自停的准确度，工况被设定为多个。也可以采用根据经验数据进行统计分类的方法，在此并非有所限制。
控制单元包括储存装置，用于储存控制智能电动工具自动停转的数据和算法。储存装置可设置为储存器，通过预先对多种类型紧固件和板材作业，测试获取相关参数，并分类且将对应参数储存在储存装置内在对智能电动工具作用不同的螺钉和木质工件的测试中，获取前N秒第一特征数据和第二特征数据，并根据第一特征数据和第二特征数据对不同工况分类，划分对应的第一特征数据区间和第二特征数据区间，即第一工况集包括第一特征数据区间和第二特征数据区间的所有工况集，如多种类型螺钉钉入松木的工况集。
当智能电动工具在作业时，通过检测得到的智能电动工具运行参数分析获得第一特征数据和第二特征数据来确定属于多个工况集中的第一工况集，其中该第一工况集匹配有第一阈值；当检测到的数据到达该第一工况集匹配的第一阈值时，则判断为紧固件接近触底，控制智能电动工具以第一工作模式运行，第一工作模式是控制智能电动工具自动停转或降速、语音提醒、警示灯提醒的一种，智能电动工具可以安装提示灯或警报器。当采集的智能电动工具的第一特征数据和第二特征数据来分析确定属于多个工况集中的第二工况集，其中，该第二工况集匹配有第二阈值；当检测到的数据到达该第二工况集匹配的第二阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第二工作模式运行，第二工作模式是控制智能电动工具自动停转、语音提醒、警示灯提醒的一种。第一阈值和第二阈值是指点值、离散值、区间值的一种，并且不同工况集对应的阈值的形式可以被不同地设置。
检测单元可以是检测单元可以被实施为电流传感器，电压传感器，霍尔传感器等，用于检测智能电动工具的电流、电压、输出轴10转速，从而获取智能电动工具运行时第一特征数据和第二特征数据。以电流为例，第一类状态数据可以是智能电动工具运行时的电机的电流值，对应的第二类状态数据为电机的电流斜率值。通过测试采集智能电动工具在将多种螺钉打入多种木质工件前N秒时的电流平均值，和电流斜率平均值，并通过聚类分析法对其分类，并设定第一工况集、第二工况集、第N工况集，并将对应的前N秒的电流平均值和电流斜率平均值储存在储存装置内，供实际操作中，通过获取智能电动工具对应的前N 秒的电流斜率值和电流值，并对前N秒的电流斜率值和电流值进行加权获得前N秒的电流斜率平均值和电流平均值，并调取储存的不同工况集对应的参数区间，获取实际操作的螺钉和木质工件所对应的工况集种类。可选的，前N秒被设置为前0.5秒。
在装配智能电动工具之前，多次地检测智能电动工具不同种工况集的紧固件触底的对应的电流斜率阈值，将阈值记录在智能电动工具的储存装置内。在实际使用智能电动工具中作用在紧固件时，检测单元检测智能电动工具运行前N秒的或选中某段时间获得电流斜率平均值和电流平均值，以查表或数据比对的方式获取当前处于的工况种类，即具体的第一工况集、第二工况集、第N工况集。检测单元继续检测智能电动工具的电流斜率值，在电流斜率值超过当前工况对应的电流斜率阈值时，判断螺钉接近触底或螺钉触底，即完成对螺钉的作业，控制单元控制进入第一工作模式，第一工作模式对应第一工况集判断螺钉接近触底或螺钉触底后运行状态，在第一工作模式下，智能电动工具停转，或者降速，或者以第一速度减速。参照附图5，在实际运行中的第一特征数据走向，通过获取a时间段的第一特征数据和/或第二特征数据，通过查表或计算的方式获取当前的工况类型；并通过在b时间段时基于a时间段判断出的工况类型获取对应的阈值或阈值区间，判断紧固件接近触底或紧固件触底，此时控制智能电动工具以第一工作模式或第二工作模式运行，例如第一工作模式可以为以第一恒定速度运行，也可以为持续减速或间断减速进行或停转；第二工作模式可以为以第二恒定速度运行，也可以为持续减速或间断减速进行或停转。
在本申请的一些实施例中，第一工况集匹配的第一阈值包括第二特征数据的阈值，控制单元被配置检测到第二特征数据到达第一阈值时，控制智能电动工具进入第一工作模式，如仅通过对电流斜率设定对应的阈值并作为判断是否触底的标准；而在本申请的其他一些实施例中，第一工况集匹配的第一阈值包括第一特征数据和第二特征数据的阈值，控制单元被配置检测到第一特征数据和第二特征数据分别到达第一阈值时，控制智能电动工具进入第一工作模式，即可以对两个特征值例如电流和电流斜率分别设定对应的阈值，此主要基于对不同具体工况的考虑。在一实施例中，对智能电动工具的工况分类，除了以螺钉型号与木质工件匹配作为分类对象设定木工模式外，还可以以智能电动工具的输出功率、输出转速、用户起始按压程度等影响最终触底时任何第一特征数据和/或第二特征数据、以及对应阈值，原理和上述的分类方法一致，在此不再 详述。
例如，当用户调节到木工模式且智能电动工具在第一工况集作业时，通过检测获得的第一特征数据和/或第二特征数据来分析确定木工模式下多个工况集中的第一工况集，其中，该第一工况集匹配有第一阈值；当检测到的数据到达该木工模式下第一工况集匹配的第一阈值，则判断为紧固件接近触底，则控制智能电动工具以第一工作模式运行；以及当用户调节到木工模式且智能电动工具在第二工况集作业时，通过检测获得的第一特征数据和/或第二特征数据分析确定属于木工模式下不同工况集中的第二工况集，其中，该第二工况集匹配有第二阈值，当检测到的数据到达该木工模式下第二工况集匹配的第二阈值，则判断为紧固件接近触底，则控制电动工具以第二工作模式运行。
以第一特征数据为电流值、第二特征数据为电流斜率值为例，获取前N秒第一特征数据和第二特征数据的加权平均值，参照图6，提供木工模式使用流程图，例如分了三大工况类或工况集，执行步骤S1，进入木工模式，执行步骤S2，判是否a1<平均电流斜率<b1和c1<平均电流<d1，此为第一大工况类或工况集；如果是，执行步骤S3，判断是否电流斜率>h1和电流>m1；如果是，执行步骤S8，PWM根据开关按压程度控制电机降速或停机，如果步骤S2判断否，则执行步骤S4，判断是否a1<平均电流斜率<b1和e1<平均电流<f1，此为第二大工况类或工况集；如果是，执行步骤S5，判断是否电流斜率>n1；如果是，执行步骤S8，PWM根据开关按压程度控制电机降速或停机，如果步骤S4判断否，执行步骤S6，S6是指对其它工况参数的判断，不限于某一区间范围，此为第三大工况类或工况集，直到选定智能电动工具的当前第一特征数据的区间，且按设定对S6判断，如果是，执行步骤S7，判断是否电流斜率>i 1和电流>j1；如果是，执行步骤S8，PWM根据开关按压程度控制电机降速停机，S8后结束流程。
在本申请的一个实施例中，第二特征数据为第一特征数据的一阶或二阶导数内，在设定第二特征数据是第一特征数据的二阶导数时，通过装配前多次检测智能电动工具在不同工况集的状态数据，获取第一特征数据和其二阶导数在触底时的阈值或阈值区间，并储存在储存装置内，用于实际智能电动工具运行时的判断参照条件，以使得智能电动工具在对紧固件作业时，及时检测到完成状态并控制智能电动工具停转或者降速转动，以防止过度作业破坏工件，并对智能电动工具造成损坏。通过对木工模式下，多次检测智能电动工具对不同型号的螺钉对各类木质板材的不同工况下的运行参数，获取智能电动工具每个工 况集的数据参数，并在实际运行过程中通过聚类分析或大数据分析确定具体工况，并且储存每个工况集对应的第一特征数据和/或第二特征数据或其它状态数据的阈值或阈值区间，这样可以修正或消除用户使用不同程度力操作电动工具时检测单元或控制单元获取表征电动工具输出轴实际负载参数的偏差，使得判断紧固件接近触底的阈值参数是和当前工况对应的，从而提升控制智能电动工具自停的准确性，例如相关技术电动工具自停的准确率在20％左右，而采用本申请实施方案智能电动工具自停的准确率大于等于80％，降低智能电动工具对触底的误判，从而防止误停干扰用户使用，提升用户使用感。
在本申请的一个实施例中，智能电动工具可以事先采用聚类分析算法，并将分类结果储存在储存装置内；或直接在线进行聚类分析算法获得分类结果，例如：
把多个采集数据以向量形式分成c个模糊组,其中c1，…，cc分别为c个模糊组聚类中心；求取每组的聚类中心,使得目标函数最小目标函
Figure PCTCN2020082328-appb-000001
这里U ij介于0,1之间，C i为聚类中心，d ij＝||c i-x j||为第i个聚类中心与第j个数据点间的欧几里德聚类；其中，U ij为对d ij的修正系数，即对第j个数据点X i距离第i个聚类中心C i的隶属度修正系数，并且
Figure PCTCN2020082328-appb-000002
m∈[1,∞)，是一个加权指数，调整m会影响收敛速度。
先随机设定初始化聚类中心，然后依据以下公式多次执行迭代过程:
计算新的聚类中心：
Figure PCTCN2020082328-appb-000003
计算新的U矩阵：
Figure PCTCN2020082328-appb-000004
直至收敛于一个最优解或最佳解；或者，设定迭代次数，以寻找到接近最优解的一个次优解，以寻找出工况分类。
在本申请的另一个实施例中，如下表一提供一种木工模式工况分类实施方 式，以紧固件为螺钉为例，在木工模式下，针对不同种工况集下的测试螺钉相关参数进行并行采集，可采用上述聚类分析算法或其他大数据分析算法进行工况分类，以实现大部分工况下工件为木质工件时，螺钉模式触底自停的功能；如下表所示，工况分类大致可分为小型螺钉301，中型螺钉302，第一类大型螺钉303，和第二类大型螺钉304四种工况集，获取前N秒对应的电流斜率区间和电流区间，以及接近触底或触底对应的电流斜率的突变阈值，并将上述参数储存在储存装置内。在使用电动智能工具时，通过调节组件50调节工作模式到木工模式，此时智能电动工具以木工模式对应的速度运行，并通过检测单元获取前N秒的电流斜率平均值以及电流平均值，通过查表或计算的方法获知当前工况种类，以获取对应的突变阈值，并检测智能电动工具的实时电流斜率，在电流斜率大于对应的工况种类的突变阈值时控制智能电动工具停止运行或者降速旋转。
表一
Figure PCTCN2020082328-appb-000005
参照附图7，为对应表一中四种不同工况集的示意图，也就是说提供一种根据第一特征数据和/或第二特征数据对工况检测分类的方法，根据检测不同螺钉种类对木质板材的前N秒的电流值和前N秒的电流斜率值，对电流值和/或电流斜率值处于同一区间的工况分为一类，从而对工况分类，形成不同工况种类或工况集。在一实施例中，智能电动工具可以根据所在的具体工作模式分为两种、三种、四种或以上工况集，在此并非有所限制。
参照附图8，提供一种智能电动工具的控制方法，执行步骤S11，测试智能电动工具作用不同类型钻头和工件时的第一特征数据和第二特征数据，执行步骤S12，根据第一特征数据和第二特征数据对智能电动工具工况分为至少两种工况种类并储存分类数据在智能电动工具，执行步骤S13，测试不同工况种类紧固 件接近触底或触底自停时第一特征数据和/或第二特征数据的阈值和/或阈值区间，并储存在智能电动工具，执行步骤S14，启动智能电动工具，检测第一特征数据和第二特征数据确定当前工况种类；执行步骤S15，判断实时第一特征数据和或第二状态否达到对应工况种类的阈值和/或阈值区间；执行步骤S16，判断紧固件接近触底或触底，并控制智能电动工具停转或降速输出。
可选的，如图1所示，调节组件可以设置在移动终端上，其中移动终端与智能电动工具分离设置并相互通信连接。
可选的，第一工况集或第二工况集至少包括两个及以上的工况；在本申请的其他一些实施例中，第一工况集或第二工况集可以为一个或多个工况，在此并非有所限制。而且，在本申请的上述实施例中，可以为一个表征电动工具输出轴负载的参数设定阈值，例如对第一特征数据或第二特征数据设定阈值；也可以为至少两个表征电动工具输出负载的参数设定阈值，例如对第一特征数据和第二特征数据分别设定对应的阈值，这样可以对电动工具木工模式、金属模式或钻档模式等一个或多个模式进行工况分类后进行阈值管控，可以修正或消除用户使用不同程度力操作电动工具时检测单元或控制单元获取表征电动工具输出轴实际负载参数的偏差，使得智能工具或智能工具系统可以更智能化并准确地识别预定位置，从而提升控制智能电动工具自停的准确性，降低智能电动工具对触底的误判，从而防止误停干扰用户使用，提升用户使用感。对于有些工况种类，需要设定相关特性参数的阈值区间，可以更好地修正或消除用户使用不同程度力操作电动工具时检测单元或控制单元获取表征电动工具输出轴实际负载参数的偏差。
可选的，工作模式至少包括金属模式，调节组件可以调节工作模式，调节杯或调节键供用户以调节工作模式，不同工作模式对应不同转速，即用户通过调节杯选择工作模式或根据运行程序智能化确定工作模式，如金属模式，调节键或调节杯通过连接杆移动传动组件改变传动组件的传动比，调节智能电动工具的工作模式并切换到对应的输出转速。检测单元检测用户所调节的当前工作模式，并发送给控制单元，或由控制单元直接感知智能电动工具的工作模式，例如金属模式。
金属模式适用于将紧固件钉入金属工件，储存装置被设置储存金属模式的第一工况集、第二工况集、第N工况集。控制单元被配置成当智能电动工具在作业时，通过检测得到的智能电动工具运行参数分析获得第一特征数据和第二 特征数据来确定属于多个工况集中的第一工况集，其中，其中该第一工况集匹配有第一阈值；当检测到的数据到达该第一工况集匹配的第一阈值时，则判断为紧固件接近触底，控制智能电动工具以第一工作模式运行；同理，第一工作模式可以为以第一恒定速度运行，也可以为持续减速或间断减速进行；第二工作模式可以为以第二恒定速度运行，也可以为持续减速或间断减速进行。第一阈值和第二阈值是指点值、离散值、区间值的一种，并且不同工况集对应的阈值的形式可以被不同地设置。
控制单元通过采集的智能电动工具的第一特征数据和第二特征数据来分析确定属于多个工况集中的第二工况集，其中，该第二工况集匹配有第二阈值；当检测到的数据到达该第二工况集匹配的第二阈值时，则判断为紧固件接近触底，控制智能电动工具以第二工作模式运行。
金属模式是将紧固件钉入金属工件的模式，金属模式包括不同种工况集，其中不同种工况集为不同类型的金属工件与不同类型螺钉匹配的工况。在本申请的一些实施例中，智能电动工具或智能电动系统的金属模式，与上述木工模式不同的是，第一特征数据和/或第二特征数据，以及对应的阈值的数值不同，且对不同类型的金属工件与不同类型螺钉匹配的工况经过聚类分析或大数据分析后分类形成的工况划分不同。参照图9，提供金属模式使用流程图，执行步骤S21，进入金属模式，执行步骤S22，判是否a2<平均电流斜率<b2和c2<平均电流<d2，如果是，执行步骤S23，判断是否电流斜率>h2和电流>m2，如果是，执行步骤S28，PWM根据开关按压程度控制电机降速或停机，如果步骤S22判断否，则执行步骤S24，判断是否a2<平均电流斜率<b2和e2<平均电流<f2，如果是，执行步骤S25，判断是否电流斜率>n2，如果是，执行步骤S28，PWM根据开关按压程度控制电机降速或停机，如果步骤S4判断否，执行步骤S26，S26是指对其它工况参数的判断，不限于某一区间范围，直到选定智能电动工具的当前第一特征数据的区间，且按设定对S26判断，如果是，执行步骤S27，判断是否电流斜率>i2和电流>j2，如果是，执行步骤S28，PWM根据开关按压程度控制电机降速停机，S28后结束流程。这里，金属模式中涉及的a2、b2、c2、d2、h2、m2、e2、f2、n2、i2、j2的具体数值与木工模式中的a1、b1、c1、d1、h1、m1、e1、f1、n1、i1、j1的具体数值不同。
对智能电动工具的工况分类，除了以木质工件和金属工件种类为分类对象外，还可以以智能电动工具螺钉型号等影响触底自停时第一特征数据和/或第二 特征数据、以及对应阈值的因素，原理和已提供的分类方法大致一致，在此不再详述。
工作模式还可以至少包括钻档模式，可以通过调节组件手动设定钻档模式，从而控制组件获取当前工作模式在钻档模式，也可以根据第一特征数据和/第二特征数据程序运行分析确定当前需要切换到钻档模式，在此并非有所限制。
钻档模式是用于在工件上打孔时，钻头突破工件的工作模式，钻档模式包括不同种类工况或不同工况集，储存装置被设置储存钻档模式的第一工况集、第二工况集、第N工况集，其中不同种工况集为不同类型的工件与不同类型螺钉匹配的工况。在一实施例中，智能电动工具或智能电动系统的钻档模式，与上述木工模式不同的是，基于表征钻头突破工件时的第一特征数据和/或第二特征数据，以及对应的阈值的数值不同，对不同类型的工件与不同类型螺钉匹配的工况类别经聚类分析后形成的不同种工况集数值区间划分也不同。
控制单元被配置成当智能电动工具在作业时，通过检测得到的智能电动工具运行参数分析获得第一特征数据和第二特征数据来确定属于多个工况集中的第一工况集，其中，其中该第一工况集匹配有第一阈值；当检测到的数据到达该第一工况集匹配的第一阈值时，则判断为智能电动工具钻孔突破，控制智能电动工具以第一工作模式运行；被配置成当采集的智能电动工具的第一特征数据和第二特征数据来分析确定属于多个工况集中的第二工况集，其中，该第二工况集匹配有第二阈值；当检测到的数据到达该第二工况集匹配的第二阈值时，则判断为智能电动工具钻孔突破，控制智能电动工具以第二工作模式运行。第一阈值和第二阈值是指点值、离散值、区间值的一种，并且不同工况集对应的阈值的形式可以被不同地设置。第一工作模式可以为以第一恒定速度运行，也可以为持续减速或间断减速进行，或是停转；第二工作模式可以为以第二恒定速度运行，也可以为持续减速或间断减速进行，或是停转，第一工作模式可以和第二工作模式相同，也可以根据工况设计第一工作模式和第二工作模式不同。这里“判断为钻头突破工件”可以为钻头接近或临近突破工件时，以合适的第一模式或第二模式匹配运行，以钻档过度对用户造成冲击等不良影响。
参照图10，在实际运行中以第一特征数据如电流的走向，通过获取c时间段的第一特征数据和/或第二特征数据，例如电流的加权平均值和电流斜率的加权平均值，通过查表或计算的方式获取当前的工况类型；并通过在d时间段时基于c时间段判断出的工况类型获取对应的阈值或阈值区间，判断钻头突破工 件，此时控制智能电动工具以第一模式或第二模式运行，例如第一模式可以为以第一恒定速度运行，也可以为持续减速或间断减速进行；第二模式可以为以第二恒定速度运行，也可以为持续减速或间断减速进行。
参照图11，提供钻档模式使用流程图，执行步骤S31，进入钻档模式，执行步骤S32，判是否a3<平均电流斜率<b3和c3<平均电流<d3，如果是，执行步骤S33，判断是否电流斜率>h3和电流>m3，如果是，执行步骤S38，PWM根据开关按压程度控制电机降速或停机，如果步骤S32判断否，则执行步骤S34，判断是否a3<平均电流斜率<b3和e3<平均电流<f3，如果是，执行步骤S35，判断是否电流斜率>n3，如果是，执行步骤S38，PWM根据开关按压程度控制电机降速或停机，如果步骤S34判断否，执行步骤S36，S36是指对其它工况参数的判断，不限于某一区间范围，直到选定智能电动工具的当前第一特征数据的区间，且按设定对S36判断，如果是，执行步骤S37，判断是否电流斜率>i3和电流>j3，如果是，执行步骤S38，PWM根据开关按压程度控制电机降速停机，S38后结束流程。这里，钻档模式中涉及的a3、b3、c3、d3、h3、m3、e3、f3、n3、i3、j3的具体数值与木工模式中的a1、b1、c1、d1、h1、m1、e1、f1、n1、i1、j1的具体数值不同。
在本申请的上述实施例中，木工模式、金属模式或钻档模式可以是在智能电动工具或智能电动工具系统上设定的一种既定模式，也可以是整个运行程序或模式中某一片段程序，在此并非有所限制。
在第四实施方式中，智能电动工具系统可基于检测得到的第一特征数据和/第二特征数据自动确定或识别属于多个工况集中的某一工况集，并根据对应的阈值判断是否进入紧固件接近触底或钻孔突破，以匹配合适的工作模式运行。
在本申请的一些实施例中，第一工况集或第二工况集至少包括两个及以上的工况；而在本申请的其他一些实施例中，第一工况集或第二工况集包括一个或多个工况，其中一个工况指的是一种工件与一种螺钉匹配的工况。也可以为，对于一个工况或工况集可以设定对应的阈值区间，以修正或消除用户使用不同程度力操作电动工具时检测单元或控制单元获取表征电动工具输出轴实际负载参数的偏差，从而提升控制智能电动工具预定位置识别的准确性，降低智能电动工具的误判，从而防止误判对用户操作影响，提升用户体验。
在本申请的一些实施例中，控制单元可以配置成至少基于第一特征数据和第二特征数据建立函数关系f(x,y,M)以驱动电机以不同匹配模式运行；也可以 配置成基于第一特征数据或第二特征数据建立函数关系f(x,M)或f(y,M)以驱动电机以合适的或最佳的工作模式运行。总而言之，智能电动工具或智能电动工具系统可基于第一特征数据和/或第二特征数据自动识别并进入某一种工作模式例如木工模式、金属模式或钻档模式，并进入该某一种工作模式下某一工况类或工况集，在此并非有所限制。而且，上述方式不仅仅适用于紧固件触底或钻孔突破的情况，也可以是其他打磨、打钉等功能控制，在此并非有所限制。
在本申请的上述实施例中，检测单元、储存装置和控制单元可以为相互分离的独立装置；也可以为集成在同一芯片中，为一集成单元，具备检测、储存和控制功能。可选的，检测单元、储存装置和控制单元可以设置在智能电动工具100a上；参照图12，也可以检测单元、储存装置和控制单元中的一部分设置在智能电动工具100a上，而另一部分设置在与智能工具相互电连接或通信的外部终端200如手机上，在此并非有所限制。
参照图13，提供本实施例智能电动工具的控制方法，控制智能电动工具开启，运行步骤S41，判断是否在加载过程中，如果是运行步骤S42，获取智能电动工具前N秒的电流平均值和电流斜率，运行步骤S43，获取对应的工作模式和紧固件类型或钻头类型等工况，并执行步骤S44，判断是否达到阈值，如果否，运行步骤S48，保持加载状态直到输出的扭矩停机；如果S44步骤中达到阈值，执行步骤S45，中断工具轴的输出扭矩，停机；并执行步骤S46，判断开关是否松开，如果是执行步骤S47，保持停机状态，如果否，循环执行流程。
在一实施例中，控制单元可以被选择设置在智能电动工具外，例如图1中并可通信地连接于智能电动工具，用于分析智能电动工具的相关参数并控制智能电动工具的运行。

Claims (25)

  1. 一种智能工具系统，包括：
    智能电动工具，包括：
    输出轴，用于输出扭力；
    电机，用于驱动所述输出轴转动；
    壳体，用于容纳所述电机；
    检测单元，用于检测智能电动工具运行参数；
    储存装置，用于储存至少第一工况集对应的第一阈值和与第二工况集对应的第二阈值；
    控制单元，与检测单元和储存装置通信连接；
    其中，控制单元被配置成通过建立函数关系f(x,y,M)以驱动电机以不同工作模式运行，其中x为第一特征数据，第一特征数据为某一运行参数、该某一运行参数的一阶导数和该某一运行参数的二阶导数中其中任一个；y为第二特征数据，第二特征数据为另一运行参数、该另一运行参数的一阶导数和该另一运行参数的二阶导数中的任何一个，M为匹配的第一工作模式或第二工作模式；
    还被配置成当智能电动工具在作业时，通过检测得到的智能电动工具运行参数分析获得第一特征数据和第二特征数据来确定属于多个工况集中的第一工况集，其中，其中该第一工况集匹配有第一阈值；当检测到的数据到达该第一工况集匹配的第一阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第一工作模式运行；
    被配置成当采集的智能电动工具的第一特征数据和第二特征数据来分析确定属于多个工况集中的第二工况集，其中，该第二工况集匹配有第二阈值；当检测到的数据到达该第二工况集匹配的第二阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第二工作模式运行。
  2. 如权利要求1所述的智能工具系统，其中：所述第二工作模式不同于所述第一工作模式。
  3. 如权利要求1所述的智能工具系统，还包括调节组件，用于切换所述智能工具系统到木工模式、金属模式和钻档模式的一种或组合。
  4. 如权利要求3所述的智能工具系统，其中：所述智能电动工具还包括传动组件，所述调节组件与所述传动组件连接，所述调节组件被调节挡位切换所述木工模式、金属模式或钻档模式，所述调节组件带动所述传动组件使得所述智能电动工具切换与选择的所述木工模式、金属模式、钻档模式对应的输出速度 区间。
  5. 如权利要求4所述的智能工具系统，其中：所述调节组件包括调节杯，所述调节杯被设置用于切换所述智能电动工具的木工模式、金属模式、钻档模式；
    所述传动组件包括行星齿轮组、齿轮箱以及连接杆，所述行星齿轮组设置在所述齿轮箱内部，所述连接杆连接所述调节杯和所述行星齿轮组；
    所述连接杆被设置在所述齿轮箱下侧。
  6. 如权利要求3所述的智能工具系统，其中：所述木工模式适用于将紧固件钉入木质工件，所述储存装置被设置储存所述木工模式的第一工况集、第二工况集、第N工况集；
    所述金属模式适用于将紧固件钉入金属工件，所述储存装置被设置储存所述金属模式的第一工况集、第二工况集、第N工况集；
    所述钻档模式适用于对工件钻孔，所述储存装置被设置储存所述钻档模式的第一工况集、第二工况集、第N工况集。
  7. 如权利要求1所述的智能工具系统，其中：所述第一工况集或所述第二工况集至少包括两个及以上的工况。
  8. 如权利要求1所述的智能工具系统，其中：所述控制单元检测所述智能电动工具作用在工件前N秒的第一特征数据和/或第二特征数据分析确定当前工作模式下的工况集种类。
  9. 如权利要求1所述的智能工具系统，其中：所述第一工况集匹配的所述第一阈值包括所述第二特征数据的阈值，所述控制单元被配置检测到所述第二特征数据到达所述第一阈值时，控制所述智能电动工具进入第一工作模式。
  10. 如权利要求1所述的智能工具系统，其中：所述第一工况集匹配的所述第一阈值包括所述第一特征数据和第二特征数据的阈值，所述控制单元被配置检测到所述第一特征数据和所述第二特征数据分别到达所述第一阈值时，控制所述智能电动工具进入第一工作模式。
  11. 如权利要求1所述的智能工具系统，其中：所述第一特征数据为所述智能电动工具的电流，所述第二特征数据为智能电动工具的电流斜率值。
  12. 如权利要求1所述的智能工具系统，其中：所述第一特征数据为所述智能电动工具的电压，所述第二特征数据为智能电动工具的电压斜率值。
  13. 如权利要求1所述的智能工具系统，其中：所述智能电动工具根据聚类分析算法分析所述智能工具系统的工况种类。
  14. 如权利要求1所述的智能工具系统，其中：所述第二特征数据为所述第一特征数据的一阶或二阶导数。
  15. 一种适用于权利要求1所述的智能工具系统的控制方法，所述控制方法包括：
    启动所述智能电动工具，检测所述智能电动工具运行参数分析获得第一特征数据和第二特征数据来确定属于多个工况集中的第一工况集或第二工况集，其中，该第一工况集匹配有第一阈值，该第二工况集匹配有第二阈值；
    获取第一工况集对应的第一阈值或第二工况集对应的第二阈值；
    当检测到的数据到达该第一工况集匹配的第一阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第一工作模式运行；
    当检测到的数据到达该第二工况集匹配的第二阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第二工作模式运行。
  16. 如权利要求15所述的控制方法，其中，不同工况的第一特征数据和第二特征数据被采集，并根据第一特征数据和第二特征数据对工况分类并储存在所述智能电动工具内。
  17. 一种智能电动工具，包括：
    输出轴，用于输出扭力；
    电机，用于驱动所述输出轴转动；
    壳体，用于容纳所述电机；
    检测单元，用于检测智能电动工具运行参数；
    储存装置，用于储存与多个工况集对应的多个阈值且至少包括与第一工况集对应的第一阈值和与第二工况集对应的第二阈值；
    控制单元，与检测单元和储存装置电连接或通信，配置成当智能电动工具在作业时，通过检测得到的智能电动工具运行参数分析获得第一特征数据和/或第二特征数据来分析确定属于多个工况集中的第一工况集，其中，该第一工况集匹配有第一阈值；当检测到的数据到达该第一工况集匹配的第一阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工具以第一工作模式运行；以及配置成当智能电动工具在作业时，通过检测得到的智能电动工具运行参数分析获得第一特征值和/或第二特征值来分析确定属于多个工况集中的第二工况集，其中，该第二工况集匹配有第二阈值；当检测到的数据到达该第二工况集匹配的第二阈值时，则判断为紧固件接近触底或钻孔突破，控制智能电动工 具以第二工作模式运行。
  18. 如权利要求17所述的智能电动工具，其中：所述智能电动工具至少包括木工模式、金属模式和钻档模式，所述木工模式适用于将紧固件钉入木质工件，所述储存装置被设置储存所述木工模式的第一工况集、第二工况集、第N工况集；所述金属模式适用于将紧固件钉入金属工件，所述储存装置被设置储存所述金属模式的第一工况集、第二工况集、第N工况集；所述钻档模式适用于对工件钻孔，所述储存装置被设置储存所述钻档模式的第一工况集、第二工况集、第N工况集。
  19. 如权利要求17所述的智能电动工具，其中：所述第一工况集或第二工况集至少包括两个及以上的工况。
  20. 如权利要求17所述的智能电动工具，还包括传动组件和调节组件，所述调节组件与所述传动组件连接，所述调节组件被调节挡位切换所述木工模式、金属模式或钻档模式，所述调节组件带动所述传动组件使得所述智能电动工具切换与选择的所述木工模式、金属模式、钻档模式对应的输出速度区间。
  21. 如权利要求17所述的智能电动工具，其中：所述控制单元检测所述智能电动工具作用在工件前N秒的第一特征数据和/或第二特征数据分析确定当前的工况集的种类。
  22. 如权利要求17所述的智能电动工具，其中：所述智能电动工具根据聚类分析算法分析工况集的种类。
  23. 如权利要求22所述的智能工具系统，其中：所述控制单元检测所述智能电动工具作用在工件前N秒的第一特征数据和/或第二特征数据分析确定当前工作模式下的工况集种类。
  24. 如权利要求17所述的智能电动工具，其中：所述第二特征数据为所述第一特征数据的一阶或二阶导数。
  25. 如权利要求17所述的智能工具系统，其中：所述第一特征数据为所述智能电动工具的电流，所述第二特征数据为智能电动工具的电流斜率值。
PCT/CN2020/082328 2019-04-04 2020-03-31 智能电动工具及其系统和控制方法 WO2020200188A1 (zh)

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