WO2024070561A1 - インパクト工具及び電動工具 - Google Patents

インパクト工具及び電動工具 Download PDF

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Publication number
WO2024070561A1
WO2024070561A1 PCT/JP2023/032643 JP2023032643W WO2024070561A1 WO 2024070561 A1 WO2024070561 A1 WO 2024070561A1 JP 2023032643 W JP2023032643 W JP 2023032643W WO 2024070561 A1 WO2024070561 A1 WO 2024070561A1
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WO
WIPO (PCT)
Prior art keywords
motor
screw
control unit
power tool
screw tightening
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/032643
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English (en)
French (fr)
Japanese (ja)
Inventor
健太 原田
智雅 西河
智 松野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koki Holdings Co Ltd
Original Assignee
Koki Holdings Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koki Holdings Co Ltd filed Critical Koki Holdings Co Ltd
Priority to CN202380059546.1A priority Critical patent/CN119730991A/zh
Priority to DE112023004091.5T priority patent/DE112023004091T5/de
Priority to US19/102,408 priority patent/US20260042192A1/en
Priority to JP2024549961A priority patent/JPWO2024070561A1/ja
Publication of WO2024070561A1 publication Critical patent/WO2024070561A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B25B21/02—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose with means for imparting impact to screwdriver blade or nut socket
    • 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
    • B25B23/0064—Means for adjusting screwing depth
    • 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
    • B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
    • B25B23/1475—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers for impact wrenches or screwdrivers
    • 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
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage

Definitions

  • the present invention relates to impact tools and power tools.
  • Patent Document 1 discloses that seating is determined based on electric current.
  • Patent Document 1 if the driver sat on the bolt before the impact mechanism started to strike, the motor could not be stopped or decelerated. In addition, because the driver's seating was judged based on the current, there was a risk of over-tightening or under-tightening, which made it difficult to work with.
  • the present invention aims to solve at least one of the following problems 1 to 3.
  • ⁇ Problem 1 To provide an impact tool that can stop or decelerate the motor even if the tool is seated before impact is initiated.
  • ⁇ Problem 2 To provide a power tool with good operability.
  • ⁇ Problem 3 To provide a power tool that can be controlled based on the amount of processing.
  • This impact tool includes a motor, an impact mechanism driven by the motor, a current measuring means for measuring the current of the motor, a rotational speed measuring means for detecting the rotational speed of the motor, and a control unit for controlling the motor.
  • the control unit has a seating determination mode configured to determine whether or not a screw has been seated based on the measured motor current and motor rotational speed during screw tightening operations under a number of different working conditions, both before and after impact by the impact mechanism is started, and to stop or decelerate the motor after determining that the screw has been seated.
  • This power tool includes a motor and a control unit that controls the motor, and the control unit has a screw tightening depth control mode that estimates the screw tightening depth for a mating material according to the measured state quantity of the power tool and controls the motor according to the estimated screw tightening depth and a setting value set by a setting unit, and the setting unit is configured to be able to set multiple screw tightening depths as setting values, including a first screw tightening depth before the screw is seated on the mating material and a second screw tightening depth different from the first screw tightening depth.
  • This power tool includes a motor, a current measuring means for measuring the current of the motor, a rotational speed measuring means for detecting the rotational speed of the motor, and a control unit for controlling the motor, and is characterized in that the control unit has a processing amount estimation mode configured to estimate a processing amount, which is the amount of irreversible processing of a mating material, according to the measured current and rotational speed of the motor, and to control the motor according to the estimated processing amount.
  • the present invention can solve at least one of the above problems 1 to 3.
  • FIG. 1 is a right side view of a power tool 1 according to a first embodiment of the present invention.
  • FIG. FIG. 2 is a circuit block diagram of the power tool 1.
  • FIG. 4 is a functional block diagram of a control unit 40 in FIG. 3 .
  • 5 is a control flowchart of the control unit 40 in a stopped state.
  • 4 is a control flowchart of the control unit 40 in an operating state.
  • 7(A) to (F) are schematic cross-sectional views showing the progress of the screw tightening operation into the mating material.
  • (G) is a graph showing the time changes of the current of the motor 20, the number of rotations of the motor 20, and the amount of floating of the screw head during the screw tightening operation shown in FIG. 7(A) to (F).
  • FIG. 5 is a diagram showing a correlation between the current and rotation speed of the motor 20 in the power tool 1 and the amount of screw head floating.
  • 4 is a conceptual diagram showing the structure of a neural network that estimates the amount of screw head floating in the power tool 1.
  • 11 is a graph in which an estimated value of the amount of screw head floating is added to the graph of FIG. 10 .
  • FIG. 11 is a functional block diagram of a control unit 140 of a power tool according to a second embodiment of the present invention. 4 is a control flowchart of the control unit 140 in an operating state.
  • FIG. 11 is a flowchart of a processing amount calculation in a control unit 140.
  • FIG. 13 is a conceptual diagram showing an example of a table used for estimating the machining amount before the start of impact.
  • FIG. 13 is a conceptual diagram showing an example of a table used for estimating a machining amount after the start of impact.
  • 6 is a graph showing the relationship between the product of the current and the rotation speed of the motor 20 and the amount of screw head floating for two types of screws.
  • 18 is a graph showing the average curve of the data for the two types of screws in FIG. 17 .
  • Figures 1 to 11 relate to a power tool 1 according to a first embodiment of the present invention.
  • the power tool 1 is a work machine, specifically an impact tool (impact driver).
  • the front-rear and up-down directions of the power tool 1 are defined as being perpendicular to each other.
  • the front-rear direction is a direction parallel to the motor shaft 21.
  • the power tool 1 has a housing 10.
  • the housing 10 is, for example, a resin molded body having a two-part structure with a left and right part.
  • the housing 10 includes a motor accommodating section 11, a handle section 12, and a battery pack mounting section 13.
  • the motor housing 11 is a cylindrical section whose central axis is approximately parallel to the front-rear direction.
  • the upper end of the handle section 12 is connected to the middle section of the motor housing section 11 in the front-rear direction and extends downward from said middle section.
  • the battery pack attachment section 13 is provided at the lower end of the handle section 12, and a battery pack 17 can be detachably attached thereto.
  • the power tool 1 operates using power from the battery pack 17.
  • the power tool 1 has a tail cover 14 that is connected to the rear opening of the motor housing 11 and covers the opening.
  • the tail cover 14 is fixed to the motor housing 11 by screws or the like.
  • the power tool 1 has a hammer case 18 connected to the front of the motor housing 11.
  • the hammer case 18 is made of, for example, metal, and is held in the motor housing 11 and extends forward from the motor housing 11.
  • the power tool 1 has a trigger switch 15 at the upper end of the handle portion 12, which allows the user to switch between driving and stopping the motor 20.
  • the power tool 1 has a forward/reverse switch 16 near the boundary between the motor housing portion 11 and the handle portion 12, which allows the user to switch between forward and reverse rotation of the motor 20.
  • the power tool 1 has a first control board 35 in the battery pack mounting section 13.
  • the first control board 35 is equipped with a control section 40 (Fig. 3) such as a microcomputer that controls the operation of the motor 20.
  • the power tool 1 has an operation panel 19 on the front upper surface of the battery pack mounting section 13.
  • the operation panel 19 has a display section 46, a control mode changeover switch 47, and a threshold setting device 48 shown in Fig. 3.
  • the work machine 1 has a motor 20, a reduction mechanism 28, a spindle 29, a rotary impact mechanism 30 as an impact mechanism, and a fan 34 inside the motor housing section 11 and the hammer case 18.
  • the motor 20 is an inner rotor type brushless motor and has a motor shaft 21 that is parallel to the front-rear direction.
  • the motor 20 includes a rotor 22, a stator core 23, a stator coil 24, a front insulator 25, and a rear insulator 26.
  • the rotor 22 is disposed around the motor shaft 21 and rotates integrally with the motor shaft 21.
  • the stator core 23, the stator coil 24, the front insulator 25, and the rear insulator 26 form the stator of the power tool 1.
  • the stator core 23 is provided radially outside the rotor 22.
  • the stator coil 24 is provided on the stator core 23.
  • the front insulator 25 is provided in the front part of the stator core 23.
  • the rear insulator 26 is provided in the rear part of the stator core 23.
  • the front insulator 25 and the rear insulator 26 are, for example, resin molded bodies, and provide insulation between the stator core 23 and the stator coil 24.
  • a second control board 36 is attached to the front of the front insulator 25.
  • the second control board 36 is equipped with a magnetic sensor 50 ( Figure 3) such as a Hall IC for detecting the rotational position of the motor 20, and an inverter circuit 38 ( Figure 3) for supplying a drive current to the stator coil 24.
  • the reduction mechanism 28 reduces the rotation of the motor 20 and transmits it to the spindle 29.
  • the spindle 29 drives the rotary impact mechanism 30.
  • the rotary impact mechanism 30 is the output part of the power tool 1 and is driven by the motor 20.
  • the rotary impact mechanism 30 includes a spring 31, a hammer 32, and an anvil 33.
  • An anvil 33 holds a tip tool such as a bit (not shown).
  • the hammer 32 is cam-engaged with the spindle 29 and is biased forward by the spring 31.
  • the hammer 32 driven by the spindle 29, rotary-impacts the anvil 33.
  • the configuration and operation of the rotary impact mechanism 30 are well known, so further detailed explanation will be omitted.
  • the fan 34 is attached to the motor shaft 21 behind the rotor 22 and rotates together with the motor shaft 21 to generate cooling air to cool the motor 20, etc.
  • FIG. 3 is a circuit block diagram of the power tool 1.
  • the power tool 1 has an inverter circuit 38, a resistor 39, a control unit 40, a current detection circuit 41, a battery voltage detection circuit 42, a control power supply circuit 43, a control power voltage detection circuit 44, a rotor position detection circuit 45, a display unit 46, a control mode changeover switch 47, a threshold setting device 48, a drive signal output circuit 49, and a magnetic sensor 50.
  • the inverter circuit 38 includes six switching elements Q1 to Q6, such as FETs, connected in a three-phase bridge.
  • the resistor 39 is provided in the path of the current flowing through the motor 20 (hereinafter referred to as the "motor current").
  • the control unit 40 is, for example, a microcomputer (microcontroller) and controls the overall operation of the power tool 1.
  • the current detection circuit 41 detects the motor current from the voltage of the resistor 39 and transmits it to the control unit 40.
  • the current detection circuit 41 and the resistor 39 constitute a current measurement means.
  • the battery voltage detection circuit 42 detects the output voltage of the battery pack 17 (hereinafter “battery voltage”) and transmits it to the control unit 40.
  • the control power supply circuit 43 converts the battery voltage into a power supply voltage for the control unit 40, etc., and supplies it to the control unit 40, etc.
  • the control power supply voltage detection circuit 44 detects the output voltage of the control power supply circuit 43 and transmits it to the control unit 40.
  • the rotor position detection circuit 45 detects the rotational position (rotor rotational position) of the motor 20 from the output signal of the magnetic sensor 50 and transmits it to the control unit 40.
  • the control unit 40 detects the rotational speed of the motor 20 (hereinafter “motor rotational speed") from the output signal of the rotor position detection circuit 45.
  • the rotor position detection circuit 45, the magnetic sensor 50 and the control unit 40 constitute a rotational speed measurement means.
  • the display unit 46 displays the current threshold (set value) and control mode.
  • the control mode changeover switch 47 is, for example, a tactile switch, and is an operation unit that allows the user to switch between enabling and disabling the machining amount control mode described below.
  • the threshold setting device 48 is a device (setting unit) that sets the threshold (set value) in the machining amount control mode described below.
  • the threshold setting device 48 is, for example, a switch (button) provided on the operation panel 19.
  • the threshold setting device 48 may be a dial provided separately from the operation panel 19, or may be a wireless communication device that receives the threshold via wireless communication with an external device such as a smartphone.
  • the drive signal output circuit 49 applies a drive signal, for example a PWM signal, to each gate of the switching elements Q1 to Q6 of the inverter circuit 38 under the control of the control unit 40.
  • the magnetic sensor 50 outputs a signal corresponding to the rotational position of the motor 20 to the rotor position detection circuit 45.
  • the control unit 40 controls the on/off of the switching elements Q1 to Q6 via the drive signal output circuit 49 in response to the operation of the trigger switch 15, the state of the forward/reverse switch 16, whether the machining amount control mode is enabled or disabled, and the threshold value in the machining amount control mode, thereby controlling the drive of the motor 20.
  • FIG. 4 is a functional block diagram of the control unit 40 in Figure 3. Note that each block shown in Figure 4 is a function possessed by the control unit 40, and does not mean that it has a physical hardware entity. Note that "NN” in the drawing stands for neural network.
  • the control unit 40 includes a rotation speed calculation unit 51, a data storage unit 52, a learned model 53, a motor output setting unit 54, an output stability determination unit 55, a neural network calculation unit 56 (hereinafter referred to as the "NN calculation unit 56"), a threshold setting unit 57, a comparator 58, a control mode setting unit 59, an AND gate 60, and a motor control unit 61.
  • the rotation speed calculation unit 51 calculates the motor rotation speed based on the signal received from the rotor position detection circuit 45.
  • rotation speed in the drawings refers to the number of rotations of the motor 20 per unit time (hereinafter “motor rotation speed”), i.e., the motor rotation speed.
  • the data storage unit 52 stores the motor rotation speed calculated by the rotation speed calculation unit 51 and the motor current received from the current detection circuit 41, i.e., the measured values of the motor rotation speed and motor current.
  • the trained model 53 is a function block that stores neural network parameters (hereinafter referred to as "NN parameters") for estimating the amount of machining, for example, the screw tightening depth, from time-series data of the motor rotation speed and motor current.
  • the NN parameters include weights and biases, etc.
  • the NN parameters are generated in advance by machine learning. The machine learning method will be described later.
  • the motor output setting unit 54 detects when the trigger switch 15 is turned on and transmits the signal to the output stability determination unit 55.
  • the motor output setting unit 54 also transmits an output setting signal corresponding to the amount of pulling of the trigger switch 15 to the motor control unit 61.
  • the output stability determination unit 55 determines that the output of the motor 20 has stabilized, and changes the neural network calculation enable signal (hereinafter “NN calculation enable signal”) from low level (invalid) to high level (valid).
  • the NN calculation unit 56 calculates an estimated machining amount based on the time series data of the measured values of the motor rotation speed and motor current stored in the data storage unit 52 and the NN parameters stored in the trained model 53.
  • the threshold setting unit 57 receives a threshold setting input value from the threshold setting device 48 and outputs a threshold.
  • the comparator 58 compares the processing amount estimate value with the threshold, and outputs a low-level signal if the processing amount estimate value is equal to or less than the threshold, and outputs a high-level signal if the processing amount estimate value exceeds the threshold.
  • the control mode setting unit 59 detects the operation of the control mode changeover switch 47 and outputs a machining amount control mode enable/disable signal.
  • the machining amount control mode enable/disable signal is high level when the machining amount control mode is enabled and low level when it is disabled.
  • the display unit 46 displays whether the machining amount control mode is enabled or disabled.
  • the AND gate 60 outputs a signal which is the logical product of the machining amount control mode enable/disable signal and the output signal of the comparator 58. In other words, when the machining amount control mode enable/disable signal is at a high level (when the machining amount control mode is enabled), the AND gate 60 passes the output signal of the comparator 58 to the motor control unit 61.
  • the output signal of the AND gate 60 When the output signal of the AND gate 60 is at a high level, it means that the machining amount control mode is active and the machining amount estimated value exceeds the threshold value, and that a stop/slow speed control request signal is output to the motor control unit 61.
  • the output signal of the AND gate 60 When the output signal of the AND gate 60 is at a low level, it means that the machining amount control mode is inactive and/or the machining amount estimated value is below the threshold value, and that a stop/slow speed control request signal is not output to the motor control unit 61.
  • the motor control unit 61 outputs a motor control signal to the drive signal output circuit 49 ( Figure 3) according to the output setting signal from the motor output setting unit 54.
  • a stop/low speed control request signal is input, i.e., when the stop/low speed control request signal is at a high level
  • the motor control unit 61 outputs a motor control signal for stopping/low speed control of the motor 20 to the drive signal output circuit 49 ( Figure 3) regardless of the output setting signal from the motor output setting unit 54.
  • the stop/low speed control is control to stop the motor 20 or control to decelerate the motor 20 to rotate at a low speed.
  • the control to stop the motor 20 may be to perform brake control on the motor 20, or to allow the motor 20 to naturally decelerate without applying the brakes.
  • the machining amount control mode is a mode in which the motor 20 is stopped/controlled to a low speed when the machining amount estimated value exceeds a threshold value.
  • the machining amount control mode corresponds to the screw tightening depth control mode and the machining amount estimation mode.
  • Figure 5 is a control flowchart of the control unit 40 in the stopped state. If the trigger switch 15 is on (YES in S1), the control unit 40 proceeds to the flowchart in the operating state shown in Figure 6 (S3). If the trigger switch 15 is off (NO in S1), the control unit 40 stops the motor 20 (S5).
  • control unit 40 sets the machining amount control mode enable/disable signal to a high level (enabled) (S9).
  • control mode changeover switch 47 is off (NO in S7), the control unit 40 sets the machining amount control mode enable/disable signal to a low level (disabled) (S11).
  • the control unit 40 checks the threshold setting input value from the threshold setting device 48 (S13). If the threshold setting input value does not match the current threshold (YES in S15), the control unit 40 updates the threshold (substitutes the threshold setting input value for the threshold) (S17) and returns to S1. If the threshold setting input value matches the current threshold (NO in S15), the control unit 40 returns to S1.
  • FIG 6 is a control flowchart of the control unit 40 in the operating state.
  • the control unit 40 acquires the motor current and motor rotation speed as tool state data (S21).
  • the control unit 40 executes a neural network calculation (hereinafter "NN calculation") and derives a machining amount estimate value using the trained model 53 (S27).
  • NN calculation a neural network calculation
  • the control unit 40 performs stop/low-speed control on the motor 20 (S31). If the estimated machining amount does not exceed the threshold (NO in S29), the control unit 40 performs normal control on the motor 20, i.e., controls the rotation speed according to the amount of pulling of the trigger switch 15 (S33).
  • the amount of processing is expressed as the screw tightening depth (the length of the screw tip biting into the mating material) or the screw head float (the distance from the surface of the mating material to the screw head until the top of the screw head is flush with the surface of the mating material) shown in FIG. 7(A).
  • the amount of processing is the screw head float, the smaller the amount of processing is, the more processing has progressed, so the direction of the inequality sign in the judgment of S29 is reversed.
  • control unit 40 performs stop/low-speed control on the motor 20 when the estimated amount of processing (estimated amount of screw head float) is less than the threshold value, and performs normal control on the motor 20 when the estimated amount of processing (estimated amount of screw head float) is equal to or greater than the threshold value.
  • the estimated value of the screw tightening depth may be calculated by subtracting the current estimated value of the screw head float from the estimated value of the screw head float that was initially derived.
  • the screw When the screw is, for example, a wood screw, it involves drilling a hole in the mating material, so the screw tightening depth and the amount of screw head float are examples of the amount of irreversible processing on the mating material.
  • tightening a bolt and a nut together is a reversible process because it does not involve drilling a hole.
  • the control unit 40 performs normal control of the motor 20 (S33).
  • the NN calculation enable signal is at a low level, the output of the motor 20 is not stable yet because a predetermined time has not elapsed since the trigger switch 15 was turned on, and there is a risk of erroneous judgment due to the starting current, etc., so the control unit 40 does not proceed to the NN calculation (S27).
  • Figures 7(A) to (F) are schematic cross-sectional views showing the progress of the screw tightening operation on the mating material.
  • Figure 7(A) shows the state at the start of screw tightening, in which the bit 37 of the power tool 1 is engaged with the screw 63 and the screw 63 is set on the surface of the plaster board 64.
  • Figures 7(B) to (E) show the state during screw tightening.
  • Figure 7(B) shows the state before the tip of the screw 63 reaches the base 65.
  • Figure 7(C) shows the state when the tip of the screw 63 reaches the base 65.
  • Figure 7(D) shows the state in which the tip of the screw 63 is progressing through the base 65.
  • Figure 7(E) shows the seated state, in which the bottom end of the head of the screw 63 (the bottom end of the tapered part) comes into contact with the surface of the plaster board 64 and begins to bite into it.
  • Figure 7(F) shows the state in which the head of the screw 63 is flush with the surface of the plaster board 64, that is, the amount of floating of the screw head is zero.
  • Figure 7(G) is a graph showing the time changes in motor current, motor rotation speed, and screw head float during the screw tightening operation shown in Figures 7(A) to (F).
  • a to F in the graph show the time portions or time ranges corresponding to each state of Figures 7(A) to (F).
  • Time series data of the actual measured values of motor current and motor rotation speed and the screw head float acquired by an external distance measurement sensor, as shown in the graph of Figure 7(G), are used for machine learning to generate NN parameters of the trained model 53 shown in Figure 4.
  • Figure 8 is a diagram showing the correlation between the current and rotation speed of the motor 20 in the power tool 1 and the amount of screw head floating. As shown in Figure 8, there is a positive correlation between the motor rotation speed and the amount of screw head floating, while there is a negative correlation between the motor current and the amount of screw head floating. In other words, a correlation was confirmed in which the amount of screw head floating is large when the motor current is small and the motor rotation speed is large, and the amount of screw head floating is small when the motor current is large and the motor rotation speed is small.
  • Figure 9 is a conceptual diagram showing the structure of a neural network that estimates the amount of screw head floating in the power tool 1.
  • a neural network that inputs a predetermined number of samples of time series data of the motor current and motor rotation speed and outputs the amount of screw head floating.
  • a trained model 53 that has been machine-learned using a neural network with the structure shown in Figure 9 is used to perform an estimation calculation of the actual amount of screw head floating.
  • the amount of screw head floating at time t is estimated using time series data of the motor current and motor rotation speed from time t-n to time t as input.
  • the length of time from time t-n to time t and the number of time series data are set arbitrarily according to the specifications of the power tool 1.
  • Figure 11 is a graph in which the estimated screw head float is added to the graph in Figure 10.
  • the estimated screw head float is calculated by inputting actual time series data of the motor current and motor rotation speed to a trained neural network.
  • the estimated screw head float generally tracks the actual measured screw head float.
  • a set threshold value (“motor stop threshold” in the figure) (when the estimated screw tightening depth exceeds the set threshold value)
  • the motor 20 is stopped or driven at a low speed, allowing automatic stopping when the screw head float reaches zero, or stopping at a specified screw head float (specified screw tightening depth), etc.
  • the control unit 40 can estimate the amount of screw head floating according to the measured motor current and motor rotation speed during screw tightening operations under a variety of different working conditions, regardless of whether the screw head is seated or not, before or after the rotary impact mechanism 30 starts impacting. Therefore, by setting a threshold value corresponding to seating, even if the screw is seated before the rotary impact mechanism 30 starts impacting, it is possible to determine whether the screw is seated and stop or decelerate the motor 20.
  • the machining amount control mode in the case of a threshold value corresponding to seating corresponds to the seating determination mode.
  • the control unit 40 determines whether the screw is seated based on the measured motor current and motor rotation speed, which makes it easier to work with the screw than when the screw is seated based only on the motor current, and reduces the occurrence of overtightening or undertightening.
  • the control unit 40 has a learning model (trained model 53) that estimates the screw tightening depth (screw head float amount) according to the measured motor current and motor rotation speed, and is configured to stop or decelerate the motor 20 according to the estimated screw tightening depth and a set value (threshold value). This makes it possible to estimate the screw tightening depth (screw head float amount) with high accuracy using a neural network.
  • a learning model 53 that estimates the screw tightening depth (screw head float amount) according to the measured motor current and motor rotation speed, and is configured to stop or decelerate the motor 20 according to the estimated screw tightening depth and a set value (threshold value). This makes it possible to estimate the screw tightening depth (screw head float amount) with high accuracy using a neural network.
  • the control unit 40 can estimate the screw tightening depth (screw head float) before the screw is seated.
  • the threshold setting device 48 is configured to be able to set a plurality of screw tightening depths as thresholds (set values), including a first screw tightening depth (first screw head float) before the screw is seated on the mating material and a second screw tightening depth different from the first screw tightening depth.
  • first screw tightening depth first screw head float
  • second screw tightening depth different from the first screw tightening depth.
  • the second screw tightening depth can also be set to the amount of screw sinking (negative screw head float) that occurs when the screw head is seated on the mating material and further sinks into the mating material, which can be suitably used to meet various work needs.
  • FIG. 12 to 17 relate to a power tool according to embodiment 2 of the present invention.
  • This power tool is the same as embodiment 1, except for the method of estimating (calculating) the amount of machining.
  • Figure 12 is a functional block diagram of the control unit 140 of the power tool according to the second embodiment of the present invention.
  • the learned model 53 and the NN calculation unit 56 of the control unit 40 in Figure 4 are replaced with a machining amount calculation program 62.
  • the NN calculation enable signal in Figure 4 is replaced with a machining amount calculation enable signal in Figure 12, but the function of the signal is the same.
  • the operation of the machining amount calculation program 62 will be described later with reference to Figure 14.
  • Figure 13 is a control flowchart of the control unit 140 in the operating state.
  • the control flowchart of the control unit 140 in the stopped state is the same as that in Figure 5.
  • the control unit 140 acquires the motor current and motor rotation speed as tool state data (S41).
  • the control unit 140 executes the machining amount calculation flowchart shown in Figure 14 to derive the machining amount calculation value (S47).
  • the control unit 140 performs stop/low speed control on the motor 20 (S51). If the machining amount calculation value does not exceed the threshold value (NO in S49), the control unit 140 performs normal control on the motor 20, i.e., controls the rotation speed according to the amount of pulling of the trigger switch 15 (S53). If the machining amount control mode is not active (NO in S43) or if the machining amount calculation active signal is at a low level (NO in S45), the control unit 140 performs normal control on the motor 20 (S53).
  • Figure 14 is a flowchart of the machining amount calculation in the control unit 140. If the time elapsed since the machining amount calculation valid signal became high level (since proceeding to YES in S45) does not exceed a predetermined time (NO in S61), the control unit 140 integrates the motor current x motor rotation speed (S63). This integral value is used to calculate the reference output in S65 described later.
  • control unit 140 calculates the reference output by dividing the integral value calculated in S63 by the predetermined time (S65).
  • the reference output is used as a judgment reference value for changing the control depending on the combination of the mating material and the screw, i.e., for selecting the table to be used in S71 or S73 described below.
  • the control unit 140 performs FFT (Fast Fourier Transform) processing on the measurement data of the motor current. If the amplitude value of a predetermined frequency in the frequency spectrum obtained by FFT exceeds a predetermined value (YES in S69), the control unit 140 determines that an impact is being performed by the rotary impact mechanism 30 and proceeds to S71; if not (NO in S69), it determines that an impact is not being performed and proceeds to S73.
  • the predetermined frequency at this time is the value obtained by dividing the rotation frequency of the hammer 32 ( Figure 2) calculated from the motor rotation speed by the number of meshing teeth of the hammer 32 and anvil 33 ( Figure 2).
  • the control unit 140 After performing the impact determination (S69), the control unit 140 derives a calculated value of the screw tightening depth (screw head float amount) based on the reference output value, current value, and rotation speed from a previously prepared table. At this time, different tables are used depending on whether an impact is being performed or not. That is, when the control unit 140 determines that an impact is being performed by the rotary impact mechanism 30 (YES in S69), it derives a calculated value (estimated value) of the screw tightening depth (screw head float amount) from the reference output, motor current, and motor rotation speed based on the table before the impact (S71).
  • control unit 140 determines that an impact is being performed by the rotary impact mechanism 30 (NO in S69), it derives a calculated value (estimated value) of the screw tightening depth (screw head float amount) from the reference output, motor current, and motor rotation speed based on the table after the impact (S73).
  • Figure 15 is a conceptual diagram showing an example of a table used to estimate the amount of machining before impact begins.
  • Figure 16 is a conceptual diagram showing an example of a table used to estimate the amount of machining after impact begins.
  • the table is configured as a three-dimensional table in which an estimated value of the amount of screw head floating is determined by the reference output, motor current, and motor rotation speed.
  • Figure 17 is a graph showing the relationship between the product of motor current and motor rotation speed and the amount of screw head float for two types of screws.
  • the two types of screws are different in length, with screw 2 being longer than screw 1.
  • the graph in Figure 17 plots the relationship between the product of the measured values of motor current and motor rotation speed and the measured amount of screw head float when 20 screw tightening operations are performed on each of the two types of screws.
  • Figure 18 is a graph showing the average curve of the data for the two types of screws in Figure 17.
  • a table to be used for estimating the amount of machining is generated and stored in advance based on previously acquired measured data of motor current, motor speed, and screw head float, as shown in FIG. 17.
  • the table is generated to be an average curve of the screw head float data versus the product of motor current and motor speed, as shown in FIG. 18.
  • the output at the beginning of fastening when the screw head float is large is slightly different, and a table that can be used with various types of screws and various types of mating materials is generated.
  • This embodiment also achieves the same or corresponding effects as embodiment 1.
  • the amount of irreversible processing in the present invention is not limited to the screw tightening depth or the amount of screw head floating, but may be, for example, the hole drilling depth.
  • the power tool of the present invention is not limited to an impact tool, but may be other types of tools capable of screw tightening or drilling, such as drill drivers or oil pulse tools.
  • the present invention can be applied to all power tools in which state quantities such as motor current and motor rotation speed and time series data have a correlation with the amount of processing.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
PCT/JP2023/032643 2022-09-30 2023-09-07 インパクト工具及び電動工具 Ceased WO2024070561A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN202380059546.1A CN119730991A (zh) 2022-09-30 2023-09-07 冲击工具及电动工具
DE112023004091.5T DE112023004091T5 (de) 2022-09-30 2023-09-07 Schlagwerkzeug und elektrowerkzeug
US19/102,408 US20260042192A1 (en) 2022-09-30 2023-09-07 Impact tool and electric tool
JP2024549961A JPWO2024070561A1 (https=) 2022-09-30 2023-09-07

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JP2022158342 2022-09-30
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006088306A (ja) * 2004-09-27 2006-04-06 Matsushita Electric Works Ltd 回転式工具
JP2012139767A (ja) * 2010-12-28 2012-07-26 Hitachi Koki Co Ltd 締付工具
JP2013146847A (ja) * 2012-01-23 2013-08-01 Hitachi Koki Co Ltd インパクト工具
WO2019208105A1 (ja) * 2018-04-27 2019-10-31 工機ホールディングス株式会社 電動工具
WO2022013766A1 (en) * 2020-07-16 2022-01-20 3M Innovative Properties Company Robotic repair control systems and methods

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006088306A (ja) * 2004-09-27 2006-04-06 Matsushita Electric Works Ltd 回転式工具
JP2012139767A (ja) * 2010-12-28 2012-07-26 Hitachi Koki Co Ltd 締付工具
JP2013146847A (ja) * 2012-01-23 2013-08-01 Hitachi Koki Co Ltd インパクト工具
WO2019208105A1 (ja) * 2018-04-27 2019-10-31 工機ホールディングス株式会社 電動工具
WO2022013766A1 (en) * 2020-07-16 2022-01-20 3M Innovative Properties Company Robotic repair control systems and methods

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CN119730991A (zh) 2025-03-28
JPWO2024070561A1 (https=) 2024-04-04
US20260042192A1 (en) 2026-02-12

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