阅读说明：本技术 电脉冲工具 (Electric pulse tool ) 是由 A·克劳特布利克斯特 于 2018-04-05 设计创作，主要内容包括：本发明涉及电脉冲工具(10)和电脉冲工具(10)的方法,其特征在于反作用力的特性得到改善,使得电脉冲工具的使用变得更符合人体工程学。该目的通过电脉冲工具(10)获得,其中扭矩以脉冲形式在输出轴(12)上传递。对于每个周期,电流脉冲在电流接通时间间隔期间提供至电动机(11)。然后暂停电动机(11)的电流供应。此后确定扭矩脉冲的宽度。并且接下来在从扭矩脉冲结束的暂停间隔期间,继续暂停电动机(11)的电流供给,其中暂停间隔基于扭矩脉冲的宽度确定。(The present invention relates to the methods of electric pulse tool (10) and electric pulse tool (10), it is characterised in that the characteristic of reaction force is improved, so that the use of electric pulse tool becomes more to meet ergonomics.The purpose is obtained by electric pulse tool (10), and wherein torque is transmitted on output shaft (12) with impulse form.For each period, current impulse is provided to motor (11) in current-on time interim.Then suspend the electric current supply of motor (11).Hereafter the width of torque pulse is determined.And next in the pause interim terminated from torque pulse, continue the electric current supply for suspending motor (11), wherein pause interval is determined based on the width of torque pulse.)

1. a kind of electric pulse tool (10), wherein torque is passed on the output shaft (12) of electric pulse tool (10) with impulse form It passs, electric pulse tool (10) includes motor (11), and the motor (11) is suitable for driving output shaft (12)；Electric pulse as a result, Each period of tool (10) is operable to:

In current-on time interval (T_{Electric current}) during to the motor (11) provide current impulse；

In current-on time interval (T_{Electric current}) suspend later to motor (11) and supply electric current, until torque pulse terminates；

Determine the width (T of torque pulse_Width)；

In the pause interval (T terminated from torque pulse_Pause) during, continue the electric current supply for suspending motor, wherein between pause Every (T_Pause) width (T based on torque pulse_Width) determine, so that broader torque pulse causes broader pause interval (T_Pause), And narrower torque pulse causes shorter pause interval (T_Pause)。

2. electric pulse tool (10) according to claim 1, wherein based on since electric pulse tool output shaft upload The first time point for passing energy is come to the interval that electric pulse tool stops at the second time point of transmitting energy on output shaft (12) Determine the width (T of torque pulse_Width)。

3. electric pulse tool (10) according to claim 1, wherein pause interval (T_Pause) be torque pulse width (T_Width) predetermined factor subtract current-on time interval (T_{Electric current})。

4. electric pulse tool (10) according to any one of claim 2 to 3 further comprise torque sensor (25), And determine whether to transmit energy on output shaft (12) based on identified torque on output shaft (12).

5. electric pulse tool (10) according to claim 4, wherein when identified torque substantially achieves zero, institute Output shaft (12) is stated to be determined as stopping transmitting energy.

6. electric pulse tool (10) according to any one of claim 2 to 3, wherein sensor (25) is position sensing Device, and determine whether to transmit energy on output shaft (12) based on the change in location of identified output shaft (12).

7. electric pulse tool (10) according to any one of claim 1 to 6, wherein electric pulse tool (10) is further It is operable to repeat the period, until reaching parameter value associated with nipple is tightened.

8. electric pulse tool (10) according to claim 7, wherein parameter value associated with nipple is tightened is to turn round Square.

9. electric pulse tool (10) according to claim 8, wherein parameter value associated with nipple is tightened is angle Degree.

10. a kind of method of electric pulse tool (10), wherein torque is on the output shaft (12) of electric pulse tool (10) with pulse Form transmitting, the electric pulse tool (10) includes motor (11), and the motor (11) is suitable for driving output shaft (12)；Its Described in method each period the following steps are included:

In current-on time interval (T_{Electric current}) during to the motor (11) provide current impulse (600)；

In current-on time interval (T_{Electric current}) suspend later to motor (11) and supply electric current, until torque pulse terminates (700)；

Determine the width (T of torque pulse_Width)(800)；

In the pause interval (T terminated from torque pulse_Pause) during, continue the electric current supply for suspending motor (11), wherein temporarily Stop being spaced (T_Pause) width (T based on torque pulse_Width) determine, so that broader torque pulse causes broader pause to be spaced, And narrower torque pulse causes shorter pause interval (900).

11. according to the method described in claim 10, wherein, being based on uploading since electric pulse tool (10) in output shaft (12) The first time point for passing energy is come to the interval that electric pulse tool stops at the second time point of transmitting energy on output shaft (12) Determine the width (T of torque pulse_Width)。

12. method described in any one of 0 to 11 according to claim 1, wherein pause interval (T_Pause) be torque pulse width Spend (T_Width) predetermined factor subtract current-on time interval (T_{Electric current})。

13. further comprising according to the method for claim 11, being determined based on identified torque on output shaft (12) Whether on output shaft (12) energy is transmitted.

14. according to the method for claim 13, wherein when identified torque substantially achieves zero, the output shaft (12) it is determined as stopping transmitting energy.

15. method described in any one of 0 to 11 according to claim 1, wherein based on the position of identified output shaft (12) Variation is to determine whether to transmit energy on output shaft (12).

16. method described in any one of 0 to 15 according to claim 1, wherein electric pulse tool (10) is further able to operate To repeat the period, until reaching parameter value associated with nipple is tightened.

17. electric pulse tool (10) according to claim 16, wherein parameter value associated with nipple is tightened is Torque.

18. electric pulse tool (10) according to claim 16, wherein parameter value associated with nipple is tightened is Angle.

19. a kind of computer readable storage medium has the computer program being stored thereon, when in electric pulse tool (10) When middle operation, the computer program makes electric pulse tool (10) to execute the side as described in any one of claim 10 to 18 Method.

Technical field

The present invention relates to the methods of electric pulse tool and electric pulse tool.Particularly, the present invention relates to one kind for executing The electric pulse tool of operation is tightened, wherein torque is transmitted with impulse form, to for example tighten and/or unclamp nipple.

Background technique

Electric tool for fastening bolt, screw and nut is used in many different applications.In such applications Some applications in, it is expected that or being even required to control clamping force or at least relevant torque.This electric tool is usual Control is the output shaft of rotary power tool, to measure torque.When torque reaches predetermined value, electric tool control is stopping The rotation of output shaft.This can for example be realized by the power of parting tool, or can make clutch slip.

When operation electric tool, especially hand held electric tool problem is encountered that operator is by reaction force. A kind of method for reducing the reaction force for passing to operator is using pulse motor, which is supplied with pulse A series of energy pulses of mode drive motor.Energy usually can be used as current impulse offer.It is possible thereby to reduce operation Person needs the reaction force coped with.

United States Patent (USP) No.6,680,595 describes a kind of control method and clamp device for fastening screw.Fastening dress Control is set as the output increased torque of pulse.When actual torque reaches target value, determines actual torque and stop motor. By the way that pulse current to be supplied to the motor of clamp device, to generate the increased torque of pulse.

Moreover, United States Patent (USP) No.7,770,658 describe a kind of control method and clamp device for fastening screw. When actual torque reaches target value, determines actual torque and stop motor.In addition, when actual torque reaches setting value When, reduced by the torque of clamp device transmitting.By the way that pulse current to be supplied to the motor of clamp device, turned round to generate pulse Square.

It is intended to improve the operation of power-assisted fastening tool all the time.For example, passing to the reaction force of operator It is small as far as possible, to improve the operating condition of operator.

Therefore, it is necessary to a kind of improved pulse fastening methods and device for being used in electric pulse tool.

Summary of the invention

It is an object of the present invention to provide a kind of improved electric pulse tools, and wherein the characteristic of reaction force is changed It is kind, so that the use of electric pulse tool becomes more to meet ergonomics.

According to the first aspect of the invention, which is realized by electric pulse tool, and wherein torque is in electric pulse tool It is transmitted on output shaft with impulse form.Electric pulse tool includes the motor suitable for driving output shaft.Electric pulse tool as a result, Each period is operable as providing current impulse to motor in current-on time interim.Then in current-on time The electric current supply of pause motor after interval, until torque pulse terminates.Hereafter the width of torque pulse is determined.And it connects down It is supplied in the pause interim terminated from torque pulse, to continue to suspend the electric current of motor, wherein pause interval is based on turning round The width of square pulse determines that so that broader torque pulse causes broader pause to be spaced, and narrower torque pulse causes Shorter pause interval.

According to second aspect, the present invention relates to a kind of methods of electric pulse tool, and wherein torque is in the defeated of electric pulse tool It is transmitted on shaft with torque pulse.Electric pulse tool includes the motor suitable for driving output shaft.Wherein each week of this method Phase includes the following steps.Current impulse is provided to motor in current-on time interim.At current-on time interval The electric current supply for suspending motor later, until torque pulse terminates.Determine the width of torque pulse.And from torque pulse The pause interim of end continues the electric current supply for suspending motor, wherein width of the pause interval based on torque pulse is true Fixed, so that broader torque pulse causes broader pause to be spaced, and narrower torque pulse causes shorter pause interval.

The advantages of illustrative embodiment of the invention, is to improve the characteristic of reaction force, so that electric pulse tool Use become more to meet ergonomics.

Detailed description of the invention

Now with reference to attached drawing, the present invention will be described in more detail, in the drawings:

- Fig. 1 shows the longitudinal cross-section of power tool.

- Fig. 2 depicts the schematic diagram of current pulse sequence according to prior art.

- Fig. 3 depicts the schematic diagram of the reaction force according to prior art from electric pulse tool.

- Fig. 4 depicts the schematic diagram of the current pulse sequence of illustrative embodiment according to the present invention.

- Fig. 5 depicts showing for the reaction force from electric pulse tool of illustrative embodiment according to the present invention It is intended to.

- Fig. 6 shows the flow chart of the method for illustrative embodiment according to the present invention.

Specific embodiment

Such as the conventional power tool of nut runner or screwdriver etc is usually provided with sensor, such as angular encoder And/or torquemeter, this allows to control the quality of performed operation (such as fastening connector).

In addition, especially for hand held electric tool, it is important that the reaction force for bearing operator is as far as possible It is low, and keep the time for terminating specific tightening operation as short as possible.Operator can carry out hundreds of times during working cycles Tightening operation it is therefore important that they had not only met the ergonomics of operator's health, but also can quickly improve work station Productivity.The tightening operation for meeting ergonomics generally means that reaction force is as low as possible.

Fig. 1 depicts the illustrative embodiment of electric pulse tool 10 according to embodiments of the present invention.10 structure of tool It causes to execute tightening operation, wherein with a series of pulses transmitting torque to which tightening screw joints or execution are related to by tool 10 The similar action of the spinning movement of progress.For this purpose, impulse tool includes the motor 11 with rotor 20 and stator 21.Electricity Motivation 11 is arranged to rotate on two opposite direction of rotation (clockwise and counterclockwise).

Tool 10 further comprises handle 22, and handle 22 is pistol type in the embodiment illustrated.However, of the invention It is not limited to this configuration, but can be applied to any kind of electric pulse tool, and be not limited to the design of Fig. 1.Power supply 24 It is connected to motor 11.In the embodiment illustrated, power supply is the battery that can be arranged in lower portion thereof.Also contemplate other The power supply of type, such as the external power supply powered by cable to tool 10.Tool 10 can further include trigger 23, touching Hair device 23 is arranged to be manipulated by operator to control the power of motor 11.In some embodiments, tool 10 is connected to outer Portion's control unit (not shown).External control unit outside can provide electric power for tool 10.Control unit is also arranged so as to work Tool 10 sends signal and receives signal from tool 10, to control tool.In addition, the tool includes output shaft 12.

The present invention can be advantageously applied in electric pulse tool, and output shaft 12 passes through gear in the electric pulse tool Device (not shown) is connected to motor 11.However, the present invention is not limited to such power tools.

Electric pulse tool 10 further comprises processor 16, and processor 16 is arranged to control motor 11.Electric pulse tool 10 further include memory 26, and memory 26 includes the instruction that can be executed by processor 16.Processor 16 be central processing unit, CPU, microcontroller, digital signal processor, DSP or any other suitable type for being able to carry out computer program code Processor.Memory 26 is random access memory, RAM, read-only memory, ROM or permanent memory, for example, magnetic memory, The single or combination of optical memory or solid-state memory or even Remote Installation memory.

An illustrative embodiment according to the present invention, sensor 25 are arranged to determine whether to provide on output shaft Energy.Sensor 25 is arranged according to an embodiment on output shaft 12.Selectively, sensor 25 can be located at gear and fill It sets.However, sensor 25 can be located at the other positions in electric pulse tool.One according to the present invention illustrative implementation Scheme, sensor 25 are torque sensors 25.Another illustrative embodiment according to the present invention, sensor 25 is position Sensor 25.

In electric pulse tool according to prior art, electric current is supplied intermittently to motor, so that motor generates torsion Square pulse.Therefore, lesser reaction force is applied to worker, and worker can be performed with one hand screw fastening work.

Fig. 2 shows the modulation of the pulse width of the motor in electric tool according to prior art.

Fig. 2 depicts the schematic diagram of the current impulse (dotted line) in several periods according to prior art.It can be with from Fig. 2 Find out, on/off ratio is fixed.Mean the turn-on time T in each period_{It connects}With shut-in time T_{It closes}It is identical.Fig. 2 is also retouched The torque pulse transmitted on the output shaft of electric pulse tool with impulse form is drawn.

Fig. 3 shows operator's reaction force experienced when using electric pulse tool according to prior art.From Fig. 3 In as can be seen that fasten start when reaction force it is very high.This is because reaction force be generated by torque pulse, and It is not current impulse.Since the width of current impulse is constant, but torque pulse is wider when starting, therefore reaction force It will not linearly establish.Therefore, because operator is astonished to high reaction force, so operator is to existing when starting Big reaction force is not felt well.

However, the inventors have also recognized that can be improved anti-by changing the characteristic supplied to the current impulse of motor The characteristic of active force.This can be realized by considering the characteristic of the torque pulse when providing current impulse to motor.

Fig. 4 shows the current impulse supplied to motor of illustrative embodiment according to the present invention.Fig. 4 also shows The torque pulse that the electric pulse tool 10 of illustrative embodiment according to the present invention provides is gone out.

Figure 4, it is seen that each period of electric pulse tool 10 is operable as in current-on time interval T_{Electric current}Phase Between to motor provide current impulse.Then in current-on time interval T_{Electric current}The electric current supply for suspending motor later, until Torque pulse terminates.Hereafter, electric pulse tool is operable as determining the width T of torque pulse_Width.In addition, electric pulse tool can be grasped As in the pause interval T terminated from torque pulse_PausePeriod continues to suspend the electric current supply of motor, wherein pause interval T_Pause Width T based on torque pulse_WidthIt determines, so that broader T_WidthTorque pulse causes broader pause interval T_Pause, and it is narrower T_WidthTorque pulse causes shorter pause interval T_Pause。

According to illustrative embodiment, the reaction force from electric pulse tool 10 depends on torque amplitude and torque The width T of pulse_WidthRelationship between the shut-in time of torque pulse.In illustrative embodiment shown in Fig. 4, turn round The shut-in time of square pulse is T_{Electric current}Add T_Pause.Electric pulse tool tightens each pulse of screw, and starting when ratio in fastening is terminating When pass through the longer time, this means the width T of torque pulse_WidthIt is wider.Therefore, pause according to the present invention is spaced T_PauseReally Being set to can be wider when fastening and starting, to establish reaction force more stablely.

Fig. 5 shows the reaction that operator is subjected to when using the tool of illustrative embodiment according to the present invention Power.From figure 5 it can be seen that reaction force is lower when fastening beginning.Compared with the electric pulse tool of the prior art, reaction Power is also more linearly established.This is because reaction force is turn-on time and the torque pulse by the torque pulse in each period Shut-in time between relationship generate.Since pause is spaced T_PauseIt is the width T based on torque pulse_WidthDetermining, therefore Broader torque pulse T_WidthBroader pause is caused to be spaced, and narrower torque pulse T_WidthCause shorter pause interval T_Pause, Therefore reaction force is smaller when starting, and more linearly sets up.Therefore, this causes to keep operator more comfortable The smaller reaction force undergone when beginning, because operator will not be astonished to high reaction force.

In another illustrative embodiment of electric pulse tool according to the present invention, based on being opened from electric pulse tool The first time point for beginning to transmit energy on output shaft stops on output shaft the second time for transmitting energy to electric pulse tool The interval of point, to determine the width T width of torque pulse.

In illustrative embodiment, electric pulse tool includes torque sensor, and based on determining on output shaft Torque determine whether to transmit energy on output shaft.

According to electric pulse tool 10 illustrative embodiment, when identified torque substantially achieves zero, Determine that output shaft stops transmitting energy.According to electric pulse tool 10 illustrative embodiment, when determining torque base When reaching zero or more on this, determine that output shaft starts to transmit energy.According to another illustrative embodiment party of electric pulse tool Case, sensor are position sensors, and determine whether to upload in output shaft based on the change in location of identified output shaft Pass energy.According to electric pulse tool 10 illustrative embodiment, when the speed determined by position sensor substantially When reaching zero, determine that output shaft stops transmitting energy.

According to electric pulse tool 10 illustrative embodiment, when determining constant speed degree base really by position sensor When reaching zero or more on this, determine that output shaft starts to transmit energy.

In the illustrative embodiment of electric pulse tool, pause interval T_PauseIt is the width T of torque pulse_WidthIt is predetermined The factor subtracts current-on time interval T_{Electric current}。

T_Pause=(factor * T_Width)-T_{Electric current}

The advantages of illustrative embodiment, is that operator can be by selecting predetermined factor, to select electric pulse work Have to hand transmits how many reaction force.The factor is higher, and the reaction force being subjected to will be smaller.

In the illustrative embodiment of electric pulse tool 10 according to the present invention, from such as tool controller receive because Son.The factor may be input to controller by the user interface of controller.

In the illustrative embodiment of electric pulse tool 10 according to the present invention, parameter value via controller user Interface is input to electric pulse tool.

In another illustrative embodiment of electric pulse tool according to the present invention, electric pulse tool further may be used Operation is the repetition period, until reaching parameter value associated with nipple is tightened.In electric pulse tool according to the present invention Illustrative embodiment in, parameter value associated with nipple is tightened is torque.In electric pulse according to the present invention In another illustrative embodiment of tool, parameter value associated with nipple is tightened is angle.

The invention further relates to a kind of computer readable storage mediums, store computer program on it, when in electric pulse work When running in tool 10, which makes electric pulse tool 10 execute method as described above.

According to an illustrative embodiment, when above-mentioned computer program code is in the processor 16 of electric pulse tool 10 When middle operation, it makes electric pulse tool 10 provide current impulse to the arteries and veins width modulated motor.

Therefore, according to an illustrative embodiment, electric pulse tool 10 includes processor 16 and memory 26, storage Device 26 includes the instruction that can be executed by processor 16, and thus each period of electric pulse tool 10 is operable as executing according to any The method of the embodiment of above-mentioned example.

Fig. 6 is shown to be tightened according to the execution that is used for of the embodiment of above-mentioned example executed in electric pulse tool 10 Step in the method for operation.As in the embodiment of above-mentioned example, torque is transmitted with impulse form, to tighten spiral shell Line connector.Moreover, as described above, electric pulse tool 10 includes the motor suitable for driving output shaft 12.

In first step 600, electric pulse tool provides current impulse to motor in current-on time interim. In next step 700, suspends after current-on time interval to motor and supply electric current, until torque pulse knot Beam.Next the width of torque pulse is determined in step 800.It is temporary what is terminated from torque pulse in next step 900 Stop interim, continue the electric current supply for suspending motor, wherein pause interval is determined based on the width of torque pulse, so that more Wide torque pulse causes broader pause to be spaced, and narrower torque pulse causes shorter pause interval.

According in this method illustrative embodiment, based on being transmitted on output shaft since electric pulse tool The first time point of energy stops on output shaft the interval for transmitting the second time point of energy to electric pulse tool, turns round to determine The width of square pulse.

In another illustrative embodiment of this method, pause interval T_PauseIt is the width T of torque pulse_WidthIt is pre- Determine the factor and subtracts current-on time interval T_{Electric current}。

T_Pause=(factor * T_Width)-T_{Electric current}

According to another illustrative embodiment, this method includes based on torque identified on output shaft, to determine Whether energy is transmitted on output shaft.In the illustrative embodiment of this method, when identified torque substantially achieves When zero, determine that output shaft stops transmitting energy.

According to another illustrative embodiment, this method includes the change in location based on identified output shaft, is come Determine whether to transmit energy on output shaft.According to another illustrative embodiment, electric pulse tool 10 is operable as weight The multiple period, until reaching parameter value associated with nipple is tightened.

According to illustrative embodiment, parameter value associated with nipple is tightened is torque.According to illustrative Embodiment, parameter value associated with nipple is tightened is angle.

Hereinbefore, it is described as the pulse current of control supplied to the pulse energy of motor.It is contemplated, however, that based on removing Some other parameters except electric current control pulse energy.Therefore, term (electric current) pulse used herein further includes except electricity Other kinds of energy pulse except flow control pulse, such as motor speed control pulse, and voltage controls pulse etc..