CN103223655B - A precision-fastening handheld cordless power tool - Google Patents

Abstract

The invention relates to a precision-fastening handheld cordless power tool. The cordless power tool includes a pistol housing having an upper portion that merges into a downwardly extending handle, a DC motor residing in the upper portion of the housing, the DC motor having a rotor that drives an output shaft; a torque transducer on board the tool in communication with the output shaft; and a dynamic motor control circuit residing in the housing in communication with the motor and torque transducer. The dynamic motor control circuit includes a Kelvin resistor in communication with the motor for measuring motor current and digital hall switches in communication with the motor for measuring motor speed. The motor current can vary by at least 100 A during operation.

Description

The handheld cordless electric tool of accurate fastening

Related application

U.S. Provisional Patent Application in the March, 61/591468,2012 that patent application claims on January 27th, 2012 submits to The U.S. Provisional Patent Application 61/ that the U.S. Provisional Patent Application 61/617502 submitted to for 29th and on April 23rd, 2012 submit to 636873 rights and interests and priority, their content are incorporated herein by, as all recording herein.

Technical field

The present invention relates to electric tool and be particularly suitable for cordless power tool.

Background technology

Jing often expects to monitor electric tool and the torsion in other rotary machines.In the case where there is rope electric tool, example Such as nut spanner or screwdriver, the data monitored allow measurement rotation torque to export and thus calculate what is produced by the instrument Output.But, implementing sane, economic accumulator energy supply（Wireless）Encounter serious technology to choose during electric tool War, especially for accurate use.The instrument voltage of battery performance it is low and therefore, in order to there is enough power, with high electricity Stream and/or high power density operation.And, the compact essence of handheld cordless electric tool, along with the quick high current for changing With Financial cost target, it is proposed that great circuit reliability challenge, including signal and/or noise jamming, dynamic motor control Problem and heat management challenge.

The content of the invention

Embodiments of the invention are related to wireless, accurate electric hand tool, and which carries airborne closed-loop dynamic control circuit, The circuit direct measurement moment of torsion simultaneously provides accurate electric current and motor position data to realize accurately fastening controlled output.

Embodiments of the invention adopt four line Kelvin resistance devices to realize reliable current measurement.

Some embodiments are related to cordless power tool, and the electric tool includes：Pistol sandwich type element, the housing have melt Close the upper part of the handle for extending downwardly；DC motors, which is placed in the upper part of housing, and the DC motors have driving defeated The rotor of shaft；Torque transducer on the instrument, which is communicated with output shaft；And dynamic motor control circuit, its placement Communicate in the housing and with motor and torque transducer.Dynamic motor control circuit includes communicating with measuring motor current with motor Kelvin resistance device and communicate with motor with measure motor speed Digital Hall switch.Motor current energy in running Changed with least 100A.

Electric tool handle can have lower part, and the bottom tap closes releasable and rechargeable accumulator battery.Should It is low that instrument may include that the accumulator battery and the accumulator battery of the lower part for being attached to electric tool can be about 36V or lower Pressure accumulator battery.

Kelvin resistance device is four terminal devices, and two of which terminal is used for current sense and two terminals are used as electric current road Footpath.Dynamic motor control circuit is constructed such that the electric current switched between about 150A peace treaty -150A runs the motor.

Electric tool may include the power circuit board being placed in the handle for keeping Kelvin resistance device（Typically motor control A part for circuit processed）.Power circuit board also includes at least one high-gain differential current amplifier and multiple 3 nodes of low inductance Capacitor, the capacitor are installed close to high gain amplifier power input（For example on power circuit board）To stop or reduce Outside EMI and/or the interference of other signals.

Cordless power tool may also include：Triggers circuit plate, the lower section of its placement motor in the housing；Processor circuit Plate, which is placed in the lower part of handle and is communicated with triggers circuit；And power circuit board, which is placed in triggers circuit plate and place Communicate between reason device circuit board and with processor circuit.Power circuit board can be bigger with the major part of the length than handle Length.Power circuit board may include the integrated radiator on multiple two major surfaces positioned at power circuit board spaced apart, Each integrated radiator is included in the Heat Conduction Material of the certain volume in the filling region for being limited accordingly of circuit.

Cordless power tool may include the switching equipment communicated with motor, and the switching equipment includes switching device, described Switching device is installed on the relative major surfaces of power circuit board in the face of ground directly with one another, thus reduce radiated emissions and/ Or the heat for producing.

Cordless power tool may include the power circuit board in handle, and wherein power circuit board is with longer than handle The bigger length of the major part of degree, power circuit board may include motor drive circuit.The instrument may include that cooling air flows Path, the path include at least one air inlet portion of the bottom close to handle.Inlet air flow path is configurable to guiding Air reaches the top of instrument by power circuit board was flow through before the discharge port on the upper part of housing discharges housing Part.

Cordless power tool may include processor circuit board, during which is located at the bottom of housing and in substantially with power amplifier board Orthogonal substantially horizontal orientation.Processor circuit includes being routed in power amplifier board from close to handle housing wall Electric wire of the inner surface above major surfaces to the upper part of housing.

Dynamic motor control circuit can be closed control circuit, and which is kept defeated to provide accurate torque in the housing Go out.Closed control circuit may include and the power circuit board for keeping motor in the handle to communicate.Power circuit board can have to be cut Exchange device.Motor can be with about -150A be to the dynamic range between+150A and closed control circuit can be at least about The resolution control motor current of 0.1A.

Electric tool can accurately fasten electric tool.Power circuit board can be it is elongated, with substantially with band There is the length identical height of the handle of lower part including accumulator interface.Power circuit board has the first and second main tables Face, the major surfaces are erectly placed in handle portion, in the first and second major surfaces carry longitudinal direction on each Unitary metallic radiator spaced apart, and the corresponding switching for facing directly with one another on the top of each radiator The switching device of equipment.

Power circuit board may include high-gain differential current amplifier.Power circuit board may include that the first and second power are cut Element is changed, these power switching elements are substantially placed in the relative main sides of power circuit board in the face of ground directly with one another.

Power circuit board can be separated with whole digital circuits, thus to isolate or reduce current switching noise with numeral electricity The interaction on road and power circuit board may include motor drive circuit, the motor drive circuit includes power MOSFET, The gate driver of each phase in its three-phase for carrying for motor, for tool interior whole circuit board energy supplies 5V power supplys and For the 12V booster powers of gate driver.

Electric tool may include processor plate, trigger board, power amplifier board, display panel and RF carrier wave plate, all these all in shell In vivo.Processor plate can be located at the bottom of handle and be located between power amplifier board and releasable accumulator battery.Processor plate can be wrapped Include motor control digital signal processor, motor position analog circuit, phase current sensing circuit, torque signal circuit and power supply. Display panel can be located at housing（Upper cylindrical part）Rear end part, and communicate with exterior visual display, the display Utensil has keyboard user interface.RF carrier wave plate can be positioned so that neighbouring display panel and for wireless fastening data transfer.

Cordless power may include circuit overcurrent protection in the housing.Overcurrent circuit may include a pair of dual comparators, The comparator monitoring scaling electric current（scaled current）Both, positive and negative.The scaling that overcurrent circuit will be monitored Electric current and predetermined trip value（trip value）Compare and be configured to when the scaling electric current of monitoring is at or above predetermined Trip value when cause motor pulsewidth modulation（PWM）Signal is skipped a circulation and thus reduces current needs.The circuit allows PWM Thus signal enabling after over-current condition alleviation avoids the occurrence of over-current condition during active tightening operation And without the need for terminating fastening.

Other embodiments are related to the method for operating accurate fastening cordless power tool.The method includes：（a）There is provided wireless , electric hand tool, which has rechargeable battery power supply；（b）Using the Kelvin resistance being maintained in electric tool Device measures motor current；（c）The torque output of electric tool is determined based on the torque data from airborne transducer；（d）Use The cordless power tool fastens target workpiece to the moment of torsion for limiting；With（e）Using the motor current for measuring during fastening steps And transducer torque data dynamically controls motor to utilize at least about resolution of 0.1A in the electric current at least between 1-100A Motor current is adjusted in opereating specification, is stopped so as to thus accurately controlling and is allowed motor to export to realize accurate fastening.

Current practice scope can be arrived about between 150A in about -150A.

The method may also include the fastening value that storage is associated with least 100 single tightening operations, then wirelessly Fastening value is relayed to into remote equipment.

The method is may also include using filling out copper region from the power amplifier board in the handle of electric tool on power circuit board On power switch dissipate heat.

The method is may include using monitoring scaling electric current（It is both positive and negative）Dual comparator monitoring overcurrent situations, And the scaling electric current of monitoring is compared with predetermined trip value with the scaling electric current in monitoring at or above predetermined jump Cause motor pulsewidth modulation during lock value（PWM）Signal is skipped a circulation and pwm signal is allowed to reduce current needs, then in mistake Enabling after current situation is alleviated need not thus to avoid the occurrence of over-current condition during active tightening operation Terminate fastening.

Other embodiment is related to the computer program for the wireless fastening electric tool with motor.Should Computer program includes non-transient computer-readable storage media, and which has the computer-readable for embodying in the medium Program code.Computer readable program code includes：（a）The Kelvin resistance device for being configured with being maintained in electric tool is surveyed The computer readable program code of amount motor current；（b）It is configured to determine based on the torque data from airborne transducer electronic The computer readable program code of the torque output of instrument；With（c）Motor using measurement is configured to during tightening operation Electric current and transducer torque data dynamic control motor are utilizing at least about resolution of 0.1A in the electricity at least between 1-100A Motor current is adjusted in stream opereating specification and is stopped so as to thus accurately controlling and is run motor output to realize accurate fastening Computer readable program code.

Electro-motor can be brushless electric motor.

Accurate wireless instrument optionally with（a）Using torque monitoring Angle ambiguity or（b）Using angle monitor Moment of torsion control is run.

Embodiments of the invention may include at least one Hall base location sensor to realize that angle is positioned.

Embodiments of the invention may include the optimal ventilation position of tool housing.

Embodiments of the invention are with three different low torque mode operations, including 4Nm, 8Nm and 12Nm.

In certain embodiments, drive shaft may include thrust bearing and defeated with what gear drive and transducer departed from Go out rotating shaft, and load and impact can be substantially（If not fully）Absorbed by housing, rather than transducer.

In certain embodiments, instrument may include multiple Hall elements, and the sensor is maintained inside motor simultaneously Communicate with allowing at least one of angle monitor or angle positioning with motor control circuit.

Some embodiments are related to handheld cordless fastening electric tool, and which includes：Housing；Motor in housing, it is described Motor has the motor for driving output shaft；Torque transducer in housing, which is communicated with output shaft；Dynamic motor control circuit, Communicate during which is located at housing and with motor and torque transducer, dynamic motor control circuit includes communicating with measuring motor with motor The Kelvin resistance device of electric current；And airborne indicator, which is kept by housing and can contact user interface communication, institute with onboard external User interface is stated with least one load button for being positioned to proximate display, wherein display exhibits are may be selected from different The associated icon being defined of setting, with allow user can selection manipulation parameter, this includes soft or hard interface architecture And angle or torque monitoring.

Above and other objects of the present invention and aspect have been explained in detail in description disclosed below.

It is to be noted that each aspect of the present invention with reference to one embodiment description can be included in different embodiments In, although in terms of describing these without reference to the different embodiment.That is, the spy of whole embodiments and/or any embodiment Levy and can be combined by any way and/or in combination.Applicant retains to change any Original submission claim and submit to and appoints The right of what new claim, therefore appointed with being subordinated to and/or including including any Original submission claim can be changed The what right of any feature of its claim, although initially not proposing claim by this way.It is open below Description in specific explanations the present invention these and other objects and/or aspect.

Description of the drawings

Figure 1A is the side elevation view of exemplary cordless power tool according to embodiments of the present invention.

Figure 1B is the exploded view of the equipment illustrated in Figure 1A according to embodiments of the present invention.

Fig. 2 is the block diagram of the circuit of cordless power tool according to embodiments of the present invention.

Fig. 3 is the curve chart of accurate torque output according to embodiments of the present invention.

Fig. 4 A are the side views of the half of the tool housing illustrated in Figure 1A, which illustrates certain according to embodiments of the present invention A little internal circuit plate member.

Fig. 4 B are the front side isometric view of the Partial Resection of the instrument illustrated in Figure 1A according to embodiments of the present invention.

Fig. 4 C are the rearviews of the display/UI parts of the instrument illustrated in Figure 1A according to embodiments of the present invention.

Fig. 4 D are the schematic diagrams of circuit board according to embodiments of the present invention and circuit control input and output.

Fig. 5 A-5C are that the different controls of the according to embodiments of the present invention different secured mode provided by individual tool set The moment of torsion put-angle curve figure, the instrument include the moment of torsion control using angle monitor and the angle control using torque monitoring System.

Fig. 6 A are the enlarged side views of power circuit board according to embodiments of the present invention.

Fig. 6 B are the top views of the power circuit board illustrated in Fig. 6 A, it is illustrated that one radiating according to embodiments of the present invention Device.

Fig. 6 C are the rearviews of the power circuit board illustrated in Fig. 6 B according to embodiments of the present invention.

Fig. 7 is the block diagram of electric tool according to embodiments of the present invention.

Fig. 8 is the sketch of current measurement circuit according to embodiments of the present invention.

Fig. 9 is the sketch of the example of torque measurement circuit according to embodiments of the present invention.

Figure 10 is the sketch of the example of motor drive circuit according to embodiments of the present invention.

Figure 11 is the sketch of the example of trigger board according to some embodiments of the invention.

Figure 12 is the sketch of the example of circuit overcurrent protection according to some embodiments of the invention.

Figure 13 A are top electric tools according to some embodiments of the invention（Such as nut spanner）The electricity of the example of circuit Lu Tu.

Figure 13 B are the circuit diagrams of the motor control circuit with Hall element according to embodiments of the present invention.

Figure 14 is the flow chart of the example of the according to embodiments of the present invention operation that can be used to control cordless power tool.

Figure 15 is data handling system according to embodiments of the present invention.

The instrument of Figure 16 A controller PCM radio communications with working position/factory according to embodiments of the present invention shows It is intended to.

Figure 16 B-16D are the schematic diagrams of accurate cordless power tool wireless system according to embodiments of the present invention.

Figure 17 A-17D are the screenshot captures of the display screen of instrument according to embodiments of the present invention.

Figure 18 be the according to embodiments of the present invention parameter that can be used for regulation instrument and/or with instrument communications with display The top view of the control input adnexa of device and user interface.

Specific embodiment

The present invention is described more fully with now with reference to accompanying drawing, wherein embodiments of the invention are illustrated in the accompanying drawings.No Cross, the present invention can implement in a number of different ways and should not be construed as limited to embodiment disclosed herein.Institute In having accompanying drawing, identical reference represents identical element.In the accompanying drawings, some layers, part or feature may be exaggerated to Clearly show that, and dotted line represents optional feature or operation, unless otherwise stated.And, operation（Or step）Order not It is limited to the order provided in accompanying drawing and/or claim, unless expressly stated otherwise,.In the accompanying drawings, line, layer, feature, part And/or the thickness in region may be exaggerated to clearly show that and dotted line represents optional feature or operation, unless otherwise stated.

Technical term used herein is only in order at the purpose of description specific embodiment and not is intended to the present invention Limited.As used herein, singulative " ", " one " and " this " are considered as also including plural form, Clearly illustrate unless the context otherwise.It should also be understood that term " including ", "comprising" are when in present specification, Define the presence of stated feature, region, step, operation, element and/or part, but be not excluded for one or more its The presence of its feature, region, step, operation, element, part and/or their group is additional.

It should be understood that when the feature of such as layer, region or substrate be referred to as another feature or element " on " when, it In the another feature or element or can also there is intermediate features and/or element.By contrast, work as element When being referred to as on " located immediately at " another feature or element, just there is no intermediary element.It will also be appreciated that working as feature or element Be referred to as " connection ", " attachment " or during " coupled " to another feature or element, it can be directly connected to, be attached or coupled to this its Its element there may be intermediary element.By contrast, when feature or element be referred to as " being directly connected to ", " directly be attached " or When " directly coupling " is to another element, just there is no intermediary element.Although being described with reference to one embodiment or illustrating, So description or the feature for illustrating are applicable to other embodiments.Term " about " refers to the +/- change less than 20%, generally It is +/- 10%.

Unless otherwise defined, all terms used herein（Including technical term and scientific terminology）All have and this The meaning equivalent in meaning are generally understood that by bright those of ordinary skill in the art.It should also be understood that for example those Term defined in common dictionary should be interpreted as having the implication one with them under the background of the application and association area The implication of cause, and should not be explained under idealization or excessively mechanical meaning, unless be so defined herein.

Term " wireless " electric tool is referred to need not plug-in type be wired is electrically connected to external power source to be operated Electric tool.Conversely, cordless power tool has electro-motor, which is by such as rechargeable battery energy supply of airborne accumulator. A range of accumulator is suitably adapted for a range of cordless tool.Embodiments of the invention are particularly suitable for fastening tool, Such as screwdriver, ratchet and nut spanner.Embodiments of the invention can be particularly suitable for accurately fastening electric tool, its can by with In the application for more accurately controlling to the output applied is expected.

Figure 1A and 1B illustrate the example of cordless power tool 10, and which includes enclosure body 10b, motor 15, gear-box 16 With instrument output shaft 18.As indicated, housing 10b accommodates motor 15 and partially around gear-box 16.But, can use other Housing and gearbox configuration.Gear-box 16 seals known（It is unshowned）Drivetrain.Enclosure body 10b may include impact resistance mould For example glass-filled nylon of prepared material.Drivetrain may include durable metal planetary gear structure.The lower part of housing is engageable With discharge rechargeable accumulator battery 25（Figure 1A）.Accumulator battery 25 keeps battery cell to limit e.g., from about 36V or lower Low pressure（Rechargeable）Accumulator, including 24V or lower, such as 20V, 18V, 12V etc..In certain embodiments, accumulator Group 25 is 20V lithium-ions battery battery cells.As shown in Fig. 4 B and 16B, accumulator battery 25 can be respectively provided as can Different size 25A, 25B exchanged.Different accumulator batteries can be 5 and 10 battery cell accumulator batteries.Charger 125 （Figure 16 B）It is configurable to charge both sizes.

Enclosure body 10b may include external control, such as trigger 11 and the UI with keyboard and display 40（User circle Face）.

Enclosure body 10b is optionally provided as two case members 10 that can coordinate₁With 10₂, as shown in fig. ib. Electric tool 10 is configurable to " pistol " type electric tool, and which carries substantially cylinder-shaped or barrel-shaped upper part 10u, the top Divide and be fused to the handle portion 10h for extending downwardly.

Fig. 2 illustrates the block diagram of closed loop electric tool circuit 10c.Electric tool circuit 10c also can direct measurement from The moment of torsion of the torque transducer 180 of the communication of outside output shaft 18.Torque transducer 180 can be maintained at tool body and be internally located at Motor output shaft（The upstream of output shaft 18）And drivetrain between, such as close to gear ring, such as in PCT/US2011/030653 Description, the content of the document is incorporated herein by, as recorded herein in full.

Electric tool circuit 10c may include multiple circuit board 10b.The circuit board for illustrating includes power circuit board 40, numeral Processor circuit board 60（Which may include at least one processor 10p）, display panel 70, radio communication plate 75 and trigger board 80. Radio communication plate 75 allow instrument optionally or optionally with outside（Remotely）90 radio communication of equipment.Separate circuit board In one or more may be provided as on extra separate plate son divide and/or circuit board in it is two or more can quilt Combination breaks into other circuit board structures.Circuit board is typically printed circuit board (PCB).Term " circuit board " refers to flexible electrical Road plate substrate and substantially rigid circuit board substrate and combinations thereof.

As shown in FIG. 2, circuit 10c may include the multiple Hall elements 151 for being connected to motor 15（It generally is held In the inside of motor 15）.Hall element 151 may be connected to the digital circuit board of the motor 15 being located remotely from instrument 10 60.Motor Hall element 151 can allow that instrument has angle monitor and/or location control and this control can be optional The tool operational mode selected.Hall element 151 may include at least three Hall elements 151, and they can be located at motor 15 It is internal（For example, motor housing inside）（See, for example Figure 13 B）.

Instrument can have wireless option, and the option can be allowed by the UI on instrument and/or remote computer 140 using defeated Entering/export order carries out process control, and UI is communicated and/or is associated with airborne indicator 40, and airborne indicator 40 can allow work People or long-distance user utilize the one kind in the multiple different tool operations of procedure Selection and/or adjust parameters of some definition（See, Such as Figure 17 A-17D）.

Instrument 10 can be configured to " scene " filing to data base, the construction switching of selectable instrument, multiple instruments 10 With public wireless receptor/gateway 144（Figure 16 B-16D）Communication, allow generally for about 5-20 instrument, more generally about 10 instruments, between by radio communication while receptor 144.Only instrument 10 or can produce via external equipment 90 Give birth to preventative maintenance alarm to notify user, administrative man or other personnel（It is local or long-range）Preventative maintenance is possibly closed Suitable or instrument needs maintenance or checks or demarcate.Alarm may be provided as audio or video alarm, such as airborne aobvious Show the message or icon and/or color indicator LED on device 40（For example, yellow color or red color, flicker or lasting）.

Figure 16 C and 16D illustrate the instrument monitoring/control system 10s with implementing procedure person station 145.Implementing procedure person Stand and 145 be configurable to connect through input port 10p for example in Figure 16 C（With Fig. 4 D）In illustrate USB port insertion instrument Cord.

Figure 16 C and 16D illustrate instrument programming station 145 includes controller（For example, at least one processor）, it is shown as meter Calculation machine 140, which can be with receptor 144（For example, independent receptor or it is integrated in connecing in controller/process control module Receive device）Communicate with switch 141.Instrument 10 can be with single 1 under single process control module operational control pattern 144s:1（Work Tool-wireless receiver）Ratio is operated or with many times of instruments-receptor ratio, such as by instrument process control module or connect Receive device 144m, usually 10:1 instrument-wireless receiver ratio operation.

System 10s is configurable to have Ethernet（LAN or " LAN "）Ability, many I/O（Generally between 5-10, E.g., from about 8）, fieldbus card, for the serial port and ICS of barcode scanner and printer（The shared compatibility of the Internet connection） Software.Computer 140 can be any suitable form of computers, including fixed or portable form, such as desktop computer, pen Remember this computer, electronic notebook, electronic writing plate, smart mobile phone etc..

Fig. 3 illustrates Wireless Power Tools 10 in certain embodiments and can realize all the time in hit output target torque High-caliber repeatability.This is defined as the ability of instrument.Ability is by industrywide standard（ISO5393）Defining and providing is used for Description instrument during the life-span of instrument is realized its target with the repeatability of height and is not almost had with the target devious The public of ability is measured.This is defined as six SIGMA divided by the average of total sample number（Meansigma methodss）.In order to determine the entirety of instrument Ability, extracts several samples, e.g., from about 50 or 100 samples in the limit range of a range of torque value and junction surface rigidity This, and repeat to guarantee concordance over time after the life test for continuing.Implement this control method As a result, fastening electric tool can be exported in nominal torque（With RPM limits）Under, for example 4Nm, 8Nm and 12Nm realize mental retardation Power, e.g., from about 6.25% or less, normally about 5%, about 4%, about 3%, about 2% or less.With the instrument less than 5% ability It is considered as " A " level instrument, because standard deviation（SIGMA）Reduce, such as by the ability numeric value institute for reducing provably repeatability Improve.The accuracy of this degree is indicated realizes excellent control by instrument.Term " accurate " and its derivative words quilt herein The torque output of fastening electric tool is meant during use（Averagely）With substandard deviation, such as in defined target（In advance If）In the +/- 3SIGMA of output torque value and generally in about +/- 6SIGMA.SIGMA grades represent that actual torque is defeated Go out the meansigma methodss apart from its target.It show with averagely（Or it is average）Also there are how many changes in desired value.Substandard deviation Indicate that data point is intended to closely meansigma methodss, and high standard deviation indicates that data point is scattered in wide range of values.Six SIGMA Grade refers to a kind of fastener cycle, wherein the torque output of statistics expected about 99.99966% is located in standard deviation tolerance range （About 3.4 defects are per million）.

In certain embodiments, electro-motor 15 can be brushless electric motor.

Embodiments of the invention are with three different low torque mode operations, including 4Nm, 8Nm and 12Nm, are respectively provided with about 1500th, 1150 and 750 rpms（RPM）.Instrument can be with about 10% and the adjustable speed about between 100%.

As shown in figures 4 a and 4b, radio board 75 in the rear end part 10r of housing with display panel 70 closely between Separate.Alternatively, radio board 75 and display panel 70 are organized into integrated or single plate（It is not shown）.Referring still to Fig. 4 A, Trigger board 80 can be in the lower part middle position of the upper part of handle 10h or bucket 10u below motor 15（Fig. 4 B）.Power amplifier board 50 can position In handle 10h.As indicated, processor plate 60 be located in plate and processor plate 60 below handle 10h lower portion.Electricity Line 12 can be routed through housing handle 10h arrival upper shell 10u upwards from accumulator interface 25i and think some electrical components energy supplies And/or signal circuit connection, a long marginating compartment during by housing handle 10h snugly with power amplifier board 50 are provided Open, and the housing when one end of trigger board 80 and housing are transitioned into barrel 10u from handle（It is closely spaced）Inwall it Between.

Air for cooling through air intake 10i entering tools 10 and be able to can be flowed near the bottom of handle 10h Top 10u of the overpower plate 50 to instrument, is discharged from housing through discharge port 10e afterwards.Embodiments of the invention may include The optimal ventilation position of tool housing such as perflation ventilation mouth 10i, its form are multiple slots, and such as substantial horizontal takes To elongated hole, the end portion of the pistol handle being positioned next to above accumulator battery（For example, Figure 1B, 4B）.

Accumulator terminal can be positioned so that near the bottom of handle 10h, so as to allow accumulator 25 and power amplifier board 50 it Between shorter convenient connection.

Component protection can be by Transient Voltage Suppressor（TVS）Equipment is provided, and the equipment is can be located on power amplifier board 50, in power Plate 50 realizes accumulator terminal connection 25i.This additional TVS equipment can protect sensing unit not driven electricity by by from motor The electricity overload that the inductance load switching on road causes affects.

Instrument 10 can have transducer 180 and transducer control 180c, as shown in figure 4b.Transducer control 180c can There is provided closed loop control, single digital compounding power, multiple constructions of individual tool, to the moment of torsion traceability, dominant of NIST The algorithm of moment of torsion, data filing, speed controlling, soft start, downshift, set（Gang）Count, cycle count and can be ICS Compatible.

Fig. 4 C illustrate plate 50,60,70,75 and 80 according to embodiments of the present invention, and they are with from these plates to other The exemplary circuit input of plate and/or other parts such as motor 15 and torque transducer 180 and output（By arrow and solid line Represent）.For example, radio board 75 sends and receives radio signal with solid line radio communication 10w.Display panel 70 controls display 40 and from the input of neighbouring airborne keyboard.Power amplifier board 50 sends power to motor 15.DSP（Processor）Plate 60 tells power How transmit power is to motor 15 for plate.Trigger board 80 senses trigger 11 and reversing button motion and can support headlight and buzzing Device part.

Fig. 4 D illustrate the example of airborne instrument display 40, and which includes programmable load button 40b, and the button can be wrapped Include the elastomeric pad 40p selected with arrow；X button 40x（For cancelling selection item or closing action）And final election is pressed Button 40c（For allowing the selection or action of affirmative）.Instrument 10 may include USB or other communication interface ports 10p, and which can be located at Any position on instrument is with processor 10p airborne with least one（Generally on panel 60, Fig. 2）It is logical with display 40 Letter.Instrument 10 is configurable to output mode and the regulation for showing definition, and the pattern and regulation can be selected based on UI buttons 40b Select, cancel selection or adjust.Term " button " broadly refers to various UI inputs, including touch screen and touch button.

Fig. 5 A-5C are the curve charts of the according to embodiments of the present invention exemplary fastening schemes allowed by instrument 10.Instrument 10 are configured to using angled with band with the hall effect sensor 151 and airborne torque transducer 180 for closing control ring The moment of torsion control of monitoring or the operation of the Angle ambiguity with torque monitoring.Instrument 10 can be in torque control mode and Angle ambiguity mould With the height and low angle limit operation of defined high and low torque limit and definition in formula.Fig. 5 A are in curve chart upper right side Target torque is illustrated in square frame.Angle of the monitoring between threshold torque and target torque（Mα）Can help to detect or recognize Component and junction surface problem.What angle limit most of users are unknown to using and are rarely employed this feature.Target Moment of torsion is generally in about between 60-70% of moment of torsion of surrender（+/- 30% requirement load dispersion）.

Fig. 5 B show angle on target（Tα）Can measure from threshold torque.It is final that angle on target is typically selected to be generation Moment of torsion, the final moment of torsion is in about between 60-70% of moment of torsion of surrender（+/- 15% clamping load dispersion）.

Fig. 5 C illustrate multizone agreement, wherein the first maximum incision moment of torsion and angle increase on " A " slope, at " B " Height and low dominant torque limitation in the dominant region at place, then to region is tightened, wherein moment of torsion is in the end of region " C " Place increases to finally tighten target.

Instrument 10 may be structured to the compact, instrument that weight is relatively light.The compact essence of enclosure body 10b defines little Internal envelope and/or circuit block is closely positioned together and can potentially cause signal interruption and/or reliability Or malfunction.In order to overcome these obstacles, embodiments of the invention are by being placed on motor 15 below and work(by processor plate Below rate plate 50, by digital signal part and some analog components（Switch etc.）Separate.In certain embodiments, compact tools 10 1.5-6 pounds can be weighed about, such as between about 1.5-2.5 pounds, normally about 2.00 pounds（Accumulator battery is not included）To band accumulator battery about 5 Pound is less, including about 4 pounds of accumulator battery 25 of band or less, normally about 3.5 pounds, about 3 pounds or or even less.

In certain embodiments, power amplifier board 50 has the length more than the major part for occupying the length than handle 10h, And it is substantially more generally whole length of handle 10h.Power amplifier board 50 can be substantially flat and can be with handle One housing member 10 of 10h₁Or 10₂An inner surface be closely spaced apart.In other embodiments, plate 50 can be medially Between two inner surfacies for facing of handle 10h.In some implementations, power amplifier board 50 can from larger lower end 50l to compared with Little top or upper end 50u become narrow gradually.

Heat management is installed to the reliability of the part on circuit board for the part being associated with on-board circuitry, especially those Operation and/or life-span are important.The typical method that heat is removed from semiconductor equipment is to them by heat spreader attachment.Fig. 6 A and 6B is illustrated, and in certain embodiments, power amplifier board 50 does not require any separate single radiator, because circuit board 50 itself It is configured to provide spatially separate（Integrally）Radiator.Make in the filling region that this detailing requiments have Heat Conduction Material such as copper For respectively in the spreader region 169 of the top side of plate 50 and bottom side 50t, 50b₁、169₂、169₃To remove heat.In addition, switching sets Standby 188 such as push-and-pull switches include semiconductor device, such as MOSFET with gate driver, and switching equipment can be mounted with phase The switching device 188 answered₁、188₂、188₃, they are located at the opposite side of plate 50 directly with one another in the face of ground（Major surfaces）.Electric trace is damaged Mistake can be reduced or be minimized, because which provides chance for radiated emissions, so as to result in less generation heat.This cloth Put the needs that can be eliminated to traditional radiator.

Embodiments of the invention using for motor control current measurement resistance sensing, but with tradition（Non- essence True type instrument）Very different mode carries out resistance sensing.The standard mode of measurement electric current is the low value used in current path Resistor and using difference amplifier measure across the resistor voltage drop.This is for high current, wide and dynamic Opereating specification accurate cordless tool for be inappropriate.The dynamic range that accurate cordless tool 10 has non-constant width is wanted Ask, generally cross at least 1-100A, and in certain embodiments between about -150A to+150A, with about 0.2A or more Low resolution, for example, at least about 0.1A or about between 0.2-0.1A.

Fig. 7 is the block diagram of electric tool 10, which illustrates electric tool 10 and communicates defeated for controlling with DC motors 15 The fastening tool output of shaft 18（Such as moment of torsion）Current measurement circuit 200.Fig. 8 is the circuit diagram of current measurement circuit 200, Which illustrates and motor（PhW is shown as in the example of circuit）The Kelvin resistance device 150 of communication, two of which terminal are used In current measurement and two terminals are in current path.

As shown in FIG. 8, in certain embodiments, current measurement circuit 200 can adopt the resistor 145 of very little value （For example, microhm is to milliohm scope or lower, generally below about 0.005 ohm）, 0.001 ohm is shown as, which can band Further to operate challenge.For example, the soldering portion that resistor is connected to circuit board can be introduced and actual measurement resistance The resistance of proportional significant quantity.

As shown in FIG. 8, in order to overcome this technology barrier, it is possible to use four terminal Kelvin resistance devices 150（Figure 8）.Such equipment is there is provided for two terminals that electric current is carried to motor 15 and two ends for being exclusively used in measurement Son.This arrangement is substantially reduced（If all not removing）The error resistance introduced by soldering portion.Resistance Device R23 and R24 can have an identical or essentially identical value, usually less than 100 ohm, and more generally about 49.9 ohm.R25 Can be with the value bigger than R23 and R24, the twice of typically R23 and R24, such as in certain embodiments about 100 ohm.

Another problem is probably the conduction caused using such small-signal in the case where there is quick change high current And radiation noise susceptible.High-gain difference current with input filter 170 is usable on each lead Amplifier 160（Fig. 8）.160 exportable phase current W of this high gain amplifier.Term " high-gain " means described part Signal can be amplified at least 10X.In certain embodiments, high-gain current amplifier can provide about 20 gain.

In addition, current measurement circuit 200 may include small value capacitor 146（It is shown as C43）, which can be positioned so as to be close to and puts The pin 2 and 3 of big device 160 and it is connected to the V of pin 3_OFFSETAnd control ground connection.This capacitor 146 can be less than 10, generally about 0.1To about 1Between.

For compact cordless power tool 10, with little internal envelope, the chance for cooling air stream is probably have Limit, therefore circuit protection can help to offer safety and operation protection.Some parameters can be considered for plate place and/or Design.For example, it may be possible to due to the operation of normal motor, motor back emf（bemf）, drawn due to motor shutdown or fault The overvoltage/overcurrent for rising and overall thermal are managed and there are electrical transients.During normal motor is operated, bemf is appeared in Each driven line circle two ends.Coil node is located at the abutment of high side source electrode and low side drain.When downside is closed, coil Node immediately by the low driving of value of bemf so that the voltage of high side（Vgs）Raise equal amount.Switching equipment can be can exceed that Rated voltage Vgs of the door to source electrode, this possible breaking-up equipment.Generally, Zener（zener）Diode will be placed with across door and arrive Source electrode, wherein negative electrode are located at door as the means for protecting the equipment.In most of the cases, this gate voltage is limited in most It is sufficient that diode in one or second of the three ten-day periods of the hot season of big rated voltage.But, in the case of electronic cordless tool closely, This moderate protection is probably not enough much of that.This is because diode turn-on time may can not provide very much reliable guarantor slowly Shield.For example, using 15V Zeners, Zener rated value and voltage（Vgs）At least 5V differences between rated value can be used for solving this Problem.More conservative Zener selects to start with the Voltage On state lower than 18V diode and therefore by never allowing Vgs to connect Nearly maximum rated level and realize more sane horizontal protection.

Fig. 9 illustrates the example of torque measurement circuit 210, and which is from torque transducer 180（Fig. 2,13A）Obtain torque signal Data 180s.Tool control circuit 10c is configurable to using torque data direct measurement moment of torsion and dynamic control motor is defeated Go out to realize accurate fastening.

Figure 10 is the example of motor drive circuit 188c.One of fault mode of push-and-pull drive circuit 188c（Figure 10）It is two Individual switch（Such as one 188₁、188₂、188₃, Fig. 6 A, 10）Simultaneously in connection（Referred to as " lead directly to "）Chance, so as to cause Direct short-circuit circuit and almost certain unit failure.Meanwhile, the compact essence and the high power being switched of circuit 10c can be any Induced potential on unprotected electric trace.In order to realize protection, all of switching equipment 188 all has protectiveness resistor, example 10 be such as connected between door and source electrodePull-down-resistor.In addition, switching equipment 188 can also have safety to connect resistance Device, such as 10Resistor, which can be connected ground connection and between the input of each gate driver, be cut with further ensuring that Exchange device will not be connected by induced potential.Used as the protection of the 3rd level, switching circuit may include that noise connects resistor, for example 1Resistance, which can be arranged in series to be limited in clutter noise in the case of cable fault with the input of each gate driver The chance of event ON switch.This resistance can be in power amplifier board 50 and processor（Such as DSP）It is substantially identical between plate 60 Ground is divided.

In certain embodiments, there is provided brake to realize accurate torque ability at a high speed.But, this can bear down on one in storage battery Portion produces regenerative voltage transient state（Motor is used as electromotor）.If do not suppressed, these transient states can exceed that battery tension Twice.The transient state of this size has the risk for causing the whole part electrical overloads failures in supply bus.Therefore, transient state electricity Pressure suppressor is can be configured to across accumulator terminal so that supply voltage is restricted to level of security.

Overcurrent protection can be by overcurrent sensing circuit 220（Figure 12）There is provided, which includes a pair of dual comparators.These equipment Scaling size of current is stared at, it is positive and negative, and which is compared with the value of pre-programmed.Their output driving processor plate 60 On digital signal processor 61 on trip zone input.Trip value or threshold value can be arranged by resistor network.Work as scaling When electric current crosses the threshold value of pre-programmed, the output of comparator is driven to logical zero, so as to cause corresponding motor pwm signal to jump Cross a circulation.This circulation is skipped to reduce and forces what motor inertia was slided when overcurrent starts and extracted from accumulator Current needs.After over-current condition has mitigated, PWM enablings.This design is allowed during active fastening Overcurrent event is processed safely and fasten without the need for termination.

As described above, electric tool 10 may include five separate circuit boards, they are placed in the housing of instrument, under Face will provide and each plate further described.

Accurate wireless instrument optionally with（a）With moment of torsion detection Angle ambiguity or（b）With angled detection Moment of torsion control operation.

As described above with reference to FIG. 2, in certain embodiments, instrument 10 may include at least one Hall base location sensor 151, detect for angle and/or position.It is 84737- cables -2 that Figure 13 A illustrate Hall element input cable 15lc.This Individual cable 151c can provide the signal path for being derived from motor 15, wherein 151 quilt of hall position sensor for hall position sensor Motor control electron plate is internally installed to, dsp board 60 is it typically is.Figure 13 B show exemplary motor control circuit Hall element 151 in 10m, wherein motor 15 is connected to DSP60 by cable 151c（It is only illustrated as with Hall base motor Control circuit part）.

Power amplifier board 50 is generally separated with all of digital circuit and is cut from the high current for affecting sensitive circuit with minimizing Change noise.Power amplifier board 50 includes motor drive circuit 188c（Figure 10）, which includes the power MOSFETS for each phase in three-phase With gate driver, for tool interior all plate energy supplies 5 volts of power supplys and for gate driver 12V supercharging power supply.Power is supplied Should be little and efficient, with higher frequency error factor, therefore use smaller size of inducer.There can be extra electricity Road, its monitoring accumulator signal and control from processor plate 60 signal with close power supply and improvement or maximization electric power storage The pond life-span simultaneously minimizes or reduces battery discharge rate.

Processor（DSP）Plate 60 includes motor control DSP61, motor position analog circuit, phase current sensing circuit, moment of torsion The power supply of signal circuit and DSP.The position of processor plate 60 keeps which from the high switching from switch 188 of power amplifier board The motor 15 of signal and instrument is remote enough.This position also allows the handle of instrument to become for being connected to all of processor plate 60 The conduit of holding wire 12.Figure 13 A are the top horizontal figures of the example of the part of electric tool circuit 10c.

Trigger plate 80 can be positioned in the trigger more than 11 of instrument substantially in parallel.Such as institute in fig. 11 Show, trigger plate 80 generally comprises three Hall effect equipment 190, the position of the monitoring of equipment trigger：Drawn half 190₂=/headlight connection of waking up, and drawn 190 completely₃=motor is allowed.3rd Hall effect 190₁It is used for by slide switches Position determine motor direction.Trigger plate 80 also includes speaker, for alerting operator's event, and the headlight of instrument LED, for illuminating the working region around securing member.

Display panel 70 is generally positioned at the back side of instrument, so as to face operator in use.Display panel 70 can be with It is the tools interfaces for leading to the external world.Which has OLED display and tightens data, arranges construction, diagnosis to watch end of run And failure code.See such as PCT/US2011/030653, the content of the document is incorporated by reference into, as being all documented in this Wen Zhong.UI may include keyboard, such as button keyboard, and the menu, setting on its permission user's roll screen tightens strategy and read back End of run data.There can be four LED on the plate, yellow color, green color, red color and blue color, they are by instrument LED pipe illumination in housing.These LED make operator quick look at the state of instrument and tighten result.The USB port of instrument Can be configured to upload up to 1000 tightening operations and for constructing the instrument.USB port can be positioned in the top of instrument Portion.USB port 10p may be alternatively used for the feature downloaded new software version, keep tool renewal newest.Instrument 10 can with it is long-range And/or adnexa computer such as GUI input accessory devices 142（Figure 18）Wirelessly and/or hardwire rope cooperates to define operation Parameter, transmission data otherwise communicate.

Display 40 is configurable to the icon for showing the definition being associated from different selectable settings to run use Family can selection manipulation parameter, this includes soft or hard interface architecture and angle or torque monitoring, fast or slow operate（For example, rabbit Son escape speed）, upper and lower arrow for high and low torque limit and high and low angle limit, tighten Control Cooling（Target Angle or moment of torsion）Deng for example illustrating in Figure 17 A-17D.

Radio board 75（Also referred to as RF carrier wave plate）Can be carried on the back on display panel 70 by the back of the body, radio board keeps radio mould Block, such as 802.15.4 radio modules.End of run data are wirelessly spread out of by radio module from instrument 10, and are passed through External equipment 90（Fig. 2）The incoming instrument of data will be constructed.External equipment 90 with some instrument communications and can be referred to alternatively as process Control module or many tool models.Radio module optionally includes built-in aerial, and which directly, in radio board 75, eliminates Needs to exterior antenna.Data between instrument and radio module can be processed in the microprocessor of display panel.

Figure 14 illustrates the according to embodiments of the present invention exemplary operation that can be performed by cordless power tool.Can be using use Motor current in the Kelvin resistance device of current measurement determines all phases（Frame 300）.Four terminals of Kelvin resistance device In two terminals can be used for current sense（Frame 304）.

The data from transducer can be used to determine the torque output of tool shaft（Frame 310）.Cordless power tool can be used Target workpiece is fastened to into the moment of torsion of definition（Frame 320）.The rotor-position determined used in fastening steps and transducer data Motor is controlled dynamically with the resolution adjustment motor electricity in the current practice scope of at least 1A to 100A with least about 0.1A Stream, and thus accurately control motor output out of service to realize accurate fastening（Frame 330）.

Embodiments of the invention can be in the form of whole software implementations or in terms of having software and hardware concurrently enforcement The form of example, it is all these to be generically and collectively referred to as " circuit " or " module " herein.And, the present invention can take available in computer The form of the computer program on storage medium, the medium is with the computer available programs generation embodied in the medium Code.Any suitable computer-readable medium can all be used, including hard disk, CD-ROM, optical storage apparatus, for example those Hold the transmission medium or magnetic storage apparatus of the Internet or Intranet.Some circuits, module or routine can be used assembler language Write as or even microcode is write as and used with improving performance and/or internal memory.It is further appreciated that program module appoint The function of one or all can also use separate hardware component, one or more special ICs（ASIC）Or programming Digital signal processor or microcontroller are implemented.Embodiments of the invention are not limited to specific programming language.

For performing operation, method and step or action, module or the circuit of the data handling system being discussed herein（Or they A part）Computer program code can be write as by high-level programming language, such as Python, Java, AJAX（Asynchronous script language Speech）, C and/or C++, so as in order to develop conveniently.And, for performing the computer program code of exemplary embodiment operation Also can be write as by other programming languages, such as but not limited to, interpretative code.Some modules or routine can use assembler language or or even It is that microcode is write as to strengthen performance and/or internal memory use.But, embodiment is not limited to specific programming language.Should also realize To, program module the function of any or all also can using separate hardware component, one or more are special integrated Circuit（ASIC）Or programmed digital signal processor or microcontroller are implemented.

With reference to method according to embodiments of the present invention, device（System）With the flow chart illustration of computer program and/ Or block diagram partially describes the present invention.It should be understood that each frame and flow chart of flow chart illustration and/or block diagram The combination of diagram and/or block diagram center can be implemented by computer program instructions.These computer program instructions can be provided that logical With the processor of computer, special-purpose computer or other programmable data processing units producing machine so that the instruction is led to The computing device of computer or other programmable data processing units is crossed, the instruction constitution and implementation is in flow chart and/or frame The device of function/action specified in one or more frames of figure.

These computer program instructions are also stored in computer-readable memory, and the instruction may indicate that computer Or other programmable data processing units are run in a particular manner so that the instruction being stored in computer-readable memory is produced A raw manufacture, including command device, the command device is advised in being implemented in one or more frames of flow chart and/or block diagram Fixed function/action.

Computer program instructions can also be uploaded to computer or other programmable data processing units are a series of to cause Operating procedure be performed on computer or other programmable devices so as to produce computer-implemented process so that calculate The instruction performed on machine or other programmable devices is there is provided for being implemented in one or more frames of flow chart and/or block diagram Function/the action of regulation all or some the step of.

Flow chart and block diagram in some accompanying drawings illustrates the example of the possible embodiment of the embodiment of the present invention herein Property framework, function and operation.In this respect, each frame representation module, sections or code section in flow chart or block diagram, its bag Include for implementing one or more executable instructions of regulation logic function.It is also to be noted that in some other enforcements In example, the order that the function described in frame can not be as described in accompanying drawing occurs.For example, two frames for continuously illustrating can be in reality In be essentially simultaneously performed or frame can sometimes with overturn sequentially executed or two or more frame can be combined, this Depending on involved function.

Figure 15 is the block diagram of circuit or data handling system, and which can be with the electric tool circuit 10c of cordless power tool 10 It is used together.Circuit and/or data handling system can be comprised in one or more digital signal processors.As in fig .15 It is shown, during at least one processor 410 is maintained at cordless power tool and including by address/data bus 448 and place The memorizer 414 of reason device communication.Processor 410 can be any commercially available or customization microprocessor.Memorizer 414 storage devices for representing whole levels, wherein the software comprising the function of being used to implement data handling system and data.Deposit Reservoir 414 may include but be not limited to following types of equipment：Caching, ROM, PROM, EPROM, EEPROM, flash memory, SRAM and DRAM。

If Figure 15 illustrate memorizer 414 may include used in data handling system-operating system 449-in Ganlei Software and data；Application program 454；Input/output（I/O）Device driver 458；With data 455.Data 456 may include to use In the equipment of each instrument（Instrument is special）Operational control or limit.Figure 15 also illustrates application program 454 and may include that electric current is surveyed Module 452 is measured, and PWM cycle skips overcurrent module 451.

Those skilled in the art are further appreciated that operating system 449 can be adapted for and data handling system one Act any operating system for using, such as OS/2, AIX or the zOS from IBM Corporation, Armonk, NY, WindowsCE, WindowsNT、Windows95、Windows98、Windows2000、WindowsXP、WindowsVisa、Windows7、 WindowsCE or other version of windows from Microsoft, Redmond, WA, PalmOS, SymbianOS, CiscoIOS, VxWorks, Unix or Linux, from MacOS, LabView or proprietary operating systems of Apple computer.

I/O device drivers 458 generally include the software routines that accessed by operating system 449 by application program 454 with With the equipment communication of such as I/O FPDPs, data storage 456 and some 414 parts of memorizer.Application program 454 is illustrated Implement the program of the various features of data handling system and may include at least one application, which supports according to embodiments of the present invention Operation.Finally, data 455 are represented and are driven by the application program 454, operating system 449, I/O equipment that can be located in memorizer 414 The static and dynamic data that dynamic device 458 and other software programs are used.

Although illustrating the present invention referring for example to the module 451,452 as the application program in Figure 15, such as ability Field technique personnel are appreciated, still benefit from present invention teach that while be possible with other construction.For example, module And/or can also be comprised in other such logical partitionings of operating system 449, I/O device drivers 458 or data handling system In.Therefore, the present invention should not be construed as limited the construction of Figure 15, and which is considered as covering and can implement to be described herein Any construction of operation.In addition, one or more in module, i.e. module 451,452, can be with other component communications or complete Portion is contained partially in other parts, such as the independent or single processor or different circuits in the housing of instrument.

I/O device drivers generally include software routines, application program by the operating system access software routines so as to With the equipment communication of such as I/O FPDPs, data storage and some memory units.Application program illustrates to implement at data The program of the various features of reason system simultaneously may include at least one application, its support operation according to embodiments of the present invention.Data Represent the static and dynamic data used by application program, operating system, I/O device drivers etc..

In certain embodiments, display or remote computer display can be used for limiting wireless tool operative configuration, Thus individual tool is allowed to perform the function of some different conventional tools.

In certain embodiments, instrument OLED display dimmed maximum after the second in past m when loop ends are fastened The n% of brightness.Benefit：Increased the circulation # that every accumulator charges（Number）＆ extends the life-span of OLED display module.

In certain embodiments, PWM can be used for the brightness for controlling LED to preserve battery power and increase per accumulator The circulation # of charging（Number）＆ extends the life-span of LED.In addition, increased the comfortable factor of eyes.

In certain embodiments, match using the electronics ID of controller PCM implementation tools.This prevents instrument from control Operate outside the scope of device PCM processed, so as to realize antitheft purpose.This also assures that instrument is used in the specific bit in manufacturing facility Put.

In certain embodiments, OLED display can be used, and which provides low energy use, vivid on-screen data and width Visual angle is easily watching in industrial environment.

In certain embodiments, the white text under grey background can be used under error condition in tool display screens with Operator is attracted to note.For all other display pattern, text color can be reversed.

In certain embodiments, accelerometer or motion detector can be placed in the tool with " waking " instrument or by work Tool is arranged to " sleep pattern " with the performance for saving energy and in terms of improving response time.

In certain embodiments, strain gauge can be placed in handle for tool to contribute to changing motor control algorithm to increase Strong human engineering and control.

In certain embodiments, touch sensor can be integrated in instrument display or on to realize biologicalinput, example Such as, as the fingerprint scanner for safety and/or ID purposes.

In certain embodiments, for system is ready, independent state LED of Ethernet and radio communication may be disposed at control On device PCM processed.

In certain embodiments, the evaluator of uniqueness can be implemented, for example, is known by the instrument that the position ID in facility is carried out Not.

Controller PCM can process the tool data from more than one instrument.

PLC is configurable to be arranged on selection fastening procedure/construction on instrument with closed loop procedure control.

In the case where host PC application is not connected to controller PCM due to Ethernet problem, PCM controller can continue The fastening circulation from whole instruments is recorded on local flash memory.When PC applications are reconnected, from the whole of controller PCM Data can be suggested and be applied storage in data base by PC and be kept with filing and forever recording.

Instrument may include instrument to instrument communications to preserve in the case of machine in controller PCM and transmit critical data.

Other optional features include one or more in following features.

Frequency-hopping characteristics, for finding suitable channel and being switched to the channel in real time, on the motor controller DSP in Between sleep pattern, to preserve storage battery energy.

Controller PCM has for the regulation of one or more in following communication protocol：

Receive the TCP/IP of bar code scan data

The TCP/IP of transmission fastening data

Receive the serial RS-232 of barcode data

The serial RS-232 of transmission fastening data

Ethernet-IP is supported

Fieldbus is supported

Facility network is supported

ModbusRTU is supported

Interbus-S is supported

ModbusTCP is supported

EPA（Profinet）Support.

The instrument for not also being configured for frequency hopping can have their frequency hopping to construct, and the construction is subsequently initialized by PCM, should PCM makes frequency hopping be activated really.This simplifies the initial setting up of frequency hopping.

PCM can perform energy scan to sense the optimum channel to be jumped to when occurring needing periodically.To frequency hopping Need to determine the percentage ratio of secondary wireless instrument connection by main radio is passed through.In certain embodiments, more Instrument is connected to time radio and during non-master radio, instrument or system can frequency hoppings.Instrument can be initially when they are switched on It is connected to the master of PCM or secondary radio.When frequency hopping is wanted, PCM can notify all of instrument by broadcast.

In certain embodiments, the instrument for not being immediately connected to PCM can search theirs on the RF channels that each allows PCM and connection data are automatically updated when connection is found.

In certain embodiments, consumer can limit by radio using channel group improve discovery time and limit which The noise pollution of its possible radio net.

In certain embodiments, there can be two（Or it is more）Individually, independent radio module, each has The antenna on controller PCM of themselves.Each antenna on controller PCM can be positioned to realize workplace by scene Optimal viewing.

Electro-motor can be brushless electric motor.

Accurate wireless instrument optionally with（a）Angle ambiguity with torque monitoring or（b）With angle monitor Moment of torsion control is operated.

Embodiments of the invention may include Hall base location sensor to carry out angle positioning.

Embodiments of the invention may include the optimal ventilation position of tool housing.

Embodiments of the invention are operated with three kinds of different low torque patterns, including about 4Nm, about 8Nm and about 12Nm.

In certain embodiments, drive shaft may include thrust bearing and output revolving shaft, output revolving shaft and loading drive gear Put and depart from transducer, and load and impact can be substantially（If not all）Absorbed by housing, rather than it is logical Cross transducer.

The embodiment provides for the computer program of the wireless fastening electric tool with motor.Meter Calculation machine program product includes non-transient computer-readable storage media, and which has the computer-readable journey for embodying in the medium Sequence code.Computer readable program code includes（a）It is configured with the Kelvin resistance device measurement being maintained in electric tool The computer readable program code of motor current；（b）It is configured to determine electronic work based on the torque data from airborne transducer The computer readable program code of the torque output of tool；With（c）Motor electricity using measurement is configured to during tightening operation Flow and transducer torque data dynamic control motor is to utilize at least about resolution of 0.1A in the electric current at least between 1-100A Motor current is adjusted in opereating specification and stops and run motor exporting in terms of realizing accurate fastening so as to thus accurately control Calculation machine readable program code.

Embodiments of the invention can cover the equipment represented by one or more in following scheme.

1st, a kind of handheld cordless fastens electric tool, including：

Housing；

Motor in housing, the motor have the rotor for driving output shaft；

Torque transducer in housing, which is communicated with output shaft；

Dynamic motor control circuit in housing, which is communicated with motor and torque transducer, dynamic motor control electricity Road includes Kelvin resistance device, and the Kelvin resistance device communicates with measuring motor current with motor；With

By the airborne indicator of housing holding, itself and onboard external can contact user interface communication, the user interface band There is at least one load button for being positioned to proximate display, wherein display exhibits are associated from different selectable settings Definition icon, with allow user can selection manipulation parameter, including soft or hard interface architecture and angle or moment of torsion prison Survey.

2nd, a kind of handheld cordless fastens electric tool, including：

Housing with handgun shape, which carries the upper part for being fused to the handle for extending downwardly；

Motor in the upper part of housing, the motor have the rotor for driving output shaft；

Torque transducer in housing, which is communicated with output shaft；

Dynamic motor control circuit in housing, which is communicated with motor and torque transducer, dynamic motor control electricity Road includes Kelvin resistance device and digital Hall switch, and the Kelvin resistance device is communicated with motor to measure motor current, institute State Digital Hall switch to communicate with measuring motor speed with motor；With

The airborne indicator kept by housing, which is positioned to the accessible user interface communication of onboard external, user interface Proximate display is one of allowing user that the instrument of multiple different definition can be selected to construct and target torque value.

3rd, the electric tool as described in scheme 1 or 2, wherein airborne indicator and user interface are located at the upper part of housing On end sections, so as to deviate from output shaft, and wherein user interface includes at least one elastomer input select button, and Wherein instrument also includes the USB input mouth kept by housing.

4th, the electric tool as described in any one in scheme above, wherein airborne indicator show a series of visual inputs Option, the icon that the option band is defined, the icon allow user to select, cancel the ginseng for selecting and adjusting different definition Number, including moment of torsion angle and speed of torque.

5th, the electric tool as described in any one in above scheme, wherein user interface have multiple elastomers spaced apart Load button, including direction navigation pad and selection and cancellation select button.

6th, a kind of handheld cordless fastens electric tool, including：

Housing with handgun shape, which carries the upper part for being fused to the handle for extending downwardly；

Motor in the upper part of housing, the motor have the rotor for driving output shaft；

Torque transducer in housing, which is communicated with output shaft；

Dynamic motor control circuit in housing, which is communicated with motor and torque transducer, dynamic motor control electricity Road includes Kelvin resistance device and digital Hall switch, and the Kelvin resistance device is communicated with motor to measure motor current, institute State Digital Hall switch to communicate with measuring motor speed with motor；With

The airborne indicator kept by housing, which is positioned to the accessible user interface communication of onboard external, user interface Proximate display is one of allowing user that the instrument of multiple different definition can be selected to construct and target torque value.

7th, the electric tool as described in any one in aforementioned schemes, wherein airborne indicator and user interface are located at housing On the end sections of upper part, so as to deviate from output shaft, and wherein user interface includes that the input of at least one elastomer is selected Button, and wherein instrument also includes the USB input mouth kept by housing.

8th, the electric tool as described in any one in scheme above, wherein airborne indicator show a series of visual inputs Option, the icon that the option band is defined, the icon allow user to select, cancel the ginseng for selecting and adjusting different definition Number, including moment of torsion angle and speed of torque.

9th, the electric tool as described in scheme 1, wherein user interface have multiple elastomer load buttons spaced apart, bag Include direction navigation pad and select and cancel select button.

10th, the cordless power tool as any one of aforementioned schemes, wherein motor control circuit include：

Flip-flop circuit plate, which is flatly disposed below motor in the upper part of housing；

Processor circuit board, which is flatly positioned to close to accumulator and logical with flip-flop circuit in the lower part of handle Letter；With

Power circuit board, which is located between flip-flop circuit plate and processor circuit board and prolongs upwards between them Stretch, power circuit board is communicated with processor circuit, wherein power circuit board is with bigger long of the major part than decreased food Degree.

11st, the cordless power tool as any one of aforementioned schemes, wherein motor control circuit are included positioned at handle In power circuit board, wherein power circuit board is with the bigger length of the major part than decreased food, wherein power circuit Plate includes motor drive circuit, and wherein housing includes cooling air flow path, and the path includes the bottom close to handle The air inlet multiple spaced apart in portion, inlet air flow path are configured to guide air stream over-power circuit plate to reach instrument Top section, afterwards from housing discharge.

12nd, the cordless power tool as any one of aforementioned schemes, wherein dynamic motor control circuit are held in So as to provide accurate torque output, wherein closed loop motor control circuit includes small current measurement electricity to closed control circuit in housing Resistance device, the small current measurement resistor are electrically connected with Kelvin resistance device to determine the accurate motor current in all phases, its Middle closed control circuit includes the power circuit board communicated with motor, and power circuit board has switching equipment, and wherein motor With about -150A to about between+150A dynamic range and closed control circuit can at least about 0.1A resolution control Motor current processed.

13rd, the cordless power tool as any one of aforementioned schemes, wherein housing have handgun shape, and which carries and melts The upper part of the handle for extending downwardly is closed, wherein electric tool is accurately to fasten electric tool, wherein motor control circuit bag Elongated power circuit board is included, the power circuit board has a height substantially as the length of handle, and with including storage The lower part of battery interface, wherein power circuit board include the first and second major surfaces, and the major surfaces are erectly located at In handle portion, and the longitudinally spaced unitary metallic radiator opened is carried on each in the first and second major surfaces, use It is arranged at the top of each radiator with facing directly with one another in the switching device of corresponding switching equipment.

14th, the cordless power tool as any one of aforementioned schemes, wherein motor control circuit include processor plate, Trigger plate, power amplifier board, display panel and RF carrier wave plate, all in housing, wherein processor plate is located at the base section of handle Place between power amplifier board and releasable accumulator battery, wherein processor plate includes motor control digital signal processor, horse Up to position analog circuit, phase current sensing circuit, torque signal circuit and power supply, wherein display panel is located at the upper part of housing Rearward end office and communicate with display, wherein RF carrier wave plate is positioned adjacent to display panel to realize wirelessly fastening data Transmission.

15th, a kind of handheld cordless fastens electric tool, including：

Housing；

Motor in housing, motor have the rotor for driving output shaft；

Torque transducer in housing, which is communicated with output shaft；

Multiple Hall elements inside motor；

Dynamic motor control circuit in housing, which is communicated with motor, Hall element and torque transducer；And

By the airborne indicator of housing holding, itself and onboard external can contact user interface communication, the user interface band There is at least one load button for being positioned to proximate display, wherein display exhibits are associated from different selectable settings Definition icon, to allow the user being capable of selection manipulation parameter.

Foregoing describe the present invention and should not be construed as limited to this.Although it have been described that some examples of the present invention Property embodiment, but those skilled in the art substantially do not depart from the present invention novel teachings and advantage in the case of, energy Readily recognize that.Therefore, all these improvement are considered to be comprised in power In the scope of the present invention that profit is limited in requiring.In the claims, if having used device to add function clause, then should be by It is considered to cover the structure for described herein as performing the function, and is not only the equivalent way in structure, also The structure of equivalent.It is to be understood, therefore, that previous contents illustrate the present invention and are not understood as limited to disclosed tool Body embodiment, and be considered as to be included in claims to the improvement of the disclosed embodiments and other embodiments In the range of.The present invention is defined by claim below, and the equivalent way of claim is also contained in which.

Claims (19)

1. a kind of handheld cordless fastens electric tool, including：

Housing；

Motor in housing, the motor have the rotor for driving output shaft；

Torque transducer in housing, which is communicated with output shaft；With

Dynamic motor control circuit in housing, which is communicated with motor and torque transducer, dynamic motor control circuit bag Kelvin resistance device and digital Hall switch are included, the Kelvin resistance device communicates with measuring motor current, the number with motor Word Hall switch communicates with measuring motor speed with motor, wherein motor current alterable at least 100A in operation,

Wherein described Kelvin resistance device includes four terminals, and two terminals are used for current sense and two terminals are used as electric current road Footpath.

2. handheld cordless as claimed in claim 1 fastens electric tool, also includes：

Rechargeable accumulator battery, which is releasably attached to the lower part of electric tool, and wherein accumulator battery is 36V or more Few low tension battery group；And

Multiple Hall elements, which is maintained at the inside of motor and is communicated with motor control circuit, so as to allow angle monitor At least one of or supervision positioning.

3. handheld cordless as claimed in claim 1 fastens electric tool, and wherein dynamic motor control circuit is configured to use Electric current operation motor between 150A and -150A.

4. handheld cordless as claimed in claim 1 fastens electric tool, and wherein housing has handgun shape, and which carries and is fused to The upper part of the handle for extending downwardly, instrument also include the power circuit board in handle, and power circuit board keeps Kelvin Resistor, power circuit board also include at least one high-gain differential current amplifier on power circuit board and multiple 3 node capacitor of low inductance.

5. handheld cordless as claimed in claim 1 fastens electric tool, and wherein housing has handgun shape, and which carries and is fused to The upper part of the handle for extending downwardly, and wherein motor control circuit includes：

Flip-flop circuit plate, its housing upper part middle position below motor；

Processor circuit board, communicates during which is located at the lower part of handle and with flip-flop circuit；With

Power circuit board, which is located between flip-flop circuit plate and processor circuit board and is communicated with processor circuit, wherein Whole length of the length of power circuit board substantially handle, wherein power circuit board include two positioned at power circuit board Integrated radiator multiple spaced apart on major surfaces, each integrated radiator are included in the filling of the corresponding definition of circuit The Heat Conduction Material of the certain volume in region.

6. handheld cordless as claimed in claim 5 fastens electric tool, also includes the switching equipment communicated with motor, and switching sets It is standby to include switching device, the switching device by directly with one another in the face of installed in power circuit board relative to each other two master Want on surface, thus to reduce the heat of radiated emissions and/or generation.

7. handheld cordless as claimed in claim 1 fastens electric tool, and wherein housing has handgun shape, and which carries and is fused to The upper part of the handle for extending downwardly, wherein motor control circuit include the power circuit board in handle, wherein power electricity Whole length of the length of road plate substantially handle, wherein power circuit board include motor drive circuit；And wherein housing Including cooling air flow path, the path includes at least one air inlet of the bottom close to handle, the air Flow path is configured to the top section for guiding air stream over-power circuit plate to reach instrument, afterwards by the top of housing Discharge port on point is discharged from housing.

8. handheld cordless as claimed in claim 1 fastens electric tool, and wherein housing has handgun shape, and which carries and is fused to The upper part of the handle for extending downwardly, wherein motor control circuit include processor circuit board, and the processor circuit board is located at In the bottom of handle, and in the substantially horizontal orientation of power amplifier board is substantially normal to, wherein from processor circuit Electric wire connected up by the inner surface close to handle case body wall, reach the upper part of housing through major surfaces of power amplifier board.

9. handheld cordless as claimed in claim 1 fastens electric tool, and wherein dynamic motor control circuit is held in housing So as to provide accurate torque output, wherein closed loop motor control circuit includes small current measurement resistance to interior closed control circuit Device, the small current measurement resistor are electrically connected with Kelvin resistance device to determine the accurate motor current in all phases, wherein Closed control circuit includes the power circuit board communicated with motor, and power circuit board has switching equipment, and wherein motor tool Have -150A to the dynamic range and closed control circuit between+150A can at least 0.1A resolution control motor electricity Stream.

10. handheld cordless as claimed in claim 1 fastens electric tool, and wherein housing has handgun shape, and which carries fusion To the upper part of the handle for extending downwardly, wherein electric tool is accurately to fasten electric tool, and wherein motor control circuit includes Elongated power circuit board, the power circuit board have a height substantially as the length of handle, and with including electric power storage The lower part of pond interface, wherein power circuit board include the first and second major surfaces, and the major surfaces are erectly located at handss In handle portion, and the longitudinally spaced unitary metallic radiator opened is carried on each in the first and second major surfaces, be used for The switching device of corresponding switching equipment is arranged at the top of each radiator in the face of ground directly with one another.

11. handheld cordless as claimed in claim 10 fasten electric tool, and wherein power circuit board includes high-gain differential electrical Stream amplifier, and wherein power circuit board includes the first and second power switching elements, and the switching device is substantially each other It is located in the relative main sides of power circuit board directly facing ground.

12. handheld cordless as claimed in claim 1 fasten electric tool, and wherein motor control circuit includes power circuit board, The power circuit board separates thus to isolate or reduce the phase of current switching noise and digital circuit with the digital circuit of whole Interaction, and wherein power circuit board includes motor drive circuit, and the motor drive circuit is included with for motor The power MOSFET of the gate driver of each phase in three-phase, for tool interior whole circuit board energy supplies 5V power supplys and be used for The 12V supercharging power supplys of gate driver.

13. handheld cordless as claimed in claim 1 fasten electric tool, and wherein housing has handgun shape, and which carries fusion To the cylindrical upper section point of the handle for extending downwardly, wherein motor control circuit include processor plate, trigger plate, power amplifier board, Display panel and RF carrier wave plate, all in housing, wherein processor plate is located at the base portion office of handle and in power amplifier board and can Between the accumulator battery of release, wherein processor plate includes motor control digital signal processor, motor position analog circuit, phase Current sensing circuit, torque signal circuit and power supply, wherein display panel are located at the rearward end office of the cylindrical upper section point of housing And communicate with the display of the exterior visual with keyboard user interface, wherein RF carrier wave plate be positioned adjacent to display panel with Realize wireless fastening data transfer.

14. handheld cordless fastening electric tools as claimed in claim 1, the circuit overcurrent protection being additionally included in housing, Overcurrent circuit includes a pair of dual comparators, and the comparator is monitored and scales size of current, both positive and negative, wherein excessively electric The scaling electric current monitored is compared with predetermined trip value and is configured to be in or super when the scaling electric current of monitoring by current circuit Cause motor pulsewidth modulation when crossing predetermined trip value（PWM）Signal is skipped a circulation and thus reduces current needs, Ran Houyun Perhaps pwm signal after over-current condition alleviation enabling so that electricity was thus avoided the occurrence of during active tightening operation Stream situation and without the need for terminate fastening.

The method that a kind of 15. operations accurately fasten cordless power tool, including：

Cordless hand-held electric tool is provided, which has rechargeable battery feed；

Using the Kelvin resistance device measurement motor current being maintained in electric tool；

The torque output of electric tool is determined based on the torque data from airborne transducer；

Target workpiece is fastened to the moment of torsion of definition using cordless power tool；And

During fastening steps using measurement motor current and transducer torque data dynamic control motor, with 1-100A it Between current practice scope on the resolution adjustment motor current of at least 0.1A, stop and run so as to thus accurately control Motor exports to realize accurate fastening.

16. methods as claimed in claim 15, the fastening being also associated with least 100 single tightening operations including storage Then fastening value is wirelessly relayed to remote equipment by value.

17. methods as claimed in claim 15, also include filling region from electric tool using the copper on power circuit board Handle power amplifier board on power switch dissipate heat.

18. methods as claimed in claim 15, also include the dual comparator monitoring overcurrent using monitoring scaling size of current Situation, it is positive and negative, and the scaling electric current of monitoring is compared to be in the scaling electric current monitored with predetermined trip value Or cause motor pulsewidth modulation when exceeding predetermined trip value（PWM）Signal skips a circulation to reduce current needs, Ran Houyun Perhaps pwm signal after over-current condition alleviation enabling so that electricity was thus avoided the occurrence of during active tightening operation Stream situation and without the need for terminate fastening.

A kind of 19. handheld cordless fasten electric tool, including：

Housing；

Motor in housing, motor have the rotor for driving output shaft；

Torque transducer in housing, which is communicated with output shaft；

Multiple Hall elements inside motor；

Dynamic motor control circuit in housing, which is communicated with motor and torque transducer, dynamic motor control circuit bag Kelvin resistance device is included, the Kelvin resistance device communicates with measuring motor current with motor；And

By the airborne indicator of housing holding, itself and onboard external can contact user interface communication, and the user interface is with extremely A few load button for being positioned to proximate display, wherein display exhibits and determining that different selectable settings is associated Adopted icon, with allow user can selection manipulation parameter, including soft or hard interface architecture and angle or torque monitoring,

Wherein described Kelvin resistance device includes four terminals, and two terminals are used for current sense and two terminals are used as electric current road Footpath.