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WO2021095470A1 - Outil électrique, procédé de commande et programme - Google Patents

Outil électrique, procédé de commande et programme Download PDF

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Publication number
WO2021095470A1
WO2021095470A1 PCT/JP2020/039596 JP2020039596W WO2021095470A1 WO 2021095470 A1 WO2021095470 A1 WO 2021095470A1 JP 2020039596 W JP2020039596 W JP 2020039596W WO 2021095470 A1 WO2021095470 A1 WO 2021095470A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
tightening member
looseness
control unit
power tool
Prior art date
Application number
PCT/JP2020/039596
Other languages
English (en)
Japanese (ja)
Inventor
中原　雅之
尊大 植田
隆司 草川
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2019207503A external-priority patent/JP7296586B2/ja
Priority claimed from JP2019207504A external-priority patent/JP7296587B2/ja
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Publication of WO2021095470A1 publication Critical patent/WO2021095470A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B25B21/02—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose with means for imparting impact to screwdriver blade or nut socket

Definitions

  • the present disclosure relates generally to power tools, control methods, and programs, and more specifically to power tools that control motors using vector control, power tool control methods, and programs.
  • Patent Document 1 discloses a tightening tool that rotates an anvil when a hammer collides with the anvil.
  • the control board of the tightening tool described in Patent Document 1 incorporates a sound receiving portion that receives the collision sound between the hammer and the anvil.
  • the microcomputer mounted on the control board drives the motor in the reverse direction, which is the direction in which the nuts are loosened, the motor stops after a predetermined time after the sound receiving unit stops detecting the collision between the hammer and the anvil.
  • the operation of the motor and the sound receiving unit is controlled based on the control program. As a result, the motor automatically stops before the nuts are completely removed from the bolts and the like.
  • the present disclosure has been made in view of the above reasons, and an object thereof is to improve the usability of the power tool.
  • the power tool includes a motor, an operation unit, a control unit, an output shaft, and a transmission mechanism.
  • the operation unit receives an operation from the user.
  • the control unit uses vector control to control the rotational operation of the motor in response to an operation on the operation unit.
  • the output shaft is connected to the tip tool.
  • the tip tool rotates the tightening member.
  • the transmission mechanism transmits the rotational force of the motor to the output shaft.
  • the control unit has a looseness detection function. In the looseness detection function, the control unit has a torque current and an exciting current supplied to the motor when the tightening member tightened to the object is loosened from the object by the tip tool. Looseness of the tightening member is detected based on at least one of them. When the control unit detects the looseness of the tightening member, the control unit reduces the speed of the motor or stops the motor.
  • the control method is a power tool control method.
  • the power tool includes a motor, an operation unit, an output shaft, and a transmission mechanism.
  • the operation unit receives an operation from the user.
  • the output shaft is connected to the tip tool.
  • the tip tool rotates the tightening member.
  • the transmission mechanism transmits the rotational force of the motor to the output shaft.
  • the control method includes controlling the rotational operation of the motor in response to an operation on the operation unit by utilizing vector control.
  • the control method is based on at least one of a torque current and an exciting current supplied to the motor when the tightening member tightened to the object is loosened from the object by the tip tool. Includes detecting looseness of the tightening member.
  • the control method includes reducing the speed of the motor or stopping the motor when the loosening of the tightening member is detected.
  • the program according to one aspect of the present disclosure is a program for causing one or more processors to execute the control method.
  • FIG. 1 is a block diagram of a power tool according to an embodiment.
  • FIG. 2 is a schematic view of the same power tool.
  • FIG. 3 is an explanatory diagram of vector control by the control unit of the same power tool.
  • FIG. 4 is a graph showing an operation example of the same power tool.
  • FIG. 5 is a flowchart showing a control method of the same power tool.
  • FIG. 6 is a flowchart showing a control method of the same power tool.
  • FIG. 7 is a graph showing an operation example of the power tool according to the modified example.
  • the power tool 1 according to the embodiment will be described with reference to the drawings.
  • the following embodiments are only one of the various embodiments of the present disclosure.
  • the following embodiments can be variously modified according to the design and the like as long as the object of the present disclosure can be achieved.
  • each figure described in the following embodiment is a schematic view, and the ratio of the size and the thickness of each component in the figure does not necessarily reflect the actual dimensional ratio. ..
  • the power tool 1 includes a motor 15, an operation unit 29, a control unit 4, an output shaft 21, and a transmission mechanism 18.
  • the operation unit 29 accepts operations from the user.
  • the control unit 4 uses vector control to control the rotational operation of the motor 15 in response to an operation on the operation unit 29.
  • the output shaft 21 is connected to a tip tool 28 that rotates the tightening member 30.
  • the transmission mechanism 18 transmits the rotational force of the motor 15 to the output shaft 21.
  • the tightening member 30 is a member that is tightened against the object 100.
  • the tightening member 30 is, for example, a bolt, a nut, a screw (wood screw or the like), a hex lobe, or the like.
  • the tip tool 28 is, for example, a socket bit, a wrench bit, a driver bit, a hex lobe bit, or the like.
  • the object 100 is, for example, wood, a wall, a bolt for a nut, or the like.
  • the control unit 4 has a looseness detection function.
  • the looseness detection function is at least one of torque current (q-axis current) and excitation current (d-axis current) when the tightening member 30 tightened to the object 100 is loosened from the object 100 by the tip tool 28. Based on one of them, it is a function of detecting looseness of the tightening member 30. More specifically, in the present embodiment, the control unit 4 detects the looseness of the tightening member 30 based on the exciting current (d-axis current). When the control unit 4 detects the looseness of the tightening member 30 by the looseness detection function, the control unit 4 reduces the speed of the motor 15 or stops the motor 15.
  • loosening of the tightening member 30 from the object 100 is performed based on at least one of the torque current and the exciting current supplied to the motor 15 (here, mainly the exciting current). Detected. Therefore, according to the power tool 1 of the present embodiment, the certainty of detecting looseness of the tightening member 30 such as a screw is improved, and the usability of the power tool 1 can be improved.
  • the torque current value and the exciting current value are also used for vector control of the motor 15. Therefore, it is not necessary to newly add a sensor or the like for detecting looseness, and it is possible to reduce the size and cost of the power tool 1.
  • the power tool 1 of the present embodiment will be described in more detail with reference to the drawings.
  • the power tool 1 of this embodiment is a so-called impact tool.
  • the impact tool is used as, for example, an impact driver, a hammer drill, an impact drill, an impact drill driver or an impact wrench.
  • an impact driver a hammer drill
  • an impact drill a hammer drill
  • an impact drill driver a hammer drill
  • an impact drill driver a so-called impact wrench
  • a case where the power tool 1 is used as an impact driver will be described.
  • the power tool 1 includes a motor 15, an output shaft 21, a transmission mechanism 18, a socket (chuck) 23, a tip tool 28, a power supply unit 32, and an operation unit 29.
  • a control unit 4 an inverter circuit unit 51, and a forward / reverse changeover switch 9 are provided.
  • the motor 15 is a brushless motor.
  • the motor 15 of the present embodiment is a synchronous motor, and more specifically, a permanent magnet synchronous motor (PMSM (Permanent Magnet Synchronous Motor)).
  • the motor 15 includes a rotor 13 having a permanent magnet 131 and a stator 14 having a coil 141.
  • the rotor 13 has a rotating shaft 16 that outputs rotational power.
  • the rotor 13 rotates with respect to the stator 14 due to the electromagnetic interaction between the coil 141 and the permanent magnet 131.
  • the output shaft 21 is a portion that rotates by a driving force transmitted from the motor 15 via the transmission mechanism 18.
  • the socket 23 is fixed to the output shaft 21.
  • a tip tool 28 is detachably attached to the socket 23.
  • the tip tool 28 rotates together with the output shaft 21.
  • the electric tool 1 rotates the tip tool 28 by rotating the output shaft 21 by the driving force of the motor 15. That is, the electric tool 1 is a tool that drives the tip tool 28 with the driving force of the motor 15.
  • the tip tool 28 according to the application is attached to the socket 23 and used.
  • the tip tool 28 may be directly attached to the output shaft 21.
  • the tightening member 30 can be tightened to the object 100 by rotating the tip tool 28 in the forward rotation direction while the tip tool 28 is in contact with the tightening member 30 (bolts, screws, etc.). Further, while the tip tool 28 is in contact with the tightening member 30 (bolts, screws, etc.), the tip tool 28 rotates in the reverse direction (opposite to the normal rotation direction) to target the tightening member 30. It can be loosened from the object 100.
  • the power tool 1 of the present embodiment is provided with the socket 23 so that the tip tool 28 can be replaced according to the application, but it is not essential that the tip tool 28 can be replaced.
  • the power tool 1 may be a tool that can be used only by a specific tip tool 28.
  • the tip tool 28 of this embodiment is a driver bit for tightening or loosening the tightening member 30 (screw). More specifically, the tip tool 28 is a Phillips driver bit having a tip 280 formed in a + (plus) shape. That is, the output shaft 21 holds a driver bit for tightening or loosening a screw, and receives power from the motor 15 to rotate.
  • the transmission mechanism 18 has an impact mechanism 17, a planetary gear mechanism 25, and a drive shaft 22.
  • the transmission mechanism 18 transmits the rotational power of the rotary shaft 16 of the motor 15 to the output shaft 21. More specifically, the transmission mechanism 18 adjusts the rotational power of the rotary shaft 16 of the motor 15 and outputs it as the rotation of the output shaft 21.
  • the rotating shaft 16 of the motor 15 is connected to the planetary gear mechanism 25.
  • the drive shaft 22 is connected to the planetary gear mechanism 25 and the impact mechanism 17.
  • the planetary gear mechanism 25 decelerates the rotational power of the rotating shaft 16 of the motor 15 at a predetermined reduction ratio and outputs it as the rotation of the drive shaft 22.
  • the impact mechanism 17 is connected to the output shaft 21.
  • the impact mechanism 17 transmits the rotational power of the motor 15 (rotary shaft 16) received via the planetary gear mechanism 25 and the drive shaft 22 to the output shaft 21.
  • the impact mechanism 17 performs a striking operation according to the magnitude of the torque applied to the output shaft 21.
  • the impact mechanism 17 applies a striking force to the output shaft 21 in the striking operation.
  • the impact mechanism 17 includes a hammer 19, an anvil 20, and a spring 24.
  • the hammer 19 is attached to the drive shaft 22 via a cam mechanism.
  • the anvil 20 is in contact with the hammer 19 and rotates integrally with the hammer 19.
  • the spring 24 pushes the hammer 19 toward the anvil 20.
  • the anvil 20 is integrally formed with the output shaft 21.
  • the anvil 20 may be formed separately from the output shaft 21 and fixed to the output shaft 21.
  • the impact mechanism 17 continuously rotates the output shaft 21 by the rotational power of the motor 15. That is, in this case, the drive shaft 22 and the hammer 19 connected by the cam mechanism rotate integrally, and the hammer 19 and the anvil 20 rotate integrally, so that the output shaft integrally formed with the anvil 20 is formed. 21 rotates with the drive shaft 22.
  • the impact mechanism 17 when a load of a predetermined size or more is applied to the output shaft 21, the impact mechanism 17 performs a striking operation.
  • the impact mechanism 17 converts the rotational power of the motor 15 into a pulsed torque to generate a striking force. That is, in the striking motion, the hammer 19 retracts against the spring 24 (away from the anvil 20) while being regulated by the cam mechanism between the hammer 19 and the drive shaft 22.
  • the connection between the hammer 19 and the anvil 20 is broken due to the retreat of the hammer 19, the hammer 19 advances while rotating (moves to the output shaft 21 side) and applies a striking force in the rotational direction to the anvil 20 to output. Rotate the shaft 21.
  • the impact mechanism 17 applies a rotational impact around the shaft (output shaft 21) to the output shaft 21 via the anvil 20.
  • the hammer 19 repeatedly applies a striking force in the rotational direction to the anvil 20. Each time the hammer 19 moves backward and forward, a striking force is generated once.
  • the power supply unit 32 supplies the current that drives the motor 15.
  • the power supply unit 32 is, for example, a battery pack.
  • the power supply unit 32 includes, for example, one or more secondary batteries.
  • the operation unit 29 is provided with a trigger switch.
  • the on / off of the motor 15 can be switched by pulling the trigger switch.
  • the rotation speed of the motor can be adjusted by the pull-in amount of the operation of pulling the trigger switch.
  • the rotation speed of the output shaft 21 can be adjusted by the pull-in amount of the operation of pulling the trigger switch.
  • the larger the pull-in amount the faster the rotation speed of the motor 15 and the output shaft 21.
  • the control unit 4 rotates or stops the motor 15 and the output shaft 21 according to the pull-in amount of the operation of pulling the trigger switch, and also controls the rotation speed of the motor 15 and the output shaft 21.
  • the tip tool 28 is connected to the output shaft 21 via the socket 23. Then, the rotation speed of the tip tool 28 is controlled by controlling the rotation speed of the motor 15 and the output shaft 21 by operating the trigger switch.
  • the trigger switch includes a multi-step switch or a stepless switch (variable resistor) that outputs an operation signal.
  • the operation signal changes according to the operation amount (pull-in amount) to the trigger switch.
  • the trigger switch determines the target value ⁇ 1 * of the speed (rotation speed) of the motor 15 according to the operation signal and gives it to the control unit 4.
  • the control unit 4 controls the rotation of the motor 15 based on the target value ⁇ 1 * received from the trigger switch.
  • the forward / reverse changeover switch 9 switches the rotation direction of the output shaft 21 between the forward rotation direction and the reverse rotation direction opposite to the forward rotation direction.
  • the normal rotation direction is the direction in which the tightening member 30 is tightened to the object 100 (the direction in which the tightening member 30 rotates clockwise when viewed from the head side of the tightening member 30).
  • the reverse direction is a direction in which the tightening member 30 is loosened from the object 100 (a direction in which the tightening member 30 rotates counterclockwise when viewed from the head side of the tightening member 30).
  • the forward / reverse changeover switch 9 switches the rotation direction of the rotation shaft 16 of the motor 15.
  • the forward / reverse changeover switch 9 switches the rotation direction of the rotation shaft 16 of the motor 15 between forward rotation and reverse rotation, for example, by switching the direction of the current supplied from the power supply unit 32 to the motor 15.
  • the inverter circuit unit 51 is a circuit for driving the motor 15.
  • the inverter circuit unit 51 the voltage V dc from the power supply unit 32, and converts the driving voltage V a of the motor 15.
  • the driving voltage V a is a three-phase AC voltage including a U-phase voltage, V-phase voltage and the W-phase voltage.
  • the U-phase voltage is represented by v u
  • the V-phase voltage is represented by v v
  • the W-phase voltage is represented by v w, if necessary.
  • Each voltage v u , v v , v w is a sinusoidal voltage.
  • the inverter circuit unit 51 can be realized by using a PWM inverter and a PWM converter.
  • the PWM converter pulses according to the target value (voltage command value) v u * , v v * , v w * of the drive voltage V a (U-phase voltage v u , V-phase voltage v v , W-phase voltage v w). Generates a width-modulated PWM signal.
  • the PWM inverter drives the motor 15 by applying a drive voltage Va (v u, v v , v w ) corresponding to the PWM signal to the motor 15. More specifically, the PWM inverter includes a half-bridge circuit for three phases and a driver.
  • the PWM inverter by the driver to turn on / off the switching element in each half bridge circuit in accordance with the PWM signal, * the voltage command value v u, v v *, v w * driving voltage in accordance with V a (v u, v v , v w ) is given to the motor 15.
  • the motor 15 the driving voltage V a (v u, v v , v w) drive current corresponding to the supplied.
  • the drive current includes a U-phase current i u , a V-phase current i v , and a W-phase current i w .
  • the U-phase current i u , the V-phase current i v , and the W-phase current i w are the current of the U-phase armature winding and the V-phase armature winding in the stator 14 of the motor 15. And the current of the W-phase armature winding.
  • the control unit 4 obtains the command value ⁇ 2 * of the speed of the motor 15. In particular, the control unit 4 obtains a command value ⁇ 2 * of the speed of the motor 15 based on the target value ⁇ 1 * of the speed of the motor 15 given by the operation unit 29.
  • the control unit 4, the target value of the driving voltage V a as the speed of the motor 15 matches the command value omega 2 * (voltage command value) v u *, v v * , and determines the v w * Inverter It is given to the circuit unit 51.
  • Control Unit 4 controls the motor 15 by using vector control.
  • Vector control is a motor control method that decomposes the motor current into a current component (torque current) that generates torque (torque force) and a current component (excitation current) that generates magnetic flux, and controls each current component independently. It is a kind of.
  • FIG. 3 is an analysis model diagram of the motor 15 in vector control.
  • FIG. 3 shows U-phase, V-phase, and W-phase armature winding fixed shafts.
  • vector control a rotating coordinate system that rotates at the same speed as the rotation speed of the magnetic flux created by the permanent magnet 131 provided in the rotor 13 of the motor 15 is taken into consideration.
  • the direction of the magnetic flux created by the permanent magnet 131 is taken as the d-axis
  • the controlled rotating axis corresponding to the d-axis is taken as the ⁇ -axis.
  • the rotating coordinate system corresponding to the real axis is a coordinate system in which the d-axis and the q-axis are selected as the coordinate axes, and the coordinate axes are called the dq-axis.
  • the control rotating coordinate system is a coordinate system in which the ⁇ -axis and the ⁇ -axis are selected as the coordinate axes, and the coordinate axes are called the ⁇ -axis.
  • the dq axis is rotating, and its rotation speed is represented by ⁇ .
  • the ⁇ axis is also rotating, and its rotation speed is represented by ⁇ e.
  • the angle (phase) of the d axis as seen from the U-phase armature winding fixed axis is represented by ⁇ .
  • the angle (phase) of the ⁇ axis as seen from the U-phase armature winding fixed axis is represented by ⁇ e.
  • the angles represented by ⁇ and ⁇ e are angles in electrical angles, which are also commonly referred to as rotor positions or magnetic pole positions.
  • the rotation speed represented by ⁇ and ⁇ e is the angular velocity at the electric angle.
  • ⁇ or ⁇ e may be referred to as a rotor position
  • ⁇ or ⁇ e may be simply referred to as a velocity.
  • the control unit 4 basically performs vector control so that ⁇ and ⁇ e match.
  • ⁇ and ⁇ e coincide with each other, the d-axis and the q-axis coincide with the ⁇ -axis and the ⁇ -axis, respectively.
  • the gamma-axis component and [delta] -axis component of the drive voltage V a respectively expressed in gamma-axis voltage v gamma and [delta] -axis voltage v [delta], gamma-axis component and [delta] axis of the drive current
  • the components are represented by the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ , respectively.
  • the voltage command values representing the target values of the ⁇ -axis voltage v ⁇ and the ⁇ -axis voltage v ⁇ are represented by the ⁇ -axis voltage command value v ⁇ * and the ⁇ -axis voltage command value v ⁇ * , respectively.
  • the current command values representing the target values of the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ are represented by the ⁇ -axis current command value i ⁇ * and the ⁇ -axis current command value i ⁇ * , respectively.
  • the values of the ⁇ -axis voltage v ⁇ and the ⁇ -axis voltage v ⁇ follow the ⁇ -axis voltage command value v ⁇ * and the ⁇ -axis voltage command value v ⁇ * , respectively, and the ⁇ -axis current i ⁇ and the ⁇ -axis current the value of i [delta] is to follow the gamma-axis current value i gamma * and [delta] -axis current value i [delta] *, respectively, performs the vector control.
  • the control unit 4 includes a computer system having one or more processors and memories.
  • the processor of the computer system executes the program recorded in the memory of the computer system, at least a part of the functions of the control unit 4 are realized.
  • the program may be recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.
  • the control unit 4 includes a coordinate converter 411, 412, a subtractor 421, 422, 423, a current control unit 43, a magnetic flux control unit 44, a speed control unit 45, and a position / speed. It includes an estimation unit 46, a step-out detection unit 47, and a command value generation unit 48.
  • the coordinate converter 411, subtractor 421, 422, 423, current control unit 43, magnetic flux control unit 44, speed control unit 45, position / speed estimation unit 46, step-out detection unit 47, and command value generation unit 48 Does not necessarily indicate a substantive composition. These show the functions realized by the control unit 4. Therefore, each element of the control unit 4 can freely use each value generated in the control unit 4.
  • the power tool 1 includes a plurality of current sensors 61 and 62 (two in FIG. 1).
  • Each of the plurality of current sensors 61, 62 includes, for example, a Hall element current sensor or a shunt resistance element.
  • the plurality of current sensors 61 and 62 measure the current supplied from the power supply unit 32 to the motor 15 via the inverter circuit unit 51.
  • the plurality of current sensors 61, 62 measure the current of at least two phases. In FIG. 1, the current sensor 61 measures the U-phase current i u , and the current sensor 62 measures the V-phase current i v .
  • the W-phase current i w can be obtained from the U-phase current i u and the V-phase current i v.
  • the coordinate converter (first coordinate converter) 411 transforms the U-phase current i u and the V-phase current i v on the ⁇ ⁇ axis based on the rotor position ⁇ e , thereby performing the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ .
  • ⁇ -axis current i ⁇ is calculated and output.
  • the ⁇ -axis current i ⁇ is an exciting current corresponding to the d-axis current and hardly contributes to torque.
  • the ⁇ -axis current i ⁇ is a current that corresponds to the q-axis current and greatly contributes to torque.
  • the rotor position ⁇ e is calculated by the position / velocity estimation unit 46.
  • the subtractor 423 refers to the velocity ⁇ e and the command value ⁇ 2 *, and calculates the velocity deviation ( ⁇ 2 * ⁇ e) between the two.
  • the velocity ⁇ e is calculated by the position / velocity estimation unit 46.
  • the speed control unit 45 calculates and outputs the ⁇ -axis current command value i ⁇ * so that the speed deviation ( ⁇ 2 * ⁇ e ) converges to zero by using proportional integration control or the like.
  • the magnetic flux control unit 44 determines the ⁇ -axis current command value i ⁇ * and outputs it to the subtractor 421.
  • the ⁇ -axis current command value i ⁇ * can take various values depending on the type of vector control executed by the control unit 4 and the speed ⁇ of the motor 15. For example, when the maximum torque is controlled with the d-axis current set to zero, the ⁇ -axis current command value i ⁇ * is set to 0. Further, when the d-axis current is passed to weaken the magnetic flux control, the ⁇ -axis current command value i ⁇ * is set to a negative value according to the velocity ⁇ e. In the following description, the case where the ⁇ -axis current command value i ⁇ * is 0 is dealt with.
  • the subtractor 421 subtracts the ⁇ -axis current i ⁇ output from the coordinate converter 411 from the ⁇ -axis current command value i ⁇ * output from the magnetic flux control unit 44 to reduce the current error (i ⁇ * -i ⁇ ). calculate.
  • the subtractor 422 subtracts the ⁇ -axis current i ⁇ output from the coordinate converter 411 from the value i ⁇ * output from the speed control unit 45, and calculates the current error (i ⁇ * ⁇ i ⁇ ).
  • the current control unit 43 performs current feedback control using proportional integration control or the like so that both the current error (i ⁇ * ⁇ i ⁇ ) and (i ⁇ * ⁇ i ⁇ ) converge to zero.
  • non-interference control for eliminating interference between the ⁇ axis and the ⁇ axis is used so that both (i ⁇ * -i ⁇ ) and (i ⁇ * -i ⁇ ) converge to zero.
  • the coordinate converter (second coordinate converter) 412 has ⁇ -axis voltage command values v ⁇ * and ⁇ given by the current control unit 43 based on the rotor position ⁇ e output from the position / speed estimation unit 46.
  • the voltage command values (v u * , v v * and v w * ) are calculated and output.
  • the position / velocity estimation unit 46 estimates the rotor position ⁇ e and the velocity ⁇ e . More specifically, the position / velocity estimation unit 46 uses all or a part of i ⁇ and i ⁇ from the coordinate converter 411 and v ⁇ * and v ⁇ * from the current control unit 43 to be proportional. Perform integration control, etc. The position / velocity estimation unit 46 estimates the rotor position ⁇ e and the velocity ⁇ e so that the axis error ( ⁇ e ⁇ ) between the d-axis and the ⁇ -axis converges to zero.
  • Various methods have been conventionally proposed as methods for estimating the rotor position ⁇ e and the velocity ⁇ e , and the position / velocity estimation unit 46 can adopt any known method.
  • the step-out detection unit 47 determines whether or not the motor 15 is step-out. More specifically, the step-out detection unit 47 determines whether or not the motor 15 is step-out based on the magnetic flux of the motor 15.
  • the magnetic flux of the motor 15 is obtained from the d-axis current, the q-axis current, the ⁇ -axis voltage command value v ⁇ *, and the ⁇ -axis voltage command value v ⁇ * . If the amplitude of the magnetic flux of the motor 15 is less than the threshold value, the step-out detection unit 47 may determine that the motor 15 is step-out.
  • the threshold value is appropriately determined based on the amplitude of the magnetic flux generated by the permanent magnet of the motor 15.
  • Various methods have been conventionally proposed as the step-out detection method, and the step-out detection unit 47 can adopt any known method.
  • the command value generation unit 48 is a portion of the control unit 4 that obtains the command value ⁇ 2 * of the speed of the motor 15.
  • the command value generation unit 48 obtains the command value ⁇ 2 * based on the target value ⁇ 1 * received from the operation unit 29.
  • the command value generation unit 48 has a normal mode and a low speed mode as operation modes.
  • the command value generation unit 48 sets the target value ⁇ 1 * received from the operation unit 29 as the command value ⁇ 2 * .
  • the command value ⁇ 2 * coincides with the target value ⁇ 1 *.
  • the command value generation unit 48 determines the command value ⁇ 2 * based on the target value ⁇ 1 * and the predetermined upper limit value.
  • the command value generating unit 48 receives when the target value omega 1 * is less than the upper limit value, a command value omega 2 *, using the target value omega 1 *.
  • the command value generation unit 48 uses the upper limit value as the command value ⁇ 2 *.
  • the command value generation unit 48 limits the command value ⁇ 2 * to the upper limit value or less in the low speed mode. Therefore, in the low speed mode, the speed (angular velocity) of the motor 15 is limited to the upper limit value or less.
  • the command value generation unit 48 sets the operation mode based on the rotation direction of the output shaft 21 set by the forward / reverse changeover switch 9.
  • command value generation unit 48 operates in the normal mode when the rotation direction of the output shaft 21 is set to the forward rotation direction by the forward / reverse changeover switch 9.
  • the command value generation unit 48 sets the operation mode based on the detection result by the looseness detection function described below. Switch. Specifically, the command value generation unit 48 operates in the normal mode before detecting the looseness of the tightening member 30 by the looseness detection function, and shifts to the low speed mode when the looseness of the tightening member 30 is detected. In other words, before detecting the looseness of the tightening member 30, the control unit 4 controls the operation of the motor 15 according to the amount of operation on the operation unit 29 (trigger switch), and detects the looseness of the tightening member 30. Then, the speed of the motor 15 is limited to a predetermined upper limit value or less. The control unit 4 of the present embodiment enables the looseness detection function only when the rotation direction of the tip tool 28 is set to the reverse direction by the forward / reverse changeover switch 9.
  • the looseness detection function is a function for detecting that the tightening member 30 to be worked is loosened from the object 100 when the rotation direction of the output shaft 21 is set to the reverse direction.
  • control unit 4 determines the tightening member 30 based on at least one of the ⁇ -axis current i ⁇ (that is, torque current) and the ⁇ -axis current i ⁇ (that is, exciting current) obtained by the coordinate converter 411. It is possible to detect looseness from the object 100.
  • the control unit 4 of the present embodiment detects looseness of the tightening member 30 from the object 100, particularly based on the ⁇ -axis current i ⁇ (excitation current).
  • FIG. 4 shows an outline of changes in the ⁇ -axis current i ⁇ (torque current) and changes in the ⁇ -axis current i ⁇ (excitation current) when the tightening member 30 is loosened from the object 100 by the power tool 1.
  • the motor 15 starts the operation at the time point t0
  • the impact mechanism 17 starts the striking operation at the time point t1.
  • the tightening member 30 is loosened and the load applied to the output shaft 21 is reduced, so that the impact mechanism 17 ends the striking operation.
  • the striking operation by the impact mechanism 17 is seen as a vibration of the current value as shown in FIG. 4 when viewed in terms of the ⁇ -axis current i ⁇ (excitation current).
  • the load applied to the rotating shaft 16 of the motor 15 gradually increases while the hammer 19 retracts. Then, when the connection between the hammer 19 and the anvil 20 is disengaged, the load applied to the rotating shaft 16 of the motor 15 is reduced.
  • the control unit 4 controls so that the rotor position ⁇ on the dq axis and the rotor position ⁇ e on the ⁇ axis coincide with each other. Therefore, when the load applied to the rotating shaft 16 of the motor 15 increases or decreases, the control unit 4 controls so as to compensate for the difference between ⁇ and ⁇ e caused by this, so that the measured value of the ⁇ -axis current i ⁇ Increases or decreases. Specifically, immediately after the load applied to the motor 15 becomes small, the measured value of the ⁇ -axis current i ⁇ increases and becomes a positive value, and at the moment when the load applied to the motor 15 becomes large, the ⁇ -axis current i The measured value of ⁇ decreases to a negative value.
  • the control unit 4 of the present embodiment detects the start and end of the striking operation of the impact mechanism 17 by detecting the start and end of the vibration of the ⁇ -axis current i ⁇ (exciting current). Then, the control unit 4 indirectly detects the looseness of the tightening member 30 when the impact mechanism 17 finishes the striking operation. In short, the control unit 4 detects the looseness of the tightening member 30 based on the amplitude of the exciting current in the looseness detection function. More specifically, in the looseness detection function, the control unit 4 sets the amplitude of the ⁇ -axis current i ⁇ (for example, 1/2 of the difference between the maximum value and the minimum value within a predetermined unit time) and a predetermined threshold value. Make a comparison. Then, when the amplitude of the ⁇ -axis current i ⁇ becomes lower than the threshold value from the state where the amplitude becomes lower than the threshold value, it is determined that the tightening member 30 has loosened.
  • the control unit 4 detects that the tightening member 30 has loosened by detecting that the ⁇ -axis current i ⁇ has fallen below the threshold value Th1 at the time point t3. More specifically, the control unit 4 compares the ⁇ -axis current i ⁇ with the threshold Th1 and detects that the absolute value of the ⁇ -axis current i ⁇ once exceeds the threshold Th1 and then falls below the threshold Th1. As a result, looseness of the tightening member 30 is detected.
  • control unit 4 for example, [delta] decreasing rate axis current i [delta] (an average value of [delta] -axis current i [delta] in the first period, [delta] axis in the second period after the first period Looseness of the tightening member 30 may be detected based on the rate of change from the average value of the current i ⁇ .
  • the striking operation by the impact mechanism 17 has a current value as shown in FIG. 4 when viewed in terms of the ⁇ -axis current i ⁇ (torque current). Appears as vibration. Specifically, immediately after the load applied to the motor 15 becomes small, the measured value of the ⁇ -axis current i ⁇ decreases, and at the moment when the load applied to the motor 15 increases, the measured value of the ⁇ -axis current i ⁇ decreases. To increase.
  • control unit 4 detects the end of the striking operation of the impact mechanism 17 by detecting the end of the vibration of the ⁇ -axis current i ⁇ (torque current), and based on this, loosens the tightening member 30. It can also be detected indirectly.
  • control unit 4 may detect the looseness of the tightening member 30 based on the torque current supplied to the motor 15 in the looseness detection function.
  • the control unit 4 may detect looseness of the tightening member 30 based on the logical sum of the detection result based on the exciting current and the detection result based on the torque current, or the control unit 4 may detect the looseness of the tightening member 30 based on the logical product. Looseness may be detected. The control unit 4 may detect the looseness of the tightening member 30 based only on the detection result based on the exciting current, or detect the looseness of the tightening member 30 based only on the detection result based on the torque current. You may.
  • the command value generation unit 48 detects the looseness of the tightening member 30 by the looseness detection function, the command value generation unit 48 shifts from the normal mode to the low speed mode.
  • the speed of the motor 15 is limited to the upper limit value or less. Therefore, when the tightening member 30 is loosened, the speed of the motor 15 is reduced before the tightening member 30 is completely separated from the object 100. Therefore, it is possible to prevent a situation in which the tightening member 30 falls off from the object 100 and the tightening member 30 is lost, for example.
  • the control unit 4 may stop the motor 15 when it detects that the tightening member 30 is loose. In this case, the occurrence of a situation such as loss of the tightening member 30 can be further suppressed.
  • control unit 4 of the power tool 1 may be realized by a control method of the power tool 1, a (computer) program, a non-temporary recording medium on which the program is recorded, or the like.
  • the control method of the power tool 1 includes controlling the rotational operation of the motor 15 in response to an operation on the operation unit 29 by using vector control. Further, the control method is based on at least one of the torque current and the exciting current supplied to the motor 15 when the tightening member 30 tightened to the object 100 is loosened from the object 100 by the tip tool 28. This includes detecting looseness of the tightening member 30. Further, the control method includes reducing the speed of the motor 15 or stopping the motor 15 when the loosening of the tightening member 30 is detected.
  • control unit 4 first determines whether or not the rotation direction of the motor 15 is set to the normal rotation direction (ST1).
  • the control unit 4 vector-controls the motor 15 using the command value ⁇ 2 * set according to the operation amount to the operation unit 29 (ST1: Yes). ST6).
  • the control unit 4 vector-controls the motor 15 according to the amount of operation to the operation unit 29 (ST2), and determines the exciting current used in the vector control. (Comparison between the amplitude of the exciting current and the threshold value) is performed (ST3).
  • the control unit 4 determines whether or not a looseness of the tightening member 30 is detected based on the determination result in step ST3 (ST4).
  • the control unit 4 decelerates the motor 15 or stops the motor 15 by setting the command value ⁇ 2 * based on the upper limit value (ST5).
  • control unit 4 first determines whether or not the rotation direction of the motor 15 is set to the normal rotation direction (ST11).
  • the control unit 4 vector-controls the motor 15 using the command value ⁇ 2 * set according to the operation amount to the operation unit 29 (ST11: Yes). ST16).
  • the control unit 4 vector-controls the motor 15 according to the amount of operation to the operation unit 29 (ST12), and determines the torque current used in the vector control. (Comparison between the absolute value or amplitude of the torque current and the threshold value) is performed (ST13).
  • the control unit 4 determines whether or not a looseness of the tightening member 30 is detected based on the determination result in step ST13 (ST14). When the looseness is detected (ST14: Yes), the control unit 4 decelerates the motor 15 or stops the motor 15 by setting the command value ⁇ 2 * based on the upper limit value (ST15).
  • the program according to one aspect is a program for causing one or more processors to execute the control method of the power tool 1 described above.
  • the execution subject of the control unit 4 described above includes a computer system.
  • a computer system mainly consists of a processor and a memory as hardware.
  • the processor executes the program recorded in the memory of the computer system, a part of the function as the control unit 4 in the present disclosure is realized.
  • the program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided.
  • a processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI).
  • IC semiconductor integrated circuit
  • LSI large scale integrated circuit
  • the integrated circuit such as IC or LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration).
  • an FPGA Field-Programmable Gate Array
  • a plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips.
  • the plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.
  • the computer system referred to here includes a microprocessor having one or more processors and one or more memories. Therefore, the microprocessor is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.
  • control unit 4 it is not an essential configuration that a plurality of functions in the control unit 4 are integrated in one housing.
  • the components of the control unit 4 may be dispersedly provided in a plurality of housings.
  • a plurality of functions in the control unit 4 may be integrated in one housing as in the basic example.
  • at least a part of the functions of the control unit 4 may be realized by a cloud (cloud computing) or the like.
  • the power tool 1 of this modification is different from the power tool 1 of the embodiment in that the transmission mechanism 18 does not include the impact mechanism 17, for example, the drive shaft 22 and the output shaft 21 are integrally connected. ..
  • the power tool 1 of this modification is, for example, a drill driver.
  • FIG. 6 shows changes in the ⁇ -axis current i ⁇ (torque current) and changes in the ⁇ -axis current i ⁇ (excitation current) when the tightening member 30 is loosened from the object 100 by the power tool 1 of this modified example. ..
  • the motor 15 starts operating at the time point t0. Then, at the time point t1, a difference is generated between the rotor position ⁇ on the dq axis and the rotor position ⁇ e on the ⁇ axis, and the control unit 4 controls so as to compensate for this difference, whereby the ⁇ -axis current is generated.
  • a peak (extreme point in the current waveform) occurs at i ⁇ and the ⁇ -axis current i ⁇ .
  • the control unit 4 controls to compensate for this difference. By doing so, a peak occurs in the ⁇ -axis current i ⁇ .
  • the control unit 4 detects the looseness of the tightening member 30 by detecting the occurrence of the peak of the ⁇ -axis current i ⁇ based on the comparison between the ⁇ -axis current i ⁇ and the predetermined threshold value. Alternatively, the control unit 4 detects looseness of the tightening member 30 based on the torque current by detecting that the ⁇ -axis current i ⁇ (torque current) becomes smaller than the threshold value Th1 at the time point t3. ..
  • control unit 4 is a tightening member based on at least one of the torque current and the exciting current supplied to the motor 15. 30 looseness can be detected.
  • the control unit 4 may detect looseness of the tightening member 30 based on the logical sum of the detection result based on the exciting current and the detection result based on the torque current, or the control unit 4 may detect the looseness of the tightening member 30 based on the logical product. Looseness may be detected. The control unit 4 may detect the looseness of the tightening member 30 based only on the detection result based on the exciting current, or detect the looseness of the tightening member 30 based only on the detection result based on the torque current. You may.
  • Control unit 4 detects the looseness of the clamping member 30, in addition to setting the upper limit command value omega 2 * of the speed of the motor 15, the speed of the motor 15 a command value omega 2 *, loosening Decrease from the command value ⁇ 2 * before detection. That is, when the control unit 4 detects looseness of the tightening member 30, the speed of the motor 15 is reduced based on the speed before detecting the looseness.
  • control unit 4 When the control unit 4 detects looseness of the tightening member 30, for example, it is a value obtained by multiplying the command value ⁇ 2 * at the time when the looseness is detected by a predetermined positive value (for example, 0.8) smaller than 1. May be a new command value ⁇ 2 * .
  • a new command value is obtained by subtracting a predetermined value (for example, 2000 [rpm]) from the command value ⁇ 2 * at the time when the looseness is detected. It may be ⁇ 2 *.
  • the control unit 4 appropriately adjusts the above-mentioned predetermined value so that the command value ⁇ 2 * becomes zero or more.
  • the speed of the motor 15 may be set to a predetermined predetermined value. That is, when the control unit 4 detects the looseness of the tightening member 30, the command value ⁇ 2 * may be set to a predetermined predetermined value, whereby the speed of the motor 15 may be set to a predetermined speed.
  • the command value ⁇ 2 * and the speed of the motor 15 can be reduced even when the pull-in amount of the trigger switch is relatively small (when the command value ⁇ 2 * is smaller than the upper limit value).
  • the control unit 4 controls the speed of the motor 15 to be a predetermined speed regardless of the pull-in amount of the trigger switch. For example, the control unit 4 sets the command value ⁇ 2 * of the speed of the motor 15 as the first value from the time when the trigger switch is pulled in and the motor 15 is started until the looseness of the tightening member 30 is detected. To do. Further, the control unit 4 sets the command value ⁇ 2 * to the second value ( ⁇ first value) when, for example, the loosening of the tightening member 30 is detected. Then, when the user stops pulling in the trigger switch, the control unit 4 sets the command value ⁇ 2 * to 0 [rpm].
  • the speed of the motor 15 can be controlled regardless of the user's proficiency level.
  • the power tool 1 does not have to include the forward / reverse changeover switch 9.
  • the rotation direction of the output shaft 21 may be fixed in the reverse direction (the direction in which the tightening member 30 is loosened).
  • the forward / reverse changeover switch 9 may be configured to switch the rotation direction of the output shaft 21 by using the mechanism in the transmission mechanism 18. That is, by operating the forward / reverse changeover switch 9, the relationship between the rotation direction of the motor 15 and the rotation direction of the output shaft 21 may be switched between the same direction and the opposite direction.
  • control unit 4 may enable the loosening detection function even when the rotation direction of the output shaft 21 is set to the forward rotation direction by the forward / reverse changeover switch 9.
  • it can be used when loosening a reverse screw (left-hand screw), or when an adapter for reversing the rotation direction is provided between the tip tool 28 and the tightening member 30.
  • the power tool 1 may include a switching unit for switching between enabling and disabling the looseness detection function.
  • the switching unit may include, for example, a switch that accepts a user's operation.
  • the power tool (1) of the first aspect includes a motor (15), an operation unit (29), a control unit (4), an output shaft (21), and a transmission mechanism (18).
  • the operation unit (29) receives an operation from the user.
  • the control unit (4) uses vector control to control the rotational operation of the motor (15) in response to an operation on the operation unit (29).
  • the output shaft (21) is connected to the tip tool (28).
  • the tip tool (28) rotates the tightening member (30).
  • the transmission mechanism (18) transmits the rotational force of the motor (15) to the output shaft (21).
  • the control unit (4) has a loosening detection function.
  • the control unit (4) causes the motor (15) to loosen the tightening member (30) tightened to the object (100) from the object (100) by the tip tool (28). Looseness of the tightening member (30) is detected based on at least one of the supplied torque current and the exciting current.
  • the control unit (4) detects looseness of the tightening member (30)
  • the control unit (4) reduces the speed of the motor (15) or stops the motor (15).
  • the certainty of detecting looseness of the tightening member (30) can be improved, and the usability of the power tool (1) can be improved.
  • the power tool (1) of the second aspect has a forward rotation direction and a tightening member (1) for tightening the rotation direction of the output shaft (21) to the object (100) with the tightening member (30).
  • a forward / reverse changeover switch (9) for switching the 30) from the object (100) to the reverse direction is further provided.
  • the control unit (4) enables the looseness detection function only when the rotation direction of the tip tool (28) is set to the reverse direction by the forward / reverse changeover switch (9).
  • the transmission mechanism (18) hits the output shaft (21) according to the magnitude of the torque applied to the output shaft (21). It has an impact mechanism (17) that performs a striking motion that applies force.
  • the usability of the so-called impact tool provided with the impact mechanism (17) can be improved.
  • control unit (4) has a tightening member (4) based on the decrease in torque current in the looseness detection function. 30) Looseness is detected.
  • the certainty of detecting the looseness can be improved as compared with the case where the looseness of the tightening member (30) is detected based on the stop of the vibration of the torque current in the impact tool, for example.
  • control unit (4) has the tightening member (30) in the loosening detection function based on the amplitude of the exciting current. Detects looseness.
  • the certainty of detecting looseness can be improved as compared with the case where looseness of the tightening member (30) is detected based on, for example, the amplitude of torque current.
  • the operation unit (29) includes a trigger switch in any one of the first to fifth aspects.
  • the control unit (4) controls the operation of the motor (15) according to the amount of operation on the trigger switch before detecting the looseness of the tightening member (30).
  • the control unit (4) limits the speed of the motor (15) to a predetermined upper limit or less.
  • the motor (15) when the looseness of the tightening member (30) is detected, the motor (15) can be reliably decelerated.
  • the motor (15) when the looseness of the tightening member (30) is detected, the motor (15) can be reliably decelerated.
  • the control unit (4) detects the looseness of the tightening member (30)
  • the speed of the motor (15) is set to a predetermined value.
  • the speed of the motor (15) can be set to an appropriate value regardless of the user's proficiency level regarding the operation of the power tool (1).
  • control unit (4) has a tightening member (30) based on the torque current and the exciting current in the loosening detection function. ) Is detected.
  • the certainty of detecting looseness of the tightening member (30) can be further improved.
  • the power tool (1) of the tenth aspect includes a switching unit for switching between valid and invalid of the looseness detection function in any one of the first to ninth aspects.
  • the function when the looseness detection function is unnecessary, the function can be disabled and the usability of the power tool (1) can be improved.
  • the control method of the eleventh aspect is the control method of the power tool (1).
  • the power tool (1) includes a motor (15), an operation unit (29), an output shaft (21), and a transmission mechanism (18).
  • the operation unit (29) receives an operation from the user.
  • the output shaft (21) is connected to the tip tool (28).
  • the tip tool (28) rotates the tightening member (30).
  • the transmission mechanism (18) transmits the rotational force of the motor (15) to the output shaft (21).
  • the control method includes controlling the rotational operation of the motor (15) in response to an operation on the operation unit (29) by using vector control.
  • the control method is a torque current and an exciting current supplied to the motor (15) when the tightening member (30) tightened to the object (100) is loosened from the object (100) by the tip tool (28). Includes detecting looseness of the tightening member (30) based on at least one of.
  • the control method includes reducing the speed of the motor (15) or stopping the motor (15) when it detects looseness of
  • the certainty of detecting looseness of the tightening member (30) can be improved, and the usability of the power tool (1) can be improved.
  • the program of the twelfth aspect is a program for causing one or more processors to execute the control method of the eleventh aspect.
  • the certainty of detecting looseness of the tightening member (30) can be improved, and the usability of the power tool (1) can be improved.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

La présente invention aborde le problème de l'amélioration de la commodité lors de l'utilisation d'un outil électrique. L'invention concerne également un outil électrique (1) est pourvu : d'un moteur (15); d'une unité de fonctionnement (29) qui accepte une opération provenant d'un utilisateur; d'une unité de commande (4) qui commande, à l'aide d'une commande vectorielle, le fonctionnement en rotation du moteur (15) en fonction de l'opération sur l'unité de fonctionnement (29); d'un arbre de sortie (21) qui est relié à un outil de pointe pour faire tourner un élément de fixation; et d'un mécanisme de transmission (18) qui transmet une force de rotation du moteur (15) à l'arbre de sortie (21). L'unité de commande (4) a une fonction de détection de desserrage. Selon la fonction de détection de desserrage, l'unité de commande (4), lorsque l'élément de fixation fixé sur un objet cible est desserré par l'outil de pointe, détecte le desserrage de l'élément de fixation sur la base d'un courant de couple et/ou d'un courant d'excitation fourni au moteur (15). Une fois le desserrage de l'élément de fixation détecté, l'unité de commande (4) réduit la vitesse du moteur (15) ou arrête le moteur (15).
PCT/JP2020/039596 2019-11-15 2020-10-21 Outil électrique, procédé de commande et programme WO2021095470A1 (fr)

Applications Claiming Priority (4)

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JP2019207503A JP7296586B2 (ja) 2019-11-15 2019-11-15 電動工具、制御方法、及びプログラム
JP2019-207503 2019-11-15
JP2019-207504 2019-11-15
JP2019207504A JP7296587B2 (ja) 2019-11-15 2019-11-15 電動工具、制御方法、及びプログラム

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007326379A (ja) * 2006-06-06 2007-12-20 Toyota Motor Corp 電動パワーステアリング装置
JP2017517407A (ja) * 2014-06-20 2017-06-29 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング 電動工具の電動機を制御するための方法、および、制御装置
JP2018051678A (ja) * 2016-09-28 2018-04-05 株式会社マキタ 電動工具
WO2018230141A1 (fr) * 2017-06-16 2018-12-20 パナソニックＩｐマネジメント株式会社 Outil rotatif à percussion
JP2019147239A (ja) * 2018-02-28 2019-09-05 株式会社マキタ 電動工具

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007326379A (ja) * 2006-06-06 2007-12-20 Toyota Motor Corp 電動パワーステアリング装置
JP2017517407A (ja) * 2014-06-20 2017-06-29 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング 電動工具の電動機を制御するための方法、および、制御装置
JP2018051678A (ja) * 2016-09-28 2018-04-05 株式会社マキタ 電動工具
WO2018230141A1 (fr) * 2017-06-16 2018-12-20 パナソニックＩｐマネジメント株式会社 Outil rotatif à percussion
JP2019147239A (ja) * 2018-02-28 2019-09-05 株式会社マキタ 電動工具

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