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EP3946818B1 - Procédé de reconnaissance d'un premier état de fonctionnement d'une machine-outil portative - Google Patents

Procédé de reconnaissance d'un premier état de fonctionnement d'une machine-outil portative Download PDF

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Publication number
EP3946818B1
EP3946818B1 EP20710078.5A EP20710078A EP3946818B1 EP 3946818 B1 EP3946818 B1 EP 3946818B1 EP 20710078 A EP20710078 A EP 20710078A EP 3946818 B1 EP3946818 B1 EP 3946818B1
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EP
European Patent Office
Prior art keywords
signal
state
operating
electric motor
typical model
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20710078.5A
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German (de)
English (en)
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EP3946818A1 (fr
Inventor
Juergen WINTERHALTER
Simon Erbele
Tobias Zibold
Stefan Mock
Wolfgang Herberger
Dietmar Saur
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication date
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Publication of EP3946818A1 publication Critical patent/EP3946818A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
    • 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
    • B25B21/026—Impact clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
    • B25B23/1475—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers for impact wrenches or screwdrivers

Definitions

  • the invention relates to a method for detecting a first operating state of a hand-held power tool, according to the preamble of patent claim 1, and to a hand-held power tool configured to carry out the method.
  • a rotary impact wrench of this type comprises, for example, a structure in which an impact force in a direction of rotation is transmitted to a screw element by a rotary impact force of a hammer.
  • the rotary impact wrench having this structure comprises a motor, a hammer driven by the motor, an anvil struck by the hammer, and a tool.
  • the motor built into a housing is driven, the hammer is driven by the motor, the anvil is struck by the rotating hammer, and an impact force is transmitted to the tool, whereby two different operating states can be distinguished, namely "no impact operation” and "impact operation".
  • EN 10 2013 212506 A1 describes a machine tool switching device with at least one switching element for switching between at least two operating modes, and with at least one sensor unit which comprises at least one sensor element.
  • the WO 2013/174594 A1 discloses a percussion unit with a control unit which is intended to control a pneumatic percussion mechanism.
  • the disadvantage here is that a fixed limit and/or threshold value can practically only be perfectly set for one application. As soon as the application changes, the associated current or speed values or their temporal progressions also change and impact detection based on the set limit and/or threshold value or their temporal progressions no longer works.
  • an automatic shutdown based on the detection of impact operation switches off reliably in different speed ranges in individual application cases when self-tapping screws are used, but in other application cases when self-tapping screws are used, no shutdown occurs.
  • the object of the invention is to provide a method for detecting operating states which is improved compared to the prior art and which at least partially eliminates the disadvantages mentioned above, or at least to provide an alternative to the prior art.
  • a further object is to provide a corresponding hand-held power tool.
  • the method according to the invention enables the detection of the first operating state independently of at least one target speed of the electric motor, at least one starting characteristic of the electric motor and/or at least one charge state of a power supply, in particular a battery, of the hand-held power tool.
  • the method according to the invention enables the detection of the first operating state for applications in which a loose fastening element is screwed into a fastening support, as well as in which a fixed, in particular at least partially screwed, fastening element is screwed into a fastening support.
  • the applications can include both hard and soft screwing cases, whereby a typical application can be, for example, a self-tapping screw connection or a wood screw connection.
  • the "loose fastening element” is to be understood as a fastening element that is essentially not screwed into the fastening carrier and that is to be screwed into the fastening carrier.
  • the "fixed fastening element” is to be understood as a fastening element that is at least partially screwed into the fastening carrier or is essentially completely screwed into the fastening carrier.
  • the at least one state-typical model signal form can be determined, wherein the state-typical model signal form is assigned to the first operating state.
  • a limit and/or threshold value for an existing match or an existing error between the signal of the operating variable and the state-typical model signal form can represent an adjustable value for application cases for successful impact detection.
  • the state-typical model signal form is stored or saved internally in the device, alternatively and/or additionally provided to the hand-held power tool, in particular provided by an external data device.
  • decide should also be understood as recognizing or detecting, whereby a clear assignment should be achieved.
  • Identify should be understood as recognizing a partial match with a pattern, which can be made possible, for example, by fitting a signal to the pattern, a Fourier analysis or the like.
  • the "partial match” should be understood in such a way that the fitting has an error that is less than a predetermined threshold, in particular less than 30%, most particularly less than 20%.
  • the signal of the operating variable should be understood here as a temporal sequence of measured values.
  • the signal of the operating variable can also be a frequency spectrum.
  • the signal of the operating variable can also be reworked, for example smoothed, filtered, fitted and the like.
  • the state-typical model signal shape is an oscillation curve around a mean value, in particular an essentially trigonometric oscillation curve.
  • the state-typical model signal shape preferably represents an ideal impact operation of the hammer on the anvil of the rotary impact mechanism.
  • the operating variable is a speed of the electric motor or an operating variable that correlates with the speed.
  • the rigid transmission ratio of the electric motor to the impact mechanism results in a direct dependency of the motor speed on the impact frequency, for example.
  • Another conceivable operating variable that correlates with the speed is the motor current.
  • a motor voltage, a Hall signal from the motor, a battery current or a battery voltage are also conceivable as an operating variable of the electric motor, whereby an acceleration of the electric motor, an acceleration of a tool holder or a sound signal from an impact mechanism of the hand-held power tool are also conceivable as the operating variable.
  • the signal of the operating variable in method step S1 is recorded as a time course of measured values of the operating variable, or as measured values of the operating variable as a variable of the electric motor that correlates with the time course, for example an acceleration, a jerk, in particular of a higher order, a power, an energy, an angle of rotation of the electric motor, an angle of rotation of the tool holder or a frequency.
  • the signal of the operating variable is recorded in method step S1 as a time course of measured values of the operating variable, whereby in a step S1a following method step S1, due to the rigid transmission ratio of the transmission, a transformation of the time course of the measured values of the operating variable into a course of the measured values of the operating variable as a variable of the electric motor that correlates with the time course takes place.
  • the signal of the operating variable is stored as a sequence of measured values in a memory, preferably a ring buffer, in particular of the hand-held power tool.
  • a segmentation of the measured values is carried out such that the signal of the operating variable always comprises a predetermined number of measured values.
  • the signal of the operating variable is compared using one of the comparison methods comprising at least one frequency-based comparison method and/or a comparative comparison method, wherein the comparison method compares the signal of the operating variable with the state-typical model signal form to determine whether at least one predetermined threshold value is met.
  • the predetermined threshold value can be specified at the factory or can be set by a user.
  • the frequency-based comparison method comprises at least bandpass filtering and/or frequency analysis, wherein the predetermined threshold value is at least 85%, in particular 90%, most particularly 95%, of a predetermined limit value.
  • bandpass filtering for example, the recorded signal of the operating variable is filtered via a bandpass whose passband matches the state-typical model signal shape.
  • a corresponding amplitude in the resulting signal is to be expected in the first operating state, in particular in impact mode.
  • the specified threshold value of the bandpass filtering can therefore be at least 85%, in particular 90%, very particularly 95%, of the corresponding amplitude in the first operating mode, in particular in impact mode.
  • the specified limit value can be the corresponding amplitude in the resulting signal of an ideal first operating state, in particular an ideal impact mode.
  • the previously defined state-typical model signal form for example a frequency spectrum of the first operating state, in particular of impact operation
  • a corresponding amplitude of the first operating state, in particular of impact operation is to be expected in the recorded signals of the operating variable.
  • the predetermined threshold value of the frequency analysis can be at least 85%, in particular 90%, very particularly 95%, of the corresponding amplitude in the first operating mode, in particular in impact operation.
  • the predetermined limit value can be the corresponding amplitude in the recorded signals of an ideal first operating state, in particular of an ideal impact operation. In this case, appropriate segmentation of the recorded signal of the operating variable may be necessary.
  • the decision as to whether the first operating state has been identified in the signal of the operating variable can be made at least partially by means of the frequency-based comparison method, in particular the bandpass filtering and/or the frequency analysis.
  • the comparative comparison method comprises at least the parameter estimation and/or the cross-correlation, wherein the predetermined threshold value is at least 50% of a match of the signal of the operating variable with the state-typical model signal shape.
  • the measured signal of the operating variable can be compared with the state-typical model signal form by means of the comparative comparison method.
  • the measured signal of the operating variable is determined in such a way that it has essentially the same finite signal length as that of the state-typical model signal form.
  • the comparison of the state-typical model signal form with the measured signal of the operating variable can be output as a signal of a finite length, in particular a discrete or continuous signal. Depending on the degree of agreement or deviation of the comparison, a result can be output as to whether the first operating state, in particular the impact operation, is present. If the measured If the signal of the operating variable corresponds at least 50% to the state-typical model signal form, the first operating state, in particular impact operation, may be present.
  • the comparative method can output a degree of deviation from one another as a result of the comparison by comparing the measured signal of the operating variable with the state-typical model signal form.
  • the deviation of at least 50% from one another can be a criterion for the presence of the first operating state, in particular impact operation.
  • a comparison can be made in a simple manner between the previously defined state-typical model signal shape and the signal of the operating variable.
  • estimated parameters of the state-typical model signal shape can be identified in order to adjust the state-typical model signal shape to the measured signal of the operating variables.
  • a result can be determined as to whether the first operating state, in particular impact operation, is present.
  • the result of the comparison can then be evaluated to determine whether the specified threshold value has been reached. This evaluation can either be a quality determination of the estimated parameters or the deviation between the defined state-typical model signal shape and the recorded signal of the operating variable.
  • method step S2 contains a step S2a of determining the quality of the identification of the state-typical model signal form in the signal of the operating variable, wherein in method step S3 the decision as to whether the first operating state is present is made at least partially based on the quality determination. As a measure of the quality determination, a quality of fit of the estimated parameters can be determined.
  • the decision as to whether the first operating state has been identified in the signal of the operating variable can be made at least partially by means of the quality determination, in particular the measure of the quality.
  • method step S2a can include a deviation determination of the identification of the state-typical model signal form and the signal of the operating variable.
  • the deviation of the estimated parameters of the state-typical model signal form from the measured signal of the operating variable can be, for example, 70%, in particular 60%, very particularly 50%.
  • the decision as to whether the first operating state is present is made at least partially based on the deviation determination. The decision as to whether the first operating state is present can be made at the predetermined threshold value of at least 50% agreement between the measured signal of the operating variable and the state-typical model signal form.
  • a comparison can be made between the previously defined state-typical model signal shape and the measured signal of the operating variable.
  • the previously defined state-typical model signal shape can be correlated with the measured signal of the operating variable.
  • a degree of agreement between the two signals can be determined. The degree of agreement can be, for example, 40%, in particular 50%, and most particularly 60%.
  • the decision as to whether the first operating state is present can be made at least partially based on the cross-correlation of the state-typical model signal shape with the measured signal of the operating variable.
  • the decision can be made at least partially based on the predetermined threshold value of at least 50% agreement between the measured signal of the operating variable and the state-typical model signal shape.
  • the first operating state is determined based on less than ten impacts of a percussion mechanism of the hand-held power tool, in particular less than ten impact oscillation periods of the electric motor, preferably less than six impacts of a percussion mechanism of the hand-held power tool, in particular less than six impact oscillation periods of the electric motor, very preferably less than four impacts of a percussion mechanism, in particular less than four impact oscillation periods of the electric motor.
  • a strike of the percussion mechanism is to be understood as an axial, radial, tangential and/or circumferentially directed strike of a percussion mechanism striker, in particular a hammer, on a percussion mechanism body, in particular an anvil.
  • the impact oscillation period of the electric motor is correlated with the operating variable of the electric motor.
  • An impact oscillation period of the electric motor can be determined based on operating variable fluctuations during the first operating state in the signal of the operating variable.
  • the identification of the impacts of the impact mechanism of the hand-held power tool, in particular the impact oscillation periods of the electric motor, can be achieved, for example, by using a Fas-Fitting algorithm, by means of which an evaluation of the impact detection can be made possible within less than 100 ms, in particular less than 60 ms, most particularly less than 40 ms.
  • the inventive method enables the detection of the first operating state essentially for all of the above-mentioned applications and a screw connection for loose as well as fixed fastening elements in the fastening carrier.
  • the hand-held power tool is an impact wrench, in particular a rotary impact wrench
  • the first operating state is an impact mode, in particular a rotary impact mode.
  • the present invention makes it possible to largely dispense with more complex methods of signal processing such as filters, signal loops, system models (static and adaptive) and signal tracking.
  • these methods allow an even faster identification of the impact operation or the work progress, which can cause an even faster reaction of the tool. This applies in particular to the number of impacts that have passed since the impact mechanism was used until identification and also in special operating situations such as the start-up phase of the drive motor. There is no need to limit the functionality of the tool, such as reducing the maximum drive speed.
  • a further subject of the invention is a hand-held power tool according to claim 15, comprising an electric motor, a sensor for measuring an operating variable of the electric motor, and a motor controller, wherein the hand-held power tool is advantageously an impact wrench, in particular a rotary impact wrench, and the first operating state is an impact mode, in particular a rotary impact mode.
  • the electric motor causes an input spindle to rotate, wherein an output spindle is connected to a tool holder.
  • An anvil is connected to the output spindle in a rotationally fixed manner and a hammer is connected to the input spindle in such a way that, as a result of the rotation of the input spindle, it carries out an intermittent movement in the axial direction of the input spindle and an intermittent rotary movement around the input spindle, wherein the hammer intermittently strikes the anvil in this way and thus emits an impact and a rotational impulse to the anvil and thus to the output spindle.
  • a first sensor transmits a first signal to the control unit, for example to determine a motor rotation angle.
  • a second sensor can transmit a second signal to the control unit for determining an engine speed.
  • the control unit is advantageously designed to carry out a method according to one of claims 1 to 14.
  • the hand-held power tool is a battery-operated hand-held power tool, in particular a battery-operated impact wrench. This ensures flexible and mains-independent use of the hand-held power tool.
  • the hand-held power tool is a cordless screwdriver, a drill, an impact drill or a hammer drill, whereby a drill, a core bit or various bit attachments can be used as a tool.
  • the hand-held power tool according to the invention is designed in particular as an impact wrench tool, whereby the pulsed release of the motor energy generates a higher peak torque for screwing in or unscrewing a screw or a nut.
  • the transmission of electrical energy is to be understood in particular as meaning that the hand-held power tool transmits energy to the body via a battery and/or via a power cable connection.
  • the screwing tool can be designed to be flexible in the direction of rotation. In this way, the proposed method can be used both for screwing in and for unscrewing a screw or a nut.
  • the Figure 1 shows a hand-held power tool 100 according to the invention, which has a housing 105 with a handle 115.
  • the hand-held power tool 100 can be mechanically and electrically connected to a battery pack 190 for mains-independent power supply.
  • the hand-held power tool 100 is designed, for example, as a cordless impact wrench.
  • the present invention is not limited to cordless impact wrenches, but can in principle be used in hand-held power tools 100 in which the detection of operating states is necessary, such as impact drills.
  • An electric motor 180 which is supplied with power by the battery pack 190, and a gear 170 are arranged in the housing 105.
  • the electric motor 180 is connected to an input spindle via the gear 170.
  • a control unit 370 is arranged within the housing 105 in the area of the battery pack 190, which acts on the electric motor 180 and the transmission 170 for controlling and/or regulating them, for example by means of a set motor speed n, a selected angular momentum, a desired transmission gear x or the like.
  • the electric motor 180 can be operated, for example, via a manual switch 195, i.e. can be switched on and off, and can be any type of motor, for example an electronically commutated motor or a DC motor.
  • the electric motor 180 can be electronically controlled or regulated in such a way that both reversing operation and specifications with regard to the desired motor speed n and the desired angular momentum can be implemented.
  • the functioning and structure of a suitable electric motor are sufficiently known from the prior art, so that a detailed description is omitted here for the sake of brevity.
  • a tool holder 140 is rotatably mounted in the housing 105 via an input spindle and an output spindle.
  • the tool holder 140 serves to hold a tool and can be molded directly onto the output spindle or connected to it in the form of an attachment.
  • the control unit 370 is connected to a power source and is designed such that it can control or regulate the electric motor 180 electronically using various current signals.
  • the various current signals provide different rotational impulses for the electric motor 180, with the current signals being passed to the electric motor 180 via a control line.
  • the power source can be designed, for example, as a battery or, as in the exemplary embodiment shown, as a battery pack 190 or as a mains connection.
  • control elements may be provided to set different operating modes and/or the direction of rotation of the electric motor 180.
  • FIG 2 an example signal of an operating variable 200 of an electric motor 180 of a rotary impact wrench is shown, as it occurs in this or a similar form during the intended use of a rotary impact wrench. While the following statements refer to a rotary impact wrench, they also apply within the scope of the invention to other hand-held power tools 100 such as impact drills.
  • the abscissa x represents the Figure 2 the time is plotted as a reference value.
  • a value correlated with time is plotted as a reference value, such as the angle of rotation of the tool holder 140 or the angle of rotation of the electric motor 180.
  • the motor speed n present at any time is plotted on the ordinate f(x) in the figure.
  • f(x) represents, for example, a signal of the motor current.
  • Motor speed and motor current are operating variables that are usually recorded by a control unit 370 in hand-held power tools 100 without any additional effort.
  • the determination of the signal of an operating variable 200 of the electric motor 180 is in Figure 4 , which shows a schematic flow diagram of a method according to the invention, is identified as method step S1.
  • a user of the hand-held power tool 100 can select the operating variable on the basis of which the inventive method is to be carried out.
  • Fig. 2(a) is an application of a loose fastening element, for example a screw, in a fastening support, for example a wooden board, is shown.
  • the signal comprises a first region 310, which is characterized by a monotonous increase in the engine speed, as well as a region of comparatively constant engine speed, which can also be referred to as a plateau.
  • the intersection point between abscissa x and ordinate f(x) in Figure 2(a) corresponds to the start of the impact wrench during the screwing process.
  • the impact wrench operates in the operating state of screwing without impact.
  • Rotary impact mode is characterized by an oscillating course of the signal of operating variable 200, whereby the form of the oscillation can be trigonometric or otherwise oscillating, for example.
  • the oscillation has a course that can be described as a modified trigonometric function, whereby the upper half-wave of the oscillation has a pointed hat or tooth-like shape.
  • This characteristic form of the signal of operating variable 200 in impact wrench mode is created by the winding up and free running of the impact mechanism striker and the system chain located between the impact mechanism and the electric motor 180, including the gear 170.
  • the qualitative signal form of the impact operation is therefore known in principle due to the inherent properties of the rotary impact wrench.
  • at least one state-typical model signal form 240 is defined in a step S0, wherein the state-typical model signal form 240 corresponds to the first operating state, in the example of Figure 2(a) i.e. the impact wrench operation in the second area 320.
  • the state-typical model signal shape 240 contains features typical for the first operating state, such as the presence of an oscillation curve, oscillation frequencies or amplitudes, or individual signal sequences in continuous, quasi-continuous or discrete form.
  • the first operating state to be detected may be characterized by signal forms other than oscillations, such as discontinuities or growth rates in the function f(x).
  • the state-typical model signal form is characterized by these parameters instead of oscillations.
  • Fig. 2(b) is an application of a fixed fastening element, such as a screw, in a mounting support, such as a wooden board, shown.
  • “fixed” means that the fastening element is at least partially screwed into the fastening carrier and an interrupted screwing process is to be continued.
  • the reference numerals and designations of the first and second areas 310, 320 are as in Fig. 2(a) .
  • the difference of the use case in Fig. 2(b) to Fig. 2(a) is that after a short start-up phase with the monotonically increasing speed, the rotary impact operation already starts during the monotonically increasing speed.
  • Fig. 2(b) It can be seen that there is essentially no plateau with the comparatively constant speed.
  • the state-typical model signal form 240 can be defined in method step S0.
  • the state-typical model signal form 240 can be stored, calculated or saved internally in the device.
  • the state-typical model signal form can alternatively and/or additionally be provided to the hand-held power tool 100, for example by an external data device.
  • the signal of the operating variable of the electric motor 180 is compared with the state-typical model signal form 240.
  • the feature "compare” should be interpreted broadly and in the sense of a signal analysis, so that a result of the comparison can in particular also be a partial or gradual match between the signal of the operating variable 200 of the electric motor 180 and the state-typical model signal form 240, wherein the degree of match between the two signals can be determined by various methods, which will be mentioned later.
  • step S3 of the method according to the invention the decision as to whether the first operating state is present is made at least partially based on the result of the comparison.
  • the degree of agreement is a parameter that can be set at the factory or by the user to set a sensitivity for detecting the first operating state.
  • the method steps S1, S2 and S3 are carried out repeatedly during the operation of a hand-held power tool 100 in order to monitor the operation for the presence of the first operating state.
  • the determined signal of the operating variable 200 can be segmented in method step S1, so that the method steps S2 and S3 are carried out on signal segments, preferably always of the same, fixed length.
  • the signal of the operating variable 200 can be stored as a sequence of measured values in a memory, preferably a ring buffer.
  • the hand-held power tool 100 comprises the memory, preferably the ring buffer.
  • the signal of the operating variable 200 is determined as a time course of measured values of the operating variable, or as measured values of the operating variable as a variable of the electric motor 180 that correlates with the time course.
  • the measured values can be discrete, quasi-continuous or continuous.
  • One embodiment provides that the signal of the operating variable 200 is recorded in method step S1 as a time course of measured values of the operating variable and in a method step S1a following method step S1, a transformation of the time course of the measured values of the operating variable into a course of the measured values of the operating variable as a variable of the electric motor 180 that correlates with the time course, such as the angle of rotation of the tool holder 140 or the angle of rotation of the motor.
  • Figure 3a Signals f(x) of an operating variable 200 over an abscissa x, in this case over time t.
  • the operating variable can be an engine speed or a parameter correlated with the engine speed.
  • the figure contains two signal curves of operating size 200 in the first operating mode, in the case of a rotary impact wrench, in rotary impact wrench mode.
  • the signal comprises a wavelength of an oscillation curve assumed to be ideally sinusoidal, whereby the signal with the shorter wavelength, T1, has a curve with a higher impact frequency, and the signal with the longer wavelength, T2, has a curve with a lower impact frequency.
  • Both signals can be generated with the same hand-held power tool 100 at different motor speeds and depend, among other things, on the rotational speed requested by the user from the hand-held power tool 100 via the control switch.
  • the parameter "wavelength" is to be used to define the state-typical model signal form 240, then in the present case at least two different wavelengths T1 and T2 would have to be stored as possible parts of the state-typical model signal form so that the comparison of the signal of the operating variable 200 with the state-typical model signal form 240 leads to the result "match” in both cases. Since the engine speed can change generally and to a large extent over time, this means that the wavelength sought also varies and the methods for detecting this beat frequency would therefore have to be adjusted accordingly.
  • the time values of the abscissa are therefore transformed into values that correlate with the time values, such as acceleration values, higher order jerk values, power values, energy values, frequency values, angle of rotation values of the tool holder 140 or angle of rotation values of the electric motor 180.
  • the rigid transmission ratio of the electric motor 180 to the impact mechanism and the tool holder 140 results in a direct, known dependence of the motor speed on the impact frequency.
  • the state-typical model signal shape 240 can be defined valid for all speeds by a single parameter of the wavelength over the time-correlated quantity, such as the angle of rotation of the tool holder 140 or the motor angle of rotation.
  • the comparison of the signal of the operating variable 200 in method step S2 is carried out with a comparison method, wherein the comparison method comprises at least a frequency-based comparison method and/or a comparative comparison method.
  • the comparison method compares the signal of the operating variable 200 with the state-typical model signal form 240 to determine whether at least one predetermined threshold value is met.
  • the frequency-based comparison method comprises at least bandpass filtering and/or frequency analysis.
  • the comparative comparison method comprises at least parameter estimation and/or cross-correlation. The frequency-based and comparative comparison methods are described in more detail below.
  • the input signal is filtered via a bandpass whose passband represents the predetermined threshold value.
  • the passband results from the state-typical model signal shape 240. It is also conceivable that the passband corresponds to a frequency defined in connection with the state-typical model signal shape 240. In the event that amplitudes of this frequency exceed a previously defined limit value, as is the case in the first operating state, the comparison in method step S2 then leads to the result that the signal of the operating quantity 200 is equal to the state-typical model signal shape 240, and that the first operating state is thus carried out.
  • the definition of an amplitude limit value can be as a method step S2a following method step S2 of a quality determination of the correspondence of the state-typical model signal form 240 with the signal of the operating variable 200, on the basis of which it is decided in method step S3 whether the first operating state exists or not.
  • the signal of the operating variable 200 is transformed from a time domain to the frequency domain with appropriate weighting of the frequencies on the basis of frequency analysis, for example the fast Fourier transformation (FFT), wherein at this point the term "time domain” is to be understood as both "course of the operating variable over time” and “course of the operating variable as a variable correlated with time” in accordance with the above explanations.
  • FFT fast Fourier transformation
  • Frequency analysis in this form is well known as a mathematical tool for signal analysis in many areas of technology and is used, among other things, to approximate measured signals as series expansions of weighted periodic harmonic functions of different wavelengths.
  • the weighting factors indicate whether and to what extent the corresponding harmonic functions of a certain wavelength are present in the signal under investigation.
  • frequency analysis can be used to determine whether and with what amplitude the frequency assigned to the state-typical model signal shape 240 is present in the signal of the operating variable 200.
  • a limit value of the amplitude can be set, which is a measure of the degree of agreement between the signal of the operating variable 200 and the state-typical model signal shape 240. If the amplitude of the frequency assigned to the state-typical model signal shape 240 in the signal of the operating variable 200 exceeds this limit value, it is determined in method step S3 that the first operating state is present.
  • the signal of the operating variable 200 is compared with the state-typical model signal shape 240 in order to find out whether the measured signal of the operating variable 200 has at least a 50% match with the state-typical model signal shape 240 and thus the predetermined threshold value is reached. It is also conceivable that the signal of the operating variable 200 is compared with the state-typical model signal shape 240 in order to determine a deviation of the two signals from one another.
  • the measured signal of the operating variables 200 is compared with the state-typical model signal shape 240, wherein estimated parameters are identified for the state-typical model signal shape 240.
  • estimated parameters a degree of agreement between the measured signal of the operating variables 200 and the state-typical model signal shape 240 can be determined as to whether the first operating state is present.
  • the parameter estimation is based on the compensation calculation, which is a mathematical optimization method known to those skilled in the art.
  • the mathematical optimization method makes it possible to adjust the state-typical model signal shape 240 to a series of measurement data of the signal of the operating variable 200.
  • the decision as to whether the first operating state is present can be made.
  • a measure of a deviation of the estimated parameters of the state-typical model signal shape 240 from the measured signal of the operating variable 200 can also be determined.
  • a deviation determination is carried out in the method step S2 following method step S2. If the deviation of 70% from the state-typical model signal shape 240 to the measured signal of the operating variable is determined, the decision can be made as to whether the first operating state was identified in the signal of the operating variable and whether the first operating state is present.
  • a quality determination for the estimated parameters is carried out in a method step S2a following method step S2.
  • values for a quality between 0 and 1 are determined, with a higher value representing a higher agreement between the state-typical model signal form 240 and the signal of the operating variable 200.
  • the decision as to whether the first operating state is present is made in the preferred embodiment in method step S3 at least partially based on the condition that the value of the quality is in a range of 50%.
  • the cross-correlation method is used as a comparative comparison method in method step S2. Like the mathematical methods described above, the cross-correlation method is known per se to those skilled in the art. In the cross-correlation method, the state-typical model signal shape 240 is correlated with the measured signal of the operating variable 200.
  • the result of the cross-correlation is again a signal sequence with an added signal length from a length of the signal of the operating variable 200 and the state-typical model signal form 240, which represents the similarity of the time-shifted input signals.
  • the maximum of this output sequence represents the time of the highest agreement between the two signals, i.e. the signal of the operating variable 200 and the state-typical model signal form 240. and is thus also a measure of the correlation itself, which in this embodiment is used in method step S3 as a decision criterion for the presence of the first operating state.
  • a significant difference to the parameter estimation is that any state-typical model signal shapes can be used for the cross-correlation, while in the parameter estimation the state-typical model signal shape 240 must be able to be represented by parameterizable mathematical functions.
  • Figure 5 shows the measured signal of the operating variable 200 for the case where bandpass filtering is used as the frequency-based comparison method. The time or a value correlated with time is plotted as the abscissa x.
  • Figure 5a shows the measured signal of the operating variable, an input signal of the bandpass filtering, wherein in the first area 310 the hand-held power tool 100 is operated in screwing mode. In the second area 320 the hand-held power tool 100 is operated in rotary impact mode.
  • Figure 5b represents the output signal after the bandpass has filtered the input signal.
  • Figure 6 represents the measured signal of the operating quantity 200 in the case that frequency analysis is used as the frequency-based comparison method.
  • Figure 6 a and b show the first area 310 in which the hand tool 100 is in screwing mode.
  • the time t or a time-correlated quantity is plotted.
  • the signal of the operating variable 200 is shown transformed, whereby, for example, it can be transformed from time to frequency using a fast Fourier transformation.
  • the frequency f is plotted so that the amplitudes of the signal of the operating variable 200 are shown.
  • Figures 6c and d the second region 320 is shown, in which the hand-held power tool 100 is in rotary impact mode.
  • Figure 6c shows the measured signal of the operating quantity 200 plotted over time in rotary impact operation.
  • Figure 6d shows the transformed signal of the operating variable 200, where the signal of the operating variable 200 is plotted against the frequency f as abscissa x'.
  • Figure 6d shows characteristic amplitudes for rotary impact operation.
  • Figure 7a shows a typical case of a comparison using the comparative comparison method of parameter estimation between the signal of an operating variable 200 and a state-typical model signal shape 240 in the first area 310 described in Figure 2. While the state-typical model signal shape 240 has an essentially trigonometric curve, the signal of the operating variable 200 has a curve that differs greatly from this. Regardless of the choice of one of the comparison methods described above, in this case the comparison carried out in method step S2 between the state-typical model signal shape 240 and the signal of the operating variable 200 results in the degree of agreement between the two signals being so low that the first operating state is not determined in method step S3.
  • Figure 8 shows the comparison of the state-typical model signal shape 240, see Figure 8b and e , with the measured signal of operating size 200, see Figure 8a and 8d , in case cross-correlation is used as a comparative comparison method.
  • the time or a value correlated with time is plotted on the abscissa x.
  • the first area 310 the screwing operation
  • the second area 320 the first operating state
  • the measured signal of the operating variable, Figure 8a and Figure 8d with the state-typical model signal shape, Figure 8b and 8e , correlated.
  • Figure 8c shows the result of the correlation during the first range 310, where it can be seen that there is a slight agreement between the two signals. In Figure 8c Therefore, the screw operation is present.
  • Figure 8f the result of the correlation during the second area 320 is shown. It is in figure 8f It can be seen that there is a high degree of agreement, so that the hand-held power tool 100 is operated in the first operating state.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Portable Power Tools In General (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
  • Control Of Electric Motors In General (AREA)

Claims (15)

  1. Procédé de reconnaissance d'un premier état de fonctionnement d'un outil électrique portatif (100), l'outil électrique portatif (100) comprenant un moteur électrique (180), le procédé comprenant l'étape
    S1 détermination d'un signal d'une grandeur de fonctionnement (200) du moteur électrique (180) ;
    le procédé étant caractérisé par les étapes
    S2 comparaison du signal de la grandeur de fonctionnement (200) à au moins un modèle de forme de signal (240) typique de l'état, le modèle de forme de signal (240) typique de l'état étant associé au premier état de fonctionnement ;
    et
    53 décision si le premier état de fonctionnement est présent, la décision dépendant au moins en partie de l'identification, à l'étape S2, du modèle de forme de signal (240) typique de l'état dans le signal de la grandeur de fonctionnement (200).
  2. Procédé selon la revendication 1, caractérisé en ce que le modèle de forme de signal (240) typique de l'état est un tracé d'oscillation, notamment un tracé d'oscillation trigonométrique.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que la grandeur de fonctionnement est une vitesse de rotation du moteur électrique (180) ou une grandeur de fonctionnement en corrélation avec la vitesse de rotation.
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce que le signal de la grandeur de fonctionnement (200) à l'étape S1 est enregistré en tant qu'évolution dans le temps de valeurs de mesure de la grandeur de fonctionnement, ou en tant que valeurs de mesure de la grandeur de fonctionnement comme une grandeur du moteur électrique (180) corrélée à l'évolution dans le temps.
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que le signal de la grandeur de fonctionnement (200) à l'étape S1 est enregistré en tant qu'évolution dans le temps de valeurs de mesure de la grandeur de fonctionnement et, dans une étape S1a qui suit l'étape, une transformation est effectuée de l'évolution dans le temps des valeurs de mesure de la grandeur de fonctionnement en une évolution des valeurs de mesure de la grandeur de fonctionnement en tant que grandeur du moteur électrique (180) corrélée à l'évolution dans le temps.
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce que le signal de la grandeur de fonctionnement (200) est mémorisé dans une mémoire, de préférence une mémoire annulaire, notamment de l'outil électrique portatif (100), sous la forme d'une séquence de valeurs de mesure.
  7. Procédé selon la revendication 6, caractérisé en ce que dans l'étape 51, une segmentation des valeurs de mesure est effectuée de telle sorte que le signal de la grandeur de fonctionnement (200) comprend toujours un nombre prédéterminé de valeurs de mesure.
  8. Procédé selon l'une des revendications précédentes, caractérisé en ce que dans l'étape S2, le signal de la grandeur de fonctionnement (200) est comparé au moyen de l'un des procédés de comparaison comprenant au moins un procédé de comparaison basé sur la fréquence et/ou un procédé de comparaison comparatif, le procédé de comparaison comparant le signal de la grandeur de fonctionnement (200) au modèle de forme de signal (240) typique de l'état afin de déterminer si au moins une valeur seuil prédéfinie est satisfaite.
  9. Procédé selon la revendication 8, caractérisé en ce que le procédé de comparaison basé sur la fréquence comprend au moins le filtrage passe-bande et/ou l'analyse de fréquence, la valeur de seuil prédéfinie étant au moins égale à 85 %, notamment à 90 %, tout particulièrement à 95 %, d'une valeur limite prédéfinie.
  10. Procédé selon la revendication 8, caractérisé en ce que le procédé de comparaison comparatif comprend au moins l'estimation de paramètres et/ou la corrélation croisée, la valeur de seuil prédéfinie étant d'au moins 50 % d'une concordance du signal de la grandeur de fonctionnement (200) avec le modèle de forme de signal (240) typique de l'état.
  11. Procédé selon l'une des revendications précédentes, caractérisé en ce que l'étape S2 comprend une étape suivante S2a d'une détermination de la qualité de l'identification du modèle de forme de signal (240) typique de l'état et du signal de la grandeur de fonctionnement (200), la décision de la présence du premier état de fonctionnement étant prise à l'étape S3 au moins en partie à l'aide de la détermination de la qualité.
  12. Procédé selon l'une des revendications précédentes, caractérisé en ce que l'étape S2 comprend une étape suivante S2a d'une détermination d'écart de l'identification du modèle de forme de signal (240) typique de l'état et du signal de la grandeur de fonctionnement (200), la décision de la présence du premier état de fonctionnement étant prise à l'étape S3 au moins en partie à l'aide de la détermination d'écart.
  13. Procédé selon l'une des revendications précédentes, caractérisé en ce que le premier état de fonctionnement est identifié à l'aide de moins de dix coups d'un mécanisme de percussion de l'outil électrique portatif (100), en particulier moins de dix périodes d'oscillation de percussion du moteur électrique (180), de préférence moins de six coups d'un mécanisme de percussion de l'outil électrique portatif (100), en particulier moins de six périodes d'oscillation de percussion du moteur électrique (180), particulièrement de préférence moins de quatre périodes d'oscillation de percussion de l'outil électrique portatif (100), notamment moins de quatre périodes d'oscillation de percussion du moteur électrique (180).
  14. Procédé selon l'une des revendications précédentes, caractérisé en ce que l'outil électrique portatif (100) est une visseuse à percussion, en particulier une perceuse-visseuse à percussion, et le premier état de fonctionnement est un fonctionnement à percussion, notamment un fonctionnement en perçage à percussion.
  15. Outil électrique portatif (100), comprenant un moteur électrique (180), un capteur de mesure d'une grandeur de fonctionnement du moteur électrique (180), et une unité de commande (370), caractérisée en ce que l'unité de commande (370) est conçue pour mettre en oeuvre le procédé selon l'une des revendications 1 à 13.
EP20710078.5A 2019-03-25 2020-03-02 Procédé de reconnaissance d'un premier état de fonctionnement d'une machine-outil portative Active EP3946818B1 (fr)

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DE102019204071.3A DE102019204071A1 (de) 2019-03-25 2019-03-25 Verfahren zur Erkennung eines ersten Betriebszustandes einer Handwerkzeugmaschine
PCT/EP2020/055397 WO2020193083A1 (fr) 2019-03-25 2020-03-02 Procédé de reconnaissance d'un premier état de fonctionnement d'une machine-outil portative

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US12145242B2 (en) 2024-11-19
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EP3946818A1 (fr) 2022-02-09
CN113874172B (zh) 2024-08-09
JP2022525327A (ja) 2022-05-12
CN113874172A (zh) 2021-12-31
WO2020193083A1 (fr) 2020-10-01

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