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WO2019208105A1 - Outil électrique - Google Patents

Outil électrique Download PDF

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Publication number
WO2019208105A1
WO2019208105A1 PCT/JP2019/014017 JP2019014017W WO2019208105A1 WO 2019208105 A1 WO2019208105 A1 WO 2019208105A1 JP 2019014017 W JP2019014017 W JP 2019014017W WO 2019208105 A1 WO2019208105 A1 WO 2019208105A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
rotation
screw
trigger
current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/014017
Other languages
English (en)
Japanese (ja)
Inventor
石川　祐樹
西河　智雅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koki Holdings Co Ltd
Original Assignee
Koki Holdings Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koki Holdings Co Ltd filed Critical Koki Holdings Co Ltd
Priority to JP2020516148A priority Critical patent/JP6984742B2/ja
Publication of WO2019208105A1 publication Critical patent/WO2019208105A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B25B21/02—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose with means for imparting impact to screwdriver blade or nut socket
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers

Definitions

  • the present invention relates to a power tool.
  • Electric tools such as tools are known.
  • the impact tool is small and lightweight, it can achieve a high tightening torque.
  • the target material to be tightened is a soft material such as gypsum board
  • the screw head will sink deeply from the surface of the gypsum board when tightening the wood screw. There is a high risk that it will be lost, and in the worst case, the gypsum board may be penetrated. When such a failure occurs, it is necessary to reattach the entire plasterboard that was being worked on.
  • Gypsum board (or plasterboard) is a building material made of plaster-based material and wrapped in special paperboard, and is most often used for indoor walls and ceilings. Gypsum board has excellent fire resistance in addition to the features of high heat insulation and sound insulation.
  • a dedicated “board driver” is often used as an electric tool for fastening the wood screw.
  • the driver for the board is arranged with a stopper ring around the bit at the tip as in Patent Document 1, and the screw head of the wood screw reaches the same position as the tip of the ring for the stopper, that is, the surface of the gypsum board. At this time, the transmission of power by the motor is automatically cut off, so that the wood screw can always be tightened to the optimum position.
  • the present invention has been made in view of the above background, and an object thereof is to make it possible to easily perform a screw tightening operation using an electric tool regardless of the hardness of a target material.
  • Another object of the present invention is to provide an electric tool in which a mode for fastening a screw to a soft mating member is added to one of operation modes.
  • Still another object of the present invention is to provide an electric power tool capable of stopping a motor before a screw head penetrates a gypsum board.
  • Still another object of the present invention is to provide an electric tool to which an automatic follow-up mode for performing additional tightening on a screw in the middle of tightening is added.
  • a motor a trigger for adjusting start-up and rotation of the motor, a striking mechanism rotated by the motor, an output shaft connected to the striking mechanism and tightening a screw, and a motor
  • the control device detects the current by the current detection circuit. It is configured to be able to detect the impact by the impact mechanism and the seating of the screw according to the change in the current, and when the operator operates the trigger, the motor is rotated and the impact is not detected by the impact mechanism.
  • the motor is rotated so that it can be tightened, and the rotation of the motor is stopped when a screw is seated in a state where no impact is detected by the impact mechanism.
  • the mating material has a soft first material such as gypsum board and a second material harder than the first material provided as a base for the soft first material, and the screw is placed in a state where the striking mechanism does not strike. Even when tightened to the first material and the second material, the rotation of the motor is stopped when the screw is seated.
  • a soft mating member such as a gypsum board
  • the motor rotates when the operator's trigger is operated, and in addition to the first mode (for example, impact mode) in which the impact mechanism strikes and tightens the screw to the mating member, the motor operates when the operator operates the trigger.
  • a second mode for example, a gypsum board mode
  • a current detection circuit for detecting a current flowing through the motor is provided, and in the second mode, the control device detects a trigger when a change amount per predetermined time of the current detected by the current detection circuit exceeds a seating stop threshold. The rotation of the motor was stopped regardless of the operation.
  • the control device in the power tool having a striking mechanism rotated by a motor, a control device for controlling the rotation of the motor, and a current detection circuit for detecting a current flowing through the motor, the control device outputs an
  • the current value flowing to the motor immediately after the start of shaft rotation is detected every unit time, the first and second derivative values for the unit time are calculated from the current values of the most recent multiple units, and the motor rotation is calculated from the current value.
  • the seating stop threshold value for stopping the movement is calculated, and when the seating stop threshold value calculated using the second-order differential value is exceeded, the rotation of the motor is stopped regardless of the operation of the trigger.
  • the seating stop threshold value is set based on the current flowing through the motor detected by the current detection circuit immediately after the output shaft starts rotating.
  • the seating stop threshold is calculated using a linear equation so that the current value measured from the start of rotation of the output shaft to the seating stop for stopping the rotation of the motor is smaller as the current value is larger and larger as it is smaller.
  • a memory is provided for recording the latest several data of the measured current value during the rotation of the motor, and the control device calculates a first-order differential value (dI / dt) from the stored current value.
  • the striking mechanism has a hammer rotated by a motor and an anvil hit by the hammer, and the control device passes through the rear of the anvil and moves to a striking operation.
  • this function acts as an “impact operation suppression mode”, and the current supply is cut off immediately before the impact operation is performed. Therefore, it is possible to suppress a phenomenon in which the wood screw is strongly driven into the soft mode following a strong impact.
  • the controller pulls up the trigger after a predetermined time has passed. Stops motor rotation regardless of operation.
  • the tip tool attached to the output shaft is, for example, a driver bit that occupies a wood screw, and the predetermined time is set to be smaller than the rotation time required for one rotation of the wood screw.
  • a motor a trigger for adjusting start-up and rotation of the motor, a striking mechanism rotated by the motor, an output shaft connected to the striking mechanism, and rotation of the motor are provided.
  • an electric tool having a control device that controls the motor
  • the motor rotates to tighten the screw to the mating member, and when the screw is seated, the motor is stopped, and then the tip tool attached to the output shaft is screwed.
  • the trigger is pulled again while pressed against the motor, the rotation of the motor is stopped regardless of the trigger pulling operation after rotating the motor for a predetermined time.
  • This screw is, for example, a wood screw, and the predetermined time is set to be shorter than the rotation time required for one rotation of the wood screw, and preferably less than the rotation time required for one half rotation.
  • a motor a trigger for adjusting start-up and rotation of the motor, a striking mechanism rotated by the motor, an output shaft connected to the striking mechanism, and rotation of the motor are provided.
  • the motor rotates and the screw is tightened on the mating member. After the operation, the rotation of the motor is stopped regardless of the trigger operation.
  • the screw tightening operation can be easily and reliably performed regardless of the rigidity of the counterpart material. Further, additional tightening can be automatically performed on the screws being tightened. In this way, tightening work can be performed reliably regardless of the hardness of the mating material (for example, gypsum board) using an electric tool, so when the work amount is not enough to prepare a dedicated driver (board driver) Can be completed with just impact tools.
  • the motor is stopped as soon as the screw is seated, and an automatic follow-up mode is provided to compensate for insufficient tightening.
  • a high-powered electric tool that can prevent mistakes in tightening the gypsum board can be realized.
  • FIG. 1 It is a perspective view which shows the external appearance of the impact tool 1 which concerns on the Example of this invention. It is a longitudinal cross-sectional view which shows the whole structure of the impact tool 1 of a present Example. It is a figure for demonstrating the fastening procedure of the wood screw to a gypsum board using the impact tool 1 of a present Example.
  • (A) to (C) are diagrams for explaining the relationship between the seating state detected by the impact tool 1 of this embodiment and the follow-up control, and (D) is overtightened by the conventional impact tool.
  • FIG. It is a circuit diagram of the drive control system of the motor 3 of the impact tool 1 of a present Example.
  • FIG. It is a figure which shows the electric current waveform of the motor 3 at the time of the fastening operation
  • FIG. It is a figure for demonstrating the method of the seating determination by the software of the impact tool 1 of a present Example. It is a diagram for explaining a method of determining the threshold TH S for seating determination in the impact tool 1 of the present embodiment.
  • FIG. 1 is a side view showing an appearance of an impact tool 1 according to an embodiment of the present invention.
  • the impact tool 1 uses a rechargeable pack-type battery 90 as a power source, applies a rotational force and a striking force to the output shaft 10 by using a motor as a drive source, and a driver bit or the like held in the mounting hole 10a by the mounting mechanism 11
  • the rotary impact force is intermittently transmitted to a tip tool (not shown) to perform operations such as screw tightening and bolt tightening.
  • a housing 2 of the impact tool 1 is a substantially cylindrical tubular body 2a for housing a motor and a power transmission mechanism, and extends in a direction substantially perpendicular to the axis A1 from the vicinity of the substantial center of the body 2a.
  • the handle portion 2b for the operator to hold with one hand and the lower end portion (the end portion on the opposite body portion side) located on the opposite side of the body portion 2a among the end portions of the handle portion 2b. It is comprised by the battery attachment part 2c.
  • a trigger lever 7a is disposed on the upper portion of the handle portion 2b so as to protrude forward, and on the rear side of the trigger lever 7a, forward and reverse for switching the rotation direction of the output shaft 10 to forward or reverse.
  • a switching lever 8 is provided.
  • the battery mounting portion 2c has substantially the same lateral area as the upper surface of the battery 90, and a battery 90 made of a secondary battery such as a lithium ion battery is mounted therein.
  • the battery 90 is detachable. When the battery 90 is removed from the state shown in FIG. 1, the battery 90 is moved relative to the front side of the electric tool body while pushing the latch buttons 91 on the left and right sides.
  • a control circuit board (which will be described later with reference to FIG. 2) is disposed inside the battery mounting portion 2c.
  • a first switch panel 36 is provided on the upper surface portion of the battery mounting portion 2c and in front of the lower end of the handle portion 2b.
  • the first switch panel 36 includes a light switch for turning on the lighting device 9, a battery remaining amount display switch and a battery remaining amount display lamp for displaying the remaining amount of the battery 90, and a strength for displaying the impact strength.
  • a strength indicator lamp is arranged.
  • a second switch panel 37 is also provided on the left side surface portion of the battery mounting portion 2c, and a strength changeover switch 38 for adjusting the impact strength (tightening strength) is provided.
  • a hook 50 for suspending the impact tool 1 from the waist belt of the operator is provided obliquely below the strength switching switch 38. The hook 50 is detachable, and can be attached not only to the left side surface of the battery mounting portion 2c as shown in FIG. 1, but also to the right side surface, and may be left detached.
  • a slit-like air intake port 17b is formed in the vicinity of the rear end side of the body portion 2a of the housing 2, and the air discharge port 17b is formed on the front side and in the vicinity of the outer periphery of the rotor fan 15 (described later in FIG. 2).
  • a slit 17c is formed.
  • a hammer case 5 made of metal and formed in a cup shape and having a through hole through which the output shaft 10 penetrates is provided at the front end of the housing 2.
  • An illuminating device 9 using LEDs is provided below the front end of the hammer case 5.
  • FIG. 2 is a longitudinal sectional view showing the internal structure of the impact tool 1 of this embodiment.
  • the motor 3 is accommodated in a cylindrical body portion 2a of the housing 2 having a substantially T-shape when viewed from the side.
  • the motor 3 is a DC (direct current) motor without a brush (rectifying brush) and is a 4-pole 6-slot brushless DC motor.
  • the motor 3 includes a rotor (rotor) 3a having a permanent magnet and a stator (stator) 3b having a plurality of armature windings (stator windings) such as a three-phase winding.
  • the motor 3 detects the magnetic force of the permanent magnet of the rotor 3a and outputs the DC voltage supplied from a battery or the like using a plurality of semiconductors by using the output of the position detection element 13 composed of a plurality of Hall ICs that detect the rotor position. It operates by being switched by the switching element 14.
  • the rotating shaft 4 of the motor 3 is disposed concentrically with the axis A1 of the cylindrical body portion 2a, and is supported on the housing 2 by two bearings 16a and 16b on the front side and the rear side.
  • a substantially annular inverter circuit board 12 for mounting three position detecting elements 13, six semiconductor switching elements 14 and the like is disposed on the rear side of the stator 3b.
  • the inverter circuit board 12 is a substantially annular double-sided board having substantially the same diameter as the outer diameter of the motor 3.
  • Six semiconductor switching elements 14 are provided to form an inverter circuit, which switches energization to the stator windings of each phase.
  • an FET Field Effect Transistor
  • IGBT Insulated Gate Bipolar Transistor
  • the inverter circuit is controlled by a microcomputer, and the energization timing of the armature winding of each phase is set based on the position detection result of the rotor 3a by the position detection element 13, so that advanced rotation control is facilitated.
  • the hammer case 5 accommodates the speed reduction mechanism 20 and the impact mechanism 21 therein, and is provided on the front side of the body portion 2 a of the housing 2.
  • the hammer case 5 is manufactured as a single piece of metal, and a through hole 5a for allowing the output shaft 10 to pass therethrough is formed in the front portion corresponding to the cup-shaped bottom.
  • a mounting mechanism 11 is provided on the outer side of the hammer case 5 so that a tip tool (not shown) can be mounted on or removed from the tip portion of the output shaft 10.
  • a rotor fan 15 is mounted coaxially with the rotary shaft 4 between the rotor 3a and the bearing 16a.
  • the rotor fan 15 is integrally formed by, for example, a plastic mold, and is a so-called centrifugal fan that sucks air from the rear inner peripheral side and discharges it to the front radial outer side.
  • the air flow generated by the rotor fan 15 is taken into the body portion 2a from the air intake port 17a (see FIG. 1) formed in the housing portion around the air intake port 17a and the inverter circuit board 12, and mainly the rotor.
  • the rotor 3a forms a magnetic path formed by permanent magnets.
  • the stator 3b is manufactured by a laminated structure of annular thin steel plates, and six teeth (not shown) are formed on the inner peripheral side, and enamel wires are wound around each tooth to form a coil.
  • the coil is a star connection having U, V, and W phases.
  • a trigger lever 7a is disposed on the upper portion of the handle portion 2b extending integrally at a substantially right angle from the body portion 2a of the housing 2 so as to protrude forward, and a trigger switch 7 is provided behind the trigger lever 7a.
  • the user can adjust the trigger push-in amount (operation amount) and control the rotation speed of the motor 3 by holding the handle portion 2b with one hand and pulling the trigger lever 7a backward with an index finger or the like.
  • the rotation direction of the motor 3 can be switched by operating the forward / reverse switching lever 8.
  • the lower part in the handle part 2b is provided with a battery attachment part 2c that expands in a direction substantially orthogonal to the direction of the axis B1 of the handle part 2b.
  • a battery 90 serving as a driving power source for the motor 3 is detachably mounted on the battery mounting portion 2c.
  • a control circuit unit 30 for controlling the inverter circuit board 12 of the motor 3 is provided above the battery 90.
  • the control circuit unit 30 accommodates a control circuit board (not shown) provided to extend in the front-rear and left-right directions.
  • a microcomputer 40 which will be described later with reference to FIG. 5 is mounted on the control circuit board.
  • the control circuit board 31 is connected to the inverter circuit board 12 via a signal line.
  • a switch panel for arranging a remaining amount check switch for the battery 90, an LED display device for displaying the remaining amount, and a lighting switch for the lighting device 9 on the upper surface of the battery mounting portion 2c in the vicinity of the control circuit board 31. 36 is provided.
  • the body portion 2a of the housing 2 is manufactured by integral molding of a synthetic resin material together with the handle portion 2b and the battery mounting portion 2c, and is formed so as to be divided into left and right parts on a vertical plane passing through the rotation shaft 4 of the motor 3.
  • the left side member and the right side member of the housing 2 were prepared, and the speed reduction mechanism 20 and the impact mechanism 21 were previously installed in one housing 2 (for example, the left side housing) as shown in the sectional view of FIG.
  • the hammer case 5 and the motor 3 are assembled, and then the other housing 2 (for example, the right housing) is stacked and tightened with a plurality of screws.
  • the impact mechanism 21 is provided on the output side of the planetary gear reduction mechanism 20, and includes a spindle 22 and a hammer 24.
  • the rear end is rotatably held by a bearing 18b and the front end by a metal 18a.
  • the speed reduction mechanism 20 and the impact mechanism 21 constitute a power transmission mechanism for driving the tip tool by the motor 3.
  • the motor 3 starts to rotate in the direction set by the forward / reverse switching lever 8, and the rotational force is decelerated by the speed reduction mechanism 20 and transmitted to the spindle 22.
  • the spindle 22 rotates at a predetermined speed.
  • the spindle 22 and the hammer 24 are connected by a cam mechanism.
  • the cam mechanism is formed on a V-shaped spindle cam groove 23 formed on the outer peripheral surface of the spindle 22 and an inner peripheral surface of the hammer 24.
  • a hammer cam groove 25 and two steel balls 26 engaged with the cam grooves 23 and 25 are formed.
  • the hammer 24 is always urged forward by a hammer spring 27.
  • hitting claws hammer claws 24a and 24b, which will be described later with reference to FIG. 12
  • hitting claws (hammer claws 24a and 24b, which will be described later with reference to FIG. 12) projecting convexly in the direction of the axis A1, and hitting claws hit by the hitting claws. (Anvil claws 28a and 28b described later in FIG. 12) are formed rotationally symmetrical.
  • the hammer 24 When the hammering claw of the hammer 24 gets over the hitting claw of the anvil 28 by the backward movement of the hammer 24 and the engagement between the two is released, the hammer 24 accumulates in the hammer spring 27 in addition to the rotational force of the spindle 22. The hammer 24 is moved forward by the urging force of the hammer spring 27 while being accelerated rapidly in the rotational direction and forward by the action of the elastic energy and the cam mechanism, and the hammer 24 of the hammer 24 is re-engaged with the hammer of the anvil 28. And start to rotate together.
  • the rotational striking force is transmitted to a tip tool (not shown) mounted in the mounting hole 10a of the output shaft 10 formed integrally with the anvil 28. Thereafter, the same operation is repeated, and the rotational impact force is intermittently and repeatedly transmitted to the tip tool.
  • a wood screw is screwed into a member to be tightened (not shown) such as wood.
  • FIGS. 3A to 3E are views for explaining a procedure for tightening a wood screw to a gypsum board as a first material using the impact tool 1 of the present embodiment.
  • the gypsum board 71 is formed by using gypsum as a shining material and covering both sides with gypsum board base paper, and is a building interior material with features such as fire resistance, sound insulation, dimensional stability, and ease of construction. It is widely used for building walls and ceilings. Since a soft board such as a gypsum board does not have enough strength as a wall material when used alone, the gypsum board 71 is often laminated on the plywood as the second material.
  • FIG. 3A shows a state immediately before a gypsum board 71 having a thickness of, for example, 10 mm is overlaid on a base made of plywood and a wood screw 73 having a length of 25 mm is tightened.
  • the operator positions the tip 73 d of the wood screw 73 on the gypsum board 71 and fits the tip tool 70 into a cross groove (not shown) of the top surface 73 a of the wood screw 73.
  • the wood screw 73 is formed by a plate portion 73b spreading in the radial direction and a screw portion 73c having a screw thread formed on the outer peripheral side.
  • the top surface 73a which is the upper surface of the plate portion 73b, has a flat shape excluding the cross groove portion.
  • the outer peripheral surface of the plate portion 73b has a shape in which the outer edge of the cross section including the axial direction is narrowed down into a quadratic curve so as to form a funnel shape from the top surface 73a.
  • FIG. 3B shows a state in which the tip 73 d of the wood screw 73 is located in the gypsum board 71.
  • the diameter of the screw portion 73c of the wood screw 73 of the present embodiment is substantially constant in the axial direction except for the thread portion, the load that increases as the tightening progresses is caused between the gypsum board 71 and the base 72. It gradually increases so as to be approximately proportional to the penetration length.
  • FIG. 3D shows a state in which the funnel-shaped outer peripheral surface of the plate portion 73 b is in contact with the surface of the gypsum board 71.
  • 3D is a state in which the top surface 73 a protrudes by a height S from the surface of the gypsum board 71.
  • the microcomputer 40 forcibly stops the motor 3 when it is in a seated state and detects a fixed tightening state even when the operator keeps pulling the trigger lever 7a.
  • the “catch-up control” is control in which the microcomputer 40 automatically stops after rotating the tip tool 70 by a certain amount, and is controlled so that the rotation amount in “catch-up control” becomes constant.
  • the rotation amount of the follow-up control is defined by the driving time of the motor 3.
  • the microcomputer 40 starts the rotation of the tip tool 70 by the operator pulling the trigger lever 7a, and when the motor 3 is driven for a predetermined minute time, the motor 40 regardless of the pulling state of the trigger lever 7a by the operator.
  • the rotation of 3 is stopped.
  • the amount of rotation at this time is such that the insufficient amount of tightening of the wood screw 73 can be completed by one to three additional tightening.
  • 3D to 3E the trigger lever 7a may be pulled while the tip tool 70 is pressed against the top surface 73a, or the tip tool 70 may be separated from the top surface 73a once.
  • the operation may be such that the trigger lever 7a is pulled again after the tip tool 70 is pressed against the top surface 73a again. Note that in order to realize the follow-up control shown in FIG.
  • the microcomputer 40 detects the amount of the initial load immediately after the trigger lever 7a is pulled, and determines whether or not there is a large load. Whether the trigger lever 7a is pulled corresponds to the state shown in FIG. 3A or whether the trigger lever 7a is pulled again in the state shown in FIG. This determination method will be described later with reference to FIG.
  • FIG. 4A to 4C are diagrams for explaining the relationship between the seating state detected by the impact tool 1 of the present embodiment and the follow-up control.
  • FIG. 4 (D) also shows a state of being overtightened by a conventional impact tool.
  • FIG. 4A shows a state in which the seat detected by the impact tool 1 of the present embodiment has reached the optimum screw tightening position.
  • FIG. It is preferable to control so that about 70 to 90% of the tightening is in this state.
  • the surface of the gypsum board 71 and the top surface 73a of the wood screw 73 are flush with each other.
  • FIG. 4 (B) shows a state in which the seating position detected by the impact tool 1 is insufficient, the top surface 73a of the wood screw 73 is floating distance S 1 from the surface of the gypsum board 71 . Thereafter, the optimum screw tightening position shown on the right side is reached by performing the additional tightening once.
  • the state on the left side of FIG. 4C shows another state in which the seating position detected by the impact tool 1 is further insufficient, and the top surface 73a of the wood screw 73 is separated from the surface of the gypsum board 71 by a distance S 2 ( Only S 2 > S 1 ) is floating.
  • the microcomputer 40 can control the rotation of the motor 3 so that the occurrence of the above situation becomes zero.
  • the motor 3 is stopped.
  • the trigger lever 7a can be operated again to perform additional tightening.
  • the motor 3 may be stopped after the first hit is detected. According to this configuration, it is possible to execute the operation up to the additional tightening by the first operation of the trigger lever 7, and it is possible to suppress the excessive tightening of the wood screw 73.
  • FIG. 5 is a schematic block diagram of the impact tool 1 of the present embodiment.
  • a battery 90 composed of a secondary battery is used as a power source
  • a control circuit unit (control device) 30 includes a microcomputer 40 for controlling a brushless DC motor, and includes a plurality of semiconductor switching elements Q1 to Q6.
  • the motor 3 is a so-called inner rotor type, and is provided with three position detecting elements arranged at every 60 ° so as to face a rotor 3a configured by embedding a magnet (permanent magnet) including a pair of N poles and S poles. 13 is provided.
  • the stator 3b includes star-connected three-phase windings U, V, and W.
  • the microcomputer 40 mounted on the control circuit board 31 controls the driving of the switching elements Q1 to Q6 via the control signal output circuit 48.
  • the gates of the six switching elements Q1 to Q6 that are bridge-connected are connected to the control signal output circuit 48, and the drains or sources of the six switching elements Q1 to Q6 are star-connected stator windings Connected to U, V, W.
  • the six switching elements Q1 to Q6 perform a switching operation by the switching element driving signals (driving signals such as H4, H5, and H6) input from the control signal output circuit 48, and are applied to the inverter circuit. Electric power is supplied to the stator windings U, V, and W as three-phase (U-phase, V-phase, and W-phase) voltages Vu, Vv, and Vw.
  • the switching element drive signals (three-phase signals) for driving the gates of the six switching elements Q1 to Q6, the three negative power supply side switching elements Q4, Q5, and Q6 are converted into a pulse width modulation signal (PWM signal) H4.
  • PWM signal pulse width modulation signal
  • H5, H6, and the microcomputer 40 mounted on the control circuit board 31 sets the pulse width (duty ratio) of the PWM signal based on the detection signal of the operation amount (stroke) of the trigger lever 7a of the trigger switch 7.
  • the power supply amount to the motor 3 is adjusted, and the start / stop and rotation speed of the motor 3 are controlled.
  • the control circuit unit 30 includes a microcomputer 40, a current detection circuit 41, a switch operation detection circuit 42, an applied voltage setting circuit 43, a rotation direction setting circuit 44, a rotor position detection circuit 45, a rotation speed detection circuit 46, and an input / output Part 49 is mounted.
  • the microcomputer 40 forming the core of the control circuit unit 30 is a CPU for outputting a drive signal based on a processing program and data, and a program and control data corresponding to a flowchart to be described later.
  • a ROM, a RAM for temporarily storing data, and a microcomputer incorporating a timer and the like are included.
  • the current detection circuit 41 is voltage detection means for detecting the current flowing through the motor 3 by measuring the voltage across the shunt resistor 32, and the detected current is input to the microcomputer 40.
  • the shunt resistor 32 is provided between the battery 90 and the inverter circuit to detect the current value flowing through the semiconductor switching elements Q1 to Q6.
  • the shunt resistor 32 is provided between the inverter circuit and the motor 3. The value of the current flowing through the motor 3 may be detected.
  • the switch operation detection circuit 42 detects whether or not the trigger lever 7a is pulled, and outputs an ON signal to the microcomputer 40 if it is pulled even a little.
  • the applied voltage setting circuit 43 is a circuit for setting the applied voltage of the motor 3, that is, the duty ratio of the PWM signal, in response to the movement stroke of the trigger lever 7a.
  • the rotation direction setting circuit 44 is a circuit for setting the rotation direction of the motor 3 by detecting a forward rotation or reverse rotation operation by the forward / reverse switching lever 8 of the motor.
  • the rotor position detection circuit 45 is a circuit for detecting the relative positions of the rotor 3a and the armature windings U, V, and W of the stator 3b based on the output signals of the three position detection elements 13.
  • the rotation speed detection circuit 46 is a circuit that detects the rotation speed of the motor based on the number of detection signals from the rotor position detection circuit 45 counted within a unit time.
  • the control signal output circuit 48 supplies PWM signals to the switching elements Q1 to Q6 based on the output from the microcomputer 40. The power supplied to each armature winding U, V, W is adjusted by controlling the pulse width of the PWM signal.
  • the microcomputer 40 receives a signal from the input / output unit 49 for switching the operation mode.
  • Signals input from the input / output unit 49 include input signals from the first switch panel 36 and the second switch panel 37 and input signals from other sensors.
  • a signal output from the microcomputer 40 to the input / output unit 49 includes a turn-on / off instruction signal to the drive circuit that drives the illumination device 9 for illuminating the vicinity of the tip tool, and an LED display on the first switch panel 36. Includes lighting signal.
  • FIG. 6 is a diagram showing the relationship between the lapse of the tightening time and the motor current due to the difference in the hardness of the material to be tightened (gypsum board + plywood).
  • the vertical axis represents the current value I (unit: A), and the horizontal axis represents the passage of time (unit: milliseconds).
  • I unit: A
  • milliseconds the passage of time
  • a current value 62 indicated by a dotted line indicates a tightening state with respect to the hard base 72 in addition to the gypsum board 71.
  • the current value 61 slightly changes as shown by arrows 61a to 61b as the tightening progresses. To rise. Note that the illustration of the influence of the start current immediately after the start of the motor 3 is omitted (the same applies to FIG. 7 described later).
  • the seating initial state becomes (the boundary position of the pan 73b and the threaded portion 73c of the wood screw 73 is a state that has reached the surface of the gypsum board 71) at time t 1, the current rapidly value as indicated by an arrow 61c is increased .
  • Microcomputer 40 an appropriate timing after detecting the seated initial state, i.e. at time t 2 to stop the rotation of the motor 3.
  • the current value 62 increases linearly as indicated by arrows 62a to 62b as the tightening progresses.
  • the seating state at time t 1 large current as indicated by an arrow 62c is increased.
  • the microcomputer 40 stops the rotation of the motor 3 at the right time, i.e. the time t 2 after the detection of the seating.
  • FIG. 6 is merely an example.
  • the degree of increase in the inclination after sitting shown by the arrow 61c is larger than the small inclination of the current value 61 before sitting as shown by the arrows 61a to 61b.
  • the degree of increase in the slope of the current value 62 after the initial sitting state indicated by the arrow 62c is smaller than the slope of the current value 62 indicated before the initial sitting state indicated by the arrows 62a to 62b.
  • a stop threshold TH S (described later) for stopping the motor 3 is taken into consideration in consideration of the difference in the ratio of the slope of the current value after the initial seating state to the slope of the current value before the seating initial state. Set to optimal. As described above, in this embodiment, the seating can be reliably detected and the motor 3 can be stopped even if the tightening target materials are different in hardness.
  • FIG. 7 is a diagram showing the relationship of the motor current with the lapse of the tightening time due to the difference in the hardness of the material to be tightened (gypsum board as the first material + plywood as the second material).
  • the axis indicates the current value I
  • the vertical axis in (B) indicates the differential value of the current value I
  • the vertical axis in (C) indicates the second-order differential value of the current value I.
  • FIG. 7A is the same diagram as FIG. FIG. 7B is obtained by differentiating the current values 61 and 62 of FIG. 7A with respect to time, and calculating differential values 63 and 64 by dI / dt.
  • dI / dt indicates the magnitude of the slope of the graph of FIG.
  • the differential value 63 in the case of a soft ground indicated by a solid line is in the state of an arrow 63a before sitting, and in the case of a hard ground indicated by a dotted line Is smaller than the arrow 64a of the derivative 64 of Further, dI / dt from the time when the seating initial position at time t1 is reached to the time when the top surface 73a of the wood screw 73 is flush with the gypsum board 71 is the rise of the differential value 63 in the case of a soft ground (arrow) 63b) is clearly larger than the rise of the differential value 64 (arrow 64b) in the case of a hard base.
  • the present inventors have ⁇ and (64a, relationship arrows 63b and 64b (63b relationship between the arrows 63a and 64a 63a)> attention to the fact that 64b) is reversed, and to set the stop threshold value TH S.
  • an optimum stop threshold TH S (described later) according to the difference in hardness of the base material as the second material can be set individually for each tightening.
  • FIG. 7C is a graph in which the differential values 63 and 64 are further differentiated, and the slopes of the graphs of the differential values 63 and 64 in FIG. 7B are calculated. That is, it becomes a second-order differential value as seen from FIG. 7A, and the second-order differential values 65 and 66 are calculated by d 2 I / dt 2 . As can be understood here, from the time 0 to the time t 1 , the second-order differential values 65 and 66 are almost 0, and both are unchanged. On the other hand, second-order differential value 65 at time t 2 from time t 1 rapidly rises. This varies the stop threshold value TH S for stopping the motor 3 in response to the rising degree.
  • the stop threshold TH S is raised or lowered as indicated by the arrow 81 according to the magnitude of d 2 I / dt 2 after reaching the seating initial position.
  • FIGS. 8 to 10 are flowcharts showing a tightening procedure in the gypsum board mode of the impact tool 1 of the present embodiment.
  • the microcomputer 40 detects the set operation mode of the impact tool 1 (step 101).
  • a “gypsum board mode (second mode, operation mode for soft board)” is added in addition to the conventionally provided impact operation mode (first mode).
  • the tightening strength can be set in a plurality of steps (for example, four steps).
  • the operation mode of the impact tool is not limited to the first mode and the second mode, but other operation modes such as a tex screw tightening mode (third mode) and other operation modes may be provided. The description of the third mode and other operation modes will be omitted.
  • the microcomputer 40 determines whether one of these modes is set.
  • the microcomputer 40 detects the setting of the forward / reverse switching lever 8 to set the rotation direction of the motor 3 (step 102).
  • the microcomputer 40 determines whether the operation mode detected in step 101 is the “normal mode (normal impact operation mode)” or the new “gypsum board mode” added by the present embodiment. (Step 103).
  • the microcomputer 40 performs the control in steps 104 to 110 which is the same control as the conventional impact tool. That is, the microcomputer 40 also sets the target rotational speed of the motor 3 according to the set tightening strength by the impact operation (step 104), and whether or not the trigger switch 7 is turned on by pulling the trigger lever 7a. Is determined (step 105).
  • step 106 the driving of the motor 3 is started (step 106).
  • step 107 the driving of the motor 3 is started.
  • step 109 the microcomputer 40 detects the rotation speed of the motor 3 (step 109).
  • the target rotational speed set in 104 is compared with the detected current rotational speed, the duty ratio in PWM control is set, the inverter circuit is controlled so as to be the duty ratio, and the process returns to step 107 (step 110).
  • step 108 the driving of the motor 3 is stopped and the tightening operation is finished (step 108).
  • the above is the normal impact operation mode that has been conventionally performed.
  • step 111 the microcomputer 40 determines whether the rotation direction of the motor 3 is set to “reverse”. In the case of reverse rotation, seating detection and tracking control peculiar to the plaster board are unnecessary, and the process proceeds to step 104.
  • step 114 the microcomputer 40 sets a target rotational speed of the motor 3 suitable for tightening the gypsum board (step 112), and determines whether or not the trigger switch 7 is turned on by pulling the trigger lever 7a (step 112). 113). If the trigger lever 7a is not pulled in step 113, the process returns to step 101.
  • the microcomputer 40 determines whether or not the trigger switch 7 is turned off while the motor 3 is rotating (step 115). If not, the microcomputer 40 detects the number of rotations of the motor 3 (step 117). The target rotational speed set in 112 is compared with the detected current rotational speed, the duty ratio in PWM control is set, the inverter circuit is controlled so as to be the duty ratio, and the process proceeds to step 121 in FIG. (Step 118).
  • the trigger lever 7a is returned in step 115 and the trigger switch 7 is turned off, the driving of the motor 3 is stopped (step 116), and the tightening operation is finished.
  • FIG. 9 shows a processing procedure following step 118 in FIG.
  • the microcomputer 40 first detects the drive time (step 119). This detection is performed at regular intervals (for example, every 1 millisecond), and the interval is measured using a timer function of the microcomputer 40.
  • the microcomputer 40 measures the current value I flowing through the motor 3 using the current detection circuit 41 (see FIG. 5) (step 120).
  • the microcomputer 40 temporarily stores in an internal memory (not shown) the measured current value I (e.g. the current value I n of the time t n) (step 121).
  • the “initial load determination end flag” is a state before tightening as shown in FIG. 3 (A) after the trigger lever 7a is pulled in the gypsum board mode, or a state after FIG. 3 (D). It is a flag indicating whether or not a load determination indicating whether or not the follow-up control is performed.
  • the initial load determination end flag “1” indicates that it is determined whether the state before tightening or the follow-up tightening control.
  • initial load determination end flag “1” indicates that it has not been determined whether the state is before tightening or the follow-up tightening control.
  • the initial load determination end flag is cleared and “0” is input when the operator releases the trigger lever 7a.
  • step 122 If the initial load determination has not ended in step 122, that is, if the initial load determination end flag “1” has not been detected, the time required for the microcomputer 40 to detect the initial load state is within an appropriate range (within the determination time region). It is determined whether or not (step 126).
  • a load detection method for determining whether or not the follow-up control should be executed will be described with reference to FIG.
  • FIG. 11 is a diagram for explaining a method of detecting the presence or absence of a load at the start of tightening of the impact tool 1, and is executed every time immediately after the operator pulls the trigger lever 7a in the “gypsum board mode”.
  • the vertical axis of the graph is the current value I (unit A) detected by the current detection circuit 41 (see FIG.
  • the horizontal axis is the passage of time (unit: millisecond).
  • two waveforms of current values 68 and 69 are shown.
  • the current value 68 is in a state where there is a follow-up load as shown in FIG. 3E
  • the current value 69 is in a state where there is no follow-up load as shown in FIG.
  • the motor 3 is activated and starts rotating. Since a large starting current flows as indicated by arrows 68a and 68b immediately after the motor 3 is started, the current value I measured within this time is not used for judgment (dead period), and the starting current disappears.
  • the threshold value TH l is preset threshold for load sensing, there is a load when I exceeds the threshold TH l, i.e. through to FIG. 3 (D) (E) is the "follow clamped” and it is determined, if there below the threshold value TH l, it is determined that the state of no load at the start tightening the wood screws 73 shown in Figure 3 (a).
  • Whether exceeds the threshold TH l may be determined by the peak value of the current 68 and 69 leading to the time t a ⁇ t b, may be determined by the average value, and a filtering process The determination may be made after removing the noise.
  • the load detecting section since the seat is in the detected the time t 1 (t 1> t e ) well in advance of the section than, the microcomputer 40 is loaded with the respective clamping initial stage of the wood screws 73, no load Can be judged. Incidentally, after crossing the "Load Yes" a to time t b, at time t e after the elapse of a predetermined time, the microcomputer 40 stops the motor 3.
  • the setting value of the predetermined time is about 80 ms, is the extent to rotate the wood screw about 90 degrees. If the answer is "no load", the microcomputer 40 stops the motor 3 at time t 2 and the seating detection as shown in FIG.
  • step 126 the time when the current value is detected, it is determined that it is within the detection time for the initial load detection, when in less than the load detection time, that is, between t a from the time 0 in FIG. 12 If so, the process returns to step 115 in FIG. In step 126, when the current value is within the detection time determines the detected current value I is, whether exceeds the threshold TH l of load detection (step 127).
  • step 123 it is determined whether the determined result is loaded or not loaded (step 123). If not, the routine proceeds to step 131 in FIG. 10 to execute normal tightening that is not the follow-up tightening in the gypsum board mode. If there is a load at step 123, the microcomputer 40 drives the motor 3 for a certain period of time in order to make a follow-up, and returns to step 115 of FIG. When the predetermined time has elapsed, the microcomputer 40 stops the rotation of the motor and ends the tightening operation in the gypsum board mode. Even when the motor is stopped in step 125, there may be a state in the center of FIG. In that case, the operator performs further tightening by pulling the trigger lever 7a again.
  • FIG. 10 is a flowchart showing a subsequent processing procedure in the case of “no load” in step 123 of FIG.
  • the microcomputer 40 detects whether or not the hammer 24 is likely to hit the anvil 28 (step 131).
  • a method may be used in which the acceleration sensor is used to detect after an actual hit, but by detecting the current value I of the motor 3, the hammer 24 moves backward to disengage from the anvil 28. Detecting that it was in a disengaged state. The detection of the separation state will be described with reference to FIGS.
  • FIG. 12 is a diagram illustrating a situation in which the hammer 24 is hit by the hammer 24 during normal rotation, and is a view of the anvil 28 and the hammer 24 as seen from the front side of the axis A1 (see FIG. 2). It is.
  • the motor 3 rotates and the hammer 24 rotates in the forward direction, and the hammer claws (blow claws) 24a and 24b move the anvil claws (batter claws) 28a and 28b of the anvil 28 in the rotational direction rearward.
  • the anvil 28 rotates in the same direction as the hammer 24. In this state, when the load received from the tip tool 70 (see FIG.
  • FIG. 12C shows the current value I of the motor 3 when reaching FIGS. 12 (A) to 12 (C).
  • FIG. 13 is a diagram showing a current waveform of the motor 3 when the hammer 24 is detached from the anvil 28 during the tightening operation of the impact tool 1 of this embodiment.
  • the vertical axis represents the current value I (unit A) of the motor 3 detected by the current detection circuit 41 (see FIG. 5), and the horizontal axis represents the passage of time. Times t A and t B on the horizontal axis are times in the states of FIGS. 12 (A) and 12 (B).
  • FIGS. 3A to 3C when the wood screw 73 (see FIG. 3) is tightened, the current value 69 of the motor 3 gradually increases as shown by an arrow 69c until the seating is reached.
  • the increase in the current value 69 indicated by the arrow 69c is because the hammer claws 24a and 24b rotate so as to push the anvil claws 28a and 28b from the rear in the rotation direction.
  • the current value 69 rapidly decreases as indicated by an arrow 69d. If the supply of current to the motor 3 is continued at the time of the arrow 69d, the motor 3 accelerates and strikes the hammer claws 24a, 24b against the anvil claws 28a, 28b vigorously.
  • the microcomputer 40 stops the supply of the drive current to the motor 3 and performs normal hitting. Control so that no action is taken. With this control, it is possible to satisfactorily fasten the screw to the soft member whose tightening torque is too high in the striking operation. As shown in FIG. 13, in this embodiment, the supply of the drive current to the motor 3 is completely stopped when the hammer 24 is retracted. You may comprise so that rotation may be continued so that it may reduce so that the electric current value 69 of FIG. 11 may be less than 30%.
  • step 132 of FIG. 10 when the microcomputer 40 detects the hit, the microcomputer 40 stops the driving of the motor 3 by stopping the supply of the driving current, and ends the processing (step 139). Since the motor 3 does not stop suddenly but rotates due to inertia, the motor 3 is hit only once. However, since the power supply is cut off immediately before the hit, the wood screw 73 is tightened too much by performing the hit. There is no risk of a condition occurring.
  • step 132 when the microcomputer 40 cannot detect the impact, that is, when the significant decrease in the current value I cannot be detected as indicated by the arrow 69d in FIG. 13, the microcomputer 40 detects the detected change amount of the current value I.
  • Step 133 In the principle of the present embodiment shown in FIG. 7, the differential value of the current value I and the second-order differential value are calculated and determined based on them. The actual difference determination by the microcomputer 40 is shown in FIG. The method shown in is performed.
  • FIG. 14 is a diagram for explaining a method of seating determination by software of the impact tool 1 of the present embodiment. Here, it is assumed that the current value 60 increases as shown in FIG.
  • the microcomputer 40 at predetermined time intervals, wherein the measurement of the current value flowing to the motor 3 for each time T, the measured n-th current value (n is a natural number) and I n. That I n is the current value measured is, which current value I n-1 is measured at time t n-1 earlier by time T, the current value I n-2 time 2T only before time measured at t n ⁇ 2 .
  • I n , I n ⁇ 1 , and I n ⁇ 2 are temporarily stored in the internal memory of the microcomputer 40.
  • the microcomputer 40 After completing the measurement of the current value I n at time t n, the microcomputer 40 (I n -I n-1) - by calculating the value of (I n-1 -I n- 2), the current value 60 Detect the slope per unit time. The detection result, the microcomputer 40 After exceeding the threshold TH S stops the driving of the motor 3 is judged that wood screw 73 is seated.
  • step 14 comparing current and the current I n step 133, the current I n-1 measured immediately before.
  • step 134 the current amount of the current value In -2 measured immediately before the current In -1 that is temporarily stored in the internal memory of the microcomputer 40 is measured is detected (step 134).
  • step 134 the amount of change in current value (I n ⁇ I n ⁇ 1 ) in the current measurement section and the amount of change in current value in the measurement section immediately before the current measurement section, that is, the amount of change in past current value (I The difference n ⁇ 1 ⁇ I n ⁇ 2 ) is calculated (step 135).
  • the microcomputer 40 sets a threshold value (stop threshold value TH S ) for stopping the motor 3 from the change amount of the current value calculated in step 135. A method for setting the stop threshold TH S will be described with reference to FIG.
  • the vertical axis represents the magnitude of the threshold TH S and the horizontal axis represents the current value I (unit A).
  • the stop threshold 80 for stopping the motor 3 even if the screw is seated is changed linearly within the range of currents I min to I max .
  • Current value I for calculating the TH S can be used in an arbitrary current value within a predetermined range of from time 1 ⁇ n, for example, the joint use of such an average value of the current of multiple sections good.
  • step 136 of FIG. 10 when the stop threshold 80 of the motor 3 is determined using the formula shown in FIG. 15 in step 136, the difference between the amounts of change calculated in step 135 is the set stop threshold TH S. Is judged (step 137). If the difference between the calculated amount of change in step 135 does not exceed the stop threshold TH S, the process returns to step 115 of FIG. 8, the microcomputer 40 if exceeds the stop threshold value TH S stops the driving of the motor 3 Then, the process ends (step 138). Since the microcomputer 40 to the tightening control using the stop threshold value TH S As described above, wood screws 73 have a seating, and it is possible to stop the motor 3 in a state as not to tighten too much.
  • the microcomputer 40 automatically stops the motor. Therefore, ideal tightening is possible even when screwing a soft member such as a gypsum board 71. Can be implemented. In addition, when tightening is insufficient, the operator can perform additional tightening by pulling the trigger lever 7a again, so that an ideal tightening state can be achieved.
  • the present invention can be similarly applied to a case where a soft board other than the gypsum board or a soft member is screwed.
  • the electric power tool is not limited to an impact tool using a battery, and may be an impact tool using an AC commercial power source.
  • the striking mechanism impact mechanism
  • the striking mechanism may be not only a mechanical impact mechanism using a hammer and an anvil, but also an electric tool using an oil pulse mechanism.
  • Deceleration mechanism 21 ... Impact mechanism, 22 ... spindle, 23 ... spindle cam groove, 24 ... hammer, 24a, 24b ... hammer claw, 25 ... hammer cam groove, 26 ... steel ball, 7 ... hammer spring, 28 ... anvil, 28a, 28b ... anvil claw, 30 ... control circuit unit (control device), 31 ... control circuit board, 32 ... shunt resistor, 36 ... switch panel, 37 ... (second) switch Panel: 38 ... Strong / weak switching switch, 40: Microcomputer (arithmetic unit), 41 ... Current detection circuit, 42 ... Switch operation detection circuit, 43 ... Applied voltage setting circuit, 44 ... Rotation direction setting circuit, 45 ...
  • Rotor position detection circuit 46... Rotational speed detection circuit, 48... Control signal output circuit, 49... Input / output section, 50... Hook, 60, 61, 62 ... Current value, 63, 64.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)

Abstract

L'invention concerne un outil électrique ayant un mode de serrage pour une carte souple ajoutée en tant que mode de fonctionnement. En plus d'un mode d'impact (premier mode) pour serrer une vis dans un matériau cible en utilisant des impacts obtenus au moyen d'un mécanisme d'impact, un outil électrique de type à impact est également pourvu d'un mode de serrage (second mode) destiné à être utilisé avec une carte souple, dans lequel un impact ne se produit pas. Dans le second mode, un moteur tourne lorsqu'un opérateur actionne un déclencheur, une vis 73 est serrée dans un matériau cible (71, 72) dans un état dans lequel l'impact n'est pas effectué, et la rotation du moteur est arrêtée lorsque la vis 73 est assise. Lors de sa commande, une détermination est effectuée pour déterminer si un courant de moteur a dépassé un seuil d'arrêt de siège, et si le seuil d'arrêt de siège a été dépassé, le moteur est arrêté indépendamment de l'opération de déclenchement. Si le déclencheur est ensuite à nouveau tiré, le dispositif de commande arrête la rotation du moteur après que le serrage de suivi a été effectué pendant une durée prescrite.
PCT/JP2019/014017 2018-04-27 2019-03-29 Outil électrique Ceased WO2019208105A1 (fr)

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JP2021178396A (ja) * 2020-05-15 2021-11-18 株式会社マキタ 石膏ボード用のネジ締め機
JP2023075720A (ja) * 2021-11-19 2023-05-31 パナソニックホールディングス株式会社 インパクト回転工具、インパクト回転工具システム、管理システム
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TWI829295B (zh) * 2022-08-18 2024-01-11 車王電子股份有限公司 電動工具之控制裝置
WO2024070561A1 (fr) * 2022-09-30 2024-04-04 工機ホールディングス株式会社 Outil à percussion et outil électrique
WO2025047075A1 (fr) * 2023-08-30 2025-03-06 パナソニック株式会社 Outil électrique, système d'outil électrique, procédé de commande et programme

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WO2025047075A1 (fr) * 2023-08-30 2025-03-06 パナソニック株式会社 Outil électrique, système d'outil électrique, procédé de commande et programme

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