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WO2025047075A1 - Outil électrique, système d'outil électrique, procédé de commande et programme - Google Patents

Outil électrique, système d'outil électrique, procédé de commande et programme Download PDF

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Publication number
WO2025047075A1
WO2025047075A1 PCT/JP2024/022773 JP2024022773W WO2025047075A1 WO 2025047075 A1 WO2025047075 A1 WO 2025047075A1 JP 2024022773 W JP2024022773 W JP 2024022773W WO 2025047075 A1 WO2025047075 A1 WO 2025047075A1
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WO
WIPO (PCT)
Prior art keywords
motor
power tool
screw
impact
abnormality
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.)
Pending
Application number
PCT/JP2024/022773
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English (en)
Japanese (ja)
Inventor
直生 辻本
雄大 豊田
政憲 中本
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.)
Panasonic Corp
Original Assignee
Panasonic Corp
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Filing date
Publication date
Application filed by Panasonic Corp filed Critical Panasonic Corp
Publication of WO2025047075A1 publication Critical patent/WO2025047075A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • 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

  • This disclosure generally relates to power tools, power tool systems, control methods, and programs. More specifically, this disclosure relates to a power tool that performs impact operation, a power tool system including this power tool, a control method for a power tool that performs impact operation, and a program for executing this control method.
  • the automatic screw tightening device (electric tool) described in Patent Document 1 has a driver tool that engages with the screw, a reciprocating means, and a control means.
  • the reciprocating means supports the driver tool so that it can be moved back and forth.
  • the control means compares the movement distance of the driver tool with a preset distance to determine whether the screw tightening is being performed normally, and if it determines that an abnormality exists, it stops the screw tightening.
  • Patent Document 1 when the configuration of the automatic screw tightening device described in Patent Document 1 is applied to a power tool that performs an impact operation, it can be difficult to determine whether or not there is an abnormality in the screw tightening.
  • the present disclosure aims to provide a power tool, a power tool system, a control method, and a program that can accurately determine whether there is an abnormality in screw tightening in a power tool that performs an impact operation.
  • the power tool is a power tool for tightening a screw.
  • the power tool includes a motor, a hammer, an anvil, an output shaft, an impact detection unit, a motor control unit, and a memory unit.
  • the hammer rotates by receiving power from the motor.
  • the anvil rotates by receiving an impact force from the hammer in the rotational direction of the hammer.
  • the output shaft is configured to hold a tool tip that transmits torque to the screw, and rotates together with the anvil.
  • the impact detection unit detects the presence or absence of an impact operation, which is an operation in which the hammer applies the impact force to the anvil.
  • the motor control unit controls the operation of the motor based on a command from an external device outside the power tool.
  • the memory unit stores information for the motor control unit to perform a predetermined control on the motor.
  • the motor control unit receives a predetermined command from the external device, it tightens the screw by the predetermined control over the motor.
  • the motor control unit executes a judgment process to judge whether or not there is an abnormality in the screw tightening based on the relationship between the rotation angle of the motor and the detection result of the impact detection unit as to whether or not there is an impact operation.
  • the default control includes stopping the motor when it is determined as a result of the judgment process that there is an abnormality in the screw tightening.
  • the power tool system includes the power tool and a robot arm.
  • the robot arm holds the power tool and controls the position and attitude of the power tool.
  • An electric power tool system includes the electric power tool and a robot.
  • the robot is the external device that issues commands to the motor control unit.
  • the robot includes a robot arm.
  • the robot arm holds the electric power tool and controls the position and attitude of the electric power tool.
  • the control method is a control method for a power tool for tightening a screw.
  • the power tool includes a motor, a hammer, an anvil, an output shaft, and an impact detection unit.
  • the hammer rotates by receiving power from the motor.
  • the anvil rotates by receiving an impact force from the hammer in the rotation direction of the hammer.
  • the output shaft is configured to hold a tool tip that transmits torque to the screw, and rotates together with the anvil.
  • the impact detection unit detects the presence or absence of an impact motion, which is the motion of the hammer applying the impact force to the anvil.
  • the control method is executed by a computer system.
  • the control method includes, when a predetermined command is received from an external device outside the power tool, tightening the screw by a default control of the motor, and executing a determination process for determining the presence or absence of an abnormality in the tightening of the screw based on the relationship between the rotation angle of the motor and the detection result of the presence or absence of the impact motion by the impact detection unit.
  • the default control includes stopping the motor when it is determined as a result of the determination process that there is an abnormality in the tightening of the screw.
  • a program according to one aspect of the present disclosure is a program for causing one or more processors of the computer system to execute the control method.
  • FIG. 1 is a block diagram of a power tool system according to an embodiment.
  • FIG. 2 is a perspective view of a main part of the power tool system.
  • FIG. 3 is a front view showing the above electric power tool system in an operating state.
  • FIG. 4 is a schematic diagram showing an internal structure of the power tool of the power tool system.
  • FIG. 5 is an explanatory diagram illustrating an example of the operation of the power tool system.
  • 6A to 6F are schematic diagrams illustrating a screw tightening operation performed by the power tool system.
  • Fig. 1 is a schematic block diagram of a power tool system 100 including a power tool 10 according to the present embodiment.
  • Fig. 2 is an external perspective view showing an installation state of a robot 50 holding the power tool 10.
  • Fig. 3 is a front view showing a state in which the power tool 10 performs a screw tightening operation.
  • Fig. 4 is a schematic diagram showing the internal structure of the power tool 10.
  • the power tool 10 is for tightening the screw B1.
  • the power tool 10 includes a motor M1, a hammer 74, an anvil 75, an output shaft 22, an impact detection unit 112, a motor control unit 115, and a memory unit 117.
  • the hammer 74 rotates by receiving power from the motor M1.
  • the anvil 75 rotates by receiving an impact force from the hammer 74 in the rotation direction of the hammer 74.
  • the output shaft 22 is configured to hold a tip tool 23 that transmits torque to the screw B1, and rotates together with the anvil 75.
  • the impact detection unit 112 detects the presence or absence of an impact operation, which is an operation in which the hammer 74 applies an impact force to the anvil 75.
  • the motor control unit 115 controls the operation of the motor M1 based on a command from an external device 50a outside the power tool 10.
  • the memory unit 117 stores information for the motor control unit 115 to perform a predetermined control of the motor M1.
  • the motor control unit 115 executes a judgment process to judge whether there is an abnormality in the screw tightening based on the relationship between the rotation angle of the motor M1 and the detection result of the impact detection unit 112 as to whether there is an impact operation.
  • the rotation angle may be a set value or a measured value.
  • the default control includes stopping the motor M1 when it is judged that there is an abnormality in the screw tightening as a result of the judgment process.
  • the above configuration allows the power tool 10, which performs impact operation, to accurately determine whether there is an abnormality in screw tightening, and to stop the motor M1 if an abnormality is detected. This improves the accuracy of the response to abnormalities.
  • a power tool that determines whether or not there is an abnormality in screw tightening based on the characteristics of the current flowing through the motor M1 during impact operation. If an abnormality such as galling (seizure) or oblique tightening occurs in the screw B1, the screw B1 becomes difficult to move, and in this case, the characteristics of the current flowing through the motor M1 during impact operation may be similar to the characteristics when the screw B1 is normally seated and difficult to move. Therefore, with the power tool of the comparative example, it may be difficult to accurately determine whether or not there is an abnormality in screw tightening.
  • the motor control unit 115 determines whether or not there is an abnormality in the screw tightening based on the relationship between the rotation angle of the motor M1 and the detection result of the impact detection unit 112 as to whether or not there is an impact operation, so that the presence or absence of an abnormality in the screw tightening can be determined with high accuracy.
  • the power tool system 100 of this embodiment also includes the power tool 10 and a robot 50.
  • the robot 50 is an external device 50a that issues commands to the motor control unit 115.
  • the robot 50 includes a robot arm 51.
  • the robot arm 51 holds the power tool 10 and controls the position and posture of the power tool 10. Therefore, the power tool system 100 can automatically perform screw tightening work and accurately determine whether or not there is an abnormality in the screw tightening.
  • the control method of this embodiment is a control method of a power tool 10 for tightening a screw B1.
  • the power tool 10 includes a motor M1, a hammer 74, an anvil 75, an output shaft 22, and an impact detection unit 112.
  • the hammer 74 rotates by receiving power from the motor M1.
  • the anvil 75 rotates by receiving an impact force from the hammer 74 in the rotational direction of the hammer 74.
  • the output shaft 22 is configured to hold a tip tool 23 that transmits torque to the screw B1, and rotates together with the anvil 75.
  • the impact detection unit 112 detects the presence or absence of an impact operation, which is an operation in which the hammer 74 applies an impact force to the anvil 75.
  • the control method is executed by a computer system.
  • the control method includes, when a predetermined command is received from an external device 50a outside the power tool 10, tightening the screw B1 by a default control of the motor M1, and executing a judgment process to judge whether or not there is an abnormality in the tightening of the screw based on the relationship between the rotation angle of the motor M1 and the detection result of the presence or absence of an impact operation by the impact detection unit 112.
  • the default control includes stopping the motor M1 when it is determined as a result of the judgment process that there is an abnormality in the tightening of the screw.
  • the above control method can be embodied in a program.
  • the program of this embodiment is a program for causing one or more processors of a computer system to execute the above control method.
  • the program may be recorded on a non-transitory recording medium that can be read by the computer system.
  • the power tool system 100 includes the power tool 10 and the robot 50. As shown in FIG 1 , the power tool system 100 of this embodiment further includes a receiver 30, a centralized management unit 40, and a control device 60.
  • the robot 50 is, for example, an industrial robot installed in a factory.
  • the power tool 10 is a tool held by a robot arm 51 (see FIG. 2) of the robot 50, and is therefore a so-called end effector.
  • the power tool 10 is a tool that performs screw tightening work, for example, tightening a screw B1 (fastening member) such as a bolt or nut on a work object.
  • the power tool 10 is held by an articulated robot arm 51, and so can perform screw tightening work on a work object from any direction.
  • the power tool 10, robot 50, receiver 30, centralized management unit 40, and control device 60 included in the power tool system 100 will be described in detail below with reference to the drawings.
  • the robot 50 is, for example, an industrial robot that performs a screw tightening operation to tighten a screw B1 into a workpiece W1 that is a work target (see FIG. 2).
  • the robot 50 is installed on a workbench 500, and performs screw tightening work on a workpiece W1 placed on the top surface of the workbench 500.
  • the robot 50 has a multi-joint robot arm 51.
  • the robot arm 51 has, for example, six degrees of freedom.
  • the robot arm 51 has six arms 511-516, which are rotatably connected via joints.
  • a motor is built into the joints, and the arms 511-516 are configured to rotate individually by rotating the motor.
  • the robot 50 includes a control unit 52, a communication unit 53, a posture detection unit 54, a load detection unit 55, an arm drive unit 56, and an operation unit 57.
  • the control unit 52 performs overall control of the robot 50.
  • the main component of the control unit 52 is a computer system having one or more processors and memory.
  • the functions of the control unit 52 are realized by the processor of the computer system executing a program recorded in the memory of the computer system.
  • the program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-temporary recording medium such as a memory card and provided.
  • the communication unit 53 can communicate with the second communication unit 16 provided in the power tool 10 via wired or wireless communication.
  • the attitude detection unit 54 includes, for example, a plurality of rotary encoders that detect the rotation angles of the arms 511 to 516 of the robot arm 51, and a plurality of angular velocity sensors that detect the angular velocities of the arms 511 to 516.
  • the attitude detection unit 54 detects the position and orientation of the tip arm 516 based on, for example, the detection results of the plurality of rotary encoders and the detection results of the plurality of angular velocity sensors.
  • the load detection unit 55 includes, for example, a force sensor attached to the tip arm 516, and detects the magnitude of the load applied to the tip arm 516 or the impact force applied to the tip arm 516.
  • the arm driving unit 56 includes multiple motors that rotate the arms 511-516, and multiple driver circuits that drive the multiple motors.
  • the arm driving unit 56 rotates the multiple motors based on a control command input from the control unit 52, thereby moving the tip arm 516 to a position specified by the control command.
  • the operation unit 57 includes an interface device such as an operation button or a touch panel provided on the robot 50.
  • the operation unit 57 accepts operation information input by the user and outputs it to the control unit 52.
  • the control unit 52 outputs a command to the power tool 10 via the communication unit 53 in accordance with the operation information.
  • the control device 60 controls the operation of the robot 50.
  • the control device 60 is installed, for example, in a factory where the robot 50 to be controlled is installed.
  • control device 60 includes a control unit 61, a communication unit 62, and a memory unit 63.
  • the communication unit 62 can communicate with the communication unit 53 of the robot 50 and the communication unit 42 of the centralized management unit 40 via wired or wireless communication.
  • the memory unit 63 stores the work position where the robot 50 works on the work object, and posture information related to the posture of the robot arm 51 at the work position.
  • the posture information related to the posture of the robot arm 51 includes, for example, information such as the position and orientation of the arm 516 to which the power tool 10 is attached. If there are multiple work positions for the workpiece W1 where the robot 50 works, the memory unit 63 stores posture information related to the posture of the robot arm 51 at each of the multiple work positions. Furthermore, if the robot 50 works on multiple types of workpiece W1, posture information related to the posture of the robot arm 51 may be stored for each of the multiple types of workpiece W1.
  • the control unit 61 controls the operation of the robot 50 to cause the power tool 10 held by the robot 50 to perform work on a work object. Based on the work position stored in the memory unit 63 and the posture information of the robot arm 51 at the work position, the control unit 61 moves the power tool 10 to the work position and causes the power tool 10 to perform work on the work object.
  • the power tool 10 includes a processing unit 11, an inclination sensor 12, a torque sensor 13, a tool driving unit 14, a first communication unit 15, a second communication unit 16, a notification unit 17, a power supply unit 18, and a current sensor 19.
  • the tool driving unit 14 includes a motor M1 (see FIG. 4).
  • the power tool 10 includes a tool body 21 that houses a processing unit 11, a tilt sensor 12, a torque sensor 13, a tool driving unit 14, a first communication unit 15, a second communication unit 16, an alarm unit 17, a power supply unit 18, and a current sensor 19.
  • the tool body 21 is shaped like a long, thin rectangular tube.
  • the tool body 21 is attached to an arm 516 at the tip of a robot arm 51 possessed by a robot 50.
  • An output shaft 22 protrudes from one end face in the longitudinal direction of the tool body 21. The output shaft 22 is held in a rotatable state relative to the tool body 21.
  • the first communication unit 15 can communicate with the first communication unit 32 of the receiver 30 via a wireless communication method.
  • the second communication unit 16 can communicate with the communication unit 53 of the robot 50 via wired or wireless communication.
  • the processing unit 11 is mainly composed of a computer system having one or more processors and a memory.
  • the functions of the processing unit 11 are realized by the processor of the computer system executing a program recorded in the memory of the computer system.
  • the program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.
  • the processing unit 11 has the functions of a direction detection unit 111, an impact detection unit 112, a notification unit 113, a torque calculation unit 114, a motor control unit 115, and a current detection unit 116.
  • the direction detection unit 111, the impact detection unit 112, the torque calculation unit 114, the motor control unit 115, and the current detection unit 116 merely indicate the functions realized by the processing unit 11, and do not necessarily indicate actual configurations.
  • the processing unit 11 also has a memory unit 117.
  • the memory unit 117 includes the memory of the computer system.
  • the tilt sensor 12 includes, for example, a three-axis acceleration sensor housed inside the tool body 21.
  • the tilt sensor 12 can detect the tilt angle of the tool body 21 relative to the direction of gravity by detecting the gravitational acceleration acting on the tool body 21.
  • the direction detection unit 111 detects the orientation of the output shaft 22 based on the detection result of the tilt sensor 12, for example, when the output shaft 22 moves to a working position due to the movement of the robot arm 51.
  • Current sensor 19 outputs a detection signal corresponding to the magnitude of the current flowing through motor M1.
  • Current detection unit 116 detects (measures) the current flowing through motor M1 based on the detection signal output from current sensor 19.
  • the impact detection unit 112 detects whether or not an impact motion is occurring based on the current detected by the current detection unit 116. For example, the impact detection unit 112 determines that an impact motion is occurring when the current detected by the current detection unit 116 changes from a state below the threshold to a state above the threshold. Then, for example, the impact detection unit 112 determines that an impact motion is not occurring when the current detected by the current detection unit 116 remains below the threshold for a predetermined period of time or more.
  • the motor control unit 115 determines the command rotation speed based on the information stored in the memory unit 117, and outputs a control command including information indicating the command rotation speed to the tool driving unit 14.
  • the tool driving unit 14 controls the motor M1 so that the rotation speed of the motor M1 approaches the command rotation speed.
  • the memory unit 117 stores information that indicates the change in the command rotation speed according to the elapsed time since the motor M1 starts to rotate.
  • FIG. 5 shows an example of the change over time in the command rotation speed stored in the memory unit 117.
  • the rotation speed of the motor M1 is controlled according to such information.
  • the notification unit 113 performs a process of notifying the result of the determination process of the motor control unit 115.
  • the notification unit 113 outputs a notification command according to the result of the determination process to the notification unit 17, and causes the notification unit 17 to perform a notification operation.
  • the alarm unit 17 performs an alarm operation using sound or light in response to an alarm command from the notification unit 113.
  • the alarm unit 17 includes, for example, a buzzer 171 housed inside the tool body 21 and an indicator light 172 arranged visibly on the surface of the tool body 21.
  • the indicator light 172 includes an LED capable of emitting two colors, for example, red and green.
  • the notification unit 113 changes the type of sound emitted by the buzzer 171 and the color of the light emitted by the indicator light 172 depending on, for example, whether there is an abnormality in the screw tightening or not.
  • the notification unit 113 for example, lights the indicator light 172 in green if there is no abnormality in the screw tightening, and lights the indicator light 172 in red if there is an abnormality in the screw tightening. In this way, the notification unit 113 notifies the operator of the result of the judgment process with light, and the operator can visually grasp the result of the judgment process.
  • the torque sensor 13 detects the torque applied to the output shaft 22, for example, when the power tool 10 is tightening the screw B1.
  • the torque calculation unit 114 calculates the tightening torque of the screw B1 by the tool tip 23 based on the detection result of the torque sensor 13.
  • the power supply unit 18 receives power from an external power source 90, such as a commercial AC power source, and generates the operating voltage for the power tool 10.
  • an external power source 90 such as a commercial AC power source
  • the tool driving unit 14 includes a motor M1 (see FIG. 4) housed in the tool body 21, a driving circuit that drives the motor M1, and a transmission mechanism 70 (see FIG. 4) that transmits the rotational force of the motor M1 to the output shaft 22.
  • the tool driving unit 14 rotates the motor M1 in response to a control command from the motor control unit 115, thereby rotating the tool tip 23 attached to the output shaft 22.
  • the transmission mechanism 70 will be described with reference to FIG. 4.
  • the transmission mechanism 70 transmits the rotational power of the motor M1 to the output shaft 22 to rotate the output shaft 22.
  • the side on which the output shaft 22 is located as viewed from the motor M1 is defined as the front, and the side on which the motor M1 is located as viewed from the output shaft 22 is defined as the rear.
  • these definitions are not intended to limit the direction in which the power tool 10 is used.
  • the transmission mechanism 70 includes a transmission 71, a drive shaft 72, a spring 73, a hammer 74, and an anvil 75.
  • the transmission 71 includes, for example, a planetary gear mechanism.
  • the transmission 71 is interposed between the motor M1 and the drive shaft 72.
  • the transmission 71 reduces the rotational power of the motor M1 at a predetermined reduction ratio and outputs it as rotation of the drive shaft 72.
  • the hammer 74 is attached to the drive shaft 72 via a cam mechanism.
  • the anvil 75 rotates by receiving a rotational force from the hammer 74.
  • the spring 73 is a compression coil spring. The spring 73 pushes the hammer 74 toward the anvil 75 (forward).
  • the anvil 75 is formed integrally with the output shaft 22. Note that the anvil 75 may be formed separately from the output shaft 22 and fixed to the output shaft 22.
  • the drive shaft 72 and hammer 74 which are connected by a cam mechanism, rotate together, and the hammer 74 and anvil 75 also rotate together, causing the output shaft 22, which is formed integrally with the anvil 75, to rotate.
  • the hammer 74 retreats against the spring 73 while being regulated by the cam mechanism (i.e., moves away from the anvil 75), and when the connection between the hammer 74 and the anvil 75 is released, the hammer 74 moves forward while rotating, applying a rotational impact force to the anvil 75 and rotating the output shaft 22. In this way, the impact operation in which the hammer 74 and the anvil 75 collide and transmit the impact force is repeated.
  • a holder 24 is attached to the output shaft 22, and a tip tool 23 is attached to the holder 24 via a coil spring 25.
  • the tip tool 23 is a socket that is attached to the outer edge of the screw B1.
  • the receiver 30 is installed in a location where wireless communication with the first communication unit 15 of the power tool 10 is possible.
  • the receiver 30 relays communication between the power tool 10 and the centralized control unit 40.
  • the receiver 30 includes a control unit 31, a first communication unit 32, and a second communication unit 33.
  • the first communication unit 32 is capable of communicating with the first communication unit 15 of the power tool 10 via wireless communication.
  • the second communication unit 33 can communicate with the communication unit 42 of the centralized management unit 40 via a network NT such as the Internet or a LAN.
  • a network NT such as the Internet or a LAN.
  • the control unit 31 mainly comprises a computer system having one or more processors and a memory.
  • the functions of the control unit 31 are realized by the processor of the computer system executing a program recorded in the memory of the computer system.
  • the program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.
  • the control unit 31 causes the second communication unit 33 to transmit the signal from the power tool 10 to the centralized management unit 40. Also, when the second communication unit 33 receives a signal from the centralized management unit 40, the control unit 31 causes the first communication unit 32 to transmit the signal from the centralized management unit 40 to the power tool 10.
  • the centralized management unit 40 manages the power tool 10.
  • the management of the power tool 10 includes at least one of managing the work content of the work using the power tool 10 and managing the operating state of the power tool 10.
  • the management of the work content includes at least one of setting a tightening torque setting value for the power tool 10 and acquiring work result information related to the work result of the work performed by the power tool 10 on the work object (e.g., the actual tightening torque value, the number of rotations during the screw tightening work, and the presence or absence of an abnormality in the screw tightening, etc.).
  • the management of the operating state of the power tool 10 includes at least one of measuring the operating time of the power tool 10, notifying the maintenance timing of the power tool 10, and accumulating an error signal output by the power tool 10 to notify an abnormality.
  • the centralized management unit 40 includes a control unit 41, a communication unit 42, and a memory unit 43.
  • the control unit 41 mainly comprises a computer system having one or more processors and a memory.
  • the functions of the control unit 41 are realized by the processor of the computer system executing a program recorded in the memory of the computer system.
  • the program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.
  • the control unit 41 causes the communication unit 42 to transmit the setting information stored in the memory unit 43 to the power tool 10 via the receiver 30, and sets the setting information in the power tool 10.
  • the control unit 41 causes the memory unit 43 to store the work result information received by the communication unit 42.
  • the screw hole W10 has a bottom surface, bottoming out, in which the tip of the threaded portion B12 touches the bottom surface before the screw B1 seats, is an example of a screw tightening abnormality.
  • An example of a screw tightening abnormality is when the diameter of the threaded portion B12 is excessively large compared to the diameter of the screw hole W10.
  • An example of a screw tightening abnormality is when the diameter of the threaded portion B12 is too small compared to the diameter of the screw hole W10.
  • An example of a screw tightening abnormality is when the inner diameter of the socket-shaped tool tip 23 is too large compared to the outer diameter of the head B11.
  • An example of a screw tightening abnormality is when the pitch (the distance between the threads) of the threaded portion B12 does not correspond to the pitch of the screw hole W10.
  • the damage to screw B1 is an example of an abnormality in the tightening of the screw.
  • the motor control unit 115 when the motor control unit 115 receives a predetermined command from the external device 50a (robot 50), it tightens the screw B1 by performing a predetermined control on the motor M1. More specifically, a signal including a first signal and a second signal is output from the external device 50a to the motor control unit 115.
  • the first signal is a signal that commands whether to rotate or stop the motor M1.
  • the first signal is a high-level signal or a low-level signal. If the first signal acquired from the external device 50a is a high-level signal, the motor control unit 115 rotates the motor M1. If the first signal acquired from the external device 50a is a low-level signal, the motor control unit 115 stops the motor M1.
  • the second signal is a signal that instructs whether to tighten or loosen the screw B1.
  • the second signal is a high-level signal or a low-level signal. If the second signal acquired from the external device 50a is a high-level signal, the motor control unit 115 controls the motor M1 to tighten the screw B1. If the second signal acquired from the external device 50a is a low-level signal, the motor control unit 115 controls the motor M1 to loosen the screw B1.
  • the motor control unit 115 determines the control depending on the combination of the first signal and the second signal acquired from the external device 50a. If the first signal is a high level signal and the second signal is a high level signal, the motor control unit 115 performs a default control on the motor M1. If the first signal is a high level signal and the second signal is a low level signal, the motor control unit 115 causes the motor M1 to perform a reverse operation. If the first signal is a low level signal, the motor control unit 115 stops the motor M1.
  • the signal output from the external device 50a to the motor control unit 115 is a simple signal, and the detailed control of the motor M1 is determined on the power tool 10 side.
  • the default control will be described below.
  • the default control is for tightening the screw B1.
  • the motor control unit 115 also executes a judgment process to judge whether there is an abnormality in the screw tightening, and if it is determined as a result of the judgment process that there is an abnormality in the screw tightening, it stops the motor M1.
  • Figure 5 shows the change over time in the command rotation speed when it is not determined as a result of the judgment process that there is an abnormality in the screw tightening.
  • the motor control unit 115 performs forward and reverse rotation on the motor M1 as a default control.
  • Forward rotation is an operation in which the motor rotates in the direction in which the screw B1 is tightened.
  • Reverse rotation is an operation in which the motor rotates in the opposite direction to the forward operation.
  • reverse rotation is an operation in which the motor rotates in the direction in which the screw B1 is loosened (the opposite direction to the direction in which the screw B1 is tightened). If the screw B1 is a right-handed screw, the forward operation is a right rotation, and the reverse operation is a left rotation.
  • the default control can be expressed as the change in the commanded RPM over time.
  • motor M1 rotates forward
  • the commanded RPM is a negative value
  • motor M1 rotates reverse.
  • motor M1 stops.
  • the periods T1, T2, ..., T8 are set in chronological order from the earliest time.
  • the command speed is a positive or negative value.
  • a brake period is set between each period.
  • the brake period is a period in which the command speed is set to 0.
  • the motor control unit 115 When the default control is started, the motor control unit 115 first causes the motor M1 to rotate in the reverse direction during the period T1 in order to reduce the possibility of the screw B1 being tightened at an angle. In other words, the motor control unit 115 sets the command rotation speed to a negative value during the period T1.
  • the motor control unit 115 sets the command speed to a positive value in period T2. Furthermore, the motor control unit 115 sets the command speed to a positive value in period T3.
  • the command speed in period T2 is a smaller value than the command speed in period T3, and this causes the motor M1 to soft start in period T2.
  • the motor control unit 115 sets the command speed to a positive value during periods T4, T7, and T8, and sets the command speed to a negative value during periods T5 and T6.
  • Figures 6A to 6F show examples of the relationship between screw B1 and workpiece W1 during periods T3 to T8, respectively.
  • the power tool 10 temporarily tightens the screw B1. That is, the power tool 10 partially inserts the screw portion B12 into the screw hole W10 of the workpiece W1.
  • the motor control unit 115 rotates the motor M1 forward by a certain rotation angle.
  • the power tool 10 performs an impact operation to tighten the screw B1.
  • the motor control unit 115 causes the motor M1 to rotate in the forward direction until the number of impact operations reaches a certain number.
  • the power tool 10 loosens the screw B1 as shown in FIG. 6C.
  • the motor control unit 115 rotates the motor M1 in the reverse direction by a certain rotation angle.
  • the power tool 10 further loosens the screw B1 as shown in FIG. 6D.
  • the motor control unit 115 reverses the rotation of the motor M1 by a certain angle.
  • the power tool 10 temporarily tightens the screw B1 as shown in FIG. 6E.
  • the motor control unit 115 rotates the motor M1 forward by a certain rotation angle.
  • period T8 the power tool 10 tightens the screw B1 as shown in FIG. 6F.
  • the motor control unit 115 rotates the motor M1 in the forward direction for a certain rotation angle.
  • the tightening in period T8 is the final tightening (final tightening).
  • the default control includes a first control and a second control.
  • the motor M1 is caused to alternate between a forward rotation operation in which it rotates in the direction in which the screw B1 is tightened, and a reverse rotation operation in which it rotates in the opposite direction to the forward rotation operation.
  • the second control if it is determined as a result of the judgment process that there is no abnormality in the screw tightening in the first control, the motor M1 is caused to perform a forward rotation operation to tighten the screw B1.
  • the control in the period T3 to T7 is the first control
  • the control in the period T8 is the second control.
  • alternating forward and reverse rotations may include at least one of forward rotation followed by reverse rotation, or reverse rotation followed by forward rotation. Therefore, when alternating forward and reverse rotations, the number of forward rotations and the number of reverse rotations each may be at least once. Note that in the first control, it is preferable to have motor M1 perform reverse rotation after forward rotation.
  • motor M1 rotates in the reverse direction during period T5.
  • motor control unit 115 causes motor M1 to rotate in the reverse direction if the number of times impact motions detected by impact detection unit 112 exceeds the switching threshold.
  • the switching threshold is, for example, a value within the range of 100 to 200 times.
  • the motor M1 when the motor M1 is performing a forward rotation operation in which the motor M1 rotates in the direction in which the screw B1 is tightened and the screw B1 is first inserted into the screw hole W10, if the number of times that the impact motion is detected by the impact detection unit 112 becomes equal to or greater than a predetermined number during the period T3 until the rotation angle of the motor M1 reaches a certain rotation angle. Furthermore, if the number of times that the impact motion is detected by the impact detection unit 112 during the period T3 is less than a predetermined number, the motor control unit 115 determines that there is no abnormality in the screw tightening.
  • the predetermined number is, for example, once, several times, or several tens of times.
  • period T4 During period T4, if everything is normal, an impact operation is performed. If the number of times that impact operations are detected by the impact detection unit 112 is less than a predetermined number from the start of period T4 until the rotation angle of motor M1 reaches a certain rotation angle, the motor control unit 115 judges that there is an abnormality in the screw tightening. Also, if the number of times that impact operations are detected by the impact detection unit 112 is equal to or greater than a predetermined number from the start of period T4 until the rotation angle of motor M1 reaches a certain rotation angle, the motor control unit 115 judges that there is no abnormality in the screw tightening.
  • the predetermined number is, for example, once, several times, or several tens of times.
  • the judgment process for the period T5 will be described.
  • the screw B1 will loosen after a while and the impact motion will cease. Therefore, if the number of times that the impact motion is detected by the impact detection unit 112 is less than a predetermined number during the period from the start of the period T5 until the rotation angle of the motor M1 reaches a certain rotation angle, the motor control unit 115 judges that there is no abnormality in the screw tightening.
  • the motor control unit 115 judges that there is an abnormality in the screw tightening. Also, if the number of times that the impact motion is detected by the impact detection unit 112 during the period T5 is equal to or greater than a predetermined number, the motor control unit 115 judges that there is an abnormality in the screw tightening.
  • the predetermined number is, for example, several tens of times.
  • the motor control unit 115 determines that there is no abnormality in the screw tightening during the reverse rotation operation (period T5), it causes the motor M1 to perform a further reverse rotation operation by a predetermined rotation angle during period T6.
  • period T6 The judgment process for period T6 will now be described.
  • screw B1 is loose, so if it is normal, there will be no impact motion. Therefore, if the number of times impact motion is detected by impact detection unit 112 during the period from when period T6 begins until the rotation angle of motor M1 reaches a certain rotation angle (period T6), motor control unit 115 judges that there is an abnormality in the screw tightening. Also, if the number of times impact motion is detected by impact detection unit 112 during period T6 is less than the predetermined number, motor control unit 115 judges that there is no abnormality in the screw tightening.
  • the predetermined number is, for example, once, several times, or several tens of times.
  • period T6 the motor control unit 115 detects the rotation angle of the motor M1 during the period from the detection of the impact operation to the detection of the next impact operation.
  • the situation in which the rotation angle of the motor M1 during this period is equal to or greater than a predetermined value corresponds to the situation in which the screw B1 is loosened. Therefore, if the rotation angle of the motor M1 during the period from the start of period T6 until the rotation angle of the motor M1 reaches a certain rotation angle during the period from the detection of the impact operation to the detection of the next impact operation becomes equal to or greater than a predetermined value, the motor control unit 115 judges that there is no abnormality in the screw tightening.
  • the motor control unit 115 judges that there is an abnormality in the screw tightening.
  • period T7 The judgment process for period T7 will be described. Because the threaded portion B12 was passed through the threaded hole W10 during period T6, burrs and dirt on the threaded portion B12 and the threaded hole W10 have been removed to a certain extent. Therefore, under normal circumstances, impact motion is unlikely to occur during period T7. Therefore, if the number of times that impact motion is detected by the impact detection unit 112 during the period from the start of period T7 until the rotation angle of the motor M1 reaches a certain rotation angle is equal to or greater than a predetermined number, the motor control unit 115 judges that there is an abnormality in the screw tightening.
  • the motor control unit 115 judges that there is an abnormality in the screw tightening if the number of times that impact motion is detected by the impact detection unit 112 during the period from the start of period T7 until the rotation angle of the motor M1 when the motor M1 is performing a forward operation reaches a certain rotation angle (period T7) is equal to or greater than a predetermined number. Furthermore, if the number of times that the impact detection unit 112 detects an impact motion during period T7 is less than a predetermined number, the motor control unit 115 determines that there is no abnormality in the screw tightening.
  • the predetermined number is, for example, once, several times, or several tens of times.
  • the motor control unit 115 may stop the motor M1 when it is determined that the tightening torque calculated by the torque calculation unit 114 is equal to or greater than a predetermined torque.
  • the torque calculation unit 114 may calculate the tightening torque based on the detection result of the torque sensor 13 as described above, or may calculate the tightening torque based on the number of times the impact operation was detected and the current of the motor M1 detected by the current detection unit 116.
  • the motor control unit 115 causes the motor M1 to rotate in the reverse direction. In this case, no particular determination process is required.
  • the present modified example 1 differs from the basic example in that the current of the motor M1 detected by the current detection unit 116 is also used in the determination process for determining whether or not there is an abnormality in the screw tightening.
  • a provisional judgment is made as to whether or not there is an abnormality in the screw tightening based on the relationship between the rotation angle of the motor M1 and the detection result of the impact detection unit 112 as to whether or not there is an impact operation.
  • the conditions for provisionally determining that there is an abnormality in the screw tightening in the first judgment process are the same as the conditions for determining that there is an abnormality in the screw tightening in the judgment process of the basic example.
  • the second judgment process if the current detected by the current detection unit 116 exceeds the current threshold, it is provisionally judged that there is an abnormality in the screw tightening. This makes it possible to judge a state in which the load of the screw tightening is excessive as an abnormality.
  • the amount of change in current per unit time may be compared with a corresponding threshold. For example, if the amount of change in current per unit time exceeds a corresponding threshold, it may be provisionally determined that there is an abnormality in the screw tightening.
  • the motor control unit 115 can determine the presence or absence of an abnormality in the tightening of the screw based on the current. This makes it possible to more reliably detect an abnormality in the tightening of the screw.
  • the second determination process may be executed only when the impact detection unit 112 determines that no impact motion has occurred.
  • the above-mentioned constant rotation angle is determined so that the screw B1 moves a distance L2 obtained by multiplying the length L1 of the screw portion B12 by a constant ratio (the constant ratio is less than 1, for example, 0.9) between the start and end of the period T6.
  • the constant ratio is less than 1, for example, 0.9
  • the presence or absence of an abnormality can be determined for the constant distance L2 according to the length L1 of the screw portion B12. Specifically, during the period T7, for example, it can be determined whether or not galling has occurred between the screw B1 and the screw hole W10 within the range of the distance L2.
  • the robot 50 of the basic example includes a robot arm 51 with six degrees of freedom, but the configuration of the robot arm 51 is not limited to that of the basic example. It is preferable that the robot 50 includes, for example, a multi-joint type robot arm having two or more joints.
  • one power tool 10 is attached to one robot 50, but multiple power tools 10 may be attached to one robot 50.
  • the basic example power tool system 100 has only one robot 50 with one power tool 10 attached, but the power tool system 100 may have multiple robots 50 with one or more power tools 10 attached to each robot.
  • the external device 50a that issues commands to the motor control unit 115 may be a device separate from the robot 50.
  • the tip tool 23 shown in FIG. 3 is a socket attached to the outer edge of the screw B1, but the shape of the tip tool 23 can be changed as appropriate.
  • the tip tool 23 may be shaped, for example, as a Phillips or flat head screwdriver that is inserted into a hole in the head B11 of the screw B1.
  • the tip tool 23 may also be attached directly to the output shaft 22 without going through the holder 24 and coil spring 25.
  • the notification unit 113 notifies the result of the determination process of the motor control unit 115 by both sound and light, but the notification unit 113 may notify by either sound or light.
  • the notification unit 113 may notify an external device (for example, a mobile terminal or wearable terminal carried by the operator, or the centralized management unit 40, etc.) of the result of the determination process of the motor control unit 115.
  • the power tool 10 may be a portable tool that is held by an operator and operates in response to the operator's operation.
  • the power tool 10 may be equipped with a shock sensor.
  • the shock sensor outputs an output signal whose magnitude corresponds to the magnitude of vibration applied to the shock sensor.
  • the impact detection unit 112 may detect the presence or absence of an impact operation based on the output signal from the shock sensor. For example, the impact detection unit 112 determines that an impact operation is occurring when the output signal exceeds the threshold value from a state where the output signal is below the threshold value. Then, for example, the impact detection unit 112 determines that an impact operation is not occurring when the output signal remains below the threshold value for a predetermined period of time or more.
  • the shock sensor may be disposed in a position where the vibration generated by the impact operation is transmitted. For example, the shock sensor may be disposed near the hammer 74.
  • the change in command rotation speed over time shown in FIG. 5 is an example and can be changed as appropriate.
  • at least one of periods T1, T2, T4, T5, and T7 may be omitted.
  • Whether or not to omit each of periods T1, T2, T4, T5, and T7 may be determined by a user's operation.
  • whether or not to omit each of periods T1, T2, T4, T5, and T7 may be determined by a user's operation of operation unit 57 (see FIG. 1).
  • the relationship between the high level or low level signals in the first and second signals and the content of the command may be the opposite of that in the basic example. That is, when the first signal is a low level signal, the motor control unit 115 may rotate the motor M1, and when the first signal is a high level signal, the motor control unit 115 may stop the motor M1. Also, when the second signal is a low level signal, the motor control unit 115 may control the motor M1 to tighten the screw B1, and when the second signal is a high level signal, the motor control unit 115 may control the motor M1 to loosen the screw B1.
  • the power tool system 100, the power tool 10, or the control method of the power tool 10 in the present disclosure includes a computer system.
  • the computer system is mainly composed of a processor and a memory as hardware. At least a part of the functions of the power tool system 100, the power tool 10, or the control method of the power tool 10 in the present disclosure is realized by the processor executing a program recorded in the memory of the computer system.
  • the program may be pre-recorded in the memory of the computer system, may be provided through an electric communication line, or may be recorded and provided on a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system.
  • the processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI).
  • the integrated circuits such as ICs and LSIs referred to here are called different names depending on the degree of integration, and include integrated circuits called system LSIs, VLSIs (Very Large Scale Integration), or ULSIs (Ultra Large Scale Integration).
  • a field-programmable gate array (FPGA) that is programmed after the LSI is manufactured, or a logic device that allows reconfiguration of the connection relationships within the LSI or reconfiguration of the circuit partitions within the LSI, can also be used as a processor.
  • Multiple electronic circuits may be integrated into one chip, or may be distributed across multiple chips.
  • the computer system referred to here includes a microcontroller having one or more processors and one or more memories.
  • the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.
  • the power tool 10 it is not essential for the power tool 10 that multiple functions are concentrated in one housing, and multiple components of the power tool 10 may be distributed across multiple housings.
  • At least some of the functions of the power tool system 100 that are distributed across multiple housings may be consolidated into one housing.
  • multiple functions that are distributed across the centralized management unit 40 and the control device 60 may be consolidated into one housing.
  • the power tool (10) is a power tool (10) for tightening a screw (B1).
  • the power tool (10) includes a motor (M1), a hammer (74), an anvil (75), an output shaft (22), an impact detection unit (112), a motor control unit (115), and a memory unit (117).
  • the hammer (74) rotates by receiving power from the motor (M1).
  • the anvil (75) rotates by receiving an impact force from the hammer (74) in the rotational direction of the hammer (74).
  • the output shaft (22) is configured to hold a tip tool (23) that transmits torque to the screw (B1), and rotates together with the anvil (75).
  • the impact detection unit (112) detects the presence or absence of an impact operation, which is an operation in which the hammer (74) applies an impact force to the anvil (75).
  • the motor control unit (115) controls the operation of the motor (M1) based on a command from an external device (50a) outside the power tool (10).
  • the memory unit (117) stores information for the motor control unit (115) to perform a default control of the motor (M1). When the motor control unit (115) receives a predetermined command from the external device (50a), it tightens the screw (B1) by default control of the motor (M1).
  • the motor control unit (115) executes a determination process to determine whether or not there is an abnormality in the screw tightening based on the relationship between the rotation angle of the motor (M1) and the detection result of the impact detection unit (112) regarding the presence or absence of an impact operation.
  • the default control includes stopping the motor (M1) when it is determined as a result of the determination process that there is an abnormality in the screw tightening.
  • the above configuration makes it possible to accurately determine whether there is an abnormality in the screw tightening in the power tool (10) that performs impact operation, and to stop the motor (M1) if an abnormality is detected.
  • the default control includes a first control and a second control.
  • the motor (M1) is caused to alternately perform a forward rotation operation in which the motor rotates in a direction to tighten the screw (B1) and a reverse rotation operation in which the motor rotates in the opposite direction to the forward rotation operation.
  • the motor (M1) is caused to perform a forward rotation operation to tighten the screw (B1).
  • burrs and dirt on the screw (B1) and the object (workpiece (W1)) to be tightened by the screw (B1) can be removed by the reverse operation. This reduces the possibility that burrs and dirt will interfere with the tightening of the screw in the second control. This makes it possible to suppress the occurrence of abnormalities in the tightening of the screw.
  • the motor control unit (115) causes the motor (M1) to rotate in the reverse direction.
  • the screw (B1) is tightened to an appropriate depth according to the switching threshold, and then the reverse operation is performed to remove burrs and dirt to the above depth.
  • the motor control unit (115) judges that there is an abnormality in the screw tightening.
  • the motor control unit (115) can determine whether or not there is an abnormality, such as the occurrence of galling.
  • the motor control unit (115) determines that there is no abnormality in the screw tightening if the number of times that the impact operation is detected by the impact detection unit (112) is less than a predetermined number during the time until the rotation angle of the motor (M1) during the reverse operation in which it rotates in the opposite direction to the forward rotation operation reaches a certain rotation angle.
  • the motor control unit (115) can determine whether the screw (B1) has been properly loosened by the reverse rotation.
  • the motor control unit (115) determines that there is no abnormality in the screw tightening when performing a reverse operation in which the motor rotates in the opposite direction to the forward operation, and then causes the motor (M1) to perform a reverse operation by a further predetermined rotation angle.
  • the motor (M1) when the motor (M1) is performing a forward rotation operation in which it rotates in a direction to tighten the screw (B1) and the screw (B1) is initially inserted into the screw hole (W10), if the number of times that the impact operation is detected by the impact detection unit (112) becomes equal to or exceeds a predetermined number before the rotation angle of the motor (M1) reaches a certain rotation angle, the motor control unit (115) determines that there is an abnormality in the screw tightening.
  • the motor control unit (115) can determine whether or not there is an abnormality, such as the occurrence of galling.
  • the power tool (10) according to the eighth aspect is any one of the first to seventh aspects, and further includes a current detection unit (116) that detects a current flowing through the motor (M1).
  • the judgment process judges that there is an abnormality in the screw tightening when it is provisionally judged that there is an abnormality in at least one of the first provisional judgment process and the second provisional judgment process.
  • the first provisional judgment process the presence or absence of an abnormality in the screw tightening is provisionally judged based on the relationship between the rotation angle of the motor (M1) and the detection result of the presence or absence of an impact operation in the impact detection unit (112).
  • the second provisional judgment process the presence or absence of an abnormality in the screw tightening is provisionally judged based on the current detected by the current detection unit (116).
  • the motor control unit (115) can determine whether or not there is an abnormality in the tightening of the screw based on the current.
  • the configurations other than the first aspect are not essential to the power tool (10) and may be omitted as appropriate.
  • the power tool system (100) according to the ninth aspect includes a power tool (10) according to any one of the first to eighth aspects and a robot arm (51).
  • the robot arm (51) holds the power tool (10) and controls the position and attitude of the power tool (10).
  • the power tool system (100) according to the tenth aspect includes a power tool (10) according to any one of the first to eighth aspects, and a robot (50).
  • the robot (50) is an external device (50a) that gives commands to the motor control unit (115).
  • the robot (50) includes a robot arm (51).
  • the robot arm (51) holds the power tool (10) and controls the position and posture of the power tool (10).
  • the control method according to the eleventh aspect is a control method for a power tool (10) for tightening a screw (B1).
  • the power tool (10) includes a motor (M1), a hammer (74), an anvil (75), an output shaft (22), and an impact detection unit (112).
  • the hammer (74) rotates by receiving power from the motor (M1).
  • the anvil (75) rotates by receiving an impact force from the hammer (74) in the rotational direction of the hammer (74).
  • the output shaft (22) is configured to hold a tip tool (23) that transmits torque to the screw (B1), and rotates together with the anvil (75).
  • the impact detection unit (112) detects the presence or absence of an impact operation, which is an operation in which the hammer (74) applies an impact force to the anvil (75).
  • the control method is executed by a computer system.
  • the control method includes, when a predetermined command is received from an external device (50a) outside the power tool (10), tightening the screw (B1) by a default control of the motor (M1), and executing a judgment process to judge whether or not there is an abnormality in the tightening of the screw based on the relationship between the rotation angle of the motor (M1) and the detection result of the presence or absence of an impact operation by the impact detection unit (112).
  • the default control includes stopping the motor (M1) when it is judged as a result of the judgment process that there is an abnormality in the tightening of the screw.
  • the above configuration makes it possible to accurately determine whether there is an abnormality in the screw tightening in the power tool (10) that performs impact operation, and to stop the motor (M1) if an abnormality is detected.
  • the program according to the twelfth aspect is a program for causing one or more processors of a computer system to execute the control method according to the eleventh aspect.
  • the above configuration makes it possible to accurately determine whether there is an abnormality in the screw tightening in the power tool (10) that performs impact operation, and to stop the motor (M1) if an abnormality is detected.
  • various configurations (including modified examples) of the power tool (10) and power tool system (100) according to the embodiment can be embodied in a control method, a (computer) program, or a non-transitory recording medium having a program recorded thereon.

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

Abstract

Le but de la présente divulgation est de déterminer avec précision s'il existe un dysfonctionnement dans la fixation de vis dans un outil électrique qui effectue une opération d'impact. Un outil électrique (10) comprend : un moteur; un marteau; une enclume; un arbre de sortie; une unité de détection d'impact (112); une unité de commande de moteur (115); et une unité de stockage (117). Lors de la réception d'une commande prédéterminée provenant d'un dispositif externe (50a), l'unité de commande de moteur (115) fixe une vis au moyen d'une commande prédéfinie du moteur. L'unité de commande de moteur (115) exécute un processus de détermination pour déterminer s'il existe un dysfonctionnement dans la fixation de vis, à partir de la relation entre l'angle de rotation du moteur et le résultat de détection provenant de l'unité de détection d'impact (112) s'il existe une opération d'impact. La commande prédéfinie comprend l'arrêt du moteur lorsqu'il est déterminé, suite au processus de détermination, qu'il y a un dysfonctionnement dans la fixation de vis.
PCT/JP2024/022773 2023-08-30 2024-06-24 Outil électrique, système d'outil électrique, procédé de commande et programme Pending WO2025047075A1 (fr)

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JP2023140370A JP2025034161A (ja) 2023-08-30 2023-08-30 電動工具、電動工具システム、制御方法及びプログラム
JP2023-140370 2023-08-30

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07308864A (ja) * 1994-05-12 1995-11-28 Nissan Motor Co Ltd インパクト式ねじ締め装置
JP2006181660A (ja) * 2004-12-27 2006-07-13 Nitto Seiko Co Ltd 部品締結ドライバユニット
JP2008213088A (ja) * 2007-03-02 2008-09-18 Matsushita Electric Works Ltd 回転式工具
JP2010247326A (ja) * 2009-04-20 2010-11-04 Hilti Ag インパクトドライバおよびインパクトドライバの制御方法
JP2012035358A (ja) * 2010-08-05 2012-02-23 Toyota Motor Corp 打撃式締め付け工具
JP2016185581A (ja) * 2015-03-27 2016-10-27 日東工器株式会社 螺合部材締付け工具
WO2019208105A1 (fr) * 2018-04-27 2019-10-31 工機ホールディングス株式会社 Outil électrique

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07308864A (ja) * 1994-05-12 1995-11-28 Nissan Motor Co Ltd インパクト式ねじ締め装置
JP2006181660A (ja) * 2004-12-27 2006-07-13 Nitto Seiko Co Ltd 部品締結ドライバユニット
JP2008213088A (ja) * 2007-03-02 2008-09-18 Matsushita Electric Works Ltd 回転式工具
JP2010247326A (ja) * 2009-04-20 2010-11-04 Hilti Ag インパクトドライバおよびインパクトドライバの制御方法
JP2012035358A (ja) * 2010-08-05 2012-02-23 Toyota Motor Corp 打撃式締め付け工具
JP2016185581A (ja) * 2015-03-27 2016-10-27 日東工器株式会社 螺合部材締付け工具
WO2019208105A1 (fr) * 2018-04-27 2019-10-31 工機ホールディングス株式会社 Outil électrique

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