CN105843160A - Electric tool control method and electric tool - Google Patents
Electric tool control method and electric tool Download PDFInfo
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- CN105843160A CN105843160A CN201610321415.8A CN201610321415A CN105843160A CN 105843160 A CN105843160 A CN 105843160A CN 201610321415 A CN201610321415 A CN 201610321415A CN 105843160 A CN105843160 A CN 105843160A
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- motor
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- electric tool
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- control method
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Classifications
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
The invention provides an electric tool control method comprising the following steps: a parameter x indicating an output shaft load is detected; after a time point T0 is preset, whether the parameter X is equal to or less than the a preset value is determined; if yes, electric motor rotating speed is changed. The invention also provides a tool employing the control method. Compared with technologies of the prior art, the electric tool control method and the electric tool that are provided in the invention can be suitable for many special working conditions.
Description
The application is divisional application.The parent Case Information of this divisional application is as follows: the applying date: on November 28th, 2014；Application
Number it is: 2014107089707；Apply for entitled: the control method of electric tool and system, electric tool.
Technical field
The present invention relates to field of power tools, particularly relate to the control method of a kind of electric tool.
The invention still further relates to the electric tool of a kind of this control system of application.
Background technology
Existing electric tool, such as electric impact wrench, provides electric current by the power supply loaded, drives electric machine rotation,
So that work head rotates to be screwed by threaded fastener or removal.
But, under some special operation condition, such as user is when the fastener of pine scaffold, due to the electricity of electric impact wrench
Machine is high speed rotating all the time, and in very short time, the nuts and bolt on fastener is just completely segregated, cause fastener drop and
Scaffold falls apart, and user's difficulty has the response time of abundance to dodge, and is easily injured by a crashing object by scaffold.
Existing when utilizing electric impact wrench contacting piece to carry out removal, the experience usually relying on user is closed down electronic in advance
Charging spanner, prevents the nuts and bolt on fastener to be completely segregated and cause scaffold to fall apart；Owing to the length of nut is shorter,
Be difficult to ensure that the accuracy closing down electric impact wrench by experience, user often needs high-frequency repeatedly open and close down
The action of electric impact wrench, can be only achieved construction purpose, greatly reduces the efficiency of fastener removal, even not as manual spiral shell
The efficiency that silk cutter comes is high, the market prospect of the electric tool of the similar electric impact wrench of strong influence.
It is therefore desirable to propose the control method of a kind of new electric tool to solve the problems referred to above.
Summary of the invention
The present invention provides the control method of a kind of electric tool, it is possible to be totally released on bolt but not removal nut.
To achieve the above object of the invention, the present invention provides the control method of a kind of electric tool, and wherein electric tool includes
Motor and the output shaft of connection motor, described control method comprises the steps: that detection is for representing the parameter that output shaft loads
x；According to described parameter x meet pre-conditioned judge described output shaft load reduction to equal to or less than preset load, and then
Change the rotating speed of described motor.
Preferably, described parameter x is the current value of supply motor；Described pre-conditioned include: the electricity of described supply motor
Flow valuve equals to or less than predetermined current threshold.
Preferably, described predetermined current threshold is the described electric tool current value when Light Condition.
Preferably, described parameter x is output torque value；Described pre-conditioned it is: described output torque value equals to or less than
Predetermined torque threshold value.
Preferably, described parameter x is motor speed value；Described pre-conditioned it is: described motor speed value equals to or more than
Preset rotation speed threshold value.
Preferably, described parameter x is the accekeration of electric tool；Described pre-conditioned it is: described accekeration is equal to
Or less than predetermined acceleration threshold value.
Preferably, electric motor starting after the second preset duration in described electric tool, start detection for representing
Parameter x of output shaft load.
Preferably, described control method also includes that detection is for representing the following steps before parameter x that output shaft loads:
Presetting speed governing requirement command collection, it includes multiple speed governing requirement command, the corresponding described change motor of each speed governing requirement command
A kind of concrete mode of the step of rotating speed；Obtain user's speed governing requirement command；Change according to the confirmation of user's speed governing requirement command
Become the concrete mode of the step of motor speed.
Preferably, the concrete mode of the step of the rotating speed of described change motor is: control motor between rotating and reverse
Periodically switching.
Preferably, the concrete mode of the step of the rotating speed of described change motor includes: with electric tool motor startup for rising
Calculate the moment, obtain described parameter x meet described pre-conditioned time object time；When object time is after predetermined time,
Motor is being closed down after the first preset duration.
Preferably, the concrete mode of the step of the rotating speed of described change motor includes: with electric tool motor startup for rising
Calculate the moment, obtain described parameter x meet described pre-conditioned time object time；When object time is after predetermined time,
Motor is closed down after motor rotation predetermined amount.
Preferably, the concrete mode of the step of the rotating speed of described change motor includes: with electric tool motor startup for rising
Calculate the moment, obtain described parameter x meet described pre-conditioned time object time；When object time is after predetermined time,
Reduce motor speed.
Preferably, the concrete mode of the step of the rotating speed of described change motor includes: with electric tool motor startup for rising
Calculate the moment, obtain described parameter x meet described pre-conditioned time object time；When object time is before predetermined time,
Immediately motor is closed down.
Compared with prior art, the control method of electric tool provided by the present invention, it is possible to nut is complete with bolt
Unclamp without making nuts and bolt separate, user can manual separation nuts and bolt according to demand, meeting user only needs pine
Open the special operation condition demand of nut.
The present invention provides the control system of a kind of electric tool, it is possible to be totally released on bolt but not removal nut.
To achieve the above object of the invention, the present invention provides the control system of a kind of electric tool, and wherein, electric tool includes
Motor and the output shaft of connection motor, described control system includes: detection module, and detection is for representing the parameter that output shaft loads
x；Control module, including: parameter judges submodule, meets according to described parameter x and pre-conditioned judges that described output shaft loads
It is reduced to equal to or less than presetting load；Electrical motor gearshift submodule, and then change the rotating speed of described motor.
Preferably, described parameter x is the current value of supply motor；Described pre-conditioned include: the electricity of described supply motor
Flow valuve equals to or less than predetermined current threshold.
Preferably, described predetermined current threshold is the described electric tool current value when Light Condition.
Preferably, described parameter x is output torque value；Described pre-conditioned it is: described output torque value equals to or less than
Predetermined torque threshold value.
Preferably, described parameter x is motor speed value；Described pre-conditioned it is: described motor speed value equals to or more than
Preset rotation speed threshold value.
Preferably, described parameter x is the accekeration of electric tool；Described pre-conditioned it is: described accekeration is equal to
Or less than predetermined acceleration threshold value.
Preferably, electric motor starting after the second preset duration in described electric tool, described detection module starts
Detection is for representing parameter x that output shaft loads.
Preferably, described control system also includes that presetting module, described presetting module include: submodule is preset in instruction, uses
In default speed governing requirement command collection, it includes multiple speed governing requirement command, the corresponding described change motor of each speed governing requirement command
A kind of concrete mode of step of rotating speed；Instruction obtains submodule, is used for obtaining user's speed governing requirement command；Instructions match
Module, for confirming the concrete mode of the step of described change motor speed according to user's speed governing requirement command.
Preferably, described electrical motor gearshift submodule specifically for: control motor periodically switching between rotating and reverse.
Preferably, described electrical motor gearshift submodule includes: moment acquiring unit, with electric tool motor startup for when starting at
Carve, obtain described parameter x meet described pre-conditioned time object time；Moment judging unit, it is judged that whether object time exists
After predetermined time；Motor control unit, when whether object time is after predetermined time, closes after the first preset duration
Power failure machine.
Preferably, described electrical motor gearshift submodule includes: moment acquiring unit, with electric tool motor startup for when starting at
Carve, obtain described parameter x meet described pre-conditioned time object time；Moment judging unit, it is judged that whether object time exists
After predetermined time；Motor control unit, when object time is whether after predetermined time, controls motor rotation predetermined amount
After close down motor.
Preferably, described electrical motor gearshift submodule includes: moment acquiring unit, with electric tool motor startup for when starting at
Carve, obtain described parameter x meet described pre-conditioned time object time；Moment judging unit, it is judged that whether object time exists
After predetermined time；Motor control unit, when object time is whether after predetermined time, reduces motor speed.
Preferably, described electrical motor gearshift submodule includes: moment acquiring unit, with electric tool motor startup for when starting at
Carve, obtain described parameter x meet described pre-conditioned time object time；Moment judging unit, it is judged that whether object time exists
After predetermined time；Motor control unit, when object time is whether after predetermined time, closes down motor immediately.
Compared with prior art, the control system of electric tool provided by the present invention, it is possible to nut is complete with bolt
Unclamp without making nuts and bolt separate, user can manual separation nuts and bolt according to demand, meeting user only needs pine
Open the special operation condition demand of nut.
The present invention provides a kind of electric tool, it is possible to be totally released on bolt but not removal nut.
To achieve the above object of the invention, the present invention provides a kind of electric tool, and wherein, described electric tool includes: power supply；
Motor, obtains the electric power of power supply to provide rotary power；Output shaft, obtains the rotary power of motor and exports；In aforementioned invention
Control system described in appearance, described control system is electrically connected with motor and power supply.
Preferably, described electric tool also includes: system start-up parts, and it for described control of exercisable startup is
System.
Compared with prior art, electric tool provided by the present invention, it is possible to nut and bolt are totally released without
Make nuts and bolt separate, user can manual separation nuts and bolt according to demand, meeting user only needs to unclamp the spy of nut
Different duty requirements.
Accompanying drawing explanation
The purpose of invention described above, technical scheme and beneficial effect can be capable of this by following
The detailed description of bright specific embodiment, describes in combination with accompanying drawing and clearly obtains.
Fig. 1 is the structural representation of electric tool in first embodiment of the invention.
Fig. 2 is the concrete module map of control system in the electric tool shown in Fig. 1.
Fig. 3 is the electric tool shown in Fig. 1 when pine nut, and nut is tightly combined with bolt, supplies the electric current of its motor
Versus time curve figure.
Fig. 4 is the electric tool shown in Fig. 1 when pine nut, and nut is combined loose with bolt, supplies the electric current of its motor
Versus time curve figure.
Fig. 5 is the concrete module map of control system in second embodiment of the invention.
Fig. 6 is the concrete module map of control system in third embodiment of the invention.
Fig. 7 is the flow chart of the control method of electric tool in first embodiment of the invention.
Fig. 8 is the flow chart of the control method of electric tool in second embodiment of the invention.
Fig. 9 is the flow chart of the control method of electric tool in third embodiment of the invention.
Related elements reference numeral in diagram is as follows:
Electric tool, 10 parameters judge submodule, 442
Motor, 12 electrical motor gearshift submodules, 444
Work head, 14 moment acquiring units, 4442
Output shaft, 16 moment judging units, 4444
Scaffold, 20 motor control units, 4446
Nut, 32 Part I, A
Bolt, 34 first flex points, H
Control system, 40a, 40b, 40c Part II, B
Presetting module, 41 Second Inflexion Points, I
Submodule, 412 Part III, C are preset in instruction
Instruction obtains submodule, 414 the 3rd flex points, J
Instructions match submodule, 416 Part IV, D
Detection module, 42 Part V, E
Clock module, 43 Part VI, F
Control module, 44 initial parts, M
Mid portion, N empty load of motor current value, I0
Last part, O
Detailed description of the invention
Describe the present invention below with reference to detailed description of the invention shown in the drawings.But these embodiments are also
It is not intended to the present invention, structure that those of ordinary skill in the art is made, method or functionally according to these embodiments
Conversion is all contained in protection scope of the present invention.
Control method provided by the present invention and control system can be applicable to polytype electric tool, below mainly with
Electric impact wrench 10 illustrates for specific embodiment.
Shown in ginseng Fig. 1, in one embodiment of the invention, electric impact wrench 10 includes motor 12, work 14 and connects
Output shaft 16 between motor 12 and work 14；The work 14 of electric impact wrench 10 drives removal at motor 12
Scaffold 20 top nut 32, thus nut 32 and bolt 34 will be made to unclamp, it is simple to scaffold 20 is dismantled.
Being additionally provided with control system 40a in electric impact wrench 10, control system 40a is positioned on circuit board, at electricity
When dynamic impact wrench 10 carries out nut 32 removal, control the rotating speed of motor 12.
Shown in ginseng Fig. 2, in the first embodiment of control system provided by the present invention, control system 40a includes detection module
42 and control module 44.
Detection module 42 represents parameter x of output shaft 16 load for detecting.
It is fastened or during removal by electric impact wrench 10 in torque nut 32, due to nut 32 and bolt
The existence of the screw threads for fastening power between 34, nut 32 can apply one by the output shaft 16 of work 14 pairs of electric impact wrenches 10
The individual moment of resistance, when the driving torque that motor 12 is exported in electric impact wrench 10 overcomes this moment of resistance, work 14 starts
Fastening or removal nut 32.
Screw threads for fastening power between the moment of resistance to nut 32 and bolt 34 is directly proportional, and is screwed into the process of bolt 34 at nut 32
In, between nut 32 and bolt 34, screw threads for fastening power is also gradually increased, and when nut 32 and bolt 34 are fully tightened, screw thread is tight
Gu power reaches peak value；Otherwise, during electric impact wrench 10 removal nut 32, screw threads for fastening power already in peak value,
Initial time, the moment of resistance that the output shaft 16 of electric impact wrench 10 is born is maximum, now needs in electric impact wrench 10
Motor 12 exports bigger driving torque and overcomes the moment of resistance being positioned at peak value, departs from nut 32 and bolt 34 and tightens completely
After, the moment of resistance that the output shaft 16 of electric impact wrench 10 is born is reduced to gently, and the driving torque that motor 12 is exported is also
Synchronization is reduced to gently.
Parameter x, for representing the load of electric impact wrench 10 output shaft 16, is i.e. used for representing that electric impact wrench 10 is defeated
The moment of resistance that shaft 16 is born, owing to the moment of resistance is always consistent with the output moment of torsion of electric impact wrench 10 motor 12,
Export the relevant parameter of moment of torsion to motor 12 as aforementioned parameters x by calling, then can realize identifying defeated by monitoring parameter x
The size of the load of shaft 16.
Control module 44 pre-conditioned judges that described output shaft load reduction is to being equal to for meeting according to described parameter x
Or less than presetting load, and then change the rotating speed of described motor 12.
Wherein, control module 44 includes that parameter judges submodule 442 and electrical motor gearshift submodule 444；Parameter judges submodule
Block 442 monitoring parameter x, it is judged that it is pre-conditioned whether the value of parameter x meets, confirms on output shaft 16 based on aforementioned judged result
Whether load has been lowered to preset load, if so, changes motor speed by electrical motor gearshift submodule 444, if it is not, detection module
42 reacquire current parameter x, and parameter judges submodule 442 and then to judge whether current parameter x meets pre-conditioned.
Shown in ginseng Fig. 3, Fig. 3 describes employing electric impact wrench 10 and is combined more close nut 32 with bolt 34 at removal
Time, supply the electric current versus time curve of its motor 12；Wherein, letter t represents the time that motor 12 is started working, letter
I represents the current value of the motor 12 being supplied to electric impact wrench 10.
Curve in Fig. 3 include Part I A, the first flex point H, Part II B, Second Inflexion Point I, Part III C, the 3rd
Flex point J, Part IV D, Part V E and Part VI F.
Wherein Part I A is one section of ascending curve, and it represents that motor 12 just starts to start, and now nut 32 not yet gives work
Making a 14 applying moment of resistance, Part I A may be considered linear substantially；Follow hard on Part I A be the first flex point K with
And follow-up Part II B, the first flex point K has a downward-sloping sudden change relative to Part I A, and Part II B is one
Individual decline curve, this represents nut 32 to have begun to working 14 to push against, and nut 32 applies moments of resistance to work 14；At warp
Entering the Part III C of basic horizontal after crossing Second Inflexion Point I, now working 14 starts to overcome the moment of resistance to the nut that comes up
32；As time goes on, there is downward transition in Part III C at the 3rd flex point J, and forms the 4th be decreased obviously
Dividing D, now nut 32 is already close to being fully released；Subsequently entering Part V E, this part is substantially the straight of one section of level
Line, shows that nut 32 has been fully released, and motor 12 is in Light Condition, finally enters Part VI F, now motor 12 quilt
Closing down, electric current i also reduces to 0.
Shown in ginseng Fig. 4, Fig. 4 describes employing electric impact wrench 10 and is combined loose nut 32 with bolt 34 at removal
Time, supply the electric current versus time curve of its motor 12；Wherein, letter t represents the time that motor 12 is started working, letter
I represents the current value of the motor 12 being supplied to electric impact wrench 10.
Wherein initial part M is one section of ascending curve, and it represents that motor 12 just starts to start, and now nut 32 not yet gives work
Making a 14 applying moment of resistance, initial part M may be considered linear substantially；Follow hard on the follow-up pars intermedia of initial part F
Point N, mid portion N are a decline curve, and this represents nut 32 to have begun to working 14 to push against, and nut 32 is to work head
14 apply the moment of resistance；Owing to nut 32 and bolt 34 combine not tight, in work 14 very short time, just make nut 32 and spiral shell
Bolt 34 unclamps, and is now directly entered the part (non-label) of basic horizontal, and this part is substantially the straight line of one section of level, shows
Nut 32 has been fully released, and motor 12 is in Light Condition；Finally entering last part O, now motor 12 is closed down, electricity
Stream i also reduces to 0.
In first embodiment of the invention, parameter x is the current value of motor 12 in supply electric impact wrench 10, aforementioned default
Condition is then: in supply electric impact wrench 10, the current value of motor 12 is equal to or less than predetermined current threshold.
In conjunction with the current curve in Fig. 3 and Fig. 4, set pre-conditioned in predetermined current threshold as Part V E in Fig. 3
Current value I0 when middle motor 12 is unloaded, current value I0 when also motor 12 is unloaded in last part 0 in Fig. 4；Making
For the current value of parameter x drop to motor 12 unloaded time current value time I0, show that nut 32 unclamps with bolt 34, motor
Speed change submodule 444 and then the rotating speed of change motor 12.
It should be noted that: the current value obtaining supply motor 12 can pass through multi collect current value and obtain meansigma methods
Mode, thus reduce the current value error that current fluctuation causes, do not repeat at this.
Certainly, in other embodiments of the present invention, predetermined current threshold is not limited to electricity during aforementioned motor 12 zero load
Flow valuve I0, it is possible to being slightly more or less than this no-load current value I0, now nut 32 and bolt 34 are also close to being totally released, nut 32
To the moment of resistance of output shaft 16 in electric impact wrench 10 also close to moment of resistance during zero load, ensure that equally electric impacting
The control accuracy of spanner 10.
In first embodiment of the invention, it is single that electrical motor gearshift submodule 444 also includes that moment acquiring unit 4442, moment judge
Unit 4444 and motor control unit 4446.
Using electric tool motor start time as starting at the moment, moment acquiring unit 4442 starts timing, supply electronic
When in impact wrench 10, the current value of motor 12 is equal to or less than predetermined current threshold, moment acquiring unit 4442 generates current
Moment also exports to moment judging unit 4444 as object time T2, and moment judging unit 4444 internal memory contains predetermined time
T1, before and after object time T2 and predetermined time T1, motor control unit 4446 selects different change motor speeds
Mode.
According to Fig. 3, owing to nut 32 is combined relatively tight with bolt 34, object time T2 after predetermined time T1,
Moment judging unit 4444 exports corresponding control instruction to motor control unit 4446, and then motor control unit 4446 is through the
Motor 12 is closed down after one preset duration；Thus fully unclamp nut 32 and bolt 34, but the two again without departing from.
This first preset duration can be configured to stroke needed for completely disengaging from bolt from current location according to nut 32, with
At the end of the first preset duration, on the basis of nut 32 remains on without departing from bolt 34；Preferably, the first preset duration is 10
Millisecond.
According to Fig. 4, owing to nut 32 is combined loosely with bolt 34, object time T2 before predetermined time T1,
Moment judging unit 4444 exports another control instruction to motor control unit 4446, and then motor control unit 4446 closes immediately
Power failure machine 12；Thus prevent excessive nut 32 and bolt 34 and the two is departed from.
It should be noted that: " closing down motor " described previously includes the stopping to motor and brake, does not repeats at this.
By the way of according to selecting different change motor 12 rotating speeds for different object time T2, at nut
32 so that nut 32 can produce to greatest extent in bolt 34, but will not separate with bolt 34, reduce user manual
Time spent by removal nut 32, Consumer's Experience is greatly improved.
Shown in ginseng Fig. 5, in the second embodiment of control system provided by the present invention, its of control system 40b and the present invention
He compares embodiment, differs only in: control system 40b also includes presetting module 41, and this presetting module 41 includes that instruction is preset
Submodule 412, instruction obtain submodule 414 and instructions match submodule 416.
Wherein, instruction is preset submodule 412 and is used for presetting speed governing requirement command collection, and it includes multiple speed governing requirement command,
A kind of concrete mode of the step of the rotating speed of the corresponding described change motor of each speed governing requirement command；Instruction obtains submodule 414
For obtaining user's speed governing requirement command；Instructions match submodule 416 changes described in confirming according to user's speed governing requirement command
Become the concrete mode of the step of motor speed.
Follow-up, electrical motor gearshift submodule 444 changes motor according to the mode that instructions match submodule 416 is confirmed and turns
Speed.
Set different speed change patterns according to nut stroke of complete removal on bolt, such as, Long travel is set
Be the first speed change pattern, will in, short travel settings be the second speed change pattern；User, according to the different strokes of nut, sends optimal
User's speed governing requirement command, and then obtain the pattern of most suitable change motor speed；Subsequently, speed-variable module is by this speed change
Mode changes motor speed.
Allow users to select to change according to operating mode the mode of motor speed, improve control system to different operating modes
Adaptation ability, thus ensure that under different operating modes, nut total energy removal is to optimum position.
Preferably, can be by arranging pattern switching toggle on electric impact wrench and at toggle week side dimension model figure
Show, it is simple to user operates toggle the most in advance and selects the speed change pattern of correspondence.
Shown in ginseng Fig. 6, in the 3rd embodiment of control system provided by the present invention, control system 40c is real relative to first
Executing example, difference is: control system 40c also includes clock module 43, and this clock module 43 is used for providing start time, and controls
Detection module starts detection parameter x at this start time.
Wherein, start time is the timing node after electric tool is started shooting after the second preset duration.
In conjunction with the current curve in Fig. 3 and Fig. 4, aforesaid time starting point can be the T0 moment, and the electric current i in T0 moment is positioned at Fig. 3
Mid portion N in middle Part II B and Fig. 4；Before the T0 time, control system does not start, and in the T0 moment, control system is opened
Begin to start, and got parms x by its detection module.
Certainly, the second preset duration is alternatively 0, and aforesaid time starting point was for 0 moment.
By setting the second preset duration so that when control system starts, work head pushes against with nut, and nut is
Starting work head is applied the moment of resistance, nut will be come up；Make control system can detect that parameter x accords with faster
Closing the pre-conditioned moment, it is to avoid in the Part I A or initial part M, work head does not pushes against with nut, causes controlling
System there is no that work efficiency that work requirements caused is low and energy dissipation.
In 4th embodiment of control system provided by the present invention, control system is compared with first embodiment, and difference only exists
In: parameter x is the output torque value of motor, pre-conditioned includes: the output torque value of motor equals to or less than predetermined torque threshold
Value.
Detection motor output torque value can be obtained by torque sensor；And using the output moment of torsion of motor during zero load as
Predetermined torque threshold value.
In 5th embodiment of control system provided by the present invention, control system is compared with first embodiment, and difference only exists
In: parameter x is the tachometer value of motor, pre-conditioned includes: the tachometer value of motor equals to or more than preset rotation speed threshold value.
Detection motor speed value can be obtained by Rotating speed measring elements such as Hall element, magnetic nails；And by motor during zero load
Rotating speed as preset rotation speed threshold value.
In the sixth embodiment of control system provided by the present invention, control system is compared with first embodiment, and difference only exists
In: parameter x is the accekeration of electric tool, and this accekeration is that electric tool vibrations are caused, pre-conditioned includes: output
The acceleration of axle equals to or less than predetermined acceleration threshold value
Detection output shaft accekeration can obtain by arranging acceleration transducer in instrument, by motor during zero load
Rotating speed is as preset rotation speed threshold value.
In 7th embodiment of control system provided by the present invention, control system compared with previous embodiment, control system
In corresponding parameter x and pre-conditioned use mode mentioned any one of aforementioned the first to sixth embodiment；Difference
Be: parameter x meet pre-conditioned residing object time T2 after predetermined time T1 time, electrical motor gearshift submodule 444
Motor is closed down after motor rotation predetermined amount.
In 8th embodiment of control system provided by the present invention, control system is compared with the 7th embodiment, and difference only exists
In: parameter x meet pre-conditioned residing object time T2 after predetermined time T1 time, electrical motor gearshift submodule 444 drops
Motor is closed down after low motor speed.
In 9th embodiment of control system provided by the present invention, control system is compared with the 7th embodiment, and difference only exists
In: parameter x meet pre-conditioned residing object time T2 after predetermined time T 1 time, electrical motor gearshift submodule 444 drops
Low motor speed, reduces prompting user by rotating speed so that user manually closes down motor.
In tenth embodiment of control system provided by the present invention, control system is compared with the 7th embodiment, and difference only exists
In: no matter parameter x meet pre-conditioned residing object time T2 after predetermined time T1 or before, electrical motor gearshift submodule
Block 444 all can point out user so that user is manually closed down by making motor periodically switching between rotating and reverse continuously
Motor.
Compared with prior art, in embodiments of the invention, nut and bolt can be unclamped without making by control system
Nuts and bolt separates, user can manual separation nuts and bolt according to demand, meeting user only needs to unclamp the special of nut
Duty requirements.
Shown in ginseng Fig. 7, in first embodiment of the invention, the control method of electric tool comprises the steps:
Step S20, detection represents parameter x of output shaft 16 load.
It is fastened or during removal by electric impact wrench 10 in torque nut 32, due to nut 32 and bolt
The existence of the screw threads for fastening power between 34, nut 32 can apply one by the output shaft 16 of work 14 pairs of electric impact wrenches 10
The individual moment of resistance, when the driving torque that motor 12 is exported in electric impact wrench 10 overcomes this moment of resistance, work 14 starts
Fastening or removal nut 32.
Screw threads for fastening power between the moment of resistance to nut 32 and bolt 34 is directly proportional, and is screwed into the process of bolt 34 at nut 32
In, between nut 32 and bolt 34, screw threads for fastening power is also gradually increased, and when nut 32 and bolt 34 are fully tightened, screw thread is tight
Gu power reaches peak value；Otherwise, during electric impact wrench 10 removal nut 32, screw threads for fastening power already in peak value,
Initial time, the moment of resistance that the output shaft 16 of electric impact wrench 10 is born is maximum, now needs in electric impact wrench 10
Motor 12 exports bigger driving torque and overcomes the moment of resistance being positioned at peak value, departs from nut 32 and bolt 34 and tightens completely
After, the moment of resistance that the output shaft 16 of electric impact wrench 10 is born is reduced to gently, and the driving torque that motor 12 is exported is also
Synchronization is reduced to gently.
Parameter x, for representing the load of electric impact wrench 10 output shaft 16, is i.e. used for representing that electric impact wrench 10 is defeated
The moment of resistance that shaft 16 is born, owing to the moment of resistance is always consistent with the output moment of torsion of electric impact wrench 10 motor 12,
Export the relevant parameter of moment of torsion to motor 12 as aforementioned parameters x by calling, then can realize identifying defeated by monitoring parameter x
The size of the load of shaft 16.
Subsequently enter step S40, according to described parameter x meet pre-conditioned judge described output shaft load reduction to etc.
In or less than presetting load, and then change the rotating speed of described motor
Wherein, step S40 specifically includes:
S42, monitoring parameter x, it is judged that it is pre-conditioned whether the value of parameter x meets, confirm defeated based on aforementioned judged result
Load on shaft 16 and whether have been lowered to preset load, if so, perform S44 step；
S44, change the rotating speed of described motor.
Shown in ginseng Fig. 3, Fig. 3 describes employing electric impact wrench 10 and is combined more close nut 32 with bolt 34 at removal
Time, supply the electric current versus time curve of its motor 12；Wherein, letter t represents the time that motor 12 is started working, letter
I represents the current value of the motor 12 being supplied to electric impact wrench 10.
Curve in Fig. 3 include Part I A, the first flex point H, Part II B, Second Inflexion Point I, Part III C, the 3rd
Flex point J, Part IV D, Part V E and Part VI F.
Wherein Part I A is one section of ascending curve, and it represents that motor 12 just starts to start, and now nut 32 not yet gives work
Making a 14 applying moment of resistance, Part I A may be considered linear substantially；Follow hard on Part I A be the first flex point K with
And follow-up Part II B, the first flex point K has a downward-sloping sudden change relative to Part I A, and Part II B is one
Individual decline curve, this represents nut 32 to have begun to working 14 to push against, and nut 32 applies moments of resistance to work 14；At warp
Entering the Part III C of basic horizontal after crossing Second Inflexion Point I, now working 14 starts to overcome the moment of resistance to the nut that comes up
32；As time goes on, there is downward transition in Part III C at the 3rd flex point J, and forms the 4th be decreased obviously
Dividing D, now nut 32 is already close to being fully released；Subsequently entering Part V E, this part is substantially the straight of one section of level
Line, shows that nut 32 has been fully released, and motor 12 is in Light Condition, finally enters Part VI F, now motor 12 quilt
Closing down, electric current i also reduces to 0.
Shown in ginseng Fig. 4, Fig. 4 describes employing electric impact wrench 10 and is combined loose nut 32 with bolt 34 at removal
Time, supply the electric current versus time curve of its motor 12；Wherein, letter t represents the time that motor 12 is started working, letter
I represents the current value of the motor 12 being supplied to electric impact wrench 10.
Wherein initial part M is one section of ascending curve, and it represents that motor 12 just starts to start, and now nut 32 not yet gives work
Making a 14 applying moment of resistance, initial part M may be considered linear substantially；Follow hard on the follow-up pars intermedia of initial part F
Point N, mid portion N are a decline curve, and this represents nut 32 to have begun to working 14 to push against, and nut 32 is to work head
14 apply the moment of resistance；Owing to nut 32 and bolt 34 combine not tight, in work 14 very short time, just make nut 32 and spiral shell
Bolt 34 unclamps, and is now directly entered the part (non-label) of basic horizontal, and this part is substantially the straight line of one section of level, shows
Nut 32 has been fully released, and motor 12 is in Light Condition；Finally entering last part O, now motor 12 is closed down, electricity
Stream i also reduces to 0.
In first embodiment of the invention, parameter x is the current value of motor 12 in supply electric impact wrench 10, aforementioned default
Condition is then: in supply electric impact wrench 10, the current value of motor 12 is equal to or less than predetermined current threshold.
In conjunction with the current curve in Fig. 3 and Fig. 4, set pre-conditioned in predetermined current threshold as Part V E in Fig. 3
Current value I0 when middle motor 12 is unloaded, current value I0 when also motor 12 is unloaded in last part 0 in Fig. 4；Making
For the current value of parameter x drop to motor 12 unloaded time current value I0 time, show that nut 32 unclamps with bolt 34, and then
Change the rotating speed of motor 12.
It should be noted that: the current value obtaining supply motor 12 can pass through multi collect current value and obtain meansigma methods
Mode, thus reduce the current value error that current fluctuation causes, do not repeat at this.
Certainly, in other embodiments of the present invention, predetermined current threshold is not limited to electricity during aforementioned motor 12 zero load
Flow valuve I0, it is possible to being slightly more or less than this no-load current value I0, now nut 32 and bolt 34 are also close to being totally released, nut 32
To the moment of resistance of output shaft 16 in electric impact wrench 10 also close to moment of resistance during zero load, ensure that equally electric impacting
The control accuracy of spanner 10.
In the first embodiment of control method provided by the present invention, aforementioned S44 specifically includes following steps:
S442, using electric tool motor start time as starting at the moment, motor 12 in supply electric impact wrench 10
When current value is equal to or less than predetermined current threshold, obtain the current moment and as object time T2；
S444, judge object time T2 before predetermined time T1 or after, if after which, perform S446, if
Before it, S448 is performed；
S446, after the first preset duration, close down motor 12；
S448, immediately close down motor 12.
According to Fig. 3, owing to nut 32 is combined relatively tight with bolt 34, object time T2 after predetermined time T1,
After the first preset duration, motor 12 is closed down by S446；Thus fully unclamp nut 32 and bolt 34, but the two is the most not
Can depart from.
This first preset duration can be configured to stroke needed for completely disengaging from bolt from current location according to nut 32, with
At the end of the first preset duration, on the basis of nut 32 remains on without departing from bolt 34；Preferably, the first preset duration is 10
Millisecond.
According to Fig. 4, owing to nut 32 is combined loosely with bolt 34, object time T2 before predetermined time T1,
Immediately motor 12 is closed down by S448；Thus prevent excessive nut 32 and bolt 34 and the two is departed from.
It should be noted that: " closing down motor " described previously includes the stopping to motor and two steps of brake, at this not
Repeat.
By the way of according to selecting different change motor 12 rotating speeds for different object time T2, at nut
32 so that nut 32 can produce to greatest extent in bolt 34, but will not separate with bolt 34, reduce user manual
Time spent by removal nut 32, Consumer's Experience is greatly improved.
Shown in ginseng Fig. 8, in the second embodiment of control method provided by the present invention, other of control method and the present invention are real
Execute example to compare, differ only in: control method also includes being positioned at step S10 before step S20, and it specifically includes:
S12, presetting speed governing requirement command collection, it includes multiple speed governing requirement command, each speed governing requirement command correspondence institute
State a kind of concrete mode of the step of the rotating speed changing motor；
S14, acquisition user's speed governing requirement command；
S16, confirm the concrete mode of step of described change motor speed according to user's speed governing requirement command.
Set different speed change patterns according to nut stroke of complete removal on bolt, such as, Long travel is set
Be the first speed change pattern, will in, short travel settings be the second speed change pattern；User, according to the different strokes of nut, sends optimal
User's speed governing requirement command, and then obtain the pattern of most suitable change motor speed；Later step S80 is by this speed change side
Formula changes motor speed.
Allow users to select to change according to operating mode the mode of motor speed, improve control method to different operating modes
Adaptation ability, thus ensure that under different operating modes, nut total energy removal is to optimum position.
Preferably, can be by arranging pattern switching toggle on electric impact wrench and at toggle week side dimension model figure
Show, it is simple to user operates toggle the most in advance and selects the speed change pattern of correspondence.
Shown in ginseng Fig. 9, in the 3rd embodiment of control method provided by the present invention, control method method is real relative to first
Executing example, difference is: control method also includes step S30, and this step S30 specifically includes: provide start time, and step S20
Start at this start time.
Wherein, start time is the timing node after electric tool is started shooting after the second preset duration.
In conjunction with the current curve in Fig. 3 and Fig. 4, aforesaid time starting point can be the T0 moment, and the electric current i in T0 moment is positioned at Fig. 3
Mid portion N in middle Part II B and Fig. 4；Before the T0 time, control method does not start, and in the T0 moment, starts to start it
Step S20.
Certainly, the second preset duration is alternatively 0, and aforesaid time starting point was for 0 moment.
By setting the second preset duration so that when control method starts, work head pushes against with nut, and nut is
Starting work head is applied the moment of resistance, nut will be come up；Make control method can detect that parameter x accords with faster
Closing the pre-conditioned moment, it is to avoid in the Part I A or initial part M, work head does not pushes against with nut, causes controlling
Method there is no that work efficiency that work requirements caused is low and energy dissipation.
In 4th embodiment of control method provided by the present invention, control method is compared with first embodiment, and difference only exists
In: parameter x is the output torque value of motor, pre-conditioned includes: the output torque value of motor equals to or less than predetermined torque threshold
Value.
Detection motor output torque value can be obtained by torque sensor；And using the output moment of torsion of motor during zero load as
Predetermined torque threshold value.
In 5th embodiment of control method provided by the present invention, control method is compared with first embodiment, and difference only exists
In: parameter x is the tachometer value of motor, pre-conditioned includes: the tachometer value of motor equals to or more than preset rotation speed threshold value.
Detection motor speed value can be obtained by Rotating speed measring elements such as Hall element, magnetic nails；And by motor during zero load
Rotating speed as preset rotation speed threshold value.
In the sixth embodiment of control method provided by the present invention, control method is compared with first embodiment, and difference only exists
In: parameter x is the accekeration of electric tool, and this accekeration is that electric tool vibrations are caused, pre-conditioned includes: output
The acceleration of axle equals to or less than predetermined acceleration threshold value.
Detection output shaft accekeration can by obtaining at instrument built-in acceleration sensor, by during zero load motor turn
Speed is as preset rotation speed threshold value.
In 7th embodiment of control method provided by the present invention, control method is compared with previous embodiment, and difference only exists
In: parameter x corresponding in control method and pre-conditioned use any one of aforementioned the first to sixth embodiment mentioned
Mode, difference is: parameter x meet pre-conditioned residing object time T2 after predetermined time T1 time, step
S446 is adjusted to: close down motor after motor rotation predetermined amount.
In 8th embodiment of control method provided by the present invention, control method is compared with the 7th embodiment, and difference only exists
In: parameter x meet pre-conditioned residing object time T2 before predetermined time T1 time, S446 step is adjusted to: reduce
Motor is closed down after motor speed.
In 9th embodiment of control method provided by the present invention, control method is compared with the 7th embodiment, and difference only exists
In: parameter x meet pre-conditioned residing object time T2 after predetermined time T1 time, step S446 is adjusted to: reduce
Motor speed.Prompting user is reduced so that user manually closes down motor by rotating speed.
In tenth embodiment of control method provided by the present invention, control method is compared with the 7th embodiment, and difference only exists
In: no matter parameter x meet pre-conditioned residing object time T2 after predetermined time T1 or before time, step S446 with
S448 all can be adjusted to: motor is periodically switching between rotating and reverse continuously.By so pointing out user so that user
Manually close down motor.
Compared with prior art, in embodiments of the invention, nut and bolt can be unclamped without making by control method
Nuts and bolt separates, user can manual separation nuts and bolt according to demand, meeting user only needs to unclamp the special of nut
Duty requirements.
It is to be understood that, although this specification is been described by according to embodiment, but the most each embodiment only comprises one
Individual independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art should will say
Bright book is as an entirety, and the technical scheme in each embodiment can also be through appropriately combined, and forming those skilled in the art can
With other embodiments understood.
The a series of detailed description of those listed above is only for the feasibility embodiment of the present invention specifically
Bright, they also are not used to limit the scope of the invention, all equivalent implementations made without departing from skill of the present invention spirit
Or change should be included within the scope of the present invention.
Claims (16)
1. a control method for electric tool, wherein electric tool includes motor and connects the output shaft of motor, and its feature exists
In, described control method comprises the steps:
Detection is for representing parameter x that output shaft loads；
After predetermined time point T0, it is judged that whether described parameter X is equal to or less than preset value, when judged result is for being, change
The rotating speed of described motor.
Control method the most according to claim 1, it is characterised in that judge that whether described parameter X is equal to or less than presetting
The method of value is for judging that whether described parameter X is equal to or less than preset value and lasting Preset Time.
3. a control method for electric tool, wherein electric tool includes motor and connects the output shaft of motor, and its feature exists
In, described control method comprises the steps:
Detection is for representing parameter x that output shaft loads；
When described parameter X is reduced to equal to or less than preset value by height, change the rotating speed of described motor.
4. a control method for electric tool, wherein electric tool includes motor and connects the output shaft of motor, and its feature exists
In, described control method comprises the steps:
Detection is for representing parameter x that output shaft loads；
When described parameter X is equal to or less than preset value and lasting Preset Time, change the rotating speed of described motor.
5. a control method for electric tool, wherein electric tool includes motor and connects the output shaft of motor, and its feature exists
In, described control method comprises the steps:
During loosening fasteners, detection is for representing parameter x that output shaft loads；
When according to described parameter X meet the described securing member of pre-conditioned judgement released time, change the rotating speed of described motor.
Control method the most according to claim 5, it is characterised in that described pre-conditioned for following pre-conditioned in extremely
Few one: 1), after predetermined time point T0, described parameter X equals to or less than preset value；Or 2) described parameter X is reduced to by height
In or less than preset value；Or 3) described parameter X is equal to or less than preset value and lasting Preset Time.
Control method the most as claimed in any of claims 1 to 5, it is characterised in that described parameter X is supply motor
Electric current, described preset value is predetermined current threshold.
Control method the most as claimed in any of claims 1 to 5, it is characterised in that the storage of described electric tool is pre-
If speed governing requirement command collection, it includes multiple speed governing requirement command, turning of each speed governing requirement command described change motor of correspondence
A kind of concrete mode of the step of speed；
Described control method also includes that detection is for representing the following steps before parameter x that output shaft loads:
Obtain user's speed governing requirement command；
The concrete mode of the step of described change motor speed is confirmed according to user's speed governing requirement command.
Control method the most according to claim 5, it is characterised in that the concrete side of the step of the rotating speed of described change motor
Formula includes:
With electric tool motor startup for starting at the moment, obtain described parameter x meet described pre-conditioned time object time；
Judge that object time is whether after predetermined time；
When object time is after predetermined time, perform in following action one: 1) close down after the first preset duration
Motor, or 2) control to close down motor, or 3 after motor rotation predetermined amount) reduce motor speed；When object time is at predetermined time
Time before, immediately close down motor.
10. an electric tool, it is characterised in that described electric tool includes:
Power supply；
Motor, obtains the electric power of power supply to provide rotary power；
Control system, is electrically connected with motor and power supply, including:
Detection module, detection is for representing parameter x that output shaft loads；
Control module, including:
Parameter judges submodule, after predetermined time point T0, it is judged that whether described parameter x is equal to or less than preset value；
With parameter, electrical motor gearshift submodule, judges that submodule is electrically connected with, when parameter judges the judged result of submodule as being,
Change the rotating speed of described motor.
11. electric tools according to claim 10, it is characterised in that judge that whether described parameter x is equal to or less than pre-
If the method for value is for judging that whether described parameter x is equal to or less than preset value and lasting Preset Time.
12. 1 kinds of electric tools, it is characterised in that described electric tool includes:
Power supply；
Motor, obtains the electric power of power supply to provide rotary power；
Control system, is electrically connected with motor and power supply, including:
Detection module, detection is for representing parameter x that output shaft loads；
Control module, including:
Parameter judges submodule, it is judged that whether described parameter X is reduced to equal to or less than preset value by height；
With parameter, electrical motor gearshift submodule, judges that submodule is electrically connected with, when parameter judges the judged result of submodule as being,
Change the rotating speed of described motor.
13. 1 kinds of electric tools, it is characterised in that described electric tool includes:
Power supply；
Motor, obtains the electric power of power supply to provide rotary power；
Control system, is electrically connected with motor and power supply, including:
Detection module, detection is for representing parameter x that output shaft loads；
Control module, including:
Parameter judges submodule, it is judged that whether described parameter X is equal to or less than preset value and lasting Preset Time；
With parameter, electrical motor gearshift submodule, judges that submodule is electrically connected with, when parameter judges the judged result of submodule as being,
Change the rotating speed of described motor.
14. 1 kinds of electric tools, it is characterised in that described electric tool includes:
Power supply；
Motor, obtains the electric power of power supply to provide rotary power；
Control system, is electrically connected with motor and power supply, including:
Detection module, during loosening fasteners, detection is for representing parameter x that output shaft loads；
Control module, including:
Whether parameter judges submodule, meet according to described parameter X and pre-conditioned judge that described securing member is the most released；
With parameter, electrical motor gearshift submodule, judges that submodule is electrically connected with, when parameter judges the judged result of submodule as being,
Change the rotating speed of described motor.
15. electric tools according to claim 14, it is characterised in that described pre-conditioned for following pre-conditioned in
At least one: 1) after predetermined time point T0, described parameter X equals to or less than preset value；Or 2) described parameter X is reduced to by height
Equal to or less than preset value；Or 3) described parameter X is equal to or less than preset value and lasting Preset Time.
16. according to the electric tool described in claim 10-15 any one, it is characterised in that described electric tool also includes:
System start-up parts, it is for operationally starting described control system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410443716 | 2014-09-02 | ||
| CN2014104437169 | 2014-09-02 | ||
| CN201410708970.7A CN104656549B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
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| CN201410708970.7A Division CN104656549B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
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| CN201410709408.6A Active CN104656550B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
| CN201610128189.1A Pending CN105929788A (en) | 2014-09-02 | 2014-11-28 | Electric tool control method and system, and electric tool |
| CN201410709443.8A Active CN104656551B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
| CN201410708970.7A Active CN104656549B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
| CN201410709546.4A Pending CN104647264A (en) | 2014-09-02 | 2014-11-28 | Electric tool and control method |
| CN201610127747.2A Pending CN105856140A (en) | 2014-09-02 | 2014-11-28 | Control method and system of electric tool and electric tool |
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| CN201610128189.1A Pending CN105929788A (en) | 2014-09-02 | 2014-11-28 | Electric tool control method and system, and electric tool |
| CN201410709443.8A Active CN104656551B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
| CN201410708970.7A Active CN104656549B (en) | 2014-09-02 | 2014-11-28 | The control method of electric tool and system, electric tool |
| CN201410709546.4A Pending CN104647264A (en) | 2014-09-02 | 2014-11-28 | Electric tool and control method |
| CN201610127747.2A Pending CN105856140A (en) | 2014-09-02 | 2014-11-28 | Control method and system of electric tool and electric tool |
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| CN113224994B (en) * | 2021-04-19 | 2023-03-03 | 惠州拓邦电气技术有限公司 | Electric tool torque force adjusting method and device and electric tool |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104656550A (en) | 2015-05-27 |
| CN104656549B (en) | 2016-04-13 |
| CN104656551A (en) | 2015-05-27 |
| CN104656550B (en) | 2016-04-13 |
| CN104656549A (en) | 2015-05-27 |
| CN105856140A (en) | 2016-08-17 |
| CN104656551B (en) | 2016-09-14 |
| CN104647264A (en) | 2015-05-27 |
| CN105929788A (en) | 2016-09-07 |
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