EP1008422A2 - Method and device for handheld machine tools to prevent accidents caused by tool blockage - Google Patents

Method and device for handheld machine tools to prevent accidents caused by tool blockage Download PDF

Info

Publication number
EP1008422A2
EP1008422A2 EP99811119A EP99811119A EP1008422A2 EP 1008422 A2 EP1008422 A2 EP 1008422A2 EP 99811119 A EP99811119 A EP 99811119A EP 99811119 A EP99811119 A EP 99811119A EP 1008422 A2 EP1008422 A2 EP 1008422A2
Authority
EP
European Patent Office
Prior art keywords
tool
acceleration
machine tool
acceleration sensors
axis
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.)
Granted
Application number
EP99811119A
Other languages
German (de)
French (fr)
Other versions
EP1008422A3 (en
EP1008422B1 (en
Inventor
Roland Schaer
Martin Mayr
Peter Hellmann
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.)
Hilti AG
Original Assignee
Hilti AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hilti AG filed Critical Hilti AG
Publication of EP1008422A2 publication Critical patent/EP1008422A2/en
Publication of EP1008422A3 publication Critical patent/EP1008422A3/en
Application granted granted Critical
Publication of EP1008422B1 publication Critical patent/EP1008422B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D2211/00—Details of portable percussive tools with electromotor or other motor drive
    • B25D2211/003—Crossed drill and motor spindles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
    • B25D2250/221—Sensors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T408/00—Cutting by use of rotating axially moving tool
    • Y10T408/13—Cutting by use of rotating axially moving tool with randomly-actuated stopping means
    • Y10T408/14—Responsive to condition of Tool or tool-drive

Definitions

  • the invention relates to a method and to the application of the Procedure based facility to prevent accidents by Tool blocking when working with hand-held machine tools rotating tool, especially with rotary hammers, with an interrupter device to interrupt the effect of the drive motor on the Tool depending on that supplied by a motion measuring device Rotational movement size detected operating state is equipped.
  • an acceleration threshold - a clutch triggers the drivetrain between the drive motor and the actual tool unit, in particular the drilling spindle, interrupts.
  • Difficulties with the two known, similar approaches arise from the fact that it is also in a desired operational use of the Machine, for example when working with a hammer drill in a concrete mass inhomogeneous composition for false tripping of the safety clutch is coming. This depends on the basic approach of an immediate Signal evaluation without a subsequent assessment together, i.e. a signal evaluation with necessarily a comparatively low security threshold without individual assessment of the respective accident.
  • the invention is therefore based on the object, hand-held machine tools to improve the type mentioned so that a Blocking of the tool by the reaction impulse or the reaction moment A measurement signal triggered by the motion sensor is then also an unambiguous one Provides information about a dangerous blocking case if the axis of rotation of the tool is distorted in the event of a malfunction, with the influencing variable simultaneously Acceleration to gravity on the measurement signal should be switched off.
  • the invention is in a method for preventing accidents Tool blocking when working with hand-held machine tools rotating tool, especially with rotary hammers, with an interrupter device to interrupt the effect of the drive motor on the Tool depending on that by a motion measuring device supplied inventory is equipped, characterized in that the movement of the machine tool at least two spatially apart and against the axis of rotation in normal operation of the Tool spaced points of the machine tool is measured, and that the measured values obtained before further processing and evaluation be subtracted from each other.
  • a facility to prevent rotational accidents due to Tool blocking in a hand-held machine tool with rotating Tool is characterized in that at least two acceleration sensors, preferably - in particular from Cost reasons - linear acceleration sensors as torsion sensors within of the housing of the machine tool on spatially from each other and opposite the tool axis preferably differently spaced locations are mounted and that the electronic evaluation unit has a subtraction level contains in which the signals delivered by the acceleration sensors before calculating one intended to trigger the interrupter device Signal are subtracted from each other.
  • the one of the several Acceleration sensors each delivered signals before calculating the expected and predeterminable angle of rotation of the machine tool from each other be subtracted.
  • FIG. 1A / B and FIG. 2 show the essentials in a basic illustration Components of a hand-guided in the context of the invention
  • Machine tool M its operating state by means of two acceleration sensors 1a or lb is monitored.
  • Fig. 1B is indicated by arrows indicated which acceleration 10 or deflection force in which deflection direction 11 on the machine tool in case of blocking of the tool 8 act.
  • the signals from the acceleration sensors 1a, 1b arrive an electronic evaluation unit 3, which is a microprocessor, one in discrete Circuit technology implemented microcomputer, a signal processor or the like can be.
  • the digitized signals are in this evaluation unit 3 of the acceleration sensors 1a, 1b are first subtracted from one another, such as explained and justified further below. Then the so obtained Result evaluated using a model or rule-based algorithm, which the operating state of the hand machine tool M when the Acceleration sensors 1a, 1b predicts.
  • the invention can be also be used advantageously for those applications in which there are no predictive ones Calculation of the expected twist angle of the hand machine tool M takes place, that is to say in the case of those safety devices that do so Assess acceleration signal generated by tool blocking immediately and when a certain level is exceeded, possibly after interference signal filtering, as well as one and / or two integration, directly to trigger the Use drive interrupter device.
  • the method according to the invention and the measuring system based thereon have an effect reliable for any rotation axis of the overall system as well as for if necessary, tilted or warped tool axis, as below under 3 is explained.
  • the movement measuring device has at least two Acceleration sensors 1a, 1b, whose measurement results according to the invention subtracted from further processing.
  • the disturbance Gravitational acceleration for every possible application position of the power tool eliminated.
  • the second sensor 1b in a axis 9 including the axis of rotation in normal operation Level lies.
  • the axis of rotation can be assumed to be two-dimensional Take any position and always delivers error-corrected signal, as derived from the following mathematical derivation reveals.
  • more than two sensors can also be provided be, then by averaging or a plausibility check the reliability of the signal obtained is increased. If two redundant sensor pairs are provided, the intervals for one Security check to be stretched in principle.
  • Equation (3) used in equation (1) in conjunction with equation (2) yields:
  • Equation (3 ') inserted in equation (1') in conjunction with equation (2 ') gives:
  • any measuring system is suitable within the scope of the invention
  • Acceleration sensors or accelerometers i.e. those that are based on piezoelectric, piezoresistive or inertial and / or integrated as Part of a microelectronic circuit are realized.
  • the electronic Evaluation unit can either be implemented analogously with the help of Operational amplifiers and corresponding filter circuits or digital using a microprocessor with associated processor interfaces (see DE 43 44 817 C2). It is also possible to use the evaluation unit to realize as fuzzy logic, which is detailed in DE 196 41 618 A1 is described.
  • any known measurement method for acceleration, angular velocity or Angle of rotation applicable is mainly from Cost reasons based on linear acceleration sensors, for example referred to piezoelectric measurement methods.
  • linear acceleration sensors for example referred to piezoelectric measurement methods.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Percussive Tools And Related Accessories (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Drilling And Boring (AREA)
  • Portable Power Tools In General (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

The method involves measuring the motion of the tool in space at two or more separate points (1a,1b) on the tool that are also separate from the tool axis. One of the two measurement signals is subtracted from the other before computing a signal for triggering a tool interrupt device (5). An Independent claim is also included for an arrangement for preventing accidents with hand-held power tools caused by tool locking.

Description

Die Erfindung betrifft ein Verfahren sowie eine auf der Anwendung des Verfahrens beruhende Einrichtung zur Vermeidung von Unfällen durch Werkzeugblockieren beim Arbeiten mit handgeführten Werkzeugmaschinen mit rotierendem Werkzeug, insbesondere bei Bohrhämmern, die mit einer Unterbrechereinrichtung zum Unterbrechen der Wirkung des Antriebsmotors auf das Werkzeug in Abhängigkeit von dem durch eine Bewegungsmeßeinrichtung gelieferten Drehbewegungsgröße erfaßten Betriebszustand ausgerüstet ist.The invention relates to a method and to the application of the Procedure based facility to prevent accidents by Tool blocking when working with hand-held machine tools rotating tool, especially with rotary hammers, with an interrupter device to interrupt the effect of the drive motor on the Tool depending on that supplied by a motion measuring device Rotational movement size detected operating state is equipped.

Rotationsunfälle, also insbesondere Verletzungen im Bereich des Handgelenks oder Arms oder der Sturz von Leitern, Gerüsten usw., bedingt durch das plötzliche Blockieren des Werkzeugs und das damit verbundene schnelle Ansteigen des Reaktionsmoments bei handgeführten Werkzeugmaschinen, insbesondere solchen größerer Leistung, wie Bohrhämmern, sind ein lange erkanntes und viel diskutiertes Problem. Aus der Vielzahl der bekannten Lösungsansätze für dieses Problem sei nur beispielhaft auf die Druckschriften EP 150 669 A2 sowie auf WO 88/06508 A3 hingewiesen. Durch die Verwendung eines innerhalb des oder am Gehäuse der Werkzeugmaschine angeordneten Verdrehsensors, insbesondere eines Beschleunigungssensors, der die Beschleunigung einer äußeren Schwenkbewegung der handgeführten Werkzeugmaschine erfaßt, wird - gegebenenfalls in Abhängigkeit von verschiedenen Vorgabe-Kriterien, z.B. eines Beschleunigungs-Schwellenwerts - eine Schaltkupplung auslöst, die den Antriebsstrang zwischen dem Antriebsmotor und dem eigentlichen Werkzeugaggregat, insbesondere der Bohrspindel, unterbricht. Schwierigkeiten bei den beiden bekannten, im Ansatz ähnlichen Lösungen, ergeben sich daraus, daß es auch bei einer gewünschten Betriebsnutzung der Maschine, etwa beim Arbeiten mit einem Bohrhammer in einer Betonmasse inhomogener Zusammensetzung zu Fehlauslösungen der Sicherheitskupplung kommt. Dies hängt mit dem grundsätzlichen Lösungsansatz einer unmittelbaren Signalauswertung ohne Folgeabschätzung zusammen, d.h., einer Signalauswertung mit notwendigerweise vergleichsweise niedriger Sicherheitsschwelle ohne individuelle Bewertung des jeweiligen Störfalls.Rotational accidents, in particular injuries to the wrist or arms or the fall of ladders, scaffolding, etc. due to the sudden blockage of the tool and the associated rapid Increase in reaction torque for hand-held machine tools, especially those of higher performance, such as hammer drills, are long recognized and much discussed problem. From the multitude of known ones Approaches to solving this problem are only exemplary of the publications EP 150 669 A2 and WO 88/06508 A3. By using it one arranged inside or on the housing of the machine tool Twist sensor, in particular an acceleration sensor that the Acceleration of an external swiveling movement of the hand-held machine tool is recorded - possibly depending on various default criteria, e.g. an acceleration threshold - a clutch triggers the drivetrain between the drive motor and the actual tool unit, in particular the drilling spindle, interrupts. Difficulties with the two known, similar approaches arise from the fact that it is also in a desired operational use of the Machine, for example when working with a hammer drill in a concrete mass inhomogeneous composition for false tripping of the safety clutch is coming. This depends on the basic approach of an immediate Signal evaluation without a subsequent assessment together, i.e. a signal evaluation with necessarily a comparatively low security threshold without individual assessment of the respective accident.

Eine wesentliche Verbesserung wurde mit einem vorausschauenden Bewertungsverfahren für die von einem Beschleunigungssensor gelieferten Signale erreicht, wie es in der Patentschrift DE 43 44 817 C2 beschrieben ist. Diesem verbesserten Verfahren liegt der Gedanke zugrunde, unter Vorgabe einer Zeitkonstante aus der vom Beschleunigungssensor gelieferten Drehbewegungsgröße einen aufgrund des Reaktionsmoments beim Blockieren oder teilweisem Blockieren des Werkzeugs zu erwartenden Verdrehwinkel der Werkzeugmaschine vorausschauend zu berechnen und die Sicherheitskupplung dann zu aktivieren, wenn der berechnete zu erwartende Verdrehwinkel einen vorgebbaren maximal zulässigen Verdrehwinkel überschreiten würde. Dabei wird das zukünftige Verhalten der Maschine unmittelbar nach Auftreten eines Störfalls bewertet und eine Gegenmaßnahme ausgelöst, wenn die Werkzeugmaschine mit einem Drehimpuls beaufschlagt worden ist, durch den sich ein Unfall nicht mehr vermeiden läßt.A major improvement was made with a predictive assessment process for the signals delivered by an acceleration sensor, as described in the patent DE 43 44 817 C2. This improved The process is based on the idea of specifying a time constant based on the amount of rotary motion supplied by the acceleration sensor of the reaction torque when blocking or partially blocking the Predicting the tool's expected torsion angle to calculate and then activate the safety clutch when the calculated twist angle to be expected a specifiable maximum permissible Angle of rotation would exceed. The future behavior of the Machine evaluated immediately after an accident and a countermeasure triggered when the machine tool with an angular momentum has been acted on, by which an accident can no longer be avoided.

Dem für die Praxis solcher handgeführter Werkzeugmaschinen vielversprechenden Lösungsansatz gemäß der genannten DE-Druckschrift haften jedoch noch zwei wesentliche, bei Versuchsreihen festgestellte, Probleme an:

  • (1) die Rotationsachse des Werkzeugs liegt häufig im entscheidenden Augenblick des Blockierens nicht zwangsläufig in der Werkzeugachse; und
  • (2) die Erdbeschleunigung beeinflußt das Meßsignal des Beschleunigungsmessers, und zwar abhängig von der momentanen Lage des Werkzeugs.
    • However, the promising approach for the practice of such hand-held machine tools according to the mentioned DE publication still has two main problems, which have been found in test series:
  • (1) the axis of rotation of the tool often does not necessarily lie in the tool axis at the decisive moment of blocking; and
  • (2) Gravitational acceleration affects the accelerometer measurement signal depending on the current position of the tool.

    • Der Erfindung liegt damit die Aufgabe zugrunde, handgeführte Werkzeugmaschinen der eingangs genannten Art so zu verbessern, daß ein beim Blockieren des Werkzeugs durch den Reaktionsimpuls oder das Reaktionsmoment über den Bewegungssensor ausgelöstes Meßsignal auch dann eine eindeutige Aussage über einen gefährlichen Blockierfall liefert, wenn die Rotationsachse des Werkzeugs im Störfall verzogen ist, wobei gleichzeitig die Einflußgröße Erdbeschleunigung auf das Meßsignal ausgeschaltet werden soll.The invention is therefore based on the object, hand-held machine tools to improve the type mentioned so that a Blocking of the tool by the reaction impulse or the reaction moment A measurement signal triggered by the motion sensor is then also an unambiguous one Provides information about a dangerous blocking case if the axis of rotation of the tool is distorted in the event of a malfunction, with the influencing variable simultaneously Acceleration to gravity on the measurement signal should be switched off.

    Die Erfindung ist bei einem Verfahren zur Vermeidung von Unfällen durch Werkzeugblockieren beim Arbeiten mit handgeführten Werkzeugmaschinen mit rotierendem Werkzeug, insbesondere bei Bohrhämmern, die mit einer Unterbrechereinrichtung zum Unterbrechen der Wirkung des Antriebsmotors auf das Werkzeug in Abhängigkeit von dem durch eine Bewegungsmeßeinrichtung gelieferten Drehbewegungsgröße erfaßten Betriebsbestand ausgerüstet ist, dadurch gekennzeichnet, daß die Bewegung der Werkzeugmaschine an mindestens zwei räumlich voneinander und gegen die Drehachse im Normalbetrieb des Werkzeugs beabstandeten Stellen der Werkzeugmaschine gemessen wird, und daß die erhaltenen Meßwerte vor einer weiteren Verarbeitung und Bewertung voneinander subtrahiert werden.The invention is in a method for preventing accidents Tool blocking when working with hand-held machine tools rotating tool, especially with rotary hammers, with an interrupter device to interrupt the effect of the drive motor on the Tool depending on that by a motion measuring device supplied inventory is equipped, characterized in that the movement of the machine tool at least two spatially apart and against the axis of rotation in normal operation of the Tool spaced points of the machine tool is measured, and that the measured values obtained before further processing and evaluation be subtracted from each other.

    Eine Einrichtung zur Vermeidung von Rotationsunfällen aufgrund von Werkzeugblockieren bei einer handgeführten Werkzeugmaschine mit rotierendem Werkzeug gemäß der oben erläuterten Gattung ist dadurch gekennzeichnet, daß mindestens zwei Beschleunigungssensoren, vorzugsweise - insbesondere aus Kostengründen - Linear-Beschleunigungssensoren als Verdrehsensoren innerhalb des Gehäuses der Werkzeugmaschine an räumlich voneinander und gegenüber der Werkzeugachse vorzugsweise unterschiedlich beabstandeten Stellen montiert sind und daß die elektronische Auswerteeinheit eine Subtraktionsstufe enthält, in der die von den Beschleunigungssensoren jeweils gelieferten Signale vor der Errechnung eines zur Auslösung der Unterbrechereinrichtung bestimmten Signals voneinander subtrahiert werden.A facility to prevent rotational accidents due to Tool blocking in a hand-held machine tool with rotating Tool according to the type described above is characterized in that at least two acceleration sensors, preferably - in particular from Cost reasons - linear acceleration sensors as torsion sensors within of the housing of the machine tool on spatially from each other and opposite the tool axis preferably differently spaced locations are mounted and that the electronic evaluation unit has a subtraction level contains in which the signals delivered by the acceleration sensors before calculating one intended to trigger the interrupter device Signal are subtracted from each other.

    Vorteilhafte Ergänzungen und Ausführungsarten für das erfindungsgemäße Verfahren und die darauf basierende Einrichtung sind Inhalt von jeweils abhängigen Patentansprüchen.Advantageous additions and designs for the inventive Procedures and the facility based on them are the content of each dependent claims.

    Vorzugsweise und insbesondere stellt das erfindungsgemäße Verfahren und die darauf beruhende Sicherheitseinrichtung eine Verbesserung der in der genannten DE-Druckschrift beschriebenen Lösung dar, wobei die von den mehreren Beschleunigungssensoren jeweils gelieferten Signale vor der Errechnung des zu erwartenden und vorgebbaren Verdrehwinkels der Werkzeugmaschine voneinander subtrahiert werden.Preferably and in particular the method according to the invention and the safety device based thereon an improvement in the mentioned DE document described solution, the one of the several Acceleration sensors each delivered signals before calculating the expected and predeterminable angle of rotation of the machine tool from each other be subtracted.

    Hinsichtlich der Berechnung des zu erwartenden Verdrehwinkels, der Reduzierung oder Beseitigung nieder- bzw. hochfrequenter Störungen sowie der geeigneten mathematischen Prinzipien und Algorithmen für die zuverlässige vorausschauende Berechnung des zu erwartenden kritischen Verdrehwinkels wird wiederum auf DE 43 44 817 C2 verwiesen werden.With regard to the calculation of the expected twist angle, the reduction or elimination of low or high frequency interference as well as the appropriate mathematical principles and algorithms for reliable predictive Calculation of the critical twist angle to be expected again refer to DE 43 44 817 C2.

    Die Erfindung und vorteilhafte Einzelheiten werden nachfolgend unter Bezug auf die Zeichnung in einer beispielsweisen Ausführungsform näher erläutert. Es zeigen:

    Fig. 1A bzw. 1B
    die schematische Darstellung eines Bohrhammers in Seiten- bzw. Rückansicht als Beispiel für eine handgeführte Werkzeugmaschine, die mit zwei Beschleunigungssensoren ausgerüstet ist;
    Fig. 2
    die schematische Teilschnittdarstellung des Bohrhammers nach Fig. 1; und
    Fig. 3
    die Prinzipdarstellung eines Drehbewegungsmodells für eine Handwerkzeugmaschine gemäß Fig. 1, die im dargestellten Beispiel mit zwei Linear-Beschleunigungssensoren ausgerüstet ist.
    The invention and advantageous details are explained in more detail below with reference to the drawing in an exemplary embodiment. Show it:
    1A and 1B
    the schematic representation of a rotary hammer in side or rear view as an example of a hand-held machine tool which is equipped with two acceleration sensors;
    Fig. 2
    the schematic partial sectional view of the hammer drill according to Fig. 1; and
    Fig. 3
    the basic representation of a rotary motion model for a hand tool according to FIG. 1, which is equipped in the example shown with two linear acceleration sensors.

    Die Fig. 1A/B und die Fig. 2 zeigen in einer Prinzipdarstellung die wesentlichen im Zusammenhang mit der Erfindung interessierenden Bauteile einer handgeführten Werkzeugmaschine M, deren Betriebszustand mittels zweier Beschleunigungssensoren 1a bzw. lb überwacht wird. In Fig. 1B ist durch Hinweispfeile angedeutet, welche Beschleunigung 10 bzw. Auslenkkraft in welcher Auslenkrichtung 11 auf die Werkzeugmaschine im Falle des Blockierens des Werkzeugs 8 wirken. Über eine Eingangsschnittstelle 2 zur Signalformung, A/D-Wandlung, usw., gelangen die Signale der Beschleunigungssensoren 1a, 1b zu einer elektronischen Auswerteeinheit 3, die ein Mikroprozessor, ein in diskreter Schaltkreistechnik ausgeführter Mikrorechner, ein Signalprozessor oder ähnliches sein kann. In dieser Auswerteeinheit 3 werden die digitalisierten Signale der Beschleunigungssensoren 1a, 1b zunächst voneinander subtrahiert, wie weiter unten näher erläutert und begründet. Anschließend wird das so erhaltene Ergebnis über einen modell- oder regelbasierten Algorithmus ausgewertet, welcher den Betriebszustand der Handwerkzeugmaschine M bei Ansprechen der Beschleunigungssensoren 1a, 1b voraussagt. Die Erfindung läßt sich jedoch auch für solche Anwendungsfälle vorteilhaft einsetzen, bei denen keine vorausschauende Berechnung des zu erwartenden Verdrehwinkels der Handwerkzeugmaschine M erfolgt, also bei solchen Sicherheitseinrichtungen, die das aufgrund von Werkzeugblockieren erzeugte Beschleunigungssignal unmittelbar bewerten und bei Überschreiten eines bestimmten Pegels, gegebenenfalls nach Störsignalfilterung, sowie ein- und/oder zweimaliger Integration, direkt zur Auslösung der Antriebs-Unterbrechereinrichtung nutzen.1A / B and FIG. 2 show the essentials in a basic illustration Components of a hand-guided in the context of the invention Machine tool M, its operating state by means of two acceleration sensors 1a or lb is monitored. In Fig. 1B is indicated by arrows indicated which acceleration 10 or deflection force in which deflection direction 11 on the machine tool in case of blocking of the tool 8 act. Via an input interface 2 for signal shaping, A / D conversion, etc., the signals from the acceleration sensors 1a, 1b arrive an electronic evaluation unit 3, which is a microprocessor, one in discrete Circuit technology implemented microcomputer, a signal processor or the like can be. The digitized signals are in this evaluation unit 3 of the acceleration sensors 1a, 1b are first subtracted from one another, such as explained and justified further below. Then the so obtained Result evaluated using a model or rule-based algorithm, which the operating state of the hand machine tool M when the Acceleration sensors 1a, 1b predicts. However, the invention can be also be used advantageously for those applications in which there are no predictive ones Calculation of the expected twist angle of the hand machine tool M takes place, that is to say in the case of those safety devices that do so Assess acceleration signal generated by tool blocking immediately and when a certain level is exceeded, possibly after interference signal filtering, as well as one and / or two integration, directly to trigger the Use drive interrupter device.

    Wird eine Beschleunigung durch Werkzeugblockieren detektiert, die von der Auswerteeinheit 3 als "gefährlich" eingestuft wird, so wird über eine Ausgabeschnittstelle 4 die Betriebsunterbrechungseinrichtung, also insbesondere eine Kupplung 5 betätigt, die den Antriebsstrang zwischen einem Antriebsmotor 7 und dem Werkzeughalter bzw. Werkzeug 8 unterbricht und gegebenenfalls zusätzlich einen Stromunterbrecher 6 auslöst.If an acceleration is detected by tool blocking, which is caused by the Evaluation unit 3 is classified as "dangerous", so is via an output interface 4 the operating interruption device, in particular one Clutch 5 actuates the drive train between a drive motor 7 and the tool holder or tool 8 interrupts and if necessary additionally triggers a circuit breaker 6.

    Das erfindungsgemäße Verfahren und das darauf basierende Meßsystem wirkt zuverlässig für jede beliebige Rotationsachse des Gesamtsystems sowie bei gegebenenfalls gekippter oder verzogener Werkzeugachse, wie nachfolgend unter Bezug auf Fig. 3 erläutert wird.The method according to the invention and the measuring system based thereon have an effect reliable for any rotation axis of the overall system as well as for if necessary, tilted or warped tool axis, as below under 3 is explained.

    Die Bewegungsmeßeinrichtung weist, wie bereits erwähnt, wenigstens zwei Beschleunigungssensoren 1a, 1b auf, deren Meßergebnisse erfindungsgemäß vor einer weiteren Verarbeitung subtrahiert werden. Wie sich aus der nachfolgenden Herleitung für zwei mögliche Anwendungsfälle ersehen läßt, wird die Störgröße Erdbeschleunigung für jede mögliche Anwendungsposition des Elektrowerkzeugs eliminiert.As already mentioned, the movement measuring device has at least two Acceleration sensors 1a, 1b, whose measurement results according to the invention subtracted from further processing. As can be seen from the following Derivation for two possible applications can be seen, the disturbance Gravitational acceleration for every possible application position of the power tool eliminated.

    Bei der Beschleunigungsmeßeinrichtung 1 gemäß Fig. 3 ist vorgesehen, daß der zweite Sensor 1b in einer die Drehachse 9 im Normalbetrieb einschließenden Ebene liegt. Die Drehachse kann jedoch bei einer angenommenen zweidimensionalen Sensorebene jede beliebige Position einnehmen und liefert immer ein fehlerbereinigtes Signal, wie sich aus der nachfolgenden mathematischen Herleitung erkennen läßt. Auch können prinzipiell mehr als zwei Sensoren vorgesehen werden, wobei dann durch Mittelwertbildung oder eine Plausibilitätsüberprüfung die Zuverlässigkeit des erhaltenen Signals gesteigert wird. Sofern zwei redundante Sensorpaare vorgesehen werden, können die Intervalle für eine Sicherheitsüberprüfung prinzipiell gestreckt werden.3 it is provided that the second sensor 1b in a axis 9 including the axis of rotation in normal operation Level lies. However, the axis of rotation can be assumed to be two-dimensional Take any position and always delivers error-corrected signal, as derived from the following mathematical derivation reveals. In principle, more than two sensors can also be provided be, then by averaging or a plausibility check the reliability of the signal obtained is increased. If two redundant sensor pairs are provided, the intervals for one Security check to be stretched in principle.

    Die in Fig. 3 angegebenen Größen bezeichnen folgendes:

    a1, a2 =
    Meßsignale des ersten Beschleunigungssensor 1a bzw. des zweiten Beschleunigungssensors 1b; insbesondere repräsentieren a1 und a2 lineare Tangentialbeschleunigungen um jeweilige Drehachsen, die nachfolgend als "Fall 1" bzw. als "Fall 2" einer näheren Betrachtung unterzogen werden.
    d =
    Abstand der Beschleunigungssensoren 1a, 1b;
    r1a1, r1b1 =
    Abstände der Beschleunigungssensoren 1a, 1b für den "Fall 1", bei dem die (gedachte) Drehachse des Werkzeugs, beispielsweise im Fall des Werkzeugblockierens gegenüber der Antriebsachse bzw. Drehachse im Normalbetrieb nach unten versetzt ist; und
    r1a2, r1b2 =
    Abstände der Beschleunigungssensoren 1a, 1b von einer (gedachten) Drehachse für den "Fall 2", d.h., wenn die Drehachse des Werkzeugs im Falle des Blockierens gegenüber der Antriebsachse bzw. Drehachse im Normalbetrieb nach oben versetzt ist;
    ϕ =
    zu erwartender Drehwinkel im Falle des Werkzeugblockierens.
    The quantities indicated in FIG. 3 denote the following:
    a 1 , a 2 =
    Measuring signals of the first acceleration sensor 1a and the second acceleration sensor 1b; in particular, a 1 and a 2 represent linear tangential accelerations about respective axes of rotation, which are subsequently examined in more detail as "case 1" and "case 2".
    d =
    Distance of the acceleration sensors 1a, 1b;
    r 1a1 , r 1b1 =
    Distances of the acceleration sensors 1a, 1b for "case 1", in which the (imaginary) axis of rotation of the tool, for example in the case of tool blocking, is offset downward from the drive axis or axis of rotation in normal operation; and
    r 1a2 , r 1b2 =
    Distances of the acceleration sensors 1a, 1b from an (imaginary) axis of rotation for "case 2", that is to say when the axis of rotation of the tool is offset upwards in the event of blocking relative to the drive axis or axis of rotation in normal operation;
    ϕ =
    expected angle of rotation in the event of tool blocking.

    Mathematische Herleitung zu "Fall 1":

    Figure 00060001
    d = r1a1 + r1b1 a1r1b1 = - a2r1a1 a1r1b1 + a1r1a1 = - a2r1a1 + a1r1a1 a1(r1a1 + r1b1) = r1a1(a1 - a2) a1 r1a1 = a1 - a2 r1a1+r1b1 Mathematical derivation for "Case 1":
    Figure 00060001
    d = r 1a1 + r 1b1 a 1 r 1b1 = - a 2nd r 1a1 a 1 r 1b1 + a 1 r 1a1 = - a 2nd r 1a1 + a 1 r 1a1 a 1 (r 1a1 + r 1b1 ) = r 1a1 (a 1 - a 2nd ) a 1 r 1a1 = a 1 - a 2nd r 1a1 + r 1b1

    Gleichung (3) eingesetzt in Gleichung (1) in Verbindung mit Gleichung (2) ergibt:

    Figure 00060002
    Equation (3) used in equation (1) in conjunction with equation (2) yields:
    Figure 00060002

    Ersichtlicherweise ist der Wert

    Figure 00060003
    nicht mehr abhängig von der Erdbeschleunigung, da der Anteil der Erdbeschleunigung in beiden Beschleunigungssensorsignalen a1 bzw. a2 in gleicher Größe vorhanden ist, wie sich aus Gleichung (4) ersehen läßt, also vollständig kompensiert wird. Obviously the value
    Figure 00060003
    no longer depends on the acceleration due to gravity, since the proportion of the acceleration due to gravity is present in the same magnitude in both acceleration sensor signals a 1 and a 2 , as can be seen from equation (4), that is to say is completely compensated for.

    Mathematische Herleitung für den "Fall 2":

    Figure 00070001
    d = r1a2 - r1b2 -a1r1b2 = - a2r1a2 -a1r1b2 + a1r1a2 = - a2r1a2 + a1r1a2 a1(r1a2 - r1b2) = r1a2(a1 - a2) a1 r1a2 = a1 - a2 r1a2 - r1b2 Mathematical derivation for "Case 2":
    Figure 00070001
    d = r 1a2 - r 1b2 -a 1 r 1b2 = - a 2nd r 1a2 -a 1 r 1b2 + a 1 r 1a2 = - a 2nd r 1a2 + a 1 r 1a2 a 1 (r 1a2 - r 1b2 ) = r 1a2 (a 1 - a 2nd ) a 1 r 1a2 = a 1 - a 2nd r 1a2 - r 1b2

    Gleichung (3') eingesetzt in Gleichung (1') in Verbindung mit Gleichung (2') ergibt:

    Figure 00070002
    Equation (3 ') inserted in equation (1') in conjunction with equation (2 ') gives:
    Figure 00070002

    Auch für den "Fall 2" gilt also, daß der für die Signalauswertung zur Verfügung stehende Wert des Meßsignals, also die Drehbeschleunigung, nicht mehr abhängig ist von der für beide Beschleunigungssensoren gleichen Massenanziehung bzw. der Erdbeschleunigung.So also for "Case 2" applies that is available for signal evaluation standing value of the measurement signal, i.e. the rotational acceleration, is no longer dependent is of the same mass attraction for both acceleration sensors or gravitational acceleration.

    Im Rahmen der Erfindung eignet sich prinzipiell jedes Meßsystem mit Beschleunigungssensoren oder Beschleunigungsaufnehmern, also solche, die piezoelektrisch, piezoresistiv oder inertial basiert sind und/oder integriert als Teil einer mikroelektronischen Schaltung realisiert sind. Die elektronische Auswerteeinheit kann entweder analog realisiert sein mit Hilfe von Operationsverstärkern und entsprechenden Filterschaltkreisen oder digital unter Verwendung eines Mikroprozessors mit zugeordneten Prozessorschnittstellen (vergleiche DE 43 44 817 C2). Ebenso möglich ist es, die Auswerteeinheit als Fuzzy-Logik zu realisieren, was in DE 196 41 618 A1 ausführlich beschrieben ist.In principle, any measuring system is suitable within the scope of the invention Acceleration sensors or accelerometers, i.e. those that are based on piezoelectric, piezoresistive or inertial and / or integrated as Part of a microelectronic circuit are realized. The electronic Evaluation unit can either be implemented analogously with the help of Operational amplifiers and corresponding filter circuits or digital using a microprocessor with associated processor interfaces (see DE 43 44 817 C2). It is also possible to use the evaluation unit to realize as fuzzy logic, which is detailed in DE 196 41 618 A1 is described.

    Zur Verwirklichung des der Erfindung zugrundeliegenden Prinzips ist prinzipiell jedes bekannte Meßverfahren für Beschleunigung, Winkelgeschwindigkeit bzw. Drehwinkel anwendbar. Im obigen Ausführungsbeispiel wird vor allem aus Kostengründen auf Linearbeschleunigungssensoren, beispielsweise basierend auf piezoelektrischen Meßverfahren Bezug genommen. Prinzipiell eignen sich jedoch auch Impulsrad- und magnetische Winkelschrittgeber, mikromechanische Beschleunigungssensoren, optische Meßverfahren, magnetohydrodynamische Meßverfahren, Drehbeschleunigungsmeßverfahren nach dem Ferraris-Prinzip, kapazitive Meßverfahren oder auch DMS-Beschleunigungsaufnehmer.In order to implement the principle on which the invention is based, it is in principle any known measurement method for acceleration, angular velocity or Angle of rotation applicable. In the above embodiment, is mainly from Cost reasons based on linear acceleration sensors, for example referred to piezoelectric measurement methods. In principle, are suitable however also pulse wheel and magnetic angle stepper, micromechanical Accelerometers, optical measurement methods, magnetohydrodynamic Measuring method, rotational acceleration measuring method according to the Ferraris principle, capacitive measuring methods or strain gauge accelerometers.

    Claims (7)

    Verfahren zur Vermeidung von Unfällen durch Werkzeugblockieren beim Arbeiten mit einer handgeführten Werkzeugmaschine mit rotierendem Werkzeug (8), insbesondere für Bohrhämmer, die mit einer Unterbrechereinrichtung (5, 6) zum Unterbrechen der Wirkung des Antriebsmotors (7) auf das Werkzeug (8) in Abhängigkeit von dem durch eine Bewegungsmeßeinrichtung (1) erfaßten Betriebszustand ausgerüstet ist, dadurch gekennzeichnet, daß die Bewegung der Werkzeugmaschine im Raum an mindestens zwei räumlich voneinander und gegen die Werkzeugachse beabstandeten Stellen der Werkzeugmaschine gemessen wird, und daß die erhaltenen Meßwerte (a1, a2) vor der Berechnung eines die Unterbrechereinrichtung (5, 6) auslösenden Signals voneinander subtrahiert werden.Method for avoiding accidents caused by tool blocking when working with a hand-held machine tool with a rotating tool (8), in particular for rotary hammers, which have an interrupter device (5, 6) for interrupting the action of the drive motor (7) on the tool (8) as a function of it is equipped with the operating state detected by a motion measuring device (1), characterized in that the movement of the machine tool in space is measured at at least two points on the machine tool spaced apart from one another and against the tool axis, and in that the measured values obtained (a 1 , a 2 ) are subtracted from each other before the calculation of a signal triggering the interrupter device (5, 6). Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die Bewegung der Werkzeugmaschine im Raum an gegen die Werkzeugachse unterschiedlich beabstandeten Stellen gemessen wird.Method according to Claim 1, characterized in that the movement of the machine tool in space is measured at points which are at different distances from the tool axis. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß als Bewegungsgröße die Beschleunigung der Werkzeugmaschine im Raum an mindestens zwei räumlich voneinander beabstandeten Stellen erfaßt wird.Method according to Claim 1 or 2, characterized in that the acceleration of the machine tool in space at at least two locations spaced apart from one another is recorded as the movement variable. Verfahren nach Anspruch 3, dadurch gekennzeichnet, daß nach der Subtraktion der von mindestens zwei Beschleunigungssensoren gelieferten Meßwerte unter Vorgabe einer Zeitkonstante aus der durch die Subtraktion erhaltenen Drehbeschleunigungsgröße ein zu erwartender Verdrehwinkel (ϕ) der Werkzeugmaschine (M) vorausschauend berechnet und die Unterbrechereinrichtung (5, 6) aktiviert wird, sobald der berechnete, zu erwartende Verdrehwinkel einen vogebbaren maximal zulässigen Verdrehwinkel überschreitet.Method according to Claim 3, characterized in that after the subtraction of the measured values supplied by at least two acceleration sensors, specifying a time constant from the rotational acceleration quantity obtained by the subtraction, an anticipated angle of rotation (ϕ) of the machine tool (M) is calculated in advance and the interrupter device (5, 6) is activated as soon as the calculated, expected twist angle exceeds a predeterminable maximum permissible twist angle. Einrichtung zur Vermeidung von Unfällen aufgrund von Werkzeugblockierens bei einer handgeführten Werkzeugmaschine mit rotierendem Werkzeug, insbesondere Bohrhämmern, die mit einer Unterbrechereinrichtung (5, 6) zum Unterbrechen der Wirkung des Antriebsmotors (7) auf das Werkzeug (8) in Abhängigkeit von dem durch eine Beschleunigungsmeßeinrichtung (1) erfaßten Betriebszustand ausgerüstet ist, dadurch gekennzeichnet, daß die Beschleunigungsmeßeinrichtung mindestens zwei innerhalb des Gehäuses der Werkzeugmaschine an räumlich voneinander und gegenüber der Werkzeugachse beabstandeten Stellen montierten Beschleunigungssensoren (1a, 1b) ausgerüstet ist, und daß die die Beschleunigungssignale (a1, a2) der Beschleunigungssensoren verarbeitende elektronische Auswerteeinheit (3) eine Subtraktionsstufe enthält, in der die von den Beschleunigungssensoren jeweils gelieferten Signale vor der Errechnung eines Auslösesignals für die Unterbrechereinrichtung (5, 6) voneinander subtrahiert werden.Device for avoiding accidents due to tool blocking in a hand-held machine tool with a rotating tool, in particular rotary hammers, which has an interrupter device (5, 6) for interrupting the action of the drive motor (7) on the tool (8) as a function of that by means of an acceleration measuring device (1) detected operating state, characterized in that the acceleration measuring device is equipped at least two acceleration sensors (1a, 1b) mounted within the housing of the machine tool at locations spaced apart from one another and with respect to the tool axis, and that the acceleration signals (a 1 , a 2 ) the electronic evaluation unit (3) processing the acceleration sensors contains a subtraction stage in which the signals supplied by the acceleration sensors each subtly before the calculation of a trigger signal for the interrupter device (5, 6) be shaved. Einrichtung nach Anspruch 5, dadurch gekennzeichnet, daß die Beschleunigungssensoren (1a, 1b) Linear-Beschleunigungssensoren sind.Device according to claim 5, characterized in that the acceleration sensors (1a, 1b) are linear acceleration sensors. Einrichtung nach Anspruch 5, dadurch gekennzeichnet, daß mindestens einer der Beschleunigungssensoren (1a, 1b) so angeordnet ist, daß er in normaler Betriebsstellung der Werkzeugmaschine ein maximales Ausgangssignal liefert.Device according to claim 5, characterized in that at least one of the acceleration sensors (1a, 1b) is arranged in such a way that it delivers a maximum output signal in the normal operating position of the machine tool.
    EP99811119A 1998-12-10 1999-12-06 Method and device for handheld machine tools to prevent accidents caused by tool blockage Expired - Lifetime EP1008422B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    DE19857061A DE19857061C2 (en) 1998-12-10 1998-12-10 Method and device for avoiding accidents in hand-held machine tools due to tool blocking
    DE19857061 1998-12-10

    Publications (3)

    Publication Number Publication Date
    EP1008422A2 true EP1008422A2 (en) 2000-06-14
    EP1008422A3 EP1008422A3 (en) 2001-09-19
    EP1008422B1 EP1008422B1 (en) 2007-02-14

    Family

    ID=7890654

    Family Applications (1)

    Application Number Title Priority Date Filing Date
    EP99811119A Expired - Lifetime EP1008422B1 (en) 1998-12-10 1999-12-06 Method and device for handheld machine tools to prevent accidents caused by tool blockage

    Country Status (5)

    Country Link
    US (1) US6111515A (en)
    EP (1) EP1008422B1 (en)
    JP (1) JP4486728B2 (en)
    CN (1) CN1160526C (en)
    DE (2) DE19857061C2 (en)

    Cited By (12)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    EP1227561A2 (en) 2001-01-24 2002-07-31 HILTI Aktiengesellschaft Rotatable electric hand tool with starting security system
    DE10309414A1 (en) * 2003-03-05 2004-09-23 Robert Bosch Gmbh Sensor device for detecting jamming of power tool, especially percussion drill, uses single motion sensor to measure degrees of movement along two sensor axes
    EP1714723A2 (en) * 2005-04-19 2006-10-25 Black & Decker, Inc. Electric clutch for tool chuck with power take off and dead spindle features
    EP2581168A1 (en) * 2011-10-13 2013-04-17 Oy Kwh Mirka Ab Handheld machine
    USD703017S1 (en) 2011-01-07 2014-04-22 Black & Decker Inc. Screwdriver
    US9199362B2 (en) 2010-01-07 2015-12-01 Black & Decker Inc. Power tool having rotary input control
    EP2656977A3 (en) * 2012-04-26 2015-12-23 Robert Bosch Gmbh Electric tool and method for operation of the same
    US9266178B2 (en) 2010-01-07 2016-02-23 Black & Decker Inc. Power tool having rotary input control
    US9475180B2 (en) 2010-01-07 2016-10-25 Black & Decker Inc. Power tool having rotary input control
    EP2288463B1 (en) * 2008-05-14 2016-11-30 Robert Bosch GmbH Method for operating a jigsaw.
    EP3610990A1 (en) 2018-08-14 2020-02-19 Hilti Aktiengesellschaft Control method for a hand-held machine tool, handheld machine tool and system including the handheld machine tool and a stand
    US10589413B2 (en) 2016-06-20 2020-03-17 Black & Decker Inc. Power tool with anti-kickback control system

    Families Citing this family (54)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    DE19900882A1 (en) * 1999-01-12 2000-07-13 Bosch Gmbh Robert Hand-held machine tool, especially drill or angle grinder, has locking and blocking elements brought into engagement axially in direction of blocking element rotation axis in uncontrolled state
    DE10051775A1 (en) * 2000-10-19 2002-05-16 Hilti Ag Safety circuit for rotating electrical hand tool device
    SE520435C2 (en) * 2001-03-30 2003-07-08 Scania Cv Ab Method and apparatus for determining cylinder pressure in an internal combustion engine
    DE10117121A1 (en) * 2001-04-06 2002-10-17 Bosch Gmbh Robert Hand tool
    EP1539434B1 (en) * 2002-09-13 2013-08-21 Black & Decker Inc. Rotary tool
    US7015409B2 (en) 2002-12-23 2006-03-21 Milwaukee Electric Tool Corporation Power tool trigger
    DE10303006B4 (en) * 2003-01-27 2019-01-03 Hilti Aktiengesellschaft Hand-held implement
    DE10309012B3 (en) * 2003-03-01 2004-08-12 Hilti Ag Control method for hand-held electric hammer drill using microcontroller for repetitive opening and closing of clutch between electric motor and tool chuck
    DE10316844A1 (en) * 2003-04-11 2004-11-04 Hilti Ag Control of an electric hand machine tool
    US7395871B2 (en) * 2003-04-24 2008-07-08 Black & Decker Inc. Method for detecting a bit jam condition using a freely rotatable inertial mass
    DE10318798B4 (en) * 2003-04-25 2006-01-26 Robert Bosch Gmbh drill
    DE10341974A1 (en) * 2003-09-11 2005-04-21 Bosch Gmbh Robert shut-off
    DE102004003202B4 (en) 2004-01-22 2022-05-25 Robert Bosch Gmbh Handle with detection device
    US7552781B2 (en) 2004-10-20 2009-06-30 Black & Decker Inc. Power tool anti-kickback system with rotational rate sensor
    US7410006B2 (en) * 2004-10-20 2008-08-12 Black & Decker Inc. Power tool anti-kickback system with rotational rate sensor
    US20060157262A1 (en) * 2005-01-14 2006-07-20 Jui-Yu Chen Power tool having presetable digital control of torque output
    JP3988055B2 (en) * 2005-07-22 2007-10-10 和浩 山本 Electric drill
    CA2634917C (en) * 2005-12-23 2016-08-23 Mark-Paul Buckingham Monitoring apparatus and method
    US8316958B2 (en) * 2006-07-13 2012-11-27 Black & Decker Inc. Control scheme for detecting and preventing torque conditions in a power tool
    US20080021590A1 (en) * 2006-07-21 2008-01-24 Vanko John C Adaptive control scheme for detecting and preventing torque conditions in a power tool
    US20090065225A1 (en) * 2007-09-07 2009-03-12 Black & Decker Inc. Switchable anti-lock control
    FR2935496B1 (en) * 2008-08-29 2014-05-16 Pellenc Sa METHOD FOR STOPPING PORTABLE TOOLS DURING UNEXPECTED BRUSH MOVEMENTS, AND PORTABLE TOOLS BY APPLYING
    JP5537055B2 (en) * 2009-03-24 2014-07-02 株式会社マキタ Electric tool
    JP5448569B2 (en) * 2009-05-21 2014-03-19 株式会社やまびこ Brush cutter with safety device
    JP5448568B2 (en) * 2009-05-21 2014-03-19 株式会社やまびこ Work machine with safety device
    DE102009046789A1 (en) * 2009-11-17 2011-05-19 Robert Bosch Gmbh Hand machine tool device
    JP5412249B2 (en) * 2009-11-19 2014-02-12 株式会社マキタ Hand tool
    GB2490447A (en) * 2010-01-07 2012-10-31 Black & Decker Inc Power screwdriver having rotary input control
    DE102010043032A1 (en) * 2010-10-28 2012-05-03 Hilti Aktiengesellschaft Control method for a machine tool and a machine tool
    US9352456B2 (en) 2011-10-26 2016-05-31 Black & Decker Inc. Power tool with force sensing electronic clutch
    DE102012208913A1 (en) * 2012-05-25 2013-11-28 Robert Bosch Gmbh Percussion unit
    DE102012208855A1 (en) * 2012-05-25 2013-11-28 Robert Bosch Gmbh Hand tool
    GB201212958D0 (en) * 2012-07-20 2012-09-05 Hosking Peter J Power tools
    DE102014202585A1 (en) * 2013-04-29 2014-10-30 Robert Bosch Gmbh Hand tool operating unit
    DE102013212626A1 (en) * 2013-06-28 2014-12-31 Robert Bosch Gmbh Hand machine tool device
    DE102014207434A1 (en) * 2014-04-17 2015-10-22 Robert Bosch Gmbh Method for operating a handheld power tool, power tool
    CN105082261A (en) * 2014-05-13 2015-11-25 苏州宝时得电动工具有限公司 Chain saw and control method thereof
    EP3023203A1 (en) * 2014-11-20 2016-05-25 HILTI Aktiengesellschaft Control method for a hand-held machine tool
    EP3023200A1 (en) * 2014-11-20 2016-05-25 HILTI Aktiengesellschaft Control method for a hammer drill
    EP3023202A1 (en) * 2014-11-20 2016-05-25 HILTI Aktiengesellschaft Security method and handheld machine tool
    DE102015205172A1 (en) * 2015-03-23 2016-09-29 Robert Bosch Gmbh Machine tool, in particular hand tool, with a motor drive unit and with at least one sensor device
    JP2017001115A (en) 2015-06-05 2017-01-05 株式会社マキタ Working tool
    KR101799432B1 (en) * 2015-09-22 2017-11-21 계양전기 주식회사 Electrically-drive tool
    EP3199303A1 (en) * 2016-01-29 2017-08-02 HILTI Aktiengesellschaft Handheld machine tool
    JP6757226B2 (en) * 2016-10-07 2020-09-16 株式会社マキタ Electric tool
    SE1651353A1 (en) 2016-10-17 2018-02-27 Husqvarna Ab Safety arrangement and method for a floor surfacing machine
    US11529725B2 (en) 2017-10-20 2022-12-20 Milwaukee Electric Tool Corporation Power tool including electromagnetic clutch
    EP3700713B1 (en) 2017-10-26 2023-07-12 Milwaukee Electric Tool Corporation Kickback control methods for power tools
    EP4031331B1 (en) * 2019-09-20 2023-08-09 Hilti Aktiengesellschaft Method for operating a hand-held power tool, and hand-held power tool
    US11691262B2 (en) 2019-09-26 2023-07-04 Makita Corporation Electric power tool
    JP7382190B2 (en) * 2019-09-26 2023-11-16 株式会社マキタ rotary tool
    EP3825066A1 (en) * 2019-11-21 2021-05-26 Hilti Aktiengesellschaft Handheld machine tool and method for operating same
    US11641102B2 (en) 2020-03-10 2023-05-02 Smart Wires Inc. Modular FACTS devices with external fault current protection within the same impedance injection module
    US11845173B2 (en) 2020-10-16 2023-12-19 Milwaukee Electric Tool Corporation Anti bind-up control for power tools

    Citations (4)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    US5401124A (en) * 1991-04-12 1995-03-28 Robert Bosch Gmbh Hand-held power tool with jamming-detection sensor
    DE4344817A1 (en) * 1993-12-28 1995-06-29 Hilti Ag Method and device for hand-held machine tools to avoid accidents due to tool blocking
    EP0771619A2 (en) * 1995-11-02 1997-05-07 Robert Bosch Gmbh Process for interrupting the operation of a hand tool and hand tool therefore
    DE19641618A1 (en) * 1996-10-09 1998-04-30 Hilti Ag Accident prevention device for hand-controlled machine tools

    Family Cites Families (13)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    US4063600A (en) * 1976-05-05 1977-12-20 Krzes Casey S Power tool safety mechanism
    JPS6014487B2 (en) * 1980-06-23 1985-04-13 株式会社明電舎 How to bond lightning arrester elements
    DE3346215A1 (en) * 1983-12-21 1985-07-11 Hilti Ag, Schaan HAND TOOL WITH MOVABLE BEARING DIMENSIONS
    EP0303651B2 (en) * 1987-03-05 1999-12-01 Robert Bosch Gmbh Process for interrupting the operation of a hand tool, in particular percussion and/or rotation thereof
    DE3707052A1 (en) * 1987-03-05 1988-09-15 Bosch Gmbh Robert Method for interrupting the drive activity, in particular rotary-drive activity, of a powered hand tool
    US4866429A (en) * 1987-08-12 1989-09-12 Scientific Atlanta, Inc. Automated machine tool monitoring device
    US5014793A (en) * 1989-04-10 1991-05-14 Measurement Specialties, Inc. Variable speed DC motor controller apparatus particularly adapted for control of portable-power tools
    DE3941756A1 (en) * 1989-12-18 1991-06-20 Gildemeister Ag METHOD FOR DETERMINING THE PRESENCE, DIMENSIONS OR THE CORRECT LOCATION AND POSITION OF A WORKPIECE ON A MACHINE TOOL
    US5235472A (en) * 1991-10-18 1993-08-10 Seagate Technology, Inc. Apparatus for sensing operating shock on a disk drive
    DE4334933C2 (en) * 1993-10-13 1997-02-20 Fraunhofer Ges Forschung Method and device for forcibly switching off hand-held tools
    DE19628945A1 (en) * 1995-11-02 1997-05-07 Bosch Gmbh Robert Process for interrupting the driving activity of a hand tool, and hand tool working according to this process
    DE19646382A1 (en) * 1996-11-11 1998-05-14 Hilti Ag Handheld device
    DE19646381A1 (en) * 1996-11-11 1998-05-14 Hilti Ag Handheld device

    Patent Citations (4)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    US5401124A (en) * 1991-04-12 1995-03-28 Robert Bosch Gmbh Hand-held power tool with jamming-detection sensor
    DE4344817A1 (en) * 1993-12-28 1995-06-29 Hilti Ag Method and device for hand-held machine tools to avoid accidents due to tool blocking
    EP0771619A2 (en) * 1995-11-02 1997-05-07 Robert Bosch Gmbh Process for interrupting the operation of a hand tool and hand tool therefore
    DE19641618A1 (en) * 1996-10-09 1998-04-30 Hilti Ag Accident prevention device for hand-controlled machine tools

    Cited By (20)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    EP1227561A3 (en) * 2001-01-24 2009-07-22 HILTI Aktiengesellschaft Rotatable electric hand tool with starting security system
    EP1227561A2 (en) 2001-01-24 2002-07-31 HILTI Aktiengesellschaft Rotatable electric hand tool with starting security system
    DE10309414A1 (en) * 2003-03-05 2004-09-23 Robert Bosch Gmbh Sensor device for detecting jamming of power tool, especially percussion drill, uses single motion sensor to measure degrees of movement along two sensor axes
    DE10309414B4 (en) * 2003-03-05 2009-01-08 Robert Bosch Gmbh Sensor device and associated method for a hand tool
    EP1714723A3 (en) * 2005-04-19 2014-03-19 Black & Decker, Inc. Electric clutch for tool chuck with power take off and dead spindle features
    EP1714723A2 (en) * 2005-04-19 2006-10-25 Black & Decker, Inc. Electric clutch for tool chuck with power take off and dead spindle features
    EP2288463B1 (en) * 2008-05-14 2016-11-30 Robert Bosch GmbH Method for operating a jigsaw.
    US9199362B2 (en) 2010-01-07 2015-12-01 Black & Decker Inc. Power tool having rotary input control
    US9211636B2 (en) 2010-01-07 2015-12-15 Black & Decker Inc. Power tool having rotary input control
    US10160049B2 (en) 2010-01-07 2018-12-25 Black & Decker Inc. Power tool having rotary input control
    US9266178B2 (en) 2010-01-07 2016-02-23 Black & Decker Inc. Power tool having rotary input control
    US9321156B2 (en) 2010-01-07 2016-04-26 Black & Decker Inc. Power tool having rotary input control
    US9321155B2 (en) 2010-01-07 2016-04-26 Black & Decker Inc. Power tool having switch and rotary input control
    US9475180B2 (en) 2010-01-07 2016-10-25 Black & Decker Inc. Power tool having rotary input control
    USD703017S1 (en) 2011-01-07 2014-04-22 Black & Decker Inc. Screwdriver
    EP2581168A1 (en) * 2011-10-13 2013-04-17 Oy Kwh Mirka Ab Handheld machine
    EP2656977A3 (en) * 2012-04-26 2015-12-23 Robert Bosch Gmbh Electric tool and method for operation of the same
    US10589413B2 (en) 2016-06-20 2020-03-17 Black & Decker Inc. Power tool with anti-kickback control system
    US11192232B2 (en) 2016-06-20 2021-12-07 Black & Decker Inc. Power tool with anti-kickback control system
    EP3610990A1 (en) 2018-08-14 2020-02-19 Hilti Aktiengesellschaft Control method for a hand-held machine tool, handheld machine tool and system including the handheld machine tool and a stand

    Also Published As

    Publication number Publication date
    US6111515A (en) 2000-08-29
    EP1008422A3 (en) 2001-09-19
    DE59914191D1 (en) 2007-03-29
    DE19857061A1 (en) 2000-06-15
    JP2000263304A (en) 2000-09-26
    CN1256383A (en) 2000-06-14
    CN1160526C (en) 2004-08-04
    EP1008422B1 (en) 2007-02-14
    JP4486728B2 (en) 2010-06-23
    DE19857061C2 (en) 2000-11-02

    Similar Documents

    Publication Publication Date Title
    EP1008422B1 (en) Method and device for handheld machine tools to prevent accidents caused by tool blockage
    EP0666148B1 (en) Method and apparatus for handheld machine tools to prevent accidents caused by blocking of the tool
    EP0580628B1 (en) Hand-held power tool with jamming-detection sensor
    EP1157898B1 (en) Method for rollover detection of vehicles with safety system
    EP0980323B1 (en) Circuit for controlling a passenger protection device in an automobile
    DE4116336C1 (en) Passive safety device release assembly for motor vehicle occupant - has acceleration pick=ups with sensitivity axes directed to detect angle of frontal impact and supplying evaluating circuit
    EP1157899B1 (en) Process and safety system for detecting a roll-over and for enabling a safety device in a motor vehicle
    DE10065518B4 (en) Method for triggering restraint devices in a motor vehicle
    DE69737104T2 (en) SAFETY DEVICE FOR VEHICLES
    DE3942011C2 (en)
    DE102016010813B4 (en) Electronic device with shock detection function
    DE19641618A1 (en) Accident prevention device for hand-controlled machine tools
    DE19807124A1 (en) Method and device for triggering a restraint system
    DE10304019A1 (en) Method for monitoring a machine and such a machine, in particular a robot
    EP0771619B2 (en) Process for interrupting the operation of a hand tool and hand tool therefore
    DE3816587A1 (en) DEVICE FOR TRIGGERING A PASSIVE SAFETY DEVICE
    EP0830271B1 (en) Control device for triggering a restraint system in a vehicle during a sideways-on collision
    DE102004014914B4 (en) An apparatus and method for abnormality detection of a vibration angular velocity sensor, abnormality detection program, and related vehicle control system
    EP1110064B1 (en) Method and device for controlling an occupant protection means in a vehicle
    DE10309414B4 (en) Sensor device and associated method for a hand tool
    EP1503922B1 (en) Method for releasing a safety device in a motor vehicle in the event of an overturn
    DE102008043475B4 (en) Device control method and device control device
    EP1444115B1 (en) Method for determining the key crash phases for triggering a passive safety device in a vehicle
    EP0852193B1 (en) Method for triggering a safety device, particularly a belt tensioner in a passenger transport
    DE10335169A1 (en) Sensor arrangement for a motor vehicle for detecting an impact, as well as an associated evaluation method for an occupant protection system in a vehicle

    Legal Events

    Date Code Title Description
    PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

    Free format text: ORIGINAL CODE: 0009012

    AK Designated contracting states

    Kind code of ref document: A2

    Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

    Kind code of ref document: A2

    Designated state(s): CH DE GB LI NL SE

    AX Request for extension of the european patent

    Free format text: AL;LT;LV;MK;RO;SI

    PUAL Search report despatched

    Free format text: ORIGINAL CODE: 0009013

    AK Designated contracting states

    Kind code of ref document: A3

    Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

    AX Request for extension of the european patent

    Free format text: AL;LT;LV;MK;RO;SI

    17P Request for examination filed

    Effective date: 20020319

    AKX Designation fees paid

    Free format text: CH DE GB LI NL SE

    GRAP Despatch of communication of intention to grant a patent

    Free format text: ORIGINAL CODE: EPIDOSNIGR1

    GRAS Grant fee paid

    Free format text: ORIGINAL CODE: EPIDOSNIGR3

    GRAA (expected) grant

    Free format text: ORIGINAL CODE: 0009210

    AK Designated contracting states

    Kind code of ref document: B1

    Designated state(s): CH DE GB LI NL SE

    REG Reference to a national code

    Ref country code: GB

    Ref legal event code: FG4D

    Free format text: NOT ENGLISH

    REG Reference to a national code

    Ref country code: CH

    Ref legal event code: EP

    REF Corresponds to:

    Ref document number: 59914191

    Country of ref document: DE

    Date of ref document: 20070329

    Kind code of ref document: P

    GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

    Effective date: 20070321

    REG Reference to a national code

    Ref country code: SE

    Ref legal event code: TRGR

    PLBE No opposition filed within time limit

    Free format text: ORIGINAL CODE: 0009261

    STAA Information on the status of an ep patent application or granted ep patent

    Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

    26N No opposition filed

    Effective date: 20071115

    PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

    Ref country code: SE

    Payment date: 20181219

    Year of fee payment: 20

    Ref country code: DE

    Payment date: 20181210

    Year of fee payment: 20

    Ref country code: NL

    Payment date: 20181219

    Year of fee payment: 20

    PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

    Ref country code: GB

    Payment date: 20181218

    Year of fee payment: 20

    Ref country code: CH

    Payment date: 20181218

    Year of fee payment: 20

    REG Reference to a national code

    Ref country code: DE

    Ref legal event code: R071

    Ref document number: 59914191

    Country of ref document: DE

    REG Reference to a national code

    Ref country code: NL

    Ref legal event code: MK

    Effective date: 20191205

    REG Reference to a national code

    Ref country code: CH

    Ref legal event code: PL

    REG Reference to a national code

    Ref country code: GB

    Ref legal event code: PE20

    Expiry date: 20191205

    REG Reference to a national code

    Ref country code: SE

    Ref legal event code: EUG

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: GB

    Free format text: LAPSE BECAUSE OF EXPIRATION OF PROTECTION

    Effective date: 20191205