EP3990224B1 - Machine tool and method for operating a machine tool - Google Patents
Machine tool and method for operating a machine tool Download PDFInfo
- Publication number
- EP3990224B1 EP3990224B1 EP20732915.2A EP20732915A EP3990224B1 EP 3990224 B1 EP3990224 B1 EP 3990224B1 EP 20732915 A EP20732915 A EP 20732915A EP 3990224 B1 EP3990224 B1 EP 3990224B1
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- European Patent Office
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- operating mode
- machine tool
- electric motor
- current pulses
- current
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- 238000000034 method Methods 0.000 title claims description 34
- 230000001133 acceleration Effects 0.000 claims description 11
- 230000007704 transition Effects 0.000 claims description 3
- 238000005553 drilling Methods 0.000 description 8
- 230000007423 decrease Effects 0.000 description 7
- 230000001105 regulatory effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000003754 machining Methods 0.000 description 4
- 238000013021 overheating Methods 0.000 description 4
- 101150007250 MOT1 gene Proteins 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
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
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
- B25B23/145—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for fluid operated wrenches or screwdrivers
- B25B23/1456—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for fluid operated wrenches or screwdrivers having electrical components
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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
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
- B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
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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
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
- B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
- B25B23/1475—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers for impact wrenches or screwdrivers
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- 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
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- 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
- B25F5/001—Gearings, speed selectors, clutches or the like specially adapted for rotary tools
Definitions
- the present invention relates to a method for operating a machine tool with a battery and an electric motor according to the preamble of patent claim 1.
- the present invention relates to a machine tool according to the preamble of patent claim 13.
- a machine tool according to the preamble of patent claim 13.
- Such a method and such a machine tool are, for example, from EP 3 170 624 A1 out.
- a mechanical clutch is characterized by a high weight, requires space itself and has a negative impact on the manufacturing costs of the machine tool.
- the mechanical components are subject to wear and tear and may need to be serviced or replaced.
- a release torque of the clutch can disadvantageously change due to wear of the mechanical clutch, so that a maximum possible release torque of the clutch can decrease in the course of the operation of the clutch.
- machine tools with an electronically implemented clutch are known from practice, which is implemented by appropriate control of the electric motor, with signals from the electric motor being determined and evaluated for this purpose, for example.
- a trigger event for example a torque applied to the output shaft that exceeds a defined limit value or a sudden deceleration of the drive shaft greater than a defined limit value or a speed applied to the output shaft, which during start-up due to the tool blocking in a defined time interval does not reach a minimum limit value, transferred from a first operating mode to a second operating mode in which the electric motor is subjected to current pulses.
- These current pulses give the user haptic feedback that is modeled on and preferably similar to that of a machine tool with a mechanical clutch.
- discontinuous current pulses support the loosening of a blocked tool in the underground that is coupled to the output shaft.
- the engine torque exceeds the braking torque applied to the output shaft, the rotational speed of the rotor of the electric motor increases and the electric motor is switched back to the first operating state.
- the object is achieved with a method for operating a machine tool according to claim 1.
- a method for operating a machine tool with a rechargeable battery and an electric motor the electric motor being designed for the rotary drive of an output shaft which can be coupled to a tool, a control device being provided for actuating the electric motor and a device for determining a parameter being provided the machine tool can be operated in a first operating mode and a second operating mode, and the machine tool is switched from the first operating mode to the second operating mode when the parameter determined by the device exceeds or falls below a defined threshold value.
- the electric motor be controlled in the second operating mode with a preferably regulated and in particular predetermined current intensity profile or current intensity curve, the current intensity profile comprising first current pulses and second current pulses, the level of a maximum current level of the first current pulses being greater than the level of a maximum Current of the second current pulses is.
- a machine tool operated with a method according to the invention provides a user with haptic feedback in a simple manner, for example in the event of a blockage of the drive shaft, even without the provision of a mechanical clutch, comparable to a machine tool with a mechanical clutch.
- a machine tool operated with a method according to the invention can advantageously remain in the second operating mode for a long time by providing the various current pulses with different maximum current intensities, compared to a machine tool that is subjected to identical current pulses in the second operating mode and high current pulses to release the output shaft operate. If the machine tool is intended for machining a hard material, the tool coupled to the output shaft, for example a bit, a screwdriver, a drill or the like, may stop abruptly.
- a torque applied to the output shaft increases as the drilling progresses until it reaches a permissible limit torque.
- the output shaft does not reach a defined minimum speed in a predetermined time interval during startup and therefore, for example, a drill that has already been detected at the beginning of a machining process is detected. In these cases, the machine tool is transferred from the first operating mode to the second operating mode.
- the energy-efficient operation of the machine tool in the second operating state is due to the provision of the first and second current pulses with different maximum current intensities, the first current pulses with the higher maximum current intensities being provided in order to separate the output shaft or a tool coupled to the output shaft from the respective to loosen the ground.
- the second current pulses with the lower maximum current intensity are provided in order to give the user in the second operating mode of the machine tool comparable haptic feedback to a machine tool equipped with a mechanical clutch in the released state of the clutch. It was found that lower maximum current strengths are sufficient for this. In this case, a sequence of first current pulses and second current pulses takes place in particular on the basis of a predetermined pattern.
- the electric motor is controlled in the second operating mode alternately with a defined number of first current pulses and a defined number of second current pulses, with this sequence being repeated in particular.
- the defined process achieves a desired haptic feedback in a simple manner on the one hand and a desired torque transmitted to the output shaft on the other hand in an energy-efficient manner, which is provided, for example, to release a tool blocked in a subsurface.
- the electric motor is controlled in the second operating mode alternately with a first current pulse and then several, in particular two to twenty, preferably five to 14, preferably eight to ten, in particular nine, second current pulses. This has proven to be particularly advantageous on the one hand with regard to haptic feedback and on the other hand with regard to power consumption.
- the electric motor is controlled in the second operating mode in such a way that the length of the first current pulses differs from one Length of the second current pulses differs, wherein the first current pulses are in particular longer than the second current pulses, and preferably twice as long as the second current pulses are substantially. This is based on the finding that, in comparison to the first current pulse, short second current pulses are sufficient to achieve a desired haptic feedback, whereas longer current pulses are useful for releasing the tool.
- a time interval between successive current pulses corresponds in particular to a length of the first current pulse. It can be provided that a distance between all current pulses is essentially identical.
- the electric motor is controlled in the second operating mode in such a way that the maximum current intensity of the first current pulses is between 25% and 80% greater, particularly preferably essentially 50% greater than the maximum current intensity of the second current pulses.
- the ratio of the maximum current strength of the first current pulses to the maximum current strength of the second current pulses can also change over time.
- the electric motor in an advantageous embodiment of a method according to the invention in the second operating mode controlled such that a maximum level of the first current pulse and / or a maximum level of the second current pulse is varied depending on a current charge status of the battery and preferably decreases.
- the maximum level of the first current pulse and/or the maximum level of the second current pulse is discrete, i. H., For example, stepwise, or in particular with a continuous monitoring of the charge status of the battery is continuously adjusted depending on the charge status of the battery.
- the electric motor starting from a first operating mode of the machine tool before a transition to the second operating mode, has a current intensity that is essentially the same for a defined period of time the value zero is applied and the electric motor is stopped in particular.
- the machine tool is switched from the second operating mode to the first operating mode when a torque determined by the device and applied to the output shaft is lower as a limit torque. Provision can be made here for the electric motor to be accelerated to a desired rotational speed via a ramp that is specified, for example.
- the electric motor can be stopped if the electric motor is in the second operating mode for a period of time greater than a predefined limit value.
- the machine tool is thereby protected in particular from damage caused by overheating of components of the machine tool, in particular electronics, a rotor or windings of the electric motor.
- the device is designed to determine a torque present on the output shaft, with the machine tool being operated in the first operating mode when the torque determined by the device is less than a defined limit torque, and with the control device controlling the machine tool from transferred from the first operating mode to the second operating mode when the torque determined by the device exceeds the defined limit torque.
- the torque determined corresponds to the parameter determined by the device.
- the device can be implemented as an algorithm stored in the control device, which is based on input parameters, such as an engine speed and a currently available Current calculates or estimates the torque applied to the output shaft.
- the device is designed to determine an acceleration value of the output shaft, with the machine tool being switched from the first operating mode to the second operating mode if the determined acceleration value of the output shaft exceeds a defined negative acceleration value and the output shaft is therefore stronger than a defined value is decelerated. This case can occur in particular when, for example, a drill jams in a hard surface.
- the determined acceleration corresponds to the parameter determined by the device.
- the parameter determined by the device is a speed of the drive shaft, with the machine tool being switched from the first operating mode to the second operating mode if a speed of a motor shaft or the output shaft does not reach a defined limit speed after a predetermined period of time . In this way, it can be determined in particular if, for example, a tool coupled to the output shaft is already blocked in a subsurface at the start of a machining process.
- a machine tool is therefore proposed with a rechargeable battery, with an electric motor that is designed to drive an output shaft that can be coupled to a tool in rotation, with a control device for actuating the electric motor and with a device for determining a parameter, the machine tool with a described procedure is operated.
- a machine tool according to the invention has the advantage that it can be used in a structurally simple, cost-effective, weight-optimized and energy-efficient manner to give a user comparable haptic feedback as in the case of a machine tool with a mechanical clutch in the event that a braking torque applied to the output shaft is greater than a defined limit torque and the mechanical clutch is triggered.
- the energy-efficient operation of the machine tool in the second operating state is due to the provision of the first and second current pulses with different maximum current intensities, the first current pulses with the higher maximum current intensities being provided in order to separate the output shaft or the tool coupled to the output shaft from the respective to loosen the ground.
- the second current pulses with the smaller maximum Current levels are provided in order to give the user, particularly in this state, comparable haptic feedback to a machine tool with a mechanical clutch in the released state, with it being established that lower maximum current levels are sufficient for this.
- a sequence of first current pulses and second current pulses takes place in particular on the basis of a predetermined pattern.
- the machine tool 1 shows an exemplary flowchart of an embodiment of a method according to the invention for operating a machine tool 1, in particular a cordless screwdriver, a drill or the like.
- the machine tool 1 has a rechargeable battery 2 which is provided to supply power to an electric motor 3 of the machine tool 1 .
- the electric motor 3 is designed to drive an output shaft 4 of the machine tool 1 in rotation, with the output shaft 4 being able to be coupled to a tool 5, for example a bit, a drill or the like.
- the machine tool 1 also has a control device 6 for actuating the electric motor 3, the control device 6 being designed for the regulated actuation of the electric motor 3 using a current intensity.
- the machine tool 1 has a device 7 for determining a parameter of the machine tool 1 , in particular a torque applied to the output shaft 4 and/or an acceleration value of the output shaft 4 .
- the machine tool 1 is designed without a mechanical clutch, so that the electric motor 3 is directly operatively connected to the output shaft 4, optionally with the interposition of a gearbox.
- the machine tool 1 can be operated in a first operating mode and in a second operating mode. This is discussed in more detail below.
- the method begins with the start S.
- the machine tool 1 is operated in the first operating mode, which corresponds to a normal drilling mode, for example, following a request from the user.
- the device 7 detects a defined operating state in which continued operation in the first operating mode can lead, for example, to damage to the electric motor 3, in particular due to overheating.
- the device 7 detects or determines, for example, an undesirably high braking torque applied to the output shaft 4 of the tool 5, which exceeds a predetermined threshold value or a limit torque. This case can occur, for example, when drilling a hole at an advanced borehole depth.
- the defined operating state can be detected by the device 7 in that the determined absolute value of the acceleration of the output shaft 4 is greater than a defined threshold value and the tool 5 thus experiences a defined deceleration. This case can occur, for example, when a tool 5 is blocked.
- the device 7 can be implemented, for example, as an algorithm stored in the control device 6, which determines a parameter directly or indirectly from other input values or calculates or estimates and compares this with a defined limit value.
- the parameter can be, for example, the torque applied to the output shaft 4 or an acceleration value of the output shaft 4 .
- the electric motor 3 is braked by the control device 6 in step S3 to a rotational speed n mot essentially equal to zero.
- step S4 the control device 6 then transfers the machine tool 1 to the second operating mode, the aim of which is to release the tool 5 on the one hand and to provide haptic feedback to the user comparable to a machine tool with a mechanical clutch on the other.
- the second operating mode is discussed in more detail below.
- control device 6 transfers machine tool 1 back to the first operating mode in step S5 and it is checked again in step S6 whether a defined operating state described in more detail above occurs again.
- step E the method is ended, for example, according to the user's request.
- FIG. 2 shows an exemplary course of a drilling process, with the upper diagram showing a course of the motor speed n mot and the lower diagram showing an actual course of the current intensity A over time.
- the course of the current strength essentially corresponds to a course of a torque applied to the output shaft 4 .
- the machine tool 1 is operated in a first phase P1 in the first operating mode, with the motor speed n mot being essentially constant at an operating value n mot1 and the current intensity A required to operate the electric motor 3 being below a threshold value A limit . Provision can also be made for an applied load torque to be estimated in the control device 6 instead of the current intensity A.
- the current intensity A rises up to the threshold value A limit or the estimated load moment rises up to a threshold value M limit .
- the defined operating state is determined by the control device 6 .
- the motor speed n mot is then set essentially to the value zero in a second phase P2 up to time t2.
- the machine tool 1 is transferred from the first operating mode to the second operating mode, in which the control device 6 activates the electric motor 3 with a predefined and in 4 amperage profile which can be seen in more detail in some sections.
- the electric motor 3 is controlled by the control device 6 in the second operating mode using the excerpt in 4 driven current profile shown or regulated to this current profile.
- the current intensity profile has first current pulses 10 and second current pulses 11, which in the present case are in the form of rectangular pulses each having a constant maximum current intensity.
- the maximum current intensity A1 of the first current pulses 10 is essentially constant for all first current pulses 10, with the current intensity A1 being approximately 50% greater than a maximum current intensity A2 of the second current pulses 11, which in turn is essentially constant for all second current pulses 11 is.
- the first current pulses 10 extend over a first time period T1, which in the present case is essentially twice as long as a time period T2 of the second current pulses 11. In the present case, a time span T3 between two consecutive current pulses 10, 11 essentially corresponds to the time span T1 of the first current pulse 10.
- a first current pulse 10 is followed by nine second current pulses 11. It has been found that this results in a favorable compromise between a desired haptic feedback to the user, which is comparable to that of a machine tool with a mechanical clutch that releases it, and low power consumption result.
- the first current pulses 10 apply a torque to the output shaft 4 which is intended to release the tool 5 from the blocked situation.
- the engine speed n mot increases up to time t4 in a fourth phase P4, this being due to the removal of the blockage situation of the tool.
- the machine tool 1 is then returned to the first operating state by the control device 6 in a fifth phase P5 from time t4, with the engine speed n mot being returned to the value n mot1 after an acceleration phase.
- the operation of the machine tool 1 over a defined period of time does not lead to a blockage of the tool 5 being released, provision can be made for the electric motor 3 to be stopped in order to prevent the electric motor 3 from overheating.
- FIG 5 an alternatively designed current profile is shown, which essentially corresponds to the current profile 4 with the difference that a maximum current intensity of the first current pulses 10 is not constant over time.
- the maximum current intensity of the first current pulses 10 decreases as a function of a state of charge of the battery 2, with another first current pulse 10' having a maximum current intensity A1' that is less than the maximum current intensity A1.
- 6 1 shows an example of a dependence of the maximum current intensity of the first current pulses 10 on the state of charge of the battery 2, with the maximum current intensity of the first current pulses 10 decreasing in discrete values as the state of charge of the battery 2 decreases.
- Battery 2 charge level is in figure 5 shown as a percentage of a maximum state of charge of the battery 2.
- the maximum current intensity of the first current pulses 10 decreases essentially continuously if timely or up-to-date information regarding the state of charge of the rechargeable battery 2 is available.
- the maximum current intensity of the second current pulses 11 decreases as a function of the state of charge of the rechargeable battery 2 .
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Description
Die vorliegende Erfindung betrifft ein Verfahren zum Betrieben einer Werkzeugmaschine mit einem Akku und einem Elektromotor gemäß dem Oberbegriff des Patentanspruches 1.The present invention relates to a method for operating a machine tool with a battery and an electric motor according to the preamble of
Weiterhin betrifft die vorliegende Erfindung eine Werkzeugmaschine gemäß dem Oberbegriff des Patentanspruchs 13. Ein derartiges Verfahren und eine derartige Werkzeugmaschine gehen beispielsweise aus der
Bei aus der Praxis bekannten Werkzeugmaschinen, die mit einem von einem Akku betreibbaren regulierten Elektromotor ausgeführt sind, steigt beispielsweise beim Bohren eines Loches mit zunehmender Bohrtiefe ein an einer Abtriebswelle anliegendes Ausgangsdrehmoments und somit ein zur Bereitstellung dieses Ausgangsdrehmoments erforderlicher Motorstrom an, um das entsprechend ansteigende Ausgangsdrehmoment bereitzustellen und eine gewünschte Drehgeschwindigkeit eines Rotors des Elektromotors aufrechtzuerhalten. Wenn ein an der Ausgangswelle anliegendes Bremsmoment eine Leistungsfähigkeit des Elektromotors übersteigt, stoppt der Rotor auch bei ansteigendem Motorstrom. Der blockierte Rotor und die hohe anliegende Stromstärke können zu einer Beschädigung der Elektronik und/oder des Elektromotors führen, wenn kein Hardware- oder Softwareschutz vorliegt. Ebenso kann es vorgesehen sein, dass eine Ausgangswelle beispielsweise bei einem Bohren in einem harten Untergrund schlagartig blockiert. Hierdurch steigt eine anliegende Stromstärke schlagartig an.In machine tools known from practice, which are designed with a regulated electric motor that can be operated by a battery, for example when drilling a hole, an output torque present on an output shaft and thus a motor current required to provide this output torque increase with increasing drilling depth in order to compensate for the correspondingly increasing output torque provide and maintain a desired rotational speed of a rotor of the electric motor. If a braking torque applied to the output shaft exceeds the capacity of the electric motor, the rotor will stop even if the motor current increases. The locked rotor and the high current applied can result in damage to the electronics and/or the electric motor if hardware or software protection is not present. Provision can also be made for an output shaft to suddenly block, for example when drilling in a hard subsoil. As a result, an applied current suddenly increases.
Um eine Beschädigung der Werkzeugmaschine in diesen Fällen zu verhindern, ist es bekannt, mechanische Kupplungen vorzusehen, die die Abtriebswelle bei einem definierten, an der Abtriebswelle anliegenden Ausgangsdrehmoment von dem Elektromotor entkoppeln, so dass der Rotor des Elektromotors weiter rotieren kann, ohne, dass das an der Ausgangswelle anliegende Drehmoment auf den Elektromotor übertragen wird.In order to prevent damage to the machine tool in these cases, it is known to provide mechanical clutches which decouple the output shaft from the electric motor when a defined output torque is applied to the output shaft, so that the rotor of the electric motor can continue to rotate without the Torque applied to the output shaft is transmitted to the electric motor.
Allerdings ist eine mechanische Kupplung durch ein hohes Gewicht gekennzeichnet, benötigt selbst einen Bauraum und beeinflusst die Herstellkosten der Werkzeugmaschine negativ. Zudem unterliegen die mechanischen Bauteile dem Verschleiß und müssen gegebenenfalls gewartet oder ausgetauscht werden. Durch einen Verschleiß der mechanischen Kupplung kann sich nachteilhafterweise ein Auslösedrehmoment der Kupplung verändern, so dass ein maximal mögliches Auslösedrehmoment der Kupplung im Laufe des Betriebs der Kupplung abnehmen kann. Weiterhin kann es auch vorkommen, dass die mechanische Kupplung nicht in gewünschtem Umfang arbeitet.However, a mechanical clutch is characterized by a high weight, requires space itself and has a negative impact on the manufacturing costs of the machine tool. In addition, the mechanical components are subject to wear and tear and may need to be serviced or replaced. A release torque of the clutch can disadvantageously change due to wear of the mechanical clutch, so that a maximum possible release torque of the clutch can decrease in the course of the operation of the clutch. Furthermore, it can also happen that the mechanical clutch does not work to the desired extent.
Um diese Nachteile zu beheben sind aus der Praxis Werkzeugmaschinen mit einer elektronisch implementierten Kupplung bekannt, die durch eine entsprechende Ansteuerung des Elektromotors umgesetzt ist, wobei hierzu beispielsweise Signale des Elektromotors ermittelt und ausgewertet werden. Der Elektromotor wird nach Detektion eines Auslösefalls, beispielsweise einem an der Ausgangswelle anliegenden Drehmoments, welches einen definierten Grenzwert überschreitet oder einer schlagartigen Abbremsung der Antriebswelle größer einem definierten Grenzwert oder einer an der Ausgangswelle anliegenden Drehzahl, welche beim Anlauf wegen des blockierenden Werkzeugs in einem definierten Zeitintervall einen minimalen Grenzwert nicht erreicht, von einem ersten Betriebsmodus in einen zweiten Betriebsmodus überführt, in dem der Elektromotor mit Strompulsen beaufschlagt wird. Diese Strompulse geben dem Nutzer ein haptisches Feedback, das demjenigen einer Werkzeugmaschine mit einer mechanischen Kupplung nachempfunden ist und vorzugsweise gleicht. Zudem wird durch die diskontinuierlichen Strompulse ein Lösen eines blockierten, mit der Ausgangswelle gekoppelten Werkzeugs in dem Untergrund unterstützt. Wenn die Ausgangswelle wieder frei ist übersteigt das Motordrehmoment das an der Ausgangswelle anliegende Bremsmoment, die Drehgeschwindigkeit des Rotors des Elektromotors steigt und der Elektromotor wird wieder in den ersten Betriebszustand überführt.In order to remedy these disadvantages, machine tools with an electronically implemented clutch are known from practice, which is implemented by appropriate control of the electric motor, with signals from the electric motor being determined and evaluated for this purpose, for example. After detection of a trigger event, for example a torque applied to the output shaft that exceeds a defined limit value or a sudden deceleration of the drive shaft greater than a defined limit value or a speed applied to the output shaft, which during start-up due to the tool blocking in a defined time interval does not reach a minimum limit value, transferred from a first operating mode to a second operating mode in which the electric motor is subjected to current pulses. These current pulses give the user haptic feedback that is modeled on and preferably similar to that of a machine tool with a mechanical clutch. In addition, the discontinuous current pulses support the loosening of a blocked tool in the underground that is coupled to the output shaft. When the output shaft is free again, the engine torque exceeds the braking torque applied to the output shaft, the rotational speed of the rotor of the electric motor increases and the electric motor is switched back to the first operating state.
Das Betreiben des Elektromotors in dem zweiten Betriebszustand ist nachteilhafterweise sehr stromintensiv und führt zu einer schnellen Abnahme des Ladestandes des Akkus und kann zu einer unerwünschten Erhitzung des Elektromotors bei nicht ausreichender Kühlung führen.Operating the electric motor in the second operating state is disadvantageously very power-intensive and leads to a rapid decrease in the charge level of the rechargeable battery and can lead to undesirable heating of the electric motor if there is insufficient cooling.
Es ist Aufgabe der vorliegenden Erfindung, ein Verfahren zum Betreiben einer Werkzeugmaschine und eine Werkzeugmaschine bereitzustellen, wobei die Werkzeugmaschine dem Nutzer in dem zweiten Betriebsmodus eine haptische Rückmeldung gibt und energieeffizient betrieben werden kann.It is the object of the present invention to provide a method for operating a machine tool and a machine tool, wherein the machine tool gives the user haptic feedback in the second operating mode and can be operated in an energy-efficient manner.
Die Aufgabe wird mit einem Verfahren zum Betreiben einer Werkzeugmaschine gemäß des Patentanspruches 1 gelöst.The object is achieved with a method for operating a machine tool according to
Es ist somit ein Verfahren zum Betreiben einer Werkzeugmaschine mit einem Akku und einem Elektromotor vorgesehen, wobei der Elektromotor zum rotatorischen Antrieb einer mit einem Werkzeug koppelbaren Abtriebswelle ausgeführt ist, wobei eine Steuereinrichtung zur Betätigung des Elektromotors und eine Einrichtung zur Ermittlung eines Parameters vorgesehen ist, wobei die Werkzeugmaschine in einem ersten Betriebsmodus und einem zweiten Betriebsmodus betreibbar ist, und wobei die Werkzeugmaschine von dem ersten Betriebsmodus in den zweiten Betriebsmodus überführt wird, wenn der von der Einrichtung ermittelte Parameter einen definierten Schwellwert überschreitet oder unterschreitet.A method is therefore provided for operating a machine tool with a rechargeable battery and an electric motor, the electric motor being designed for the rotary drive of an output shaft which can be coupled to a tool, a control device being provided for actuating the electric motor and a device for determining a parameter being provided the machine tool can be operated in a first operating mode and a second operating mode, and the machine tool is switched from the first operating mode to the second operating mode when the parameter determined by the device exceeds or falls below a defined threshold value.
Erfindungsgemäß wird vorgeschlagen, dass der Elektromotor in dem zweiten Betriebsmodus mit einem vorzugsweise regulierten und insbesondere vorgegebenen Stromstärkeprofil bzw. Stromstärkeverlauf angesteuert wird, wobei das Stromstärkeprofil erste Strompulse und zweite Strompulse umfasst, wobei die Höhe einer maximalen Stromstärke der ersten Strompulse größer als die Höhe einer maximalen Stromstärke der zweiten Strompulse ist.According to the invention, it is proposed that the electric motor be controlled in the second operating mode with a preferably regulated and in particular predetermined current intensity profile or current intensity curve, the current intensity profile comprising first current pulses and second current pulses, the level of a maximum current level of the first current pulses being greater than the level of a maximum Current of the second current pulses is.
Eine mit einem erfindungsgemäßen Verfahren betriebene Werkzeugmaschine gibt einem Nutzer beispielsweise im Fall eines Blockierens der Antriebswelle auch ohne das Vorsehen einer mechanischen Kupplung auf einfache Weise eine haptische Rückmeldung vergleichbar einer Werkzeugmaschine mit einer mechanischen Kupplung. Zudem kann eine mit einem erfindungsgemäßen Verfahren betriebene Werkzeugmaschine im Vergleich zu einer Werkzeugmaschine, die in dem zweiten Betriebsmodus mit jeweils identischen und zum Lösen der Abtriebswelle mit hohen Strompulsen beaufschlagt wird, durch das Vorsehen der verschiedenen Strompulse mit unterschiedlichen maximalen Stromstärken vorteilhaft lange in dem zweiten Betriebsmodus betrieben werden. Wenn die Werkzeugmaschine zur Bearbeitung eines harten Materials vorgesehen ist, kann das mit der Abtriebswelle gekoppelte Werkzeug, beispielsweise ein Bit, ein Schrauber, ein Bohrer oder dergleichen, abrupt stehenbleiben. Bei Verwendung der Werkzeugmaschine zur Bearbeitung eines weichen aber auch eines harten Materials steigt mit einem Bohrfortschritt ein an der Abtriebswelle anliegendes Drehmoment an, bis dies ein zulässiges Grenzdrehmoment erreicht. Weiterhin kann es auch vorgesehen sein, dass die Abtriebswelle bei einem Anlauf eine definierte Mindestdrehzahl in einem vorgegebenen Zeitintervall nicht erreicht und daher beispielsweise ein bereits zu Beginn eines Bearbeitungsvorgangs detektierter Bohrer detektiert wird. In diesen Fällen wird die Werkzeugmaschine von dem ersten Betriebsmodus in den zweiten Betriebsmodus überführt.A machine tool operated with a method according to the invention provides a user with haptic feedback in a simple manner, for example in the event of a blockage of the drive shaft, even without the provision of a mechanical clutch, comparable to a machine tool with a mechanical clutch. In addition, a machine tool operated with a method according to the invention can advantageously remain in the second operating mode for a long time by providing the various current pulses with different maximum current intensities, compared to a machine tool that is subjected to identical current pulses in the second operating mode and high current pulses to release the output shaft operate. If the machine tool is intended for machining a hard material, the tool coupled to the output shaft, for example a bit, a screwdriver, a drill or the like, may stop abruptly. When the machine tool is used for machining a soft but also a hard material, a torque applied to the output shaft increases as the drilling progresses until it reaches a permissible limit torque. Furthermore, it can also be provided that the output shaft does not reach a defined minimum speed in a predetermined time interval during startup and therefore, for example, a drill that has already been detected at the beginning of a machining process is detected. In these cases, the machine tool is transferred from the first operating mode to the second operating mode.
Das energieeffiziente Betreiben der Werkzeugmaschine in dem zweiten Betriebszustand wird durch das Vorsehen der ersten und zweiten Strompulse mit unterschiedlichen maximalen Stromstärken bedingt, wobei die ersten Strompulse mit der größeren maximalen Stromstärke vorgesehen sind, um die Abtriebswelle bzw. ein mit der Abtriebswelle gekoppeltes Werkzeug aus dem jeweiligen Untergrund zu lösen. Die zweiten Strompulse mit der kleineren maximalen Stromstärke sind dagegen vorgesehen, um dem Nutzer in dem zweiten Betriebsmodus der Werkzeugmaschine eine vergleichbare haptische Rückmeldung zu einer mit einer mechanischen Kupplung ausgeführten Werkzeugmaschine in ausgelöstem Zustand der Kupplung zu vermitteln. Es wurde festgestellt, dass hierfür geringere maximale Stromstärken ausreichen. Eine Abfolge von ersten Strompulsen und zweiten Strompulsen erfolgt dabei insbesondere anhand eines vorgegebenen Musters.The energy-efficient operation of the machine tool in the second operating state is due to the provision of the first and second current pulses with different maximum current intensities, the first current pulses with the higher maximum current intensities being provided in order to separate the output shaft or a tool coupled to the output shaft from the respective to loosen the ground. The second current pulses with the lower maximum current intensity, on the other hand, are provided in order to give the user in the second operating mode of the machine tool comparable haptic feedback to a machine tool equipped with a mechanical clutch in the released state of the clutch. It was found that lower maximum current strengths are sufficient for this. In this case, a sequence of first current pulses and second current pulses takes place in particular on the basis of a predetermined pattern.
Bei einer vorteilhaften Ausführungsform eines Verfahrens nach der Erfindung wird der Elektromotor in dem zweiten Betriebsmodus abwechselnd mit einer definierten Anzahl erster Strompulse und einer definierten Anzahl zweiter Strompulse angesteuert, wobei sich diese Abfolge insbesondere wiederholt. Durch den definierten Ablauf wird auf einfache Weise einerseits eine gewünschte haptische Rückmeldung und andererseits ein gewünschtes, auf die Abtriebswelle übertragenes Drehmoments in energieeffizienter Weise erzielt, das beispielsweise zum Lösen eines in einem Untergrund blockierten Werkzeugs vorgesehen ist.In an advantageous embodiment of a method according to the invention, the electric motor is controlled in the second operating mode alternately with a defined number of first current pulses and a defined number of second current pulses, with this sequence being repeated in particular. The defined process achieves a desired haptic feedback in a simple manner on the one hand and a desired torque transmitted to the output shaft on the other hand in an energy-efficient manner, which is provided, for example, to release a tool blocked in a subsurface.
Gemäß der Erfindung wird der Elektromotor in dem zweiten Betriebsmodus abwechselnd mit einem ersten Strompuls und anschließend mehreren, insbesondere zwei bis zwanzig, vorzugsweise fünf bis 14, vorzugsweise acht bis zehn, insbesondere neun, zweiten Strompulsen angesteuert. Dies hat sich als besonders vorteilhaft einerseits hinsichtlich der haptischen Rückmeldung und andererseits hinsichtlich des Stromverbrauchs erwiesen.According to the invention, the electric motor is controlled in the second operating mode alternately with a first current pulse and then several, in particular two to twenty, preferably five to 14, preferably eight to ten, in particular nine, second current pulses. This has proven to be particularly advantageous on the one hand with regard to haptic feedback and on the other hand with regard to power consumption.
Um in dem zweiten Betriebsmodus ein gewünscht großes Drehmoment auf die Abtriebswelle übertragen zu können und gleichzeitig einen geringen Stromverbrauch zu erzielen, hat es sich als vorteilhaft herausgestellt, wenn der Elektromotor in dem zweiten Betriebsmodus derart angesteuert wird, dass eine Länge der ersten Strompulse sich von einer Länge der zweiten Strompulse unterscheidet, wobei die ersten Strompulse insbesondere länger als die zweiten Strompulse sind, und vorzugsweise im Wesentlichen doppelt so lange wie die zweiten Strompulse sind. Dem liegt die Erkenntnis zugrunde, dass zur Erzielung einer gewünschten haptischen Rückmeldung im Vergleich zu dem ersten Strompuls kurze zweite Strompulse ausreichen, wohingegen zum Lösen des Werkzeugs längere Strompulse nützlich sind.In order to be able to transmit a desired high torque to the output shaft in the second operating mode and at the same time to achieve low power consumption, it has proven to be advantageous if the electric motor is controlled in the second operating mode in such a way that the length of the first current pulses differs from one Length of the second current pulses differs, wherein the first current pulses are in particular longer than the second current pulses, and preferably twice as long as the second current pulses are substantially. This is based on the finding that, in comparison to the first current pulse, short second current pulses are sufficient to achieve a desired haptic feedback, whereas longer current pulses are useful for releasing the tool.
Es kann vorgesehen sein, dass ein zeitlicher Abstand zwischen aufeinanderfolgenden Strompulsen insbesondere einer Länge des ersten Strompulses entspricht. Es kann vorgesehen sein, dass ein Abstand zwischen sämtlichen Strompulsen im Wesentlichen identisch ist.It can be provided that a time interval between successive current pulses corresponds in particular to a length of the first current pulse. It can be provided that a distance between all current pulses is essentially identical.
Als besonders energieeffizient hat es sich erwiesen, wenn der Elektromotor in dem zweiten Betriebsmodus derart angesteuert wird, dass die maximale Stromstärke der ersten Strompulse zwischen 25 % und 80 % größer, besonders bevorzugt im Wesentlichen 50 % größer als die maximale Stromstärke der zweiten Strompulse ist. Das Verhältnis der maximalen Stromstärke der ersten Strompulse zur maximalen Stromstärke der zweiten Strompulse kann sich im Verlauf auch ändern.It has proven to be particularly energy-efficient if the electric motor is controlled in the second operating mode in such a way that the maximum current intensity of the first current pulses is between 25% and 80% greater, particularly preferably essentially 50% greater than the maximum current intensity of the second current pulses. The ratio of the maximum current strength of the first current pulses to the maximum current strength of the second current pulses can also change over time.
Um auf einfache Weise zu verhindern, dass eine Spannung im Verlauf des Betreibens der Werkzeugmaschine in dem zweiten Betriebsmodus unter einen definierten Grenzwert fällt und/oder um ein besonders energieeffizientes Verfahren bereitzustellen, wird der Elektromotor bei einer vorteilhaften Ausführungsform eines erfindungsgemäßen Verfahrens in dem zweiten Betriebsmodus derart angesteuert, dass eine maximale Höhe des ersten Strompulses und/oder eine maximale Höhe des zweiten Strompulses in Abhängigkeit eines aktuellen Ladestatus des Akkus variiert wird und vorzugsweise abnimmt.In order to prevent a voltage from falling below a defined limit value during the operation of the machine tool in the second operating mode in a simple manner and/or to provide a particularly energy-efficient method, the electric motor in an advantageous embodiment of a method according to the invention in the second operating mode controlled such that a maximum level of the first current pulse and / or a maximum level of the second current pulse is varied depending on a current charge status of the battery and preferably decreases.
Es kann dabei vorgesehen sein, dass die maximale Höhe des ersten Strompulses und/oder die maximale Höhe des zweiten Strompulses diskret, d. h., beispielsweise stufenförmig, oder insbesondere bei einer kontinuierlichen Überwachung des Ladestatus des Akkus kontinuierlich in Abhängigkeit des Ladestatus des Akkus angepasst wird.It can be provided that the maximum level of the first current pulse and/or the maximum level of the second current pulse is discrete, i. H., For example, stepwise, or in particular with a continuous monitoring of the charge status of the battery is continuously adjusted depending on the charge status of the battery.
Wenn ein Übergang der Werkzeugmaschine von dem ersten Betriebsmodus in den zweiten Betriebsmodus vorgesehen ist, hat es sich als vorteilhaft herausgestellt, wenn der Elektromotor ausgehend von einem ersten Betriebsmodus der Werkzeugmaschine vor einem Übergang in den zweiten Betriebsmodus für eine definierte Zeitspanne mit einer Stromstärke im Wesentlichen gleich dem Wert Null beaufschlagt wird und der Elektromotor insbesondere gestoppt wird.If a transition of the machine tool from the first operating mode to the second operating mode is provided, it has proven to be advantageous if the electric motor, starting from a first operating mode of the machine tool before a transition to the second operating mode, has a current intensity that is essentially the same for a defined period of time the value zero is applied and the electric motor is stopped in particular.
Um beispielsweise einen Bohrvorgang nach Lösen eines Bohrers aus dem Untergrund fortsetzen zu können, wird die Werkzeugmaschine bei einer vorteilhaften Ausführungsform eines Verfahrens nach der Erfindung von dem zweiten Betriebsmodus in den ersten Betriebsmodus überführt, wenn ein von der Einrichtung ermitteltes, an der Abtriebswelle anliegendes Drehmoment kleiner als ein Grenzdrehmoment wird. Hierbei kann es vorgesehen sein, dass der Elektromotor über eine beispielsweise vorgegebene Rampe auf eine gewünschte Drehzahl beschleunigt wird.For example, in order to be able to continue a drilling process after loosening a drill from the ground, in an advantageous embodiment of a method according to the invention, the machine tool is switched from the second operating mode to the first operating mode when a torque determined by the device and applied to the output shaft is lower as a limit torque. Provision can be made here for the electric motor to be accelerated to a desired rotational speed via a ramp that is specified, for example.
Um den Elektromotor vor einer Beschädigung zu schützen, kann der Elektromotor gestoppt werden, wenn sich der Elektromotor über einen Zeitraum größer einem vordefinierten Grenzwert in dem zweiten Betriebsmodus befindet. Die Werkzeugmaschine wird hierdurch insbesondere vor einer Beschädigung durch Überhitzung von Komponenten der Werkzeugmaschine, insbesondere einer Elektronik, eines Rotors oder von Windungen des Elektromotors geschützt.In order to protect the electric motor from damage, the electric motor can be stopped if the electric motor is in the second operating mode for a period of time greater than a predefined limit value. The machine tool is thereby protected in particular from damage caused by overheating of components of the machine tool, in particular electronics, a rotor or windings of the electric motor.
Bei einer vorteilhaften Ausführungsform der Erfindung ist die Einrichtung zur Ermittlung eines an der Abtriebswelle anliegenden Drehmoments ausgeführt, wobei die Werkzeugmaschine in dem ersten Betriebsmodus betrieben wird, wenn das von der Einrichtung ermittelte Drehmoment kleiner als ein definiertes Grenzdrehmoment ist, und wobei die Steuereinrichtung die Werkzeugmaschine von dem ersten Betriebsmodus in den zweiten Betriebsmodus überführt, wenn das von der Einrichtung ermittelte Drehmoment das definierte Grenzdrehmoment überschreitet. Das ermittelte Drehmoment entspricht dabei dem von der Einrichtung ermittelten Parameter. Die Einrichtung kann als in der Steuereinrichtung hinterlegter Algorithmus ausgeführt sein, der anhand von Eingangsparametern, wie beispielsweise einer Motordrehzahl und einer aktuell vorliegenden Stromstärke das an der Abtriebswelle anliegende Drehmoment berechnet oder abschätzt.In an advantageous embodiment of the invention, the device is designed to determine a torque present on the output shaft, with the machine tool being operated in the first operating mode when the torque determined by the device is less than a defined limit torque, and with the control device controlling the machine tool from transferred from the first operating mode to the second operating mode when the torque determined by the device exceeds the defined limit torque. The torque determined corresponds to the parameter determined by the device. The device can be implemented as an algorithm stored in the control device, which is based on input parameters, such as an engine speed and a currently available Current calculates or estimates the torque applied to the output shaft.
Weiterhin kann es vorgesehen sein, dass die Einrichtung zur Ermittlung eines Beschleunigungswertes der Abtriebswelle ausgeführt ist, wobei die Werkzeugmaschine von dem ersten Betriebsmodus in den zweiten Betriebsmodus überführt wird, wenn der ermittelte Beschleunigungswert der Abtriebswelle einen definierten negativen Beschleunigungswert überschreitet und die Abtriebswelle somit stärker als ein definierter Wert abgebremst wird. Dieser Fall kann insbesondere dann auftreten, wenn beispielsweise ein Bohrer in einem harten Untergrund blockiert. Die ermittelte Beschleunigung entspricht dabei dem von der Einrichtung ermittelten Parameter. Weiterhin kann es vorgesehen sein, dass der von der Einrichtung ermittelte Parameter eine Drehzahl der Antriebswelle ist, wobei die Werkzeugmaschine von dem ersten Betriebsmodus in den zweiten Betriebsmodus überführt wird, wenn eine Drehzahl einer Motorwelle oder der Abtriebswelle nach einer vorgegebenen Zeitspanne eine definierte Grenzdrehzahl nicht erreicht. Hierdurch kann insbesondere ermittelt werden, wenn beispielsweise ein mit der Abtriebswelle gekoppeltes Werkzeug bereits zu Beginn eines Bearbeitungsvorgangs in einem Untergrund blockiert ist.Furthermore, it can be provided that the device is designed to determine an acceleration value of the output shaft, with the machine tool being switched from the first operating mode to the second operating mode if the determined acceleration value of the output shaft exceeds a defined negative acceleration value and the output shaft is therefore stronger than a defined value is decelerated. This case can occur in particular when, for example, a drill jams in a hard surface. The determined acceleration corresponds to the parameter determined by the device. Furthermore, it can be provided that the parameter determined by the device is a speed of the drive shaft, with the machine tool being switched from the first operating mode to the second operating mode if a speed of a motor shaft or the output shaft does not reach a defined limit speed after a predetermined period of time . In this way, it can be determined in particular if, for example, a tool coupled to the output shaft is already blocked in a subsurface at the start of a machining process.
Die oben genannte Aufgabe wird weiterhin mit einer Werkzeugmaschine gemäß des Patentanspruches 13 gelöst.The object mentioned above is also achieved with a machine tool according to patent claim 13 .
Es wird daher eine Werkzeugmaschine mit einem Akku, mit einem Elektromotor, der zum rotatorischen Antrieb einer mit einem Werkzeug koppelbaren Abtriebswelle ausgeführt ist, mit einer Steuereinrichtung zur Betätigung des Elektromotors und mit einer Einrichtung zur Ermittlung eines Parameters vorgeschlagen, wobei die Werkzeugmaschine mit einem oben näher beschriebenen Verfahren betrieben wird.A machine tool is therefore proposed with a rechargeable battery, with an electric motor that is designed to drive an output shaft that can be coupled to a tool in rotation, with a control device for actuating the electric motor and with a device for determining a parameter, the machine tool with a described procedure is operated.
Eine erfindungsgemäße Werkzeugmaschine hat den Vorteil, dass mit ihr auf konstruktiv einfache, kostengünstige, gewichtsoptimierte und energieeffiziente Weise einem Nutzer eine vergleichbare haptische Rückmeldung wie bei einer Werkzeugmaschine mit einer mechanischen Kupplung für den Fall vermittelbar ist, dass ein an der Abtriebswelle anliegendes Bremsmoment größer als ein definiertes Grenzdrehmoment ist und die mechanische Kupplung auslöst.A machine tool according to the invention has the advantage that it can be used in a structurally simple, cost-effective, weight-optimized and energy-efficient manner to give a user comparable haptic feedback as in the case of a machine tool with a mechanical clutch in the event that a braking torque applied to the output shaft is greater than a defined limit torque and the mechanical clutch is triggered.
Das energieeffiziente Betreiben der Werkzeugmaschine in dem zweiten Betriebszustand wird durch das Vorsehen der ersten und zweiten Strompulse mit unterschiedlichen maximalen Stromstärken bedingt, wobei die ersten Strompulse mit der größeren maximalen Stromstärke vorgesehen sind, um die Abtriebswelle bzw. das mit der Abtriebswelle gekoppelte Werkzeug aus dem jeweiligen Untergrund zu lösen. Die zweiten Strompulse mit der kleineren maximalen Stromstärke sind dagegen vorgesehen, um dem Nutzer insbesondere in diesem Zustand eine vergleichbare haptische Rückmeldung zu einer mit einer mechanischen Kupplung ausgeführten Werkzeugmaschine in ausgelöstem Zustand zu vermitteln, wobei festgestellt wurde, das hierfür geringere maximale Stromstärken ausreichen. Eine Abfolge von ersten Strompulsen und zweiten Strompulsen erfolgt dabei insbesondere anhand eines vorgegebenen Musters.The energy-efficient operation of the machine tool in the second operating state is due to the provision of the first and second current pulses with different maximum current intensities, the first current pulses with the higher maximum current intensities being provided in order to separate the output shaft or the tool coupled to the output shaft from the respective to loosen the ground. The second current pulses with the smaller maximum Current levels, on the other hand, are provided in order to give the user, particularly in this state, comparable haptic feedback to a machine tool with a mechanical clutch in the released state, with it being established that lower maximum current levels are sufficient for this. In this case, a sequence of first current pulses and second current pulses takes place in particular on the basis of a predetermined pattern.
Weitere Vorteile ergeben sich aus der folgenden Figurenbeschreibung. In den Figuren sind mehrere Ausführungsbeispiele der vorliegenden Erfindung dargestellt. Die Figuren, die Beschreibung und die Ansprüche enthalten zahlreiche Merkmale in Kombination. Der Fachmann wird die Merkmale zweckmäßigerweise auch einzeln betrachten und zu sinnvollen weiteren Kombinationen zusammenfassen.Further advantages result from the following description of the figures. Several exemplary embodiments of the present invention are shown in the figures. The figures, the description and the claims contain numerous features in combination. The person skilled in the art will expediently also consider the features individually and combine them into further meaningful combinations.
In den Figuren sind gleiche und gleichartige Komponenten mit gleichen Bezugszeichen beziffert.In the figures, the same and similar components are denoted by the same reference symbols.
Es zeigen:
- Fig. 1
- eine stark vereinfachte Darstellung einer Werkzeugmaschine mit einem Akku, einem Elektromotor und einer Steuereinrichtung zur Betätigung des Elektromotors;
- Fig. 2
- ein vereinfacht gezeigtes Ablaufdiagramm eines Verfahrens zum Betreiben der Werkzeugmaschine gemäß
Fig. 1 ; - Fig. 3
- vereinfachte Diagramme, bei denen einerseits eine Drehzahl eines Elektromotors und andererseits eine Stromstärke, mit der der Elektromotor beaufschlagt wird, über einem Zeitablauf dargestellt sind, wobei die Diagramme den Betrieb der Werkzeugmaschine zunächst in einem ersten Betriebsmodus, anschließend in einem zweiten Betriebsmodus und schließlich wieder in dem ersten Betriebsmodus zeigen;
- Fig. 4
- eine vereinfachte Ansicht eines Ausschnitts eines Stromstärkenprofils, auf das der Elektromotor in dem zweiten Betriebsmodus von einer Steuereinrichtung geregelt wird;
- Fig. 5
- eine vereinfachte Ansicht eines Ausschnitts eines alternativen Stromstärkenprofils, auf das der Elektromotor in dem zweiten Betriebsmodus von einer Steuereinrichtung geregelt wird; und
- Fig. 6
- eine vereinfachte Ansicht eines Zusammenhangs eines Ladezustands eines Ackus der Werkzeugmaschine zu einer maximalen Stromstärke eines Strompulses eines Stromstärkenprofils.
- 1
- a highly simplified representation of a machine tool with a battery, an electric motor and a control device for actuating the electric motor;
- 2
- FIG. 1 shows a simplified flowchart of a method for operating the machine tool according to FIG
1 ; - 3
- simplified diagrams in which, on the one hand, a speed of an electric motor and, on the other hand, a current strength applied to the electric motor are shown over a period of time, the diagrams showing the operation of the machine tool first in a first operating mode, then in a second operating mode and finally back in indicate the first mode of operation;
- 4
- a simplified view of a section of a current intensity profile to which the electric motor is regulated in the second operating mode by a control device;
- figure 5
- a simplified view of a section of an alternative current intensity profile to which the electric motor is regulated by a control device in the second operating mode; and
- 6
- a simplified view of a connection between a state of charge of a rechargeable battery of the machine tool and a maximum current intensity of a current pulse of a current intensity profile.
Die Werkzeugmaschine 1 ist in einem ersten Betriebsmodus und in einem zweiten Betriebsmodus betreibbar. Im Folgenden wird hierauf näher eingegangen.The
Das Verfahren beginnt mit dem Start S. In einem ersten Schritt S1 wird die Werkzeugmaschine 1 nach einer anwenderseitigen Anforderung in dem ersten Betriebsmodus, der beispielsweise einem normalen Bohrmodus entspricht, betrieben.The method begins with the start S. In a first step S1, the
In einem zweiten Schritt S2 wird von der Einrichtung 7 ein definierter Betriebszustand detektiert, bei dem ein Weiterbetrieb in dem ersten Betriebsmodus beispielsweise zu einer Beschädigung des Elektromotors 3, insbesondere durch eine Überhitzung, führen kann. Hierbei wird von der Einrichtung 7 beispielsweise ein unerwünscht hohes an der Abtriebswelle 4 des Werkzeugs 5 anliegendes Bremsdrehmoment detektiert oder ermittelt, das einen vorgegebenen Schwellwert bzw. ein Grenzdrehmoment überschreitet. Dieser Fall kann beispielsweise bei der Bohrung eines Loches bei fortgeschrittener Bohrlochtiefe auftreten. Andererseits kann der definierte Betriebszustand von der Einrichtung 7 dadurch detektiert werden, dass der ermittelte Absolutwert der Beschleunigung der Abtriebswelle 4 größer einem definierten Schwellwert ist und das Werkzeug 5 somit eine definierte Abbremsung erfährt. Dieser Fall kann beispielsweise bei einem blockierenden Werkzeug 5 auftreten.In a second step S2, the device 7 detects a defined operating state in which continued operation in the first operating mode can lead, for example, to damage to the
Die Einrichtung 7 kann beispielsweise als ein in der Steuereinrichtung 6 hinterlegter Algorithmus ausgeführt sein, der einen Parameter direkt oder indirekt aus anderen Eingangswerten ermittelt oder berechnet bzw. abschätzt und diesen mit einem definierten Grenzwert vergleicht. Der Parameter kann beispielsweise das an der Abtriebswelle 4 anliegende Drehmoment oder ein Beschleunigungswert der Abtriebswelle 4 sein.The device 7 can be implemented, for example, as an algorithm stored in the control device 6, which determines a parameter directly or indirectly from other input values or calculates or estimates and compares this with a defined limit value. The parameter can be, for example, the torque applied to the
Nach einer entsprechenden Detektion des definierten Betriebszustands wird der Elektromotor 3 von der Steuereinrichtung 6 im Schritt S3 auf eine Drehzahl nmot im Wesentlichen gleich Null abgebremst.After a corresponding detection of the defined operating state, the
Die Steuereinrichtung 6 überführt die Werkzeugmaschine 1 anschließend im Schritt S4 in den zweiten Betriebsmodus, der einerseits ein Lösen des Werkzeugs 5 und andererseits eine haptische Rückmeldung an den Anwender vergleichbar zu einer Werkzeugmaschine mit einer mechanischen Kupplung zum Ziel hat. Auf den zweiten Betriebsmodus wird im Folgenden näher eingegangen.In step S4, the control device 6 then transfers the
Nach insbesondere wieder gelöstem Werkzeug 5, d. h., wenn beispielsweise von der Einrichtung 7 detektiert wird, dass ein an der Abtriebswelle 4 anliegendes Drehmoment kleiner einem definierten Drehmomentwert ist, überführt die Steuereinrichtung 6 die Werkzeugmaschine 1 im Schritt S5 wieder in den ersten Betriebsmodus und es wird in Schritt S6 wiederum überprüft, ob erneut ein oben näher beschriebener definierter Betriebszustand auftritt.In particular, after the
Im Schritt E wird das Verfahren beispielsweise nach anwenderseitigem Wunsch beendet.In step E, the method is ended, for example, according to the user's request.
Die Werkzeugmaschine 1 wird in einer ersten Phase P1 in dem ersten Betriebsmodus betrieben, wobei die Motordrehzahl nmot dabei im Wesentlichen konstant einen Betriebswert nmot1 einnimmt und die zum Betrieb des Elektromotors 3 erforderliche Stromstärke A unterhalb eines Schwellwerts Agrenz liegt. Es kann auch vorgesehen sein, dass anstelle der Stromstärke A in der Steuereinrchtung 6 ein anliegendes Lastmoment geschätzt wird.The
Zu einem Zeitpunkt t1 steigt die Stromstärke A bis zu dem Schwellwert Agrenz bzw. das geschätzte Lastmoment bis zu einem Schwellwert Mgrenz an. Dies ist beispielsweise dadurch bedingt, dass das Werkzeug 5 tiefer in einen Untergrund eintritt und/oder das Werkzeug 5 blockiert und in einem Untergrund feststeckt. Von der Steuereinrichtung 6 wird hierbei der definierte Betriebszustand ermittelt. Um den Elektromotor 3 vor einer Überhitzung oder einer sonstigen Beschädigung zu schützen, wird die Motordrehzahl nmot daraufhin in einer zweiten Phase P2 bis zum Zeitpunkt t2 im Wesentlichen auf den Wert Null eingestellt.At a point in time t1, the current intensity A rises up to the threshold value A limit or the estimated load moment rises up to a threshold value M limit . This is due, for example, to the fact that the
In der folgenden dritten Phase P3 wird die Werkzeugmaschine 1 von dem ersten Betriebsmodus in den zweiten Betriebsmodus überführt, in dem die Steuereinrichtung 6 den Elektromotor 3 mit einem vordefinierten und in
Der Elektromotor 3 wird von der Steuereinrichtung 6 in dem zweiten Betriebsmodus anhand des ausschnittsweise in
Bei dem Stromstärkeprofil folgen vorliegend auf einen ersten Strompulse 10 neun zweite Strompulse 11. Es hat sich herausgestellt, dass hierdurch ein günstiger Kompromiss aus einer gewünschten haptischen Rückmeldung an den Anwender, die vergleichbar zu derjenigen einer Werkzeugmaschine mit auslösender mechanischer Kupplung ist, und einen niedrigen Stromverbrauch zur Folge hat. Insbesondere durch die ersten Strompulse 10 wird dabei ein Drehmoment auf die Abtriebswelle 4 aufgebracht, das das Werkzeug 5 aus der blockierten Situation lösen soll.In the case of the current intensity profile, a first
Zu einem Zeitpunkt t3 in den Diagrammen gemäß
Sollte alternativ hierzu der Betrieb der Werkzeugmaschine 1 über einen definierten Zeitraum nicht zu einem Lösen einer Blockade des Werkzeugs 5 führen, kann es vorgesehen sein, dass zur Verhinderung einer Überhitzung des Elektromotors 3 der Elektromotor 3 gestoppt wird.If, as an alternative to this, the operation of the
In
Es kann alternativ hierzu auch vorgesehen sein, dass die maximale Stromstärke der ersten Strompulse 10 bei Verfügbarkeit von zeitnaher oder aktueller Information bezüglich des Ladezustands des Akkus 2 im Wesentlichen kontinuierlich abnimmt.As an alternative to this, it can also be provided that the maximum current intensity of the first
Alternativ oder zusätzlich hierzu kann es auch vorgesehen sein, dass die maximale Stromstärke der zweiten Strompulse 11 in Abhängigkeit von dem Ladezustand des Akkus 2 abnimmt.As an alternative or in addition to this, it can also be provided that the maximum current intensity of the second
- 11
- Werkzeugmaschinemachine tool
- 22
- Akkubattery pack
- 33
- Elektromotorelectric motor
- 44
- Abtriebswelleoutput shaft
- 55
- WerkzeugTool
- 66
- Steuereinrichtungcontrol device
- 77
- EinrichtungFurnishings
- 10, 10'10, 10'
- erster Strompulsfirst current pulse
- 1111
- zweiter Strompulsesecond current pulse
- Agrenzborder
- Schwellwertthreshold
- A1, A1', A2A1, A1', A2
- maximale Stromstärkemaximum current
- nmotnmot
- Motordrehzahlengine speed
- nmot1nmot1
- Betriebswert der MotordrehzahlOperating value of engine speed
- E, S, S1 - S6E, S, S1 - S6
- Verfahrensschrittprocess step
- P1 - P4P1 - P4
- Phasephase
- T1, T2, T3T1, T2, T3
- ZeitspannePeriod of time
- t1 bis t5t1 to t5
- Zeitpunkttime
Claims (13)
- Method for operating a machine tool (1) having a battery (2) and an electric motor (3) which is designed to rotationally drive an output shaft (4) that can be coupled to a tool (5), a control device (6) for actuating the electric motor (3) and a device (7) for determining a parameter being provided, it being possible for the machine tool (1) to be operated in a first operating mode and a second operating mode, and the machine tool (1) being transferred from the first operating mode into the second operating mode if the parameter determined by the device exceeds or falls below a defined threshold value, the electric motor (3) being controlled in the second operating mode by an amperage profile, the amperage profile comprising first current pulses (10, 10') and second current pulses (11), and the level of a maximum amperage (A1, A1') of the first current pulses (10) being greater than the level of a maximum amperage (A2) of the second current pulses (11), characterized in that
the electric motor (3) is controlled in the second operating mode alternately by a first current pulse (10, 10') and then a plurality of second current pulses (11), in particular two to twenty, preferably five to fourteen, more preferably eight to ten second current pulses. - Method according to claim 1,
characterized in that
the electric motor (3) is controlled in the second operating mode alternately by a defined number of first current pulses (10, 10') and a defined number of second current pulses (11). - Method according to either of the preceding claims,
characterized in that
the electric motor (3) is controlled in the second operating mode such that a length (T1) of the first current pulses (10, 10') differs from a length (T2) of the second current pulses (11), the first current pulses (10, 10') being in particular longer than the second current pulses (11), and preferably being substantially twice as long as the second current pulses (11). - Method according to any of the preceding claims,
characterized in that
the electric motor (3) is controlled in the second operating mode such that the maximum amperage (A1, A1') of the first current pulses (10, 10') is between 25% and 80% larger, particularly preferably substantially 50% larger than the maximum amperage (A2) of the second current pulses (11). - Method according to any of the preceding claims,
characterized in that
the electric motor (3) is controlled in the second operating mode such that a level of a maximum amperage (A1, A1') of the first current pulse (10, 10') and/or a level of a maximum amperage (A2) of the second current pulse (11) varies depending on a current charge status of the battery (2). - Method according to claim 5,
characterized in that
a level of a maximum amperage (A1, A1') of the first current pulse (10, 10') and/or a level of a maximum amperage (A2) of the second current pulse (11) is adjusted discretely or continuously depending on the charge status of the battery (2). - Method according to any of the preceding claims,
characterized in that,
proceeding from a first operating mode of the machine tool (1), an amperage (A) substantially equal to the value zero is applied to the electric motor (3) for a defined period of time (P2) before a transition into the second operating mode. - Method according to any of the preceding claims,
characterized in that
the machine tool (1) is transferred from the second operating mode into the first operating mode when a torque which is determined by the device (7) and applied to the output shaft (4) becomes less than a threshold torque. - Method according to any of claims 1 to 7,
characterized in that
the electric motor (3) is stopped when the machine tool (1) is in the second operating mode over a period of time greater than a predefined limit value. - Method according to any of the preceding claims,
characterized in that
the parameter determined by the device (7) is a torque applied to the output shaft (4), the machine tool being operated in the first operating mode when the torque determined by the device (7) is less than a defined threshold torque, and the machine tool (1) being transferred from the first operating mode into the second operating mode when the torque determined by the device (7) exceeds the defined threshold torque. - Method according to any of the preceding claims,
characterized in that
the parameter determined by the device (7) is an acceleration value of the output shaft (4), the machine tool (1) being transferred from the first operating mode into the second operating mode when the determined acceleration exceeds a defined negative acceleration value. - Method according to any of the preceding claims,
characterized in that
the parameter determined by the device (7) is a speed of the drive shaft (4), the machine tool (1) being transferred from the first operating mode into the second operating mode if a speed does not reach a defined threshold speed after a specified period of time. - Machine tool (1) having a battery (2), an electric motor (3) which is designed to rotationally drive an output shaft (4) that can be coupled to a tool (5), a control device (6) for actuating the electric motor (3), and a device (7) for determining a parameter,
characterized in that
the control device (6) is provided to operate the machine tool (1) using a method according to any of the preceding claims.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19182847.4A EP3756826A1 (en) | 2019-06-27 | 2019-06-27 | Machine tool and method for operating a machine tool |
PCT/EP2020/066749 WO2020260090A1 (en) | 2019-06-27 | 2020-06-17 | Method for operating a machine tool, and machine tool |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3990224A1 EP3990224A1 (en) | 2022-05-04 |
EP3990224B1 true EP3990224B1 (en) | 2023-08-02 |
Family
ID=67211500
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19182847.4A Withdrawn EP3756826A1 (en) | 2019-06-27 | 2019-06-27 | Machine tool and method for operating a machine tool |
EP20732915.2A Active EP3990224B1 (en) | 2019-06-27 | 2020-06-17 | Machine tool and method for operating a machine tool |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19182847.4A Withdrawn EP3756826A1 (en) | 2019-06-27 | 2019-06-27 | Machine tool and method for operating a machine tool |
Country Status (4)
Country | Link |
---|---|
US (1) | US20220226974A1 (en) |
EP (2) | EP3756826A1 (en) |
CN (1) | CN113811423B (en) |
WO (1) | WO2020260090A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3756827A1 (en) * | 2019-06-27 | 2020-12-30 | Hilti Aktiengesellschaft | Machine tool and method for operating a machine tool |
US20220311235A1 (en) * | 2021-03-23 | 2022-09-29 | Snap-On Incorporated | Current pulse limiting protection |
DE102021121777B4 (en) | 2021-08-23 | 2024-07-11 | Metabowerke Gmbh | Method for operating a drywall screwdriver, computer program and drywall screwdriver |
Family Cites Families (20)
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---|---|---|---|---|
US6424799B1 (en) * | 1993-07-06 | 2002-07-23 | Black & Decker Inc. | Electrical power tool having a motor control circuit for providing control over the torque output of the power tool |
US6479958B1 (en) * | 1995-01-06 | 2002-11-12 | Black & Decker Inc. | Anti-kickback and breakthrough torque control for power tool |
US6286609B1 (en) * | 1999-12-10 | 2001-09-11 | Black & Decker Inc. | AC/DC chopper for power tool |
US7410006B2 (en) * | 2004-10-20 | 2008-08-12 | Black & Decker Inc. | Power tool anti-kickback system with rotational rate sensor |
EP1992064B1 (en) * | 2006-03-03 | 2018-11-21 | Black & Decker, Inc. | Cordless power tool having multi-speed transmission and constant speed in light torque range |
US8316958B2 (en) * | 2006-07-13 | 2012-11-27 | Black & Decker Inc. | Control scheme for detecting and preventing torque conditions in a power tool |
CN101771379B (en) * | 2009-01-04 | 2015-02-04 | 苏州宝时得电动工具有限公司 | Control method of electric tool and electric tool executing same |
RU2534322C2 (en) * | 2009-07-29 | 2014-11-27 | Хитачи Коки Ко., Лтд. | Power pulse hand-held machine |
JP5472736B2 (en) * | 2010-03-31 | 2014-04-16 | 日立工機株式会社 | Electric tool |
DE102009054762A1 (en) * | 2009-12-16 | 2011-06-22 | Hilti Aktiengesellschaft | Control method for a hand-held machine tool and machine tool |
DE102010003977A1 (en) * | 2010-01-02 | 2011-07-07 | Robert Bosch GmbH, 70469 | Overload monitoring and control device electromotor of electric power tool e.g. angle sander, drives electromotor immediately in response to jerking engine operation, according to application of full direct voltage by solid shaft |
WO2011122695A1 (en) * | 2010-03-31 | 2011-10-06 | Hitachi Koki Co., Ltd. | Power tool |
DE102010043032A1 (en) * | 2010-10-28 | 2012-05-03 | Hilti Aktiengesellschaft | Control method for a machine tool and a machine tool |
DE102011102275A1 (en) * | 2011-05-23 | 2012-11-29 | C. & E. Fein Gmbh | Screwdriver and method for controlling a screwdriver |
JP6008319B2 (en) * | 2012-10-12 | 2016-10-19 | パナソニックIpマネジメント株式会社 | Impact rotary tool |
CN104218868B (en) * | 2013-05-30 | 2017-04-19 | 南京德朔实业有限公司 | Rotational speed control method of impact-type fastening tool |
US10011006B2 (en) * | 2013-08-08 | 2018-07-03 | Black & Decker Inc. | Fastener setting algorithm for drill driver |
SE539838C2 (en) * | 2015-10-15 | 2017-12-19 | Atlas Copco Ind Technique Ab | Electric handheld pulse tool |
EP3170624A1 (en) * | 2015-11-17 | 2017-05-24 | HILTI Aktiengesellschaft | Control method for a hand-held machine tool |
CN209125747U (en) * | 2016-02-25 | 2019-07-19 | 米沃奇电动工具公司 | Electric tool with output position sensor |
-
2019
- 2019-06-27 EP EP19182847.4A patent/EP3756826A1/en not_active Withdrawn
-
2020
- 2020-06-17 CN CN202080035141.0A patent/CN113811423B/en active Active
- 2020-06-17 WO PCT/EP2020/066749 patent/WO2020260090A1/en active Application Filing
- 2020-06-17 US US17/615,198 patent/US20220226974A1/en active Pending
- 2020-06-17 EP EP20732915.2A patent/EP3990224B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
WO2020260090A1 (en) | 2020-12-30 |
US20220226974A1 (en) | 2022-07-21 |
CN113811423B (en) | 2023-05-12 |
EP3990224A1 (en) | 2022-05-04 |
EP3756826A1 (en) | 2020-12-30 |
CN113811423A (en) | 2021-12-17 |
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