CN118254113B - Angle grinder control method, angle grinder, electric tool control method and electric tool - Google Patents
Angle grinder control method, angle grinder, electric tool control method and electric tool Download PDFInfo
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- CN118254113B CN118254113B CN202410687820.6A CN202410687820A CN118254113B CN 118254113 B CN118254113 B CN 118254113B CN 202410687820 A CN202410687820 A CN 202410687820A CN 118254113 B CN118254113 B CN 118254113B
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- 238000000034 method Methods 0.000 title claims abstract description 60
- 206010034719 Personality change Diseases 0.000 claims abstract description 108
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000008859 change Effects 0.000 claims description 144
- 238000012545 processing Methods 0.000 claims description 60
- 238000005070 sampling Methods 0.000 claims description 49
- 230000001276 controlling effect Effects 0.000 claims description 33
- 230000004044 response Effects 0.000 claims description 10
- 230000002596 correlated effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract 1
- 230000008569 process Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 230000035939 shock Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B23/00—Portable grinding machines, e.g. hand-guided; Accessories therefor
- B24B23/02—Portable grinding machines, e.g. hand-guided; Accessories therefor with rotating grinding tools; Accessories therefor
- B24B23/028—Angle tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application relates to a control method of an electric tool and the electric tool; the technical proposal comprises: controlling the motor to start; acquiring an initial value of the attitude change quantity detected by the attitude sensing device; adjusting a threshold value of the attitude change amount based on the initial value of the attitude change amount; acquiring a first parameter value of the motor and a real-time value of the attitude change quantity of the angle grinder; when the first parameter value exceeds the threshold range and the real-time value of the attitude change quantity is higher than the threshold value of the adjusted attitude change quantity, the motor is controlled to stop, so that the detection accuracy is improved, and the effect of error control probability is reduced.
Description
Technical Field
The present application relates to a control method for an electric tool and the technical field of electric tools, and in particular, to a control method for an angle grinder, a control method for an electric tool, and an electric tool device and method.
Background
With the development of electric technology, cutting tools have emerged, which mainly include angle grinders and cutters, which mostly cut or grind objects by means of motor-driven tool accessories, i.e. cutting blades or grinding blades.
In the related art, in order to sense a change in the posture of a cutting tool, a gyroscope is often provided in a housing of the cutting tool to detect a rate of change in the speed of the cutting tool in a space, and when the rate of change in the speed of the cutting tool is detected to exceed a predetermined threshold, a certain control such as stopping or the like is performed on the cutting tool so as to process the cutting tool based on the sensed change in the posture of the cutting tool.
However, current gyroscopic-equipped cutting tools are subject to tool attachment limitations during use, which can easily lead to deviations in the detected rate of speed change, resulting in false control.
Disclosure of Invention
Accordingly, it is necessary to provide an angle grinder control method, an angle grinder, an electric tool control method, and an electric tool, for solving the problem of erroneous control of a cutting tool.
In order to solve the technical problems, the application is realized as follows:
in a first aspect, the present application provides a control method for an angle grinder, the angle grinder including a motor, a control device and a gesture sensing device, the control device being configured to control rotation of the motor, the control method being performed by the control device; the control method comprises the following steps:
Controlling the motor to start;
Acquiring an initial value of the attitude change quantity detected by the attitude sensing device;
Adjusting a threshold value of the attitude change amount based on the initial value of the attitude change amount;
acquiring a first parameter value of the motor and a real-time value of the attitude change quantity of the angle grinder;
And when the first parameter value exceeds a threshold range and the real-time value of the attitude change quantity is higher than the threshold value of the adjusted attitude change quantity, controlling the motor to stop.
In one or more embodiments, the posture change amounts include a first direction posture change amount, a second direction posture change amount perpendicular to the first direction posture change amount, and a third direction posture change amount perpendicular to the first direction posture change amount, the second direction posture change amount, respectively;
When the first parameter value exceeds a threshold range and the real-time value of the attitude change amount is higher than the threshold value of the adjusted attitude change amount, controlling the motor to stop comprises:
And when the first parameter value exceeds a threshold range, the real-time value of the first direction posture change amount is higher than the adjusted threshold value of the first direction posture change amount, and/or the real-time value of the second direction posture change amount is higher than the adjusted threshold value of the second direction posture change amount, and/or the real-time value of the third direction posture change amount is higher than the adjusted threshold value of the third direction posture change amount, controlling the motor to stop.
In one or more embodiments, the obtaining the initial value of the posture change amount of the tool accessory detected by the posture sensing device includes:
Acquiring the gesture variation detected by the gesture sensing device within a preset time;
and taking the maximum value of the attitude change quantity within the preset time as the initial value of the attitude change quantity.
In one or more embodiments, the obtaining a first parameter value of the motor includes:
Acquiring a parameter sampling value of the motor;
and carrying out delay processing on the parameter sampling value to obtain a first parameter value.
In one or more embodiments, the delay processing the parameter sampling value to obtain a first parameter value includes:
acquiring a first parameter value of a history;
And processing the current first parameter value based on the parameter sampling value and the historical first parameter value.
In one or more embodiments, the processing based on the parameter sampling value and the historical first parameter value to obtain the current first parameter value includes:
obtaining the current first parameter value according to a first value and a second value positively correlated with the first value;
The first value is a parameter sampling value of a first set weight, and the second value is a first parameter value of a history of a second set weight; the first set weight is smaller than the second set weight.
In one or more embodiments, the adjusting the threshold of the attitude change based on the initial value of the attitude change amount includes:
obtaining a threshold value of the attitude change quantity according to the initial value of the attitude change quantity and the influence factor;
wherein the impact factor is greater than 1; the parameter value is a current value or a rotation speed value.
In a second aspect, the present application provides an angle grinder comprising:
a housing;
A motor accommodated in the housing;
A grinding plate driven by the motor;
and the gesture sensing device is at least partially accommodated by the shell and is used for detecting the gesture change amount of the shell.
The work detection device is used for detecting the working parameters of the motor and outputting working signals;
a control device for outputting a control signal in response to the processing result of the working signal and the attitude change amount;
a power supply device for selectively supplying electric power to the motor in response to the control signal;
the control device is used for executing the control method according to any embodiment.
In one or more embodiments, the control device includes a parameter processing module, where the parameter processing module is configured to delay the parameter sampling value;
the parameter processing module is also used for storing the historical value of the first parameter value and calculating the current first parameter value.
In one or more embodiments, the control device further includes a gesture change amount processing module for adjusting a threshold value of the gesture change amount based on an initial value of the gesture change amount.
In a third aspect, the present application provides a control method for an electric tool including a motor, a control device for controlling rotation of the motor, and a posture sensing device, the control method being performed by the control device; the control method comprises the following steps:
Controlling the motor to start;
Acquiring an initial value of the attitude change quantity detected by the attitude sensing device;
Adjusting a threshold value of the attitude change amount based on the initial value of the attitude change amount;
acquiring a first parameter value of the motor and a real-time value of an attitude change amount of the electric tool;
And when the first parameter value exceeds a threshold range and the real-time value of the attitude change quantity is higher than the threshold value of the adjusted attitude change quantity, controlling the motor to stop.
In one or more embodiments, the posture change amounts include a first direction posture change amount, a second direction posture change amount perpendicular to the first direction posture change amount, and a third direction posture change amount perpendicular to the first direction posture change amount, the second direction posture change amount, respectively;
When the first parameter value exceeds a threshold range and the real-time value of the attitude change amount is higher than the threshold value of the adjusted attitude change amount, controlling the motor to stop comprises:
And when the first parameter value exceeds a threshold range, the real-time value of the first direction posture change amount is higher than the adjusted threshold value of the first direction posture change amount, and/or the real-time value of the second direction posture change amount is higher than the adjusted threshold value of the second direction posture change amount, and/or the real-time value of the third direction posture change amount is higher than the adjusted threshold value of the third direction posture change amount, controlling the motor to stop.
In one or more embodiments, the obtaining the initial value of the posture change amount of the tool accessory detected by the posture sensing device includes:
Acquiring the gesture variation detected by the gesture sensing device within a preset time;
and taking the maximum value of the attitude change quantity within the preset time as the initial value of the attitude change quantity.
In one or more embodiments, the obtaining a first parameter value of the motor includes:
Acquiring a parameter sampling value of the motor;
and carrying out delay processing on the parameter sampling value to obtain a first parameter value.
In one or more embodiments, the delay processing the parameter sampling value to obtain a first parameter value includes:
acquiring a first parameter value of a history;
And processing the current first parameter value based on the parameter sampling value and the historical first parameter value.
In one or more embodiments, the processing based on the parameter sampling value and the historical first parameter value to obtain the current first parameter value includes:
obtaining the current first parameter value according to a first value and a second value positively correlated with the first value;
The first value is a parameter sampling value of a first set weight, and the second value is a first parameter value of a history of a second set weight; the first set weight is smaller than the second set weight.
In one or more embodiments, the adjusting the threshold of the attitude change based on the initial value of the attitude change amount includes:
obtaining a threshold value of the attitude change quantity according to the initial value of the attitude change quantity and the influence factor;
wherein the impact factor is greater than 1; the parameter value is a current value or a rotation speed value.
In a fourth aspect, the present application provides a power tool comprising:
a housing;
A motor accommodated in the housing;
A tool attachment driven by the motor;
and the gesture sensing device is at least partially accommodated by the shell and is used for detecting gesture change amounts of the tool accessory and the shell.
The work detection device is used for detecting the working parameters of the motor and outputting working signals;
a control device for outputting a control signal in response to the processing result of the working signal and the attitude change amount;
a power supply device for selectively supplying electric power to the motor in response to the control signal;
the control device is used for executing the control method according to any embodiment.
In one or more embodiments, the control device includes a parameter processing module, where the parameter processing module is configured to delay the parameter sampling value;
the parameter processing module is also used for storing the historical value of the first parameter value and calculating the current first parameter value.
In one or more embodiments, the control device further includes a gesture change amount processing module for adjusting a threshold value of the gesture change amount based on an initial value of the gesture change amount.
In the embodiment of the application, the threshold value of the attitude change amount is adjusted by acquiring the initial value of the attitude change amount detected by the attitude sensing device, so that the motor is controlled more accurately.
Drawings
FIG. 1 is a flow chart of a control method of an electric tool according to an embodiment of the application;
FIG. 2 is a schematic diagram of a power tool according to an embodiment of the present application;
fig. 3 is a schematic control logic diagram of a power tool according to an embodiment of the application.
Description of the drawings: 201. a housing; 202. a motor; 203. a tool attachment; 204. a gesture sensing device; 205. a work detection device; 206. a control device; 207. a power supply device; 208. a parameter processing module; 209. and the attitude change amount processing module.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Referring to fig. 1, fig. 1 shows a flowchart of a control method of a power tool, for controlling a power tool, particularly a power tool with cutting and grinding functions, such as an angle grinder and a cutter, in an embodiment of the present application. The power tool generally includes a tool accessory, a motor, a control device, and a gesture sensing device, wherein the control device can be used for controlling the motor to drive the tool accessory to rotate, and the gesture sensing device can be a three-axis motion sensor or a three-axis gyroscope, and is used for detecting the motion acceleration of the power tool in a three-dimensional space. The control method may be based on the control apparatus and may be executed by the control apparatus as an execution subject. An embodiment of the present application provides a control method of an electric tool, including the steps of:
step 110, control motor start.
Specifically, the control device may control the motor to start after acquiring the switch signal to be turned on. The switching signal may be an analog or digital value, and may be output by an operator operation and may be acquired by the control device. When the motor is started, the motor is in an operating state, and it is understood that the motor will generally first enter an unloaded state without load, and after the power tool contacts the working surface, the motor will be turned into a loaded state, and the operating current or the rotational speed of the motor will be changed compared with the unloaded state.
Step 120, obtaining an initial value of the posture change amount detected by the posture sensing device.
Specifically, the control device may preferably obtain an initial value of the posture change amount detected by the posture sensing device after the motor is controlled to start, where the initial value of the posture change amount may be caused by rotation of the tool accessory under the driving of the motor in the idle state of the electric tool, and the tool accessory may be a disc-shaped accessory such as a grinding disc, a cutting disc, or the like. The initial values of the measured attitude change amounts are different after the tool attachment is mounted on the output shaft due to the reasons of the disc-shaped attachment such as the centrality, the uneven quality, and the wear degree.
Step 130, adjusting the threshold value of the posture change amount based on the initial value of the posture change amount.
Specifically, the control device may process the initial value of the attitude change amount after obtaining the initial value of the attitude change amount detected by the sensing device, and adjust to obtain the threshold value of the attitude change amount, where the threshold value of the attitude change amount is used as a reference for subsequent determination.
Step 140, obtaining a first parameter value of the motor and a real-time value of an attitude change amount of the electric tool.
Specifically, the control device may acquire the first parameter value of the motor and the real-time value of the attitude change amount of the electric tool after adjusting the threshold value of the attitude change amount based on the initial value of the attitude change amount. The first parameter value of the motor can be obtained by an additional detection device or by reading the parameter of the motor, and the real-time value of the posture change quantity of the electric tool can be obtained by a posture sensing device. In particular, step 140 may precede step 130 or 120, or even step 110, and is not limited thereto, except that step 140 is placed after step 130 for resource saving.
And step 150, controlling the motor to stop when the first parameter value exceeds the threshold range and the real-time value of the posture change amount is higher than the threshold value of the adjusted posture change amount.
Specifically, the control device may determine, after acquiring the first parameter value of the motor and the real-time value of the posture change amount of the electric tool, based on the first parameter value of the motor and the real-time value of the posture change amount of the electric tool; when the first parameter value exceeds the threshold range and the real-time value of the attitude change amount is higher than the adjusted threshold value of the attitude change amount, the control device can control the motor to stop. When the first parameter value exceeds the threshold range, the motor is in a relatively empty state; the attachment of the electric tool may be separated from the working surface, the working attachment may not be applied to the working surface by the operator, or the power of the motor may not be transmitted to the working attachment, that is, the load of the working attachment may not be transmitted to the motor. When the real-time value of the posture change quantity is higher than the threshold value of the regulated posture change quantity, the electric tool is subjected to severe impact, and the electric tool falls to the ground to cause acceleration shock, so that the motor is controlled to stop, and the probability of danger is reduced. The first parameter may be a current value or a rotation speed value, and when the current value is the parameter value, the first parameter value exceeding the threshold range means that the first current value is lower than a predetermined value, and when the rotation speed value is the parameter value, the first parameter value exceeding the threshold range means that the first rotation speed value is higher than the predetermined value.
In order to eliminate the influence of the incidental factors on the rotation speed, in particular, when the parameter value is the rotation speed value, the control device controls the motor to stop when detecting that the first rotation speed value is higher than the predetermined value a predetermined number of times and the real-time value of the posture change amount is higher than the threshold value of the adjusted posture change amount within the predetermined time. The predetermined time and the predetermined number of times may be set based on an empirical value, and when the first rotation speed value at which the occurrence of the accident in the predetermined number of times is lower than the predetermined value, the counting may be recounted, or the first rotation speed value at this time is lower than the predetermined value may be eliminated, and the counting may be continued.
In order to solve the processing resources of the control device, preferably, the posture change amount may include a first direction posture change amount, a second direction posture change amount perpendicular to the first direction posture change amount, and a third direction posture change amount perpendicular to the first direction posture change amount and the second direction posture change amount, respectively. The connection line between the tool accessory and the gesture sensing device can be defined manually as the direction of the gesture variable quantity of the first direction, and other directions can be defined.
Under this condition, the step 150 may include:
When the first parameter value exceeds the threshold range and the real-time value of the first direction posture change amount is higher than the adjusted threshold value of the first direction posture change amount and/or the real-time value of the second direction posture change amount is higher than the adjusted threshold value of the second direction posture change amount and/or the real-time value of the real-time third direction posture change amount is higher than the adjusted threshold value of the third direction posture change amount, the motor can be controlled to stop.
Specifically, on the premise that the posture change amount includes three direction posture change amounts, when the first parameter value exceeds the threshold range and the real-time value of the first direction posture change amount is higher than the adjusted threshold value of the first direction posture change amount and/or the real-time value of the second direction posture change amount is higher than the adjusted threshold value of the second direction posture change amount and/or the real-time value of the real-time third direction posture change amount is higher than the adjusted threshold value of the third direction posture change amount, the motor can be controlled to stop. Preferably, in the embodiment of the present application, when the first parameter value exceeds the threshold range and the real-time value of the first direction posture change amount is higher than the adjusted threshold value of the first direction posture change amount or the real-time value of the second direction posture change amount is higher than the adjusted threshold value of the second direction posture change amount or the real-time value of the real-time third direction posture change amount is higher than the adjusted threshold value of the third direction posture change amount, the motor is controlled to stop. And selecting any one of the three direction posture change quantity real-time values to exceed a threshold value, namely judging that the real-time value of the posture change quantity is higher than the adjusted posture change quantity threshold value, and controlling the motor to stop. Of course, it can be understood that any two directions in three directions can be selected for combination and the posture change amount in the other direction can be matched for judgment, and the combination amount of the posture change amounts in the three directions can also be selected for judgment.
To facilitate more accurate setting of the initial value of the attitude change amount, accordingly, step 120 may include the following processes:
Step one, acquiring the gesture change amount detected by a gesture sensing device in a preset time.
Specifically, the control device may obtain, in advance, the posture change amount detected by the posture sensing device in the predetermined time during the processing in step 120. The predetermined time may be preset and configured in the control device, and may be 1s, or may be other time, and in the embodiment of the present application, 1s is preferred. The control device collects and stores the attitude change quantity detected by the attitude sensing device within a preset time after the motor is started. Of course, this does not mean that the posture change amount detected by the subsequent posture sensing device is not collected, but the posture change amount within a predetermined time is collected to be processed as an initial value of the posture change amount. The predetermined time selection here generally recognizes that the operator has not yet applied the tool attachment to the work surface within the predetermined time, and therefore the operating parameter value at this time generally does not exceed the threshold range.
And step two, taking the maximum value of the attitude change quantity within a preset time as the initial value of the attitude change quantity.
Specifically, the control device may use the maximum value of the posture change amount in the predetermined time as the initial value of the posture change amount after acquiring the posture change amount detected by the posture sensing device in the predetermined time. The process of sensing the posture change amount by the posture sensing device is according to a certain sampling period and sampling frequency, so that the posture change amount sensed by the posture sensing device obtained by the control device can be a series of numerical values in a preset time. The control means may compare the values of the series of posture change amounts to obtain a maximum value as an initial value of the posture change amount. The maximum value herein refers to the maximum value of the amount of change in posture of the tool attachment due to vibration caused by the difference in the tool attachment when the tool attachment is not applied to the work surface. The maximum value is selected in consideration of the fact that the threshold value of the subsequent posture change amount needs to be adjusted based on the initial value of the posture change amount, and the threshold value of the posture change amount is inevitably larger than the adjusted threshold value of the posture change amount when the collision actually occurs, so that the maximum value is selected to prevent the threshold value of the posture change amount from being set too low to trigger protection.
To facilitate adjustment of the threshold for the attitude change based on the initial value of the attitude change, accordingly, step 130 may include:
and obtaining a threshold value of the attitude change quantity according to the initial value of the attitude change quantity and the influence factor.
The influence factor can be the influence on the initial value of the posture change amount in the working process and the operator holding motion process, wherein the influence factor is larger than 1, namely, the influence factor is properly enlarged on the basis of the initial value of the posture change amount, can be 1.1 or 1.2, and is set according to experience and test results of the operator.
Specifically, when the threshold value of the attitude change amount is adjusted based on the initial value of the attitude change amount, the control device may obtain the attitude change threshold value according to the initial value of the attitude change amount and the influence factor. The control device can multiply the initial value of the attitude change quantity by the influence factor to obtain the threshold value of the attitude change quantity, so that the attitude change quantity can be conveniently compared and judged. The value of the influence factor can be selected to be proper according to the attitude change amount obtained by testing and experience.
In order to process the parameter value of the motor, eliminating errors generated in the process of controlling the electric tool by the control device; accordingly, step 130 may specifically include:
and acquiring a parameter sampling value of the motor.
Specifically, the control device may obtain a parameter sampling value of the motor in advance during the process of obtaining the first parameter value of the motor, where the parameter sampling value may be detected by an additional parameter detecting device, or may directly obtain an internal parameter of the motor by the control device.
And carrying out delay processing on the parameter sampling value to obtain a first parameter value.
Specifically, the control device may perform delay processing on the parameter sampling value after acquiring the parameter sampling value of the motor, to obtain the first parameter value. The first parameter value after delay processing has delay of a certain preset time relative to the sampling value, and the peak value is also reduced, so that the parameter is smoother. When the parameter value is a current value, the first current value processed at this time can be participated in the control of the control device, and the shake of the motor caused by the sudden increase and the sudden decrease of the working current can be reduced. In the control process of the electric tool, a constant speed and constant work process exists, and in the initial stage of starting, the motor is in a constant speed starting process; under load, the motor is in constant work process. When the motor is in constant power, if an increase in load is encountered, the rotational speed needs to be reduced to increase torque when the constant power is required to be maintained. If the operating current is changed frequently, i.e. suddenly high and suddenly low, the motor frequently switches torque, which results in jerk. The processed operating current surge is suppressed, thereby reducing jitter in the operation of the power tool.
In order to introduce the historical factors in the working process of the electric tool into the working power processing process, the step of carrying out delay processing on the parameter sampling value to obtain a first parameter value specifically comprises the following steps:
a first parameter value of the history is obtained.
Specifically, the control device may acquire the historical first parameter value in advance before processing the parameter sample value. The first parameter value of the history is stored in advance in the data storage unit, for example, the storage device, and the first parameter value of the history may be the first parameter value of the previous cycle used by the control device or the first parameter value of the previous cycles used by the control device.
And processing the first parameter value based on the parameter sampling value and the history to obtain a current first parameter value.
Specifically, the control device may obtain the current first parameter value based on the parameter sampling value and the historical first parameter value after obtaining the historical first parameter value. And under the current moment, comprehensively processing the parameter sampling value and the historical first parameter value to obtain the current first parameter value, so that the historical factors are fully introduced into the processing process, and the influence of the parameter sampling value at the current moment on the first parameter value is reduced.
In order to adjust the influence of the history factors on the parameter values, the processing of the current first parameter value based on the parameter sampling value and the history first parameter value may include the following processes:
And obtaining the current first parameter value according to the first value and the second value positively correlated with the first value.
Specifically, the first value is a parameter sampling value of a first set weight, and the second value is a first parameter value of a history of a second set weight, where the first set weight and the second set weight may be a scaling factor less than 1. The sum of the first set weight and the second set weight is 1, and the positive correlation is the added coefficient in the embodiment of the present application. In the embodiment of the present application, the influence of the current first parameter value on the first parameter value of the previous period is taken as an example for explanation. The formula for characterizing the first parameter value may be C (N) =a×c (N-1) +b×Δc (N). Wherein N is a periodic time sequence point of sampling and is a positive integer; c (N-1) may be the first parameter value of the last cycle, and ΔC (N) is the parameter sample value. a is the weight corresponding to the first parameter value of the previous period, namely the second set weight, and b is the weight corresponding to the parameter sampling value, namely the first set weight. When n=1, the value of C (N-1) is set to 0.
The first set weight is smaller than the second set weight, so that the influence degree of the historical first parameter value on the first parameter value is larger than that of the parameter sampling value. In the embodiment of the present application, a historical value of the first parameter value is calculated in a single calculation process of the current first parameter value, and it is understood that two or more historical values of the first parameter value may be calculated in a single calculation process of the current first parameter value. At this time, when the first parameter value of the history does not have a value corresponding thereto, the first parameter value of the history takes 0. Specifically, the parameter value may be a current value or a rotational speed value.
In order to facilitate stopping the motor, the power supply of the motor can be cut off, and reverse current can be applied to the motor after the power supply of the motor is cut off, so that the motor can be promoted to stop rapidly, and the motor can be stopped rapidly.
Referring to fig. 2, fig. 2 is a schematic main body diagram of an electric tool according to an embodiment of the present application, fig. 3 is a schematic control logic diagram of the electric tool according to an embodiment of the present application, and an embodiment of the present application is described by taking an angle grinder as an example, and in some embodiments, the electric tool includes a housing 201, a motor 202, a tool attachment 203, a gesture sensing device 204, a work detecting device 205, a control device 206, and a power supply device 207, wherein the motor 202 is accommodated in the housing 201. The tool attachment 203 may be a disk-like attachment such as a blade, a cutting blade, etc., and in the embodiment of the present application, a blade is preferred. Tool attachment 203 may be mounted on an output shaft of motor 202 or an output shaft of a transmission to which motor 202 is coupled and driven in rotation via motor 202.
The gesture sensing apparatus 204 is installed in the housing 201 or on the housing 201, at least partially wrapped in the housing 201, and is used to detect a gesture change amount of the housing 201, where the gesture change amount may be generated by vibration of the working accessory, or may be generated by impact or external force applied to the housing 201. The operation detection device 205 may be installed in the housing 201 or may be a part of the control device 206, and the operation detection device 205 is configured to detect an operation parameter of the motor 202 and output an operation signal, which may be a current value, a rotational speed value, or the like.
The control device 206 may be installed in the housing 201 and at least partially accommodated by the housing 201, and the control device 206 may output a control signal in response to the processing result of the operation signal and the posture change amount. The power supply device 207 may be an ac power supply or a dc power supply, and the power supply device 207 may be mounted on the housing 201, and the power supply device 207 may be capable of selectively supplying power to the motor 202 based on a control signal in response to the control signal, and the control device 206 controls the start and stop of the motor 202 by controlling the power supply device 207.
In some embodiments, the control device 206 comprises a parameter processing module 208, the parameter processing module 208 being configured to delay processing of the parameter sample values and also to store a history of the first parameter values for calculating a current first parameter value.
In some embodiments, the control device 206 further includes a gesture change amount processing module 209, and the gesture change amount processing module 209 is configured to adjust a threshold value of the gesture change amount based on an initial value of the gesture change amount, so as to perform comparison and control.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (14)
1. A control method of an angle grinder for an angle grinder, the angle grinder comprising a motor, a control device and a gesture sensing device, the control device being used for controlling the motor to rotate, the control method being performed by the control device; it is characterized in that the method comprises the steps of,
The control method comprises the following steps:
Controlling the motor to start;
Acquiring an initial value of the attitude change quantity detected by the attitude sensing device;
Adjusting a threshold value of the attitude change amount based on the initial value of the attitude change amount;
acquiring a first parameter value of the motor and a real-time value of the attitude change quantity of the angle grinder;
Whenever the first parameter value exceeds a threshold range and the real-time value of the attitude change amount is higher than the adjusted threshold value of the attitude change amount, controlling the motor to stop;
Wherein, the first parameter value exceeding the threshold value range means that the first current value is lower than a preset value, and when the first parameter value exceeds the threshold value range, the motor is in a relatively empty state; and meanwhile, when the real-time value of the attitude change quantity is higher than the adjusted attitude change quantity threshold value, judging that the angle grinder falls.
2. The method for controlling an angle grinder according to claim 1, wherein,
The attitude change amount comprises a first direction attitude change amount, a second direction attitude change amount perpendicular to the first direction attitude change amount and a third direction attitude change amount perpendicular to the first direction attitude change amount and the second direction attitude change amount respectively;
When the first parameter value exceeds a threshold range and the real-time value of the attitude change amount is higher than the threshold value of the adjusted attitude change amount, controlling the motor to stop comprises:
And when the first parameter value exceeds a threshold range, the real-time value of the first direction posture change amount is higher than the adjusted threshold value of the first direction posture change amount, and/or the real-time value of the second direction posture change amount is higher than the adjusted threshold value of the second direction posture change amount, and/or the real-time value of the third direction posture change amount is higher than the adjusted threshold value of the third direction posture change amount, controlling the motor to stop.
3. The method for controlling an angle grinder according to claim 1, wherein,
The obtaining the initial value of the gesture change amount detected by the gesture sensing device comprises the following steps:
Acquiring the gesture variation detected by the gesture sensing device within a preset time;
Taking the maximum value of the attitude change quantity within the preset time as the initial value of the attitude change quantity;
the obtaining a first parameter value of the motor includes:
Acquiring a parameter sampling value of the motor;
Carrying out delay processing on the parameter sampling value to obtain a first parameter value;
the step of performing delay processing on the parameter sampling value to obtain a first parameter value includes:
acquiring a first parameter value of a history;
processing based on the parameter sampling value and the historical first parameter value to obtain a current first parameter value;
The processing of the first parameter value based on the parameter sampling value and the history to obtain the current first parameter value includes:
obtaining the current first parameter value according to a first value and a second value positively correlated with the first value;
The first value is a parameter sampling value of a first set weight, and the second value is a first parameter value of a history of a second set weight; the first set weight is smaller than the second set weight;
The adjusting the threshold value of the posture change based on the initial value of the posture change amount includes:
obtaining a threshold value of the attitude change quantity according to the initial value of the attitude change quantity and the influence factor;
wherein the impact factor is greater than 1.
4. An angle grinder is characterized in that,
Comprising the following steps:
a housing;
A motor accommodated in the housing;
A grinding plate driven by the motor;
The gesture sensing device is at least partially accommodated by the shell and is used for detecting the gesture change amount of the shell;
The work detection device is used for detecting the working parameters of the motor and outputting working signals;
a control device for outputting a control signal in response to the processing result of the working signal and the attitude change amount;
a power supply device for selectively supplying electric power to the motor in response to the control signal;
The control device is adapted to perform the control method according to any one of claims 1-3.
5. The angle grinder of claim 4, wherein the angle grinder is,
The control device is also used for acquiring a parameter sampling value of the motor;
The control device comprises a parameter processing module, wherein the parameter processing module is used for carrying out delay processing on the parameter sampling value to obtain a first parameter value;
the parameter processing module is also used for storing the historical value of the first parameter value and calculating the current first parameter value;
The control device further comprises a gesture change amount processing module, wherein the gesture change amount processing module is used for adjusting a threshold value of the gesture change amount based on an initial value of the gesture change amount.
6. A control method of an electric tool for an electric tool, the electric tool including a motor, a control device for controlling rotation of the motor, and a posture sensing device, the control method being performed by the control device; it is characterized in that the method comprises the steps of,
The control method comprises the following steps:
Controlling the motor to start;
Acquiring an initial value of the attitude change quantity detected by the attitude sensing device;
Adjusting a threshold value of the attitude change amount based on the initial value of the attitude change amount;
acquiring a first parameter value of the motor and a real-time value of an attitude change amount of the electric tool;
Whenever the first parameter value exceeds a threshold range and the real-time value of the attitude change amount is higher than the adjusted threshold value of the attitude change amount, controlling the motor to stop;
Wherein, the first parameter value exceeding the threshold value range means that the first current value is lower than a preset value, and when the first parameter value exceeds the threshold value range, the motor is in a relatively empty state; and meanwhile, when the real-time value of the posture change amount is higher than the adjusted threshold value of the posture change amount, judging that the electric tool falls.
7. The method for controlling a power tool according to claim 6, wherein,
The attitude change amount comprises a first direction attitude change amount, a second direction attitude change amount perpendicular to the first direction attitude change amount and a third direction attitude change amount perpendicular to the first direction attitude change amount and the second direction attitude change amount respectively;
When the first parameter value exceeds a threshold range and the real-time value of the attitude change amount is higher than the threshold value of the adjusted attitude change amount, controlling the motor to stop comprises:
And when the first parameter value exceeds a threshold range, the real-time value of the first direction posture change amount is higher than the adjusted threshold value of the first direction posture change amount, and/or the real-time value of the second direction posture change amount is higher than the adjusted threshold value of the second direction posture change amount, and/or the real-time value of the third direction posture change amount is higher than the adjusted threshold value of the third direction posture change amount, controlling the motor to stop.
8. The method for controlling a power tool according to claim 6, wherein,
The obtaining the initial value of the gesture change amount detected by the gesture sensing device comprises the following steps:
Acquiring the gesture variation detected by the gesture sensing device within a preset time;
and taking the maximum value of the attitude change quantity within the preset time as the initial value of the attitude change quantity.
9. The method for controlling a power tool according to claim 6, wherein,
The obtaining a first parameter value of the motor includes:
Acquiring a parameter sampling value of the motor;
and carrying out delay processing on the parameter sampling value to obtain a first parameter value.
10. The method for controlling a power tool according to claim 9, wherein,
The step of performing delay processing on the parameter sampling value to obtain a first parameter value includes:
acquiring a first parameter value of a history;
And processing the current first parameter value based on the parameter sampling value and the historical first parameter value.
11. The method for controlling a power tool according to claim 10, wherein,
The processing of the first parameter value based on the parameter sampling value and the history to obtain the current first parameter value includes:
obtaining the current first parameter value according to a first value and a second value positively correlated with the first value;
The first value is a parameter sampling value of a first set weight, and the second value is a first parameter value of a history of a second set weight; the first set weight is smaller than the second set weight.
12. The method for controlling a power tool according to claim 6, wherein,
The adjusting the threshold value of the posture change based on the initial value of the posture change amount includes:
obtaining a threshold value of the attitude change quantity according to the initial value of the attitude change quantity and the influence factor;
wherein the impact factor is greater than 1.
13. An electric tool, which is characterized in that,
Comprising the following steps:
a housing;
A motor accommodated in the housing;
A tool attachment driven by the motor;
the gesture sensing device is at least partially accommodated by the shell and is used for detecting gesture change amounts of the tool accessory and the shell;
The work detection device is used for detecting the working parameters of the motor and outputting working signals;
a control device for outputting a control signal in response to the processing result of the working signal and the attitude change amount;
a power supply device for selectively supplying electric power to the motor in response to the control signal;
the control device is adapted to perform the control method according to any one of claims 6-12.
14. The power tool of claim 13, wherein the power tool comprises a power tool,
The control device is also used for acquiring a parameter sampling value of the motor;
The control device comprises a parameter processing module, wherein the parameter processing module is used for carrying out delay processing on the parameter sampling value to obtain a first parameter value;
the parameter processing module is also used for storing the historical value of the first parameter value and calculating the current first parameter value;
The control device further comprises a gesture change amount processing module, wherein the gesture change amount processing module is used for adjusting a threshold value of the gesture change amount based on an initial value of the gesture change amount.
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| JP2021058942A (en) * | 2019-10-03 | 2021-04-15 | 株式会社マキタ | Work machine |
| US12090592B2 (en) * | 2021-06-15 | 2024-09-17 | Milwaukee Electric Tool Corporation | Drop detection in power tools |
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| CN113552997A (en) * | 2021-06-30 | 2021-10-26 | 青岛经济技术开发区海尔热水器有限公司 | Parameter variation trend determination method, device, equipment and storage medium |
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