Method for operating a hand-guided machining tool and hand-guided machining tool

Abstract

The invention relates to a method for operating a hand-guided processing tool (1), wherein the processing tool (1) has: a movable processing tool device (2); a shaft (3), wherein the shaft (3) is designed to move the processing tool device (2); a drive motor system (4), wherein the drive motor system (4) is designed to drive the shaft (3), wherein the processing tool device (2), the shaft (3) and the drive motor system (4) at least partially form at least a part of a system (5) that can at least vibrate in rotation; and a controllable vibration damping device (6), wherein the vibration damping device (6) is at least designed to dampen and / or reduce the excitation of the system (5) that can vibrate in rotation and / or at least one vibration (RS) that can be excited by the system (5), wherein the method comprises the following steps: a) operating the drive motor system (4) for driving the shaft (3) for moving the processing tool device (2); and b) controlling the vibration damping device (6) during operation in such a way that at least the vibration (RS) is damped and / or the excitation of the vibration (RS) is reduced.

Description

Technical Field

[0001] The invention relates to a method for operating a hand-guided machining tool and a hand-guided machining tool. Summary of the Invention

[0002] The object of the present invention is to provide a method for operating a hand-guided machining tool and a hand-guided machining tool which respectively have improved properties, in particular achieving a high level of comfort for the user of the machining tool.

[0003] The present invention achieves this object by providing a method according to the present invention and a hand-guided processing tool according to the present invention. Advantageous developments and / or embodiments of the present invention are described in the remaining parts of this disclosure.

[0004] The (particularly automated) method according to the invention is constructed, configured, or provided for (particularly automated) operation of a hand-guided machining tool. The machining tool comprises or has a movable (particularly rotatable or rotational) machining tool device, a (particularly rotatable or rotational) shaft, a drive motor system, and a (particularly electrically) controllable (particularly electrically, particularly electronic) vibration damping device. The shaft is constructed or configured to move (particularly rotate or rotationally) the machining tool device (particularly at least a portion of the machining tool device). The drive motor system is constructed or configured to drive the shaft, particularly to rotate or rotationally move the shaft. The machining tool device, the shaft, and the drive motor system (particularly each) at least partially form at least part of a system capable of at least rotational, rotational, or torsional vibration. The vibration damping device is at least designed or configured to (particularly indirectly and / or directly) dampen and / or (particularly even) (particularly indirectly and / or directly) reduce, in particular avoid excitation (particularly not excitation) of at least one vibration (particularly rotational, rotary or torsional vibration, in particular the amplitude of the vibration) of a rotationally vibrating system and / or can or can be (particularly indirectly and / or directly) excited by the rotationally vibrating system. The method comprises or includes the following steps: a) (particularly by a user) operating, in particular automatically operating, a drive motor system for a drive shaft for moving a machining tool device. b) during or simultaneously with operation or step a), controlling (particularly automatically controlling) the vibration damping device in such a way that at least the vibration is damped and / or (particularly even) the excitation of the vibration is reduced (in particular avoided, in particular not excited).

[0005] This (particularly the weakening and / or reduction, in particular the avoidance of the excitation of vibrations) achieves low or even no load on the user, in particular on the user's hand joints. Thus, this achieves high comfort for the user.

[0006] In particular, the hand-guided processing tool can be a handheld processing tool. Additionally or alternatively, a hand-guided, in particular handheld processing tool can mean that the processing tool can have a mass of at most 50 kilograms (kg), in particular at most 20 kg, in particular at most 10 kg, in particular at most 5 kg, and / or at least 1 kg, in particular at least 2 kg. Furthermore, additionally or alternatively, the processing tool can be a gardening tool, a forestry tool, and / or a construction tool.

[0007] The working tool device may be a gardening working tool device, a forestry working tool device and / or a construction working tool device. Additionally or alternatively, the working tool device may be linearly movable or translationally movable.

[0008] The shaft and the processing tool device can be mechanically connected to each other in a kinematic manner. Additionally or alternatively, the shaft can be a rigid shaft or a flexible shaft.

[0009] The drive motor system and the shaft may be mechanically kinematically connected to one another.

[0010] The machining tool device can be arranged in the area of the shaft, in particular the lower and / or first end, in particular at the end of the shaft, and / or the drive motor system can be arranged in the area of the shaft, in particular the other and / or upper and / or second, in particular opposite end, in particular at the end of the shaft.

[0011] The machining tool device (in particular at least partially as at least part of the first mass), the shaft (in particular at least partially as at least part of a rod spring, in particular a torsion bar spring) and the drive motor system (in particular at least partially as at least part of the second mass) can form at least part of a dual mass vibrator or a dual mass vibration system and / or the system that can at least rotate and vibrate can be a dual mass vibration system and / or the vibration can be a vibration of a dual mass vibrator or a dual mass vibration system.

[0012] At least the system capable of rotational vibration, in particular the shaft, can additionally be capable of bending vibration. Additionally or alternatively, the vibration can be a bending vibration. Further additionally or alternatively, the vibration can be a natural vibration and / or a resonant vibration.

[0013] The vibrations can be excited and / or excited (in particular indirectly and / or directly) by the operation of the drive motor system and / or by external disturbances of the movement of the processing tool device, such as hitting the processing tool device, such as hitting the processing tool device by the ground or a stone, at least without controlling the vibration damping device.

[0014] In a development of the invention, the processing tool is a cutting tool, in particular a brush cutter or a motorized scythe or an edge trimmer. Additionally or alternatively, the processing tool device is a cutting tool device, in particular the processing tool device comprises or has a cutting wire, a cutting knife or a cutting blade, in particular with at least one cutting edge and / or with at least one cutting tooth. In such a processing tool and / or such a processing tool device, the vibrations can be excited and / or excited particularly strongly without actuating the vibration damping device due to the operation of the drive motor system and / or due to external interference with the movement of the processing tool device. Therefore, it is particularly advantageous for such a processing tool and / or such a processing tool device to weaken and / or reduce, in particular avoid, the excitation of vibrations.

[0015] In a refinement of the present invention, the processing device includes or has a (particularly movable) transmission mechanism. The transmission mechanism is constructed or configured to move, especially rotate or rotate, a processing tool device, especially at least a part of the processing tool device, and the shaft is constructed or configured to move, especially rotate or rotate, a transmission mechanism, especially at least a part of the transmission mechanism. Additionally or alternatively, the transmission mechanism is constructed or configured to drive, especially rotate or rotate the shaft, and the drive motor system is constructed or configured to drive, especially rotate or rotate, a transmission mechanism, especially at least a part of the transmission mechanism. The transmission mechanism at least partially forms part of a system capable of rotational vibration. In particular, the transmission mechanism and the processing tool device, as well as the shaft and the transmission mechanism, and / or the transmission mechanism and the shaft, as well as the drive motor system and the transmission mechanism can be (particularly separately) mechanically connected. Additionally or alternatively, the transmission mechanism can be arranged in the region of the machining tool device and / or in the region of one and / or lower and / or first end of the shaft, in particular at the end of the shaft, and / or in the region of the drive motor system and / or in the region of the other and / or upper and / or second end of the shaft, in particular at the end of the shaft. Furthermore, additionally or alternatively, the transmission mechanism can be formed, in particular, at least partially, as part of the first or second mass, a dual-mass vibrator, or a dual-mass vibrator system.

[0016] In a refinement of the present invention, the processing tool includes or has a rod or tube. The shaft is (particularly at least partially) arranged, in particular supported, in the rod. The processing tool device (particularly at least partially) and the drive motor system (particularly at least partially) are mechanically connected to each other (particularly fixedly) by means of at least the rod. In particular, the rotationally vibrating system is mechanically closed by means of at least the rod. The rod ensures that the vibrations are perceptible externally or to a user, at least without actuating the vibration damping device. In particular, the rod can at least partially form part of the rotationally vibrating system. Additionally or alternatively, the rod can be flexurally vibrating. Further additionally or alternatively, the vibrations, in particular flexural vibrations, can at least partially be vibrations of the rod. In particular, the (particularly external) flexural vibrations of the rod can be excited by (particularly internal) rotational vibrations of the rotationally vibrating system, in particular when the shaft is a flexible shaft. Additionally or alternatively, the machining tool device can be arranged in the region of, in particular, the lower and / or first end of the rod, in particular at the end of the rod, and / or the drive motor system can be arranged in the region of, in particular, the other and / or upper and / or second, in particular opposite, end of the rod, in particular at the end of the rod. Additionally or alternatively, the rod can be formed, in particular at least partially, as a rod spring, in particular at least a part of the rod spring, in particular a torsion bar spring, in particular at least a part of the torsion bar spring, a dual-mass vibrator, in particular the dual-mass vibrator, or a dual-mass vibration system, in particular a part of the dual-mass vibration system.

[0017] In a refinement, in particular a design, of the present invention, the processing tool includes or has at least one handle. The at least one handle is arranged in the region of the shaft between the ends of the shaft, in particular in the center of the shaft, and is in particular fixed to the shaft (if present). The at least one handle allows, on the one hand, the processing tool to be guided (in particular, supported) by a user, and, on the other hand, the vibrations to be perceptible to the user or externally, at least without actuating the vibration damping device.

[0018] In a refinement of the present invention, the vibration damping device includes or comprises at least one (particularly electric) actuator, in particular at least one solenoid or cylindrical coil and / or linear actuator. The at least one actuator is at least designed or configured to (particularly indirectly and / or directly) dampen and / or (particularly even) (particularly indirectly and / or directly) reduce, in particular avoid, at least the excitation of the vibration (in particular, not excite). Step b) includes or comprises: controlling (particularly automatically controlling) the at least one actuator in such a way that the vibration is at least damped and / or (particularly even) reduced, in particular avoided, the excitation of the vibration, in particular not excited. This enables active damping and / or active reduction, in particular active avoidance of the excitation of the vibration. In particular, the actuator can be designed to generate (in particular generate) a mechanical movement for damping and / or for reducing, in particular avoiding, the excitation of the vibration, in particular for compensating for the vibration. Additionally or alternatively, the actuator can include (in particular be) a piezoelectric actuator, in particular a piezoelectric film. Further additionally or alternatively, the actuator can be arranged (in particular fixed) in the area of the machining tool device and / or in the area of one end and / or the lower end and / or the first end of the shaft or rod, in particular at the end of the shaft or rod, and / or can be arranged in the area of the drive motor system and / or in the area of the other end and / or the upper end and / or the second end of the shaft or rod, in particular at the end of the shaft or rod and / or in the area of the shaft between the ends of the shaft, in particular in the center of the shaft, in particular at the rod (if present).

[0019] In a further development of the invention, the drive motor system and the vibration damping device (in particular with the at least one actuator) are completely different or separate from one another. This allows the vibration damping device to be retrofitted in (in particular existing) processing tools.

[0020] In a refinement of the present invention, in particular a design, the drive motor system includes or comprises an internal combustion drive motor. The internal combustion drive motor is designed or configured to drive a shaft, in particular to rotate or rotatably move it. Step a) includes or comprises: operating (in particular by a user), in particular automatically operating, the internal combustion drive motor for driving the shaft to move the machining tool device. In particular, the vibration damping device may include at least one actuator, and / or the vibration damping device and the drive motor system including the internal combustion drive motor may be completely separate.

[0021] In a development of the invention, the drive motor system and the vibration damping device are at least partially, in particular completely, integrated or combined or identical. This achieves synergistic effects and thus saves effects and / or passively dampens and / or passively reduces, in particular passively avoids, the excitation of vibrations.

[0022] In a refinement of the present invention, in particular a design, the (in particular electric, in particular electronic) drive motor system includes or has an electric drive motor. The electric drive motor is constructed or configured to drive a shaft, in particular the rotation or rotary movement of the shaft. In particular, the drive motor system with the (in particular controllable) electric drive motor and the vibration damping device are at least partially integrated. Step a) includes or has: (in particular by a user) operating, in particular automatically operating, the electric drive motor for driving the shaft in order to move the processing tool device. In particular, step a) and / or step b) includes or has: controlling, in particular automatically controlling and / or operating, in particular automatically operating the electric drive motor in such a way that at least the vibrations are damped and / or (in particular even) the excitation of vibrations is reduced, in particular avoided, in particular not excited. In particular, the processing tool can be an electric processing tool, in particular a battery-powered processing tool.

[0023] In one embodiment of the present invention, the vibration damping device includes or comprises a (particularly electric, particularly electronic) notch filter. Step a) and / or step b) include or comprise: operating and / or controlling the electric drive motor using or with the aid of the notch filter, particularly by filtering out, particularly automatically filtering out (particularly only) at least the frequency components or frequency contributions (if present or included), particularly the natural and / or resonant frequencies of the vibrations, from the motor control electronics, particularly the motor regulating electronics, of the drive motor system (particularly for operating and / or controlling the electric drive motor). In other words, the variable signal is filtered, particularly automatically filtered, with the aid of the notch filter such that, in the frequency spectrum of the variable signal, at least the frequency components or frequency contributions (if present or included), particularly the natural and / or resonant frequencies, and / or at least the frequency components or frequency contributions that excite the vibrations are suppressed. This reduces, particularly prevents, the excitation of vibrations.

[0024] Additionally or alternatively, steps a) and b) include or comprise: filtering out (especially by means of a notch filter) (especially only) (especially) the frequency components or (especially) the frequency contributions (if present or included), especially the (especially) natural and / or resonant frequencies of the vibrations, from (especially) the motor control electronics, especially (especially) the motor regulating electronics, especially (especially) the variable signals, especially (especially) the setpoint torque signal, (especially) the setpoint current signal, and / or (especially) the feedback variable signals (especially for operating and / or controlling the electric drive motor) of the drive motor system. In other words, the variable signals, especially the variable signals with the filter characteristic, are filtered, especially automatically filtered, such that in the frequency spectrum of the variable signals, at least the frequency components or frequency contributions (if present or included), especially the natural and / or resonant frequencies, that excite the vibrations are suppressed and / or damped.

[0025] In particular, the vibration, in particular its value and / or frequency and / or amplitude, can be fixedly predefined or set (in particular at the factory). Step b) can include or comprise: a vibration control based on or according to a fixed predefined setting, in particular an automatic control.

[0026] In a refinement of the present invention, the method includes or comprises the following steps: detecting, in particular automatically detecting and / or indirectly and / or directly detecting, at least one actual vibration of the rotationally vibrating system, in particular the value and / or frequency and / or amplitude of the actual vibration, and / or exciting the rotationally vibrating system, in particular during or simultaneously with step a) and / or before and / or during or simultaneously with step b). Step b) includes or comprises controlling, in particular automatically controlling, based on or as a function of at least the detected actual vibration. This allows for flexibility and / or adaptation, in particular adaptation to aging and / or tolerances of at least a portion of the processing tool, and / or active attenuation and / or reduction, in particular active avoidance of vibration excitation. In particular, the actual vibration may be a vibration as described above. Additionally or alternatively, the detection may be carried out or performed using at least one sensor, in particular at least one sensor of the processing tool.

[0027] In one embodiment of the present invention, the method includes or comprises detecting at least actual vibrations by means of the vibration damping device and / or the drive motor system, in particular by detecting (and in particular analyzing) the temporal trend of actual operating data of the drive motor system (in particular with an electric drive motor), in particular the temporal trend of operating data values, in particular the temporal trend of actual speed and / or current and / or voltage and / or power, in particular the temporal trend of values of actual speed and / or actual current and / or actual voltage and / or actual power. This creates synergistic effects and thus savings. In particular, reference is made to the following literature and / or subsequent text regarding the detection of at least actual vibrations by detecting the temporal trend of actual operating data.

[0028] In a refinement of the invention, the shaft has a length of at least 0.5 meters (m), in particular at least 1 m, and / or at most 4.5 m, in particular at most 3 m, in particular 1.5 m. Additionally or alternatively, the vibration has a frequency, in particular a natural and / or resonant frequency, in particular the natural and / or resonant frequency, of at least 2 Hz, in particular at least 5 Hz, in particular at least 10 Hz, and / or at most 100 Hz, in particular at most 50 Hz. The length achieves the frequency. Additionally or alternatively, the frequency ensures that the vibration is particularly perceptible to the user.

[0029] The hand-guided machining tool according to the present invention comprises or has a (particularly described) movable machining tool device, (particularly described) shaft, (particularly described) drive motor system, (particularly described) controllable vibration damping device, and (particularly described) electric operating and control device. The shaft is configured to move the machining tool device. The drive motor system is configured to drive the shaft. The machining tool device, the shaft, and the drive motor system at least partially form at least a portion (particularly said at least portion) of (particularly described) at least a rotationally vibrating system. The vibration damping device is configured at least to dampen and / or reduce, in particular to prevent excitation of at least one vibration of the rotationally vibrating system, in particular, and / or to be excitable by the rotationally vibrating system. The operating and control device is configured or arranged to (particularly automatically) operate the drive motor system for driving the shaft to move the machining tool device and to (particularly automatically) control the vibration damping device during operation in such a way that at least the vibration is damped and / or the excitation of vibration is reduced, in particular, to prevent excitation of vibration.

[0030] The processing tool can achieve one or more of the same advantages as described above with respect to the method.

[0031] In particular, the processing device (in particular the operating and control device) can be designed or configured to (in particular automatically) carry out the method as described above. Additionally or alternatively, the processing device can be designed or configured as described above for the method. Furthermore, additionally or alternatively, the operating and control device can have (in particular be) a microcontroller. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Further advantages and aspects of the present invention are apparent from the claims and from the following description of preferred exemplary embodiments of the present invention, which are explained below with reference to the accompanying drawings.

[0033] Figure 1 Schematic representation of a hand-guided machining tool according to the invention in the form of a brush cutter with a cutting line and a method according to the invention for operating a hand-guided machining tool;

[0034] Figure 2 A further hand-guided processing tool according to the invention in the form of a trimmer with a cutting blade and a method according to the invention for operating a hand-guided processing tool are schematically shown;

[0035] Figure 3 Schematically shown Figure 1 and 2 Details of the corresponding processing equipment;

[0036] Figure 4 Schematic diagram of a machine with a rigid or flexible shaft without actuating the vibration damping device of a corresponding processing tool according to the method according to the invention. Figure 1 and 2 a diagram of the amplitude of the corresponding rotational vibrations, in particular the acceleration, of the corresponding processing tool over the frequency;

[0037] Figure 5 Schematic diagram of a machine with a flexible shaft without actuating the vibration damping device of a corresponding processing tool according to the method according to the invention. Figure 1 and 2 a diagram of the amplitude of the corresponding bending vibrations, in particular the deflection, of the corresponding processing tool over the frequency;

[0038] Figure 6 Schematically illustrating the method according to the present invention Figure 1 and 2 Detection of the actual vibration of the corresponding processing tool, in particular a graph of the actual rotational speed curve of the drive motor system of the processing tool over time; and

[0039] Figure 7 A further hand-guided machining tool according to the invention and a method according to the invention for operating a hand-guided machining tool are schematically shown. DETAILED DESCRIPTION

[0040] Figure 1 、 2 , 3 and 7 (in particular, respectively) show a hand-guided processing device 1 according to the invention. The processing device 1 has a movable processing tool device 2, a shaft 3, a drive motor system 4, a controllable vibration damping device 6 and an operating and control device 15. The shaft 3 is designed to move the processing tool device 2, in particular to move the processing tool device 2. The drive motor system 4 is designed to drive the shaft 3, in particular to drive the shaft. The processing tool device 2, the shaft 3 and the drive motor system 4 at least partially form at least a part of a system 5 that can at least rotate and vibrate. The vibration damping device 6 is at least designed to attenuate and / or reduce, in particular avoid (in particular attenuate and / or reduce, in particular avoid) the excitation of at least one vibration RS of the system 5 that can rotate and vibrate, as and / or can be excited by the system 5 that can rotate and vibrate. Figure 4 and 5 The operating and control device 15 is designed to operate (in particular operate) the drive motor system 4 for the drive shaft 3 for moving the processing tool device 2 and is designed to control (in particular control) the vibration damping device 6 during operation in such a way that the vibration RS is at least damped and / or reduced, in particular excitation of the vibration RS is avoided.

[0041] Figure 1 、 2 , 3, 6, and 7 illustrate a method according to the present invention for operating a hand-guided machining tool 1. The machining tool 1 comprises a movable machining tool device 2, a shaft 3, a drive motor system 4, and a controllable vibration damping device 6. The shaft 3 is configured to move the machining tool device 2. The drive motor system 4 is configured to drive the shaft 3. The machining tool device 2, the shaft 3, and the drive motor system 4 at least partially form at least a portion of a system 5 capable of at least rotational vibration. The vibration damping device 6 is configured to at least attenuate and / or reduce, in particular, prevent the excitation of at least one vibration RS of the system 5 capable of rotational vibration and / or can be excited by the system 5 capable of rotational vibration. The method comprises the following steps: a) operating the drive motor system 4 for driving the shaft 3 to move the machining tool device 2 (in particular by means of an operating and control device 15). b) controlling the vibration damping device 6 during operation (in particular by means of the operating and control device 15) such that at least the vibration RS is damped and / or the excitation of the vibration RS is reduced, in particular, prevented.

[0042] In the embodiment shown, the processing tool 1 is a cutting tool 1 ′, in particular a brush cutter 1 ″, such as Figure 1 As shown in, or trimmer 1 "', as Figure 2 As shown in .

[0043] In an alternative embodiment, the cutting implement may be a high branch trimmer or a hedge trimmer.

[0044] Additionally or alternatively, in the exemplary embodiment shown, the processing tool device 2 is a cutting tool device 2 ′, in particular the processing tool device 2 has a cutting line 2 ″, such as Figure 1 As shown in, or cutting knife 2 "', as Figure 2 As shown in .

[0045] Furthermore, the processing tool 1 has a transmission 7. The transmission is designed to move the processing tool device 2, in particular to move the processing tool device, and the shaft 3 is designed to move the transmission 7, in particular to move the transmission, such as Figure 2 Alternatively, the transmission mechanism 7 is configured to drive the shaft 3, in particular to drive the shaft, and the drive motor system 4 is configured to drive the transmission mechanism 7, in particular to drive the transmission mechanism, as shown in FIG. Figure 1 The transmission mechanism 7 at least partially forms part of the system 5 which can rotate and vibrate.

[0046] Furthermore, the processing tool 1 has a rod 8. The shaft 3 is arranged in the rod 8. The processing tool device 2 and the drive motor system 4 are mechanically connected to each other by means of at least the rod 8. In particular, the rotationally oscillating system 5 is mechanically closed by means of at least the rod 8.

[0047] Furthermore, the processing tool 1 has at least one handle 9 . The at least one handle 9 is arranged in the region of the shaft 3 between the ends 3E of the shaft 3 , in particular is fastened to the rod 8 .

[0048] Furthermore, the shaft 3 has a length 3L (in particular in the direction z) of at least 0.5 m, in particular at least 1 m, and / or at most 4.5 m, in particular at most 3 m, in particular 1.5 m.

[0049] Additionally or alternatively, the vibration RS has a frequency fS of at least 2 Hz, in particular at least 5 Hz, in particular at least 10 Hz, and / or at most 100 Hz, in particular at most 50 Hz, in particular a natural and / or resonant frequency, such as Figure 4 and 5 As shown in .

[0050] In detail, the vibration RS is a rotational vibration of the system 5 capable of rotational vibration, in particular a rotational vibration about the longitudinal axis 3A of the shaft 3 or in the direction z, such as Figure 4 As shown in .

[0051] If the shaft 3 is a rigid shaft, the vibration RS in the form of a rotational vibration has a frequency fS of, for example, 41.75 Hz, as Figure 4 As shown in Figure 2Graph of the amplitude of the acceleration caused by vibration RS in the form of rotational vibrations in the direction y or z perpendicular to the longitudinal axis 3A of the shaft 3 over the frequency of the transmission mechanism 7 of the embodiment of FIG. If the shaft 3 is a flexible shaft, the vibration RS in the form of rotational vibrations has a frequency fS of 12.45 Hz, for example.

[0052] In particular, the frequency fS of the vibration RS in the form of a rotational vibration is determined by, in particular, the inertia (J2) of the machining tool device 2 and the inertia (J4) of the drive motor system 4, the transmission ratio (7) of the transmission 7 and the rigidity (C3) of the shaft 3, in particular as follows:

[0053]

[0054] In the exemplary embodiment shown, at least the rotationally oscillatable system 5 , in particular the shaft 3 and the rod 8 , is additionally flexurally oscillatable.

[0055] In particular, the rod 8 at least partially forms a part of the rotationally and flexurally vibrating system 5 .

[0056] In detail, the vibration RS is a bending vibration of at least the system 5 capable of rotational vibration (in particular the shaft 3 and the rod 8), which can be excited in particular by means of the structural processing device 1 by the rotational vibration of the system 5 capable of rotational vibration, in particular in the direction x or direction z and / or direction y orthogonal to the longitudinal axis 3A of the shaft 3, as Figure 4 As shown in , especially if the shaft 3 is a flexible shaft.

[0057] In particular if the shaft 3 is a flexible shaft, the vibration RS in the form of a bending vibration has a frequency fS of, for example, 12.45 Hz, as Figure 5 , in particular a diagram of the amplitude of a deflection (in particular of the handle 9 ) caused by a vibration RS in the form of a bending vibration, in a direction x or z and / or y orthogonal to the longitudinal axis 3A of the shaft 3 , is shown over frequency.

[0058] The activation of the vibration damping device 6 during operation makes it possible to at least dampen the vibrations RS and / or to reduce, in particular avoid, the excitation of the vibrations RS.

[0059] In detail, Figure 7 In an embodiment of the present invention, the vibration damping device 6 has at least one actuator 10, in particular at least one solenoid 10' and / or a linear actuator 10". The at least one actuator 10 is at least configured to attenuate and / or reduce, in particular avoid (in particular attenuate and / or reduce, in particular avoid) excitation of at least vibration RS. Step b) comprises: controlling the at least one actuator 10 in such a way that (in particular by means of an operating and control device 15) at least the vibration RS is attenuated and / or the excitation of vibration RS is reduced, in particular avoided.

[0060] In addition, Figure 7 In the embodiment of FIG. 4 , the drive motor system 4 and the vibration damping device 6 are completely different from each other.

[0061] In addition, Figure 7 In the embodiment of the embodiment of the invention, the drive motor system 4 has an internal combustion drive motor 11. The internal combustion drive motor 11 is designed to drive the shaft 3, in particular to drive the shaft. Step a) includes operating the internal combustion drive motor 11 for driving the shaft 3 (in particular by means of the operating and control device 15) to move the processing tool device 2.

[0062] In addition, Figure 1 、 2 In the embodiments of and 3 , the drive motor system 4 and the vibration damping device 6 are at least partially integrated.

[0063] In addition, Figure 1 、 2 In the embodiments of FIG and 3 , the drive motor system 4 includes an electric drive motor 12. The electric drive motor 12 is configured to drive the shaft 3, in particular to drive the shaft. In particular, the drive motor system 4 including the electric drive motor 12 and the vibration damping device 6 are at least partially integrated. Step a) includes operating the electric drive motor 12 for the drive shaft 3 (in particular by means of the operating and control device 15) to move the machining tool device 2. In particular, step a) and / or step b) includes controlling and / or operating the electric drive motor 12 (in particular by means of the operating and control device 15) in such a way that at least the vibration RS is damped and / or reduced, in particular, excitation of the vibration RS is avoided.

[0064] In detail, the vibration damping device 6 has a notch filter 13, such as Figure 3 Step a) and / or step b) comprises: using the notch filter 12, in particular by means of the motor control electronics 14, in particular the motor regulating electronics 14' (in Figure 3 The electric drive motor 12 is operated and / or controlled by filtering out at least the frequency component fK that excites the vibration RS, in particular the natural and / or resonant frequency fS of the vibration RS, from the parameter signal GS (in the form of cascade control), such as Figure 4 As shown in .

[0065] In the exemplary embodiment shown, filtering is performed from the variable signal GS in the form of the setpoint torque signal SM, in particular when using a notch filter 12 at the output of the speed controller of the motor control electronics 14 ′. In alternative exemplary embodiments, filtering can be performed from the variable signal GS in the form of the setpoint current signal SI or the feedback variable signal RGS.

[0066] In particular, the motor control electronics 14 are designed for control (in particular control), and in particular the motor regulating electronics 14 ′ are designed for regulating (in particular regulating) the torque M generated by the drive motor system 4 , in particular the electric drive motor 12 , in order to achieve a setpoint speed Sn, in particular a setpoint speed that is constant over time.

[0067] The setpoint rotational speed Sn can be reached in the unloaded state of the processing tool 1 , in particular the drive motor system 4 , in particular the electric drive motor 12 .

[0068] Since the frequency fS of the oscillation RS can lie within the dynamic range of the speed control, ie, the oscillation RS can be excited by the electronic speed control, the notch filter 13 dampens and / or reduces, in particular avoids, the excitation of the oscillation RS.

[0069] This method may be referred to as electric (in particular electronic) and / or controlled (in particular regulated) vibration damping.

[0070] Furthermore, the method comprises the following steps: in particular during step a) and / or temporally before step b) and / or during step b) detecting at least one actual vibration IS of the rotationally vibratory system 5 and / or exciting by the rotationally vibratory system 5, such as Figure 6 Step b) comprises: performing a control based on at least the detected actual vibration IS.

[0071] exist Figure 7 In the exemplary embodiment, the detection is carried out by means of at least one sensor 16 of the processing tool 1 .

[0072] In particular, the sensor 16 is arranged, in particular fixed, in the area of the processing tool device 2 and / or the shaft 3 or the rod 4, in particular the lower part and / or the first end, in particular said end, and / or is arranged, in particular fixed, in the area of the shaft 3 between the ends 3E of the shaft 3, in particular in the center of the shaft 3, in particular at the rod 8.

[0073] Additionally or alternatively, the sensor 16 can be a rotational speed sensor, in particular for detecting an actual rotational speed in the region of the machine-tool device 2 (in particular the machine-tool device 2 ), in particular an actual tool-side rotational speed.

[0074] Further additionally or alternatively, in another embodiment, in particular Figure 1 、 2 In the embodiments of and 3 , the detection can also be carried out by means of at least one sensor 16 of the processing tool 1 .

[0075] As a result, the actual tool-side speed (in particular of the drive motor system 4, in particular of the electric drive motor 12) and the actual motor-side speed (in particular as well as the position signal) can be available. As a result, the drive motor system 4 with the electric drive motor 12 (in particular with the motor control electronics 14') and the vibration damping device 6 can at least partially be integrated (in particular with the aid of the operating and control device 15) to actively damp the vibration RS and / or actively reduce, in particular actively avoid, the excitation of the vibration RS.

[0076] What is shown is that in Figure 1 、 2 The method described in the embodiments of 3 includes: detecting at least the actual vibration IS by means of the vibration damping device 6 and / or the drive motor system 4, in particular by detecting the actual operating data trend ID of the drive motor system 4 over time, in particular without the sensor 16.

[0077] In the embodiment shown, the actual operating data profile ID is detected in the form of an actual speed profile In. In alternative embodiments, the actual operating data profile can be detected in the form of an actual current profile and / or an actual voltage profile and / or an actual power profile.

[0078] like Figure 6 As shown in , the actual operating data trend ID over time, in particular the actual operating data trend over time in the form of the actual speed trend In, in the case of actual operating data that is originally constant over time, in particular because the rated operating data should be constant over time, in particular in the case of actual speed that is originally constant over time, in particular because the rated speed Sn should be constant over time, for example 5000 revolutions per minute [U / min] or 10000 U / min, has an actual vibration IS, which in particular has a frequency fS (in particular independent of the speed), in particular and an amplitude of several 100 U / min.

[0079] In alternative exemplary embodiments, the temporal curve of operating data (in particular the rotational speed) (in particular of the machining tool device) can also be estimated without sensors by means of a so-called “observer”.

[0080] As the exemplary embodiments shown and explained above demonstrate, the present invention provides an advantageous method for operating a hand-guided machining tool and an advantageous hand-guided machining tool, which accordingly have improved properties, in particular achieving high comfort for the user of the machining tool.

Claims

1. A method for operating a hand-guided processing tool (1), wherein: The processing tool (1) has: - a movable processing tool device (2); - a shaft (3), wherein the shaft (3) is designed to move the machining tool device (2); - a drive motor system (4), wherein the drive motor system (4) is configured to drive the shaft (3); - wherein the machining tool device (2), the shaft (3) and the drive motor system (4) at least partially form at least a part of a system (5) capable of at least rotational vibration; and - a controllable vibration damping device (6), wherein the vibration damping device (6) is designed at least for damping and / or reducing the excitation of at least one vibration (RS) of the rotationally vibrating system (5) and / or is designed at least to be excitable by the rotationally vibrating system (5), - wherein the method comprises the following steps: a) operating a drive motor system (4) for driving the shaft (3) in order to move the machining tool device (2); and b) actuating the vibration damping device (6) during operation in such a way that the vibration (RS) is at least damped and / or the excitation of the vibration (RS) is reduced, It is characterized by: - wherein the drive motor system (4) and the vibration damping device (6) are at least partially integrated, - wherein the drive motor system (4) comprises an electric drive motor (12), wherein the electric drive motor (12) is configured to drive the shaft (3); and wherein step a) comprises: operating an electric drive motor (12) for driving the shaft (3) in order to move the machining tool device (2); - and wherein step a) and / or step b) comprises operating and / or controlling the electric drive motor (12) in such a way that at least the vibration (RS) is damped and / or the excitation of the vibration (RS) is reduced.

2. The method according to claim 1, - wherein the processing tool (1) is a cutting tool (1'); and / or -in, The processing tool device (2) is a cutting tool device (2').

3. The method according to claim 1, - wherein the processing device (1) has a transmission mechanism (7); -in, The transmission mechanism (7) is configured to move the machining tool device (2), and wherein the shaft (3) is configured to move the transmission mechanism (7), and / or wherein the transmission mechanism (7) is configured to drive the shaft (3), and wherein the drive motor system (4) is configured to drive the transmission mechanism (7); and - wherein the transmission mechanism (7) at least partially forms a part of the rotationally oscillating system (5).

4. The method according to any one of claims 1 to 3, - wherein the processing device (1) has a rod (8); -in, The shaft (3) is arranged in the rod (8); and - wherein the machining tool device (2) and the drive motor system (4) are mechanically connected to one another by means of at least the rod (8).

5. The method according to claim 4, - wherein the processing tool (1) has at least one handle (9), -in, The at least one handle (9) is arranged in the region of the shaft (3) between the ends (3E) of the shaft (3).

6. The method according to any one of claims 1 to 3, - wherein the vibration damping device (6) has at least one actuator (10), wherein The at least one actuator (10) is configured at least for damping and / or reducing the excitation of at least the vibration (RS); and wherein step b) comprises: controlling the at least one actuator (10) in such a way that the vibration (RS) is at least damped and / or the excitation of the vibration (RS) is avoided.

7. The method according to claim 6, -in, The drive motor system (4) has an internal combustion drive motor (11), wherein the internal combustion drive motor (11) is configured to drive the shaft (3); and - wherein step a) comprises operating an internal combustion drive motor (11) for driving the shaft (3) in order to move the machining tool device (2).

8. The method according to claim 1, - wherein the vibration damping device (6) has a notch filter (13); and -in, Step a) and / or step b) comprises operating and / or controlling the electric drive motor (12) by filtering out at least the frequency component (fK) exciting the vibration (RS) from a variable signal (GS) of the motor control electronics (14) of the drive motor system (4) using the notch filter (13).

9. The method according to any one of claims 1 to 3, - wherein the method comprises the steps of detecting at least one actual vibration (IS) of the rotationally vibratory system (5) and / or exciting it by means of the rotationally vibratory system (5); and -in, Step b) comprises: performing an actuation based on at least the detected actual vibration (IS).

10. The method according to claim 9, -in, The method comprises: detecting at least the actual vibration (IS) by means of the vibration damping device (6) and / or the drive motor system (4); - by detecting the actual temporal progression (ID) of operating data of the drive motor system (4).

11. The method according to any one of claims 1 to 3, - wherein the shaft (3) has a length (3L) of at least 0.5 m and / or at most 4.5 m; and / or -in, The vibration (RS) has a frequency (fS) of at least 2 Hz and / or at most 100 Hz.

12. The method according to claim 1, - wherein the processing tool (1) is a brush cutter (1") or an edge trimmer (1'); and / or -in, The processing tool device (2) has a cutting wire (2"), a cutting knife (2'") or a cutting disc.

13. The method according to claim 4, - wherein the at least one handle (9) is fixed to the rod (8).

14. The method according to claim 6, - wherein the vibration damping device (6) has at least one solenoid (10') and / or linear actuator (10").

15. The method according to claim 1, - wherein the vibration damping device (6) has a notch filter (13); and -in, The step a) and / or the step b) comprises operating and / or controlling the electric drive motor (12) by filtering out at least the frequency component (fK) exciting the vibration (RS) from the setpoint torque signal (SM), the setpoint current signal (SI) and / or the feedback variable signal (RGS) of the motor control electronics (14') of the drive motor system (4) using the notch filter (13).

16. The method according to any one of claims 1 to 3, - wherein the method comprises the steps of detecting at least one actual vibration (IS) of the rotationally vibratory system (5) during step a) and / or temporally before step b) and / or during step b) and / or exciting by the rotationally vibratory system (5); and -in, Step b) comprises: performing an actuation based on at least the detected actual vibration (IS).

17. The method according to claim 9, -in, The method comprises: detecting at least the actual vibration (IS) by means of the vibration damping device (6) and / or the drive motor system (4); - by detecting the actual speed curve and / or current curve and / or voltage curve and / or power curve (In) of the drive motor system (4) over time.

18. The method according to any one of claims 1 to 3, - wherein the shaft (3) has a length (3L) of at least 1 m and / or at most 3 m; and / or -in, The vibration (RS) has a frequency (fS) of at least 5 Hz and / or at most 50 Hz.

19. The method according to any one of claims 1 to 3, - wherein the shaft (3) has a length (3L) of 1.5 m; and / or -in, The vibration (RS) has a frequency (fS) of at least 10 Hz and / or at most 50 Hz.

20. The method according to any one of claims 1 to 3, - wherein the processing device (1) has a rod (8); -in, The shaft (3) is arranged in the rod (8); and - wherein the machining tool device (2) and the drive motor system (4) are mechanically connected to one another by means of at least the rod (8), wherein the rotationally oscillating system (5) is mechanically closed by means of at least the rod (8).

21. A hand-guided machining tool (1) for carrying out the method according to any one of claims 1 to 20, wherein: The processing tool (1) has: - a movable processing tool device (2); - a shaft (3), wherein the shaft (3) is designed to move the machining tool device (2); - a drive motor system (4), wherein the drive motor system (4) is configured to drive the shaft (3), wherein the machining tool device (2), the shaft (3) and the drive motor system (4) at least partially form at least a part of a system (5) capable of at least rotational vibration; - a controllable vibration damping device (6), wherein the vibration damping device (6) is at least designed to dampen and / or reduce the excitation of at least one vibration (RS) of the rotationally vibratory system (5) and / or is at least designed to be excitable by the rotationally vibratory system (5); and - an operating and control device (15), wherein the operating and control device (15) is designed - for operating a drive motor system (4) for driving the shaft (3) in order to move the machining tool device (2); and - for controlling the vibration damping device (6) during operation in such a way that the vibration (RS) is at least damped and / or the excitation of the vibration (RS) is reduced, It is characterized by: - wherein the drive motor system (4) and the vibration damping device (6) are at least partially integrated, - wherein the drive motor system (4) comprises an electric drive motor (12), wherein the electric drive motor (12) is configured to drive the shaft (3); and The operation and control device (15) is configured as - for operating an electric drive motor (12) for driving the shaft (3) in order to move the machining tool device (2); and - for operating and / or controlling the electric drive motor (12) in such a way that the vibration (RS) is at least damped and / or the excitation of the vibration (RS) is reduced.

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