Fastener driver

Abstract

The invention discloses a fastener driver, comprising: a striking assembly comprising a striking member configured to strike a fastener; the power mechanism is arranged to generate power for driving the striking piece; the power mechanism comprises a gas spring mechanism or a mechanical spring mechanism; the motor is arranged to drive the power mechanism to move and generate the power; the control circuit is used for controlling the motor to operate or stop; the control circuit at least comprises a controller which at least can control the motor to operate; the position detection module is set to obtain position information of the striking piece; the parameter detection module is set to detect working parameters of the motor; wherein the controller is configured to control the motor to stop when the working parameter is detected to be greater than or equal to a parameter threshold value after the position information is obtained. The shutdown control of the fastener driver is relatively accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to a power tool, in particular to a fastener driver. BACKGROUND

[0002] A fastener driver refers to a device capable of driving a fastener (e.g. a nail, a thumbtack, a staple, etc.) into a workpiece. The fastener driver usually includes a striker, and the fastener is driven into the workpiece by driving the striker to hit the fastener.

[0003] A conventional fastener driver usually includes a nail gun, which is used to quickly drive nails into a work surface. The nail gun usually includes a compressed air driven nail gun and a mechanical spring driven nail gun, the compressed air driven nail gun has a compressed air driven cylinder, and the thrust force generated by the cylinder is used as a driving force. The mechanical spring driven nail gun has an impact spring (compression spring), and the force of the impact spring is used as a driving force.

[0004] In the related art, a fastener driver stops at a preset stop position to achieve the best energy storage state. In order to ensure the accuracy of the stop position of the striker, a sensor is arranged at the stop position, and a stop signal is sent to the controller after the striker reaches the stop position is detected.

[0005] However, when the fastener driver is used for a long time and the striker is severely worn, the fastener driver may not stop in time when the stop signal is detected.

[0006] This section provides background information relating to the present application, which can not necessarily be prior art. SUMMARY

[0007] One object of the present application is to solve or at least alleviate part or all of the above problems. To this end, one object of the present application is to provide a fastener driver with more accurate stop control.

[0008] In order to achieve the above object, the present application adopts the following technical solution:

[0009] A fastener driver includes:

[0010] A striking assembly including a striker configured to strike a fastener;

[0011] A power mechanism configured to generate a power to drive the striker; the power mechanism includes a gas spring mechanism or a mechanical spring mechanism;

[0012] A motor configured to drive the power mechanism to move and generate the power;

[0013] a control circuit configured to control the motor to operate or stop;

[0014] The control circuit comprises at least:

[0015] a controller configured to control the motor to operate;

[0016] a position detection module configured to obtain position information of the striking member;

[0017] a parameter detection module configured to detect a working parameter of the motor;

[0018] The controller is configured to control the motor to stop when the position information is obtained and the working parameter is greater than or equal to a parameter threshold.

[0019] In some embodiments, the striking member is moved from a stop position to a striking position to strike the fastener;

[0020] The position information comprises information that the striking member is at the striking position or information that the striking member is at any position between the stop position and the striking position.

[0021] In some embodiments, the working parameter comprises a number of rotations or a rotation time of the motor.

[0022] In some embodiments, the control circuit comprises a position loop configured to control at least the stop position of the motor to stop.

[0023] In some embodiments, the controller is configured to control the motor to stop according to vector control or according to square wave control.

[0024] In some embodiments, the position detection module is configured to obtain a motor parameter of the motor and estimate the position information according to the motor parameter.

[0025] In some embodiments, the motor parameter of the motor comprises a current parameter of the motor.

[0026] In some embodiments, the position detection module comprises a position sensor arranged on the striking member to detect the position information.

[0027] In some embodiments, the controller is configured to:

[0028] determine the parameter threshold according to the position information.

[0029] In some embodiments, the controller is configured to:

[0030] determine the parameter threshold according to a relationship between the position information and the stop position.

[0031] The application has the advantages that the position detection module is configured to acquire position information of the striking member; the parameter detection module is configured to detect an operating parameter of the motor; and the controller is configured to control the motor to stop operating when the position information is acquired and the operating parameter is greater than or equal to a parameter threshold. Compared with the related art in which the motor is controlled to stop operating after the striking member is detected to be in a stop position, the application avoids the situation that the striking member is worn and the motor is difficult to stop operating in time, and the motor can be controlled to stop operating in time, and the stop control is more accurate. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a structural schematic diagram of a fastener driver according to an embodiment of the application;

[0033] Figure 2 is a structural schematic diagram of the inside of a fastener driver according to an embodiment of the application;

[0034] Figure 3 is a sectional view of a fastener driver according to an embodiment of the application;

[0035] Figure 4 is a structural schematic diagram of a clip assembly according to an embodiment of the application;

[0036] Figure 5 is a structural schematic diagram of the connection between a clip assembly and a clip mounting portion according to an embodiment of the application;

[0037] Figure 6 is a circuit diagram of a fastener driver according to an embodiment of the application;

[0038] Figure 7 is a circuit diagram of a fastener driver according to another embodiment of the application;

[0039] Figure 8 is a circuit diagram of a fastener driver according to another embodiment of the application. DETAILED DESCRIPTION

[0040] Before any embodiments of the application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above-described accompanying drawings.

[0041] In this application, the terms "include", "comprise" or "have" or any other variations thereof are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or apparatuses that include a list of elements are not limited to those elements, but can include other elements not expressly listed or inherent to such processes, methods, articles, or apparatuses. Without more limitations, an element defined by the statement "including a..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0042] In this application, the term "and / or", is a description of an associated relationship with the associated object, which means that there can be three kinds of relationships. For example, A and / or B, can represent: A exists alone, A and B exist together, B exists alone, these three cases. In addition, the character " / " in this application generally represents that the front and rear associated objects are a "and / or" relationship.

[0043] In this application, the terms "connection", "combination", "coupling", "mounting" can be direct connection, combination, coupling or mounting, or indirect connection, combination, coupling or mounting. Among them, for example, direct connection refers to the connection of two parts or components without the need for an intermediate part, indirect connection refers to the connection of two parts or components with at least one intermediate part, and the connection of the two parts or components through the intermediate part. In addition, "connection" and "coupling" are not limited to physical or mechanical connection or coupling, and can include electrical connection or coupling.

[0044] In this application, those of ordinary skill in the art will understand that the relative terms used in connection with quantities or conditions (for example, "about", "approximately", "substantially" and the like) include the values described and have the meaning indicated by the context. For example, the relative terms at least include the degree of error related to the measurement of a specific value, the tolerance caused by manufacturing, assembly, use, etc. related to a specific value. Such terms should also be considered to disclose the range defined by the absolute values of the two endpoints. The relative term can refer to a certain percentage (for example, 1%, 5%, 10% or more) of the indicated value. The numerical value without the relative term should also be disclosed as a specific value with a tolerance. In addition, "substantially" when expressing the relative angular positional relationship (for example, substantially parallel, substantially perpendicular), can refer to a certain degree (for example, 1 degree, 5 degrees, 10 degrees or more) added or subtracted from the indicated angle.

[0045] In this application, those of ordinary skill in the art will understand that the functions performed by the components can be performed by one component, multiple components, one part, or multiple parts. Similarly, the functions performed by the parts can also be performed by one part, one component, or multiple parts in combination.

[0046] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and the like are described in the orientation and positional relationship shown in the drawings, and should not be understood as limiting the embodiments of the present application. In addition, it is also understood in the context that when referring to an element connected to another element "on" or "under", it can be directly connected to another element "on" or "under" or indirectly connected to another element "on" or "under" through an intermediate element. It should also be understood that the terms "upper", "lower", "left", "right", "front", "back" and the like not only represent the positive direction, but also can be understood as the side direction. For example, the lower side can include the directly below, left below, right below, front below and back below, etc.

[0047] In the present application, the terms "controller", "processor", "central processing unit", "CPU", "MCU" can be interchangeable. When using a unit "controller", "processor", "central processing unit", "CPU", or "MCU" to perform a specific function, unless otherwise specified, these functions can be performed by a single unit or multiple units.

[0048] In the present application, the terms "device", "module" or "unit" can be realized by hardware or software to achieve a specific function.

[0049] In the present application, the terms "calculate", "judge", "control", "determine", "identify" and the like refer to the operation and process of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0050] As Figure 1 A fastener driver 100 of an embodiment of the present application is shown. The fastener driver 100 is used to drive a fastener into a work surface 200. For example, the fastener can be a nail, which can be a one-piece nail or a U-shaped nail. The fastener driver 100 drives the fastener into the work surface 200 quickly to secure the work surface 200 to a platform behind the work surface 200. In this embodiment, the fastener driver 100 is, for example, a nail gun. Alternatively, the fastener driver 100 includes a mechanical spring-type nail gun that uses the force of a compressed coil spring as an impact force (e.g., a driving force). Alternatively, the fastener driver 100 is a gas cylinder-type nail gun that uses gas in a cylinder to push the fastener out.

[0051] In this embodiment, the fastener driver 100 is a gas cylinder-type nail gun. For example, the fastener driver 100 does not require an external source of air pressure, but includes a pre-charged pressurized gas in a cylinder assembly. For example, the cylinder assembly of the fastener driver 100 is in communication with the atmosphere, and the cylinder flows gas in a pre-set state.

[0052] As shown in Figure 1 , the fastener driver 100 is powered by a rechargeable battery pack. In the present embodiment, the battery pack is a battery pack 300, which cooperates with a corresponding power supply circuit to power the fastener driver 100. It is understood by those skilled in the art that in other embodiments, the fastener driver 100 can be powered by other power supply devices, for example, the power supply can be an AC power cord connected to a commercial power supply, or the power supply can be other connection cables connected to a power supply device. The commercial power supply or other power supply device cooperates with a corresponding rectification, filtering and voltage regulation circuit to power the corresponding components of the fastener driver 100. Hereinafter, the battery pack 300 will be used instead of the power supply, but it is not intended to limit the present application.

[0053] As shown in Figures 1 to 3 , the fastener driver 100 includes a housing 11, a striking assembly 12, a power mechanism 20 and a motor 14. The housing 11 is used to support the striking assembly 12, the power mechanism 20 and the motor 14. The striking assembly 12 includes a striking member 121 for driving a fastener, and optionally, the striking member 121 is used to drive the fastener to be shot into a work surface 200 along a striking straight line 101. The striking member 121 is a sheet-like element extending along a plane parallel to the striking straight line 101, and the axis defined by the striking member 121 coincides with the striking straight line 101. The power mechanism 20 is used to drive the striking member 121 to move along the striking straight line 101 to impact the fastener shot into the work surface 200 along the striking straight line 101.

[0054] Specifically, the striking assembly 12 includes a rest position and a striking position; the power mechanism 20 is used to drive the striking member 121 to move from the rest position to the striking position to impact the fastener, and after impacting the fastener, the striking member 121 returns to the rest position from the striking position to complete one impact. That is, under normal circumstances, when the striking member 121 moves from the rest position to the striking position, it drives the fastener to be shot into the work surface 200 along the striking straight line 101. Then the striking member 121 returns to the initial rest position from the striking position to wait for the next impact.

[0055] In order to facilitate the description of the technical solutions of the present application, the front-rear direction and the up-down direction are defined as shown in Figure 1 , wherein the front-rear direction is parallel to the striking straight line 101, and the direction of the striking member 121 pointing to the fastener is the front, and the up-down direction is perpendicular to the front-rear direction.

[0056] In the present embodiment, a motor 14 is provided in the housing 11, and the motor 14 is configured to provide power to the power mechanism 20. In the present embodiment, the motor 14 is specifically an electric motor 14, and the electric motor 14 is configured to provide power to the power mechanism 20. It can be appreciated that in other embodiments, the motor 14 can be other forms of power sources, such as an engine. In the present application, the electric motor 14 is used for illustration. The electric motor 14 is an internal rotor electric motor 14. It can be appreciated that in other embodiments, the electric motor 14 can also be an external rotor electric motor. A battery pack 300 is detachably mounted to the housing 11. The battery pack 300 is configured to provide power to at least the electric motor 14 when the battery pack 300 is mounted to the housing 11 to enable the electric motor 14 to operate.

[0057] The power mechanism 20 includes a drive assembly 21, an energy storage assembly 22, and a firing assembly 23. The drive assembly 21 is configured to drive the energy storage assembly 22 to store energy. The firing assembly 23 is configured to form or connect the striking member 121, and the firing assembly 23 is configured to move relative to the housing 11 along the third straight line 103 and to drive the striking member 121 to move along the striking straight line 101 when the firing assembly 23 moves along the third straight line 103. The energy storage assembly 22 is configured to store energy for driving the firing assembly 23 to move, and to drive the firing assembly 23 to move along the third straight line 103 when the energy is released, thereby driving the striking member 121 to move along the striking straight line 101.

[0058] The fastener driver 100 further includes a speed reduction mechanism 15 disposed between the electric motor 14 and the power mechanism 20, and the speed reduction mechanism 15 is configured to connect the electric motor 14 and the power mechanism 20, thereby transmitting power output by the electric motor 14 to the power mechanism 20. The speed reduction mechanism 15 is further configured to reduce the rotational speed of the power output by the electric motor 14. In the present embodiment, the speed reduction mechanism 15 includes a first speed reduction assembly 151, and the first speed reduction assembly 151 is configured to use planetary gear reduction. Because the working principle of planetary gear reduction and the speed reduction produced by such a transmission mechanism are well known to those skilled in the art, detailed description is omitted here for the purpose of brevity of the specification.

[0059] The energy storage assembly 22 includes a gas spring mechanism or a mechanical spring mechanism, wherein the mechanical spring mechanism uses a drive assembly to compress a helical spring to store energy when compressed and release energy when extended. The spring drives the striking member 121 to move when the energy is released.

[0060] As Figures 1-3As shown, in this embodiment, the energy storage component 22 is a gas spring mechanism. The energy storage component 22 includes a first cylinder 221 and a second cylinder 222. A portion or all of the second cylinder 222 is disposed within the first cylinder 221. The first cylinder 221 includes a first cylinder cavity 2210, and the central axis of the first cylinder cavity 2210 is set as a second straight line 102. A portion or all of the second cylinder 222 is disposed within the first cylinder cavity 2210. The second cylinder 222 includes a second cylinder cavity 2220, and the central axis of the second cylinder cavity 2220 coincides with a third straight line 103. In this embodiment, the second straight line 102 and the third straight line 103 are parallel but do not coincide. In some embodiments, the second straight line 102 and the third straight line 103 coincide. In some embodiments, the second straight line 102 and the third straight line 103 are set at a certain angle.

[0061] In some embodiments, the energy storage assembly 22 further includes a connecting part 223 for connecting the first cylinder chamber 2210 and the second cylinder chamber 2220, so that the gas in the first cylinder chamber 2210 can enter the second cylinder chamber 2220 through the connecting part 223.

[0062] The firing assembly 23 is at least partially disposed within the energy storage assembly 22. The firing assembly 23 includes a first piston 231 and a second piston 232. Part or all of the first piston 231 is disposed within the first cylinder chamber 2210. The second piston 232 is disposed within the second cylinder chamber 2220. The drive assembly 21 is connected to the first piston 231 and is capable of driving the first piston 231 to reciprocate along a second straight line 102 within the first cylinder chamber 2210 under the rotation of the motor 14. The second piston 232 is capable of reciprocating along a third straight line 103 within the second cylinder chamber 2220.

[0063] The striking element 121 and the second piston 232 are fixedly connected. The second piston 232 drives the striking element 121 to reciprocate between the top dead center or stop position and the bottom dead center or striking position in the second cylinder cavity 2220.

[0064] like Figures 1-3 As shown, the fastener driver 100 also includes a magazine assembly 191 disposed at the front end of the housing 11. The magazine assembly 191 is used to hold fasteners and connect to the firing assembly 23. The magazine assembly 191 can push the fasteners one by one into the firing assembly 12. The user loads the fasteners into the magazine assembly 191, and the second piston 232 pushes the firing member 121 to fire the fasteners. In this embodiment, as... Figure 1 , Figure 4 and Figure 5As shown, the housing 11 also includes a magazine mounting portion 111 for mounting a magazine assembly 191, which is at least partially disposed within the magazine mounting portion 111.

[0065] In some embodiments, the magazine assembly 191 is fixedly connected to the magazine mounting portion 111. In some embodiments, the magazine assembly 191 is detachably connected to the magazine mounting portion 111. In this embodiment, the magazine assembly 191 is slidably connected to the magazine mounting portion 111.

[0066] In some embodiments, such as Figures 1-3 As shown, the firing assembly 23 also includes an iron plate 234 and a magnet 235. The iron plate 234 is disposed on the side of the second piston 232 facing the connecting portion 223, and the magnet 235 is disposed on the side of the connecting portion 223 facing the second piston 232. The iron plate 234 and the magnet 235 attract each other to fix the second piston 232. In other embodiments, the magnet 235 may be disposed on the side of the second piston 232 facing the connecting portion 223, and the iron plate 234 may be disposed on the side of the connecting portion 223 facing the second piston 232.

[0067] This embodiment provides an implementation of a power mechanism 20. When the drive assembly 21 pushes the first piston 231 to move from front to back within the first cylinder chamber 2210 along the direction of the second straight line 102, the gas in the first cylinder chamber 2210 enters the second cylinder chamber 2220 through the connecting part 223. As the first piston 231 gradually approaches the connecting part 223, the air pressure on the second piston 232 gradually increases. When the air pressure on the second piston 232 reaches a predetermined threshold, the second piston 232 is released from the attraction of the magnet 235 and moves from the top dead center or stop position to the bottom dead center or striking position under the action of air pressure. This pushes the striking member 121 forward to strike the fastener. After the strike is completed, it returns from the bottom dead center or striking position to the top dead center or stop position. At this time, one striking cycle is completed, and the striking member 121 waits for the next strike at the top dead center or stop position.

[0068] In some embodiments, such as Figure 6 As shown, motor 14 is a three-phase brushless motor, including a rotor with permanent magnets and electronically commutated three-phase stator windings U, V, and W. In some embodiments, the three-phase stator windings U, V, and W are connected in a star configuration, and in other embodiments, they are connected in a delta configuration. However, it must be understood that other types of brushless motors are also within the scope of this disclosure. Brushless motors may include fewer or more than three phases.

[0069] The fastener driver 100 includes a control circuit for controlling the motor 14 to operate or stop. The control circuit includes a drive circuit 171 and a controller 172. The drive circuit 171 is electrically connected to the stator windings U, V, W of the motor 14 for delivering current from the battery pack 300 to the stator windings U, V, W to drive the motor 14 to rotate. In one embodiment, the drive circuit 171 includes a plurality of switching elements Q1, Q2, Q3, Q4, Q5, Q6. The gate terminal of each switching element is electrically connected to the controller 172 for receiving a control signal from the controller 172. The drain or source terminal of each switching element is connected to the stator windings U, V, W of the motor 14. The switching elements Q1-Q6 receive the control signal from the controller 172 to change the respective on / off state, thereby changing the current from the battery pack 300 to the stator windings U, V, W of the motor 14. In one embodiment, the drive circuit 171 can be a three-phase bridge driver circuit including six controllable semiconductor power devices (e.g., Field Effect Transistor (FET), Bipolar Junction Transistor (BJT), Insulated Gate Bipolar Transistor (IGBT), etc.). It is understood that the switching elements described above can also be any other type of solid state switch, such as IGBT, BJT, etc.

[0070] In the present embodiment, the controller 172 is configured to control the motor 14 to at least one of operate and limit the output of the motor 14. Limiting the output of the motor 14 includes slowing down the motor 14 and stopping the motor 14. Slowing down the motor 14 means reducing the output rotational speed of the motor 14. Stopping the motor 14 means stopping the motor 14 from working and not outputting power. The motor 14 can be stopped in a stop mode or an intermittent stop mode.

[0071] The controller 172 is disposed on a control circuit board, which includes a printed circuit board (PCB) and a flexible printed circuit (FPC). The controller 172 employs a dedicated control chip, such as a single-chip microcomputer or a microcontroller unit (MCU). The controller 172 specifically controls the on or off state of the switching elements in the drive circuit 171 through the control chip. In some embodiments, the controller 172 controls the ratio between the on time and the off time of the drive switch based on a pulse width modulation (PWM) signal. It should be noted that the control chip can be integrated into the controller 172, or can also be disposed independently of the controller 172, and the structural relationship between the drive chip and the controller 172 can be set according to actual conditions.

[0072] The control circuit further includes a parameter detection module 18, which is configured to detect the operating parameters of the motor 14. The operating parameters refer to parameters related to the operation of the motor 14. In some embodiments, the operating parameters include one or more of current-related parameters, voltage-related parameters, speed-related parameters, and output power-related parameters. The current-related parameters refer to the current and values that can be obtained by calculating the current, such as one or more of the current, the current rate of change, the current integral value, the integral value of the current rate of change, and the average value of the current. The voltage-related parameters refer to the voltage and values that can be obtained by calculating the voltage, such as one or more of the voltage, the voltage rate of change, the voltage integral value, the integral value of the voltage rate of change, and the average value of the voltage. The speed-related parameters refer to the speed and values that can be obtained by calculating the speed, such as one or more of the speed, the speed rate of change, the speed integral value, the integral value of the speed rate of change, and the average value of the speed. The output power-related parameters refer to the output power and values that can be obtained by calculating the output power, such as one or more of the output power, the output power rate of change, the output power integral value, the integral value of the output power rate of change, and the average value of the output power. The parameter detection module 18 feeds back the detection data to the controller 172 in the form of a signal, so that the controller 172 adjusts the control of the motor 14.

[0073] In some embodiments, the parameter detection module 18 is configured to detect current related parameters, and the parameter detection module 18 includes one or more of a current detection resistor, a Hall current sensor, or a mosfet (metal oxide semiconductor field effect transistor) on-resistance, so that one or more current parameters of the bus current and phase current of the motor 14 can be detected. Through logical processing of the detected data, such as calculating a rate of change, calculating an integral value, calculating an integral value of the rate of change, etc., a rate of change of current, an integral value of current, an integral value of the rate of change of current, and a mean value of current, etc. can be obtained.

[0074] In some embodiments, the parameter detection module 18 is configured to detect voltage related parameters of the motor 14, and the parameter detection module 18 includes one or more of an electromagnetic voltage transformer, a Hall voltage sensor, a voltage divider voltage sensor, an optical fiber voltage sensor, and a resistance voltage divider, so that the voltage of the motor 14 can be detected. Through logical processing of the detected data, such as calculating a rate of change, calculating an integral value, calculating an integral value of the rate of change, etc., a rate of change of voltage, an integral value of voltage, an integral value of the rate of change of voltage, and a mean value of voltage, etc. can be obtained.

[0075] In some embodiments, the parameter detection module 18 is configured to detect speed related parameters of the motor 14, and the parameter detection module 18 includes one or more of a speed sensor, a tachometer, a Hall sensor, and an optical sensor, so that the speed of the motor 14 can be detected. Through logical processing of the detected data, such as calculating a rate of change, calculating an integral value, calculating an integral value of the rate of change, etc., a rate of change of speed, an integral value of speed, an integral value of the rate of change of speed, and a mean value of speed, etc. can be obtained.

[0076] In some embodiments, the parameter detection module 18 is used to detect output power-related parameters of the motor 14. The parameter detection module 18 includes one or more of an electromagnetic torque sensor and a load cell. The torque of the motor 14 is measured using one or more of these sensors. Simultaneously, the parameter detection module 18 includes one or more of a speed sensor, a tachometer, a Hall sensor, and a photoelectric sensor, thereby detecting the rotational speed of the motor 14. The output power of the motor 14 is calculated by multiplying the rotational speed and torque. In some embodiments, the parameter detection module 18 calculates the output power of the motor 14 by measuring the voltage and current of the motor 14. In this case, the parameter detection module 18 includes one or more of an electromagnetic voltage transformer, a Hall voltage sensor, a voltage divider, a fiber optic voltage sensor, and a resistive voltage divider to detect voltage, and one or more of a current-sensing resistor, a Hall current sensor, or a MOSFET (metal-oxide-semiconductor field-effect transistor) on-resistance to detect current, thereby obtaining the output power. By performing logical processing on the output power, such as calculating the rate of change, calculating the integral value, and calculating the integral value of the rate of change, the output power rate of change, the output power integral value, the integral value of the output power rate of change, and the average value of the output power can be obtained.

[0077] In some embodiments, such as Figure 7 As shown, the control circuit also includes a position detection module 16, which is configured to acquire the position information of the striking component 121; the controller 172 is configured to control the motor 14 to stop when the working parameter is detected to be greater than or equal to the working parameter threshold after the position information is acquired.

[0078] The position information of the striking component 121 refers to information reflecting the current actual position of the striking component 121. The working parameters are related to the distance traveled by the striking component 121. Different working parameters result in different distances traveled by the striking component 121 along the striking line 101. The working parameter threshold refers to the range within which the working parameters should not exceed during the stroke of the striking component 121 from the position information to the stopping position. By configuring the controller 172 to control the motor 14 to stop when the working parameters are detected to be greater than or equal to the working parameter threshold after acquiring the position information, compared to the related technology that controls the motor 14 to stop only after detecting that the striking component 121 is in the stopping position, this application avoids the situation where the motor 14 is difficult to stop in time when the striking component 121 is worn, and enables the motor 14 to stop in time, with more precise stopping control.

[0079] In some embodiments, the position information comprises information that the striker 121 is at the hitting position, or information that the striker 121 is at any position between the stopping position and the hitting position. In the related art, the motor 14 is controlled to stop after the striker 121 is detected to be at the stopping position, and when the striker 121 is worn, the motor 14 cannot be stopped in time. In the present application, the position information of the striker 121 before the striker 121 is detected to be at the stopping position is detected, and the motor 14 is controlled to stop according to the position information when the working parameter is greater than or equal to the working parameter threshold, so that the motor 14 can be stopped in time, and the stopping control is more accurate.

[0080] In order to detect the position information of the motor 14, in some embodiments, the position detection module 16 is configured to obtain a motor parameter of the motor 14, and estimate the position information according to the motor parameter. The motor parameter of the motor 14 can be different when the striker 121 is at different positions, so the position information can be estimated according to the motor parameter.

[0081] In some embodiments, the fastener driver 100 can be tested in advance to obtain the value of the motor parameter when the striker 121 is at different positions, and the value can be used as a threshold, and then the position information of the striker 121 can be estimated according to the preset threshold and the motor parameter of the motor 14 when the fastener driver 100 is working.

[0082] In some embodiments, the motor parameter of the motor 14 comprises a current parameter of the motor 14. The current parameter of the motor 14 refers to the current of the motor 14 and a value that can be obtained by calculation. When the striker 121 is at the stroke of moving towards the stopping position, the current when the striker 121 is at the hitting position is greater than the current when the striker 121 is at the stopping position and the hitting position, so the position information of the striker 121 can be estimated according to the current parameter of the motor 14, and it can be determined that the striker 121 is at the hitting position, or it can be determined that the striker 121 is at the stopping position and the hitting position.

[0083] It can be understood that in other embodiments, the position information of the striker 121 can also be estimated according to other motor parameters, for example, one or more of the voltage parameter of the motor 14, the speed parameter of the motor 14, and the output power parameter of the motor 14, which are not limited herein and are only used as examples.

[0084] In some embodiments, the position detection module 16 comprises a position sensor arranged on the striking member 121 to detect the position information. The position sensor is a sensor capable of sensing the position of the measured object and converting it into a usable output signal. Therefore, when the position sensor is arranged on the striking member 121, the position information of the striking member 121 can be directly detected by the position sensor.

[0085] In some embodiments, the position sensor is arranged on the inner wall of the second cylinder 222 cavity. At this time, the relative distance between the position of the position sensor and the shutdown position is fixed, so that the position sensor can detect whether the current position of the striking member 121 is the position of the position sensor, that is, the position information of the striking member 121 can be detected.

[0086] In some embodiments, the controller 172 is configured to determine the working parameter threshold according to the position information. When the position information is different, the distance between the striking member 121 and the shutdown position is also different. Since the controller 172 is configured to control the motor 14 to stop when it is detected that the working parameter is greater than or equal to the working parameter threshold after obtaining the position information, by determining the working parameter threshold according to the position information, the striking member 121 can be more accurately in the shutdown position after the motor 14 stops.

[0087] In some embodiments, the controller 172 is configured to determine the working parameter threshold according to the relationship between the position information and the shutdown position. The relationship between the position information and the shutdown position reflects the actual distance between the current actual position of the striking member 121 and the shutdown position, that is, how much distance the striking member 121 needs to run along the striking straight line 101 to accurately be in the shutdown position when the motor 14 stops. The running distance of the striking member 121 depends on the motor 14. The controller 172 is configured to control the motor 14 to stop when it is detected that the working parameter is greater than or equal to the working parameter threshold after obtaining the position information. Therefore, by determining the working parameter threshold according to the relationship between the position information and the shutdown position, the striking member 121 can be more accurately in the shutdown position after the motor 14 stops.

[0088] In some embodiments, the working parameter comprises the number of rotations of the motor 14. In a specific embodiment, the distance traveled by the striking member 121 for one rotation of the motor 14 can be predetermined, and then the distance that the striking member 121 needs to travel along the striking straight line 101 from the current actual position to the stop position can be calculated according to the relationship between the position information and the stop position, and then the number of rotations of the motor 14 needed to make the striking member 121 just at the stop position can be calculated, and the number of rotations of the motor 14 is determined as the working parameter threshold, so that the motor 14 is controlled to stop when the number of rotations of the motor 14 is greater than or equal to the working parameter threshold, and the striking member 121 can be accurately at the stop position.

[0089] In some embodiments, the working parameter comprises the rotation time of the motor 14. In a specific embodiment, the relationship between the rotation time of the motor 14 and the distance traveled by the striking member 121 can be predetermined, and then the distance that the striking member 121 needs to travel along the striking straight line 101 from the current actual position to the stop position can be calculated according to the relationship between the position information and the stop position, and then the time that the motor 14 needs to rotate to make the striking member 121 just at the stop position can be calculated, and the time that the motor 14 needs to rotate is determined as the working parameter threshold, so that the motor 14 is controlled to stop when the rotation time of the motor 14 is greater than or equal to the working parameter threshold, and the striking member 121 can be accurately at the stop position.

[0090] In order to make the motor 14 more accurately at the stop position when stopping, in some embodiments, the control circuit comprises a position loop configured to control at least the stop position of the motor 14. Wherein, the loop is a closed loop feedback, and the position loop is that the difference between the target and the current position is reflected back to the controller 172 through the motor 14 encoder, and the function of the position loop is to generate the speed command of the motor 14 and accurately position and track. By comparing the set target position with the actual position of the motor 14, the deviation is used to generate the speed command of the motor 14 through the position regulator, when the motor 14 is initially started (large deviation area), the maximum speed command should be generated to make the motor 14 accelerate and run at a constant maximum speed, in the small deviation area, the speed command is generated to gradually decrease, so that the motor 14 runs at a decreasing speed until the final positioning. The target position is the stop position, so through the position loop, the position of the motor 14 rotor from receiving the stop signal to stopping rotating is relatively fixed, that is, it can be at the set stop position when stopping, and the motor 14 can have a stable stop position.

[0091] In some embodiments, the controller 172 is configured to stop the motor 14 using vector control. Vector control, also known as field-oriented control (FOC), is a control technology based on the rotor magnetic field orientation of the motor 14. It achieves precise control of the motor 14 by decomposing the three-phase current of the motor 14 into direct-axis and quadrature-axis components. In vector control, the rotor position information of the motor 14 is first obtained through sensors, and then the feedback signal of the rotor position is calculated based on the position error. Next, the control signal of the motor 14 is calculated based on the feedback signal and the set target position. Finally, the control signal is sent to the motor 14 driver to drive the motor 14 to rotate to the target position. The target position is the stopping position, so stopping the motor 14 by vector control allows the motor 14 to stop more accurately at the set stopping position. Furthermore, using vector control to stop the motor 14 results in high efficiency, low torque ripple, low motor noise, and fast deceleration and braking.

[0092] In some embodiments, the controller 172 is configured to stop the motor 14 based on a square wave. Square wave control uses a Hall sensor or a sensorless estimation algorithm to obtain the position of the motor 14 rotor, and then performs six commutations (one commutation every 60°) within a 360° electrical cycle based on the rotor position. At each commutation position, the motor 14 outputs a force in a specific direction; therefore, the position accuracy of square wave control can be said to be electrical 60°. Because the phase current waveform of the motor 14 is close to a square wave under this control method, it is called square wave control. The advantages of square wave control for stopping the motor 14 are a simple control algorithm, low hardware cost, and the ability to achieve high motor 14 speeds using a controller 172 with ordinary performance.

[0093] In related technologies, the fastener driver 100 typically uses the same temperature threshold for protection under different operating modes. When the temperature of the fastener driver 100 exceeds the temperature threshold, the output of the motor 14 is limited. This may lead to overheating and damage to the fastener driver 100 under certain operating modes. To address the problem of the fastener driver 100 being easily damaged by overheating, such as... Figure 8 As shown, in some embodiments, the control circuit further includes a temperature detection module 13, which is used to detect the temperature parameters of the fastener driver 100; the temperature parameters refer to the temperature and the numerical values ​​that can be obtained from the temperature through calculation. In some embodiments, the temperature detection module 13 includes at least one of a thermocouple, an infrared thermometer, and a temperature sensor, thereby enabling it to detect the temperature parameters of the fastener driver 100.

[0094] The controller 172 is configured to limit the output of the motor 14 when the temperature parameter is greater than a first temperature parameter threshold in the first working mode, and limit the output of the motor 14 when the temperature parameter is greater than a second temperature parameter threshold in the second working mode, wherein the first temperature parameter threshold and the second temperature parameter threshold are different. The first temperature parameter threshold refers to a temperature range in which the fastener driver 100 can operate normally in the first working mode. The second temperature parameter threshold refers to a temperature range in which the fastener driver 100 can operate normally in the second working mode. By using different temperature parameter thresholds in different working modes, the fastener can be prevented from being damaged due to excessive temperature in both the first working mode and the second working mode. Compared with the related art in which the same temperature parameter threshold is used in all working modes, the fastener driver 100 can be prevented from being damaged due to excessive temperature in the present application.

[0095] In some embodiments, the temperature parameter comprises one or more of temperature, temperature rate of change, temperature integral, integral of temperature rate of change, and mean temperature; and the first temperature parameter threshold and the second temperature parameter threshold each comprise one or more of a temperature threshold, a temperature rate of change threshold, a temperature integral threshold, an integral of temperature rate of change threshold, and a mean temperature threshold. The first temperature parameter threshold and the second temperature parameter threshold comprise values related to the temperature parameter, for example, when the temperature parameter is the temperature rate of change, the first temperature parameter threshold is a first temperature rate of change threshold, and the second temperature parameter threshold is a second temperature rate of change threshold, the temperature rate of change is compared with the first temperature rate of change threshold in the first working mode, and the temperature rate of change is compared with the second temperature rate of change threshold in the second working mode. For another example, when the temperature parameter is the temperature and the temperature rate of change, the temperature is compared with the first temperature threshold, and the temperature rate of change is compared with the first temperature rate of change threshold in the first working mode, and the temperature is compared with the second temperature threshold, and the temperature rate of change is compared with the second temperature rate of change threshold in the second working mode. Therefore, one or more of the temperature, the temperature rate of change, the temperature integral, the integral of temperature rate of change, and the mean temperature can be selected as the temperature parameter according to actual needs, which is not limited herein.

[0096] There are various ways to set the first temperature parameter threshold and the second temperature parameter threshold. In some embodiments, the first temperature parameter threshold and the second temperature parameter threshold can be preset before leaving the factory and cannot be adjusted by the user. In some embodiments, the fastener driver 100 is provided with a human-computer interaction component, and the user can manually adjust the first temperature parameter threshold and the second temperature parameter threshold through the human-computer interaction component. In some embodiments, the fastener driver 100 has a communication module electrically connected with the controller 172, and the user can send an adjustment signal for adjusting the first temperature parameter threshold and the second temperature parameter threshold through an APP setting in a smart terminal. After receiving the adjustment signal, the communication module sends the adjustment signal to the controller 172, so that the controller 172 adjusts the first temperature parameter threshold and the second temperature parameter threshold. The smart terminal can be one or more of a smart phone, a smart watch, a tablet computer, and a wearable device.

[0097] In some embodiments, the striking frequency of the striking member 121 in the first working mode is less than the striking frequency of the striking member 121 in the second working mode. The striking frequency refers to the number of times the striking member 121 strikes repeatedly per minute, and the striking frequency affects the temperature range in which the fastener driver 100 can normally work. By setting different first temperature parameter thresholds and second temperature parameter thresholds for the first working mode and the second working mode with different striking frequencies, it is possible to effectively prevent the fastener driver 100 from being damaged due to excessive temperature.

[0098] In some embodiments, the first temperature parameter threshold is greater than the second temperature parameter threshold. When the striking frequency of the striking member 121 is low, the temperature range in which the fastener driver 100 can normally work is large. By making the first temperature parameter threshold greater than the second temperature parameter threshold, it is possible to better adapt to the actual needs of the fastener driver 100 and match appropriate temperature parameter thresholds for the first working mode and the second working mode, i.e., a larger first temperature parameter threshold for the first working mode and a smaller second temperature parameter threshold for the second working mode.

[0099] In some embodiments, the temperature parameters include at least one of a temperature parameter of the motor 14, a temperature parameter of the power mechanism 20, and a temperature parameter of the controller 172. In some embodiments, the temperature detection module 13 detects only the temperature parameter of the motor 14, or only the temperature parameter of the power mechanism 20, or only the temperature parameter of the controller 172. In some embodiments, the temperature detection module 13 detects the temperature parameter of the motor 14 and the power mechanism 20. In some embodiments, the temperature detection module 13 detects the temperature parameter of the motor 14 and the controller 172. In some embodiments, the temperature detection module 13 detects the temperature parameter of the power mechanism 20 and the controller 172. In some embodiments, the temperature detection module 13 detects the temperature parameter of the motor 14, the power mechanism 20, and the controller 172.

[0100] In some embodiments, the number of temperature parameters is a plurality, and in some embodiments, the plurality of temperature parameters can be at least two of a temperature parameter of the motor 14, a temperature parameter of the power mechanism 20, and a temperature parameter of the controller 172.

[0101] The controller 172 is configured to, in the first working mode, control the motor 14 to decelerate or stop according to the number of temperature parameters greater than the corresponding first temperature parameter threshold. In the second working mode, control the motor 14 to decelerate or stop according to the number of temperature parameters greater than the corresponding second temperature parameter threshold. If the motor 14 is directly controlled to stop, the emergency stop will cause damage to the motor 14. By controlling the motor 14 to decelerate according to the number of temperature parameters greater than the corresponding first temperature parameter threshold or second temperature parameter threshold before stopping, the load of the motor 14 can be reduced, the impact on the motor 14 can be reduced, the damage to the motor 14 caused by emergency stop can be avoided, and the service life of the motor 14 can be prolonged.

[0102] In some embodiments, the controller 172 is configured to, in the first working mode, control the motor 14 to decelerate when a first number of temperature parameters greater than the corresponding first temperature parameter threshold is detected, and control the motor 14 to stop when a second number of temperature parameters greater than the corresponding first temperature parameter threshold is detected, the second number being greater than the first number.

[0103] In the first working mode, when a smaller number of temperature parameters are greater than the corresponding first temperature parameter threshold, it indicates that the temperature of the fastener driver 100 is too high, but the degree of the temperature is not high, and the motor 14 can be controlled to slow down at this time. When a larger number of temperature parameters are greater than the corresponding first temperature parameter threshold, it indicates that the temperature of the motor 14 is too high, and the degree of the temperature is high, and the motor 14 needs to be directly controlled to quickly reduce the temperature parameter of the motor 14 at this time. In this way, the motor 14 can be controlled in stages, slowing down when the temperature is slightly high and stopping when the temperature is high, which can reduce the impact on the motor 14, avoid damage to the motor 14 caused by sudden stopping, and also help to prolong the service life of the motor 14.

[0104] In some embodiments, the controller 172 is configured to, in the second working mode, control the motor 14 to slow down when a third number of temperature parameters are greater than the corresponding second temperature parameter threshold, and control the motor 14 to stop when a fourth number of temperature parameters are greater than the corresponding second temperature parameter threshold, the fourth number being greater than the third number.

[0105] In the second working mode, when a smaller number of temperature parameters are greater than the corresponding second temperature parameter threshold, it indicates that the temperature of the fastener driver 100 is too high, but the degree of the temperature is not high, and the motor 14 can be controlled to slow down at this time. When a larger number of temperature parameters are greater than the corresponding second temperature parameter threshold, it indicates that the temperature of the motor 14 is too high, and the degree of the temperature is high, and the motor 14 needs to be directly controlled to quickly reduce the temperature parameter of the motor 14 at this time. In this way, the motor 14 can be controlled in stages, slowing down when the temperature is slightly high and stopping when the temperature is high, which can reduce the impact on the motor 14, avoid damage to the motor 14 caused by sudden stopping, and also help to prolong the service life of the motor 14.

[0106] In one specific embodiment, the plurality of temperature parameters are the temperature parameters of the motor 14 and the temperature parameters of the power mechanism 20, in the first working mode, when the temperature parameter of the motor 14 exceeds the corresponding first temperature parameter threshold or the temperature parameter of the power mechanism 20 exceeds the corresponding first temperature parameter threshold, the motor 14 is controlled to slow down. When the temperature parameter of the motor 14 exceeds the corresponding first temperature parameter threshold and the temperature parameter of the power mechanism 20 exceeds the corresponding first temperature parameter threshold, the motor 14 is controlled to stop. In the second working mode, when the temperature parameter of the motor 14 exceeds the corresponding second temperature parameter threshold or the temperature parameter of the power mechanism 20 exceeds the corresponding second temperature parameter threshold, the motor 14 is controlled to slow down. When the temperature parameter of the motor 14 exceeds the corresponding second temperature parameter threshold and the temperature parameter of the power mechanism 20 exceeds the corresponding second temperature parameter threshold, the motor 14 is controlled to stop.

[0107] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the above embodiments do not limit the present application in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation fall within the protection scope of the present application.

Claims

1. A fastener driver characterized by, The application relates to a driving mechanism for a driving device, comprising: a striking assembly, comprising a striker arranged to strike a fastener; a power mechanism arranged to generate power to drive the striker; the power mechanism comprises a gas spring mechanism or a mechanical spring mechanism; a motor arranged to drive the power mechanism to move and generate the power; a control circuit for controlling the motor to operate or stop; the control circuit at least comprises: a controller capable of at least controlling the motor to operate; a position detection module arranged to obtain position information of the striker; a parameter detection module arranged to detect a working parameter of the motor; wherein the controller is configured to control the motor to stop when the position information is obtained and the working parameter is greater than or equal to a parameter threshold.

2. The fastener driver of claim 1, wherein, the striker is moved from a stop position to a striking position to strike the fastener; the position information comprises information that the striker is in the striking position or information that the striker is in any position between the stop position and the striking position.

3. The fastener driver of claim 1, wherein, the working parameter comprises the number of rotations or the rotation time of the motor.

4. The fastener driver of claim 1, wherein, the control circuit comprises a position ring arranged to at least control the stop position of the motor to stop.

5. The fastener driver of claim 1, wherein, the controller is configured to control the motor to stop according to vector control or according to square wave control.

6. The fastener driver of any of claims 1-5, wherein, the position detection module is arranged to obtain motor parameters of the motor and estimate the position information according to the motor parameters.

7. The fastener driver of claim 6, wherein, the motor parameters of the motor comprise current parameters of the motor.

8. The fastener driver of any of claims 1-5, wherein, the position detection module comprises a position sensor arranged on the striker to detect the position information.

9. The fastener driver of claims 2 or 4, wherein, the controller is configured to: determine the parameter threshold according to the position information.

10. The fastener driver of claim 9, wherein, the controller is configured to: determine the parameter threshold according to the relationship between the position information and the stop position.

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