Self-adaptive power control method and device for oblique firing pin of electric tool

Abstract

The invention discloses a slant firing pin self-adaptive power control method and device for an electric tool, and relates to the field of electric tool control, and the control method comprises the following steps: S1, obtaining bevel angle data and material identification data; s2, querying a dynamic efficiency compensation coefficient; s3, calculating target impact energy based on the oblique angle data, the dynamic efficiency compensation coefficient and preset vertical reference energy; s4, generating a driving control instruction, and executing a percussion action; and S5, after percussion is completed, percussion effect characteristic data are obtained, and if data deviation occurs, fine adjustment updating is conducted on the dynamic efficiency compensation coefficient under the current operation condition. Compared with existing static compensation which only depends on the theoretical cosine square relation, the fundamental defect that systematic underestimated energy requirements can be overcome, so that the consistency of the nailing depth and the fastening force can be guaranteed within the full working condition range, and the phenomenon of operation performance degradation caused by angle increase or material hardening is effectively eliminated.

Description

Technical Field

[0001] This invention relates to the field of power tool control technology, and more particularly to power tools operated by electricity or fluid pressure, specifically a method and apparatus for adaptive power control of a beveled striker in power tools. Background Technology

[0002] In modern construction and interior decoration projects, vertical fastening operations are frequently required in severely confined spaces such as the edges of beams and columns, corners of walls, and around dense pipelines. Traditional straight-shot power tools, with their gun bodies parallel to the working direction, are prone to geometric interference with surrounding obstacles, making it difficult to achieve vertical nailing in such scenarios. This results in nails not being firmly driven into side workpieces, affecting the stability and safety of the construction. To overcome these spatial limitations, angled-firing power tools have emerged. By setting the striking direction of the internal firing pin at a fixed angle (θ) to the main axis of the tool body, the nail achieves a direction of motion perpendicular to the surface of the side workpiece at the moment of firing, cleverly bypassing spatial obstacles and achieving effective fastening under confined conditions.

[0003] However, while the angled firing pin structure overcomes spatial obstacles, the impact force is transmitted obliquely. According to the principle of force decomposition, the effective component of the force acting vertically on the nail decreases according to the cosine function cosθ as the angle θ increases. This inherent geometric relationship leads to force loss, resulting in inconsistent nail penetration depths and uncontrollable final tightening force. The impact may be less significant when the angle is small or on softer materials; however, at large angles or on hard materials, the severe lack of effective impact energy can cause the nail to fail to reach the preset depth, or even lead to nail bending, tightening failure, and other quality problems, seriously affecting construction efficiency and the reliability of the final process.

[0004] To solve this problem, there is an urgent need to develop an adaptive dynamic control method that can effectively compensate for force loss caused by geometric structure. Summary of the Invention

[0005] This invention overcomes the shortcomings of the prior art and provides an adaptive power control method and device for an oblique firing pin of a power tool.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: Firstly, the present invention provides an adaptive power control method for an oblique firing pin of a power tool, comprising the following steps: S1. Obtain the real-time oblique angle data and target material identification data for the current operation; S2. Based on the real-time oblique angle data and the target material identification data, query the pre-stored dynamic efficiency compensation coefficient. ;in, A real number less than 1, representing a specific angle. i and materials M Actual axial energy transfer efficiency and theoretical static efficiency The ratio; S3. Based on the real-time oblique angle data and the dynamic efficiency compensation coefficient and the preset vertical reference energy Calculate the target impact energy of this firing; the target impact energy The calculation formula is: ; S4. Based on the target impact energy, generate corresponding drive control commands and control the power execution unit to perform the firing action; S5. After firing, acquire the firing effect characteristic data collected by the impact feedback sensor. If the characteristic data deviates from the expected range, fine-tune and update the dynamic efficiency compensation coefficient under the current operating conditions.

[0007] In a preferred embodiment of the present invention, in step S1, the oblique angle data is acquired by an tilt sensor, and the target material identification data is acquired by user input or an automatic identification module.

[0008] In a preferred embodiment of the present invention, in step S1, the measurement resolution of the real-time oblique angle data is ≥0.1°, and the material identification data corresponds to the category code in the preset material classification system.

[0009] In a preferred embodiment of the present invention, in step S2, the dynamic efficiency compensation coefficient By targeting different angles i and different materials M The pre-calibration experiments determined the values ​​and stored them in the controller's non-volatile memory.

[0010] In a preferred embodiment of the present invention, in step S4, the drive control command is a pulse width modulation signal or a proportional valve control signal, and its parameters are determined according to the target impact energy through a pre-calibrated energy-control mapping relationship.

[0011] In a preferred embodiment of the present invention, in step S4, the power execution unit is an electromagnetic drive mechanism or a pneumatic drive mechanism.

[0012] In a preferred embodiment of the present invention, in step S5, the firing effect characteristic data includes at least one of the firing pin rebound rate and the residual vibration spectrum.

[0013] In a preferred embodiment of the present invention, in step S5, the fine-tuning update is performed only when a same-direction deviation is detected in multiple consecutive firings, and the update step size is limited by a preset learning rate parameter.

[0014] In a second aspect, the present invention provides an angled firing pin device for power tools, comprising: Tilt sensor, used to acquire real-time tilt angle data for the current operation; The material identification module is used to acquire the target material identification data; The controller has pre-stored dynamic efficiency compensation coefficients. , used to implement an adaptive power control method for oblique firing pins in power tools; The power actuator executes the firing action in response to the drive control command of the controller; Impact feedback sensor is used to collect characteristic data of the firing effect after firing is completed.

[0015] In a preferred embodiment of the present invention, the controller further includes a non-volatile memory for storing dynamic efficiency compensation coefficients. Mapping table and firing log data; the impact feedback sensor includes at least one of piezoelectric impact sensor and Hall effect position sensor.

[0016] This invention addresses the shortcomings of the prior art and has the following beneficial effects: (1) This invention provides an adaptive power control method and device for oblique impact pins of power tools. By using dynamic efficiency compensation coefficients pre-calibrated based on different oblique angles and materials, it encapsulates dynamic losses such as structural vibration friction and material plastic deformation that are ignored by the static model. This allows the system to not only compensate for the geometric force attenuation when calculating the target impact energy, but also to accurately quantify and supplement the actual dynamic energy dissipation. This ensures that the effective impact energy in the vertical direction is stably maintained at the preset benchmark value, thereby solving the problem that the effective energy attenuates with changes in angle and material during oblique impact. Compared with the existing static compensation that only relies on the theoretical cosine square relationship, this invention can overcome the fundamental defect of systematically underestimating energy demand, thus ensuring the consistency of nail penetration depth and fastening force across the entire working range and effectively eliminating the phenomenon of performance degradation caused by increased angle or material hardening.

[0017] (2) In this invention, by collecting physical response characteristic data after firing, the system can adaptively and progressively correct the dynamic efficiency compensation coefficient based on the deviation of the characteristics such as the rebound rate of the firing pin or the residual vibration spectrum from the expected range, so that it always fits the actual working conditions. It can automatically adapt to the performance drift caused by long-term use of the tool, the subtle differences in the materials of different batches of workpieces, and the disturbances caused by complex field environments, thereby ensuring the energy output accuracy of each firing, avoiding abnormal energy transfer caused by changes in working conditions or parameter deviations, thereby improving the durability and operational stability of the tool, and reducing operational quality problems caused by parameter deviations.

[0018] (3) In this invention, by taking angle and material as dual parameters as input, a suitable power command is generated, so that a unified control logic can effectively cover a wide range of operations with multiple angles, from pine wood to concrete and other materials. This effectively improves the adaptability and versatility of a single angled power tool. Operators do not need to manually configure complex parameters for specific angles or materials. This allows for seamless integration into existing different types of angled pin-type power tools. Only firmware upgrades and calibration data supplementation are required, thereby reducing the cost of tool upgrades and effectively improving the prospects for industrialization and promotion. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a flowchart illustrating a preferred embodiment of the adaptive power control method for an oblique firing pin in a power tool according to the present invention. Figure 2 This is a schematic diagram of the two-dimensional mapping representation of the dynamic efficiency compensation coefficient in a preferred embodiment of the present invention; Figure 3 This is a schematic diagram of the adaptive control process of the oblique firing pin device according to a preferred embodiment of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein. Therefore, the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0022] Application Overview: To compensate for the inherent mechanical losses of the angled firing pin structure and maintain a stable effective impact energy in the vertical direction, those skilled in the art will naturally resort to the classical principle of static decomposition. An intuitive and widely adopted approach is to determine the impact energy based on the real-time angle θ during operation, according to... The proportion is used to increase the total impact energy output by the tool. The theoretical basis is that, under the assumption of ideal rigid collision and instantaneous energy transfer, the proportion of effective energy in the vertical direction to the total energy is... Therefore, as long as the total input energy is amplified... Theoretically, this allows for the same effective energy in the vertical direction as a straight shot at a 0° angle, thus maintaining a consistent penetration depth.

[0023] However, through in-depth research and practical application, the applicant discovered that directly using the aforementioned static energy compensation model cannot completely solve the problems of inconsistent penetration depth and uncontrollable clamping force, especially when operating on materials with large angles or high hardness, where the effect attenuation is particularly significant. The static model oversimplifies the complex oblique impact process into an ideal, lossless instantaneous force transmission problem. In reality, oblique firing is a transient dynamic process involving multi-physics coupling. The high-speed motion of the firing pin under asymmetric constraints easily induces lateral vibration, causing some kinetic energy to be dissipated by the structural damping within the tool. When the nail is ejected along the oblique channel, strong, nonlinear sliding friction occurs between it and the hole wall, and its frictional loss increases nonlinearly with increasing contact pressure and material hardness. Furthermore, the localized plastic deformation or micro-fracture of the workpiece material under oblique impact loads also absorbs a large amount of impact energy. These dynamic losses are composed of structural vibration, friction, and material deformation.

[0024] Therefore, the energy transfer efficiency assumed by the model The axial energy conversion capability of the real system was overestimated. More importantly, these dynamic losses are not constant values; they increase rapidly and nonlinearly with the increase of the angle θ, and are extremely sensitive to the mechanical properties of the workpiece material. This results in the compensation energy calculated based on the static model being insufficient in actual operation, unable to offset the additional losses that actually occur. Ultimately, this manifests as systematic deviations in control commands, and technical problems such as insufficient penetration depth and large dispersion of fastening force still exist.

[0025] To address the aforementioned issues, this invention proposes an adaptive power control method and device for oblique impact pins in power tools. By quantifying the dynamic losses during the oblique impact process into a callable dynamic efficiency compensation coefficient, which characterizes the ratio of actual axial energy transfer efficiency to theoretical static efficiency, this invention, when performing energy compensation calculations, not only considers the theoretical force attenuation caused by geometric angles but also superimposes an efficiency correction factor determined by dynamic losses. This ensures that the generated target impact energy command accurately matches the total energy demand in the actual physical process, guaranteeing that the effective energy ultimately transferred to the vertical direction of the nail stably reaches the preset benchmark value. This effectively overcomes the defect of traditional static compensation models that systematically underestimate the required energy due to neglecting dynamic losses. Consequently, even under conditions such as large angles and hard materials, oblique power tools can achieve highly consistent and reliable preset driving depth and fastening force, significantly improving the stability and predictability of work quality.

[0026] Example 1:

[0027] like Figure 1 As shown, an adaptive power control method for an oblique firing pin in power tools includes the following steps: S1. Obtain the real-time oblique angle data and target material identification data for the current operation; S2. Based on the real-time oblique angle data and the target material identification data, query the pre-stored dynamic efficiency compensation coefficient. ; S3. Based on the real-time oblique angle data and the dynamic efficiency compensation coefficient and the preset vertical reference energy Calculate the target impact energy of this firing; S4. Based on the target impact energy, generate corresponding drive control commands and control the power execution unit to perform the firing action; S5. After firing, acquire the firing effect characteristic data collected by the impact feedback sensor. If the characteristic data deviates from the expected range, fine-tune and update the dynamic efficiency compensation coefficient under the current operating conditions.

[0028] In this embodiment, in step S1, before each firing operation is initiated, the system performs an environmental perception phase; this phase is completed by the tilt sensor integrated inside the power tool body to collect the current working posture in real time.

[0029] It should be noted that the tilt sensor adopts a three-axis microelectromechanical system (MEMS) accelerometer and gyroscope fusion unit. Its physical installation position is located inside the tool handle and is connected to the handle body through a rigid structure to ensure that the measurement coordinate system is synchronized with the overall motion state of the tool.

[0030] Specifically, during the tool's power-on self-test, the system executes a zero-gravity vector calibration procedure: the user places the tool stably on a horizontal reference surface, and the controller reads the static gravity vector output by the accelerometer at this time, using it as the reference normal direction for subsequent angle calculations. Subsequently, under any working posture, the controller fuses the raw data from the MEMS accelerometer and gyroscope using an extended Kalman filter algorithm to eliminate high-frequency vibration interference and zero-bias drift, ultimately resolving the angle between the impact pin's trajectory and the workpiece surface normal with an angular resolution of 0.1°. i This angle i It is the acute angle between the axis of the firing pin and the normal to the workpiece surface, and its value ranges from 0° to 45°, which is applicable to most oblique fastening applications.

[0031] Furthermore, obtain the material identification data of the target workpiece. M The material identification data M It is a discrete integer code value whose numerical range corresponds to five typical building substrates in the preset material classification system, namely: 0 represents softwood, such as pine and fir; 1 represents medium density fiberboard (MDF); 2 represents hard plywood, such as birch plywood; 3 represents concrete blocks with strength grades C15-C25; 4 represents metal matrix composites, such as aluminum honeycomb sandwich panels.

[0032] Furthermore, the material identification data M Material can be input in two ways: First, the user can manually select the corresponding material category via physical buttons on the tool casing or a touchscreen interface; second, the tool is equipped with an NFC module, which automatically reads the material type, density grade, and surface treatment status information stored in the tag when it is brought close to the smart tag attached to the workpiece surface. The matching engine inside the controller then maps this information to the nearest standard material category, thereby determining a unique material identification data. M value.

[0033] Understandably, regardless of the input method used, material identification data M Once the value is confirmed, it is locked until it is reset before the next firing.

[0034] In this embodiment, in step S2, the oblique angle is obtained. i Material identification data M Then, the controller enters the parameter query phase. For example... Figure 2 As shown, a two-dimensional mapping table is pre-programmed into the non-volatile memory inside the controller. This table uses... i and M It uses a dual-index dimension and stores the corresponding dynamic efficiency compensation coefficients. .

[0035] For example, a two-dimensional mapping table is shown in Table 1.

[0036] Table 1:

[0037] As shown in Table 1: When nailing vertically at 0°, When the value is close to 1, the dynamic loss is minimal, approaching the theoretical static efficiency; at the same angle, the higher the material hardness, the greater the efficiency. The smaller the value, the more significant the nonlinear friction and plastic deformation loss will be due to the hard material; for the same material, the larger the angle, the greater the loss. The smaller the value, the more the lateral vibration of the firing pin and the energy dispersion will be aggravated due to the large angle; the values ​​in the table are discrete point calibration values, and in the actual system, a complete compensation surface in the continuous range of 0°-45° will be generated by the interpolation algorithm.

[0038] Furthermore, the dynamic efficiency compensation coefficient For a real number less than 1, its physical meaning is: at a specific angle... i With materials M Under the combined conditions, the actual effective impact energy transmitted to the vertical direction of the nail body and the theoretical lossless model are compared. The ratio of the initial kinetic energy to the initial kinetic energy. The initial value of this coefficient is obtained through laboratory calibration procedures.

[0039] Specifically, the calibration process was conducted in a constant temperature and humidity environment of 25 ℃ and 50% RH, using standard-sized specimens of 300mm × 300mm × 50mm. The uniformity of the internal structure was verified using industrial computed tomography (CT) to eliminate interference from defects such as pores, nodules, or delamination. For each material... M At least 50 repeated impact experiments were conducted at four discrete oblique angles: 0°, 15°, 30°, and 45°. In each experiment, a high-precision laser displacement sensor recorded the nail's incident depth at a sampling rate of 10kHz, and a high-speed camera system captured the trajectory of the impact pin's tip at a frame rate of 100,000 frames per second. The velocity decay curve was then obtained through numerical differentiation. Combining the impact pin's mass and velocity data, the true axial kinetic energy of each impact could be calculated. Meanwhile, the vertical kinetic energy predicted by the theoretical static model is: ;in, It is the total kinetic energy input to the driving unit.

[0040] Therefore, the efficiency ratio for a single experiment is Statistical analysis was performed on 50 valid experimental data points. After removing outliers, the median within the 95% confidence interval was taken as the median. Combination Calibration values ​​are then applied. Subsequently, a cubic spline interpolation algorithm is used to extend the discrete points to a continuous range of 0°–45°, forming a smooth compensation surface, which is stored as floating-point numbers in the parameter area of ​​non-volatile memory. This parameter area employs a cyclic redundancy check (CRC-32) mechanism to protect data integrity and prevent parameter corruption caused by power fluctuations or electromagnetic interference.

[0041] In this embodiment, the dynamic efficiency compensation coefficient is obtained in step S3. Then, the controller performs the energy calculation phase, determining the target impact energy. The calculation formula is: ; in, To determine the kinetic energy value corresponding to the standard nail penetration depth under 0° vertical nailing conditions, this value is embedded in the controller firmware by the factory calibration program. A typical value is 1.8 J, applicable to a standard 50 mm long steel nail embedded to a standard 15 mm depth in softwood. This calculation is performed by a dedicated floating-point unit (FPU) within the controller, utilizing a hardware divider and a trigonometric function acceleration library to complete a high-precision solution within 1 ms, ensuring real-time control command generation.

[0042] It is worth noting that this formula is essentially a reverse application of the principle of energy conservation: since there is energy loss in real systems determined by the angle of inclination and the material properties, in order to ensure that the effective energy in the final vertical direction is still equal to the energy in the reverse direction, the energy conservation principle must be applied in reverse. The input energy must be increased at the source, and its amplification factor is... .

[0043] In this embodiment, the target impact energy is calculated in step S4. Then, the system enters the drive command generation stage; depending on the power architecture used by the power tool, the specific form of the drive control command varies.

[0044] For a slanted nail gun employing an electromagnetic drive architecture, its power actuation unit consists of coil windings, a permanent magnet, and a firing pin assembly. The controller internally stores a pre-calibrated electromagnetic-kinetic energy conversion characteristic curve, established by measuring the firing pin exit kinetic energy under different combinations of pulse width modulation duty cycles and peak currents. Given the target impact energy... Under the premise of this, the controller determines the unique corresponding pulse width modulation duty cycle and peak current by using a lookup table method or a piecewise linear interpolation method.

[0045] For example, when the target impact energy At 2.4 J, the corresponding duty cycle is 78% and the peak current is 120A.

[0046] It should be noted that the pulse width modulation signal is generated by the controller's advanced timer module, and its rising and falling edges are both controlled by hardware synchronization to ensure that the timing accuracy of the energy output is better than ±5 μs.

[0047] For a slanted nail gun employing a compressed gas-driven architecture, its power actuator includes a high-pressure gas tank, a high-speed proportional valve, and a cylinder piston. The controller incorporates a pneumatic system pressure-flow-kinetic energy mapping model, constructed based on the gas state equation and empirical formulas of fluid mechanics, with the target impact energy as the input. The output is the opening timing and opening degree setting value of the proportional valve.

[0048] For example, target impact energy When the value is 2.0 J, the corresponding proportional valve opening timing is 8 ms and the opening setting value is 65%.

[0049] It should be noted that this setting value outputs an analog voltage signal to the proportional valve drive circuit through a digital-to-analog converter (DAC) to achieve precise control of the airflow energy.

[0050] Understandably, regardless of the driving method used, the control command is triggered by a hardware timer within a fixed delay window after the trigger signal is detected to be valid, ensuring strict synchronization between human-machine interaction and energy release.

[0051] In this embodiment, in step S5, after the firing action is completed, the system immediately activates the feedback correction mechanism and enters the closed-loop learning phase. This mechanism relies on two types of physical sensors: piezoelectric impact sensors and Hall effect position sensors.

[0052] The piezoelectric impact sensor is firmly bonded to the sidewall of the firing pin guide rail using an epoxy resin potting process. Its sensitive axis is perpendicular to the firing pin's movement direction, and it is specifically designed to capture the lateral vibration component caused by asymmetric contact, local buckling, or material rebound after firing. The analog voltage signal output by the sensor is amplified by a low-noise preamplifier and then digitized by a 16-bit analog-to-digital converter at a sampling rate of 50 kHz. The controller performs a fast Fourier transform on the acquired residual vibration signal to extract the dominant frequency component and its corresponding decay time constant.

[0053] Under ideal conditions, the extracted main frequency component should stabilize around a certain characteristic frequency, such as 1.2 kHz, and the decay time constant should be between 8 ms and 12 ms. If the actual value deviates from this range by more than the preset tolerance, it is considered an energy transfer anomaly.

[0054] On the other hand, the Hall effect position sensor has three detection points along the striker's travel: a starting position 50 mm from the end point, a midpoint 25 mm from the end point, and an ending position 0 mm from the end point. Each detection point is equipped with an independent Hall element, which generates a switching signal when the permanent magnet on the striker passes by. The controller records the time interval between two adjacent switching signals. And combined with known spacing Calculate the local velocity, its local velocity The rebound rate is the velocity value of the segment from the endpoint to the midpoint.

[0055] Ideally, the rebound rate should monotonically increase with the target impact energy and fall within a pre-stored reference range; if the target impact energy... At a J of 2.0, the rebound rate should be between 3.8 m / s and 4.2 m / s. If the rebound rate exceeds this range, it is also considered an energy transfer deviation.

[0056] Furthermore, when any of the above characteristic parameters (dominant frequency component, decay time constant, or rebound rate) exceeds its tolerance threshold, the controller initiates a deviation analysis program. This program first determines the direction of the deviation: if the dominant frequency component is too low and the decay time constant is too long, or the rebound rate is too low, it indicates that the actual energy transferred is insufficient and needs to be increased. Conversely, it needs to be reduced. .

[0057] The deviation magnitude is quantified by a normalized error index, such as the defined error. ;in, The actual measured rebound rate of the firing pin is obtained by collecting position data through Hall effect position sensors arranged along the firing pin stroke, calculating the velocity value of the firing pin rebounding from the end position to the mid position, reflecting the real motion state of the firing pin after firing, and directly reflecting the actual effect of energy transfer. This is the nominal (ideal) rebound rate of the firing pin. Pre-stored in the controller's memory, it represents the expected rebound rate corresponding to the impact energy of a specific target and serves as a reference benchmark for determining whether energy transfer is normal.

[0058] Subsequently, the controller calculates Incremental update volume ,in, A preset learning rate parameter, typically 0.02, is used to limit the step size of a single correction and prevent overshoot. However, to avoid transient interference, such as oil stains on the workpiece surface or unstable temporary supports causing erroneous corrections, the system introduces a three-step consistency confirmation mechanism: only when three consecutive shots are fired at the same... A unidirectional deviation was detected under all operating conditions, i.e. e The cumulative sum is only calculated when the signs match. The data is written to the corresponding address in non-volatile memory. The write operation employs atomic transaction processing: the new value is first written to the backup area, and only after verification is the parameter area pointer updated, ensuring data consistency. Furthermore, all correction records are appended to the log area for subsequent maintenance or remote diagnostics.

[0059] To further verify the technical effects of the present invention, a set of comparative experimental data between an experimental group and a control group is provided. The experimental platform used the same model of electromagnetically driven angled nail gun, and the control method of Embodiment 1 of the present invention (experimental group) and the traditional static compensation method (control group) were run respectively. The control group only used... Energy compensation was performed, but no energy was introduced. And a feedback and correction mechanism. The test condition was rigid plywood. M =2, oblique angle i The angles were 0°, 15°, 30°, and 45°. Each working condition was subjected to 30 consecutive firings, and the effective kinetic energy of the nail in the perpendicular incident direction (inferred from laser velocity measurement) and the nail penetration depth were recorded. The experimental results are shown in Table 2.

[0060] Table 2:

[0061] As shown in Table 2, under 0° vertical conditions, the two methods perform similarly. However, as the angle increases, the effective kinetic energy of the control group significantly decreases, and the dispersion of the nail penetration depth increases sharply, especially at 45° where the standard deviation of the depth reaches as high as 2.1 mm, failing to meet engineering fastening requirements. In contrast, the experimental group maintains a stable effective kinetic energy of 1.8 J ± 0.05 J throughout the entire angle range, and the standard deviation of the depth is consistently controlled within ± 0.3 mm, fully demonstrating the consistency and reliability of the control method proposed in this invention under all working conditions.

[0062] In summary, the adaptive dynamic control method for oblique impact pins proposed in this invention quantifies the dynamic losses during oblique impact into a callable dynamic efficiency compensation coefficient by constructing a five-stage control process of sensing, querying, calculating, executing, and feedback. Furthermore, after each firing, online learning and parameter fine-tuning are performed based on physical response characteristics, enabling the generated target impact energy command to accurately match the total energy demand in the real physical process. This ensures that the effective energy ultimately transmitted to the vertical direction of the nail stably reaches the preset benchmark value, effectively overcoming the defect of traditional static compensation models that systematically underestimate the required energy due to neglecting dynamic losses. As a result, even under conditions such as large angles and hard materials, angled power tools can achieve highly consistent and reliable preset driving depth and fastening force, significantly improving the stability and predictability of work quality.

[0063] Furthermore, the proposed method does not require additional high-cost sensors, nor does it rely on real-time physical modeling. By simply optimizing the control logic and data-driven strategy, it can achieve precise control of effective vertical impact energy across the entire working range of five typical materials at an angle of 0° to 45°, thereby ensuring consistent nail penetration depth and reliable fastening. The proposed method can be seamlessly integrated into the electronic control systems of existing angled nail guns, angled nailers, or multi-angle impact wrenches. Performance can be significantly improved simply by upgrading the firmware and supplementing the calibration data. It possesses extremely high engineering practical value and promising prospects for industrialization.

[0064] Example 2:

[0065] like Figure 3 As shown, a beveled firing pin device for power tools includes: Tilt sensor, used to acquire real-time tilt angle data for the current operation; The material identification module is used to acquire the target material identification data; The controller has pre-stored dynamic efficiency compensation coefficients. This is used to execute an adaptive power control method for a slanted firing pin in a power tool, as described in Example 1. The power actuator executes the firing action in response to the drive control command of the controller; Impact feedback sensor is used to collect characteristic data of the firing effect after firing is completed.

[0066] In this embodiment, the controller further includes a non-volatile memory for storing dynamic efficiency compensation coefficients. Mapping table and firing log data; the impact feedback sensor includes at least one of piezoelectric impact sensor and Hall effect position sensor.

[0067] In a preferred embodiment of the present invention, the controller employs an embedded microprocessor based on an ARM Cortex-M7 core with a clock frequency of 480 MHz, integrating a double-precision floating-point unit (FPU), a hardware divider, and a direct memory access controller. The controller channel is configured for high-speed transmission of raw sensor data to a dedicated buffer, reducing CPU load and ensuring the real-time performance of the control loop. The non-volatile memory uses an SPI interface serial flash memory chip with a capacity of 8 MB, its storage space divided into three logical areas: a parameter area for storing... The mapping table and core parameters such as vertical reference energy are used; the log area is used to record the angle of each shot. i ,Material M The system includes: target impact energy, sensor characteristics, and correction events; a backup area for temporary storage during parameter updates; and the remaining space reserved for future feature expansion.

[0068] The above description is based on the preferred embodiments of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the invention is defined by the appended claims rather than the foregoing description, and all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0069] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An adaptive power control method for an oblique firing pin in power tools, characterized in that, Includes the following steps: S1. Obtain the real-time oblique angle data and target material identification data for the current operation; S2. Based on the real-time oblique angle data and the target material identification data, query the pre-stored dynamic efficiency compensation coefficient. ;in, A real number less than 1, representing a specific angle. θ and materials M Actual axial energy transfer efficiency and theoretical static efficiency The ratio; S3. Based on the real-time oblique angle data and the dynamic efficiency compensation coefficient and the preset vertical reference energy Calculate the target impact energy of this firing; the target impact energy The calculation formula is: ; S4. Based on the target impact energy, generate corresponding drive control commands and control the power execution unit to perform the firing action; S5. After firing, acquire the firing effect characteristic data collected by the impact feedback sensor. If the characteristic data deviates from the expected range, fine-tune and update the dynamic efficiency compensation coefficient under the current operating conditions.

2. The adaptive power control method for an oblique firing pin in a power tool according to claim 1, characterized in that: In step S1, the oblique angle data is acquired by an tilt sensor, and the target material identification data is acquired by user input or an automatic identification module.

3. The adaptive power control method for an oblique firing pin in a power tool according to claim 1, characterized in that: In step S1, the measurement resolution of the real-time oblique angle data is ≥0.1°, and the material identification data corresponds to the category code in the preset material classification system.

4. The adaptive power control method for an oblique firing pin in a power tool according to claim 1, characterized in that: In step S2, the dynamic efficiency compensation coefficient By targeting different angles θ and different materials M The pre-calibration experiments determined the values ​​and stored them in the controller's non-volatile memory.

5. The adaptive power control method for an oblique firing pin in a power tool according to claim 1, characterized in that: In step S4, the drive control command is a pulse width modulation signal or a proportional valve control signal, and its parameters are determined based on the target impact energy through a pre-calibrated energy-control mapping relationship.

6. The adaptive power control method for an oblique firing pin in a power tool according to claim 1, characterized in that: In step S4, the power actuation unit is an electromagnetic drive mechanism or a pneumatic drive mechanism.

7. The adaptive power control method for an oblique firing pin in a power tool according to claim 1, characterized in that: In step S5, the firing effect characteristic data includes at least one of the firing pin rebound rate and the residual vibration spectrum.

8. The adaptive power control method for an oblique firing pin in a power tool according to claim 1, characterized in that: In step S5, the fine-tuning update is performed only when a same-direction deviation is detected in multiple consecutive firings, and the update step size is limited by a preset learning rate parameter.

9. A beveled firing pin device for power tools, characterized in that, include: Tilt sensor, used to acquire real-time tilt angle data for the current operation; The material identification module is used to acquire the target material identification data; The controller has pre-stored dynamic efficiency compensation coefficients. For performing an adaptive power control method for a slanted firing pin for a power tool as described in any one of claims 1-8; The power actuator executes the firing action in response to the drive control command of the controller; Impact feedback sensor is used to collect characteristic data of the firing effect after firing is completed.

10. A beveled firing pin device for power tools according to claim 9, characterized in that, The controller also includes a non-volatile memory for storing dynamic efficiency compensation coefficients. Mapping table and firing log data; the impact feedback sensor includes at least one of piezoelectric impact sensor and Hall effect position sensor.

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