Electric tool

Abstract

The invention discloses an electric tool, comprising a first motor comprising a first driving shaft rotating around a first axis; a second motor including a second drive shaft rotating about a second axis; torque of the first driving shaft and the second driving shaft is output through the output shaft. The battery pack provides electric energy for the motor assembly; the controller is used for controlling the operation of the motor assembly; the controller is configured to determine the operation of the first motor and the second motor according to the physical quantity related to the operation state of the battery pack. The electric tool is high in use matching degree.

Description

Technical Field

[0001] This application relates to an electric tool, specifically a multi-motor electric tool. Background Technology

[0002] In related technologies, power tools that use two motors to drive the output shaft have high overall efficiency and can output power efficiently under both light and heavy load conditions. When switching between multiple motors, the target of the switch is generally identified as either light or heavy load.

[0003] This section provides background information related to this application, which is not necessarily prior art. Summary of the Invention

[0004] One object of this application is to solve or at least mitigate some or all of the aforementioned problems. Therefore, one object of this application is to provide a power tool with a high degree of operational compatibility between the battery pack and the motor assembly, thereby ensuring safe operation.

[0005] To achieve the above objectives, this application adopts the following technical solution: An electric tool includes: an output shaft configured to output torque; the output shaft rotating about an output axis; a motor assembly including at least a first motor and a second motor; the first motor including a first drive shaft rotating about a first axis; the second motor including a second drive shaft rotating about a second axis; the torque of the first drive shaft and the second drive shaft being output through the output shaft; a battery pack providing electrical energy to the motor assembly; and a controller controlling the operation of the motor assembly; the controller being configured to determine the operating states of the first motor and the second motor based on physical quantities related to the operating state of the battery pack.

[0006] In some embodiments, the controller is configured to determine the output capability of the battery pack based on physical quantities related to the battery pack's operating state.

[0007] In some embodiments, the power tool includes different operating modes, including an adaptive mode, a first operating mode, and a second operating mode, wherein the driven state of the motor assembly is at least partially different in the different operating modes.

[0008] In some embodiments, the controller dynamically adjusts the operating state of the first motor and the second motor in an adaptive mode; in a first operating mode, the controller drives the first motor and the second motor to be jointly driven; in a second operating mode, the controller drives the first motor and brakes the second motor.

[0009] In some embodiments, the controller further includes a mode selection module that determines the operating mode of the power tool based on physical quantities related to the battery pack's operating state.

[0010] In some embodiments, when the battery pack is determined to have a high output capability based on physical quantities related to its operating state, the controller is configured to determine that the power tool operates in a first operating mode; when the battery pack is determined to have a medium output capability based on physical quantities related to its operating state, the controller is configured to determine that the power tool operates in an adaptive mode; and when the battery pack is determined to have a low output capability based on physical quantities related to its operating state, the controller is configured to determine that the power tool operates in a second operating mode.

[0011] In some embodiments, the controller determines whether to respond to the power tool's operating mode configuration signal based on physical quantities related to the battery pack's operating state.

[0012] In some embodiments, when the battery pack is determined to have low output capability based on physical quantities related to its operating state, the controller is configured to respond only to the configuration signal of the second operating mode; when the battery pack is determined to have medium output capability based on physical quantities related to its operating state, the controller is configured not to respond to the configuration signal of the first operating mode.

[0013] In some embodiments, the configuration signal includes an operating mode configuration signal generated by a user through a manually input switching command and an operating mode configuration signal determined by the controller after identifying a preset physical quantity.

[0014] In some embodiments, in adaptive mode, the controller switches the operating state of the motor assembly based on the output capability of the battery pack. The operating state of the motor assembly includes: either the first motor or the second motor being driven, and the first motor and the second motor being driven together.

[0015] The advantages of this application are: the controller in this application determines the operation of the first motor and the second motor based on physical quantities related to the battery pack's operating state, avoiding the problem of mismatch between the battery pack's output capability and the power tool's motor assembly operating mode, improving the matching degree between the battery pack's output capability and the power tool's operating mode, and preventing damage to the battery pack and power tool components. Attached Figure Description

[0016] Figure 1 This is a perspective structural diagram of a circular saw according to an embodiment of this application; Figure 2 This is a structural diagram of a circular saw according to another embodiment of this application, showing relevant components of the motor assembly; Figure 3 This is a cross-sectional view of the first motor in the motor assembly of this application; Figure 4 This is a schematic diagram of the structure of the motor assembly, power transmission mechanism and output shaft of a circular saw according to an embodiment of this application; Figure 5This is a schematic half-sectional view of the circular saw mechanism of one embodiment of this application; Figure 6 This is a schematic diagram of the internal structure of a circular saw according to an embodiment of this application; Figure 7 This is a schematic diagram of the electrical structure of one embodiment of this application; Figure 8 This is an electrical connection block diagram of an embodiment of this application; Figure 9 This is a control flowchart of an embodiment of this application, in which the power tool switches working modes through manual mode; Figure 10 This is another electrical connection block diagram of an embodiment of this application; Figure 11 This is a control flowchart of an embodiment of this application; Figure 12 This is a control flowchart of an embodiment of this application, in which the power tool switches working modes by means of electronic identification and detects physical quantities related to the operation of the battery pack; Figure 13 This is a control flowchart of an embodiment of the present application, wherein the controller determines whether to respond to the power tool's operating mode configuration signal based on physical quantities related to the battery pack's operating state. Figure 14 This is a flowchart of a control method for an electric tool in adaptive mode according to an embodiment of this application; Figure 15 This is a third electrical connection block diagram of an embodiment of this application; Figure 16 This is a control flowchart of an embodiment of this application, in which the power tool switches working modes by means of electronic identification; Figure 17 This is a flowchart of a method for controlling the speed of the first and second motors of an electric tool according to an embodiment of this application; Figure 18 This is a flowchart of a method for controlling the speed of the first and second motors of an electric tool according to another embodiment of this application; Figure 19a This is a fourth electrical connection block diagram of an embodiment of this application; Figure 19b This is a fifth electrical connection block diagram of an embodiment of this application; Figure 20 This is a perspective structural diagram of a circular saw according to an embodiment of this application, wherein a first arrangement position of the mode switching switch is shown; Figure 21 This is a perspective structural diagram of a circular saw according to an embodiment of this application, wherein a second arrangement of the mode switching switch is shown; Figure 22 This is a perspective structural diagram of a circular saw according to an embodiment of this application, wherein a third arrangement position of the mode switching switch is shown; Figure 23 This is a perspective structural diagram of a circular saw according to an embodiment of this application, wherein a fourth arrangement position of the mode switching switch is shown; Figure 24 This is a schematic diagram of the internal structure of a circular saw according to an embodiment of this application, wherein a second arrangement of the control circuit board is shown. Figure 25 This is a schematic diagram of the internal structure of a circular saw according to an embodiment of this application, showing a third arrangement of the control circuit board and a second arrangement of the motor assembly; Figure 26 This is a schematic diagram of the internal structure of a circular saw according to an embodiment of this application, wherein a third arrangement of the control circuit board is shown. Figure 27 This is a schematic diagram of the structure of the motor assembly, power transmission mechanism and output shaft of a circular saw according to an embodiment of this application, wherein a second arrangement of the above-mentioned components is shown; Figure 28 This is a schematic diagram of the structure of the motor assembly, power transmission mechanism and output shaft of a circular saw according to an embodiment of this application, wherein a third arrangement of the above-mentioned components is shown. Figure 29 yes Figure 28 A diagram from another perspective; Figure 30 This is a circular saw according to an embodiment of the present application, wherein the motor assembly is provided with at least two motors; Figure 31 This is another circular saw according to one embodiment of the present application, wherein the motor assembly is provided with at least two motors. Detailed Implementation

[0017] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0018] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0019] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0020] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0021] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, %, 1% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 1 degree, 1 degree or more) added to or subtracted from the indicated angle.

[0022] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0023] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0024] In this application, the terms "controller," "processor," "central processing unit," "CPU," and "MCU" are used interchangeably. When using the unit "controller," "processor," "central processing unit," "CPU," or "MCU" to perform a specific function, unless otherwise stated, these functions may be performed by a single or multiple of the aforementioned units.

[0025] In this application, the terms "device," "module," or "unit" are used to describe devices that can be implemented in hardware or software to perform a specific function.

[0026] In this application, the terms “calculation,” “judgment,” “control,” “determine,” “identify,” etc., refer to the operation and process of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0027] like Figure 1 A power tool according to one embodiment of this application is shown. The power tool includes a motor assembly 20. In this embodiment, the power tool is a circular saw 100. In some embodiments, the power tool may also be other cutting tools, such as a table saw, miter saw, marble cutter, tile saw, chainsaw, etc.

[0028] In some embodiments, the power tool can also be a garden tool, such as a lawnmower, hair dryer, or a walk-behind power tool such as a lawnmower or washer. Alternatively, the power tool can be a decorating tool, such as a screwdriver / drill / wrench, hammer drill, nail gun, or sander. Alternatively, the power tool can be, for example, a reciprocating saw or a jigsaw. Alternatively, the power tool can be other benchtop tools, such as a wood milling machine. Alternatively, the power tool can be a sanding tool, such as an angle grinder or sander. Alternatively, the power tool can be other power tools, such as a fan. Alternatively, it can be a non-road-bound walking device, such as a multi-purpose vehicle, or an ATV, utility terrace vehicle (UTV), golf cart, or all-terrain vehicle (ATV), or an agricultural vehicle, such as a harvester or sprayer. Of course, it is understood that a walking device can also be a washer. It can also be an intelligent walking power tool that uses a motor or motor assembly to drive movement and perform work functions, such as an intelligent lawnmower.

[0029] It is understood that any power tool with a motor drive can adopt the technical solution disclosed in this embodiment, and the power equipment adopting the technical solution disclosed in this embodiment is within the scope of protection of this application. For example, the power tool can also be a power head, which includes a motor. The power head is configured to adapt some output components to realize the function of the tool.

[0030] like Figure 1 As shown, circular saw 100 is used as an example. Circular saw 100 is a handheld circular saw. Unless otherwise specified, directional terms such as front, back, left, right, up, and down are relative to the direction in which the circular saw 100 is normally used. For example, the forward direction of the circular saw 100 is defined as front, and the direction opposite to the forward direction of the circular saw 100 is defined as back.

[0031] like Figures 1 to 2 As shown, the circular saw 100 includes a power supply 31. In this embodiment, the power supply 31 is a DC power supply. The DC power supply provides electrical energy to the circular saw 100. The DC power supply includes at least one battery pack configured to provide energy to the motor assembly 20. The battery pack, in conjunction with a corresponding power circuit, supplies power to the circular saw 100. Those skilled in the art should understand that the power supply is not limited to scenarios using DC power; it can also be powered by mains power or AC power, in conjunction with corresponding rectification, filtering, and voltage regulation circuits, to power corresponding components within the machine. In the following description, the battery pack 31 will be used instead of the power supply, but this should not be construed as a limitation of this application.

[0032] The battery pack 31 can be a lithium battery pack, a solid-state battery pack, or a pouch battery pack. In some embodiments, when the power supply includes multiple battery packs 31, the types of battery packs 31 can be the same or different. In some embodiments, the electrical parameters, structural parameters, and physical parameters of the multiple battery packs 31 can be the same or different.

[0033] like Figures 1 to 6 As shown, the circular saw 100 also includes: an output shaft 30, a main housing 11, a motor assembly 20, a power transmission mechanism 40, and a base plate 50. For example... Figures 1 to 2 As shown, the output shaft 30 is configured to mount the cutting element 61. The cutting element 61 rotates about the output shaft 301. In this embodiment, the cutting element 61 is a circular saw blade. The motor assembly 20 is configured to drive the output shaft 30 to rotate. The power transmission mechanism 40 is configured to transmit the output power of the motor assembly 20 to the output shaft 30. The main housing 11 is configured to house the motor assembly 20 and the power transmission mechanism 40, etc., and the output shaft 30 and the cutting element 61 are disposed outside the main housing 11. The base plate 50 is movably connected to the main housing 11, and the base plate 50 has a bottom surface 51 that contacts the workpiece. The base plate 50 has a saw blade through hole 54 extending along the first direction K1, through which the saw blade can protrude downward from the bottom surface 51 of the base plate.

[0034] The main housing 11 has a gripping part 12 for holding. The gripping part 12 is located at the rear end of the circular saw 100 and can be gripped by a user to operate the circular saw 100 for cutting. In some embodiments, the gripping part 12 is also provided with a start switch 81 and a safety switch 82. The start switch 81 is connected to the power supply 31, and the start switch 81 is operated to energize the motor assembly 20. In this embodiment, the start switch 81 is only triggered when the safety switch 82 is pressed. That is, the motor or motor assembly 20 can only be started after two actions. This avoids the danger of a single operation. When the user grips the gripping part 12, the user's hand can trigger the safety switch 82 and the start switch 81 to start or stop the circular saw 100.

[0035] In one embodiment, the main housing 11 may also form a second grip 13. The second grip 13 is located at the front end of the circular saw 100 and is used as an auxiliary handle. In one embodiment, the second grip 13 may also be an external handle mounted on the main housing 11, that is, the second grip 13 may be an auxiliary operating component separately mounted on the main housing 11.

[0036] The circular saw 100 also includes a guard assembly 60. The guard assembly 60 can at least partially surround the cutting element 61 to protect the environment and the user's safety. The guard assembly 60 includes a fixed guard 62 with an arc-shaped structure and a movable guard 63 that rotates relative to the fixed guard 62. The fixed guard 62 is connected to the main housing 11. The movable guard 63 is fitted inside the fixed guard 62 and can rotate about the output axis 301 to fold into the fixed guard 62. The output shaft 30 extends into the fixed guard 62, and the cutting element 61 is detachably connected to the output shaft 30. In actual operation, different types of cutting elements 61 can be used depending on the material being cut. The cutting element 61 is set inside the fixed guard 62, with almost half of its outer circumference covered by the fixed guard 62. The movable guard 63 rotates within the fixed guard 62 to cover or expose the lower half of the cutting element 61. The movable guard 63 is connected to the fixed guard 62 by an opening member 64 for the movable guard 63. When using the circular saw 100, the operator manually pushes the opening member 64 to rotate the movable guard 63 and expose part of the saw teeth.

[0037] The base plate 50 is movably connected to the fixed cover 62. In this embodiment, a connecting seat 52 is provided on the front side of the base plate 50, and the connecting seat 52 is connected to the fixed cover 62 by a pin 53, so that the fixed cover 62 can rotate relative to the base plate 50. The axis where the pin 53 is located is defined as the pivot axis 501. The pivot axis 501 is parallel to the output axis 301. When the fixed cover 62 rotates relative to the base plate 50 around the pivot axis 501, the relative position between the fixed cover 62 and the base plate 50 will change, resulting in different cutting depths of the circular saw 100. The rotation of the fixed cover 62 is achieved by applying force to the grip 12, causing the grip 12 to rotate relative to the base plate 50, thereby driving the fixed cover 62 to rotate relative to the base plate 50. It is understood that in some embodiments, the pivot axis 501 and the output axis 301 may intersect or be perpendicular.

[0038] like Figures 2 to 5 As shown, the motor assembly 20 includes a first motor 21 and a second motor 22. The first motor 21 includes a first drive shaft 211 that rotates about a first axis 201. The second motor 22 includes a second drive shaft 221 that rotates about a second axis 202. The first motor 21 and the second motor 22 each include a stator and a rotor. Taking the first motor 21 as an example... Figure 3 As shown, the stator 212 includes a stator core 2121 and a stator winding 2122. The rotor 214 includes a rotor core 2141 and a permanent magnet 2142. A drive shaft is formed or connected to the rotor 214 for outputting power. For an external rotor motor, the rotor is sleeved on the outside of the stator. For an internal rotor motor, the stator is sleeved on the outside of the rotor. In this embodiment, the overall structure of the motor is largely the same as that of a typical brushless motor, and will not be described in detail here.

[0039] like Figure 4 and Figure 5 As shown, the power transmission mechanism 40 is configured to transmit the power of at least one of the first motor 21 and the second motor 22 to the output shaft 30. The torque of the first drive shaft 211 and the second drive shaft 221 is output through the output shaft 30. In this embodiment, the first motor 21 and the second motor 22 work together to output the torque of the motor assembly 20 through the output shaft 30, and the torque is output outward through the output shaft 30. Taking the electric circular saw of this application as an example, the first motor 21 and the second motor 22 work together to drive the cutting piece 61 to perform cutting motion through the output shaft 30. Unlike multi-motor driven power tools in the related art, such as outdoor walking equipment or wheeled equipment, which use multiple motors, such as dual motors, to drive different output shafts or output parts respectively. For example, in the related art, the first motor 21 and the second motor 22 are used to drive two or more drive wheels or drive shafts respectively. However, in this embodiment, a motor assembly 20 including multiple motors is used to drive the same output shaft, that is, the torque of the drive shafts of multiple motors is output through one output shaft. The fact that the torque transmission paths of multiple motors end at the same point increases the overall efficiency range of the power tool, enabling even power tools with only one output shaft to be driven efficiently using multiple motors. Compared to multiple motors driving different output sections or output shafts, this application uses multiple motors to drive a single output shaft, which presents greater challenges in the transmission coordination, power distribution, and drive structure of the motor assembly 20 and the power transmission mechanism 40.

[0040] When the power tool in this application is a non-road-traveling mobile device or agricultural machinery vehicle, the motor assembly 20 provides power to one output shaft. For example, when the motor assembly 20 is used as a walking drive, it drives a walking wheel axle or a walking wheel. When the motor assembly 20 is used to drive a functional component (e.g., a lawnmower blade), it drives a lawnmower blade on one output shaft. This needs to be distinguished from multi-motor drives with multiple output shafts or drive wheel axles in related technologies.

[0041] like Figure 7As shown, the circular saw 100 also includes a control circuit, which includes a controller 171 configured to control the operation of the motor assembly 20. The controller 171 is mounted on a control circuit board 18, which includes a PCB (Printed Circuit Board) and an FPC (Flexible Printed Circuit Board). The controller 171 uses a dedicated control chip, such as a microcontroller or a microcontroller unit (MCU). The controller 171 includes a processor and a memory. The processor is configured to programmably control and implement its corresponding functions, and the memory can store the program to be executed and related data. It should be noted that the control chip can be integrated into the controller 171 or can be set independently of the controller 171. The structural relationship between the driver chip and the controller 171 is not limited in this embodiment.

[0042] The control circuit also includes a drive circuit 172, configured to drive the motor assembly 20, located between the power supply 31 and the motor assembly 20. The drive circuit 172 includes multiple switching elements, such as a three-phase bridge driver circuit of controllable semiconductor power devices (e.g., field-effect transistors (FETs), bipolar junction transistors (BJTs), insulated-gate bipolar transistors (IGBTs), etc.). It is understood that the aforementioned switching elements can also be any other type of solid-state switch, such as IGBTs, BJTs, etc. In this embodiment, the drive circuit 172 includes a first drive circuit 1721 connecting the first motor 21 and the power supply 31, and a second drive circuit 1722 connecting the second motor 22 and the power supply 31.

[0043] The circular saw 100 includes switchable operating modes. For the motor assembly 20 equipped with a first motor 21 and a second motor 22, different operating parameters or switching parameters are configured for the first motor 21 and the second motor 22 in different operating modes.

[0044] In some embodiments, the circular saw 100 includes an adaptive mode and a first operating mode. In the adaptive mode, the controller 171 switches the operating state of the motor assembly 20 based on the identification result of the detector 173. The operating state of the motor assembly 20 includes at least: either the first motor 21 or the second motor 22 being driven, and the first motor 21 and the second motor 22 being driven jointly. In the first operating mode, the controller 171 responds to an input command by causing the first motor 21 and the second motor 22 to be driven jointly.

[0045] In this embodiment, in adaptive mode, the controller 171 determines the working status of the circular saw 100 and / or the load status of the output shaft 30 by electronic identification. Then, based on the working status of the circular saw 100 and / or the load status of the output shaft 30, it switches between single-motor operation and dual-motor operation, dynamically adjusting the drive parameters of the motor assembly 20 so that the output of the motor assembly 20 meets the actual working requirements of the circular saw 100. This makes the motor assembly 20 adapt to the working conditions of the power tool, and the switching between single-motor and dual-motor operation states is more intelligent. This ensures that the motors in the motor assembly 20 are basically in their respective high-efficiency working ranges, while also ensuring that the single-use time of the power tool is intelligently switched for energy saving and high efficiency.

[0046] In the first working mode, the first motor 21 and the second motor 22 are driven together. That is, when the controller 171 receives a signal indicating that the circular saw 100 has entered the first working mode, the motor assembly 20 maintains a dual-motor drive state with the first motor 21 and the second motor 22 jointly driven. Only when the controller 171 receives a signal indicating that it has entered another working mode or exited the first working mode will the motor assembly 20 terminate the dual-motor drive state of the first motor 21 and the second motor 22 in the first working mode. Compared to the intelligent switching of the adaptive mode, when the user needs the power tool to perform work quickly and powerfully, such as cutting, entering the first working mode forces the first motor 21 and the second motor 22 to start together, regardless of the actual work requirements or conditions, enabling the power tool to provide strong working torque, resulting in high working capacity and efficiency.

[0047] The power tool of this application is equipped with both an adaptive mode and a first working mode. It can switch between different working modes under different working conditions and different needs. This allows the power tool with a first motor 21 and a second motor 22 to not only ensure that the motor assembly 20 has higher performance and more intelligent switching during operation, but also to ensure cutting capacity according to needs. The power tool is adaptable to more working conditions and usage scenarios, better meets the needs of users, and has better commercial value.

[0048] In some embodiments, to broaden the application scenarios, the working mode also includes a second working mode. In the second working mode, the controller 171 responds to an input command, driving the first motor 21 and braking the second motor 22. That is, when the controller 171 receives a signal indicating that the circular saw 100 has entered the second working mode, the first motor 21 in the motor assembly 20 is driven, while the second motor 22 is braked and does not output torque. The motor assembly 20 operates in a single-motor drive state, with only the first motor 21 working. The motor assembly 20 will only end the single-motor drive state of the second working mode when the controller 171 receives a signal indicating that it has entered another working mode or exited the second working mode. When the user needs to continuously use low output torque for special working conditions or other working conditions requiring only single-drive operation, the circular saw 100 enters the second working state, thereby providing suitable output torque and lower energy consumption. This further expands the usage scenarios of the power tool.

[0049] In some embodiments, the circular saw 100 includes an adaptive mode and a selected mode. In the selected mode, the controller 171 responds to an input command and determines the selected motor operation corresponding to the input command. That is, the selected mode provides one or more sets of motor operating modes. When the controller 171 receives a set of input commands, this set of input commands corresponds to a set of motor operating modes. For example, a first output command corresponds to only one motor operating, and a second input command corresponds to two motors operating. The motor assembly 20 will only stop using this motor operating mode when the controller 171 receives another set of different input commands, a signal requesting entry into another operating mode, or a signal requesting exit from the current operating mode. Exemplarily, the selected mode includes the first operating mode and / or the second operating mode described above. For example, the selected mode also includes other motor assembly 20 drive modes. For example, when the motor assembly 20 includes multiple motors, the selected mode also includes driving some of the multiple motors. For example, if the motor assembly 20 includes a first motor 21, a second motor 22 and a third motor, the selected mode includes driving only the first motor 21, driving the first motor 21 and the second motor 22, and driving all motors together.

[0050] In some embodiments, in adaptive mode, controller 171 can also dynamically adjust the operating state of motor assembly 20 based on the identification result of detector 173. For example, controller 171 can also selectively start one or both of the first motor 21 and the second motor 22 based on the identification result of detector 173. For example, in adaptive mode, the drive parameters of the first motor 21 and / or the second motor 22 are constant. Controller 171 can also selectively start one or both of the first motor 21 and the second motor 22 based on the identification result of detector 173. Controller 171 only switches the starting state of the first motor 21 and the second motor 22, but after the first motor 21 and the second motor 22 are started, their operating drive parameters are preset. For example, after the first motor 21 is started, it outputs torque at its highest efficiency point; after the second motor 22 is started, it outputs torque at its highest efficiency point. It should be explained here that "motor efficiency" refers to the ratio of output power (mechanical) to input power (electrical), generally expressed as a percentage. For example, in adaptive mode, the drive parameters of the first motor 21 and the second motor 22 are also dynamically adjusted. For instance, the output torque of the first motor 21 and the second motor 22 is dynamically adjusted. Optionally, the output torque of the first motor 21 and the second motor 22 is dynamically adjusted so that the motor efficiency of the first motor 21 is greater than or equal to 70%, and the motor efficiency of the second motor 22 is greater than or equal to 70%. In some embodiments, the output speed of the first motor 21 and the second motor 22 is dynamically adjusted so that the output torque of the power tool meets the torque required to perform its function. The output speed of the first motor 21 and / or the second motor 22 is adjusted periodically or in real time according to the magnitude of the required torque. It is understood that the motor current, voltage, or other motor control-related parameters can also be dynamically adjusted so that the output of the motor components meets the requirements for performing their function.

[0051] In the first operating mode, the controller always keeps the first motor 21 and the second motor 22 jointly driven. In this embodiment, when the first motor 21 and the second motor 22 are jointly driven, the operating states of the first motor 21 and the second motor 22 are dynamically adjusted, but both the first motor 21 and the second motor 22 always output torque to the output shaft. For example, the output speeds of the first motor 21 and the second motor 22 are dynamically adjusted so that the output torque of the power tool meets the torque required to perform its function. The output speeds of the first motor 21 and / or the second motor 22 are adjusted periodically or in real time according to the magnitude of the required torque. In some embodiments, the controller 171 drives the first motor 21 and the second motor 22 with multiple sets of preset drive parameters. For example, in the first operating mode, the controller switches between multiple sets of preset drive parameters according to different load states of the output shaft 30, so that the first motor 21 and the second motor 22 have operating states adapted to different outputs. In some embodiments, the controller 171 drives the first motor 21 and the second motor 22 with a set of preset drive parameters. For example, the controller 171 drives the first motor 21 to output maximum torque, and the controller 171 drives the second motor 22 to output maximum torque. Understandably, in the first working mode, the first motor 21 and the second motor 22 are driven to output maximum torque, thereby the motor assembly 20 outputs maximum torque. During the operation of the circular saw 100 in the first working mode, the output torque of the first motor 21 remains essentially constant, and the output torque of the second motor 22 also remains essentially constant. Optionally, when the power tool switches to the first working mode, the controller 171 uses field-oriented control (FOC) to drive the first motor 21 and the second motor 22 to maintain the state of joint driving of the first motor 21 and the second motor 22. For example, when the power tool switches to the adaptive mode, the controller 171 uses square wave control to drive the first motor 21 and the second motor 22. Optionally, when the power tool switches to the adaptive mode, the controller 171 uses field-oriented control to drive the first motor 21 and the second motor 22.

[0052] In the second operating mode, the controller 171 drives the first motor 21 and simultaneously brakes the second motor 22. When the second motor 22 is in a braking state, the second drive circuit 1722 connected to the second motor 22 is in a non-conducting state, and power is not supplied to the second motor 22 from the power supply 31. When the power tool is in the second operating mode, the motor assembly 20 consumes less power. In some embodiments, the controller 170 dynamically adjusts the output speed of the first motor 21 so that the output torque of the power tool meets the torque required to perform its function, adjusting the output speed of the first motor 21 periodically or in real-time according to the magnitude of the required torque. In some embodiments, the controller 171 drives the first motor 21 with multiple sets of preset drive parameters. For example, in the first operating mode, it switches between multiple sets of preset drive parameters according to different output shaft load states, so that the first motor 21 has an operating state adaptable to different outputs. In some embodiments, the controller 171 drives the first motor 21 with a set of preset drive parameters. The preset parameters include one or more of the following: motor speed, motor output torque, motor output current, or other motor operating parameters. The specific values ​​of the preset parameters are not limited according to different product requirements. Optionally, the preset parameters are the values ​​corresponding to a first motor 21 output efficiency greater than or equal to 70%. Optionally, the preset parameters are specific values ​​set to meet product needs, such as low power consumption or low noise requirements.

[0053] In adaptive mode, when only one motor is driven, the other motor is in standby mode. For example, when the first motor 21 is driven, the second motor 22 is in standby mode. When the second motor 22 is in standby mode, the power supply 31 supplies power to the second motor 22 through the second drive circuit 1722, but the second drive shaft 221 does not output torque. That is, when the second motor 22 is in standby mode, the second motor 22 is not offline; the second drive circuit 1722 of the second motor 22 still receives control signals from the controller 171, and the second motor 22 is in a "zero" torque control state or a state with a zero duty cycle. In some embodiments, the power supply to the second motor is directly cut off by switching it on and off to achieve standby mode for the second motor.

[0054] Regarding the switching methods of power tools between different working modes, such as Figure 8As shown, in some embodiments, the power tool switches between operating modes via a manual mode. Exemplarily, the power tool includes a mode switching unit 70 configured to receive a switching command input by a user and send a signal to execute an adaptive mode, a first operating mode, or a second operating mode. The mode switching unit 70 includes a switching element, defined as a mode switching switch 71, and is configured to receive a switching command input by the user. The mode switching switch 71 includes at least one of a mechanical switch or an electronic switch. The mechanical switch includes push switches (button switches, key switches, membrane switches, rocker switches, etc.), toggle switches (gear switches, lever switches, pull lever switches, etc.), rotary switches (knob switches, dial switches, etc.), and micro switches, etc. The electronic switch includes a sensor and a chip. Depending on the sensor type, the electronic switch includes: touch switches (capacitive, resistive), inductive switches (infrared, microwave, ultrasonic, piezoelectric, electromagnetic, capacitive), voice-activated switches, and wireless switches (connected to external smart devices), etc.

[0055] The user inputs their desired operating mode through the mode switching unit 70, such as the first operating mode, the second operating mode, and the adaptive operating mode. The mode switching unit 70 outputs the corresponding switching instruction input instruction to the controller 171. The controller 171 configures the corresponding power tool operating mode. When the switching instruction received by the mode switching unit 70 is the first operating mode or the second operating mode, the controller 171 responds to the signal output by the mode switching unit 70 and determines that the motor assembly 20 enters the state corresponding to the first operating mode or the second operating mode.

[0056] like Figure 9 As shown, a control method for a power tool, wherein the power tool switches working modes via a manual mode, specifically including the following steps: S101: Begin.

[0057] S102: The mode switching unit 70 receives an input command to switch to the first working mode. If yes, it executes S103; otherwise, it returns to S101.

[0058] S103: Respond to the input command and enter the first working mode.

[0059] S104: The first motor and the second motor are driven together.

[0060] When the switching command received by the mode switching unit 70 is to switch to the first working mode, the controller 171 responds to the signal output by the mode switching unit 70, and the first motor and the second motor are driven together and the state of joint driving of the first motor and the second motor is maintained.

[0061] S112: The mode switching unit 70 receives an input command to switch to adaptive mode. If yes, it executes S113; otherwise, it returns to S101.

[0062] S113: Enter adaptive mode in response to input command.

[0063] S114: The detector identifies preset parameters.

[0064] S115: Determine whether the first motor or the second motor is being driven. If yes, proceed to S116. If no, proceed to S117.

[0065] S116: The first motor or the second motor is driven, and the other motor is in standby mode.

[0066] S117: The first motor and the second motor are driven together.

[0067] When the mode switching unit 70 receives a switching command to switch to adaptive mode, in adaptive mode, the controller 171 can also determine the load of the power tool based on the identification result of the detector 173 and dynamically adjust the operating state of the first motor 21 and the second motor 22. When the first motor or the second motor is driven according to the detector's determination, and the output of the motor assembly meets the load of the power tool, then the first motor or the second motor is driven, and the other motor is in standby mode. When the output of the motor assembly cannot meet the load of the power tool when the first motor or the second motor is driven according to the detector's determination, the first motor and the second motor need to be driven together.

[0068] S122: The mode switching unit 70 receives an input command to switch to the second working mode. If yes, it executes S123; otherwise, it returns to S101.

[0069] S123: Respond to the input command to enter the second working mode.

[0070] S124: Drives the first motor and brakes the second motor.

[0071] When the mode switching unit 70 receives a switching command to switch to the second working mode, the controller 171 responds to the signal output by the mode switching unit 70, drives the first motor, brakes the second motor, and always maintains the braking state of the second motor.

[0072] In some embodiments, power tools switch operating modes via electronic identification. For example... Figure 10 and Figure 15 As shown, the controller 171 includes a mode selection module 174, which automatically switches the configured working mode of the power tool based on the parameter recognition results.

[0073] In some embodiments, the controller 171 determines the operating states of the first motor 21 and the second motor 22 based on physical quantities related to the operating state of the battery pack 31. The control circuitry includes a first detector 1731 configured to detect physical quantities related to the operating state of the battery pack 31. Optionally, the physical quantities related to the operating state of the battery pack 31 include, but are not limited to, the voltage, current, temperature, state of power (SOP), state of charge (SOC), internal resistance, and model of the battery pack 31. Exemplarily, the physical quantities related to the operating state of the battery pack 31 include one or more of the disclosed physical quantities combined with time.

[0074] like Figure 11 As shown, a control method for a power tool specifically includes the following steps: S201: Physical quantities related to the operating status of the battery pack.

[0075] The first detector 1731 is configured to detect physical quantities related to the operating state of the battery pack 31. These physical quantities include, but are not limited to, the battery pack 31's voltage, current, temperature, state of power (SOP), state of charge (SOC), internal resistance, and model. The physical quantities related to the operating state of the battery pack 31 include combinations of one or more of the disclosed physical quantities with time.

[0076] S202: Determine the operating status of the first motor and the second motor.

[0077] Based on the physical quantities related to the operation of the battery pack, the output capacity of the battery pack is determined, and the operating status of the first motor and the second motor is determined.

[0078] For example, the mode selection module 174 determines the configured operating mode of the power tool based on physical quantities related to the operating state of the battery pack 31. For example, the controller 171 determines the configured operating mode of the power tool based on the relationship between the detection value of the first detector 1731 and a preset threshold. For example, the controller 171 determines the output capability of the battery pack 31 based on the relationship between the detection value of the first detector 1731 and the preset threshold, and determines the configured operating mode of the power tool based on the output capability of the battery pack 31. The relationship between the detection value of the first detector 1731 and the preset threshold includes: a comparison between the detection value and a detection value threshold; a comparison between the change in the detection value and a threshold value for the change in the detection value; a comparison between the result value calculated by univariate, binary, or multivariate methods and a threshold value for the result value; and a comparison between the change in the result value and a threshold value for the result value.

[0079] Optionally, the detection value of the first detector 1731 is the output current value of the battery pack 31, and the controller 171 can determine the configured operating mode of the power tool based on a comparison of the current value with a current value threshold. Optionally, the detection value of the first detector 1731 is the output current value of the battery pack 31, and the controller 171 can determine the configured operating mode of the power tool based on a comparison of the change in current value detected two or more times with a current value change threshold. Optionally, the detection value of the first detector 1731 is the output current value of the battery pack 31, and the controller 171 can determine the configured operating mode of the power tool based on a comparison of the average value of current value detected two or more times with a current value average threshold.

[0080] In this embodiment, the output capability of the battery pack 31 includes: low output capability, medium output capability, and high output capability. For example, when the SOC of the battery pack 31 is less than or equal to a first charge threshold, such as 20%, the battery pack 31 is defined as having low output capability; when the SOC of the battery pack 31 is greater than or equal to a second charge threshold, such as 75%, the battery pack 31 is defined as having high output capability; and when the SOC of the battery pack 31 is greater than the first charge threshold but less than the second charge threshold, the battery pack 31 has medium output capability. For example, when the discharge power of the battery pack 31 is less than or equal to a first power threshold, the battery pack 31 is defined as having low output capability; when the discharge power of the battery pack 31 is greater than or equal to the second power threshold, the battery pack 31 is defined as having high output capability; and when the discharge power of the battery pack 31 is greater than the first power threshold but less than the second power threshold, the battery pack 31 has medium output capability, where the first power threshold is less than the second power threshold. It is understood that the output capability of the battery pack 31 can also be defined by the remaining energy, discharge current, voltage, battery cycle life, internal resistance, and temperature of the battery pack 31.

[0081] In this embodiment, when the physical quantities related to the operating state of the battery pack 31 determine that the battery pack 31 has a high output capability, the mode selection module 174 of the controller 171 determines that the power tool switches to the first operating mode for operation. When the physical quantities related to the operating state of the battery pack 31 determine that the battery pack 31 has a medium output capability, the mode selection module 174 of the controller 171 determines that the power tool switches to the adaptive mode for operation. When the physical quantities related to the operating state of the battery pack 31 determine that the battery pack 31 has a low output capability, the mode selection module 174 of the controller 171 determines that the power tool switches to the second operating mode for operation. When the controller 171 determines that the power tool switches to the first operating mode or the second operating mode for operation, a switching signal is used as an input command. In response to the switching signal, the controller 171 calls the drive parameters corresponding to the first operating mode or the second operating mode to determine the state of the motor entering the first operating mode or the second operating mode.

[0082] like Figure 12 As shown, a control method for a power tool is described. The power tool switches its working mode via electronic identification. The controller 171 includes a mode selection module 174. The mode selection module 174 determines the configured working mode of the power tool based on physical quantities related to the operating status of the battery pack 31. The specific steps are as follows: S301: Start.

[0083] S302: The first detector 1731 detects physical quantities related to the operating status of the battery pack 31.

[0084] The first detector 1731 is configured to detect physical quantities related to the operating state of the battery pack 31. These physical quantities include, but are not limited to, the battery pack 31's voltage, current, temperature, state of power (SOP), state of charge (SOC), internal resistance, and model. The physical quantities related to the operating state of the battery pack 31 include combinations of one or more of the disclosed physical quantities with time.

[0085] S303: The controller 171 determines the output capability of the battery pack 31 based on the relationship between the detection value of the first detector 1731 and the preset threshold.

[0086] When the State of Charge (SOC) of battery pack 31 is less than or equal to a first charge threshold, such as 20%, battery pack 31 is defined as having low output capability. When the SOC of battery pack 31 is greater than or equal to a second charge threshold, such as 75%, battery pack 31 is defined as having high output capability. When the SOC of battery pack 31 is greater than the first charge threshold but less than the second charge threshold, battery pack 31 has medium output capability. For example, when the discharge power of battery pack 31 is less than or equal to a first power threshold, battery pack 31 is defined as having low output capability. When the discharge power of battery pack 31 is greater than or equal to the second power threshold, battery pack 31 is defined as having high output capability. When the discharge power of battery pack 31 is greater than the first power threshold but less than the second power threshold, battery pack 31 has medium output capability, where the first power threshold is less than the second power threshold. It is understood that the output capability of battery pack 31 can also be defined by the remaining energy, discharge current, voltage, battery cycle life, internal resistance, and temperature of battery pack 31.

[0087] S304: Determine that battery pack 31 is in high output capability. If yes, proceed to S305. If no, return to S303.

[0088] S305: Mode selection module 174 determines that the power tool is switched to the first working mode.

[0089] S306: The first motor and the second motor are driven together.

[0090] The first motor and the second motor are driven together and kept in a state where the first motor and the second motor are driven together.

[0091] S314: Determine if battery pack 31 has medium output capability. If yes, proceed to S315. If no, return to S303.

[0092] S315: Mode selection module 174 determines that the power tool is switched to adaptive mode.

[0093] S316: Dynamically adjust the drive parameters of the motor assembly.

[0094] S324: Determine that battery pack 31 has low output capability. If yes, proceed to S325. If no, return to S303.

[0095] S325: Mode selection module 174 determines that the power tool is switched to the second working mode.

[0096] S326: Drives the first motor and brakes the second motor.

[0097] Drive the first motor, brake the second motor, and maintain a state where only the first motor is running.

[0098] In some embodiments, the controller 171 determines whether to respond to the power tool's operating mode configuration signal based on physical quantities related to the operating state of the battery pack 31. Exemplarily, the configuration signal includes an operating mode configuration signal generated by a switching command input by the user through the mode switching unit 70 and an operating mode configuration signal determined by the controller 171 after identifying preset physical quantities. Exemplarily, the power tool's operating mode configuration signal originates from the mode switching unit 70, which receives the switching command input by the user and sends a signal to execute an adaptive mode, a first operating mode, or a second operating mode. Exemplarily, the power tool's operating mode configuration signal is output through the mode selection module 174 of the controller 171. The mode selection module 174, based on parameter identification results such as physical quantities related to the operating state of the motor assembly 20, issues a signal indicating that the power tool is configured to an adaptive mode, a first operating mode, or a second operating mode, as detailed below. In this embodiment, the controller 171 determines whether to respond to the signal from the mode switching unit 70 or the mode selection module 174 based on the physical quantities related to the operating state of the battery pack 31. That is, when the power tool receives a working mode switching or configuration signal, the controller 171 determines whether the working mode can be switched according to the above signal based on the physical quantities related to the operating state of the battery pack 31, and it is not affected by whether the user switches manually or the power tool automatically identifies the switch.

[0099] In some embodiments, when the physical quantities related to the operating state of the battery pack 31 determine that the battery pack 31 has a low output capability, the mode selection module 174 of the controller 171 only responds to the configuration signal of the second operating mode. That is, when the battery pack 31 has a low output capability, even if the controller 171 receives a signal to switch to the adaptive operating mode or the first operating mode, the controller 171 will not respond. When the physical quantities related to the operating state of the battery pack 31 determine that the battery pack 31 has a medium output capability, the mode selection module 174 of the controller 171 does not respond to the signal of the first operating mode. In other words, when the physical quantities related to the operating state of the battery pack 31 determine that the battery pack 31 has a medium output capability, the configuration of the first operating mode will not be responded to, and the motor assembly will not continuously maintain the state in which the first motor 21 and the second motor 22 are jointly driven. When the physical quantities related to the operating state of the battery pack 31 determine that the battery pack 31 has a medium output capability, in adaptive mode, when it is determined based on the detector's identification result that the first motor and the second motor need to be driven jointly, the controller responds to the aforementioned drive signal. In adaptive mode, the operating time of the motor assembly jointly driven by the first motor and the second motor is less than or equal to a preset time threshold. For example, the preset time threshold varies depending on the nominal capacity of the battery pack, the nominal voltage of the battery pack, and the models of the first motor and the second motor. Generally, a larger nominal capacity of the battery pack corresponds to a larger preset time threshold, a larger nominal voltage of the battery pack corresponds to a larger preset time threshold, and a stronger output capability of the first motor and the second motor corresponds to a larger preset time threshold. When the physical quantities related to the operating state of the battery pack 31 determine that the battery pack 31 has a high output capability, the configuration signals for all operating modes can be responded to.

[0100] like Figure 13 As shown, a control method for a power tool, wherein the controller 171 determines whether to respond to the power tool's operating mode configuration signal based on physical quantities related to the operating state of the battery pack 31, and the specific steps are as follows: S401: Start.

[0101] S402: Controller 171 receives the configuration signal for power tool mode.

[0102] The configuration signals include a working mode configuration signal generated by a switching command input by the user through the mode switching unit 70 and a working mode configuration signal determined by the controller 171 after recognizing preset physical quantities. For example, the working mode configuration signal of the power tool comes from the mode switching unit 70, which receives the switching command input by the user and sends a signal to execute an adaptive mode, a first working mode, or a second working mode. For example, the working mode configuration signal of the power tool is output through the mode selection module 174 of the controller 171. The mode selection module 174, based on physical quantities related to the operating state of the motor assembly 20 and / or the operating state of the battery pack 31, sends a signal indicating that the power tool is configured to an adaptive mode, a first working mode, or a second working mode.

[0103] S403: The first detector 1731 detects physical quantities related to the operating status of the battery pack 31.

[0104] S404: The controller determines the output capacity of the battery pack based on the relationship between the detection value of the second detector and the preset threshold.

[0105] S405: Determine if the battery pack has high output capability. If yes, proceed to S406; otherwise, return to S404.

[0106] S406: Mode selection module 174 responds to all configuration signals.

[0107] S415: Determine if the battery pack has medium output capability. If yes, proceed to S416; otherwise, return to S404.

[0108] S416: Mode selection module 174 does not respond to the configuration signal for the first operating mode.

[0109] S425: Determine if the battery pack has low output capability. If yes, proceed to S426; otherwise, return to S404.

[0110] S426: The mode selection module 174 only responds to the configuration signal for the second operating mode.

[0111] In related technologies, battery packs 31 of different types and capacities have varying output capabilities. If the operating mode of the power tool and the output capability of the battery pack 31 are not effectively matched, the output capability of the battery pack 31 may not be sufficient to provide enough power for multiple motors to work simultaneously, or the battery pack 31 may have a strong output capability but be limited to driving only one motor. In other words, the output capability of the battery pack 31 has a low degree of matching with the operating mode of the motor assembly 20 of the power tool. In this embodiment, the controller 171 directly determines the operating mode of the power tool based on physical quantities related to the operating state of the battery pack 31, or restricts the switching of the operating mode of the power tool through physical quantities related to the operating state of the battery pack 31. This avoids the problem of mismatch between the output capability of the battery pack 31 and the operating mode of the motor assembly 20 of the power tool, and improves the matching degree between the output capability of the battery pack 31 and the operating mode of the power tool. For example, it prevents damage to the battery pack 31 and power tool components when multiple motors are forced to work simultaneously when the output capability of the battery pack 31 is low.

[0112] In some embodiments, in adaptive mode, the first detector 1731 is configured to detect physical quantities related to the operating state of the battery pack 31. The controller 171 dynamically adjusts the operating states of the first motor 21 and the second motor 22 based on the physical quantities related to the operating state of the battery pack 31 detected by the first detector 1731. Optionally, the physical quantities related to the operating state of the battery pack 31 include, but are not limited to, the voltage, current, temperature, state of power (SOP), state of charge (SOC), internal resistance, and model of the battery pack 31. For example, the physical quantities related to the operating state of the battery pack 31 include one or more of the disclosed physical quantities combined with time. The controller 171 determines the output capability of the battery pack 31 based on the relationship between the detection value of the first detector 1731 and a preset threshold. Based on the output capability of the battery pack 31, the controller 171 switches the operating state of the motor assembly 20; for example, either the first motor 21 or the second motor 22 is driven, or the first motor 21 and the second motor 22 are driven jointly. For example, the relationship between the detected value of the first detector 1731 and a preset threshold includes: comparing the detected value with a detection value threshold, comparing the change in the detected value with a threshold value for the change in the detected value, comparing the result value of the detected value calculated by a single-element, binary, or multi-element method with a threshold value for the result value, and comparing the change in the result value with a threshold value for the result value. For example, when the battery pack 31 has a low output capability, only the first motor 21 or the second motor 22 can be driven.

[0113] like Figure 14 As shown, a control method for power tools in adaptive mode includes the following steps: S501: Start.

[0114] S502: Power tools enter adaptive mode.

[0115] S503: Determine the output capability of battery pack 31 based on the relationship between the detection value of the first detector 1731 and the preset threshold.

[0116] S504: Based on the output capability of the battery pack 31, switch the operating state of the motor assembly 20.

[0117] like Figure 15 As shown, in an alternative embodiment, the controller 171 determines the configured operating mode of the power tool based on physical quantities related to the operating state of the motor assembly 20. Exemplarily, the control circuit includes a second detector 1732 configured to detect physical quantities related to the operation of the motor assembly 20. Optionally, the physical quantities related to the operation of the motor assembly 20 include electrical parameters of the first motor 21 and / or the second motor 22, and electrical or physical parameters of circuit components connected to the first motor 21 and / or the second motor 22. Optionally, the physical quantities related to the operation of the motor assembly 20 include physical quantities detectable by sensors or electronic components, such as bus current, phase current, bus voltage, phase voltage, and commutation parameters of the first motor 21 and / or the second motor 22. Optionally, the physical quantities related to the operation of the motor assembly 20 include physical quantities detectable by sensors or electronic components, such as the rotational speed, angular velocity, acceleration, and angular acceleration of the first motor 21 and / or the second motor 22 and / or the output shaft 30. Optionally, physical quantities related to the operation of the motor assembly 20 include: temperature, sound, vibration, etc., of the first motor 21 and / or the second motor 22. Optionally, electrical or physical parameters of the circuit components connected to the first motor 21 and / or the second motor 22 include the current, voltage, temperature, and vibration of the switching elements and other capacitors or resistors in the drive circuit 172. Exemplarily, physical quantities related to the operating state of the motor assembly 20 include combinations of one or more of the physical quantities disclosed above. Exemplarily, physical quantities related to the operating state of the motor assembly 20 include combinations of one or more of the physical quantities disclosed above with time.

[0118] For example, controller 171 determines the configured operating mode of the power tool based on the relationship between the detected value of the second detector 1732 and a preset threshold. The relationship between the detected value of the second detector 1732 and the preset threshold includes: comparing the detected value with a detection value threshold, comparing the change in the detected value with a threshold for the change in the detected value, comparing the result value of the detected value calculated using a univariate, binary, or multivariate method with a threshold for the result value, and comparing the change in the result value with a threshold for the result value. Optionally, if the detected value of the second detector 1732 is current, controller 171 can determine the configured operating mode of the power tool based on a comparison between the current value and a current value threshold. Optionally, if the detected value of the second detector 1732 is current, controller 171 can determine the configured operating mode of the power tool based on a comparison between the change in current value detected twice or more and a threshold for the change in current value. Optionally, if the detected value of the second detector 1732 is current, controller 171 can determine the configured operating mode of the power tool based on a comparison between the average value of current value detected twice or more and a threshold for the average value of current value. Optionally, the detection value of the second detector 1732 is current, and the controller 171 can determine the working mode configured for the power tool based on the value of the motor torque calculated using the current or the change in motor torque and a comparison with a relevant threshold.

[0119] In this embodiment, the load on the output shaft 30 is determined by physical quantities related to the operating state of the motor assembly 20. For example, the controller 171 determines the load on the output shaft 30 based on its rotational speed and / or current value, and determines the configured operating mode of the power tool according to the load on the output shaft 30. For example, when the power tool is in adaptive mode, if the rotational speed of the output shaft 30 is higher than a first set threshold, and / or the current of the motor (first motor 21 and / or second motor 22) is less than the first set threshold, and / or the change in rotational speed of the output shaft 30 is less than the first set threshold, then the output shaft 30 is under low load, and the controller 171 determines that the power tool switches to a second operating mode. If the rotational speed of the output shaft 30 is lower than the second set threshold, and / or the current of the motor (first motor 21 and / or second motor 22) is greater than the second set threshold, and / or the change in rotational speed of the output shaft 30 is greater than the second set threshold, then the output shaft 30 is under high load, and the controller 171 determines that the power tool switches to a first operating mode. The first set threshold for rotational speed is not less than the second set threshold. The first set threshold for current is not greater than the second set threshold. The first set threshold for speed change is not lower than the second set threshold.

[0120] When the mode selection module 174 of controller 171 determines whether the power tool is switched to the first working mode or the second working mode, a switching signal is used as an input command. In response to the switching signal, controller 171 determines that the motor assembly 20 enters the state corresponding to the first or second working mode. Optionally, after the motor assembly 20 enters the first or second working state, the operating state of the first motor and / or the second motor can also be dynamically adjusted according to the detection result of the second detector 1732. Optionally, when the mode selection module 174 of controller 171 determines whether the power tool is switched to the first or the second working mode, controller 171 responds to the switching signal and calls the corresponding input command. In response to the called input command, controller 171 determines one or more sets of preset drive parameters corresponding to the input command, driving the motor assembly 20 to enter the state corresponding to the first or the second working mode.

[0121] like Figure 16 As shown, a control method for a power tool is disclosed. The power tool switches its working mode via electronic identification. The controller 171 includes a mode selection module 174. The mode selection module 174 determines the configured working mode of the power tool based on physical quantities related to the operating state of the motor assembly 20. Specifically, the method includes the following steps: S601: Start.

[0122] S602: The power tool is in adaptive working mode.

[0123] S603: Determine the relationship between the detection value of the second detector 1732 and the preset threshold.

[0124] The second detector 1732 detects physical quantities related to the operation of the motor assembly 20. The controller 171 determines the configured operating mode of the power tool based on the relationship between the detected value of the second detector 1732 and a preset threshold. The load on the output shaft 30 is determined by the physical quantities related to the operating state of the motor assembly 20.

[0125] S614: Output shaft 30 is under low load. If so, execute S615; otherwise, execute S602.

[0126] When the output shaft 30 rotates at a speed higher than the first set threshold, and / or the current of the motor (first motor 21 and / or second motor 22) is less than the first set threshold, and / or the change in the rotational speed of the output shaft 30 is less than the first set threshold, the output shaft 30 is in a low-load condition.

[0127] S615: Mode switching module 174 switches the power tool to the second working mode.

[0128] S616: Drives the first motor and brakes the second motor.

[0129] The first motor is driven and the second motor is braked based on the driving parameters. The driving parameters can be a set or more preset sets of driving parameter data, or driving parameter data that is dynamically adjusted according to the detection structure of the second detector 1732.

[0130] S624: The output shaft is under high load. If so, execute S625; otherwise, execute S602.

[0131] When the output shaft 30 speed is lower than the second set threshold, and / or the current of the motor (first motor 21 and / or second motor 22) is greater than the second set threshold, and / or the change in the speed of the output shaft 30 is greater than the second set threshold, the output shaft 30 is under high load.

[0132] S625: Mode switching module 174 switches the power tool to the first working mode.

[0133] S626: The first motor and the second motor are driven together.

[0134] The first motor and the second motor are driven together based on preset driving parameters. The driving parameters can be one or more preset sets of driving parameter data, or driving parameter data that is dynamically adjusted according to the detection structure of the second detector 1732.

[0135] In some embodiments, in adaptive mode, controller 171 dynamically adjusts the operating states of the first motor 21 and the second motor 22 based on physical quantities related to the operating state of the motor assembly 20 detected by the second detector 1732. For example, controller 171 determines whether to drive or put the second motor 22 into standby mode based on the relationship between the detection value of the second detector 1732 and a preset threshold. The relationship between the detection value of detector 1732 and the preset threshold includes: a comparison of the detection value with a detection value threshold, a comparison of the change in the detection value with a threshold value for the change in the detection value, a comparison of the result value calculated by univariate, binary, or multivariate methods with a threshold value for the result value, and a comparison of the change in the result value with a threshold value for the result value. For example, physical quantities related to the operation of the motor assembly 20 include physical quantities detectable by sensors or electronic components, such as the bus current, phase current, bus voltage, phase voltage, and commutation parameters of the first motor 21 and / or the second motor 22. Optionally, the physical quantities related to the operation of the motor assembly 20 include: the rotational speed, angular velocity, acceleration, angular acceleration, and other physical quantities detectable by sensors or electronic components, such as the rotational speed, angular velocity, acceleration, and angular acceleration of the first motor 21 and / or the second motor 22 and / or the output shaft 30. Optionally, the physical quantities related to the operation of the motor assembly 20 include: the temperature, sound, and vibration of the first motor 21 and / or the second motor 22. Optionally, the electrical or physical parameters of the circuit components connected to the first motor 21 and / or the second motor 22 include the current, voltage, temperature, and vibration of the switching elements and other capacitors or resistors in the drive circuit 172. Exemplarily, the physical quantities related to the operating state of the motor assembly 20 include combinations of one or more of the physical quantities disclosed above. Exemplarily, the physical quantities related to the operating state of the motor assembly 20 include combinations of one or more of the physical quantities disclosed above with time.

[0136] In some embodiments, such as Figure 6As shown, the power tool also includes a vision control system 72, which is connected to the controller 171. The vision control system 72 is configured to determine the processing conditions that the workpiece needs to match before the power tool contacts the workpiece being processed, and sends the corresponding input command to the controller 171. The controller 171 matches the corresponding working mode according to the input command. For example, if the workpiece to be cut is a wooden board with a thickness exceeding a threshold, the vision control system 72 is located at one end of the power tool's forward direction. If the vision control system 72 detects that the thickness of the workpiece exceeds the threshold, it sends an input signal to the controller 171 to configure the power tool to operate in a first working mode. The controller 171 then configures the power tool to prepare to start working or enter a working state in the first working mode according to the input signal. In some embodiments, in the adaptive working mode, the controller 171 dynamically adjusts the operating states of the first motor 21 and the second motor 22 according to the workpiece condition detected by the vision control system. For example, if the workpiece to be cut is a wooden board with a thickness exceeding a threshold, and the vision control system detects that the thickness of the workpiece exceeds the threshold, it sends a signal to the controller 171 to configure the motor assembly 20 to operate with the first motor 21 and the second motor 22 jointly driven. For example, the part to be cut is a wooden board with a thickness below a threshold. If the vision control system 72 detects that the thickness of the part to be cut is too thin, it will send a signal to the controller 171 to configure the motor assembly 20 to drive the first motor 21 alone.

[0137] For example, the vision control system 72 includes a light source, a lens, a CCD camera, an image processing unit (or image acquisition card), an image processing chip, a monitor, and a communication / input / output unit. The vision control system 72 is identical to the technical solutions disclosed in related technologies. Since the vision control system itself has been sufficiently disclosed to those skilled in the art, detailed descriptions are omitted here for the sake of brevity.

[0138] like Figures 4 to 5 As shown, the power transmission mechanism 40 includes: a transmission assembly 41 disposed between at least one of the first motor 21 and the second motor 22 and the output shaft 30. The transmission assembly 41 includes at least a reduction mechanism. A clutch assembly 42 is disposed between the first motor 21 and the second motor 22, and the clutch assembly 42 is configured to restrict or allow at least one of the first drive shaft 211 or the second drive shaft 221 to drive the output shaft 30 under preset conditions. It can be understood that the clutch assembly 42 is disposed between the first motor 21 and the second motor 22 in two ways: firstly, in terms of orientation, the clutch assembly 42 at least partially overlaps with either the first motor 21 or the second motor 22 in the axial direction of the drive shaft, or at least partially overlaps with either the first motor 21 or the second motor 22 in the radial direction of the drive; secondly, in terms of connection, the clutch assembly 42 has a direct or indirect connection with the first motor 21 and the second motor 22, or a direct or indirect power transmission path.

[0139] In this embodiment, the clutch assembly 42 includes a one-way clutch 421. The one-way clutch 421 is operable to engage the rotation of the first motor 21 and the second motor 22 in a first rotational direction, and to disengage the rotation of the first motor 21 and the second motor 22 in a second rotational direction. Optionally, the clutch assembly 42 may be a one-way bearing or an overrunning clutch.

[0140] The second motor 22 works in conjunction with the first motor 21 via a one-way clutch 421. When the first motor 21 and the second motor 22 rotate in the same direction, if the speed of the second drive shaft 221 of the second motor 22 is lower than the speed of the first drive shaft 211 of the first motor 21, the one-way clutch 421 restricts the second drive shaft 221 from driving the output shaft 30. As the speed of the second drive shaft 221 of the second motor 22 increases, the one-way clutch is driven by the meshing force of the second motor until the one-way clutch engages to allow the first and second drive shafts to jointly drive the output shaft. If the speed of the second drive shaft 221 of the second motor 22 is greater than or equal to the speed of the first drive shaft 211 of the first motor 21, the one-way clutch 421 allows the second drive shaft 221 to participate in driving the output shaft 30. During the process of the one-way clutch 421 changing from restricting the second drive shaft 221 from driving the output shaft 30 to allowing the second drive shaft 221 to drive the output shaft 30, the speed of the output shaft 30 goes through a process from being lower than the output speed of the first motor 21 to being greater than or equal to the output speed of the first motor 21. At the moment when the speed of the first drive shaft 211 of the first motor 21 first equals the speed of the second drive shaft 221 of the second motor 22, the one-way clutch 421 will engage and output torque. However, the greater the engagement force of the one-way clutch under the second motor before the engagement, the stronger the impact force when the one-way clutch engages. Furthermore, the applicant discovered that the engagement force of the second motor is affected by the difference between the rotational speed of the first drive shaft 211 of the first motor 21 and the rotational speed of the second drive shaft 221 of the second motor 22 when the one-way clutch is engaged. The greater the difference in rotational speed between the first drive shaft 211 of the first motor 21 and the second drive shaft 221 of the second motor 22, that is, the faster the second drive shaft 221 of the second motor 22 rotates, the greater the engagement force of the second drive shaft 221, and the stronger the impact force on the one-way clutch. This leads to a greater decrease in the lifespan of the clutch.

[0141] In this embodiment, the controller 171 is configured to drive the first drive shaft 211 of the first motor 21 to rotate at a first speed. When the second speed of the second drive shaft 221 of the second motor 22 is less than the first speed, the controller adjusts the driving force parameters affecting the engagement force of the second motor 22 on the clutch assembly 42 based on the difference between the second speed and the first speed. In this embodiment, the driving force parameters of the second motor 22 include the rotational speed of the second drive shaft 221, the acceleration of the second drive shaft 221, the angular velocity of the second drive shaft 221, the angular acceleration of the second drive shaft 221, the torque of the second drive shaft 221, the current of the second motor 22, the voltage of the second motor 22, the commutation data of the second motor 22, and the values ​​of the above data calculated by one-dimensional, two-dimensional, or multi-dimensional methods.

[0142] In this embodiment, the driving force parameter affecting the engagement force of the second motor 22 on the clutch assembly 42 is adjusted based on the difference between the second speed and the first speed, so as to adjust the impact force when the clutch engages and improve the clutch life.

[0143] In this embodiment, when the difference between the second rotational speed and the first rotational speed is greater than or equal to a preset difference, the second motor 22 increases the rotational speed with a first driving force parameter corresponding to the first meshing force. When the difference between the second rotational speed and the first rotational speed is less than the preset difference, the second motor 22 increases the rotational speed with a second driving force parameter corresponding to the second meshing force, and the second meshing force is less than the first meshing force. In this embodiment, when the difference between the rotational speed of the first drive shaft 211 of the first motor 21 and the rotational speed of the second drive shaft 221 of the second motor 22 is greater than the preset difference, the second motor 22 drives with a larger first meshing force to rapidly increase the speed and reduce the rotational speed difference between the first motor 21 and the second motor 22. When the difference between the rotational speed of the first drive shaft 211 of the first motor 21 and the rotational speed of the second drive shaft 221 of the second motor 22 is less than or equal to a preset difference, the rotational speeds of the second motor 22 and the first motor 21 are close, and the one-way clutch 421 is about to engage. At this time, reducing the engagement force of the second motor 22 reduces the engagement impact force of the one-way clutch 421, protecting the one-way clutch 421 and extending its lifespan. Gently starting the second motor 22 also reduces noise and vibration at the moment the second motor 22 engages in driving.

[0144] In this embodiment, the driving force parameter is taken as the acceleration of the second drive shaft 221 of the second motor 22. The acceleration of the second motor 22 is adjusted based on the difference between the second rotation speed and the first rotation speed. The acceleration of the second motor 22 is adjusted so that the speed increase rate of the second motor 22 is reduced, thereby reducing the meshing force of the second motor 22.

[0145] In this embodiment, when the difference between the second rotational speed and the first rotational speed is greater than or equal to a preset difference, the second motor 22 increases its rotational speed with a first acceleration. When the difference between the second rotational speed and the first rotational speed is less than the preset difference, the second motor 22 increases its rotational speed with a second acceleration, and the second acceleration is less than the first acceleration. In this embodiment, when the difference between the rotational speed of the first drive shaft 211 of the first motor 21 and the rotational speed of the second drive shaft 221 of the second motor 22 is greater than the preset difference, the second motor 22 accelerates more rapidly, thereby reducing the rotational speed difference between the first motor 21 and the second motor 22. When the difference between the rotational speed of the first drive shaft 211 of the first motor 21 and the rotational speed of the second drive shaft 221 of the second motor 22 is less than or equal to a preset difference, the rotational speeds of the second motor 22 and the first motor 21 are close, and the one-way clutch 421 is about to engage. At this time, the acceleration of the second motor 22 is reduced, which reduces the rate of increase of the speed of the second motor 22 and thus reduces the engagement impact force of the one-way clutch 421 during engagement, protecting the one-way clutch 421 and extending its service life.

[0146] In this embodiment, the second motor 22 increases its rotational speed so that the clutch assembly 42 allows the first drive shaft 211 and the second drive shaft 221 to jointly drive the output shaft 30. For example, the second motor 22 increases its rotational speed with a second acceleration so that the second rotational speed equals the first rotational speed. When the clutch assembly 42 allows the first drive shaft 211 and the second drive shaft 221 to drive the output shaft 30, the clutch assembly 42, for example, a one-way clutch 421, has already engaged. Based on the actual product operating conditions and preset parameter settings, the second rotational speed of the second motor 22 is greater than or equal to the first rotational speed of the first motor 21.

[0147] For example, such as Figure 19a As shown, the power tool also includes a speed detector 1733 for detecting speed-related values ​​of the first drive shaft 211 of the first motor 21 and the second drive shaft 221 of the second motor 22. Exemplarily, the speed-related values ​​include the speed value, the change in speed, the result value of the detected value calculated by a univariate, binary, or multivariate method, or the change in the result value. Exemplarily, the speed detector 1733 is a position sensor that detects the speed of the first drive shaft 211 and / or the second drive shaft 221. Exemplarily, the speed detector 1733 detects the angular velocity, acceleration, or angular acceleration of the first drive shaft 211 and / or the second drive shaft 221 to calculate the speed of the first drive shaft 211 and / or the second drive shaft 221. Optionally, the speed detector 1733 includes a position sensor, specifically a photodiode sensor, a magnetic sensor, or a potentiometer. The speed detector 1733 can also be a rotation sensor, specifically a gyroscope sensor. The gyroscope sensor can be a single-axis, two-axis, or three-axis microelectromechanical system (MEMS) sensor or a rotational sensor.

[0148] In some embodiments, such as Figure 19b As shown, the power tool also includes a motor electrical parameter detector 1734, configured to detect the electrical parameters of the first motor 21 and the second motor 22 to characterize the rotational speeds of the first drive shaft 211 and the second drive shaft 221. The electrical parameters include current-related parameters, voltage-related parameters, and commutation-related parameters. Optionally, the power tool includes a speed detector 1733 and a motor electrical parameter detector 1734; that is, the parameters of the first drive shaft 211 of the first motor 21 and the second drive shaft 221 of the second motor 22 can be detected using the speed detector 1733 and the motor electrical parameter detector 1734, respectively.

[0149] In some alternative embodiments, clutch assembly 42 may also include other mechanical clutch assemblies. For example, a jaw clutch, ratchet clutch, centrifugal clutch, differential, friction clutch, and hydraulic clutch; these mechanical clutches, in simple variations or combinations, can all be used as the clutch assembly of this application. Provided that the function of the clutch assembly of this application is fulfilled, the specific form of the structure does not affect the substantive content of this application.

[0150] In some embodiments, the clutch assembly 42 further includes an electronic clutch. For example, an electromagnetic clutch. Examples include dry single-plate electromagnetic clutches, dry multi-plate electromagnetic clutches, wet multi-plate electromagnetic clutches, magnetic powder clutches, and slip-type electromagnetic clutches.

[0151] In some embodiments, the coupling of a mechanical clutch assembly and an electronic clutch can be used simultaneously to restrict or allow at least one drive output shaft 30 of the first drive shaft 211 or the second drive shaft 221 under preset conditions.

[0152] like Figure 17 As shown, a method for controlling the speed of the first and second motors of a power tool includes the following specific steps: S701: Start.

[0153] S702: The first drive shaft 211 of the first motor 21 rotates at a first speed.

[0154] S703: The second drive shaft 221 of the second motor 22 rotates at a second speed.

[0155] S704: If the second speed is less than the first speed, then execute S705; otherwise, execute S703.

[0156] S705: The driving force parameter that affects the engagement force of the clutch assembly is adjusted based on the difference between the second speed and the first speed.

[0157] Adjust the driving force parameters of the meshing force of the second motor 22 to adjust the impact force when the clutch engages, thereby improving the clutch life.

[0158] like Figure 18 As shown, another method for controlling the speed of the first and second motors of a power tool includes the following steps: S801: Start.

[0159] S802: The first drive shaft 211 of the first motor 21 rotates at a first speed.

[0160] S803: The second drive shaft 221 of the second motor 22 rotates at a second speed.

[0161] S804: The second speed is less than the first speed. If so, execute S805; otherwise, execute S803.

[0162] S805: The difference between the second speed and the first speed is greater than or equal to the preset difference. If yes, then execute S806; otherwise, then execute S807.

[0163] S806: The second motor increases the speed by using the first driving force parameter corresponding to the first meshing force.

[0164] S807: The second motor increases the speed with the second driving force parameter corresponding to the second meshing force, and the second meshing force is less than the first meshing force.

[0165] When the difference between the rotational speed of the first drive shaft 211 of the first motor 21 and the rotational speed of the second drive shaft 221 of the second motor 22 is greater than a preset difference, the second motor 22 drives with a larger first meshing force to rapidly increase its speed and reduce the speed difference between the first motor 21 and the second motor 22. Conversely, when the difference between the rotational speed of the first drive shaft 211 of the first motor 21 and the rotational speed of the second drive shaft 221 of the second motor 22 is less than or equal to a preset difference, the rotational speeds of the second motor 22 and the first motor 21 are close, and the one-way clutch 421 is about to engage. At this point, reducing the meshing force of the second motor 22 reduces the meshing impact force of the one-way clutch 421 during engagement, protecting the one-way clutch 421 and extending its lifespan.

[0166] S808: The second speed is equal to the first speed. If so, execute S809; otherwise, execute S804.

[0167] S809: The clutch assembly allows the first drive shaft and the second drive shaft to jointly drive the output shaft.

[0168] The second motor 22 increases the rotational speed with a second acceleration so that the second rotational speed equals the first rotational speed. When the clutch assembly 42 allows the first drive shaft 211 and the second drive shaft 221 to drive the output shaft 30, the clutch assembly 42, for example, a one-way clutch 421, has already engaged.

[0169] For reference Figures 20 to 23 As shown, when a power tool switches its working mode in manual mode, the mode switching unit 70 includes a switching element defined as a mode switching switch 71. The mode switching switch 71 is connected to the controller 171 and is operated to send a signal to the controller 171 to switch the working mode. When using manual mode, the power tool switches between at least adaptive mode and a first working mode. Users can actively switch working modes according to their usage habits and specific needs. Compared to automatic working mode switching by electronic recognition, the user's sense of operation is stronger. For use in special working conditions, it makes up for the lack of usage options of products that only have adaptive mode or can only switch between single motor and dual motor working modes, making the usage scenarios more diverse.

[0170] In this embodiment, the mode switch 71 and the start switch 81 are different switching elements. That is, when the power tool switches its working mode in manual mode, a separate mode switch 71 is provided for the power tool so that the user can operate the mode switch 71 conveniently and intuitively. In some embodiments, the start switch 81 of the circular saw 100 needs to be triggered when the safety switch 82 is pressed, while the mode switch 71 is set separately and is not restricted by the safety switch 82. In some embodiments, the mode switch 71 and the start switch 81 are different switching elements, the mode switch 71 and the start switch 81 are set in different positions, and the mode switch 71 and the start switch 81 are each connected to the controller 171 separately.

[0171] In some embodiments, a mode switching switch 71 is disposed on the outer wall surface of the main housing 11. The main housing 11 includes a receiving housing 112, which is configured to house the first motor 21 and the second motor 22. It is understood that the receiving housing 112 houses the motor assembly 20 and the drive shaft portion of the motor.

[0172] The main unit housing 11 also includes a connecting portion 14 for connecting the grip portion 12 to the receiving housing 112. A power switch 81 is located on the grip portion 12, and a mode switch 71 is located on either the connecting portion 14 or the receiving housing 112. For example, as... Figure 20As shown, the connecting portion 14 includes an upper connecting portion 141 connected to the upper end of the grip portion 12 and the housing 112. The upper connecting portion 141 is close to the start switch 81, and a mode switching switch 71 is disposed on the upper connecting portion 141. Optionally, the mode switching switch 71 is disposed on the upper surface or side of the upper connecting portion 141. Optionally, the position of the mode switching switch 71 is set within a range that allows simultaneous operation with one hand, similar to the position of the start switch 81. For example, as... Figure 21 As shown, the connecting part 14 includes a lower connecting part 142 that connects the lower end of the grip part 12 to the housing 112. The lower connecting part 142 is close to the base plate 51, and the mode switching switch 71 is provided on the upper surface or side of the lower connecting part 142. This facilitates user operation and avoids accidental activation.

[0173] For example, the mode switching switch 71 is disposed on the outer surface of the housing 112, for example, as Figure 22 and Figure 23 As shown, the housing 112 surrounds the outer periphery of the motor stator, and the mode switching switch 71 is located on the outer periphery and the outer side wall of the end of the motor stator. For example, the housing 112 extends toward the fixed cover 62 along the extension direction of the motor drive shaft, and the mode switching switch 71 is located on the outer side wall of the outer periphery of the drive shaft of motors 21 and 22.

[0174] In this embodiment, as Figure 6 As shown, the battery pack 31 is positioned between the motor assembly 20 and the gripping part 12 to ensure that the center of gravity of the circular saw 100 conforms to the user's operation, thus stabilizing the circular saw 100 during operation. The main housing 11 has a semi-open battery compartment 15 formed by an inward recess. In this embodiment, the housing 112 is connected to the battery compartment 15, the battery compartment 15 is connected to the connecting part 14, and the battery compartment 15 and the motor assembly 20 are located on the same side.

[0175] The battery compartment 15 includes a connecting portion 1511 electrically connected to the battery pack 31, and a tool terminal is provided on the connecting portion 1511. Tool terminals with identical structures (not shown in the figure) are provided on different power tools. Exemplarily, the first motor 21, the second motor 22, the battery pack 31, and the grip portion 12 are located on the same side of the cutting member 61, and after the battery pack 31 is inserted into the battery compartment 15, at least partially after the first motor 21 and the second motor 22 are positioned, and at least partially before the grip portion 12. Optionally, the battery pack 31 is inserted into the battery compartment 15 at an angle; in some embodiments, the battery pack 31 is partially located above the first motor 21 and the second motor 22.

[0176] like Figure 24As shown, the control circuit board 18 is at least partially disposed below the battery pack 31. Exemplarily, the control circuit board 18 is at least partially disposed below the battery receiving compartment 15. The control circuit board 18 is at least partially disposed radially outward of the motor assembly 20. Optionally, as... Figure 6 As shown, the control circuit board 18 is at least partially disposed on the upper side of the motor assembly 20. Optionally, as... Figure 25 As shown, the control circuit board 18 is at least partially disposed between the motor assembly 20 and the battery pack 31. Optionally, the control circuit board 18 is at least partially disposed between the motor assembly 20 and the battery housing 15. Figure 26 As shown, the control circuit board 18 is at least partially disposed within the grip portion 12. Exemplarily, multiple control circuit boards 18 are provided, with at least some of them disposed within the housing of one end of the motors 21 and 22. Optionally, multiple control circuit boards 18 are provided, with one control circuit board 18a disposed within the grip portion 12, and the remaining control circuit boards 18b respectively disposed at the end of the first drive shaft 211 of the first motor 21 facing away from the cutting member and the end of the second drive shaft 221 of the second motor 22 facing away from the cutting member.

[0177] Regarding the arrangement of the first motor 21 and the second motor 22 in the motor assembly 20: In this embodiment, the first drive shaft 211 of the first motor 21 and the second drive shaft 221 of the second motor 22 are arranged radially along the first drive shaft 211, that is, the first motor 21 and the second motor 22 are not coaxially arranged. In some embodiments, in this embodiment, the first drive shaft 211 and the second drive shaft 221 are parallel but do not overlap. In this embodiment, both the first drive shaft 211 and the second drive shaft 221 are arranged parallel to the output shaft 30. In some embodiments, such as... Figure 6 As shown, the first drive shaft 211 and the second drive shaft 221 are arranged in the left-right direction. In some embodiments, such as Figure 25 and Figure 27 As shown, the first drive shaft 211 and the second drive shaft 221 are arranged vertically, meaning that the first motor 21 is located above the second motor 22, or the second motor 22 is located above the first motor 21. Figure 28 and Figure 29 In some embodiments, the first drive shaft 211 intersects or is perpendicular to the second drive shaft 221. For example, the first drive shaft 211 and the second drive shaft 221 are spatially perpendicular or spatially intersecting. For example, when projecting the motor assembly 20 along the vertical direction, the projection of the first drive shaft 211 intersects or is perpendicular to the projection of the second drive shaft 221.

[0178] like Figure 30 and Figure 31As shown, this is another embodiment disclosed in this application. The difference between the circular saw 100 and the first embodiment is that the motor assembly 20 includes multiple motors. Exemplarily, the motor assembly 20 includes at least a first motor 21 and a second motor 22, and the torque of the first drive shaft 211 and the second drive shaft 221 is output through the output shaft 30. It also includes a third motor 23, which provides power to components other than the output shaft 30. In some embodiments, such as... Figure 17 As shown, the circular saw 100 also includes a vacuum fan 91, and the third motor 23 drives the vacuum fan 91 to rotate, thereby generating suction to vacuum.

[0179] In some embodiments, the motor assembly 20 further includes: a first fan 216 supported by a first drive shaft 211, the first fan 216 being driven by a first motor 21 to rotate and generate cooling airflow; and a second fan 226 supported by a second drive shaft 221, the second fan 226 being driven by a second motor 22 to rotate and generate cooling airflow. Figure 18 As shown, an auxiliary cooling fan is also included. The third motor 23 drives the auxiliary cooling fan (not shown) to rotate, thereby generating cooling air to dissipate heat from the motor assembly 20 and / or the controller 171. This improves the motor's heat dissipation efficiency. In some embodiments, the first drive shaft 211 of the first motor 21 and the third drive shaft 231 of the third motor 23 are arranged radially along the first drive shaft 211, that is, the first motor 21 and the third motor 23 are not coaxial. In some embodiments, in this embodiment, the first drive shaft 211 and the third drive shaft 231 are parallel but do not overlap. In this embodiment, the first drive shaft 211 and the second drive shaft 221 are both arranged parallel to the third drive shaft 231. In some embodiments, the first drive shaft 211 and the third drive shaft 231 are arranged in a left-right direction. In some embodiments, the first drive shaft 211 and the third drive shaft 231 are arranged in a vertical direction, that is, the first motor 21 is located above the third motor 23 or the third motor 23 is located above the first motor 21. In some embodiments, the first drive shaft 211 and the third drive shaft 231 intersect or are perpendicular. For example, the first drive shaft 211 is spatially perpendicular to or intersects with the third drive shaft 231. For example, when the motor assembly 20 is projected in the vertical direction, the projection of the first drive shaft 211 intersects with or is perpendicular to the projection of the third drive shaft 231.

[0180] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that the above embodiments do not limit this application in any way, and all technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of this application.

Claims

1. An electric tool, comprising: An output shaft is configured to output torque; the output shaft rotates about an output axis. The motor assembly includes at least a first motor and a second motor; The first motor includes a first drive shaft that rotates about a first axis; The second motor includes a second drive shaft that rotates about a second axis; The torques of the first drive shaft and the second drive shaft are output through the output shaft; The battery pack provides electrical power to the motor assembly; A controller controls the operation of the motor assembly; the controller is configured to determine the operating states of the first motor and the second motor based on physical quantities related to the operating state of the battery pack.

2. The power tool according to claim 1, characterized in that, The controller is configured to determine the output capacity of the battery pack based on physical quantities related to the operating state of the battery pack.

3. The power tool according to claim 2, characterized in that, The power tool includes different operating modes, including an adaptive mode, a first operating mode, and a second operating mode. In different operating modes, the driven state of the motor assembly is at least partially different.

4. The power tool according to claim 3, characterized in that, In the adaptive mode, the controller dynamically adjusts the operating states of the first motor and the second motor; In the first operating mode, the controller drives the first motor and the second motor to be driven together. In the second operating mode, the controller drives the first motor and brakes the second motor.

5. The power tool according to claim 4, characterized in that, The controller also includes a mode selection module, which determines the configured operating mode of the power tool based on physical quantities related to the operating state of the battery pack.

6. The power tool according to claim 5, characterized in that, When the battery pack is determined to have a high output capacity based on physical quantities related to its operating state, the controller is configured to determine that the power tool operates in a first operating mode; when the battery pack is determined to have a medium output capacity based on physical quantities related to its operating state, the controller is configured to determine that the power tool operates in an adaptive mode; when the battery pack is determined to have a low output capacity based on physical quantities related to its operating state, the controller is configured to determine that the power tool operates in a second operating mode.

7. The power tool according to claim 4, characterized in that, The controller determines whether to respond to the power tool's operating mode configuration signal based on physical quantities related to the battery pack's operating state.

8. The power tool according to claim 7, characterized in that, When the battery pack is determined to have low output capability based on physical quantities related to its operating state, the controller is configured to respond only to the configuration signal of the second operating mode; when the battery pack is determined to have medium output capability based on physical quantities related to its operating state, the controller is configured not to respond to the configuration signal of the first operating mode.

9. The power tool according to claim 7, characterized in that, The configuration signals include the operating mode configuration signal generated by the user through a manually input switching command and the operating mode configuration signal determined by the controller after identifying preset physical quantities.

10. The power tool according to claim 4, characterized in that, In the adaptive mode, the controller switches the operating state of the motor assembly based on the output capability of the battery pack. The operating state of the motor assembly includes: either the first motor or the second motor is driven, and the first motor and the second motor are driven together.

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