Power tool and power tool system

Abstract

To improve noise resistance.SOLUTION: A power tool 10 includes: a fitting part 21 to which a tip tool T1 can be fitted; a motor; an impact mechanism; a power supply connector CN1; a circuit board 19; a ferrite core 80; and a housing 20. The motor generates a rotational force for rotating the fitting part 21. The impact mechanism receives the rotational force of the motor to generate impact force, and rotates the fitting part 21 by the generated impact force. The power supply connector CN1 can be connected to a power supply cable from an external direct-current power supply. On the circuit board 19, a motor control part and a power supply part are mounted. The housing 20 houses the motor, the impact mechanism, the circuit board 19, and the ferrite core 80, and can be fitted to a robot arm. The fitting port 21 and the power supply connector CN1 are mounted while exposed to the surface of the housing 20. The ferrite core 80 is mounted on a wiring member L1 connecting the power supply connector CN1 and the circuit board 19, in the housing 20.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to power tools and power tool systems, and more particularly to power tools and power tool systems used in a state where they are attached to a robot. [Background technology]

[0002] Patent Document 1 discloses an impact driver with a housing having a body portion that houses a motor and a part of an output portion driven by the motor, a board housing portion that houses a board that controls the motor, and a handle portion that is connected at one end to the body portion and at the other end to the board housing portion. A power cord is connected to the board housing portion on the side opposite the handle. The board is composed of a power supply circuit board that converts AC power supplied from the power cord into DC power, and a control circuit board that receives DC power from the power supply circuit board. The control circuit board is located on the handle side inside the board housing portion, and the power supply circuit board is located between the control circuit board and the power cord.

[0003] The impact driver described in Patent Document 1 has a choke coil located in the handle to eliminate noise generated from the AC 100V power supplied through the power cord. The choke coil is connected to the power circuit board via a cable and is located inside the handle that the operator holds. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-107554 Summary of the Invention [Problem to be solved by the invention]

[0005] Impact drivers require large, heavy choke coils because a large current flows through them when the motor rotates. Impact drivers generate large vibrations when struck, so using a large, heavy choke coil increases the vibrations of the impact driver, potentially causing cracks in the soldering of the wire connecting the choke coil to the power supply circuit board. If a poor connection occurs in the choke coil due to cracks in the soldering, the noise reduction effect is insufficient, and noise resistance may be reduced.

[0006] An object of the present disclosure is to provide a power tool and a power tool system that can improve noise resistance. [Means for solving the problem]

[0007] A power tool according to one aspect of the present disclosure includes a mounting portion, a motor, an impact mechanism, a power connector, a circuit board, a ferrite core, and a housing. A tool bit can be attached to the mounting portion. The motor generates a rotational force that rotates the mounting portion. The impact mechanism receives the rotational force of the motor to generate an impact force, which rotates the mounting portion. The power connector can connect to a power cable from an external DC power source. A motor control unit and a power supply unit are mounted on the circuit board. The motor control unit controls the rotation of the motor in response to a control command from an external system. The power supply unit converts DC voltage input from the DC power source via the power connector and supplies the converted voltage to the motor control unit. The housing accommodates the motor, the impact mechanism, the circuit board, and the ferrite core and is attachable to a robot arm. The mounting portion and the power connector are exposed on the surface of the housing. The ferrite core is attached to a wiring member inside the housing that connects the power connector to the circuit board.

[0008] A power tool system according to one aspect of the present disclosure includes the power tool and a robot. The robot has one or more arms and one or more drive motors for driving the one or more arms. The housing of the power tool is attached to one of the one or more arms of the robot. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a power tool and a power tool system that can improve noise resistance. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view of the appearance of a robot to which a power tool according to an embodiment of the present disclosure is attached. [Figure 2] FIG. 2 is a schematic block diagram of a power tool system including the above-mentioned power tool. [Figure 3] FIG. 3 is a front view of the robot to which the power tool is attached. [Figure 4] FIG. 4 is a partial cross-sectional view of the power tool. [Figure 5] FIG. 5 is a schematic view showing the internal structure of the power tool. [Figure 6] FIG. 6 is a schematic diagram for explaining the attachment position of a ferrite core provided in the power tool. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, power tools and power tool systems according to embodiments will be described in detail with reference to the drawings. However, the drawings described in the following embodiments are schematic diagrams, and the dimensional ratios of the sizes of the components do not necessarily reflect the actual dimensional ratios. Furthermore, the configurations described in the following embodiments are merely examples of the present disclosure. The present disclosure is not limited to the following embodiments, and various modifications are possible depending on the design, etc., as long as the effects of the present disclosure can be achieved.

[0012] (Embodiment) (1) Overview FIG. 1 is an external perspective view of a robot 50 to which a power tool 10 according to this embodiment is attached. FIG. 2 is a schematic block diagram of a power tool system 100 including the power tool 10. FIG. 3 is a front view of the robot 50 to which the power tool 10 is attached. FIG. 4 is a partial cross-sectional view of the power tool 10. FIG. 5 is a schematic view showing the internal structure of the power tool 10. FIG. 6 is a schematic view for explaining the attachment position of a ferrite core 80 included in the power tool 10.

[0013] The power tool 10 of this embodiment includes a mounting portion 21, a motor M1, a striking mechanism 221, a power connector CN1, a circuit board 19, a ferrite core 80, and a housing 20.

[0014] The mounting portion 21 is capable of mounting the tool bit T1 (see FIGS. 3 and 4).

[0015] The motor M1 generates a torque that rotates the mounting portion 21.

[0016] The impact mechanism 221 receives the rotational force of the motor M1 to generate an impact force, and rotates the mounting part 21 with the generated impact force.

[0017] The power connector CN1 can be connected to a power cable CB1 from an external DC power supply 200.

[0018] A motor control unit 113 and a power supply unit 18 are mounted on the circuit board 19. The motor control unit 113 receives control commands from an external system and controls the rotation of the motor M1. The power supply unit 18 converts the DC voltage input from a DC power supply 200 via a power connector CN1 and supplies the converted voltage to the motor control unit 113.

[0019] The housing 20 accommodates the motor M1, the striking mechanism 221, the circuit board 19, and the ferrite core 80, and can be attached to the arm 516 of the robot 50.

[0020] The mounting portion 21 and the power connector CN1 are provided on the surface of the housing 20 in an exposed state.

[0021] The ferrite core 80 is provided inside the housing 20 on the wiring members L1 and L2 that connect the power connector CN1 and the circuit board 19 (see FIGS. 4 and 6).

[0022] Here, the tip tool T1 is, for example, a tool used to perform screw tightening work to tighten a fastening member (for example, a socket bit into which the head of a hexagonal bolt is inserted, or a driver bit for turning a screw), but the type of tip tool T1 can be changed as appropriate.

[0023] The mounting part 21 is provided on an output shaft 28 (see FIG. 5) that rotates in response to the rotation of the motor M1. Here, being able to mount the tool bit T1 on the mounting part 21 can include the case where the tool bit T1 is directly mounted on the mounting part 21 and the case where the tool bit T1 is indirectly mounted on the mounting part 21 via another member.

[0024] An example of an external system that outputs a control command to the power tool 10 is a control unit 501 that controls the operation of the robot 50. The motor control unit 113 receives a control command input from the control unit 501 of the robot 50 and controls the rotation of the motor M1, thereby allowing the power tool 10 and the robot 50 to operate in cooperation with each other.

[0025] A power cable CB1 from an external DC power supply 200 can be connected to the power connector CN1. In this embodiment, a ferrite core 80 is provided inside the housing 20 on the wiring members L1 and L2 that connect the power connector CN1 to the circuit board 19. The ferrite core 80 is made of a magnetic material, such as iron oxide, and is cylindrical with a hole 81 in its center. The wiring members L1 and L2 are passed through the hole 81 in the ferrite core 80, and the ferrite core 80 reduces high-frequency noise components that flow through the wiring members L1 and L2. Therefore, even if radiation noise enters the power cable CB1 that connects the external DC power supply 200 and the power connector CN1, the ferrite core 80 provided on the wiring members L1 and L2 can reduce the noise that enters the circuit board 19. This suppresses malfunctions due to noise and improves the noise resistance of the power tool 10.

[0026] In this embodiment, the wiring members L1 and L2 are provided with ferrite cores 80. Compared to using choke coils for noise suppression, the ferrite cores 80 are small and lightweight, so vibrations occurring in the housing 20 can be reduced even when the striking mechanism 221 generates a striking force. Furthermore, since the ferrite cores 80 only require the wiring members L1 and L2 to pass through holes 81 in the ferrite cores 80 (see FIG. 6), even if the ferrite cores 80 vibrate when the striking mechanism 221 generates a striking force, excessive force is unlikely to be applied to the soldered portions of the wiring members L1 and L2, reducing the possibility of solder cracks or the like occurring in the soldered portions. This reduces the possibility of a reduction in the noise removal effect of the ferrite cores 80, and offers the advantage of improving noise resistance. Furthermore, if the robot 50 to which the power tool 10 is attached has an overload detection function that stops the robot arm 51 when an overload applied to the robot arm 51 is detected, large vibrations occurring in the housing 20 when the impact mechanism 221 strikes the robot 50 may cause the overload detection function to malfunction, resulting in the robot 50 stopping. In this embodiment, the wiring members L1 and L2 are provided with ferrite cores 80, which are smaller and lighter than choke coils. This reduces the vibrations occurring in the housing 20 when the impact mechanism 221 strikes the robot 50, reducing the possibility of the overload detection function of the robot 50 malfunctioning. Another advantage is that the ferrite cores 80 are smaller than choke coils, allowing the housing 20 to be made more compact.

[0027] The power tool system 100 according to this embodiment includes the power tool 10 and the robot 50.

[0028] The robot 50 has a plurality of arms 511 to 516 and a plurality of drive motors M11 to M16 for driving the plurality of arms 511 to 516. The housing 20 of the power tool 10 is attached to any one of the plurality of arms 511 to 516 included in the robot 50.

[0029] The robot 50 may have only one arm and one motor. That is, the robot 50 may have one or more arms and one or more drive motors for driving the one or more arms. In this case, the housing 20 of the power tool 10 is attached to one of the one or more arms provided on the robot 50.

[0030] The power tool system 100 includes the power tool 10 described above, and therefore can improve noise resistance.

[0031] (2)Details The power tool 10 and the power tool system 100 according to this embodiment will be described in detail below with reference to FIGS.

[0032] (2.1) Configuration As described above, the power tool system 100 includes the power tool 10 and the robot 50. As shown in FIG. 2 , the power tool system 100 of this embodiment further includes a receiver 30, a centralized control unit 40, and a control device 60.

[0033] Here, the robot 50 is, for example, an industrial robot installed in a factory. The power tool 10 is a tool held by an arm 516 (see FIG. 1) of the robot 50, and is therefore a so-called end effector. The power tool 10 is a tool used to perform screw tightening work, for example, to tighten fastening members such as bolts or nuts on a work object. Because the power tool 10 is held by the arm 516 of the robot 50, which is an articulated robot, it can perform screw tightening work on a work object from any direction.

[0034] The power tool 10, the robot 50, the receiver 30, the centralized control unit 40, and the control device 60 included in the power tool system 100 will be described in detail below with reference to the drawings.

[0035] (2.1.1) Robots The robot 50 is, for example, an industrial robot that performs screw tightening work, that is, tightening screws into a workpiece that is the object of the work.

[0036] The robot 50 is installed on, for example, a workbench and performs screw tightening work on a workpiece placed on the workbench. The robot 50 is an articulated robot and includes, for example, a robot arm 51 with six degrees of freedom. The robot arm 51 has six arms 511 to 516, which are rotatably connected via joints. Drive motors M11 to M16 are incorporated in the joints, and the arms 511 to 516 are configured to rotate individually by rotating the drive motors M11 to M16.

[0037] 2, the robot 50 includes a control unit 501 that controls a robot arm 51. The control unit 501 includes a control unit 52, a communication unit 53, a posture detection unit 54, a load detection unit 55, an arm drive unit 56, and an operation unit 57. The control unit 501 of the robot 50 may be provided integrally with the robot arm 51 provided in the robot 50, or may be housed in a housing separate from the robot arm 51.

[0038] The control unit 52 performs overall control of the robot 50. The control unit 52 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 52 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0039] The control unit 52 causes the communication unit 53 to transmit to the power tool 10 a control command for operating the power tool 10 in coordination with the operation of the robot 50 .

[0040] The communication unit 53 is capable of communicating with the second communication unit 16 included in the power tool 10, for example, by wired communication.

[0041] The posture detection unit 54 includes, for example, a plurality of rotary encoders that detect the rotation angles of the arms 511 to 516 of the robot arm 51, and a plurality of angular velocity sensors that detect the angular velocities of the arms 511 to 516. The posture detection unit 54 detects the position, orientation, etc. of the arm 516 at the tip based on the detection results of the plurality of rotary encoders and the detection results of the plurality of angular velocity sensors, for example.

[0042] Load detection unit 55 includes, for example, a force sensor attached to tip arm 516, and detects the magnitude of the load applied to tip arm 516, or the impact force applied to tip arm 516, etc.

[0043] The arm driving unit 56 includes a plurality of driving motors M11 to M16 that respectively rotate the arms 511 to 516, and a plurality of driver circuits that respectively drive the plurality of driving motors M11 to M16. The arm driving unit 56 rotates the plurality of driving motors M11 to M16 based on a control command input from the control unit 52, thereby moving the tip end arm 516 to a position specified by the control command.

[0044] The operation unit 57 includes, for example, an interface device such as an operation button or a touch panel provided on the housing of the control unit 501. The operation unit 57 receives operation information input by the user and outputs it to the control unit 52. The control unit 52 outputs a command to the power tool 10 via the communication unit 53 in accordance with the operation information from the operation unit 57, for example.

[0045] (2.1.2) Control equipment The control device 60 controls the operation of the robot 50. The control device 60 is installed, for example, in a factory where the robot 50 to be controlled is installed.

[0046] As shown in FIG. 2, the control device 60 includes a control unit 61, a communication unit 62, and a storage unit 63.

[0047] The communication unit 62 can communicate with the communication unit 53 of the robot 50 and the communication unit 42 of the centralized control unit 40 via wired communication or wireless communication.

[0048] The storage unit 63 stores information such as the work position where the robot 50 performs work on the work object and posture information related to the posture of the robot arm 51 at the work position. The posture information related to the posture of the robot arm 51 includes, for example, information such as the position and orientation of the arm 516 to which the power tool 10 is attached.

[0049] The control unit 61 controls the operation of the robot 50 to cause the power tool 10 held by the robot 50 to perform work on a work object. Based on the work position and the posture information of the robot arm 51 at the work position stored in the memory unit 63, the control unit 61 moves the power tool 10 to the work position and causes the power tool 10 to perform work on the work object.

[0050] (2.1.3) Power tools 2, the power tool 10 includes a processing unit 11, a switch 12, a tool driving unit 13, a current sensor 14, a first communication unit 15, a second communication unit 16, a notification unit 17, and a power supply unit 18. The tool driving unit 13 includes a motor M1 (see FIG. 5).

[0051] The power tool 10 includes a housing 20 that houses a processing unit 11, a switch 12, a tool driving unit 13, a current sensor 14, a first communication unit 15, a second communication unit 16, an alarm unit 17, and a power supply unit 18. Circuit elements such as the processing unit 11, the tool driving unit 13, the first communication unit 15, the second communication unit 16, the alarm unit 17, and the power supply unit 18 are mounted on one or more circuit boards 19, and the housing 20 houses one or more circuit boards 19.

[0052] The housing 20 is formed in the shape of an elongated rectangular tube. A mounting plate 517 is attached to an arm 516 at the tip of a robot arm 51 possessed by the robot 50, and the housing 20 is attached to this mounting plate 517. An attachment portion 21 protrudes from one end face in the longitudinal direction of the housing 20, and a power connector CN1 and a communication connector CN2 are provided on the other end face in the longitudinal direction of the housing 20. As shown in FIG. 5 , the attachment portion 21 is provided at the tip of an output shaft 28 that is provided integrally with the anvil 27. The attachment portion 21 is held in a rotatable state relative to the housing 20.

[0053] The power connector CN1 has a pair of connection terminals t1 and t2, and two core wires of a power cable CB1 extending from the DC power supply 200 can be connected to the pair of connection terminals t1 and t2.

[0054] A communication cable CB2 that connects, for example, the communication unit 53 provided in the control unit 501 of the robot 50 and the second communication unit 16 can be connected to the communication connector CN2. That is, the housing 20 is provided with the communication connector CN2 that can connect the communication cable CB2 from the control unit 501. Then, the communication unit (for example, the second communication unit 16 in this embodiment) communicates with an external system (for example, the control unit 501 in this embodiment) via the communication cable CB2 connected to the communication connector CN2.

[0055] The first communication unit 15 is capable of communicating with the first communication unit 32 of the receiver 30 by wireless communication.

[0056] The second communication unit 16 is connected to the communication unit 53 of the robot 50 via, for example, a communication cable CB2 connected to the communication connector CN2, and is capable of communicating with the communication unit 53 via a wired communication method. The second communication unit 16 receives, for example, a control command transmitted from the control unit 501 of the robot 50. That is, the power tool 10 includes the second communication unit 16 as a communication unit for receiving the control command. Note that the communication method between the second communication unit 16 and the communication unit 53 included in the control unit 501 of the robot 50 is not limited to a wired communication method, and may be a wireless communication method.

[0057] The processing unit 11 is mainly composed of a computer system having one or more processors and a memory. The functions of the processing unit 11 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0058] The processing unit 11 has the functions of an impact detection unit 111, a current detection unit 112, a motor control unit 113, and a notification unit 114. Note that the impact detection unit 111, the current detection unit 112, the motor control unit 113, and the notification unit 114 merely indicate functions realized by the processing unit 11, and do not necessarily indicate actual configurations.

[0059] The processing unit 11 also has a storage unit 115. The storage unit 115 includes the memory of the computer system that is the main component of the processing unit 11.

[0060] The current sensor 14 outputs a detection signal corresponding to the magnitude of the current flowing through the motor M1. The current detection unit 112 detects (measures) the current flowing through the motor M1 based on the detection signal output from the current sensor 14.

[0061] The impact detection unit 111 detects whether or not an impact operation is being performed by the impact mechanism 221 based on the current detected by the current detection unit 112. For example, if the current detected by the current detection unit 112 changes from a state below a threshold to a state above the threshold, the impact detection unit 111 determines that an impact operation is being performed by the impact mechanism 221. Furthermore, for example, if the state in which the current detected by the current detection unit 112 remains below the threshold for a predetermined period of time or longer, the impact detection unit 111 determines that an impact operation is not being performed by the impact mechanism 221.

[0062] The motor control unit 113 determines a command rotation speed based on the information stored in the storage unit 115, and outputs a control command including information indicating the command rotation speed to the tool driving unit 13. The tool driving unit 13 controls the motor M1 so that the rotation speed of the motor M1 approaches the command rotation speed.

[0063] More specifically, control information representing a change in the command rotation speed according to the elapsed time since the motor M1 starts to rotate is stored in the storage unit 115. The motor control unit 113 controls the rotation speed of the motor M1 in accordance with the control information stored in the storage unit 115.

[0064] Furthermore, the motor control unit 113 executes a determination process to determine whether or not there is an abnormality in the screw tightening. If the motor control unit 113 determines as a result of the determination process that there is an abnormality in the screw tightening, it stops the motor M1.

[0065] The notification unit 114 performs a process of notifying the result of the determination process of, for example, the motor control unit 113. The notification unit 114 outputs a notification command according to the result of the determination process to the notification unit 17, causing the notification unit 17 to perform a notification operation.

[0066] The alarm unit 17 performs an alarm operation using sound or light in response to an alarm command from the notification unit 114. The alarm unit 17 includes, for example, a buzzer 171 housed inside the housing 20 and an indicator light 172 arranged visibly on the surface of the housing 20. The indicator light 172 includes, for example, an LED that can emit light in two colors, red and green. The notification unit 114 changes the type of sound emitted by the buzzer 171 and the color of light emitted by the indicator light 172 depending on whether there is an abnormality in the screw tightening or not.

[0067] The power supply unit 18 converts the DC voltage input from the DC power supply 200 via the power connector CN1 into a DC voltage of a predetermined voltage value, thereby generating an operating voltage for the power tool 10.

[0068] The tool driving unit 13 includes a motor M1 (see FIG. 5) accommodated in a housing 20, a drive circuit that drives the motor M1, and a transmission mechanism 22 (see FIG. 5) that transmits the rotational force of the motor M1 to the output shaft 28. The tool driving unit 13 rotates the motor M1 in response to a control command from the motor control unit 113, thereby rotating the tool tip T1 attached to the attachment portion 21 provided on the output shaft 28.

[0069] The transmission mechanism 22 will be described with reference to Figure 5. The transmission mechanism 22 transmits the rotational power of the motor M1 to the output shaft 28 to rotate the output shaft 28. In this embodiment, the side of the motor M1 on which the mounting part 21 is located is defined as the front, and the side of the mounting part 21 on which the motor M1 is located is defined as the rear. However, these definitions are not intended to limit the direction in which the power tool 10 is used.

[0070] The transmission mechanism 22 includes a speed changer 23 , a drive shaft 24 , a spring 25 , a hammer 26 , and an anvil 27 .

[0071] The transmission 23 includes, for example, a planetary gear mechanism. The transmission 23 is interposed between the motor M1 and the drive shaft 24. The transmission 23 reduces the rotational power of the motor M1 at a predetermined reduction ratio and outputs the reduced power as rotation of the drive shaft 24.

[0072] The hammer 26 is attached to the drive shaft 24 via a cam mechanism. The anvil 27 rotates upon receiving rotational force from the hammer 26. The spring 25 is a compression coil spring. The spring 25 pushes the hammer 26 toward the anvil 27 (forward). The anvil 27 is formed integrally with the output shaft 28. The tip of the output shaft 28 is provided with an attachment portion 21 to which the tool tip T1 can be attached.

[0073] Here, the transmission mechanism 22 includes an impact mechanism 221. The impact mechanism 221 has a hammer 26 that rotates by the rotational force of the motor M1, and an anvil 27 that is provided with the mounting part 21 and rotates by receiving the rotational force of the hammer 26. The impact mechanism 221 also has a cam mechanism and a spring 25. The impact mechanism 221 generates an impact force upon receiving the rotational force of the motor M1, and transmits the generated impact force to an output shaft 28 that is provided integrally with the anvil 27 and to the tool bit T1 that is attached to the mounting part 21.

[0074] When torque equal to or greater than a predetermined value is not applied to the output shaft 28, the drive shaft 24 and the hammer 26, which are connected by the cam mechanism, rotate together, and the hammer 26 and the anvil 27 rotate together with the striking portion 261 of the hammer 26 in contact with the anvil 27. In other words, if the torque applied to the anvil 27 is less than a predetermined value, the hammer 26 and the anvil 27 rotate with the striking portion 261 of the hammer 26 in contact with the anvil 27. Then, the output shaft 28 formed integrally with the anvil 27 rotates, and the output shaft 28 and the tool bit T1 attached to the attachment portion 21 rotate.

[0075] On the other hand, when torque equal to or greater than a predetermined value is applied to the output shaft 28, the hammer 26 moves backward against the spring 25 while being restricted by the cam mechanism. When the striking portion 261 of the hammer 26 disengages from the anvil 27, the hammer 26 moves forward while rotating. The rotating striking portion 261 strikes the anvil 27, thereby applying a rotational impact force from the hammer 26 to the anvil 27. In other words, when the torque applied to the anvil 27 is equal to or greater than a predetermined value, the striking portion 261 of the hammer 26 disengages from the anvil 27, causing the hammer 26 to rotate. The rotating striking portion 261 strikes the anvil 27, causing the anvil 27 to rotate. The striking force applied by the hammer 26 rotates the output shaft 28, which is integrally formed with the anvil 27, and the output shaft 28 and the tool bit T1 attached to the attachment portion 21 rotate. In this manner, the hammer 26 and the anvil 27 collide with each other, repeatedly transmitting a striking force.

[0076] In this embodiment, as shown in Fig. 4, the tool bit T1 is attached to the attachment portion 21 via a telescopic socket 29. More specifically, the tool bit T1 is attached to an attachment portion 291 provided at the tip of the telescopic socket 29. The tool bit T1 is a socket into which the head of a hexagonal bolt or nut is inserted, for example. The telescopic socket 29 has a function of preventing an overload on the power tool 10.

[0077] The switch 12 is connected midway along a wiring member L1 that connects a connection terminal t1 of the power connector CN1 and an input terminal t3 of the circuit board 19. That is, the wiring member L1 includes a first wiring member L11 that connects the power connector CN1 and the switch 12, and a second wiring member L12 that connects the switch 12 and the circuit board 19. Furthermore, a connection terminal t2 of the power connector CN1 and an input terminal t4 of the circuit board 19 are connected by a wiring member L2.

[0078] As shown in FIG. 4 , the operation portion of the switch 12 is exposed on the surface of the housing 20. Therefore, a user of the power tool system 100 can switch the switch 12 on or off by operating the operation portion of the switch 12 exposed on the surface of the housing 20. When the user turns on the switch 12, a DC voltage is input from the DC power supply 200 to the circuit board 19 via the switch 12, etc., so that the power tool 10 receives power from the DC power supply 200 and becomes operable. On the other hand, when the user turns off the switch 12, the power supply from the DC power supply 200 to the power tool 10 is cut off, so that the operation of the power tool 10 can be stopped. Therefore, when a factory is closed for an extended period of time, for example, the user can stop the operation of the power tool 10 by turning off the switch 12.

[0079] 4, the housing 20 accommodates a circuit board 19, a switch 12, a ferrite core 80, and the like. The circuit board 19 includes a first board 191 on which circuit components such as a power supply unit 18 are mounted, and a second board 192 on which circuit components such as a first communication unit 15 are mounted.

[0080] 4, the housing 20 is attached to the mounting plate 517 with the first surface 201 along the longitudinal direction overlapping the mounting plate 517, and the switch 12 is disposed on the first surface 201 of the housing 20. The mounting plate 517 is provided with a through-hole 518 that passes through the mounting plate 517 at a location facing the switch 12, so that the switch 12 can be operated with the power tool 10 attached to the mounting plate 517. A first circuit board 191 is disposed inside the housing 20 along the second surface 202 that faces the first surface 201.

[0081] 4, a ferrite core 80 is disposed at the rear of the housing 20 between the capacitor C1 mounted on the first board 191 and the power connector CN1 and communication connector CN2. A second wiring member L12 is passed through a hole 81 of the ferrite core 80 one or more times. More specifically, the second wiring member L12, which connects the switch 12 and the input terminal t3 of the circuit board 19, and the wiring member L2, which connects the connection terminal t2 of the power connector CN1 and the input terminal t4 of the circuit board 19, are passed through the hole 81 of the ferrite core 80. More specifically, the second wiring member L12 and the wiring member L2 are passed through the hole 81 of the ferrite core 80 and wound around the ferrite core 80 multiple times (for example, three times). In this way, the second wiring member L12 connecting the switch 12 and the circuit board 19 is passed through the hole 81 of the ferrite core 80 one or more times, so that the ferrite core 80 can reduce noise that enters the circuit board 19.

[0082] (2.1.4) Receiver The receiver 30 is installed in a location where it can wirelessly communicate with the first communication unit 15 of the power tool 10. The receiver 30 relays communication between the power tool 10 and the centralized control unit 40.

[0083] The receiver 30 includes a control unit 31, a first communication unit 32, and a second communication unit 33.

[0084] The first communication unit 32 is capable of communicating with the first communication unit 15 of the power tool 10 via wireless communication.

[0085] The second communication unit 33 is capable of communicating with the communication unit 42 of the central control unit 40 via a network NT such as the Internet or a LAN.

[0086] The control unit 31 mainly comprises a computer system having one or more processors and a memory. The functions of the control unit 31 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0087] When the first communication unit 32 receives a signal from the power tool 10, the control unit 31 causes the second communication unit 33 to transmit the signal from the power tool 10 to the centralized control unit 40. When the second communication unit 33 receives a signal from the centralized control unit 40, the control unit 31 causes the first communication unit 32 to transmit the signal from the centralized control unit 40 to the power tool 10.

[0088] (2.1.5) Centralized management department The centralized control unit 40 manages the power tool 10. Here, managing the power tool 10 includes at least one of managing the work content of the work using the power tool 10 and managing the operating status of the power tool 10. Managing the work content includes at least one of setting a tightening torque setting for the power tool 10 and acquiring work result information related to the work results of the work performed by the power tool 10 on the work object (e.g., the actual tightening torque value, the rotation speed during the screw tightening work, and whether or not there is an abnormality in the screw tightening). Managing the operating status of the power tool 10 includes at least one of measuring the operating time of the power tool 10, notifying the power tool 10 that maintenance is required, and accumulating error signals output by the power tool 10 to notify of an abnormality.

[0089] As shown in FIG. 2, the centralized management unit 40 includes a control unit 41, a communication unit 42, and a storage unit 43.

[0090] The communication unit 42 is configured to be able to communicate with the second communication unit 33 of the receiver 30 and the communication unit 62 of the control device 60 by wired communication or wireless communication.

[0091] The storage unit 43 includes an internal memory such as a random access memory (RAM), a read-only memory (ROM), or an electrically erasable programmable read-only memory (EEPROM), and an external storage device such as a hard disk drive or an SSD. The storage unit 43 stores setting information such as a tightening torque setting value to be set in the power tool 10, work result information obtained from the power tool 10, error signals obtained from the power tool 10, etc.

[0092] The control unit 41 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 41 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0093] The control unit 41 causes the communication unit 42 to transmit the setting information stored in the storage unit 43 to the power tool 10 via the receiver 30, and sets the setting information in the power tool 10. Furthermore, when the communication unit 42 receives work result information from the power tool 10, the control unit 41 causes the storage unit 43 to store the work result information received by the communication unit 42.

[0094] (3) Variations Modifications of the embodiment are listed below. The following modifications may be implemented in appropriate combination. Hereinafter, the configuration of the above-described embodiment will be referred to as the basic example. Configurations similar to those of the basic example will be assigned the same reference numerals and descriptions thereof will be omitted.

[0095] The power tool 10 or the power tool system 100 of the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. At least a portion of the functions of the power tool 10 or the power tool system 100 of the present disclosure are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, an optical disk, or a hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), and ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or logic devices capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0096] In the basic example, the second wiring member L12 is passed through the hole 81 of the ferrite core 80 one or more times, but the position of the ferrite core 80 can be changed as appropriate as long as the ferrite core 80 is provided between the power connector CN1 and the circuit board 19. For example, the first wiring member L11 may be passed through the hole 81 of the ferrite core 80 one or more times. More specifically, the first wiring member L11 connecting the connection terminal t1 of the power connector CN1 and the switch 12, and the wiring member L2 connecting the connection terminal t2 of the power connector CN1 and the input terminal t4 of the circuit board 19 may be passed through the hole 81 of the ferrite core 80. Furthermore, the first wiring member L11 and the wiring member L2 may be passed through the hole 81 of the ferrite core 80 and wound around the ferrite core 80 multiple times. In this way, the first wiring member L11 connecting the power connector CN1 and the switch 12 is passed through the hole 81 of the ferrite core 80 one or more times, so that the ferrite core 80 can reduce noise that enters the circuit board 19.

[0097] In the basic example, the external system that outputs a control command to the power tool 10 is the control unit 501 of the robot 50, but the external system may also be the centralized control unit 40 or the like.

[0098] (summary) The above-described embodiments and the like disclose the following aspects.

[0099] The power tool (10) of the first embodiment includes a mounting portion (21), a motor (M1), an impact mechanism (221), a power connector (CN1), a circuit board (19), a ferrite core (80), and a housing (20). The mounting portion (21) is capable of mounting a tool bit (T1). The motor (M1) generates a rotational force that rotates the mounting portion (21). The impact mechanism (221) receives the rotational force of the motor (M1) to generate an impact force, which rotates the mounting portion (21). The power connector (CN1) is capable of connecting a power cable (CB1) from an external DC power source (200). A motor control unit (113) and a power supply unit (18) are mounted on the circuit board (19). The motor control unit (113) receives a control command from an external system (501) and controls the rotation of the motor (M1). The power supply unit 18 converts DC voltage input from the DC power supply 200 via the power connector CN1 and supplies the converted voltage to the motor control unit 113. The housing 20 accommodates the motor M1, the impact mechanism 221, the circuit board 19, and the ferrite core 80, and is attachable to the arm 516 of the robot 50. The mounting portion 21 and the power connector CN1 are exposed on the surface of the housing 20. The ferrite core 80 is attached to wiring members L1, L2 inside the housing 20, which connect the power connector CN1 and the circuit board 19.

[0100] According to this embodiment, even if radiation noise enters the power cable (CB1), the ferrite core (80) provided on the wiring members (L1, L2) connecting the power connector (CN1) and the circuit board (19) can reduce the noise entering the circuit board (19). Even if the ferrite core (80) vibrates when the impact mechanism (221) generates an impact force, the ferrite core (80) is smaller and lighter than a choke coil, so the vibration generated in the housing (20) can be reduced, and the housing (20) can be made more compact. Even if the robot (50) to which the power tool (10) is attached has an overload detection function, reducing the vibration generated in the housing (20) can reduce the possibility of the robot's (50) overload detection function making an erroneous detection. Furthermore, vibrations are less likely to be transmitted to the wiring members (L1, L2) that pass through the holes (81) of the ferrite core (80), reducing the possibility of excessive force being applied to the soldered portions of the wiring members (L1, L2), causing solder cracks, etc. Therefore, there is an advantage in that the possibility of a decrease in the noise removal effect of the ferrite core (80) can be reduced, improving noise resistance.

[0101] In the power tool (10) of the second aspect, the striking mechanism (221) of the first aspect includes a hammer (26) that rotates due to the rotational force of the motor (M1) and an anvil (27) that is provided with a mounting portion (21) and rotates due to the rotational force of the hammer (26). If the torque applied to the anvil (27) is less than a predetermined value, the striking portion (261) of the hammer (26) and the anvil (27) rotate with the striking portion (261) in contact with the anvil (27). If the torque applied to the anvil (27) is equal to or greater than the predetermined value, the striking portion (261) of the hammer (26) disengages from the anvil (27), causing the hammer (26) to rotate, and the rotating striking portion (261) strikes the anvil (27), causing the anvil (27) to rotate.

[0102] According to this embodiment, the striking force generated when the striking mechanism 221 strikes the anvil 27 can be transmitted to the tool bit T1 attached to the attachment portion 21.

[0103] The power tool (10) of the third aspect is the power tool (10) of the first or second aspect, further including a switch (12). The wiring members (L1, L2) include a first wiring member (L11) that connects the power connector (CN1) and the switch (12) and a second wiring member (L12) that connects the switch (12) and the circuit board (19).

[0104] According to this embodiment, the operation of the power tool (10) can be stopped by turning off the switch (12).

[0105] In the power tool (10) of the fourth aspect, in the third aspect, the first wiring member (L11) is passed through the hole (81) of the ferrite core (80) one or more times.

[0106] According to this embodiment, the ferrite core (80) can reduce noise that has entered the first wiring member (L11).

[0107] In the power tool (10) of the fifth aspect, in the third aspect, the second wiring member (L12) is passed through the hole (81) of the ferrite core (80) one or more times.

[0108] According to this embodiment, the ferrite core (80) can reduce noise that has entered the second wiring member (L12).

[0109] The power tool (10) of a sixth aspect is the power tool (10) of any one of the first to fifth aspects, further including a communication unit (16) for receiving a control command.

[0110] According to this aspect, the motor control unit (113) can control the rotation of the motor (M1) in accordance with a control command received by the communication unit (16) from the external system (501).

[0111] In the power tool (10) of the seventh aspect, in the sixth aspect, the housing (20) is provided with a communication connector (CN2) to which a communication cable (CB2) from an external system (501) can be connected. The communication unit (16) communicates with the external system (501) via the communication cable (CB2) connected to the communication connector (CN2).

[0112] According to this embodiment, the communication unit (16) can receive control commands from the external system (501) via the communication cable (CB2).

[0113] The power tool system 100 of the eighth aspect includes a power tool 10 and a robot 50. The robot 50 has one or more arms 511-516 and one or more drive motors M11-M16 for driving the one or more arms 511-516. A housing 20 of the power tool 10 is attached to one of the one or more arms 511-516 of the robot 50.

[0114] This embodiment has the advantage of improving noise resistance.

[0115] The configurations according to the second to seventh aspects are not essential for the power tool (10) and can be omitted as appropriate. [Explanation of symbols]

[0116] 10 Power tools 12 Switch 16 Second Communication Department (Communication Department) 18 Power supply section 19 Circuit Board 20. Housing 21 Mounting part 26 Hammer 27 Anvil 50 Robot 80 ferrite core 81 holes 100 Power Tool System 113 Motor control unit 200 DC power supply 221 Striking mechanism 261 Striking section 501 Control Unit (External System) 511~516 Arm CB1 power cable CB2 communication cable CN1 power connector CN2 communication connector L1, L2 wiring material L11 First wiring member L12 Second wiring member M1 motor M11~M16 drive motor T1 tip tool

Claims

1. An attachment portion to which a tip tool can be attached; a motor that generates a rotational force that rotates the mounting unit; a striking mechanism that receives a rotational force of the motor to generate a striking force and rotates the mounting part with the generated striking force; a power connector to which a power cable from an external DC power source can be connected; a circuit board on which are mounted a motor control unit that receives a control command from an external system and controls the rotation of the motor, and a power supply unit that converts a DC voltage input from the DC power supply via the power connector and supplies the converted voltage to the motor control unit; A ferrite core, a housing that accommodates the motor, the impact mechanism, the circuit board, and the ferrite core and is attachable to an arm of a robot; the mounting portion and the power connector are provided in an exposed state on the surface of the housing, The ferrite core is provided on a wiring member that connects the power connector and the circuit board inside the housing. Power tools.

2. The impact mechanism includes: a hammer that rotates by the rotational force of the motor; an anvil provided with the mounting portion and adapted to rotate by receiving a rotational force of the hammer; If the torque applied to the anvil is less than a predetermined value, the hammer and the anvil rotate with the striking portion of the hammer and the anvil in contact with each other, If the torque applied to the anvil is equal to or greater than the predetermined value, the striking portion of the hammer comes off the anvil, causing the hammer to rotate, and the rotating striking portion strikes the anvil, causing the anvil to rotate. The power tool according to claim 1 .

3. Further comprising a switch, The wiring member includes a first wiring member that connects the power connector and the switch, and a second wiring member that connects the switch and the circuit board. The power tool according to claim 1 .

4. The first wiring member is passed through the hole of the ferrite core one or more times. The power tool according to claim 3.

5. The second wiring member is passed through the hole of the ferrite core one or more times. The power tool according to claim 3.

6. Further comprising a communication unit for receiving the control command. The power tool according to claim 1 .

7. the housing is provided with a communication connector to which a communication cable from the external system can be connected; the communication unit communicates with the external system via the communication cable connected to the communication connector. The power tool according to claim 6.

8. A power tool comprising: the power tool according to any one of claims 1 to 7; and a robot; The robot one or more arms; one or more drive motors for driving the one or more arms; The housing of the power tool is attached to any one of the one or more arms of the robot. Power tool system.

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