Electric power tool and electric power tool system

Abstract

To provide a power tool and a power tool system capable of reducing the possibility of unstable operation.SOLUTION: The electric power tool 10 includes a motor, a striking mechanism, a power supply connector, a circuit board 19, a housing 20, and a deflection vibration suppressing portion 70. The impact mechanism generates an impact force by receiving a rotational force of the motor and rotates a mounting part, to which a tool accessory can be mounted, by the generated impact force. The power supply connector is connectable to a power supply cable from an external DC power supply. A motor control part, a power source part, and a capacitor C1 connected to the power source part are mounted on the circuit substrate 19. The housing 20 houses the motor, the striking mechanism, and the circuit board 19. The bending vibration suppressing portion 70 suppresses the vibration of the circuit substrate 19 in the bending direction C1 parallel to the normal direction of the mounting surface F1 of the capacitor DR1 in the circuit substrate 19.SELECTED DRAWING: Figure 5

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 including a motor for rotating a tool accessory. [Background technology]

[0002] Patent Document 1 discloses an electric power tool including a motor for driving a tool bit, a power supply circuit for supplying power to drive the motor, a circuit board for mounting the power supply circuit, and a case for supporting the circuit board. A capacitor connected to the power supply circuit is mounted on the circuit board.

[0003] The case is a container-like structure that houses the circuit board. The inside of the case is filled with curable resin so that the entire circuit board is completely immersed in the curable resin, and the circuit board is fixed to the case by curing the curable resin. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-203329 Summary of the Invention [Problem to be solved by the invention]

[0005] In power tools where it is not possible to fill the inside of the case (housing) with hardening resin so that the entire circuit board is immersed in hardening resin, vibrations can be applied to the capacitor, which can cause poor contact between the capacitor's lead terminals and the electrodes (anode foil and cathode foil).Poor contact between the capacitor's lead terminals and the electrodes can cause the output voltage of the power supply circuit to become unstable, which can lead to unstable operation of the power tool.

[0006] An object of the present disclosure is to provide a power tool and a power tool system that can reduce the possibility of unstable operation. [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 housing, and a flexural vibration suppression portion. 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 is capable of connecting 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 a 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, and the circuit board. A capacitor connected to the power supply unit is mounted on the circuit board. The flexural vibration suppression portion suppresses vibration of the circuit board in a flexural direction. The flexural direction is parallel to a normal direction to a mounting surface of the capacitor on 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 reduce the possibility of unstable operation. [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 schematic circuit diagram of the power tool. [Figure 4] FIG. 4 is a partial cross-sectional view of the power tool. [Figure 5] FIG. 5 is an XY cross-sectional view of the power tool. [Figure 6] FIG. 6 is a YZ cross-sectional view of the power tool. [Figure 7] FIG. 7 is a ZX cross-sectional view of 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 A power tool 10 according to this embodiment and a power tool system 100 including the power tool 10 will be described with reference to Figures 1 to 7. In the following description, the X-axis direction in Figures 1, 5 to 7, etc. will be defined as the left-right direction, the Y-axis direction as the front-rear direction, and the Z-axis direction as the up-down direction. The positive direction of the X-axis direction will be defined as the right side, the positive direction of the Y-axis direction as the front side, and the positive direction of the Z-axis direction as the up side. However, these directions are merely examples and are not intended to limit the directions in which the power tool 10 and the power tool system 100 are used. The arrows indicating the various directions in the drawings are merely shown for explanatory purposes and do not have any physical substance.

[0013] The power tool 10 of this embodiment includes a mounting portion 21, a motor M1, an impact mechanism 221, a power connector CN1, a circuit board 19, a housing 20, and a bending vibration suppression portion 70.

[0014] The attachment portion 21 is capable of attaching a tool tip T1 (see FIG. 1).

[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, a power supply unit 18, and a capacitor C1 (see FIGS. 5 and 6) are mounted on the circuit board 19. The motor control unit 113 receives a control command from an external system (e.g., a control unit 501, etc.) and controls the rotation of the motor M1. The power supply unit 18 converts a 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. The capacitor C1 is connected to the power supply unit 18.

[0019] The housing 20 accommodates the motor M1, the striking mechanism 221, and the circuit board 19.

[0020] A capacitor C1 (see FIGS. 5 and 6) connected to the power supply unit 18 is mounted on the circuit board 19.

[0021] The bending vibration suppressor 70 suppresses vibration of the circuit board 19 in the bending direction DR1, which is parallel to the normal direction of the mounting surface F1 of the circuit board 19 on which the capacitor C1 is mounted.

[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. 4) 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] In the power tool 10 of this embodiment, a capacitor C1 connected to the power supply unit 18 is mounted on the circuit board 19. A DC voltage is input to the power supply unit 18 from an external DC power source 200 via a power cable CB1 and a power connector CN1. However, as the length of the power cable CB1 increases, the voltage fluctuation of the DC voltage input to the power supply unit 18 increases. Therefore, a large electrolytic capacitor with a capacitance of several hundred μF to several thousand μF needs to be used as the capacitor C1 connected to the power supply unit 18.

[0025] Furthermore, since the power tool 10 of this embodiment includes the motor M1 and the impact mechanism 221, vibrations generated by the motor M1, the impact mechanism 221, etc. may be transmitted to the circuit board 19, causing the circuit board 19 to vibrate in a deflection direction DR1 parallel to the normal direction of the mounting surface F1. When the circuit board 19 vibrates in the deflection direction DR1, the capacitor C1 may vibrate in a direction perpendicular to the deflection direction DR1, which may apply stress to the connection portions between the lead terminals and the electrodes (anode foil and cathode foil) inside the capacitor C1.

[0026] In this embodiment, the power tool 10 includes a flexural vibration suppression unit 70, which can suppress vibration of the circuit board 19 in the flexural direction DR1. This suppresses vibration of the capacitor C1 in a direction perpendicular to the flexural direction DR1, reducing stress on the connection between the lead terminals and the electrodes. This reduces the likelihood of poor contact at the connection between the lead terminals and the electrodes, reducing the possibility of unstable operation of the power tool 10. Note that the flexural direction DR1 being parallel to the normal direction of the mounting surface F1 of the circuit board 19 does not necessarily mean that the flexural direction DR1 is completely parallel to the normal direction of the mounting surface F1. The flexural direction DR1 may intersect the normal direction of the mounting surface F1 at an angle of several degrees (e.g., 10 degrees or less).

[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 above-described power tool 10, and therefore the possibility that the operation of the power tool 10 will become unstable can be reduced.

[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 15B 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. Load detection unit 55 detects the magnitude of the load applied to tip arm 516, or an 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 robot arm 51 to move 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 and 3, the power tool 10 includes a processing unit 11, a switch 12, a tool driving unit 13, a current sensor 14, a communication unit 15, a torque calculation unit 16, a notification unit 17, and a power supply unit 18. The tool driving unit 13 includes a motor M1 (see FIG. 4).

[0051] The power tool 10 includes a housing 20 that accommodates a processing unit 11, a switch 12, a tool driving unit 13, a current sensor 14, a communication unit 15, a torque calculation 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 communication unit 15, the torque calculation unit 16, the alarm unit 17, and the power supply unit 18 are mounted on multiple wiring boards including a circuit board 19, and the housing 20 accommodates the multiple wiring boards including the circuit board 19. In this embodiment, in addition to the circuit board 19, the housing 20 also accommodates a communication board 19A on which circuit components such as the communication unit 15 are mounted, and a torque calculation board 19B on which circuit components such as the torque calculation unit 16 are mounted.

[0052] The housing 20 is formed in a long, thin cylindrical shape. 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. A mounting portion 21 protrudes from one end face in the longitudinal direction of the housing 20 (see FIGS. 1 and 4). A power connector CN1 and a communication connector CN2 are provided on the other end face in the longitudinal direction of the housing 20 (see FIG. 6). As shown in FIG. 4, the mounting portion 21 is provided at the tip of an output shaft 28 that is provided integrally with the anvil 27. The mounting portion 21 is held in a rotatable state relative to the housing 20.

[0053] The communication unit 15 includes a first communication unit 15A and a second communication unit 15B.

[0054] The first communication unit 15A is capable of communicating with the first communication unit 32 of the receiver 30, for example, by wireless communication.

[0055] The second communication unit 15B is connected to the communication unit 53 of the robot 50 via, for example, a communication cable CB2 connected to the communication connector CN2 via a connector CN4, and is capable of communicating with the communication unit 53 via a wired communication method. The second communication unit 15B 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 15B as a communication unit for receiving the control command. Note that the communication method between the second communication unit 15B 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.

[0056] The power connector CN1 has a pair of connection terminals t1 and t2, and two electric wires W1 of a power cable CB1 extending from the DC power supply 200 can be connected to the pair of connection terminals t1 and t2. A connector CN3 provided on the power cable CB1 is detachable from the power connector CN1. When the connector CN3 is connected to the power connector CN1, the two electric wires W1 of the power cable CB1 are connected to the pair of connection terminals t1 and t2.

[0057] 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 15B can be connected to the communication connector CN2. That is, the housing 20 is provided with a communication connector CN2 to which the communication cable CB2 from the control unit 501 can be connected. Note that a connector CN4 provided on the communication cable CB2 is detachable from the communication connector CN2. When the connector CN4 is connected to the communication connector CN2, the second communication unit 15B can communicate with an external system (for example, the control unit 501 in this embodiment) via the communication cable CB2 connected to the connector CN4.

[0058] The torque calculation unit 16 calculates the torque applied to the output shaft 28 based on the detection result of a torque sensor provided on the output shaft 28, for example.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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 exceed 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. Furthermore, the impact detection unit 111 detects whether or not an impact is being performed during reverse rotation based on the calculation result of the torque calculation unit 16.

[0064] 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.

[0065] 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.

[0066] Furthermore, the motor control unit 113 executes a determination process to determine whether or not there is an abnormality in the screw tightening work. If the motor control unit 113 determines as a result of the determination process that there is an abnormality in the screw tightening work, it stops the motor M1.

[0067] 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.

[0068] 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 work or not.

[0069] 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. A capacitor C1, such as an electrolytic capacitor, is connected to the power supply unit 18. FIG. 3 is a schematic circuit diagram of the power tool 10. The capacitor C1 is connected via a switch 12 and a fuse FS1 between a pair of connection terminals t1 and t2 to which two electric wires W1 of the power cable CB1 are connected. The capacitor C1 smoothes the DC voltage input from the DC power supply 200 via the power connector CN1. The power supply unit 18 is connected across the capacitor C1, and converts the voltage across the capacitor C1 into a DC voltage of a predetermined voltage value, thereby generating an operating voltage for the processing unit 11 and other components. A drive circuit 131 is connected across the capacitor C1, and the drive circuit 131 drives the motor M1 using the voltage across the capacitor C1 as a power source.

[0070] The tool driving unit 13 includes a motor M1 (see FIG. 5) accommodated in a housing 20, a drive circuit 131 that drives the motor M1, and a transmission mechanism 22 (see FIG. 4) 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.

[0071] The transmission mechanism 22 will be described with reference to Fig. 4. The transmission mechanism 22 transmits the rotational power of the motor M1 to the output shaft 28, causing the output shaft 28 to rotate.

[0072] The transmission mechanism 22 includes a speed changer 23 , a drive shaft 24 , a spring 25 , a hammer 26 , and an anvil 27 .

[0073] 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.

[0074] 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 presses the hammer 26 against the anvil 27. 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 bit T1 can be attached.

[0075] 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.

[0076] 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.

[0077] 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 elastic force of the spring 25 while being restricted by the cam mechanism, and 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 an impact force (striking force) in the rotational direction from the hammer 26 to the anvil 27. In other words, when the torque applied to the anvil 27 reaches a predetermined value or greater, 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. The striking force applied by the hammer 26 rotates the output shaft 28 formed integrally with the anvil 27, causing the output shaft 28 and the tool bit T1 attached to the attachment portion 21 to rotate. In this manner, the hammer 26 and the anvil 27 collide with each other to transmit striking force, and the striking action is repeated.

[0078] In this embodiment, as shown in Fig. 1, the tool bit T1 is attached to the mounting portion 21 via a telescopic socket 29. More specifically, the tool bit T1 is attached to a holder 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.

[0079] The switch 12 is connected between the connection terminals t1 and t2 of the power connector CN1 and the power supply unit 18 and the drive circuit 131. As shown in FIG. 6 , the operation unit 121 of the switch 12 is exposed on the surface (first surface 201 facing the mounting plate 517) of the housing 20. Therefore, a user of the power tool system 100 can turn the switch 12 on or off by operating the operation unit 121 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 power supply unit 18, the drive circuit 131, etc. via the switch 12. Therefore, 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, thereby stopping the operation of the power tool 10. Therefore, when a factory is closed for an extended period of time, the user can stop the operation of the power tool 10 by turning off the switch 12.

[0080] As shown in FIG. 4, the housing 20 accommodates therein a circuit board 19, a communication board 19A, a torque calculation board 19B, a switch 12, a ferrite core 80, and the like.

[0081] 1 and 6, 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 operating part 121 of 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 penetrates the mounting plate 517 at a position facing the switch 12, so that the operating part 121 of the switch 12 can be operated with the power tool 10 attached to the mounting plate 517.

[0082] Further, an upper portion of the housing 20 is provided with an accommodation space SP1 for accommodating the circuit board 19, the communication board 19A, the torque calculation board 19B, the switch 12, the ferrite core 80, and the like.

[0083] In the accommodation space SP1, a circuit board 19 is arranged along a second surface 202 opposite to the first surface 201. Furthermore, a torque calculation board 19B is arranged in the lower part of the accommodation space SP1 so that its normal direction is parallel to the longitudinal direction (Z-axis direction) of the housing 20. Furthermore, a communication board 19A is arranged in the center of the accommodation space SP1 so that its normal direction is parallel to the longitudinal direction (Z-axis direction) of the housing 20. The communication board 19A and the torque calculation board 19B are fixed to the housing 20 by an appropriate support structure provided in the housing 20.

[0084] The power tool 10 of this embodiment includes a flexural vibration suppression unit 70. The flexural vibration suppression unit 70 includes at least one of a first damping member 71 that contacts a top surface TS1 of the capacitor C1 opposite the mounting surface F1, and a second damping member 72 that contacts a surface F2 of the circuit board 19 opposite the mounting surface F1. In this embodiment, the flexural vibration suppression unit 70 includes both the first damping member 71 and the second damping member 72.

[0085] The first damping member 71 includes a pair of pressing pieces 711 protruding from the inner wall of the housing 20. Each of the pair of pressing pieces 711 extends from the side wall of the housing 20 along the X-axis direction and contacts the top surface TS1 of the capacitor C1 from the rear side. The top surface TS1 of the capacitor C1 contacts the pair of pressing pieces 711, thereby restricting the rearward movement of the capacitor C1. The pair of pressing pieces 711 do not contact the center of the top surface TS1 of the capacitor C1, so the function of the explosion-proof valve of the electrolytic capacitor is not impaired. In this embodiment, the first damping member 71 includes a pair of pressing pieces 711, but the number, shape, and arrangement of the pressing pieces 711 can be changed as appropriate.

[0086] The second damping member 72 includes two elastic bodies 721 arranged between the front surface F2 of the circuit board 19 and the back surface of the second surface 202 of the housing 20. The two elastic bodies 721 are arranged at a distance in the vertical direction. The two elastic bodies 721 are formed into a columnar shape from synthetic rubber, such as nitrile rubber or butyl rubber. The two elastic bodies 721 may be sponge rubber formed by foaming raw rubber or synthetic resin foam. A first end (rear end) of the elastic body 721 contacts the front surface F2 of the circuit board 19 (the surface opposite the mounting surface F1), and a second end (front end) of the elastic body 721 contacts the back surface of the second surface 202 of the housing 20. The two elastic bodies 721 contact the front surface F2 of the circuit board 19, thereby restricting forward movement of the circuit board 19. In this embodiment, the second damping member 72 includes two elastic bodies 721. However, the number, shape, and arrangement of the elastic bodies 721 can be changed as appropriate.

[0087] In this way, the first damping member 71 restricts the rearward movement of the capacitor C1 (i.e., the circuit board 19), and the second damping member 72 restricts the forward movement of the circuit board 19, thereby restricting the movement of the circuit board 19 in the bending direction DR1. This therefore restricts the vibration of the capacitor C1 in the direction perpendicular to the bending direction DR1, and reduces the stress applied to the connection portions between the lead terminals and the electrodes. This reduces the likelihood of poor contact at the connection portions between the lead terminals and the electrodes, and reduces the possibility of unstable operation of the power tool 10.

[0088] The circuit board 19 is held in the housing 20 via a frame-shaped elastic body 78 arranged along the edge of the mounting surface F1 of the circuit board 19. The circuit board 19 has a rectangular shape in a plan view, and the elastic body 78 is formed into a rectangular frame from a synthetic rubber such as nitrile rubber or butyl rubber. The circuit board 19 is fitted inside the frame-shaped elastic body 78, and the elastic body 78 fitted into the circuit board 19 is attached to a groove 210 in the housing 20. Because the circuit board 19 is attached to the housing 20 via the frame-shaped elastic body 78, vibrations from the motor M1 and the impact mechanism 221 are less likely to be transmitted to the circuit board 19 via the housing 20, thereby suppressing vibrations of the capacitor C1. This reduces the likelihood of poor contact at the connection between the lead terminals and the electrodes, reducing the possibility of unstable operation of the power tool 10.

[0089] The power tool 10 of this embodiment also includes a lateral vibration suppression unit 73. The lateral vibration suppression unit 73 suppresses vibration of the capacitor C1 in a lateral vibration direction that intersects with the normal direction of the mounting surface F1. The lateral vibration direction is a direction that intersects with the normal direction of the mounting surface F1 and also intersects with the deflection direction DR1. Because the lateral vibration suppression unit 73 suppresses vibration of the capacitor C1 in the lateral vibration direction, poor contact at the connection between the lead terminal and the electrode is even less likely to occur, thereby reducing the possibility of unstable operation of the power tool 10.

[0090] The lateral vibration suppression portion 73 includes ribs 741, 742 provided on the inner surface of the housing 20. The lateral vibration direction is a direction perpendicular to the normal direction of the mounting surface F1, and the ribs 741, 742 face the capacitor C1 in the lateral vibration direction. Note that the lateral vibration direction being perpendicular to the normal direction of the mounting surface F1 does not necessarily mean that the lateral vibration direction is completely perpendicular to the normal direction of the mounting surface F1, but may be deviated from the perpendicular state by a few degrees (for example, 10 degrees or less).

[0091] The rib 741 protrudes from the right sidewall 203 of the housing 20 toward the capacitor C1, and the rib 742 protrudes from the left sidewall 204 of the housing 20 toward the capacitor C1. Elastic bodies 751 and 752 are attached to the tips of the ribs 741 and 742, respectively, and contact the side surfaces of the capacitor C1. The elastic bodies 751 and 752 are, for example, synthetic resin foams. The elastic bodies 751 and 752 may be, for example, synthetic rubber such as nitrile rubber or butyl rubber, or sponge rubber made by foaming raw rubber. Semicircular recesses 753 and 754 are formed on the tip surfaces of the elastic bodies 751 and 752 along the side surfaces of the capacitor C1. Therefore, the recess 753 of the elastic body 751 at the tip of the rib 741 contacts the side surfaces of the capacitor C1 from the right side, and the recess 754 of the elastic body 752 at the tip of the rib 742 contacts the side surfaces of the capacitor C1 from the left side. As a result, the capacitor C1 is held from both the left and right sides by the elastic bodies 751, 752 provided on the ribs 741, 742, and the side surfaces of the capacitor C1 contact the recesses 753, 754 provided on the elastic bodies 751, 752. Therefore, movement of the capacitor C1 in a direction perpendicular to the normal direction of the mounting surface F1, i.e., within a plane perpendicular to the normal direction of the mounting surface F1, is suppressed, further reducing the likelihood of poor contact at the connection portion with the lead terminals. Note that in this embodiment, the elastic bodies 751, 752 provided at the tips of the ribs 741, 742 contact the side surfaces of the capacitor C1, but the ribs 741, 742 may also directly contact the side surfaces of the capacitor C1. Furthermore, the lateral vibration suppression portion 73 includes two ribs 741, 742 provided on the inner surface of the housing 20. However, the number, shape, and arrangement of the ribs that press the side surfaces of the capacitor C1 can be changed as appropriate.

[0092] 6, a ferrite core 80 is disposed on the upper portion of the housing 20 between the switch 12 and the power connector CN1 and the communication connector CN2. A wiring member L1 that connects the switch 12 and the circuit board 19, and a wiring member L2 that connects the power connector CN1 and the circuit board 19, are passed through a hole 81 in the ferrite core 80. More specifically, the wiring members L1 and L2 are passed through the hole 81 in the ferrite core 80 and wound around the ferrite core 80 multiple times (for example, three times). In this way, the wiring members L1 and L2 are passed through the hole 81 in the ferrite core 80 one or more times, and therefore the ferrite core 80 can reduce noise that enters the circuit board 19.

[0093] (2.1.4) Receiver The receiver 30 is installed in a location where it can wirelessly communicate with the first communication unit 15A of the power tool 10. The receiver 30 relays communication between the power tool 10 and the centralized control unit 40.

[0094] The receiver 30 includes a control unit 31, a first communication unit 32, and a second communication unit 33.

[0095] The first communication unit 32 is capable of communicating with the first communication unit 15A of the power tool 10 via wireless communication.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] (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 value 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.

[0100] As shown in FIG. 2, the centralized management unit 40 includes a control unit 41, a communication unit 42, and a storage unit 43.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] (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.

[0106] 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.

[0107] In the basic example, the flexural vibration suppression section 70 includes both the first damping member 71 and the second damping member 72, but the flexural vibration suppression section 70 may include only one of the first damping member 71 and the second damping member 72.

[0108] 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.

[0109] In the basic example, the power tool 10 is attached to the robot 50, but the power tool 10 may also be a portable tool that can be held by a person. In a portable power tool 10 in which the capacitor C1 is a large capacitor with a capacitance of several hundred μF to several thousand μF, it is preferable to provide a flexural vibration suppression unit 70, which can suppress vibration of the capacitor C1.

[0110] In the basic example, the capacitor C1 is an electrolytic capacitor, but the capacitor C1 may also be a film capacitor or the like.

[0111] (summary) The above-described embodiments and the like disclose the following aspects.

[0112] 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 housing (20), and a flexural vibration suppression unit (70). 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), a power supply unit (18), and a capacitor (C1) are mounted on the circuit board (19). The motor control unit (113) receives a control command from an external system 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 capacitor (C1) is connected to the power supply unit (18). The housing (20) accommodates the motor (M1), the impact mechanism (221), and the circuit board (19). The deflection vibration suppression unit (70) suppresses vibration of the circuit board (19) in a deflection direction (DR1). The deflection direction (DR1) is parallel to the normal to the mounting surface (F1) of the circuit board (19) on which the capacitor (C1) is mounted.

[0113] According to this aspect, the power tool 10 includes the flexural vibration suppression section 70, which can suppress vibration of the circuit board 19 in the flexural direction DR1. This suppresses vibration of the capacitor C1 in a direction perpendicular to the flexural direction DR1, reducing stress on the connection between the lead terminals and the electrodes. This reduces the likelihood of poor contact at the connection between the lead terminals and the electrodes, reducing the likelihood of unstable operation of the power tool 10.

[0114] The power tool (10) of the second aspect is the power tool (10) of the first aspect, further including a lateral vibration suppression part (73). The lateral vibration suppression part (73) suppresses vibration of the capacitor (C1) in a lateral vibration direction intersecting with the normal direction of the mounting surface (F1).

[0115] According to this embodiment, the lateral vibration suppression portion 73 suppresses vibration of the capacitor C1 in the lateral vibration direction, thereby further reducing stress on the connection between the lead terminals and the electrodes, thereby making it less likely that poor contact will occur at the connection between the lead terminals and the electrodes and further reducing the possibility of unstable operation of the power tool 10.

[0116] In the power tool (10) of the third aspect, the lateral vibration direction is perpendicular to the normal direction of the mounting surface (F1) in the second aspect. The lateral vibration suppression portion (73) includes ribs (741, 742) provided on the inner surface of the housing (20). The ribs (741, 742) face the capacitor (C1) in the lateral vibration direction.

[0117] According to this aspect, the vibration of the capacitor (C1) in the lateral vibration direction can be suppressed by the ribs (741, 742) that face the capacitor (C1) in the lateral vibration direction.

[0118] In a fourth aspect of the power tool (10), in any one of the first to third aspects, the bending vibration suppression part (70) includes at least one of a first damping member (71) and a second damping member (72). The first damping member (71) contacts a top surface (TS1) of the capacitor (C1) opposite to the mounting surface (F1). The second damping member (72) contacts a surface (F2) of the circuit board (19) opposite to the mounting surface (F1).

[0119] According to this embodiment, at least one of the first damping member (71) and the second damping member (72) can suppress vibration of the circuit board (19) in the lateral vibration direction.

[0120] In the fifth aspect of the power tool (10), in the fourth aspect, the circuit board (19) is held in the housing (20) via a frame-shaped elastic body (78) arranged along the edge of the mounting surface (F1) of the circuit board (19).

[0121] According to this embodiment, the elastic body (78) can suppress vibration of the circuit board (19).

[0122] A power tool system 100 according to a sixth aspect includes the power tool 10 according to any one of the first to fifth aspects and a robot 50. The robot 50 has one or more arms 511 to 516 and one or more drive motors M11 to M16 for driving the one or more arms 511 to 516. A housing 20 of the power tool 10 is attached to one of the one or more arms 511 to 516 of the robot 50.

[0123] According to this aspect, it is possible to provide a power tool system (100) including a power tool (10) that reduces the possibility of unstable operation.

[0124] The configurations according to the second to fifth aspects are not essential for the power tool (10) and can be omitted as appropriate. [Explanation of symbols]

[0125] 10 Power tools 18 Power supply section 19 Circuit Board 20. Housing 21 Mounting part 50 Robot 70 Deflection vibration suppression section 71 First damping member 72 Second damping member 73 Rolling suppression section 100 Power Tool System 113 Motor control unit 200 DC power supply 78 Elastic Body 221 Striking mechanism 511~516 Arm 741,742 Ribs C1 capacitor CB1 power cable CN1 power connector DR1 deflection direction F1 mounting surface F2 Surface opposite to mounting surface M1 motor M11~M16 drive motor T1 tip tool TS1 top

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 motor control unit that receives a control command from an external system and controls the rotation of the motor; 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; and a circuit board on which a capacitor connected to the power supply unit is mounted; a housing that accommodates the motor, the striking mechanism, and the circuit board; a flexural vibration suppression unit, the flexural vibration suppression portion suppresses vibration of the circuit board in a flexural direction parallel to a normal direction of a surface of the circuit board on which the capacitor is mounted. Power tools.

2. Further provided with a lateral vibration suppression unit, the lateral vibration suppression portion suppresses vibration of the capacitor in a lateral vibration direction intersecting the normal direction of the mounting surface. The power tool according to claim 1 .

3. the lateral vibration direction is a direction perpendicular to the normal direction of the mounting surface, the lateral vibration suppression portion includes a rib provided on an inner surface of the housing, the rib faces the capacitor in the rolling direction; The power tool according to claim 2.

4. The bending vibration suppression portion is a first damping member in contact with a top surface of the capacitor opposite to the mounting surface; and a second damping member in contact with a surface of the circuit board opposite to the mounting surface. The power tool according to any one of claims 1 to 3.

5. the circuit board is held in the housing via a frame-shaped elastic body that is arranged along an edge of the mounting surface of the circuit board; The power tool according to claim 4.

6. A power tool according to any one of claims 1 to 3 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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