CN1799780A - 操作动力驱动器的方法 - Google Patents
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Abstract
一种操作驱动工具例如紧固工具的方法，该驱动工具具有驱动器、具有电动机和输出部件的动力装置、以及电源。所述方法包括向电动机传递电能使输出部件转动，然后在输出部件的转速不处于预定的超作范围内时调整一个或多个控制参数。
Description
相关申请的交叉引用
本申请要求于2004年4月2日提交的名称为“紧固工具”、序号为60/559,349美国临时专利申请的优先权。
技术领域
本发明总体上涉及驱动工具，例如紧固工具，尤其涉及操作驱动工具的方法。
背景技术
动力射钉枪在建筑行业应用相当普遍。然而，由于要设置导管将动力射钉枪与气动源相连，目前采用的动力射钉枪时常在灵活度和自由度方面难以满足使用者的需要。因此，在本领域内一直需要一种改进的动力射钉枪。
发明内容
一方面，本发明提供了一种方法。该方法包括：提供具有驱动器、动力装置和电源的驱动工具，驱动器可沿轴线移动，动力装置包含电动机和由电动机驱动的输出部件，输出部件用于向驱动器传递动力使驱动器沿轴线运动；在第一循环部分期间从电源向电动机传递电能使输出部件转动；确定与输出部件转速相关的参数；并且在所述参数的量值小于预定限值时增加所述第一循环部分的时程。
另一方面，本发明的教导提供了一种方法。该方法包括：提供具有驱动器、动力装置和电源的驱动工具，驱动器可沿轴线移动，动力装置包含电动机和由电动机驱动的输出部件，输出部件用于向驱动器传递动力使驱动器沿轴线运动；在第一循环部分期间从电源向电动机传递电能使输出部件转动；确定与输出部件转速相关的参数；并且在所述参数的量值大于预定限值时减少所述第一循环部分的时程。
再一方面，本发明提供了一种方法。该方法包括：提供具有驱动器、动力装置和电源的驱动工具，驱动器可沿轴线移动，动力装置包含电动机和由电动机驱动的输出部件，输出部件用于向驱动器传递动力使驱动器沿轴线运动；在具有第一循环部分和至少一个第二循环部分的完整循环期间操作驱动工具，所述完整循环包括：在第一循环部分从电源向电动机传递电能使输出部件转动；确定与电动机不供电时电动机产生的反电动势相关的第一参数；当所述参数的值小于预定的第一限值或大于预定的第二限值时调整所述第一循环部分的时程；在第二循环部分的第一循环期间从电源向电动机传递电能使输出部件转动；在完成了第二循环部分的第一循环后重新确定第一参数；并且根据第一参数的量值确定第二循环部分的下一循环的视在(apparent)电压。
从以下详细的描述中将更清楚地了解到本发明更多的应用领域。应该认识到，在说明本发明的优选实施例时，这些详细的描述和具体的实施例仅仅出于说明的目的，而不是用来限制本发明的范围。
附图说明
从以下详细描述和附图可以更充分地理解本发明，其中：
图1表示根据本发明的教导构造的紧固工具的侧视图；
图2表示图1所示的紧固工具的部分示意图，显示了包括动力装置和控制器的不同部件；
图3表示图1所示的紧固工具的部分示意图，更详细地显示了控制器；
图4表示紧固工具的部分剖面图，显示了模式选择开关；
图5表示控制器的部分示意图；
图6表示本发明电动机的典型工作循环的曲线。
图7表示图1所示的射钉枪的部分示意图，更详细地显示了控制器和模式选择开关；以及
图8显示当电动机的反电动势保持恒定和随着温度校正基于发动机转速的反电动势时，实际电动机转速和电动机温度之间关系的曲线。
具体实施方式
参照图1，一种电动的紧固件发射装置，在此被称作射钉枪，其总体上由附图标记10表示。尽管通常是以一种将钉子打入工件的紧固工具10来描述这种电动紧固件发射装置，该电动紧固件发射装置可以构造成发射不同的紧固件，例如钉书钉或螺钉，或者不同紧固件中的其中一种或几种的组合。而且，尽管紧固工具10通常被描述为一种电动射钉枪，下面描述的紧固工具10的许多特性可以用于气动射钉枪或其他装置，包括电锤、打孔工具如打孔机、以及那些用于装配变形铆钉的铆接工具。
继续参照图1并另外参照图2和3，紧固工具10包括壳体12、动力装置14、机头16、扳机18、接触脱扣20、控制单元22、料盒24以及为各种传感器(下文将详细说明)以及动力装置14和控制单元22提供电力的电池26。然而，本领域技术人员从所披露内容中将会意识到，作为对电池26的替换，或除了电池26以外，紧固工具10可以包括与外部电源(未示出)相连的外部电源线(未示出)和/或与液压源相连的外部导管或其他硬件(未示出)。
壳体12包括本体部分12a和手柄12b，将本体部分12a构造成能够容纳动力装置14和控制单元22。手柄12b使壳体12具有传统的手枪柄式外形，它可以与本体部分12a整体成形，或者也可以是通过例如螺纹紧固件(未示出)与本体部分12a相连的分离构造。将手柄12b按人机工程学的要求设计成适合使用者的手的外形和/或装配弹性的和/或防滑的外套，例如一种过模热塑性弹性体。
动力装置14包括驱动器28和动力源30，将动力源30构造成有选择地传输动力到驱动器28以促使驱动器28沿轴线移动。在给出的特例中，动力源30包括电动机32、与电动机32的输出轴32a相连的飞轮34、以及夹紧滚轮组件36。夹紧滚轮组件36包括致动臂38、凸轮40、枢销42、执行机构44、夹紧滚轮46以及凸轮从动件48。
对本实施例中所用动力装置14的具体描述超出了本发明公开的范围，其在共同申请的于2004年4月2日提交的名为“紧固工具”的待审美国临时专利申请No.60/559,344以及与本申请同时提交的名为“动力工具的结构支架/动力支架”的待审美国专利申请No./中进行了详细的描述，以上两申请均在此引入作为参考，并相当于在此完整地进行了公开。简单地说，可以操纵电动机32来使飞轮34旋转(例如通过电动机皮带轮32a，皮带32b和飞轮皮带轮34a)。操纵执行机构44来移动凸轮40(例如沿箭头A的方向)，从而凸轮40和凸轮从动件48一起作用使致动臂38绕枢销42旋转，这样夹紧滚轮46驱动驱动器28与旋转的飞轮34接合。驱动器28与飞轮34的接合使飞轮34向驱动器28传递能量，从而将驱动器28沿轴线推向机头16。
对本实施例中所用机头16、接触脱扣20和料盒24的具体描述超出了本发明公开的范围，其在2004年4月2日提交的名为“射钉枪的接触脱扣机构”的美国临时专利申请No.60/559,343、2004年4月2日提交的名为“射钉枪的料盒装置”的美国临时专利申请No.60/559,342、以及与本申请同时提交的名为“射钉枪的接触脱扣机构”的待审美国专利申请No.和名为“射钉枪的料盒装置”的美国专利申请No.中进行了详细的描述，以上申请均在此引入作为参考，并相当于在此完整地进行了公开。机头16从接近料盒24的本体部分12a向外延伸，按照常规将其构造成与料盒24连接从而能连续地从料盒24中接收紧固件F。当启动紧固工具10将紧固件F钉入工件时，机头16也可以以常规方式起到引导驱动器28和紧固件F的作用。
扳机18与壳体12相连，将其构造成由使用者触发，典型的是通过使用者的手指触动扳机开关18a产生一个触发信号，这一信号可以完全或部分地启动紧固工具10将紧固件F射入工件的循环(未示出)。
接触脱扣20与机头16相连以在其中滑动。将接触脱扣20构造成当与工件接触时向后滑动，其与扳机18或接触脱扣传感器50接合。在前一种情况，接触脱扣20与扳机18配合使扳机18启动扳机开关18a以产生触发信号。具体地说，扳机18包括由使用者手指触发的主扳机和由接触脱扣20向后充分移动触发的副扳机。主扳机和副扳机中的任何一个的触发都不会使扳机开关18a产生触发信号。只有当主、副扳机同时处于启动条件下时才能使扳机18产生触发信号。
在本实施例采用的后一种情况(即接触脱扣20与接触脱扣传感器50接合时)，接触脱扣20向后移动足够距离使接触脱扣传感器50产生接触脱扣信号，这一信号可以与触发信号一起启动紧固工具10将紧固件F射入工件的循环。
控制单元22包括动力源传感器52、控制器54、指示器例如指示灯56和/或扬声器58、以及模式选择开关60。将动力源传感器52构造成检测动力源30内的状态并产生与此相应的传感器信号，这一状态反应了动力源30内元件的动能级。例如，操作动力源传感器52检测电动机32的输出轴32a或飞轮34的转速。本领域的技术人员从所披露内容中将会意识到动力源传感器52可以直接或间接检测上述特征。例如，可以通过编码器、涡流传感器或霍尔效应传感器直接检测电动机输出轴32a或飞轮34的转速，或者通过电动机32的反电动势间接对上述特征进行检测。在所给的具体实施例中，我们采用的是反电动势，当电动机32不是由电池26供电而是由动力装置14的部件(特别是本实施例的飞轮34)的惯性和转速驱动时产生这一反电动势。
模式选择开关60可以是一种产生模式选择开关信号的开关，该信号表示操作紧固工具10所需的模式。例如，操作模式之一可以是顺序发射模式，其中首先必须将所述的接触脱扣20抵靠着工件(以便接触脱扣传感器50产生接触脱扣传感器信号)，随后扳机开关18a启动产生触发信号。另一种操作方式可以是强制冲击射入模式，其中首先启动扳机开关18a产生触发信号，随后将所述的接触脱扣20抵靠着工件，以使接触脱扣传感器50产生接触脱扣传感器信号。再一种能顺序发射或冲击射入的混合操作模式，其中不需要特殊的时序(即，可以先后也可以同时产生扳机传感器信号和接触脱扣传感器信号)。在所给的具体实施例中，模式选择开关60是一种二位开关，使得使用者既能选择顺序发射模式也能选择混合模式，从而使用者能以顺序发射或冲击射入的方式操纵紧固工具10。
这样构造控制器54使紧固工具10在给定模式下工作，例如上述冲击射入模式仅仅响应来自模式选择开关60特定信号的输入。暂时参照图7，将模式选择开关60置于第一位置使预定的第一电压信号输入到控制器54，而模式选择开关60置于第二位置时将预定的第二电压信号输入到控制器54。对第一电压和第二电压中的一个或全部施加限制，例如±0.2V，使得当这两个电压信号中的一个或全部超出限制范围时，控制器54不能设定到特定输入模式(例如顺序发射模式)或操作状态(例如不工作)。
例如，模式选择开关60和控制器54可以构造成为模式选择开关60配置+5V电源，将模式选择开关60置于与强制顺序输入相应的位置使+5V电压信号返回到控制器54，将模式选择开关60置于冲击射入模式使+2.5V的电压信号返回到控制器54。例如，当模式选择开关置于可进行冲击射入操作的位置时，选择+5V电压信号通过一个或多个电阻R可以获得不同的电压值。根据从模式选择开关60获得的信号，控制器54测定电压信号是否处于给定的范围内，例如±0.2V。在本实施例中，如果电压信号在+5.2V～+4.8V之间，控制器54将认定模式选择开关60需要进行顺序发射操作，而当电压信号在+2.7V～+2.3V之间时，控制器54会认定模式选择开关60需要进行冲击射入操作。如果电压信号超出了上下限幅(在本实施例中，即为大于+5.2V、处于+4.8V～+2.7V之间或小于+2.3V)，控制器54将使紧固工具10在预定模式下运行，例如一种需要顺序发射操作的模式。控制器54可在紧固工具10操作过程中进一步可以向操作者提供错误指示(例如指示灯或声音报警)，以要求在预定模式下操作紧固工具10。
紧固工具的指示灯56可以采用任何形式的光源，包括采用发光二极管(LEDs)将工作区照亮和/或与使用者或者控制设备(例如数据终端)通信，其中所述的工作区可以限于或超出工件的尺寸范围。每一指示灯56可以包括一个或更多的灯管，这些灯管可以是任何颜色，例如白色、淡黄色或者红色，从而照亮工件或给操作者提供可视信号。在采用指示灯56照壳工件时，通过独立的开关(未示出)或控制器54在预定的条件，例如启动扳机开关18a时启动一个或多个指示灯56。此外，可以通过改变独立开关的状态或通过控制器54在预定的条件，例如预定的时间耗尽时将指示灯56关闭。
在采用指示灯56通信时，控制器54根据预定的条件启动指示灯56。例如，根据对电池26电量降到预定电平的测定，指示灯56按预定的次数，如四次，闪烁或以预定模式使指示灯闪烁，或当控制器54测定出紧固件卡在机头16中时使指示灯56闪烁。例如，后一状态能够通过电动机32的反电动势测定。
另外地或有选择地，采用指示灯56向阅读器传递光电信息。在一实施例中，通过光阅读器500接收由指示灯56产生的光信号，从而可以从紧固工具10传输加工数据，例如操作循环总次数、可能产生的故障种类和频率、当前设定的各种调整参数值等等。在另一实施例中，在与指示灯56相连的紧固工具10内，传感器502与电路504连接。操作传感器502测定通过指示灯56的电流和/或与指示灯56相连的电路504支路上的电压。因为指示灯56的照亮既需要通过它的电流流量的变化，也需要与其相连的电路504支路上电压的变化，因此，可以采用指示器56的选择照明促使由传感器502检测的电流和/或电压的变化。接收传感器502产生的信号的阅读器能够接收根据电流和/或电压的变化产生于传感器502的信号。由此，本领域技术人员从所披露内容中将会意识到，能够采用工作指示灯56对电特性产生影响，例如电流流动或电压，这可以通过传感器502检测并通过阅读器传递紧固工具10的数据。
控制器54与模式选择开关60、扳机开关18a、接触脱扣传感器50、电动机32、动力源传感器52以及执行机构44相连。控制器54根据接收到的扳机传感器信号和接触脱扣传感器信号测定两种信号是否按相互适当的时序产生(基于模式选择开关60和模式选择开关信号)。
如果扳机传感器信号和接触脱扣传感器信号产生的时序不合适(即，基于模式选择开关60的设定为不允许)，则控制器54不能使电能流向电动机32而是启动一个适当的指示器，例如指示灯56和/或扬声器58。为了向使用者显示扳机开关18a和接触脱扣传感器50没有按适当的时序启动，指示灯56可能以预定方式点亮(例如时序和/或颜色)和/或采用扬声器58产生音频信号。要重新设定紧固工具10，需要使用者关闭扳机开关18a和接触脱扣传感器50的其中一个或全部。
如果扳机传感器信号和接触脱扣传感器信号产生的时序合适(即，基于模式选择开关60的设定为允许)，则控制器54使电能流向电动机32，从而电动机32使飞轮34旋转。采用动力源传感器52使控制器54测定紧固工具10是否具有超出预定限值的能量等级。在本实施例中，采用动力源传感器52检测动力装置14内元件的动能级。在本实施例中，基于电动机32产生的反电动势来估计动力装置14的动能。将电动机32的动力中断，例如在可能是预定时间耗尽的预定过程之后，检测由电动机32产生的电压电信号。由于电动机32产生的电压电信号与电动机输出轴32c(和飞轮34)的转速成比例，因此能够通过控制器54可靠地测定动力装置14的动能。
本领域技术人员从所披露内容中将会意识到，动力源30内元件的动能既可以通过适当的关系式(例如e＝1/2I×ω2；e＝1/2m×V2)直接测定(例如计算或近似)，或者通过由动力装置14的动能所决定的一个或多个变量的估计值间接测定，因为相关组件的单位长度质量(linear mass)和惯性至少有一个实质上是常量。在这方面，如电动机输出轴32a或飞轮34等元件的转速、或者信号频率或电压等信号特征可用来作为动能的近似逼近方法。例如，根据本发明和权利要求的内容通过单独测定元件的转速检测动力源30内该元件的动能。作为另一种实施例，根据本发明和权利要求的内容通过单独测定电动机32产生的反电动势电压来检测动力源30内该元件的动能。
如果控制器54认定动力装置14内上述元件的动能级超过预定限值，则产生一个信号，例如通过控制器54，以启动执行机构44沿箭头A的方向驱动凸轮40，这样，如上所述，将启动一系列动作促使驱动器28将紧固件F射入工件内。
如果控制器54认定动力装置14内上述元件的动能级没有超过预定限值，为了向使用者显示紧固工具10没有足够的能量将紧固件F完全射入到工件内，指示灯56以预定方式(例如时序和/或颜色)闪亮和/或采用扬声器58产生音频信号。构造控制器54以使得当动力装置14内上述元件的动能不超过预定限值时，不启动执行机构44沿箭头A方向驱动凸轮40，或者构造控制器54使执行机构44根据预定的元件动作而启动，例如松开和重新启动扳机18，从而使用者确认并完全操控控制器54。
尽管上述紧固工具10是采用单一动能限值描述的，但在更宽的应用范围内本发明也可以有所不同。例如，控制器54进一步采用代表与上述限值不同的动能级的第二限值。在这种情况下当动力装置14内元件的动能级高于上述限值(即，因此由控制器54操纵执行机构44)但低于第二限值时，控制器54启动指示器，例如指示灯56或扬声器58，向使用者提供视觉信号和/或音频信号，表示需要给电池26重新充电或者需要维修紧固工具10。
而且，如果采用上述限值和第二限值，可以根据一个或更多预定条件对其进行调整，例如对紧固件F射入到工件内的设定、工件的相对硬度、紧固件F的长度和/或让使用者能手动调整所述一个限值或多个限值的多位或可变开关。
参照图1和图4，紧固工具10选择性地包括保护罩62，所述保护罩62可拆卸地与紧固工具10包围模式选择开关60的部分接合。在本实施例中，保护罩62有选择地与壳体12相连。将保护罩62构造成防止开关促动器60a移动到模式选择开关60处于非要求状态的位置，从而能够防止使用者改变模式选择开关的状态。另外地或有选择地，当保护罩62处于装配状态时，保护罩62能够防护模式选择开关60(例如免于冲击、污物、灰尘和/或水)。而且，保护罩62具有仅与紧固件10单向配合的形状，因此保证了操作时开关60仅在单一预定位置，例如第一位置或第二位置，但不是同时处于两个位置。有选择地，保护罩62也可以遮盖模式选择开关60。
回到图2和图3，紧固工具10也可以包括紧固件传感器64，用来检测紧固工具10中的一个或更多个紧固件F并由此产生紧固件传感器信号。紧固件传感器64可以是限位开关或接近开关，其被构造成直接检测紧固件F或料盒24一部分的状态，例如通常将料盒24的紧固件F朝前压向机头16的推杆66。在所给的具体实施例中，紧固件传感器64是一个限位开关，其与机头16相连并被定位，从而当在料盒24和/或机头16放置预定数量的紧固件F时紧固件传感器64通过推杆66与限位开关接触。所述的预定数量可以是大于或等于0的任何整数。控制器54也可以启动适当的指示器，例如指示灯56和/或扬声器58，以根据接收到的由紧固件传感器64产生的紧固件传感器信号发出适当的视频和/或音频信号。另外地或替换地，控制器54在一些情况下可防止紧固工具10循环工作(例如通过阻止执行机构44启动使凸轮40未按箭头A方向被驱动)。例如，当紧固件传感器64产生紧固件传感器信号(例如，当料盒24内的紧固件F的数量少于预定数量时)，控制器54能够禁止紧固工具10的循环。有选择地，将控制器54构造成仅在料盒24和机头16排空后才禁止紧固工具10的循环。在此，每次启动固定工具10将固定件F射入工件后，控制器54能够通过从预定数量减1而进行“倒计数”处理。因此，控制器54能够对料盒24内紧固件F的数量进行倒数，从而当控制器判定料盒24或机头16内没有紧固件F时，禁止紧固工具10进一步循环。
扳机开关18a和接触脱扣传感器50是常规的电源开关。但常规的电源开关体积趋于相对庞大，在电源开关的接触点之间采用较大的气隙。于是，紧固工具10内开关的封装、电源开关的发热和散热、以及由于电弧击穿导致的电源开关的耐用性都是伴随电源开关的使用出现的问题。有选择地，扳机开关18a和接触脱扣传感器50可以是微动开关，该微动开关与采用固态元件启动动力装置14的电路结合，因此减少或消除了关于封装、发热、散热以及由于电弧击穿而导致的耐用性问题。
参照图5，控制器54包括控制电路100。控制电路100包括扳机开关18a、接触脱扣传感器50、逻辑门106、集成电路108、电动机开关110、第一启动开关112以及第二启动开关114。开关110、112以及114可以是任何形式的开关，包括金属氧化物半导体场效应晶体管、继电器和/或晶体管。
电动机开关110是置于电动机32和动力源，例如电池26(图1)或交直流电源(未示出)之间的动力控制装置。第一和第二启动开关112和114也是置于执行机构44和动力源之间的动力控制装置。在所给的具体实施例中，第一和第二启动开关112和114如图示置于执行机构44和动力源之间执行机构44的相对两侧，但也可选择性地在执行机构和动力源之间依次设置。扳机开关18a和接触脱扣传感器50与逻辑门106和集成电路108同时相连。集成电路108响应扳机开关18a和/或接触脱扣传感器50的稳态条件，或集成电路108也可对上述一个或全部状态的变化(例如，从高到低或从低到高的转换)进行响应。
启动扳机开关18a产生传输到逻辑门106和集成电路108的扳机开关信号。因为接触脱扣传感器50(仍)没有改变状态，因此未满足逻辑条件，同样逻辑门106不会向第一启动开关112传输信号，所述该信号能促使逻辑门106改变第一启动开关112的状态。相应地，第一启动开关112保持在正常状态(即本实施例中的断开状态)。但集成电路108根据接收的使电动机开关110改变状态(即本实施例中的闭合状态)的扳机开关信号向电动机开关110传输信号，从而接通电路使电动机32运转。
接触脱扣传感器50的启动产生传输到逻辑门106和集成电路108的接触脱扣传感器信号。如果扳机开关18a连续传输扳机开关信号，则满足逻辑条件，同样逻辑门106向第一启动开关112传输信号，所述的第一启动开关112能使逻辑门106改变状态。由此，在本实施例中将第一启动开关112变换到闭合状态。集成电路108根据接收到的接触脱扣传感器信号向第二启动开关114传输信号改变第二启动开关114的状态(即本实施例中的闭合状态)，结合第一启动开关112的状态改变接通电路使执行机构44运行。
其他各种开关，例如模式选择开关60和/或动力源传感器52也与集成电路108连通以进一步控制各种继电器的运行。例如，如果模式选择开关60置于与以冲击射入或顺序发射方式运行的紧固工具10相联系的位置，设计集成电路108根据接收到的扳机开关信号或接触脱扣传感器信号改变电动机开关110的状态，此后根据接收到的扳机开关信号和接触脱扣传感器信号之中的另一个改变第二启动开关114的状态。
作为另一实施例，如果动力源传感器52产生一个表明动力装置14内的动能级少于预定限值的信号，则将集成电路108设计成不发出改变第二启动开关114状态的信号，因此可防止紧固工具10的操作。
从上边描述可知，发生单点故障(例如，扳机开关18a或接触脱扣传感器50之一的故障)则动力装置14不启动。
参照图3和图6，控制器54具有另外的功能，能使用各种不同电压的电池组操作紧固工具10，例如18、14、14和/或9.6V电压的电池组。例如，控制器54可以采用脉宽调制(PWM)、直流-直流变换器或按时准确控制的方式来控制电动机32和/或执行机构44的操作，例如保证飞轮34的稳定转速和/或动力装置14的动能而与电池电压无关。将控制器54设置为在起动时(例如，在开始装配电池26或与控制器54通电时)检测或测定电池26的实际或名义电压。
图6所示的实施例是采用脉宽调制技术在整个或部分工作循环向电动机32供电。起始于预定动作例如启动扳机18的工作循环包括初始的动力间隔120和一个或多个附加的动力间隔(例如126a、126b、126c)。在初始的动力间隔120时间段内，使用电池26的全部电压驱动电动机32。基于电池26的输出或动力装置14内元件的运行特性，例如转速，通过在控制器54存储器内的算法或查询表确定初始动力间隔120的长度或持续时间(ti)。每个附加动力间隔的长度或持续时间(ts)可以等于初始的动力间隔120的长度或持续时间，或是预定常数，或根据电池26的输出或者动力装置14的运行特征而变化。
在初始动力间隔120和第一附加动力间隔126a之间和/或在两个连续的附加动力间隔之间采用暂停间隔122。暂停间隔122长度和持续时间(td)可以是可变的，但在所给出的具体实施例中，暂停间隔122持续时间(td)是恒定的。在暂停间隔122期间，中断对电动机32的供电以使其产生“惯性运动”。在此期间采用动力源传感器52的输出来估计动力装置14的动能级(例如，使控制器54判定动力装置14是否具有足够的能量推进紧固件)和/或判定一个或更多的参数，依据这些参数在随后的动力间隔中驱动或操作电动机32。
在本实施例中，控制器54估计电动机32的反电动势以近似飞轮34的转速。在算法或查询表中采用飞轮34的近似转速(或等量转速，例如与电动机32的反电动势值)来判定下一个附加动力间隔的工作循环(例如，视在电压)。另外，在初始动力间隔120之后的暂停间隔122内立即测取电动机32的反电动势，可以采用算法或查询表计算初始动力间隔120持续时间(ti)的变化。这样，随着电池26的放电可以不断地校正持续时间值(ti)。当电池26初始与控制器54连接时，重置所述的值(ti)(例如，存储在查询表内的一个值)。例如，如果电池26具有大约18V的名义电压，控制器54将(ti)设置为等于180ms，或是如果电池具有大约14.4V的名义电压，控制器将(ti)设置为等于200ms，如果电池具有大约12V的名义电压，控制器将(ti)设置为等于240ms。
参照图8，电动机32的反电动势随着电动机温度而变化，如附图标记200所指定的线所示；线200代表当电动机的反电动势保持恒定时，实际转速与温度的函数关系。另外参照图3，控制单元22包括检测电动机32或紧固工具另一部分，例如控制器54的温度的温度传感器202，以使控制器54补偿伴随着温度变化而产生的电动机32反电动势的差异。在所给的具体实施例中，温度传感器202与控制器54相连并响应检测到的控制器54的温度发出温度信号。由于控制器54非常接近电动机32，控制器54的温度接近电动机32的温度。
控制器54可以采用任何公知的技术，例如查询表，数学关系式或算法，以判定检测到的温度对电动机32反电动势的作用效果。在所给的具体实施例中，电动机32实际转速之间的关系满足线性回归关系，可以采用经验公式测定与基于反电动势的计算速度(SBEF)一起使用的基于温度的速差(ΔST)，使其更接近电动机32的转速(S)(即，S＝SBEF-ΔST)。图8中附图标记210指示的线表示当近似转速(S)保持恒定时，电动机32实际转速与温度的函数关系。
可选择地，控制器54可以通过公式S＝|SBATV+ΔSBEF-ΔST|近似电动机32的转速(S)，其中，SBATV是根据电池26的电压对电动机32的基本速度的估算，ΔSBEF是用来根据电动机32产生的反电动势修正电动机32基本速度的一修正项，ΔST是上述的基于温度的速差。在所给的具体实施例中，电池电压可以是与名义电压不一致的实际电压值，SBATV项是电动机转速-电池电压曲线斜率的函数。在这一选定的替换方式中，以一高精度的方式在宽温度范围内测定电动机转速。
应该意识到，尽管紧固工具10描述成除了相当短的持续间隔外(例如，在脉冲之间和/或要检测电动机32的反电动势)在整个工作周期内向电动机32供电，本发明在最宽的范围内也可以采取某些变化。例如，控制器54通过反馈控制来控制电动机32的运转，其中，为了使电动机32和飞轮34“惯性运行”而偶尔中断电能。在电力中断期间，控制器54不时监控动力装置14的动能，并在动力装置14的动能低于预定限值时，向电动机提供动力。以这种方式操纵紧固工具能够提高电池寿命。
尽管参照不同的实施例在说明书和所示附图中描述了本发明，本领域的技术人员将会认识到，在未脱离权利要求书限定的本发明的范围的情况下，可以对各元件作出各种变化以及等同的替换。而且，在此特意考虑了不同实施例之间特征、元件和/或功能的结合和配合，从而本领域的普通技术人员之一能够从披露的内容中理解到一个实施例的特征、元件和/或功能可以适当地与另一个实施例结合，与上的描述不同。而且，在不脱离实质范围的情况下采用特殊位置或材料对本发明的内容作出修改。因此，这就意味着本发明并不限于说明书描述的和附图示意的具体实施例，尽管所述的实施例当前被认为是实施本发明的最佳方式，但本发明包括任何落于以上描述和附加的权利要求之内的实施例。
Claims (25)
1.一种方法，该方法包括：
提供具有驱动器、动力装置和电源的驱动工具，驱动器可沿轴线移动，动力装置包含电动机和由电动机驱动的输出部件，输出部件用于向驱动器传递动力使驱动器沿轴线运动；
在第一循环部分期间从电源向电动机传递电能使输出部件转动；
确定与输出部件转速相关的参数；并且
在所述参数的量值小于预定限值时增加所述第一循环部分的时程。
2.如权利要求1所述的方法，其特征在于：
所述电源是电池，并且所述驱动工具还包括具有存储器的控制器，该存储器用来储存每次时程调整时与第一循环部分相关的时程。
3.如权利要求2所述的方法，其特征在于：
当用另外的电池替换所述电池时，第一循环部分设定为缺省时程。
4.如权利要求3所述的方法，其特征在于：
所述缺省时程选自基于电池电压的众多缺省时程。
5.如权利要求1所述的方法，其中驱动工具运行的每个完整循环都包括所述的第一循环部分和多个第二循环部分，其特征在于，该方法还包括：
在完成了预定数量的第二循环部分之后重新确定与输出部件的转速相关的参数；
至少部分地根据与输出部件的转速相关的参数确定第二循环部分的视在电压。
6.如权利要求5所述的方法，其特征在于：
所述与输出部件的转速相关的参数是输出部件的转速。
7.如权利要求5所述的方法，其特征在于：
在第二循环部分的每两个循环之间不给电动机供电。
8.如权利要求7所述的方法，其特征在于：
所述与输出部件的转速相关的参数是电动机产生的反电动势。
9.如权利要求5所述的方法，其特征在于：
第二循环部分的每一个循环的持续时间是常量。
10.如权利要求5所述的方法，其特征在于：
在第一循环部分和第二循环部分的第一循环之间不给电动机供电。
11.如权利要求5所述的方法，其特征在于：
所述电源是电池，并且第二循环部分的视在电压至少部分地也由电池电压的电压确定。
12.如权利要求1所述的方法，还包括：
当所述参数的值大于第二预定限值时减少所述第一循环部分的时程。
13.一种方法，包括：
提供具有驱动器、动力装置和电源的驱动工具，驱动器可沿轴线移动，动力装置包含电动机和由电动机驱动的输出部件，输出部件用于向驱动器传递动力使驱动器沿轴线运动；
在第一循环部分期间从电源向电动机传递电能使输出部件转动；
确定与输出部件转速相关的参数；并且
在所述参数的量值大于预定限值时减少所述第一循环部分的时程。
14.如权利要求13所述的方法，其特征在于：
所述电源是电池，并且所述驱动工具还包括具有存储器的控制器，该存储器用来储存每次时程调整时与第一循环部分相关的时程。
15.如权利要求14所述的方法，其特征在于：
当用另外的电池替换所述电池时，第一循环部分设定为缺省时程。
16.如权利要求15所述的方法，其特征在于：
所述缺省时程选自基于电池电压的众多缺省时程。
17.如权利要求13所述的方法，其特征在于：
驱动工具运行的每个完整循环都包括所述的第一循环部分和多个第二循环部分，其中，该方法还包括：
在完成了预定数量的第二循环部分之后重新确定与输出部件的转速相关的参数；
至少部分地根据与输出部件的转速相关的参数确定第二循环部分的视在电压。
18.如权利要求17所述的方法，其特征在于：
所述与输出部件的转速相关的参数是输出部件的转速。
19.如权利要求17所述的方法，其特征在于：
在第二循环部分的每两个循环之间不给电动机供电。
20.如权利要求17所述的方法，其特征在于：
所述与输出部件的转速相关的参数是电动机产生的反电动势。
21.如权利要求17所述的方法，其特征在于：
第二循环部分的每一个循环的持续时间是常量。
22.如权利要求17所述的方法，其特征在于：
在第一循环部分和第二循环部分的第一循环之间电动机不供电。
23.如权利要求17所述的方法，其特征在于：
所述电源是电池，并且第二循环部分的视在电压至少部分地也由电池电压的电压确定。
24.一种方法，包括：
提供具有驱动器、动力装置和电源的驱动工具，驱动器可沿轴线移动，动力装置包含电动机和由电动机驱动的输出部件，输出部件用于向驱动器传递动力使驱动器沿轴线运动；并且
在具有第一循环部分和至少一个第二循环部分的完整循环期间操作驱动工具，所述完整循环包括：
在第一循环部分从电源向电动机传递电能使输出部件转动；
确定与电动机不供电时电动机产生的反电动势相关的第一参数；
当所述参数的值小于预定的第一限值或大于预定的第二限值时调整所述第一循环部分的时程；
在第二循环部分的第一循环期间从电源向电动机传递电能使输出部件转动；
在完成了第二循环部分的第一循环后重新确定第一参数；并且
至少部分地根据第一参数的量值确定第二循环部分的下一循环的视在电压。
25.如权利要求24所述的方法，其特征在于：
所述电源是电池，并且第二循环部分的下一循环的视在电压至少部分地也由电池电压的电压确定。
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| CNU2005900000415U Expired - Lifetime CN201054324Y (zh) | 2004-04-02 | 2005-04-01 | 一种带模式选择器开关的紧固工具 |
| CNU2008201326535U Expired - Fee Related CN201264235Y (zh) | 2004-04-02 | 2005-04-01 | 具有控制器的动力驱动器 |
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| CNA2005100817812A Pending CN1799780A (zh) | 2004-04-02 | 2005-04-04 | 操作动力驱动器的方法 |
| CNA2005100817808A Pending CN1788941A (zh) | 2004-04-02 | 2005-04-04 | 控制动力驱动器的方法 |
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| CNU2005900000415U Expired - Lifetime CN201054324Y (zh) | 2004-04-02 | 2005-04-01 | 一种带模式选择器开关的紧固工具 |
| CNU2008201326535U Expired - Fee Related CN201264235Y (zh) | 2004-04-02 | 2005-04-01 | 具有控制器的动力驱动器 |
| CNU200590000042XU Expired - Fee Related CN201130603Y (zh) | 2004-04-02 | 2005-04-01 | 驱动工具 |
| CNU2005900000398U Expired - Fee Related CN201175896Y (zh) | 2004-04-02 | 2005-04-01 | 驱动工具 |
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| US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
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- 2005-03-30 DE DE602005006462T patent/DE602005006462D1/de active Active
- 2005-03-30 EP EP05006843A patent/EP1584418B1/en not_active Not-in-force
- 2005-03-30 AT AT05006843T patent/ATE394200T1/de not_active IP Right Cessation
- 2005-03-30 EP EP20050006836 patent/EP1591208A1/en not_active Ceased
- 2005-03-31 EP EP05006982A patent/EP1582299B1/en not_active Not-in-force
- 2005-03-31 DE DE602005007091T patent/DE602005007091D1/de active Active
- 2005-03-31 AT AT05006982T patent/ATE396836T1/de not_active IP Right Cessation
- 2005-03-31 US US11/095,723 patent/US8347978B2/en active Active
- 2005-03-31 EP EP05006981A patent/EP1584419B1/en not_active Not-in-force
- 2005-03-31 AT AT05006981T patent/ATE396837T1/de not_active IP Right Cessation
- 2005-03-31 DE DE602005007086T patent/DE602005007086D1/de active Active
- 2005-04-01 TW TW094110593A patent/TW200603959A/zh unknown
- 2005-04-01 CN CNU2005900000400U patent/CN201111459Y/zh not_active Expired - Fee Related
- 2005-04-01 CN CNU2005900000415U patent/CN201054324Y/zh not_active Expired - Lifetime
- 2005-04-01 CN CNU2008201326535U patent/CN201264235Y/zh not_active Expired - Fee Related
- 2005-04-01 TW TW094110595A patent/TW200607621A/zh unknown
- 2005-04-01 CN CNU200590000042XU patent/CN201130603Y/zh not_active Expired - Fee Related
- 2005-04-01 CN CNU2005900000398U patent/CN201175896Y/zh not_active Expired - Fee Related
- 2005-04-01 TW TW094110588A patent/TW200607619A/zh unknown
- 2005-04-01 TW TW094110590A patent/TW200607620A/zh unknown
- 2005-04-04 CN CNA2005100817780A patent/CN1799779A/zh active Pending
- 2005-04-04 CN CNA2005100817795A patent/CN1788940A/zh active Pending
- 2005-04-04 CN CNA2005100817812A patent/CN1799780A/zh active Pending
- 2005-04-04 CN CNA2005100817808A patent/CN1788941A/zh active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| EP1582299B1 (en) | 2008-05-28 |
| DE602005006462D1 (de) | 2008-06-19 |
| EP1591208A1 (en) | 2005-11-02 |
| TW200607619A (en) | 2006-03-01 |
| DE602005007091D1 (de) | 2008-07-10 |
| CN201130603Y (zh) | 2008-10-08 |
| EP1584419A1 (en) | 2005-10-12 |
| ATE396837T1 (de) | 2008-06-15 |
| CN201111459Y (zh) | 2008-09-10 |
| EP1584419B1 (en) | 2008-05-28 |
| US20050217875A1 (en) | 2005-10-06 |
| US8347978B2 (en) | 2013-01-08 |
| CN1788940A (zh) | 2006-06-21 |
| TW200603959A (en) | 2006-02-01 |
| CN1799779A (zh) | 2006-07-12 |
| TW200607620A (en) | 2006-03-01 |
| EP1582299A1 (en) | 2005-10-05 |
| CN1788941A (zh) | 2006-06-21 |
| ATE396836T1 (de) | 2008-06-15 |
| DE602005007086D1 (de) | 2008-07-10 |
| CN201264235Y (zh) | 2009-07-01 |
| ATE394200T1 (de) | 2008-05-15 |
| CN201054324Y (zh) | 2008-04-30 |
| EP1584418B1 (en) | 2008-05-07 |
| EP1584418A1 (en) | 2005-10-12 |
| TW200607621A (en) | 2006-03-01 |
| CN201175896Y (zh) | 2009-01-07 |
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