CN-122016356-A - Recoil detection method and device for electric tool, storage medium, controller and electric tool

CN122016356ACN 122016356 ACN122016356 ACN 122016356ACN-122016356-A

Abstract

According to the recoil detection method for the electric tool, which is provided by the invention, the recoil parameter of the electric tool can be calculated according to the angular acceleration data of the tool shell of the electric tool in a preset time period and the acceleration data reflecting the decelerating operation condition of the working head of the electric tool in the preset time period, and the numerical value of the acceleration data corresponding to the decelerating operation condition of the working head is generally larger when the recoil event occurs in the electric tool, so that the recoil event of the electric tool can be determined when the recoil parameter of the electric tool reaches a first threshold value, and the recoil event of the electric tool can be detected efficiently, conveniently and accurately.

Inventors

QU GUANGYU
JIANG ZHICHEN
HUANG MINGJUN
WAN PENGBO
CHEN XIAOYAN

Assignees

博世电动工具（中国）有限公司

Dates

Publication Date: 20260512
Application Date: 20241111

Claims (15)

1. A recoil detection method for an electric tool includes a tool housing and a work head provided at one end of the tool housing, the method including: Acquiring angular acceleration data of the tool shell within a preset time period; Acquiring acceleration data for reflecting the deceleration running condition of the working head in the preset time period; Calculating a recoil parameter of the electric tool according to the angular acceleration data and the acceleration data, wherein the angular acceleration data and the acceleration data are positively correlated with the recoil parameter; And if the recoil parameter of the electric tool reaches a first threshold value, determining that the electric tool has a recoil event.
2. The method of claim 1, the acquiring angular acceleration data of the tool housing over a preset period of time, comprising: Acquiring angular velocity data of the tool housing acquired by a first sensor arranged at the other end of the tool housing in the preset time period; and determining angular acceleration data of the tool shell in the preset time period according to the angular speed data.
3. The method of claim 2, the determining angular acceleration data of the tool housing over the preset time period from the angular velocity data, comprising: calculating target angular acceleration data corresponding to the rotation of the tool shell around each preset coordinate axis in the preset time period according to the angular velocity data; and determining the maximum value of the target angular acceleration data corresponding to the rotation of the tool shell around each preset coordinate axis in the preset time period, and obtaining the angular acceleration data of the tool shell in the preset time period.
4. The method of claim 3, wherein if the working head is a rotary working head, the predetermined coordinate axes comprise at least a predetermined coordinate axis parallel to the rotation axis of the working head and a predetermined coordinate axis perpendicular to the rotation axis of the working head.
5. The method of claim 1, the acquiring acceleration data reflecting a deceleration behavior of the working head present during the preset time period, comprising: Acquiring rotating speed data of a motor for driving the working head in the preset time period from a control panel of the electric tool; Calculating the rotational speed and acceleration data of the motor in the preset time period according to the rotational speed data of the motor; If the rotational speed and acceleration data reflect that the motor is in a decelerating operation state, determining the rotational speed and acceleration data as acceleration data for reflecting the decelerating operation condition of the working head in the preset time period, or Acquiring running speed data of an output shaft of a transmission mechanism acquired by a second sensor at the electric tool in the preset time period, wherein the transmission mechanism is used for transmitting the driving force of the motor to the working head through the output shaft; calculating the running acceleration data of the output shaft in the preset time period according to the running speed data of the output shaft; And if the running acceleration data reflect that the output shaft is in a decelerating running state, determining the running acceleration data as acceleration data for reflecting the decelerating running condition of the working head in the preset time period.
6. The method of claim 1, wherein calculating a kick parameter of the power tool based on the angular acceleration data and the acceleration data comprises: calculating the weighted product of the angular acceleration data and the acceleration data to obtain the recoil parameter of the electric tool, or And calculating the weighted sum of the angular acceleration data and the acceleration data to obtain the recoil parameter of the electric tool.
7. The method of claim 6, wherein the calculating a kick parameter of the power tool based on the angular acceleration data and the acceleration data, further comprises: Determining the type of a target working condition of the electric tool according to the related operation parameters of the electric tool; Acquiring a preset angular acceleration weight and a preset acceleration weight which have preset corresponding relations with the target working condition type, wherein the preset angular acceleration weight and the preset acceleration weight are preset weights required to be used for calculating the recoil parameter.
8. The method of claim 7, wherein the target operating condition type includes any one of a mobile operating condition, a rotary operating condition, and a fixed point operating condition.
9. The method of claim 1, the determining that a kickback event has occurred with the power tool, further comprising: Judging whether the angular acceleration data reach a second threshold value and/or the acceleration data reach a third threshold value, and obtaining a judging result; the determining that a kick event has occurred in the power tool specifically includes: and if the recoil parameter of the electric tool reaches a first threshold value, and the angular acceleration data reaches a second threshold value and/or the acceleration data reaches a third threshold value, determining that a recoil event occurs to the electric tool.
10. The method of claim 1, the determining that a kick event has occurred in the power tool further comprising: If the electric tool does not have an emergency braking function, generating a first control instruction for braking the electric tool by utilizing a basic braking function at the electric tool, wherein the braking efficiency of the basic braking function is lower than that of the emergency braking function; if the electric tool has the emergency braking function, a second control command for braking the electric tool by the emergency braking function is generated.
11. The method of claim 1, the determining that a kick event has occurred in the power tool further comprising: The method comprises the steps of generating an alarm instruction aiming at the recoil event, wherein the alarm instruction is used for controlling a preset identification lamp at the electric tool to be started, and/or controlling a sound player at the electric tool to broadcast preset recoil event prompt information, and/or controlling an electronic screen at the electric tool to display the preset recoil event prompt information.
12. A recoil detection device for an electric tool, the electric tool including a tool housing and a work head provided at one end of the tool housing, the device including: the first acquisition module is used for acquiring angular acceleration data of the tool shell in a preset time period; The second acquisition module is used for acquiring acceleration data used for reflecting the deceleration running condition of the working head in the preset time period; the recoil parameter calculation module is used for calculating and obtaining a recoil parameter of the electric tool according to the angular acceleration data and the acceleration data, wherein the angular acceleration data and the acceleration data are positively correlated with the recoil parameter; And the recoil event determining module is used for determining that the recoil event occurs to the electric tool if the recoil parameter of the electric tool reaches a first threshold value.
13. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of claims 1 to 11.
14. A controller comprising a processor and a memory, wherein the memory stores computer readable instructions adapted to be loaded by the processor and to perform the steps of the method according to any of claims 1-11.
15. A power tool comprising a tool housing, a working head disposed at one end of the tool housing, and a recoil detection device according to claim 12 or a controller according to claim 14.

Description

Recoil detection method and device for electric tool, storage medium, controller and electric tool Technical Field The present invention relates to the field of power tools, and in particular, to a method and apparatus for detecting backlash of a power tool, a storage medium, a controller, and a power tool. Background Along with the continuous promotion of the state of technology and the living standard of people, the variety and sales number of electric tools on the market are also continuously increased, and the requirements of users on the safety of the electric tools in the use process are also continuously improved. When the electric tool generates a recoil phenomenon (Kickback), the working parts of the electric tool can be subjected to a reaction force due to the clamping stagnation condition which is suddenly generated, so that the electric tool is rebounded and deviated from the original working center, the workpiece and the electric tool are easily damaged, personal injury is easily brought to an operator, and therefore, the recoil event existing at the electric tool needs to be timely and accurately identified. Disclosure of Invention Based on the above, the invention provides a recoil detection method and device for an electric tool, a storage medium, a controller and the electric tool, and by adopting the recoil detection method for the electric tool, the recoil event occurring at the electric tool can be detected efficiently, conveniently and accurately. In one aspect, the present invention provides a recoil detection method for a power tool, the method comprising: Acquiring angular acceleration data of the tool shell within a preset time period; Acquiring acceleration data for reflecting the deceleration running condition of the working head in the preset time period; Calculating a recoil parameter of the electric tool according to the angular acceleration data and the acceleration data, wherein the angular acceleration data and the acceleration data are positively correlated with the recoil parameter; And if the recoil parameter of the electric tool reaches a first threshold value, determining that the electric tool has a recoil event. Further, in some embodiments, the acquiring angular acceleration data of the tool housing over a preset period of time includes: Acquiring angular velocity data of the tool housing acquired by a first sensor arranged at the other end of the tool housing in the preset time period; and determining angular acceleration data of the tool shell in the preset time period according to the angular speed data. Further, in some embodiments, the determining angular acceleration data of the tool housing over the preset time period according to the angular velocity data includes: calculating target angular acceleration data corresponding to the rotation of the tool shell around each preset coordinate axis in the preset time period according to the angular velocity data; and determining the maximum value of the target angular acceleration data corresponding to the rotation of the tool shell around each preset coordinate axis in the preset time period, and obtaining the angular acceleration data of the tool shell in the preset time period. Further, in some embodiments, if the working head is a rotary working head, the preset coordinate axes include at least a preset coordinate axis parallel to the rotation axis of the working head and a preset coordinate axis perpendicular to the rotation axis of the working head. Further, in some embodiments, the acquiring acceleration data for reflecting a deceleration running condition of the working head existing in the preset time period includes: Acquiring rotating speed data of a motor for driving the working head in the preset time period from a control panel of the electric tool; Calculating the rotational speed and acceleration data of the motor in the preset time period according to the rotational speed data of the motor; If the rotational speed and acceleration data reflect that the motor is in a decelerating operation state, determining the rotational speed and acceleration data as acceleration data for reflecting the decelerating operation condition of the working head in the preset time period, or Acquiring running speed data of an output shaft of a transmission mechanism acquired by a second sensor at the electric tool in the preset time period, wherein the transmission mechanism is used for transmitting the driving force of the motor to the working head through the output shaft; calculating the running acceleration data of the output shaft in the preset time period according to the running speed data of the output shaft; And if the running acceleration data reflect that the output shaft is in a decelerating running state, determining the running acceleration data as acceleration data for reflecting the decelerating running condition of the working head in the preset time period. Further, in some embodiments, the calculating t