CN116058188B - Method for calibrating cutter head position, electric tool and computer readable medium - Google Patents
Method for calibrating cutter head position, electric tool and computer readable medium Download PDFInfo
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- CN116058188B CN116058188B CN202310080012.9A CN202310080012A CN116058188B CN 116058188 B CN116058188 B CN 116058188B CN 202310080012 A CN202310080012 A CN 202310080012A CN 116058188 B CN116058188 B CN 116058188B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000002159 abnormal effect Effects 0.000 claims abstract description 38
- 238000005070 sampling Methods 0.000 claims abstract description 12
- 238000004590 computer program Methods 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 2
- 238000013138 pruning Methods 0.000 description 64
- 230000006870 function Effects 0.000 description 14
- 230000006872 improvement Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 3
- 241000135164 Timea Species 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/02—Secateurs; Flower or fruit shears
- A01G3/033—Secateurs; Flower or fruit shears having motor-driven blades
- A01G3/037—Secateurs; Flower or fruit shears having motor-driven blades the driving means being an electric motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Details Of Cutting Devices (AREA)
- Scissors And Nippers (AREA)
Abstract
The invention relates to a method for calibrating the position of a tool bit, a power tool and a computer readable medium, wherein the method for calibrating the closing position of the tool bit comprises the following steps: s1: the sampling module acquires the occurrence times of three-phase back electromotive force and marks the occurrence times as S; s2: MC records the first rotating circle number N 1 of the motor when the cutter head is opened to the maximum position from closing; s3: closing the cutter head again, calculating the number of turns in real time from the beginning of closing, recording as a second rotation number N 2 of the motor, and stopping the rotation of the motor when N 2＝N1 multiplied by 98%; s4: and (3) confirming whether a closing abnormal phenomenon exists or not, if the closing abnormal phenomenon does not exist, automatically storing the second rotation number N 2 of the motor, and controlling the motor to stop rotating according to the second rotation number N 2 of the motor when the cutter head is closed. According to the scheme for calibrating the position of the cutter head, repeated calibration is not needed in use, potential safety hazards caused by factors such as the position of the Hall element in factory delivery can be avoided, simplicity and convenience are realized, and excellent operation experience is provided for users.
Description
[ Field of technology ]
The present invention relates to the field of power tools, and more particularly, to a method for calibrating a tool bit position, a power tool, and a computer readable medium.
[ Background Art ]
In the electric pruning shears, a magnet is embedded in a movable cutter head of the pruning shears, a Hall element on a controller detects a magnet on the movable cutter head, the magnet is closer to the Hall element in the closing process of the movable cutter head, and when the Hall element detects a magnet signal on the movable cutter head, a brushless motor is controlled to stop, and at the moment, the movable cutter head and a fixed cutter head are closed. However, the hall element and the embedded magnet have certain errors in characteristics, and certain errors exist in the installation position in the installation and production process, and other interference factors exist, so that the hall element is detected in advance, and the movable cutter head and the fixed cutter head are excessively closed. The situation of excessive closing often leads the knife tip part of the actuating knife head to exceed the edge of the fixed knife head, and the situation easily leads an operator to be accidentally injured by the knife tip in the carrying process, so that great potential safety hazards exist.
Please refer to the chinese patent No. CN208133022U, published in 2018, 11, 23, which discloses a counting unit for recording the movement value of the connection portion; and the control unit is used for controlling the driving unit to stop when the movement value is larger than a preset threshold value and the sensing unit does not feed back the sensing information. As described above, the above-described utility model does not rely solely on the movement of the connection portion to control the stop of the drive unit, but still requires the hall element, and the above-described operation can only reduce the safety problem caused by damage, and cannot completely solve the potential safety hazard caused by the inability of the sensor to detect the hall element.
Therefore, there is a need to devise a method of calibrating the position of a tool bit to solve the above-mentioned problems.
[ Invention ]
Aiming at the defects of the prior art, the invention aims to provide a method for calibrating the position of a cutter head, which solves the problem of excessive closing of the electric pruning shears head.
The invention solves the problems in the prior art by adopting the following technical scheme: a method of calibrating a bit position, the method comprising the steps of:
s1, the sampling module collects the occurrence frequency of three-phase back electromotive force and records the occurrence frequency as ；
S2, the MCU records the first rotating circle number of the motor when the cutter head is opened to the maximum position from closing；
S3, closing the cutter head again, calculating the number of turns in real time from the beginning of closing, and recording the number of turns as the second rotation number of the motorWhen (when)When the motor stops rotating;
S4, confirming whether a closing abnormal phenomenon exists or not, and if the closing abnormal phenomenon does not exist, automatically storing the second rotation turns of the motor Pressing the second rotation circle number of the motor when the cutter head is closedAnd controlling the motor to stop rotating.
Wherein the first number of turns of the motorSecond rotation turns of motorWith the occurrence of three-phase back EMFRelated to the following.
The further improvement scheme is as follows: the rotation turns of the motorThe relation with the occurrence number S of the three-phase back electromotive force is as follows: ; wherein the motor rotates for a number of turns At least comprises a first rotation circle numberSecond rotation turns of motor。
The further improvement scheme is as follows: the method for calibrating the closing position of the cutter head further comprises S5, if the abnormal closing phenomenon exists, according to the following stepsValue determination new。
The further improvement scheme is as follows: the maximum number of repeated operations is 3.
In order to solve the above problems, the present invention also provides a power tool including: the system comprises a sampling module and an MCU, wherein the MCU comprises a recording module and a calculating module; the sampling module is used for collecting the occurrence times of three-phase back electromotive force and recording the occurrence times as; The recording module is used for recording the first rotating circle number of the motorAnd a second number of turns of the motor; The computer module is used for processing the data of the data, for taking into account the number of occurrences of three-phase back emfCalculating the rotation number of the motorWherein, the motor rotates the number of turnsAt least comprises a first rotation circle numberSecond rotation turns of motor; And the switch module is used for triggering the tool bit calibration mode.
The further improvement scheme is as follows: the rotation turns of the motorWith the occurrence times of the three-phase back electromotive forceThe relation of (2) is that: ; Wherein, the motor turns roundAt least comprises a first rotation circle numberSecond rotation turns of motor。
The further improvement scheme is as follows: the calculation module is also used for calculating the stop turns of the second rotation turns of the motor, namelyAnd the motor stops rotating.
The further improvement scheme is as follows: the maximum number of repeated operations is 3.
In order to solve the above problems, the present invention provides a power tool, including a memory, and a processor, where the memory stores a computer program that can be executed by the processor, and the processor implements the method when executing the computer program.
To solve the above problems, the present invention provides a computer-readable medium having a non-volatile program code executable by a processor, the program code causing the processor to execute the method.
Compared with the prior art, the invention has the following beneficial effects: the invention can completely control the closing position of the cutter head without depending on the Hall element and only depending on software, thereby fundamentally solving the problem of excessive closing of the movable cutter head, and the invention provides excellent operation experience aiming at the electric pruning shears with excessive closing of the cutter head when leaving the factory, and the electric pruning shears only need to be calibrated when leaving the factory, and do not need to be repeatedly calibrated when a user uses the electric pruning shears, thereby avoiding potential safety hazards caused by factors such as the position of the Hall element when leaving the factory, being simple and convenient, and not needing to be repeatedly calibrated when in use.
[ Description of the drawings ]
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings:
FIG. 1 is a schematic view 1 of the structure of the blade of the electric pruning shears according to the present invention in a normally closed state;
FIG. 2 is a schematic view 2 of the structure of the blade of the electric pruning shears according to the present invention in a normally closed state;
FIG. 3 is a schematic view of the structure of the blade of the electric pruning shears according to the present invention in an over-closing state;
FIG. 4 is a functional block diagram of a preferred embodiment of the present invention;
FIG. 5 is a block diagram of a preferred embodiment of the present invention;
FIG. 6 is a flow chart of a preferred embodiment of the present invention;
Meaning of reference numerals in the drawings:
100. The electric pruning shear comprises an electric pruning shear body, 110 parts of movable tool bit, 120 parts of fixed tool bit, 130 parts of switch key, 140 parts of gear switching key, 1 part of power module, 2 parts of sampling module, 3 parts of MCU, 4 parts of brushless motor driving module, 5 parts of motor, 6 parts of calculating module, 7 parts of recording module and 8 parts of switch module
[ Detailed description ] of the invention
The invention will be described in further detail with reference to the drawings and embodiments.
The method for calibrating the closing position of the cutter head is applicable to intelligent equipment such as electric tools/electric equipment, wherein the electric tools/electric equipment can be garden tools, scissors tools or other automatic equipment with the cutter head closing function; it is within the scope of the present invention that the above described apparatus/tools be able to employ the essence of the technical solutions disclosed below.
Referring to fig. 1 to 3, the embodiment provides an electric pruning shear, which at least comprises a shear head arranged at the front end of a body, wherein the shear head comprises a fixed shear head and a movable shear head, and the electric pruning shear at least further comprises two switch assemblies, namely a switch key and a gear switching key. As shown in fig. 1 and 2, the electric pruning shears according to the present invention have a structure in which the fixed blade and the movable blade are in an anastomotic state, and the cutting edge of the movable blade is located within the boundary line of the fixed blade; from both view angles, the knife tip and the outer edge line of the movable knife head are arranged in the surrounding of the fixed knife head, and no knife tip exceeds the edge line of the fixed knife head. As shown in fig. 3, the electric pruning shears according to the present invention has a schematic structure in a closed transition state, and at this time, the tip of the movable blade exceeds the end of the fixed blade, so that the tip of the movable blade is exposed, and the operator is easily scratched during the carrying process of the operator, and there is a serious safety hazard. For the pruning shears with excessive cutter head closing shown in fig. 3, the cutter head position needs to be calibrated when leaving the factory, namely, the switch key and the gear switching key are simultaneously pressed by two hands for three seconds, so that the function of calibrating the cutter head closing position can be achieved, and a buzzer (not shown in the figure) sounds for three seconds to serve as a reminding operator, so that the electric pruning shears enter the cutter head position calibration mode. At the moment, the switch key and the gear switching key are released, the movable cutter head starts to be opened until the movable cutter head is opened to the maximum position, the MCU records the first rotating circle number of the motor. Motor rotation number of turnsCounter electromotive force occurrence numberIn a related aspect, the number of turns of the motor can be calculated more conveniently, rapidly and accurately by recording the number of times of occurrence of the counter electromotive force, so that the number of turns of the motor can be in a real-time monitoring state, namely, the number of times of occurrence of the counter electromotive force is detected and recorded by the MCU, so that the number of turns of the motor is calculated, and once the MCU detects 6 counter electromotive forces, the number of turns of the motor is recorded, namely, the counter electromotive force S and the number of turns of the motor are recordedThe corresponding relation of (2) is: ; wherein, the motor turns round At least comprises a first rotation circle numberSecond rotation turns of motor. Then closing the cutter head, starting to calculate the rotation number of the motor in real time at the maximum opening position of the driven cutter head, and recording the rotation number as the second rotation number of the motorWhen (when)And the motor stops rotating. Wherein the first number of turns of the motorSecond rotation turns of motorRelated to the number S of occurrences of three-phase back emf. At the moment, whether the cutter head of the electric pruning shears is abnormal in closing is confirmed, if not, the second rotation turns of the motor are automatically stored in the MCUWhen in use, a user can record the second rotation number of the motor according to the MCUTo control the motor to stop rotating, instead of controlling the motor to stop by detecting the position of the hall element. However, if the electric pruning shears still have abnormal closing phenomenon, the operation is repeated, the switch key and the gear switching key are pressed for three seconds at the same time, the function of calibrating the closing position of the pruning shears is entered again, and a buzzer (not shown in the figure) sounds for three seconds as a warning operator, so that the electric pruning shears enter the tool bit position calibration mode. At the moment, the switch key and the gear switching key are released, the movable cutter head starts to be opened until the movable cutter head is opened to the maximum position, and the MCU determines the third rotation number of turns of the lower motorAt this timeIs equal to the second rotation number recorded by the last operation. Then closing the cutter head, calculating the rotation number of the motor in real time from the maximum opening position of the cutter head, and recording the rotation number as the fourth rotation number of the motorWhen (when)And the motor stops rotating. At the moment, whether the cutter head of the electric pruning shears is abnormal in closing is confirmed again, if the cutter head of the electric pruning shears is abnormal in closing, the maximum rotation number of the motor is automatically stored in the MCUWhen in use, a user can record the maximum rotation number of the motor according to the MCUTo control the motor to stop rotating, instead of controlling the motor to stop by detecting the position of the hall element. If the cutter head of the electric pruning shears still has the abnormal closing phenomenon, the operation is continuously repeated, and meanwhile, the switch key and the gear switching key are pressed for three seconds, and the function of calibrating the closing position of the cutter head is performed again. The maximum value of the number of repeated operations is 3, namely the maximum compensation turns of the motor is 6%, and if the repeated operations are three times, the problem of abnormal closing of the electric pruning shear head still cannot be solved, the problem of the controller is solved, for example, the problem of the Hall element occurs, and the Hall element needs to be replaced. Through the method for calibrating the closing position of the tool bit, namely through the method for compensating the rotation number of the motor, the problem of abnormal closing of the tool bit of the electric pruning shears can be effectively solved, the problem that the tool tip of the tool bit is beyond the end part of the fixed tool bit when a user carries the pruning shears is avoided, the user is scratched, the potential safety hazard when the user carries the pruning shears is fundamentally solved, and the user experience is improved.
Referring to fig. 4, a schematic block diagram of a preferred embodiment of the present invention is shown. In the present embodiment, the electric tool includes, but is not limited to, a power module 1, a sampling module 2, an MCU3, a brushless motor driving module 4, a motor 5, and a switching module 8. Power supply modules, i.e.The LDO voltage-stabilizing power supply is used for supplying power to the MCU;、、、、、 forming a voltage dividing circuit to sample three-phase back electromotive force, wherein 、The voltage dividing circuit is formed to collect the back electromotive force of the U phase,、The voltage dividing circuit is formed to collect the back electromotive force of the V phase,、A voltage dividing circuit is formed to collect W-phase counter electromotive force; the switch assembly comprises a switch key and a gear switching key, the Hall plate is a trigger sensor and can transmit signals to the MCU, the MCU judges the state of the cutter head and the state of the switch according to the detected signals, when the MCU detects an OPEN signal, the cutter head is opened to the maximum position, when the MCU detects a CLOSE signal, the cutter head is closed in place, when the MCU detects an ON signal, the switch is opened, and when the MCU detects an OFF signal, the switch is closed. When the cutter head is calibrated to be at the closed position, the switch key and the gear switching key of the switch module are pressed by two hands for three seconds, the MCU receives signals transmitted by the Hall plate, the cutter head can enter the function of calibrating the closed position of the cutter head, a buzzer (not shown in the figure) sounds for three seconds to remind an operator, and at the moment, the electric pruning shears enter the cutter head position calibration mode. At the moment, the switch key and the gear switching key are released, the movable cutter head starts to be opened until the movable cutter head is opened to the maximum position, the MCU records the first rotating circle number of the motor. Motor rotation numberAnd the counter electromotive force occurrence numberIn a related aspect, the number of turns of the motor can be calculated more conveniently, rapidly and accurately by recording the number of times of occurrence of the counter electromotive force, so that the number of turns of the motor can be in a real-time monitoring state, namely, the number of times of occurrence of the counter electromotive force is detected and recorded by the MCU, so that the number of turns of the motor is calculated, and the number of times of occurrence of the counter electromotive force is recorded when the MCU detects 6 times of counter electromotive force, namely, the number of times of occurrence of the counter electromotive force is recorded when the motor rotates one timeAnd the number of turns of the motorThe corresponding relation of (2) is: ; wherein, the motor turns round At least comprises a first rotation circle numberSecond rotation turns of motor. Then closing the cutter head, calculating the rotation number of the motor in real time from the maximum opening position of the cutter head, and recording the rotation number as the second rotation number of the motorWhen (when)And the motor stops rotating. Wherein the first number of turns of the motorSecond rotation turns of motorRelated to the number S of occurrences of three-phase back emf. At the moment, whether the cutter head of the electric pruning shears is abnormal in closing is confirmed, if not, the second rotation turns of the motor are automatically stored in the MCUWhen in use, a user can record the second rotation number of the motor according to the MCUTo control the motor to stop rotating, instead of controlling the motor to stop by detecting the position of the hall element. However, if the electric pruning shears still have abnormal closing phenomenon, the operation is repeated, the switch key and the gear switching key are pressed for three seconds at the same time, the function of calibrating the closing position of the pruning shears is entered again, and a buzzer (not shown in the figure) sounds for three seconds as a warning operator, so that the electric pruning shears enter the tool bit position calibration mode. At the moment, the switch key and the gear switching key are released, the movable cutter head starts to be opened until the movable cutter head is opened to the maximum position, and the MCU determines the third rotation number of turns of the motorAt this timeEqual to the second number of turns of the motor recorded during the last operation. Then closing the cutter head, calculating the rotation number of the motor in real time from the maximum opening position of the cutter head, and recording the rotation number as the fourth rotation number of the motorWhen (when)And the motor stops rotating. At the moment, whether the cutter head of the electric pruning shears is abnormal in closing is confirmed again, if the cutter head of the electric pruning shears is abnormal in closing, the fourth rotation number of the motor is automatically stored in the MCUWhen in use, a user can record the fourth rotation number of the motor according to the MCUTo control the motor to stop rotating, instead of controlling the motor to stop by detecting the position of the hall element. If the cutter head of the electric pruning shears still has the abnormal closing phenomenon, the operation is continuously repeated, and meanwhile, the switch key and the gear switching key are pressed for three seconds, and the function of calibrating the closing position of the cutter head is performed again. The maximum value of the number of repeated operations is 3, namely the maximum compensation turns of the motor is 6%, and if the repeated operations are three times, the problem of abnormal closing of the electric pruning shear head still cannot be solved, the problem of the controller is solved, for example, the problem of the Hall element occurs, and the Hall element needs to be replaced. Through the method for calibrating the closing position of the tool bit, namely through the method for compensating the rotation number of the motor, the problem of abnormal closing of the tool bit of the electric pruning shears can be effectively solved, the problem that the tool tip of the tool bit is beyond the end part of the fixed tool bit when a user carries the pruning shears is avoided, the user is scratched, the potential safety hazard when the user carries the pruning shears is fundamentally solved, and the user experience is improved.
Referring to fig. 5, a block diagram of a preferred embodiment of the present invention is shown, the switch module is electrically connected to the power module, the power module is electrically connected to the sampling module, the MCU includes a calculation module and a recording module, and the motor driving module is electrically connected to the motor and the MCU. The sampling module is used for collecting the occurrence times of three-phase back electromotive force and recording the occurrence times as; The recording module is used for recording the first rotating circle number of the motorAnd a second number of turns of the motor; The computer module is used for processing the data of the data, for taking into account the number of occurrences of three-phase back emfCalculating the number of turns of the motor and calculating the second number of turns of the motorThe number of stop turns, i.eWhen the motor stops rotating; the switch module is used for triggering the tool bit calibration mode, and the power supply module is used for providing power. When the tool bit is calibrated to be at the closed position, the switch key and the gear switching key are simultaneously pressed by two hands for three seconds, so that the function of calibrating the closed position of the tool bit can be achieved, a buzzer (not shown in the figure) sounds for three seconds to serve as a reminder for an operator, and at the moment, the electric pruning shears enter the tool bit position calibration mode. At the moment, the switch key and the gear switching key are released, the movable cutter head starts to be opened until the movable cutter head is opened to the maximum position, the MCU records the first rotating circle number of the motor. Number of turns of motor and number of occurrences of counter electromotive forceIn a related aspect, the number of turns of the motor can be calculated more conveniently, rapidly and accurately by recording the number of times of occurrence of the counter electromotive force, so that the number of turns of the motor can be in a real-time monitoring state, namely, the MCU detects and records the number of times of occurrence of the counter electromotive force, so that the number of turns of the motor is calculated, and the recording module records the number of times of occurrence of the counter electromotive force when the detection module detects 6 times of counter electromotive force, namely, the recording module records the number of times of rotation of the motorAnd the number of turns of the motorThe corresponding relation of (2) is: ; wherein, the motor turns round At least comprises a first rotation circle numberSecond rotation turns of motor. Then closing the cutter head, calculating the rotation number of the motor in real time from the maximum opening position of the cutter head, and recording the rotation number as the second rotation number of the motorWhen (when)And the motor stops rotating. Wherein the first number of turns of the motorSecond rotation turns of motorRelated to the number S of occurrences of three-phase back emf. At the moment, whether the cutter head of the electric pruning shears is abnormal in closing or not is confirmed, and if the cutter head of the electric pruning shears is abnormal in closing, the second rotation turns of the motor are automatically savedWhen in use, a user can record the second rotation number of the motor according to the recording moduleTo control the motor to stop rotating, instead of controlling the motor to stop by detecting the position of the hall element. However, if the electric pruning shears still have abnormal closing phenomenon, the operation is repeated, the switch key and the gear switching key are pressed for three seconds at the same time, the function of calibrating the closing position of the pruning shears is entered again, and a buzzer (not shown in the figure) sounds for three seconds as a warning operator, so that the electric pruning shears enter the tool bit position calibration mode. At the moment, the switch key and the gear switching key are released, the movable cutter head starts to be opened until the movable cutter head is opened to the maximum position, and the recording module determines the third rotation number of the motorAt this timeA second rotation number equal to the last operation record of the motor. Then closing the cutter head, calculating the rotation number of the motor in real time from the maximum opening position of the cutter head, and recording the rotation number as the fourth rotation number of the motorWhen (when)And the motor stops rotating. At the moment, whether the cutter head of the electric pruning shears has abnormal closing phenomenon is confirmed again, if not, the fourth rotation number of the motor is automatically saved in the recording moduleWhen in use, a user can use the motor according to the fourth rotation number of the motor recorded in the recording moduleTo control the motor to stop rotating, instead of controlling the motor to stop by detecting the position of the hall element. If the cutter head of the electric pruning shears still has the abnormal closing phenomenon, the operation is continuously repeated, and meanwhile, the switch key and the gear switching key are pressed for three seconds, and the function of calibrating the closing position of the cutter head is performed again. The maximum value of the number of repeated operations is 3, namely the maximum compensation turns of the motor is 6%, and if the repeated operations are three times, the problem of abnormal closing of the electric pruning shear head still cannot be solved, the problem of the controller is solved, for example, the problem of the Hall element occurs, and the Hall element needs to be replaced. Through the method for calibrating the closing position of the tool bit, namely the method for compensating the rotation number of the motor, the problem of abnormal tool bit closing of the electric pruning shears can be effectively solved, the problem that the tool tip of the tool bit exceeds the end part of the fixed tool bit when a user carries the electric pruning shears is avoided, the user is scratched, the potential safety hazard when the user carries the electric pruning shears is fundamentally solved, and the user experience is improved.
Referring to fig. 6, a flow chart of a preferred embodiment of the present invention is shown.
S1, a sampling module collects the occurrence times of three-phase back electromotive force and marks the occurrence times as S;
S2, the MCU records the first rotating circle number of the motor when the cutter head is opened to the maximum position from closing ；
S3: the number of turns of the reclosing tool bit is calculated in real time from the beginning of closing, and is recorded as the second number of turns of the motorWhen (when)When the motor stops rotating;
S4, confirming whether a closing abnormal phenomenon exists or not, and if the closing abnormal phenomenon does not exist, automatically storing the second rotation turns of the motor ;
S5, if the operation exists, repeating the operations of S1-S4.
Wherein the first number of turns of the motorSecond rotation turns of motorRelated to the number S of occurrences of three-phase back emf.
When the tool bit is calibrated to be at the closed position, the switch key and the gear switching key are simultaneously pressed by two hands for three seconds, so that the function of calibrating the closed position of the tool bit can be achieved, a buzzer (not shown in the figure) sounds for three seconds to serve as a reminder for an operator, and at the moment, the electric pruning shears enter the tool bit position calibration mode. At the moment, the switch key and the gear switching key are released, the movable cutter head starts to be opened until the movable cutter head is opened to the maximum position, the MCU records the first rotating circle number of the motor. The number of turns of motor rotation is related with the number of times of counter electromotive force appearance, through the number of times of counter electromotive force appearance of record, can be more convenient, swift, accurate calculate the number of turns of motor rotation, make the number of turns of motor rotation be in real time monitoring state, namely MCU is through detecting and recording the number of times that counter electromotive force appears, with this number of turns of motor rotation calculated, MCU detects 6 times counter electromotive force, record motor rotation round, counter electromotive force S and motor rotation number of turns promptlyThe corresponding relation of (2) is: ; wherein, the motor turns round At least comprises a first rotation circle numberSecond rotation turns of motor. Then closing the cutter head, calculating the rotation number of the motor in real time from the maximum opening position of the cutter head, and recording the rotation number as the second rotation number of the motorWhen (when)And the motor stops rotating. At the moment, whether the cutter head of the electric pruning shears is abnormal in closing is confirmed, if not, the second rotation turns of the motor are automatically stored in the MCUWhen in use, a user can record the second rotation number of the motor according to the MCUTo control the motor to stop rotating, instead of controlling the motor to stop by detecting the position of the hall element. However, if the electric pruning shears still have abnormal closing phenomenon, the operation is repeated, the switch key and the gear switching key are pressed for three seconds at the same time, the function of calibrating the closing position of the pruning shears is entered again, and a buzzer (not shown in the figure) sounds for three seconds as a warning operator, so that the electric pruning shears enter the tool bit position calibration mode. At the moment, the switch key and the gear switching key are released, the movable cutter head starts to be opened until the movable cutter head is opened to the maximum position, and the MCU determines the third rotation number of turns of the motorAt this timeA second number of turns equal to the last operated motor. Then closing the cutter head, calculating the rotation number of the motor in real time from the maximum opening position of the cutter head, and recording the rotation number as the fourth rotation number of the motorWhen (when)And the motor stops rotating. At the moment, whether the cutter head of the electric pruning shears is abnormal in closing is confirmed again, if the cutter head of the electric pruning shears is abnormal in closing, the fourth rotation number of the motor is automatically stored in the MCUWhen in use, a user can record the fourth rotation number of the motor according to the MCUTo control the motor to stop rotating, instead of controlling the motor to stop by detecting the position of the hall element. If the cutter head of the electric pruning shears still has the abnormal closing phenomenon, the machine continues to repeat the operation, simultaneously presses the switch key and the gear switching key for three seconds, and enters the function of calibrating the closing position of the cutter head again. The maximum value of the number of repeated operations is 3, namely the maximum compensation turns of the motor is 6%, and if the repeated operations are three times, the problem of abnormal closing of the electric pruning shear head still cannot be solved, the problem of the controller is solved, for example, the problem of the Hall element occurs, and the Hall element needs to be replaced. Through the method for calibrating the closing position of the tool bit, namely through the method for compensating the rotation number of the motor, the problem of abnormal closing of the tool bit of the electric pruning shears can be effectively solved, the problem that the tool tip of the tool bit is beyond the end part of the fixed tool bit when a user carries the pruning shears is avoided, the user is scratched, the potential safety hazard when the user carries the pruning shears is fundamentally solved, and the user experience is improved.
The invention also provides a power tool, which comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor is used for executing the computer program to realize the method for calibrating the position of the tool bit.
The invention also provides a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of calibrating bit position.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the electric tool described above may refer to the corresponding process in the foregoing method implementation column, which is not described herein in detail.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are merely illustrative embodiments of the present invention, and not restrictive, and the scope of the invention is not limited thereto, although the invention has been described in detail with reference to the above embodiments, it will be understood by those skilled in the art that any modification or variation of the technical solutions described in the above embodiments or equivalent substitution of some technical features thereof may be easily contemplated by those skilled in the art within the scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A method of calibrating the position of a tool tip, comprising: the method for calibrating the closing position of the cutter head comprises the following steps:
s1, the sampling module collects the occurrence frequency of three-phase back electromotive force and records the occurrence frequency as ；
S2, the MCU records the first rotating circle number of the motor when the cutter head is opened to the maximum position from closing；
S3, closing the cutter head again, calculating the number of turns in real time from the beginning of closing, and recording the number of turns as the second rotation number of the motorWhen (when)When the motor stops rotating;
S4, confirming whether a closing abnormal phenomenon exists or not, and if the closing abnormal phenomenon does not exist, automatically storing the second rotation turns of the motor Pressing the second rotation circle number of the motor when the cutter head is closedControlling the motor to stop rotating; if yes, repeating the steps S1-S4, wherein the maximum number of repetition times is 3;
Wherein the first number of turns of the motor Second rotation turns of motorRelated to the number of occurrences S of three-phase back EMF, the number of turns of the motorWith the occurrence number of the three-phase back electromotive forceThe relation between the two is: Wherein, the motor rotates the number of turns At least comprises a first rotation circle numberA second number of turnsThe saidAnd said at least one ofThe relation of (2) is:。
2. the method of calibrating a closed position of a cutter head of claim 1, wherein: the method for calibrating the closing position of the cutter head further comprises S5, if the abnormal closing phenomenon exists, according to the following steps Value determination new。
3. An electric tool, characterized in that: the electric tool includes: the system comprises a sampling module and an MCU, wherein the MCU comprises a recording module and a calculating module; the sampling module is used for collecting the occurrence times of three-phase back electromotive force and recording the occurrence times as; The recording module is used for recording the first rotating circle number of the motorAnd a second number of turns of the motor; The computer module is used for processing the data of the data, for taking into account the number of occurrences of three-phase back emfCalculating the rotation number of the motorWherein, the motor rotates the number of turnsAt least comprises a first rotation circle numberSecond rotation turns of motor; The switch module is used for triggering a tool bit calibration mode; wherein the relation between the number of motor rotation turns N and the number of times S of occurrence of the three-phase back electromotive force isThe calculating module is also used for calculating a second rotation circle number of the motorThe number of stop turns, i.eAnd the motor stops rotating.
4. A power tool according to claim 3, wherein: the maximum number of repeated operations was 3.
5. A power tool comprising a memory, a processor, the memory having stored thereon a computer program executable on the processor, characterized by: the processor, when executing the computer program, implements the method of any of the preceding claims 1-2.
6. A computer readable medium having non-volatile program code executable by a processor, characterized by: the program code causes the processor to perform the method of any of claims 1-2.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113475258A (en) * | 2021-07-21 | 2021-10-08 | 濮阳市林业科学院 | Walnut tree pruning device and method |
| CN216820803U (en) * | 2021-10-30 | 2022-06-28 | 江苏东成工具科技有限公司 | Electric tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7845082B2 (en) * | 2004-04-30 | 2010-12-07 | Ames True Temper, Inc. | Universal hand pruner with extendible handles |
| JP5741252B2 (en) * | 2011-06-28 | 2015-07-01 | マックス株式会社 | Electric scissors |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113475258A (en) * | 2021-07-21 | 2021-10-08 | 濮阳市林业科学院 | Walnut tree pruning device and method |
| CN216820803U (en) * | 2021-10-30 | 2022-06-28 | 江苏东成工具科技有限公司 | Electric tool |
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