Granted Patent B2

US 12,491,593 · App. 18/428,272 · Granted Dec 9, 2025

Inventors: Gareth Mueckl (Milwaukee, WI); Zachary G. Stanke (Wausau, WI); Jeremy R. Ebner (East Troy, WI); Timothy R. Obermann (Waukesha, WI); Ryan B. Jipp (Brookfield, WI)

Assignee: Milwaukee Electric Tool Corporation

B23Q5/043B23B31/12B23Q3/155B25B23/147B25F5/00B23B2231/06B23B2231/38B23B2260/128Y10S279/90Y10T279/21

Abstract

Claims (82)

1 . A power tool comprising:

a housing;

a bit receiving portion provided on the housing;

a motor within the housing configured to rotate the bit receiving portion; and

a controller coupled to the motor, the controller configured to:

enter an electronic spindle lock mode for controlling the motor to engage or disengage the bit receiving portion with a tool bit, and

activate a spindle lock control loop in response to entering the electronic spindle lock mode, the spindle lock control loop including:

detect a positional quantity of the motor in a first direction,

determine that the positional quantity is different from an expected positional quantity of the motor, and

control the motor to generate a torque in a second direction, the torque maintains a rotational position of the motor, in response to determining that the positional quantity is different from the expected positional quantity of the motor.

2 . The power tool of claim 1 , wherein the controller is further configured to:

determine that the power tool is stopped;

activate the spindle lock control loop in response to determining that the power tool is stopped;

detect, using one or more sensors, movement of the power tool a delay time after activating the spindle lock control loop; and

enter a sleep mode when no movement of the power tool is detected after the delay time.

3 . The power tool of claim 2 , wherein determining the positional quantity is different from the expected positional quantity of the motor, the controller is further configured to:

determine an expected rotor position of a rotor of the motor, wherein the positional quantity includes an actual position of the rotor,

determine a position error for the motor based on a difference between the expected position of the rotor and the actual position of the rotor,

determine an actual velocity of the rotor of the motor,

determine an expected velocity of the rotor of the motor, and

determine a velocity error for the motor based on a difference between the expected velocity of the rotor and the actual velocity of the rotor.

4 . The power tool of claim 2 , wherein the controller is further configured to:

determine that a wake-up signal is received when in the sleep mode;

perform normal motor operation when the wake-up signal is received from a trigger; and

activate the spindle lock control loop when the wake-up signal is received from the one or more sensors, wherein normal motor operation includes controlling the motor according to trigger pull of the trigger.

5 . The power tool of claim 3 wherein the controller is further configured to:

determine an expected current of the motor based on the difference between the expected velocity of the rotor and the actual velocity of the rotor,

determine an amount of actual current of the motor, and

determine a current error for the motor based on a difference between the expected current of the motor and the amount of actual current of the motor.

6 . The power tool of claim 5 , wherein controlling the motor to rotate in the second direction in response to determining that the positional quantity is different from the expected positional quantity of the motor, the controller is further configured to:

generate a pulse-width modulated (PWM) signal based on the current error for the motor, and

control rotation of the motor based on the PWM signal.

7 . The power tool of claim 1 , further comprising an electronic spindle lock button, wherein the controller is further configured to:

enter the electronic spindle lock mode when the electronic spindle lock button is actuated.

8 . The power tool of claim 1 , wherein the controller is further configured to enforce a maximum time limit for the electronic spindle lock mode such that the spindle lock control loop is deactivated after the maximum time limit.

9 . A method for operating an electronic spindle lock of a power tool including a motor configured to rotate a bit receiving portion, the method comprising:

entering, using a controller of the power tool, an electronic spindle lock mode for controlling the motor to engage or disengage the bit receiving portion with a tool bit; and

activating, using the controller, a spindle lock control loop in response to entering the electronic spindle lock mode, the spindle lock control loop including:

detect a positional quantity of the motor in a first direction,

determining that the positional quantity is different from an expected positional quantity of the motor, and

controlling the motor to generate a torque in a second direction, the torque maintains a rotational position of the motor, in response to determining that the positional quantity is different from the expected positional quantity of the motor.

10 . The method of claim 9 , further comprising:

determining that the power tool is stopped;

activating the spindle lock control loop in response to determining that the power tool is stopped;

detecting, using one or more sensors, movement of the power tool a delay time after activating the spindle lock control loop; and

entering a sleep mode when no movement of the power tool is detected after the delay time.

11 . The method of claim 10 , further comprising:

determining that a wake-up signal is received when in the sleep mode;

performing normal motor operation when the wake-up signal is received from a trigger; and

activating the spindle lock control loop when the wake-up signal is received from the one or more sensors, wherein normal motor operation includes controlling the motor according to trigger pull of the trigger.

12 . The method of claim 10 , wherein determining the positional quantity is different from the expected positional quantity of the motor, further comprises:

determining an expected rotor position of a rotor of the motor, wherein the positional quantity includes an actual position of the rotor,

determining a position error for the motor based on a difference between the expected position of the rotor and the actual position of the rotor,

determine an actual velocity of the rotor of the motor,

determining an expected velocity of the rotor of the motor, and

determining a velocity error for the motor based on a difference between the expected velocity of the rotor and the actual velocity of the rotor.

13 . The method of claim 12 , further comprising:

determining an expected current of the motor based on the difference between the expected velocity of the rotor and the actual velocity of the rotor,

determining an amount of actual current of the motor, and

determining a current error for the motor based on a difference between the expected current of the motor and the amount of actual current of the motor.

14 . The method of claim 13 , wherein controlling the motor to rotate in the second direction in response to determining that the positional quantity is different from the expected positional quantity of the motor, further comprises:

generating a pulse-width modulated (PWM) signal based on the current error for the motor, and

controlling, with rotation of the motor based on the PWM signal.

15 . A power tool comprising:

a housing;

a bit receiving portion provided on the housing;

a motor within the housing configured to rotate the bit receiving portion;

a sensor configured to detect a positional quantity of the motor in a first direction; and

a controller coupled to the motor, the controller configured to:

enter an electronic spindle lock mode for controlling the motor to engage or disengage the bit receiving portion with a tool bit, and

control the motor as a brake in response to entering the spindle lock mode,

wherein the motor generates a counter torque that maintains a rotational position of the motor in response to determining a difference between an expected positional quantity of the motor and the positional quantity of the motor in the first direction.

16 . The power tool of claim 15 , further comprising a trigger, wherein the controller is further configured to:

enter the electronic spindle lock mode when the trigger is released for stopping operation of the power tool, wherein the electronic spindle lock mode inhibits movement of a drive train when the bit receiving portion is rotated.

17 . The power tool of claim 15 , further comprising a metal-oxide-semiconductor field effect transistor (MOSFET) connected between motor windings of the motor.

18 . The power tool of claim 17 , further comprising a battery pack providing operating power to the motor,

wherein the MOSFET is a depletion mode MOSFET,

wherein the depletion mode MOSFET is normally closed when the battery pack is removed, and

wherein the controller is further configured to open the depletion mode MOSFET when the battery pack is connected to the power tool.

19 . The power tool of claim 15 , further comprising:

a battery pack providing operating power to the motor, wherein the motor further includes secondary windings configured to develop a voltage when the bit receiving portion is rotated relative to the housing and the battery pack is disconnected from the power tool.

20 . The power tool of claim 19 , wherein the voltage on the secondary windings is used to charge a capacitor, and wherein when the capacitor is sufficiently charged, the capacitor is used to short motor windings of the motor.

Assignments (1)

Continuity (3)

References Cited (68)