CA1132362A - Tightening apparatus - Google Patents
Tightening apparatusInfo
- Publication number
- CA1132362A CA1132362A CA386,431A CA386431A CA1132362A CA 1132362 A CA1132362 A CA 1132362A CA 386431 A CA386431 A CA 386431A CA 1132362 A CA1132362 A CA 1132362A
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- fastener
- rotation
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Abstract
TIGHTENING APPARATUS
Angelo Tambini ABSTRACT
The preferred embodiment of the invention disclosed in this application includes a wrench, for example an operator powered wrench, for tightening a fastener assembly by the period-ic application of tightening force. Also included is a control circuit for detecting a phenomena indicating that the joint assembly in which the fastener assembly is installed has been tightened to its yield point. The control circuit further in-cludes checking means for determining that the fastener assembly is being tightened to assure that when the phenomena is detected, the joint assembly has been tightened to, the yield point.
Angelo Tambini ABSTRACT
The preferred embodiment of the invention disclosed in this application includes a wrench, for example an operator powered wrench, for tightening a fastener assembly by the period-ic application of tightening force. Also included is a control circuit for detecting a phenomena indicating that the joint assembly in which the fastener assembly is installed has been tightened to its yield point. The control circuit further in-cludes checking means for determining that the fastener assembly is being tightened to assure that when the phenomena is detected, the joint assembly has been tightened to, the yield point.
Description
; BACKGROUND OF THE INVENTION
,' This invention relates to apparatus for tightening a ¦~ ~oint flssembly incluting a fastener sssembly to its yield point ¦ and, more particularly, to operator powered appsratus or similar 1' fipparatus wherein the tightening force is applied periotically.
~ Recent stvances in-the art have provided generally satis-factory methods and Apparatus for determining when ~oints in-cluding fastener assemblies have been tightened to the yield ; point. ~or example, United Sta~es Patent 3,982,419 discloses such a methot and apparatus, and United States Patents 3,973,434 and 4,000,782 also disclose such a method and apparatus including ¦¦ checking means for determining certain easily measurable tighten-, ' e~
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11~2362 i.n~ ar,a.~t,e,~iSstics of the faste~ler as~embly after it has been ¦, tightened to the yield point. In view of these advances, tighten-ing to the yield point is becoming more widely used in the , manufacture of original equipment. I
SUMMARY_OF THE INVENTION
¦I This invention has for one o~ its primary ob;ects, the ¦l provlsion of a tightening apparatus including a wrench for applying tightening force or torque periodically and which I further includes control means indicating that the joint has been tightened to its yield point. An example of such a wrench 1 îs one wherein the operator applies the tightening torque. When using such wrenches, the operator normally spplies tightening torque by rotating the wrench through a limited circumferential extent and then backs the wrench off the fastener and reapplies I tightening torque through a similar limited rotary movement.
! Tightening torque may be so applied to reach the final tightened , condition by several such operations.
In providing such an apparatus, seversl other ob;ects I should also be fulfilled. The apparatus should be as simple ¦ and economical as possible.- In addition, since the apparatus includes means for processing signals representative of various tightening characteristics measured during the tightening cycle, storage means should be provided for storing these signals during the time when the operator is backing the wrench off the fastener in preparation for reapplying tightening ~orque. More-~ over, dur ng the noted tlme periods when the vrench is bein8
,' This invention relates to apparatus for tightening a ¦~ ~oint flssembly incluting a fastener sssembly to its yield point ¦ and, more particularly, to operator powered appsratus or similar 1' fipparatus wherein the tightening force is applied periotically.
~ Recent stvances in-the art have provided generally satis-factory methods and Apparatus for determining when ~oints in-cluding fastener assemblies have been tightened to the yield ; point. ~or example, United Sta~es Patent 3,982,419 discloses such a methot and apparatus, and United States Patents 3,973,434 and 4,000,782 also disclose such a method and apparatus including ¦¦ checking means for determining certain easily measurable tighten-, ' e~
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11~2362 i.n~ ar,a.~t,e,~iSstics of the faste~ler as~embly after it has been ¦, tightened to the yield point. In view of these advances, tighten-ing to the yield point is becoming more widely used in the , manufacture of original equipment. I
SUMMARY_OF THE INVENTION
¦I This invention has for one o~ its primary ob;ects, the ¦l provlsion of a tightening apparatus including a wrench for applying tightening force or torque periodically and which I further includes control means indicating that the joint has been tightened to its yield point. An example of such a wrench 1 îs one wherein the operator applies the tightening torque. When using such wrenches, the operator normally spplies tightening torque by rotating the wrench through a limited circumferential extent and then backs the wrench off the fastener and reapplies I tightening torque through a similar limited rotary movement.
! Tightening torque may be so applied to reach the final tightened , condition by several such operations.
In providing such an apparatus, seversl other ob;ects I should also be fulfilled. The apparatus should be as simple ¦ and economical as possible.- In addition, since the apparatus includes means for processing signals representative of various tightening characteristics measured during the tightening cycle, storage means should be provided for storing these signals during the time when the operator is backing the wrench off the fastener in preparation for reapplying tightening ~orque. More-~ over, dur ng the noted tlme periods when the vrench is bein8
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1 .1 1. , li backed` off the fastener,~h~ es of the signals being ¦ processed are alt2red ~o such an extent, ti.e. can drop to zero) ! that a false indication that the ~oint has been tightened to the I yield point can be developed. Care must be t~ken to ignore ¦¦ such fslse indications.
1l These and other objects of the present invention are ¦! accomplished by providing wrench means for applying torque and rotating 8 fastener member in a ~oint assembly and by also providing control means for detecting phenomena indicating that the joint assembly has been tightened to its yield point and ; providing a signal indicating that the phenomena has been de-tected. Also included is checking means for determining that the fastener is being tightened and providing a signal indicating - ~; that it is. The presence of both signals indicates that the ,, joint has been tightened to the yield point.
More particularly, torque and angle measuring means are associated with the wrench means for providing a signal repre-il sentative of applied torque and rotational displacement of the ¦I fastener. Associsted with the angle measuring means is incre-1 mental rotation detecting means for determining when the fastener has been rotated through a predetermined increment of rotation.
The torque signal and the incremental rotation signals are processed to determine when the instantaneous slope of a curve .~ which could be plotted for these parameters i8 a predetermined percentage of the stored maximum slope of the curve, and a sig-nal indicative of this phenomena is teveloped. The checking _ means is re~snnn~;~7~ t~ the tor~ue siqnal an~/~r th~ incremental rotation signals tG determine that the fasten~r is being tight-ened when the phenomena indicating signal is developed.
In accordance with a broad aspect, the invention relates -. to a control system usable in apparatus for tightening a joint ; assembly including a fastener assembly to a predetermined tlghtened condition, said system comprising: control means formed to be operatively associated with the tightening apparatus for detecting a phenomena indicative of the predetermined tightened condition of the joint assembly and for providing a first indicating signal when said phenomena is detected;
checking means operatively associated with said control means and formed to be operatively associated with the tightening apparatus for determining that the fastener assembly is being `. tightened and for providing a second indicating signal indicative thereof; and means responsive to said first and second indicating signals for providing a control signal.
' BRIEF DESCRIPTION OF THE DRAWINGS
For a better understanding of the invention, reference is made to the following descrlption of a preferred embodiment , thereof, t~ken in conjunction with the figures of the accompany-,~ ing drawing, in which:
'~. Fi8. 1 is a graph illustrating the Torque-Rotation curve ' for a fastener being tightened;
Fig. 2 is a graph illustrating the Preload-time curve for a fastener b;èing tightened by an operator powered wrench;
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~ ig. 3 is a graph illustrating the Torque Signal-time curve for a fastener being tightened by an operator powered wrench including means for measuring the reaction torque on the wrench;
; Fig. 4 is ~ schematic illustration of a tightening : apparatus in accordance ~ith this invention; and Fig. 5 is a sectional view in elevation of another em-bodiment of an angle measuring means.
DESCRIPTION OF THE PRE~ERRED EMBODIMENT
Referring to Fig. 4 of the drawings, there is lllustrated a preferred embodiment of the invention $ncluding a generally conventional long-handled ratchet wrench 10 ant a control circuit 12 associated with the wrench for providing a signal indicating thst the ~olnt a6se=bly ln ~hlch the f~stener ls belng tightened _ A
o~ 36;2 ¦, has reached its yield point. The wr2nc~ 10 iS operator driven l! and includes a relatively long-handled member 14 having a hand ¦I grip 16 at one end and a triver head 18 at the other end. Ex-1 tending from one face of the driver head 18 is a coupling member : 5 ¦¦ 20 on whlch is carried a driver tool (not shown) for engaging a fastener. As is conventional, the coupling member 20 is coupled to the driver head 18 through a ratchet arrangement !
(no shown) such that the coupling member and driver tool are ; locked to the driver head 18 and handle member 14 during rotary motion in one direction operative to apply tightening torque and ;~ impart rotation:to tighten the fastener, and such that the driver head and handle member slip relative to the coupling mem-ber and driver tool during rotary motion in the opposite direc-.; tion. Thus, an operator can grip hand grip 16, place the driver tool on a fastener and rotate the tool about an axis normal to ` the axis of handle member 14. Normally, the operator appliesI the rotary tigbtening motion in incremental steps by rotating I the fastener through a limited circumferential extent, on the ; 1 general order of about 120 degrees, and then by rotating the 1~ wrench in the opposite direction in preparation for reapplying the tightening torque. Use of a long-handled ratchet wrench is preferred because it facilitates the generation of the relative-ly high torque required to tighten the fastener, is relatively uncomplicated and, thus, economical. Other types of wrenches including various arrangement providing higher mechanical ad-¦ vantage for transforming the operator force into the relatively high tight ning torques required c-n be utilized, if desired.
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Fixed to handle member 14, preferably, relatively close to the driver head 18, is strain guage means 22 of any generally conventional type capable of producing electrical output signals.
The strain guage means 22 is operative to provide a signal representative of the instantaneous torque being applied to the fastener by measuring the bending strain in the handle member when torque is applied to the fastener. The bending strain is proportional to the bending stress in the handle and the latter is proportional to the direct torque being applied to the fastener.
Connected to the driver head 18 is angle measuring means in the form of a generally conventional potentiometer 24 ; operative to provide an electrical output signal which is proportional to the rotational displacement of driver head 18.
As will be explained hereinafter, this signal is processed to provide signals representative of predetermined incremental rotation of the fastener being tightened. As is customary, potentiometer 24 includes a wiper arm portion 25 and a resistor 27 arranged for relative movement so that the output is variable.
Resistor 27 is secured for movement with driver head 18 and wiper arm 25 is held in a fixed position relative to the driver head through the use of a cable 26 and a clip 28. Cable 26 should be of a type that is sufficiently flexible to be bent into a desired shape, but which is also sufficiently plastic to retain that shape once the bending force is removed. One such cable is sold under the trademark "Flexicurve" and comprises a core of lead with strips oE steel on opposite faces, all ~;~
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covered with vinyl. Clip 28, which may conveniently be a magnet, is arranged to be placed on a fixed reference member, for example, a portion of the joint assembly being tightened so that wiper arm 25 of the potentiometer, which is directly coupled thereto, is retained in a fixed position. Because of its flexibility, the shape of cable 26 may be varied so : that clip 28 can be secured to any conveniently accessible ~ fixed reference point. Thus, with wiper arm 25 held ;~ stationary and resistor 27 movable with driver head 18, the output signal from the potentiometer is a variable analog signal representative of rotational displacement of the driver head 18 and the fastener being rotated.
Another embodiment of a digital angle measuring means 29 is illustrated in Fig. 5. This apparatus includes a bracket 31 fixed to driver head 18 of the wrench, a high inertia disk 33 mounted on a rod 35 extending between top and bottom portions of bracket 31 on frictionless (or as low friction as possible) bearings, and a transducer 37 such as an optical detector with a ; built-in light source, secured to the bracket. Disk 33 includes grooves 39 (or markings) on its outer periphery which can be detected by transducer 37 when there is relative motion between the disk and transducer during tightening. Since disk 33 has a high inertia and is mounted on low friction bearings, then any . .
rotation of the driver head containing bracket 31 fixed thereto about the axis of rotation of the disk will cause it to remain fixed, since there will be insufficient torque transmitted u~
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I through the bearings to start the disk rot~ting. The relative ¦¦ motion between the tisk and transducer 37, which is fixed to I the driver head through bracket 31, can thus be measured by the ¦ passage of grooves 39, giving an indication of angular movement l of the wrench.
¦ Having explained wrench 10 and having briefly explained the torque and rotation measuring apparatus, the tightening method will be explained before describing electronic control ~ circuit 12 used to process the signals. As clearly described in United States Patent No. 3,982,419 to Boys, it has been de-, termined that the yield point of a joint assembly including a fastener assembly can be detected by analyzing torque and rota-r ,I tion input information and the resultant torque-rotation curve which could be plotted for the fastener being tightened. Refer-I ring to Fig. 1, there is illustrated a typical torque-rotation curve for a threaded fastener being tightened with torque plotted along the vertical axis and rotation plotted along the horizon-tal axis. The curve inclutes an initial or pretightening region extending from the intersection of the torque and rotation axes to point A. In the pretightening region, mating threads of the fastener assembly have been engaged and one of the fastener members is being rotated, but the bearing face of the rotating fastener member has not contacted the adjacent face of the struc-tural member included in the ~oint ~ssembly. At point A on the curve, the structural members have been pulled together by the fastener assembly and actual tightening of the joint assembly.
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commences. In this tightening region of the curve extending from point A to point B, axial force is developed in the fastener assembly members which is exerted on the structural members as clamping force. In this region, the curve is generally linear.
At point B, the limit of proportionality of the joint assembly has been exceeded and the rotation of the fastener member starts ` increasing faster than the applied torque. For purposes of this application, point B will be considered as the start of the yield region, but it will be understood that beyond point B load will be induced in the joint assembly at a significantly nonlinear rate of increase. Point C corresponds to the yield point of the i joint assembly and while the definition of yield point varies somewhat, it can be considered to be the point beyond which strain or stretch of the fastener is no longer purely elastic.
By determining when the instantaneous slope of the above-described curve is a predetermined percentage, about 25% to 75~, of the slope of that curve in its tightening region, the yield point can be detected. While the tightening region is generally linear, it may not be exactly linear and may include spikes caused by temporary seizing of the mating thread or variations in lubrication. Thus, the slope in the tightening region may not be a constant, so it is desirable to detect the yield point by determining when the instantaneous slope of the curve is a predetermined percentage of the maximum slope of the curve, as explained in the above-identified Boys patent.
In accordance with this invention, the same general technique is utilized for determining the yield point, with the ~o~
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addition of certain other features to account for the intenmit-, tent application of torgue and the discontinuities in the rota- !
¦l tion of the fastener caused by the operator, as explained pre- I
! v$ously.
¦ Referring to F~g. 2, there is a typical Preload-time curve for a threaded fastener being tightened with a hand-operated wrench. In this curve, the preload inducet in the l fastener is plotted along the vertical axis and time is plotted - ' along the horizontal axis. The corresponding points A, B and ~; 10 C, explained above with respect to Fig. 1, are also indicated on this curve. It can be seen that there is a first time interval from the intersection of the axes to point D in which a first application of tightening torque is made by the operator during which preload increases with time. There is also a second time ., i " interval from point ~ to point E, in which the wrench is being rotated in the opposite direction in preparation for reapplying the torque during which the preload in the fastener remains sub-stantially constane. During a second application of torque by I the operator from point E to point C, preload again increases with time as explained above. At the yield point C, tightening should be discontinued. It should be understood that the same time-related characteristics are exhibited when considering rotation of the fastener against time. -Serain gauge means 22 directly measures the torque being applied to the fastener, and consequently the toraue ¦I signal drops to zero during periods when the wrench is being -10- ~
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., !! ' rotated in the opposite or reverse direction prior to reapplyihg the torque. This is clearly illustrated between points D and E
l in Fig. 3, which is a plot of the torque signal versus time and I which also includes corresponding points A through E described ¦ above. Thus, in utilizing an operator powered wrench including I the torque measuring means described above to determine when a i I ~oint has been tightened to its yield point by detecting changes'~ ' in the torque-rotation curve, care must be taken to assure that , control circuitry 12 has not detected a change in the instantan-I eous slope of the curve based on the fall-off of torque signals during the reverse rotation periods. Accordingly, one aspect of this invention includes a technique for determining that the 1, , fastener is actually being tightened when the control circuit ~ l~ indicates that the yield point has been reached. This can be ; 15 ~ accomplished by providing means for determining that the instant-aneous torque signal has not dropped below a predetermined per-¦ centage of the previous maximum torque signal provided by the strain gauge means, and/or by providing means for determining that the angular rotation of the fastener is increasing. MonitorJ
I ing the torque or rotation parameters in such a way will provide an indication that the fastener is or is not being tightened when the control circuit otherwise indicates that the yield point has been reached.
Referring again to Fig. 4, it can be seen that the instantaneous torque signal from strain gauge means 22 is fed to ~n r~plifi r 30 which mag~Lfles the 6ignal repr-s-nt~ e oi 1~36Z
'' instantaneous torque to a magnitude where it is compatible with the rest of the control system. The amplified torque signal, that is, the output of amplifier 30, is fed to an electronic comparator 32 which receives another input from a potentiometer 34 connected to a voltage source. The purpose of comparator 32 , and potentiometer 34 is to provide a signal indicating that the fastener has been tightened into the tightening region, that is, into the respective regions between points A and B on the curves illustrated in Figs. 1 - 3. It should be understood that the torque-rotation relationship in the pretightening region is such that a false indication of the yield point could be generated.
It is thus desirable to provide an indication that the fastener ~` has been tightened to the tightening region. By setting poten-~; tiometer 34 to provide an output signal approximately equal to or slightly in excess of the instantaneous torque signal at point A on the torque-rotation curve, comparator 32 will provide an output signal when the fastener has been tightened into the tightening region of the curve. Precision in determining that point A has been reached is not required and an approximation will suffice. For example, potentiometer 34 can be arranged so that it provides an output signal approximately equal to about 25% to 40% of the torque expected to be applied at the yield point, and this point on the curve will hereinafter be referred to as the "snug" point. The output signal indicating that point A has been reached is fed from comparator 32 to an amplifier 36 which outputs to an indicator means 38, such as a colored light, ~ J) ~
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to provide an indication-to the operator that tightening of the i ~oint assembly has commenced. It should be understood, of course, Il !
¦l that a variety of different audible, visual or other kinds of ~ indicating devices can be utilized in accordance with this inven-;~,, !
: 5 I tion.
¦ The output signal from comparator 32 is also fed to a ! generally conventional digital to analog (D/A) convertor 40 and i functions to enable the operation of the convertor as will be 1 explained hereinafter. Convertor 40 is operative in the angle .. I' .
; 10 measuring circuitry to store signals representative of the largest angle through which the fastener has been tightened. This stor-¦1 age function is accomplished by a counter conventionally incorpor~
; ated in convertor 40. The signal from angle measuring potentiom-¦
; eter 24 is fed to convertor 40 through a comparator 42 which is 1 in series with a NANV gate 44 which, in turn, is in series with convertor 40. The D/A convertor receives digital signals from NAND gate 44 ~nd is held reset by the logical signal from compar-ator 32 while the torque is below "snug" point A. When the snug I torque value is exceeded, convertor 40 is enabled. The output ~ from convertor 40 i8 fed to a buffer amplifier 46 the output of , which provides the other input to comparator 42. The other input to NAND gate 44 is from an oscillator means 45 which will be ex-plained shortly hereinafter. At this point it is sufficient to note that the oscillator means outputs a series of square waves to NAND gate 44 before the fastener member has been tightened to snug point A. It should be understood that other oscillator means outputting pulses of different shapes could also be utilized. At the snug point, the oscillator means will pro-03~
i .. : i 1l vide a high output signG~ d t'!lerearter will output a series of ; ¦1 square waves each time the fastener has been rotated through a 1I predetermined angular increment of rotation in the tightening ; , direction.
1 The instantaneous angle signal from potentiometer 24 ~i is also fed to a differential amplifier 48 which receives as ~tsother input the output from buffer amplifier 46 representative of the maximum angle signal generated and stored at any point in " the tightening cycle (from D/A convertor 40). Thus, the output ,, of differential amplifier 48 is a signal equal to the difference ; 1 between the largest angle signal generated and stored and ~he instantaneous angle signal. The output signal from differential amplifier 48 is therefore equal to the actual incremental angle through which the fastener has been tightened. It will ~e re-lS , membered that the rotation of the fastener is not continuous, and that when the wrench is rotated in the opposite direction the potentiometer setting will be changed, so that the utilization of, ~he storage function in DiA convertor 40 described above and of ~¦ different~al amplifier 48 accommodates the changes in potentiom-~ eter settings during such opposite rotation. ~rom differential ; 1 amplifier 48, the output signal representative of the actual incremental rotation of the fastener is fed through another com- ¦
parstor 50 which receives as its other input a signal from a signal generating device such as a potentiometer 52. Potentiomete~
52 is set so that its output signal is equal to a slgnal repre- ¦
!l sentative of the predetermined increment of angle over which `'`~
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. <, , f the slope of a torque-rotation curve is to be determined.
The signal from comparator 50 indicating that the fastener has been rotated through a predetermined increment of rotation, is fed to a conventional gated RC oscillator means 45, ;~; 5 which generally comprises NAND gates 54 and 58, a capacitor 55 and a resistor 57. NAND gate 54 receives a driving input from comparator 50 and a second input from NAND gate 58, and provides an output to a NAND gate 56 acting as an invertor and through capacitor 55 back to both inputs of NAND gate 58. The output of NAND gate 58 is also fed back through resistor 57 to the inputs of NAND gate 58. Capacitor 55 and resistor 57 produce a time delay which causes NAND gates 54 and 58 to act as an oscillator.
Their respective values are chosen in order to determine the desired frequency of oscillation.
To summarize the operation of the circuitry described thus far, when tightening of the fastener commences and prior to reaching snug point A in the tightening cycle, D/A convertor 40 is held reset since it has not received an enabling signal from comparator 32. Thus, convertor 40 provides no output signal and buffer amplifier 46 also provides no output signal. Accordingly, differential amplifier 48 is, at this point, subtracting a zero signal from buffer amplifier 46 from the relatively large output signal from potentiometer 24, and is outputting a relatively large signal to comparator 50. This last mentioned signal is larger than the predetermined incremental angle signal from poten-tiometer 52 so that the output of comparator 50 is a high signal ~ 3236Z
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which is fed to NAND gate 58 and outputs a low signal which i5 inverted by NAND gate 56 and fed as a high signal to NAND
gate 44. The low output signal from NAND gate 54 is also inverted by NAND gate 58 and fed as a high signal to NAND gate ; 5 54 driving its output to a high signal which is then inverted by NAND gates 56 and 58, as described above. Thus, oscillator 45 is generating a series of square waves which are fed through inverting NAND gate 56 to NAND gate 44.
Simultaneous with the preceding, potentiometer 24 is feeding its increasing analog signal to comparator 42 which is also receiving the zero output signal from D/A convertor 40, being held reset since it is not yet receiving a signal from comparator 32. Comparator 42 is thus outputting a high signal to NAND gate 44. On each low pulse from NAND gate 56, NAND gate 44 outputs a pulse to D/A convertor 40 which, since it is held reset, cannot store or output the signal.
When snug point A is reached, D/A convertor 40 is enabled by a signal from comparator 32 and starts counting pulses from NAND gate 44~ The convertor outputs an analog signal to buffer amplifier 46 and, thus, to comparator 42 and differential amplifier 48. Eventually the output of convertor 40 and buffer amplifier 46 equals the instantaneous angle signal from potenti-ometer means 24 so that the output of comparator 42 is driven low, but immediately thereafter is driven high as the signal from potentiometer means 24 increases due to further rotation of the fastener. The output signal from buffer amplifier 46 is a . ~
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function of the stored signal in conv-~t~r ~ hi~l signal , represents the largest angular rotation of the fastener to that point in the tightening cycle and which is fed to differential I amplifier 48 along with the instantaneous angle signal from `
¦ potentiometer means 24. As noted previously, differential am-¦ plifier 48 outputs a signal representative of the increment of rotation through which the fastener has been driven. Initially this tifference is relatively small, being less than the signal representative of the predetermined increment of rotation which is provided by potentiometer 52. Thus, the output of comparator i 50 is driven low and this low signal is provided to ~AND gate 54.
i With the low signal input to NAND gate 54, it outputs a low sig-nal to inverting NAND gate 56 resulting in 8 high output signal ; to NAN~ gate 44. At this point, both inputs to NAND gate 44 arehigh so that it provides a low output signal to convertor 40.
Thus, the signal stored in convertor 40 is not changed nor is its output, and consequently the output of buffer amplifier 46 is not changed.
When the output of tifferential amplifier 48 is a sig-I nal indicating that the incremental rotation of the fastener !l equals the predetermined increment of rotation set by the signal¦
from potentiometer 52, comparator 50 outputs a high signal to ¦ .NAND gate 54 and again starts the oscillator means running.
!! That is, oscillator means 45 again outputs a series of square 2s il waves through inverting NAND gate 56. The cycle just described ¦ now repeats itself. Convertor 40 again receives pulses from ~ - 17 -~ 3Z362 r , .
NAND gate 44 until its stored value equals the instantaneous angular rotation signal from potentiometer means 24. Similar to the explanation above, when these signals are equal, the out-put of differential amplifier 48 is driven to zero and the output of comparator 50 is driven low discontinuing operation of : oscillator means 45 by driving the input to NAND gate 54 low.
At this point it is noted that differential amplifier 48 is arranged with a time delay circuit including a resistor and capacitor circuit 60 in parallel altering the input from buffer amplifier 46, and with a grounded resistor 62 and a blocking diode 63 in series altering the input from potentiometer means 24. Because of the capacitor in circuit 60, differential amplifier 48 output signal is delayed so that the oscillator means runs slightly longer than it should. That is, additional output pulses are provided through inverting NAND gate 56. The - purpose of these pulses is to allow other storage circuits to stabilize as will be made clear hereinafter.
Referring now to the remainder of the circuitry, from amplifier 30 the instantaneous torque signal is fed through a comparator 64 which provides an output through a NAND gate 66 which receives its other input from NAND gate 56. NAND gate 66 provides an output signal to a storage circuit in the form of a conventional digital to analog (D/A) convertor 68. This arrangement is similar to the arrangement of comparator 42, NAND
gate 44 and D/A convertor 40, except that convertor 68 is not held reset below snug point A in the tightening cycle. The out-30) ~ 3Z362 1. 1 . li put of convertor 68 is fed through a buffer`amplifier 70 which, I in turn, outputs a signal to comparator 64. Below snug point ¦ A in the tightening cycle, NAND gate 56 runs continuously and outputs 8 series of square wave signals to NAND gate 66. The 8ignal representative of instantaneous torque from amplifier 30 is slightly greater than the output of convertor 68 causing com-parator 64 to provide a high output. At each low pulse from NAN~ gate 56, NAND gate 66 provides an output pulse to convertor 1l 68 driving its stored signal higher and, similarly, the output of j, buffer amplifier 70. Thus, below snug point A, the respective - I signsls from convertor 68 and buffer amplifier 70 follow the ¦I signal representative of instantaneous torque. At the snug poin~
as explained previously, NAND gate 56 provides a high output ' il Il signal after a slight time delay, and comparator 64 now provides : 15 j, a high output signal since the signal from amplifier 30 is larger I than the signal from buffer amplifier 7~, so that NAND gate 66 ~ output is driven low and no new pulses are provided to convertor ¦1 68. Thus, a signal representative of the torque at the snug point is stored in convertor 68. The slight time delay noted ¦ above, allows the stored signal to stabilize.
Each time comparator S0 determines that the fastener has been rotated through a predetermined angular increment, os-cillator means 45 is turned on and NAND gate 56 outputs a qerLes of square waves to NAND gate 66, so that the output from compara-tor 64 high, a new signal is fed to convertor 68 and through buffer amplifier 70. ~n a manner similar to that ~lready ex-plained, NAND gate 66 pulses convertor 68 until the stored signal `` -` ~13Z362 therein equals the signal representative of instantaneous torque.
Thus, beyond snug point A in the tightening cycle, convertor 68 stores and outputs a signal representative of the instantaneous torque being applied at each predetermined increment of rotation.
Generally, this signal is representative of the maximum torque applied up till that time, since if the instantaneous torque signal from amplifier 30 does not exceed the stored signal comparator 64 provides no output. Of course, the input to convertor 68 are digital signals and its output is an analog signal.
The output of buffer amplifier 70 is also fed to a differential amplifier 72 which receives as its other input the signal from amplifier 30. The output from differential amplifier 72 is fed to a comparator 74 which outputs to a NAND gate 76 which also receives an input from NAND gate 56.
NAND gate 76 provides an output signal to a storage device in the form of a conventional digital to analog (D/A) convertor 78 similar to D/A convertors 40 and 68. Also in a manner similar to D/A convertors 40 and 68, convertor 78 outputs to a buffer amplifier 80 which provides an cutput back to comparator 74. As will now be explained, D/A convertor 78 stores in digital form and outputs in analog form, a signal representative of the largest slope at any point in the tightening cycle of the torque-rotation curve which could be plotted for the fastner being tightened.
Below snug point A in the tightening cycle, a signal representative of instantaneous torque is fed to differential amplifier 72 from amplifier 30, and a signal approximately equal ~;
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I to the maximum torque applied at that point is also fed to ¦ tifferential amplifier 72 from convertor 68 through buffer a~pli-l ¦ fier 70. Thus, the output of differential emplifier 72 is essen-¦
I tially zero. With no input to comparator 74, it has no output ¦ ant NAND gate 76 provides no output to D/A convertor 78. At snug ¦ point A in the tightening cycle, the inputs to comparator 74 are still essentially equal so that D/A convertor 78 still does not receive an input signal. It is noted, however, that the input I from inverting NAN~ gate 56 to NAND gate 76 is now driven high, I
1 as previously explained. Immediately after snug point A has .~ .
I been reached, the signal ~rom amplifier 30 starts to exceed the l' stored signal from convertor 68 and buffer amplifier 70 so that I the output from differential amplirier 72 starts to increase, re-I flecting the difference between the instantane~us torque and j stored torque causing comparator 74 to output a hi8h signal to ' NAND gate 76. With two high inputs, of course, NAND gate 76 provides no output to convertor 78.
I As soon as comparator 50 detects that the fastener has ¦ been tightened through a predetermined increment of rotation, i oscillator means 45 is agai~ turned on and inverting NAND gate 56 outputs a series of square waves to NAND gate 76. At this same time, differential amplifier 72 is outputting a signal repre sentative of the tifference between the signal from amplifier-30, representative of the instantaneous torque being applied at that increment of rotation, and the signal from convertor 68 and buffe .
(1030) ~ 113Z36Z
i l !
¦¦ ampiifier 70, representative of the torque at snug point A.
! Accordingly~ the output of differentlal amplifier 72 i~ a signal !
representative of the slope of the torque-rotation curve over j that pretetermined increment of rotation. With no signal from V/A convertor 78 and ~uffer amplifier ~0, the output of differen-¦ tial amplifier 72 causes comparstor 74 to output to NAND gate 76.
On each low pulse from NAN~ gate 56, NAND gate 76 provides an output pulse to convertor ,78. When the output from convertor 78 1~ and buffer amplifier 80 equals the signal from differential am-il plifier 72, comparator 74 discontinues its output and the signal !
stored in convertor 78 is representaeive of the slope of the ; curve over that first predetermined increment of rotation.
Thereafter, at each predetermined increment when the instantane- ' ous slope of the curve is larger than the stored previous largest slope of the curve, the just described process repeats so that .; convertor 7d always stores and outputs a signal representative of the maximum slope of the torque-rotation curve up to that l! point in the tightening cycle.
Il In the preferred embodiment of the invention disclosed l herein, a temporary storage circuit 82 is associated with com-parator 74 and includes a grounded capacitor and a resistor in parallel with the comparator and a diode between differential amplifier 72 and the input to comparator 74. Storage circuit 82 temporarily stores the signal from differential amplifier 72 to I assure that the signal representative of the slope of the curve ¦! is fed to comparator 74 and not the signal being generated when (l~ J) i .
¦ the square wave pulses are being emitted from oscillator means 45. Since these pulses also cause convertor 68 to update the ~tored instantaneous torque reading, the output from this con-¦ vertor snd its buffer amplifier 70 immediately start to incresse ¦ and change the output of differential amplifier 72. .
. The signal in convertor 78, representative of the max-imum slope of the curve at any point, and the signal from differ-~. ential amplifier 72, representative of instantaneous slope of : I the curve, are fed to an additional comparator 84 to determine when the instantaneous slope is a predetermined percentage of the stored maximum slope. To accomplish this determination, a divi- j der circuit ~6 is provided including a grounded resistor in parallel with comparator 84 and a resistor between buffer ampli-fier 80 and the input to comparator 84. Thus, the predetermined percentage between 25% to 75%, and normally 50% of the signal from convertor 78 and buffer amplifier 80 is fed to comparator 84. Accordingly, when the signal from differential amplifier 72, . I representative of the instantaneous slope of the curve, equals ~ or exceeds the predetermined percentage of the stored signal fed 1l to comparator 84, the comparator provides an output signal indi-cating that the instantaneous slope of the curve signal i~ equal to the predetermined percentage of the maximum slope of the curve signal.
If the torque were applied continuously, the outpu~
! signal from comparator 84 would indicate that the joint assem~ly has ~een ti~htened to its yield point. However, when the toryue I
is ~pp~ied intermittently as with hand operated wrench 10, the torque signal from strain gauge means 22 decreases during per- !
iods of rotation in the opposite direction as illustrated at ¦ point D in Fig- 3. At each such point D in a tightening cycle r comparator 84 outputs a signal. Thus, there is provided check-ing means for determining that the yield point has been reachéd.
Incluted in the circuitry is a four input AND gate 88 providing Il an output signal to a flip-flop 90. AND gate 88 receives one ¦l input from comparator 32 indicating that torque is being applied 1 at that moment and that snug point A has been reached, and another input from comparator 84 indicating that the instantan-! eous gradient signal is a predetermined percentage of the maximum gradient signal to that point. Since a detection that the yield point has been reached can only be made at each increment of ro-l tation, AND gate 88 also receives an input from NAND gate 44, it being remembered that this gate provides output pulses con-tinuously below the snug point and, thereafter, only at the pre-determined increments of rotation. If signals from both com-1I parator 32 and NAND gate 44 are detected, it can be assured that 1I the fastener has ~ust been rotated through a predetenmined in-¦I crement of rotation. Also, a detection of the yield point can ¦¦ only be made when significant torque is being applied to the fastener. Thus, the instantaneous torque signal from amplifier 30 is fed to one input of a comparator 92 which also receives at a second input a signal representative of the predetenmined percentage of the maximum torque from convertor 68 and buffer , ~lrjav~
1 .1 1. , li backed` off the fastener,~h~ es of the signals being ¦ processed are alt2red ~o such an extent, ti.e. can drop to zero) ! that a false indication that the ~oint has been tightened to the I yield point can be developed. Care must be t~ken to ignore ¦¦ such fslse indications.
1l These and other objects of the present invention are ¦! accomplished by providing wrench means for applying torque and rotating 8 fastener member in a ~oint assembly and by also providing control means for detecting phenomena indicating that the joint assembly has been tightened to its yield point and ; providing a signal indicating that the phenomena has been de-tected. Also included is checking means for determining that the fastener is being tightened and providing a signal indicating - ~; that it is. The presence of both signals indicates that the ,, joint has been tightened to the yield point.
More particularly, torque and angle measuring means are associated with the wrench means for providing a signal repre-il sentative of applied torque and rotational displacement of the ¦I fastener. Associsted with the angle measuring means is incre-1 mental rotation detecting means for determining when the fastener has been rotated through a predetermined increment of rotation.
The torque signal and the incremental rotation signals are processed to determine when the instantaneous slope of a curve .~ which could be plotted for these parameters i8 a predetermined percentage of the stored maximum slope of the curve, and a sig-nal indicative of this phenomena is teveloped. The checking _ means is re~snnn~;~7~ t~ the tor~ue siqnal an~/~r th~ incremental rotation signals tG determine that the fasten~r is being tight-ened when the phenomena indicating signal is developed.
In accordance with a broad aspect, the invention relates -. to a control system usable in apparatus for tightening a joint ; assembly including a fastener assembly to a predetermined tlghtened condition, said system comprising: control means formed to be operatively associated with the tightening apparatus for detecting a phenomena indicative of the predetermined tightened condition of the joint assembly and for providing a first indicating signal when said phenomena is detected;
checking means operatively associated with said control means and formed to be operatively associated with the tightening apparatus for determining that the fastener assembly is being `. tightened and for providing a second indicating signal indicative thereof; and means responsive to said first and second indicating signals for providing a control signal.
' BRIEF DESCRIPTION OF THE DRAWINGS
For a better understanding of the invention, reference is made to the following descrlption of a preferred embodiment , thereof, t~ken in conjunction with the figures of the accompany-,~ ing drawing, in which:
'~. Fi8. 1 is a graph illustrating the Torque-Rotation curve ' for a fastener being tightened;
Fig. 2 is a graph illustrating the Preload-time curve for a fastener b;èing tightened by an operator powered wrench;
_ 4 ~,3Z36Z
~ ig. 3 is a graph illustrating the Torque Signal-time curve for a fastener being tightened by an operator powered wrench including means for measuring the reaction torque on the wrench;
; Fig. 4 is ~ schematic illustration of a tightening : apparatus in accordance ~ith this invention; and Fig. 5 is a sectional view in elevation of another em-bodiment of an angle measuring means.
DESCRIPTION OF THE PRE~ERRED EMBODIMENT
Referring to Fig. 4 of the drawings, there is lllustrated a preferred embodiment of the invention $ncluding a generally conventional long-handled ratchet wrench 10 ant a control circuit 12 associated with the wrench for providing a signal indicating thst the ~olnt a6se=bly ln ~hlch the f~stener ls belng tightened _ A
o~ 36;2 ¦, has reached its yield point. The wr2nc~ 10 iS operator driven l! and includes a relatively long-handled member 14 having a hand ¦I grip 16 at one end and a triver head 18 at the other end. Ex-1 tending from one face of the driver head 18 is a coupling member : 5 ¦¦ 20 on whlch is carried a driver tool (not shown) for engaging a fastener. As is conventional, the coupling member 20 is coupled to the driver head 18 through a ratchet arrangement !
(no shown) such that the coupling member and driver tool are ; locked to the driver head 18 and handle member 14 during rotary motion in one direction operative to apply tightening torque and ;~ impart rotation:to tighten the fastener, and such that the driver head and handle member slip relative to the coupling mem-ber and driver tool during rotary motion in the opposite direc-.; tion. Thus, an operator can grip hand grip 16, place the driver tool on a fastener and rotate the tool about an axis normal to ` the axis of handle member 14. Normally, the operator appliesI the rotary tigbtening motion in incremental steps by rotating I the fastener through a limited circumferential extent, on the ; 1 general order of about 120 degrees, and then by rotating the 1~ wrench in the opposite direction in preparation for reapplying the tightening torque. Use of a long-handled ratchet wrench is preferred because it facilitates the generation of the relative-ly high torque required to tighten the fastener, is relatively uncomplicated and, thus, economical. Other types of wrenches including various arrangement providing higher mechanical ad-¦ vantage for transforming the operator force into the relatively high tight ning torques required c-n be utilized, if desired.
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Fixed to handle member 14, preferably, relatively close to the driver head 18, is strain guage means 22 of any generally conventional type capable of producing electrical output signals.
The strain guage means 22 is operative to provide a signal representative of the instantaneous torque being applied to the fastener by measuring the bending strain in the handle member when torque is applied to the fastener. The bending strain is proportional to the bending stress in the handle and the latter is proportional to the direct torque being applied to the fastener.
Connected to the driver head 18 is angle measuring means in the form of a generally conventional potentiometer 24 ; operative to provide an electrical output signal which is proportional to the rotational displacement of driver head 18.
As will be explained hereinafter, this signal is processed to provide signals representative of predetermined incremental rotation of the fastener being tightened. As is customary, potentiometer 24 includes a wiper arm portion 25 and a resistor 27 arranged for relative movement so that the output is variable.
Resistor 27 is secured for movement with driver head 18 and wiper arm 25 is held in a fixed position relative to the driver head through the use of a cable 26 and a clip 28. Cable 26 should be of a type that is sufficiently flexible to be bent into a desired shape, but which is also sufficiently plastic to retain that shape once the bending force is removed. One such cable is sold under the trademark "Flexicurve" and comprises a core of lead with strips oE steel on opposite faces, all ~;~
~,,'~
- ~3236Z
covered with vinyl. Clip 28, which may conveniently be a magnet, is arranged to be placed on a fixed reference member, for example, a portion of the joint assembly being tightened so that wiper arm 25 of the potentiometer, which is directly coupled thereto, is retained in a fixed position. Because of its flexibility, the shape of cable 26 may be varied so : that clip 28 can be secured to any conveniently accessible ~ fixed reference point. Thus, with wiper arm 25 held ;~ stationary and resistor 27 movable with driver head 18, the output signal from the potentiometer is a variable analog signal representative of rotational displacement of the driver head 18 and the fastener being rotated.
Another embodiment of a digital angle measuring means 29 is illustrated in Fig. 5. This apparatus includes a bracket 31 fixed to driver head 18 of the wrench, a high inertia disk 33 mounted on a rod 35 extending between top and bottom portions of bracket 31 on frictionless (or as low friction as possible) bearings, and a transducer 37 such as an optical detector with a ; built-in light source, secured to the bracket. Disk 33 includes grooves 39 (or markings) on its outer periphery which can be detected by transducer 37 when there is relative motion between the disk and transducer during tightening. Since disk 33 has a high inertia and is mounted on low friction bearings, then any . .
rotation of the driver head containing bracket 31 fixed thereto about the axis of rotation of the disk will cause it to remain fixed, since there will be insufficient torque transmitted u~
~ i li . I
I through the bearings to start the disk rot~ting. The relative ¦¦ motion between the tisk and transducer 37, which is fixed to I the driver head through bracket 31, can thus be measured by the ¦ passage of grooves 39, giving an indication of angular movement l of the wrench.
¦ Having explained wrench 10 and having briefly explained the torque and rotation measuring apparatus, the tightening method will be explained before describing electronic control ~ circuit 12 used to process the signals. As clearly described in United States Patent No. 3,982,419 to Boys, it has been de-, termined that the yield point of a joint assembly including a fastener assembly can be detected by analyzing torque and rota-r ,I tion input information and the resultant torque-rotation curve which could be plotted for the fastener being tightened. Refer-I ring to Fig. 1, there is illustrated a typical torque-rotation curve for a threaded fastener being tightened with torque plotted along the vertical axis and rotation plotted along the horizon-tal axis. The curve inclutes an initial or pretightening region extending from the intersection of the torque and rotation axes to point A. In the pretightening region, mating threads of the fastener assembly have been engaged and one of the fastener members is being rotated, but the bearing face of the rotating fastener member has not contacted the adjacent face of the struc-tural member included in the ~oint ~ssembly. At point A on the curve, the structural members have been pulled together by the fastener assembly and actual tightening of the joint assembly.
`' ll~Z36Z
commences. In this tightening region of the curve extending from point A to point B, axial force is developed in the fastener assembly members which is exerted on the structural members as clamping force. In this region, the curve is generally linear.
At point B, the limit of proportionality of the joint assembly has been exceeded and the rotation of the fastener member starts ` increasing faster than the applied torque. For purposes of this application, point B will be considered as the start of the yield region, but it will be understood that beyond point B load will be induced in the joint assembly at a significantly nonlinear rate of increase. Point C corresponds to the yield point of the i joint assembly and while the definition of yield point varies somewhat, it can be considered to be the point beyond which strain or stretch of the fastener is no longer purely elastic.
By determining when the instantaneous slope of the above-described curve is a predetermined percentage, about 25% to 75~, of the slope of that curve in its tightening region, the yield point can be detected. While the tightening region is generally linear, it may not be exactly linear and may include spikes caused by temporary seizing of the mating thread or variations in lubrication. Thus, the slope in the tightening region may not be a constant, so it is desirable to detect the yield point by determining when the instantaneous slope of the curve is a predetermined percentage of the maximum slope of the curve, as explained in the above-identified Boys patent.
In accordance with this invention, the same general technique is utilized for determining the yield point, with the ~o~
~ Z3~Z I
I
addition of certain other features to account for the intenmit-, tent application of torgue and the discontinuities in the rota- !
¦l tion of the fastener caused by the operator, as explained pre- I
! v$ously.
¦ Referring to F~g. 2, there is a typical Preload-time curve for a threaded fastener being tightened with a hand-operated wrench. In this curve, the preload inducet in the l fastener is plotted along the vertical axis and time is plotted - ' along the horizontal axis. The corresponding points A, B and ~; 10 C, explained above with respect to Fig. 1, are also indicated on this curve. It can be seen that there is a first time interval from the intersection of the axes to point D in which a first application of tightening torque is made by the operator during which preload increases with time. There is also a second time ., i " interval from point ~ to point E, in which the wrench is being rotated in the opposite direction in preparation for reapplying the torque during which the preload in the fastener remains sub-stantially constane. During a second application of torque by I the operator from point E to point C, preload again increases with time as explained above. At the yield point C, tightening should be discontinued. It should be understood that the same time-related characteristics are exhibited when considering rotation of the fastener against time. -Serain gauge means 22 directly measures the torque being applied to the fastener, and consequently the toraue ¦I signal drops to zero during periods when the wrench is being -10- ~
03(~
~1~23~iZ
.
., !! ' rotated in the opposite or reverse direction prior to reapplyihg the torque. This is clearly illustrated between points D and E
l in Fig. 3, which is a plot of the torque signal versus time and I which also includes corresponding points A through E described ¦ above. Thus, in utilizing an operator powered wrench including I the torque measuring means described above to determine when a i I ~oint has been tightened to its yield point by detecting changes'~ ' in the torque-rotation curve, care must be taken to assure that , control circuitry 12 has not detected a change in the instantan-I eous slope of the curve based on the fall-off of torque signals during the reverse rotation periods. Accordingly, one aspect of this invention includes a technique for determining that the 1, , fastener is actually being tightened when the control circuit ~ l~ indicates that the yield point has been reached. This can be ; 15 ~ accomplished by providing means for determining that the instant-aneous torque signal has not dropped below a predetermined per-¦ centage of the previous maximum torque signal provided by the strain gauge means, and/or by providing means for determining that the angular rotation of the fastener is increasing. MonitorJ
I ing the torque or rotation parameters in such a way will provide an indication that the fastener is or is not being tightened when the control circuit otherwise indicates that the yield point has been reached.
Referring again to Fig. 4, it can be seen that the instantaneous torque signal from strain gauge means 22 is fed to ~n r~plifi r 30 which mag~Lfles the 6ignal repr-s-nt~ e oi 1~36Z
'' instantaneous torque to a magnitude where it is compatible with the rest of the control system. The amplified torque signal, that is, the output of amplifier 30, is fed to an electronic comparator 32 which receives another input from a potentiometer 34 connected to a voltage source. The purpose of comparator 32 , and potentiometer 34 is to provide a signal indicating that the fastener has been tightened into the tightening region, that is, into the respective regions between points A and B on the curves illustrated in Figs. 1 - 3. It should be understood that the torque-rotation relationship in the pretightening region is such that a false indication of the yield point could be generated.
It is thus desirable to provide an indication that the fastener ~` has been tightened to the tightening region. By setting poten-~; tiometer 34 to provide an output signal approximately equal to or slightly in excess of the instantaneous torque signal at point A on the torque-rotation curve, comparator 32 will provide an output signal when the fastener has been tightened into the tightening region of the curve. Precision in determining that point A has been reached is not required and an approximation will suffice. For example, potentiometer 34 can be arranged so that it provides an output signal approximately equal to about 25% to 40% of the torque expected to be applied at the yield point, and this point on the curve will hereinafter be referred to as the "snug" point. The output signal indicating that point A has been reached is fed from comparator 32 to an amplifier 36 which outputs to an indicator means 38, such as a colored light, ~ J) ~
l 1~3Z362 ,; .
to provide an indication-to the operator that tightening of the i ~oint assembly has commenced. It should be understood, of course, Il !
¦l that a variety of different audible, visual or other kinds of ~ indicating devices can be utilized in accordance with this inven-;~,, !
: 5 I tion.
¦ The output signal from comparator 32 is also fed to a ! generally conventional digital to analog (D/A) convertor 40 and i functions to enable the operation of the convertor as will be 1 explained hereinafter. Convertor 40 is operative in the angle .. I' .
; 10 measuring circuitry to store signals representative of the largest angle through which the fastener has been tightened. This stor-¦1 age function is accomplished by a counter conventionally incorpor~
; ated in convertor 40. The signal from angle measuring potentiom-¦
; eter 24 is fed to convertor 40 through a comparator 42 which is 1 in series with a NANV gate 44 which, in turn, is in series with convertor 40. The D/A convertor receives digital signals from NAND gate 44 ~nd is held reset by the logical signal from compar-ator 32 while the torque is below "snug" point A. When the snug I torque value is exceeded, convertor 40 is enabled. The output ~ from convertor 40 i8 fed to a buffer amplifier 46 the output of , which provides the other input to comparator 42. The other input to NAND gate 44 is from an oscillator means 45 which will be ex-plained shortly hereinafter. At this point it is sufficient to note that the oscillator means outputs a series of square waves to NAND gate 44 before the fastener member has been tightened to snug point A. It should be understood that other oscillator means outputting pulses of different shapes could also be utilized. At the snug point, the oscillator means will pro-03~
i .. : i 1l vide a high output signG~ d t'!lerearter will output a series of ; ¦1 square waves each time the fastener has been rotated through a 1I predetermined angular increment of rotation in the tightening ; , direction.
1 The instantaneous angle signal from potentiometer 24 ~i is also fed to a differential amplifier 48 which receives as ~tsother input the output from buffer amplifier 46 representative of the maximum angle signal generated and stored at any point in " the tightening cycle (from D/A convertor 40). Thus, the output ,, of differential amplifier 48 is a signal equal to the difference ; 1 between the largest angle signal generated and stored and ~he instantaneous angle signal. The output signal from differential amplifier 48 is therefore equal to the actual incremental angle through which the fastener has been tightened. It will ~e re-lS , membered that the rotation of the fastener is not continuous, and that when the wrench is rotated in the opposite direction the potentiometer setting will be changed, so that the utilization of, ~he storage function in DiA convertor 40 described above and of ~¦ different~al amplifier 48 accommodates the changes in potentiom-~ eter settings during such opposite rotation. ~rom differential ; 1 amplifier 48, the output signal representative of the actual incremental rotation of the fastener is fed through another com- ¦
parstor 50 which receives as its other input a signal from a signal generating device such as a potentiometer 52. Potentiomete~
52 is set so that its output signal is equal to a slgnal repre- ¦
!l sentative of the predetermined increment of angle over which `'`~
~3236Z
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;~.
. <, , f the slope of a torque-rotation curve is to be determined.
The signal from comparator 50 indicating that the fastener has been rotated through a predetermined increment of rotation, is fed to a conventional gated RC oscillator means 45, ;~; 5 which generally comprises NAND gates 54 and 58, a capacitor 55 and a resistor 57. NAND gate 54 receives a driving input from comparator 50 and a second input from NAND gate 58, and provides an output to a NAND gate 56 acting as an invertor and through capacitor 55 back to both inputs of NAND gate 58. The output of NAND gate 58 is also fed back through resistor 57 to the inputs of NAND gate 58. Capacitor 55 and resistor 57 produce a time delay which causes NAND gates 54 and 58 to act as an oscillator.
Their respective values are chosen in order to determine the desired frequency of oscillation.
To summarize the operation of the circuitry described thus far, when tightening of the fastener commences and prior to reaching snug point A in the tightening cycle, D/A convertor 40 is held reset since it has not received an enabling signal from comparator 32. Thus, convertor 40 provides no output signal and buffer amplifier 46 also provides no output signal. Accordingly, differential amplifier 48 is, at this point, subtracting a zero signal from buffer amplifier 46 from the relatively large output signal from potentiometer 24, and is outputting a relatively large signal to comparator 50. This last mentioned signal is larger than the predetermined incremental angle signal from poten-tiometer 52 so that the output of comparator 50 is a high signal ~ 3236Z
.
which is fed to NAND gate 58 and outputs a low signal which i5 inverted by NAND gate 56 and fed as a high signal to NAND
gate 44. The low output signal from NAND gate 54 is also inverted by NAND gate 58 and fed as a high signal to NAND gate ; 5 54 driving its output to a high signal which is then inverted by NAND gates 56 and 58, as described above. Thus, oscillator 45 is generating a series of square waves which are fed through inverting NAND gate 56 to NAND gate 44.
Simultaneous with the preceding, potentiometer 24 is feeding its increasing analog signal to comparator 42 which is also receiving the zero output signal from D/A convertor 40, being held reset since it is not yet receiving a signal from comparator 32. Comparator 42 is thus outputting a high signal to NAND gate 44. On each low pulse from NAND gate 56, NAND gate 44 outputs a pulse to D/A convertor 40 which, since it is held reset, cannot store or output the signal.
When snug point A is reached, D/A convertor 40 is enabled by a signal from comparator 32 and starts counting pulses from NAND gate 44~ The convertor outputs an analog signal to buffer amplifier 46 and, thus, to comparator 42 and differential amplifier 48. Eventually the output of convertor 40 and buffer amplifier 46 equals the instantaneous angle signal from potenti-ometer means 24 so that the output of comparator 42 is driven low, but immediately thereafter is driven high as the signal from potentiometer means 24 increases due to further rotation of the fastener. The output signal from buffer amplifier 46 is a . ~
.` li l 13Z3~Z
~ !
function of the stored signal in conv-~t~r ~ hi~l signal , represents the largest angular rotation of the fastener to that point in the tightening cycle and which is fed to differential I amplifier 48 along with the instantaneous angle signal from `
¦ potentiometer means 24. As noted previously, differential am-¦ plifier 48 outputs a signal representative of the increment of rotation through which the fastener has been driven. Initially this tifference is relatively small, being less than the signal representative of the predetermined increment of rotation which is provided by potentiometer 52. Thus, the output of comparator i 50 is driven low and this low signal is provided to ~AND gate 54.
i With the low signal input to NAND gate 54, it outputs a low sig-nal to inverting NAND gate 56 resulting in 8 high output signal ; to NAN~ gate 44. At this point, both inputs to NAND gate 44 arehigh so that it provides a low output signal to convertor 40.
Thus, the signal stored in convertor 40 is not changed nor is its output, and consequently the output of buffer amplifier 46 is not changed.
When the output of tifferential amplifier 48 is a sig-I nal indicating that the incremental rotation of the fastener !l equals the predetermined increment of rotation set by the signal¦
from potentiometer 52, comparator 50 outputs a high signal to ¦ .NAND gate 54 and again starts the oscillator means running.
!! That is, oscillator means 45 again outputs a series of square 2s il waves through inverting NAND gate 56. The cycle just described ¦ now repeats itself. Convertor 40 again receives pulses from ~ - 17 -~ 3Z362 r , .
NAND gate 44 until its stored value equals the instantaneous angular rotation signal from potentiometer means 24. Similar to the explanation above, when these signals are equal, the out-put of differential amplifier 48 is driven to zero and the output of comparator 50 is driven low discontinuing operation of : oscillator means 45 by driving the input to NAND gate 54 low.
At this point it is noted that differential amplifier 48 is arranged with a time delay circuit including a resistor and capacitor circuit 60 in parallel altering the input from buffer amplifier 46, and with a grounded resistor 62 and a blocking diode 63 in series altering the input from potentiometer means 24. Because of the capacitor in circuit 60, differential amplifier 48 output signal is delayed so that the oscillator means runs slightly longer than it should. That is, additional output pulses are provided through inverting NAND gate 56. The - purpose of these pulses is to allow other storage circuits to stabilize as will be made clear hereinafter.
Referring now to the remainder of the circuitry, from amplifier 30 the instantaneous torque signal is fed through a comparator 64 which provides an output through a NAND gate 66 which receives its other input from NAND gate 56. NAND gate 66 provides an output signal to a storage circuit in the form of a conventional digital to analog (D/A) convertor 68. This arrangement is similar to the arrangement of comparator 42, NAND
gate 44 and D/A convertor 40, except that convertor 68 is not held reset below snug point A in the tightening cycle. The out-30) ~ 3Z362 1. 1 . li put of convertor 68 is fed through a buffer`amplifier 70 which, I in turn, outputs a signal to comparator 64. Below snug point ¦ A in the tightening cycle, NAND gate 56 runs continuously and outputs 8 series of square wave signals to NAND gate 66. The 8ignal representative of instantaneous torque from amplifier 30 is slightly greater than the output of convertor 68 causing com-parator 64 to provide a high output. At each low pulse from NAN~ gate 56, NAND gate 66 provides an output pulse to convertor 1l 68 driving its stored signal higher and, similarly, the output of j, buffer amplifier 70. Thus, below snug point A, the respective - I signsls from convertor 68 and buffer amplifier 70 follow the ¦I signal representative of instantaneous torque. At the snug poin~
as explained previously, NAND gate 56 provides a high output ' il Il signal after a slight time delay, and comparator 64 now provides : 15 j, a high output signal since the signal from amplifier 30 is larger I than the signal from buffer amplifier 7~, so that NAND gate 66 ~ output is driven low and no new pulses are provided to convertor ¦1 68. Thus, a signal representative of the torque at the snug point is stored in convertor 68. The slight time delay noted ¦ above, allows the stored signal to stabilize.
Each time comparator S0 determines that the fastener has been rotated through a predetermined angular increment, os-cillator means 45 is turned on and NAND gate 56 outputs a qerLes of square waves to NAND gate 66, so that the output from compara-tor 64 high, a new signal is fed to convertor 68 and through buffer amplifier 70. ~n a manner similar to that ~lready ex-plained, NAND gate 66 pulses convertor 68 until the stored signal `` -` ~13Z362 therein equals the signal representative of instantaneous torque.
Thus, beyond snug point A in the tightening cycle, convertor 68 stores and outputs a signal representative of the instantaneous torque being applied at each predetermined increment of rotation.
Generally, this signal is representative of the maximum torque applied up till that time, since if the instantaneous torque signal from amplifier 30 does not exceed the stored signal comparator 64 provides no output. Of course, the input to convertor 68 are digital signals and its output is an analog signal.
The output of buffer amplifier 70 is also fed to a differential amplifier 72 which receives as its other input the signal from amplifier 30. The output from differential amplifier 72 is fed to a comparator 74 which outputs to a NAND gate 76 which also receives an input from NAND gate 56.
NAND gate 76 provides an output signal to a storage device in the form of a conventional digital to analog (D/A) convertor 78 similar to D/A convertors 40 and 68. Also in a manner similar to D/A convertors 40 and 68, convertor 78 outputs to a buffer amplifier 80 which provides an cutput back to comparator 74. As will now be explained, D/A convertor 78 stores in digital form and outputs in analog form, a signal representative of the largest slope at any point in the tightening cycle of the torque-rotation curve which could be plotted for the fastner being tightened.
Below snug point A in the tightening cycle, a signal representative of instantaneous torque is fed to differential amplifier 72 from amplifier 30, and a signal approximately equal ~;
:-`
'~"') 113Z36Z
l . I
I to the maximum torque applied at that point is also fed to ¦ tifferential amplifier 72 from convertor 68 through buffer a~pli-l ¦ fier 70. Thus, the output of differential emplifier 72 is essen-¦
I tially zero. With no input to comparator 74, it has no output ¦ ant NAND gate 76 provides no output to D/A convertor 78. At snug ¦ point A in the tightening cycle, the inputs to comparator 74 are still essentially equal so that D/A convertor 78 still does not receive an input signal. It is noted, however, that the input I from inverting NAN~ gate 56 to NAND gate 76 is now driven high, I
1 as previously explained. Immediately after snug point A has .~ .
I been reached, the signal ~rom amplifier 30 starts to exceed the l' stored signal from convertor 68 and buffer amplifier 70 so that I the output from differential amplirier 72 starts to increase, re-I flecting the difference between the instantane~us torque and j stored torque causing comparator 74 to output a hi8h signal to ' NAND gate 76. With two high inputs, of course, NAND gate 76 provides no output to convertor 78.
I As soon as comparator 50 detects that the fastener has ¦ been tightened through a predetermined increment of rotation, i oscillator means 45 is agai~ turned on and inverting NAND gate 56 outputs a series of square waves to NAND gate 76. At this same time, differential amplifier 72 is outputting a signal repre sentative of the tifference between the signal from amplifier-30, representative of the instantaneous torque being applied at that increment of rotation, and the signal from convertor 68 and buffe .
(1030) ~ 113Z36Z
i l !
¦¦ ampiifier 70, representative of the torque at snug point A.
! Accordingly~ the output of differentlal amplifier 72 i~ a signal !
representative of the slope of the torque-rotation curve over j that pretetermined increment of rotation. With no signal from V/A convertor 78 and ~uffer amplifier ~0, the output of differen-¦ tial amplifier 72 causes comparstor 74 to output to NAND gate 76.
On each low pulse from NAN~ gate 56, NAND gate 76 provides an output pulse to convertor ,78. When the output from convertor 78 1~ and buffer amplifier 80 equals the signal from differential am-il plifier 72, comparator 74 discontinues its output and the signal !
stored in convertor 78 is representaeive of the slope of the ; curve over that first predetermined increment of rotation.
Thereafter, at each predetermined increment when the instantane- ' ous slope of the curve is larger than the stored previous largest slope of the curve, the just described process repeats so that .; convertor 7d always stores and outputs a signal representative of the maximum slope of the torque-rotation curve up to that l! point in the tightening cycle.
Il In the preferred embodiment of the invention disclosed l herein, a temporary storage circuit 82 is associated with com-parator 74 and includes a grounded capacitor and a resistor in parallel with the comparator and a diode between differential amplifier 72 and the input to comparator 74. Storage circuit 82 temporarily stores the signal from differential amplifier 72 to I assure that the signal representative of the slope of the curve ¦! is fed to comparator 74 and not the signal being generated when (l~ J) i .
¦ the square wave pulses are being emitted from oscillator means 45. Since these pulses also cause convertor 68 to update the ~tored instantaneous torque reading, the output from this con-¦ vertor snd its buffer amplifier 70 immediately start to incresse ¦ and change the output of differential amplifier 72. .
. The signal in convertor 78, representative of the max-imum slope of the curve at any point, and the signal from differ-~. ential amplifier 72, representative of instantaneous slope of : I the curve, are fed to an additional comparator 84 to determine when the instantaneous slope is a predetermined percentage of the stored maximum slope. To accomplish this determination, a divi- j der circuit ~6 is provided including a grounded resistor in parallel with comparator 84 and a resistor between buffer ampli-fier 80 and the input to comparator 84. Thus, the predetermined percentage between 25% to 75%, and normally 50% of the signal from convertor 78 and buffer amplifier 80 is fed to comparator 84. Accordingly, when the signal from differential amplifier 72, . I representative of the instantaneous slope of the curve, equals ~ or exceeds the predetermined percentage of the stored signal fed 1l to comparator 84, the comparator provides an output signal indi-cating that the instantaneous slope of the curve signal i~ equal to the predetermined percentage of the maximum slope of the curve signal.
If the torque were applied continuously, the outpu~
! signal from comparator 84 would indicate that the joint assem~ly has ~een ti~htened to its yield point. However, when the toryue I
is ~pp~ied intermittently as with hand operated wrench 10, the torque signal from strain gauge means 22 decreases during per- !
iods of rotation in the opposite direction as illustrated at ¦ point D in Fig- 3. At each such point D in a tightening cycle r comparator 84 outputs a signal. Thus, there is provided check-ing means for determining that the yield point has been reachéd.
Incluted in the circuitry is a four input AND gate 88 providing Il an output signal to a flip-flop 90. AND gate 88 receives one ¦l input from comparator 32 indicating that torque is being applied 1 at that moment and that snug point A has been reached, and another input from comparator 84 indicating that the instantan-! eous gradient signal is a predetermined percentage of the maximum gradient signal to that point. Since a detection that the yield point has been reached can only be made at each increment of ro-l tation, AND gate 88 also receives an input from NAND gate 44, it being remembered that this gate provides output pulses con-tinuously below the snug point and, thereafter, only at the pre-determined increments of rotation. If signals from both com-1I parator 32 and NAND gate 44 are detected, it can be assured that 1I the fastener has ~ust been rotated through a predetenmined in-¦I crement of rotation. Also, a detection of the yield point can ¦¦ only be made when significant torque is being applied to the fastener. Thus, the instantaneous torque signal from amplifier 30 is fed to one input of a comparator 92 which also receives at a second input a signal representative of the predetenmined percentage of the maximum torque from convertor 68 and buffer , ~lrjav~
3~13~Z3t~
~ amplifier 700 ;~ii is ac~omplished by providing a diviter cir-i cuit 94 in the form of two resistors in series between the output ¦
of buffer ~mplifier 70 and the input to comparator 92. One resistor is grounded and the other resistor is not grounded.
Thus, the one input to compsrator 92 is representative of in-8tantaneous torque and ~he other input is representative of the predetermined percentage of the maximum torque applied up till I any point in time. It has been found that the predetermined I percentage should be about 66 1/3% so that two-thirds of the maximum torque signal is fed to comparator 92. If the instantan-- j, eous torque signal is st least two-thirds of the maximum torque signal, comparator 92 provides an output signal which is fed to the four input AND gate 88. When all four conditions are met, ;, j then all four signals are fed to AND gate 88 and it outputs a signal to flip-flop 90 indicating that the joint assembly has i been tightened to its yield point. Flip-flop 90 stores the sig-nal from AND gate 88 and drives an indicator in the form of a ¦l light 96 and/or a buzzer 98, thus indicsting to the operator Il to discontinue tightening of the ~oint assembly. A reset switch 100 is provided to clear D/A convertors 68 and 78 at the end of each tightening cycle.
From the preceding description, the operation of the wrench 10 and control circuit 12 should be clear. It should be noted, however, that from points D to E in the tightening cycle, as driver head 18 is rotatet in the reverse direction, resistor 27 is al50 rotated in the reverse direction changing the signal (10:~0) ~ 113Z36Z:
from potentiometer 24. Thus, when tightening torque is reapplied at point E, the potentiometer signal representative of the I angular rotation of the fastener which is stored in D/A convertor ! 40 is zero. At point ~ the instantaneous torque signal from i strain gauge means 22 drops below the signal representative of ¦ the torque at snug point A which is fed to co~parator 32 from potentiometer 34. Accordingly, comparator 32 provides no signal to convertor 40 so that the convertor is held reset and its l stored signal drops to zero. Thus, at point E in the tightening i li cycle, the new signal from potentiometer 24 is processed as if ! the tightening cycle had just begun (as previously described) ¦ in order to determine when the fastener has been rotated through predetermined increments of rotation. One other point of note is that if point ~ occurs between predetermined increments of 1 rotation, the signal stored in convertor 68 representative of the instantaneous torque at the last predetermined increment of ro-tation is lower than the instantaneous torque applied to the I fastener at point E. It should be understood that due to the ¦ mode of operation of the incremental angle detecting circuitry, the incremental angle is measured from point E, not the last increment of rotation detected. To account for this difference in torque, time delay circuit 60 associated with differential amplifier 48 comes into effect. As noted, the time delay cir-2 cuit causes oscillator means 45 to provide additional output pulses through inverting NAND gate 56 after differential ampli-fier 44 detects an increment of rotation. Thus, these additional pulses drlve NAND gate 66 snd allow D/A convertor 68 to continue (1030~ ~ 6~ ~
I
¦ to receive signsls f,om comparaeor 64, and the signal stored in D/A convertor 68 is driven higher to approximate the actual instantaneous torque being applied to the fastener at point E.
While this is not an exact technique, it is sufficiently close 80 that the accuracy of the method performed by the apparatus is not significantly impaired.
It should be pointed out that the operator should exercise some care in using the apparatus. Short jerky applica- j ¦l tion of torque should be avoided and torque should be applied ; 10 li as smoothly as possible.
While;in the foregoing a preferred embodiment of the ¦l invention has been disclosed, various modifications and changes will occur to those skilled in the art without departing from , the true spirit and scope of the invention as recited in the ii appended claims.
~7 -
~ amplifier 700 ;~ii is ac~omplished by providing a diviter cir-i cuit 94 in the form of two resistors in series between the output ¦
of buffer ~mplifier 70 and the input to comparator 92. One resistor is grounded and the other resistor is not grounded.
Thus, the one input to compsrator 92 is representative of in-8tantaneous torque and ~he other input is representative of the predetermined percentage of the maximum torque applied up till I any point in time. It has been found that the predetermined I percentage should be about 66 1/3% so that two-thirds of the maximum torque signal is fed to comparator 92. If the instantan-- j, eous torque signal is st least two-thirds of the maximum torque signal, comparator 92 provides an output signal which is fed to the four input AND gate 88. When all four conditions are met, ;, j then all four signals are fed to AND gate 88 and it outputs a signal to flip-flop 90 indicating that the joint assembly has i been tightened to its yield point. Flip-flop 90 stores the sig-nal from AND gate 88 and drives an indicator in the form of a ¦l light 96 and/or a buzzer 98, thus indicsting to the operator Il to discontinue tightening of the ~oint assembly. A reset switch 100 is provided to clear D/A convertors 68 and 78 at the end of each tightening cycle.
From the preceding description, the operation of the wrench 10 and control circuit 12 should be clear. It should be noted, however, that from points D to E in the tightening cycle, as driver head 18 is rotatet in the reverse direction, resistor 27 is al50 rotated in the reverse direction changing the signal (10:~0) ~ 113Z36Z:
from potentiometer 24. Thus, when tightening torque is reapplied at point E, the potentiometer signal representative of the I angular rotation of the fastener which is stored in D/A convertor ! 40 is zero. At point ~ the instantaneous torque signal from i strain gauge means 22 drops below the signal representative of ¦ the torque at snug point A which is fed to co~parator 32 from potentiometer 34. Accordingly, comparator 32 provides no signal to convertor 40 so that the convertor is held reset and its l stored signal drops to zero. Thus, at point E in the tightening i li cycle, the new signal from potentiometer 24 is processed as if ! the tightening cycle had just begun (as previously described) ¦ in order to determine when the fastener has been rotated through predetermined increments of rotation. One other point of note is that if point ~ occurs between predetermined increments of 1 rotation, the signal stored in convertor 68 representative of the instantaneous torque at the last predetermined increment of ro-tation is lower than the instantaneous torque applied to the I fastener at point E. It should be understood that due to the ¦ mode of operation of the incremental angle detecting circuitry, the incremental angle is measured from point E, not the last increment of rotation detected. To account for this difference in torque, time delay circuit 60 associated with differential amplifier 48 comes into effect. As noted, the time delay cir-2 cuit causes oscillator means 45 to provide additional output pulses through inverting NAND gate 56 after differential ampli-fier 44 detects an increment of rotation. Thus, these additional pulses drlve NAND gate 66 snd allow D/A convertor 68 to continue (1030~ ~ 6~ ~
I
¦ to receive signsls f,om comparaeor 64, and the signal stored in D/A convertor 68 is driven higher to approximate the actual instantaneous torque being applied to the fastener at point E.
While this is not an exact technique, it is sufficiently close 80 that the accuracy of the method performed by the apparatus is not significantly impaired.
It should be pointed out that the operator should exercise some care in using the apparatus. Short jerky applica- j ¦l tion of torque should be avoided and torque should be applied ; 10 li as smoothly as possible.
While;in the foregoing a preferred embodiment of the ¦l invention has been disclosed, various modifications and changes will occur to those skilled in the art without departing from , the true spirit and scope of the invention as recited in the ii appended claims.
~7 -
Claims (7)
1. Apparatus for tightening a joint assembly including a fastener assembly, said apparatus comprising wrench means including a driver head adapted to be rotated and to tighten a fastener, angle indicating means associated with said driver head for pro-viding a signal representative of the rotation thereof including a first member fixed to said driver head for rotation therewith and a second member which is formed to remain substantially stationary with respect to said first member, the relative amount of rotation between said first and second members being operative to produce said signal.
2. Apparatus in accordance with Claim 1 wherein said second member is formed to be of relatively high inertia having groove means formed thereon at fixed intervals and is formed to contact said first member with a relatively low amount of friction there-between, and said first member includes optical transducer means for detecting the passage of said second member groove means.
3. Apparatus in accordance with Claim 1 wherein said signal representative of rotation is a digital signal.
4. Apparatus in accordance with Claim 1 wherein said angle indicating means comprises potentiometer means including a resistor portion and a wiper arm portion, one of said portions being arranged to rotate with said driver head and the other of said portions being associated with retaining means for attaching said other portion to a fixed reference member for holding said other portion from rotating.
5. Apparatus in accordance with Claim 4 wherein said retaining means includes a flexible member carried by said other of said portions and further includes a clip for fixing said flexible member to the fixed reference member.
6. Apparatus in accordance with Claim 5 wherein said flexible member is a cable.
7. Apparatus in accordance with Claim 5 wherein said clip comprises a magnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA386,431A CA1132362A (en) | 1978-08-08 | 1981-09-22 | Tightening apparatus |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US05/932,061 US4211120A (en) | 1978-08-08 | 1978-08-08 | Tightening apparatus |
| US932,061 | 1978-08-08 | ||
| CA333,056A CA1132361A (en) | 1978-08-08 | 1979-08-02 | Tightening apparatus |
| CA386,431A CA1132362A (en) | 1978-08-08 | 1981-09-22 | Tightening apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1132362A true CA1132362A (en) | 1982-09-28 |
Family
ID=27166352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA386,431A Expired CA1132362A (en) | 1978-08-08 | 1981-09-22 | Tightening apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA1132362A (en) |
-
1981
- 1981-09-22 CA CA386,431A patent/CA1132362A/en not_active Expired
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