DE4243317A1 - Angle control method for automatic screwdriver - using inertial angular rate sensor built into rotating shaft of insertion tool, and e.g. Sagnac effect rotation pick=up - Google Patents

Angle control method for automatic screwdriver - using inertial angular rate sensor built into rotating shaft of insertion tool, and e.g. Sagnac effect rotation pick=up

Info

Publication number
DE4243317A1
DE4243317A1 DE19924243317 DE4243317A DE4243317A1 DE 4243317 A1 DE4243317 A1 DE 4243317A1 DE 19924243317 DE19924243317 DE 19924243317 DE 4243317 A DE4243317 A DE 4243317A DE 4243317 A1 DE4243317 A1 DE 4243317A1
Authority
DE
Germany
Prior art keywords
screw
rate sensor
rotation rate
tool
inertial
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE19924243317
Other languages
German (de)
Inventor
Edgar Von Dipl.-Ing. 6602 Dudweiler De Hinueber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daimler Benz AG
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to DE19924243317 priority Critical patent/DE4243317A1/en
Publication of DE4243317A1 publication Critical patent/DE4243317A1/en
Priority to GB9325414A priority patent/GB2273574B/en
Priority to ES09302620A priority patent/ES2092951B1/en
Priority to DE4343110A priority patent/DE4343110C2/en
Priority to FR9315216A priority patent/FR2699446B1/en
Priority to JP05351362A priority patent/JP3131891B2/en
Priority to US08/171,712 priority patent/US5476014A/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B25B23/142—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for hand operated wrenches or screwdrivers
    • B25B23/1422—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for hand operated wrenches or screwdrivers torque indicators or adjustable torque limiters
    • B25B23/1425—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for hand operated wrenches or screwdrivers torque indicators or adjustable torque limiters by electrical means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)

Abstract

The method involves measuring the rotation angle, using an inertial angular rotation rate sensor, required to achieve a defined clamp force on a screw which is being inserted. The inertial angular rate sensor is directly integrated into the rotating shaft of the screwdriver tool which is connected via a shape-locking connection to the screw being inserted during the insertion process. The sensor may be a Sagnac effect fibre-optic gyro, or a mechanical Dynamically Tuned Gyro (DTG). USE/ADVANTAGE - For automatic insertion of screws in safety critical applications. Reliable insertion with required clamping force achieved with angular accuracy of less than 1 degree.

Description

Verfahren zur Regelung eines Einschraubwerkzeugs mit Drehwin­ kelsteuerung durch einen inertialen Drehratensensor.Process for controlling a screw-in tool with a rotary screw control by an inertial rotation rate sensor.

Es ist bekannt, daß das automatische Anziehen von Schrauben in Schraubverbindungen mit sog. Einschraubwerkzeugen möglich ist. Hier werden prinzipiell zwei Verfahren unterschieden:It is known that the automatic tightening of screws in Screw connections with so-called screw-in tools is possible. A distinction is made in principle between two methods:

  • - Drehung der Schraube im Gewinde solange, bis ein vorgegebe­ nes Anzugsmoment erreicht ist (Momentenmethode).- Turn the screw in the thread until a specified one torque has been reached (torque method).
  • - Drehung der Schraube um einen definierten Drehwinkel, über den bei bekannten Werkstoffeigenschaften eine vorgegebene Vorspannkraft der Schraube erreicht werden kann (Drehwin­ kelmethode).- Rotation of the screw by a defined angle of rotation, over a given with known material properties Preload force of the screw can be reached ( pot method).

Die hier beschriebene Erfindung bezieht sich auf die Drehwin­ kelmethode. Diese ist nur dann zuverlässig einsetzbar, wenn es möglich ist, den Drehwinkel der Schraube sehr exakt und absolut bzgl. des Gegengewindes zu bestimmen. Dies ist nach dem Stand der Technik bei manuell eingesetzten motorisch angetriebenen Einschraubwerkzeugen nicht mit befriedigendem Ergebnis möglich, da die nach dem S.d.T. einsetzbaren Systeme den Drehwinkel nicht absolut gegenüber dem Gegengewinde sondern nur bzgl. dem Hebelarm des Werkzeugs zu messen vermögen und rotatorische Be­ wegungen des Gesamtwerkzeugs um die Schraubenachse selbst zu bedeutenden Fehlern führen, die bei einer geforderten Drehwin­ kelgenauigkeit < 1 deg nicht tolerierbar sind und z. B. bei der Montage von sicherheitsrelevanten Schraubverbindungen ein er­ hebliches Sicherheitsrisiko bedeuten.The invention described here relates to the Drehwin pot method. This can only be used reliably if it is is possible, the angle of rotation of the screw is very precise and absolute to determine the counter thread. According to the state the technology for manually used motor-driven Screw-in tools not possible with a satisfactory result, since according to S.d.T. applicable systems the angle of rotation not absolutely in relation to the counter thread but only in relation to the Lever arm of the tool can measure and rotary loading movements of the entire tool around the screw axis itself significant errors that result in a required rotation kel accuracy <1 deg are intolerable and z. B. at the Installation of safety-relevant screw connections significant security risk.

Dieses Problem wird durch die im Patentanspruch aufgeführten Merkmale gelöst. Diese sind gekennzeichnet durch den Einsatz eines sog. inertialen Drehratensensors im Einschraubsystem in Kombination mit einer geeigneten Signalverarbeitung, die das Sensorsignal auswertet und die Steuersignale für den Antrieb des rotierenden Schaftes bereitstellt. Im Gegensatz zum S.d.T. ist es damit möglich, unmittelbar in-process, d. h. während des Schraubvorganges, den absoluten Drehwinkel zwischen Schraube und Gegengewinde zu erfassen und das Meßsignal zur Steuerung des Antriebs direkt einzusetzen. Veränderungen des Winkels zwi­ schen Gegengewinde und Hebelarm des Einschraubsystems haben hierdurch keinerlei Einfluß mehr auf den tatsächlich ausgeführ­ ten Drehwinkel des Schrauberschaftes.This problem is solved by those listed in the claim Features solved. These are characterized by the use a so-called inertial rotation rate sensor in the screw-in system in Combination with suitable signal processing that the Evaluates sensor signal and the control signals for the drive of the rotating shaft. In contrast to the S.d.T. it is thus possible to directly in-process, d. H. during the Screwing process, the absolute angle of rotation between screw and counter thread to record and the measurement signal for control the drive directly. Changes in the angle between counter thread and lever arm of the screw-in system hereby no longer any influence on the actually executed th angle of rotation of the screw shank.

Der im Patentanspruch 1 angegebenen Erfindung liegt die allge­ meine Lösung des o.a. Problems zugrunde, indem für die absolute Winkelmessung ein inertialer Drehratensensor eingesetzt wird. Im Patentanspruch 2 wird dies auf die Anwendung des inertialen Drehratensensors im bewegten Schrauberschaft konkretisiert. Im Patentanspruch 3 wird Anspruch 2 auf die Anwendung von sog. op­ tischen Kreiseln im bewegten Schrauberschaft konkretisiert. Im Patentanspruch 4 wird die Integration eines sog. mechanischen Kreisels als weiterer Spezialfall von Anspruch 2 dargestellt. Im Patentanspruch 5 wird der Anspruch auf Drehratensensoren mit sog. vibrierenden Strukturen bezogen. Allen Patentansprüchen ist gemeinsam, daß der inertiale Drehratensensor zwar optimal direkt im rotierenden Schrauberschaft angeordnet ist, aber prinzipiell auch eine Montage auf dem Hebelarm (vgl. Fig. 2) möglich ist, wenn die Relativrotation zwischen Schrauberschaft und Hebelarm z. B. durch einen konventionellen Winkelaufnehmer erfaßt wird. In Patentanspruch 6 wird Patentanspruch 1 von der Anwendung für Einschraubwerkzeuge allgemein auf Werkzeuge zur Aufbringung von absolut auf das Stellglied bezogenen rotatori­ chen Stellwegen (Torsion) erweitert. Beispiele sind die hier­ mit definiert ausführbaren Drehwinkeländerungen bei Ventil- Stellrädern oder Potentiometern mit einem entsprechenden hand­ geführten Werkzeug mit hoher Genauigkeit, ohne eine externe Re­ ferenz heranziehen zu müssen.The invention specified in claim 1 is based on the general solution to the above problem by using an inertial rotation rate sensor for the absolute angle measurement. In claim 2, this is concretized for the application of the inertial rotation rate sensor in the moving screw shank. In claim 3, claim 2 to the application of so-called. OP tables gyroscopes in the moving screw shank is specified. In patent claim 4, the integration of a so-called mechanical gyroscope is presented as a further special case of claim 2. In claim 5, the claim relates to yaw rate sensors with so-called vibrating structures. All patent claims have in common that the inertial rotation rate sensor is optimally arranged directly in the rotating screw shaft, but in principle also an assembly on the lever arm (see FIG. 2) is possible if the relative rotation between screw shaft and lever arm z. B. is detected by a conventional angle sensor. In claim 6, claim 1 is extended from the application for screw-in tools generally to tools for the application of absolute rotatori adjustment paths (torsion) related to the actuator. Examples are the rotation angle changes that can be carried out in a defined manner for valve setting wheels or potentiometers with a corresponding hand-operated tool with high accuracy, without having to use an external reference.

Fig. 1 zeigt ein Ausführungsbeispiel nach Patentanspruch 1 und Patentanspruch 2: Der inertiale Drehratensensor ist unmittelbar im Schrauberschaft integriert und erfaßt somit die absolute Drehbewegung der Schraube bzgl. des Gegengewindes unter der i.a. erfüllten Voraussetzung, daß das Gegengewinde für die Dau­ er des Schraubvorganges keiner unbekannten Rotationsbewegung unterliegt. Fig. 1 shows an embodiment according to claim 1 and claim 2: The inertial rotation rate sensor is integrated directly in the screw shank and thus detects the absolute rotational movement of the screw with respect to the counter-thread under the generally fulfilled condition that the counter-thread for the duration of the screwing process no unknown Rotational movement is subject.

Fig. 2 zeigt ein weiteres Ausführungsbeispiel nach Patentan­ spruch 1: Der inertiale Drehratensensor ist starr mit dem He­ belarm des Einschraubsystems verbunden. Der Drehwinkel zwischen Schrauberschaft und Hebelarm wird nach dem S.d.T. konventionell über einen inkremental oder analog arbeitenden Winkeldekoder erfaßt. Die Gesamtdrehung des Schrauberschaftes ergibt sich aus der Summe der Signale von Winkeldekoder und inertialem Drehra­ tensensor. Fig. 2 shows another embodiment according to claim 1. The inertial rotation rate sensor is rigidly connected to the lever arm of the screw-in system. According to the SdT, the angle of rotation between the screw shank and lever arm is conventionally recorded using an incremental or analog angle decoder. The total rotation of the screw shank results from the sum of the signals from the angle decoder and inertial rotation sensor.

Claims (6)

1. Verfahren zur Regelung eines Einschraubwerkzeugs mit Dreh­ winkelsteuerung durch einen inertialen Drehratensensor, dadurch gekennzeichnet, daß der Drehwinkel, um den eine anzuziehende Schraube zum Erreichen einer definierten Vorspannkraft zu drehen ist, über einen inertialen Drehratensensor erfaßt wird.1. A method for controlling a screw-in tool with rotation angle control by an inertial rotation rate sensor, characterized in that the angle of rotation by which a screw to be tightened to achieve a defined pretensioning force is detected via an inertial rotation rate sensor. 2. Verfahren nach Patentanspruch 1, dadurch gekennzeichnet, daß der inertiale Drehratensensor nach Patentanspruch 1 unmittelbar in den beim Einschraubvorgang mit der zu bewe­ genden Schraube formschlüssig verbundenen rotierenden Schaft des Einschraubwerkzeugs integriert ist.2. The method according to claim 1, characterized, that the inertial rotation rate sensor according to claim 1 directly in the bewe when screwing in The rotating screw is positively connected Shaft of the screw-in tool is integrated. 3. Verfahren nach Patentanspruch 2, dadurch gekennzeichnet, daß der inertiale Drehratensensor durch einen auf dem Sag­ nac-Effekt basierenden optischen Drehratenaufnehmer (z. B. Faserkreisel (Fibre Optical Gyro, F-oG)) realisiert ist, der unmittelbar in den beim Einschraubvorgang mit der zu bewegenden Schraube formschlüssig verbundenen rotierenden Schaft des Einschraubwerkzeugs integriert ist.3. The method according to claim 2, characterized, that the inertial rotation rate sensor by a on the Sag optical rotation rate sensor based on the nac effect (e.g. Fiber gyroscope (Fiber Optical Gyro, F-oG)) is realized, which directly in the when screwing in with moving screw positively connected rotating Shaft of the screw-in tool is integrated. 4. Verfahren nach Patentanspruch 2, dadurch gekennzeichnet, daß der inertiale Drehratensensor durch einen auf dem Drallsatz basierenden mechanischen Drehratenaufnehmer (z. B. Dynamisch abgestimmter Kreisel (DTG)) realisiert ist, der unmittelbar in den beim Einschraubvorgang mit der zu bewegenden Schraube formschlüssig verbundenen rotieren­ den Schaft des Einschraubwerkzeugs integriert ist.4. The method according to claim 2, characterized, that the inertial rotation rate sensor by a on the Twist rate based mechanical rotation rate sensor (e.g. dynamically tuned gyroscope (DTG)) implemented is that directly in the when screwing in with the  Rotate the screw to be moved in a form-fitting manner the shaft of the screw-in tool is integrated. 5. Verfahren nach Patentanspruch 2, dadurch gekennzeichnet, daß der inertiale Drehratensensor durch einen vibrierende Strukturen verwendenden Drehratenaufnehmer realisiert ist, der unmittelbar in den beim Einschraubvorgang mit der zu bewegenden Schraube formschlüssig verbundenen rotierenden Schaft des Einschraubwerkzeugs integriert ist.5. The method according to claim 2, characterized, that the inertial rotation rate sensor by a vibrating Rotation rate transducer using structures is realized, which directly in the when screwing in with moving screw positively connected rotating Shaft of the screw-in tool is integrated. 6. Verfahren nach Patentanspruch 1, dadurch gekennzeichnet, daß anstatt der dort beispielhaft angegebenen Drehung ei­ ner Schraube eine beliebige andere mechanisch zu betäti­ gende Stelleinrichtung um einen absoluten Winkel rotato­ risch bewegt und diese Bewegung wie angegeben über einen inertialen Drehratensensor erfaßt wird.6. The method according to claim 1, characterized, that instead of the rotation given there by way of example any screw mechanically to actuate any other adjusting device by an absolute angle rotato risch moves and this movement as indicated over a inertial rotation rate sensor is detected.
DE19924243317 1992-12-21 1992-12-21 Angle control method for automatic screwdriver - using inertial angular rate sensor built into rotating shaft of insertion tool, and e.g. Sagnac effect rotation pick=up Withdrawn DE4243317A1 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
DE19924243317 DE4243317A1 (en) 1992-12-21 1992-12-21 Angle control method for automatic screwdriver - using inertial angular rate sensor built into rotating shaft of insertion tool, and e.g. Sagnac effect rotation pick=up
GB9325414A GB2273574B (en) 1992-12-21 1993-12-13 Process and a device for the rotation-angle-monitored tightening or loosening of screw connections
ES09302620A ES2092951B1 (en) 1992-12-21 1993-12-17 PROCEDURE FOR TIGHTENING OR LOOSENING - CONTROLLED BY THE ANGLE OF ROTATION - OF THE SCREWS AND DEVICE FOR PERFORMING THE SAME.
DE4343110A DE4343110C2 (en) 1992-12-21 1993-12-17 Device for tightening or loosening screw connections monitored by the angle of rotation
FR9315216A FR2699446B1 (en) 1992-12-21 1993-12-17 Method and device for tightening or loosening, with control of the angle of rotation, screwing systems.
JP05351362A JP3131891B2 (en) 1992-12-21 1993-12-17 Method and apparatus for tightening or loosening a screw coupler while monitoring a rotation angle
US08/171,712 US5476014A (en) 1992-12-21 1993-12-21 Process and a device for the rotation-angle-monitored tightening or loosening of screw connections

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19924243317 DE4243317A1 (en) 1992-12-21 1992-12-21 Angle control method for automatic screwdriver - using inertial angular rate sensor built into rotating shaft of insertion tool, and e.g. Sagnac effect rotation pick=up

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DE4243317A1 true DE4243317A1 (en) 1993-06-09

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DE19924243317 Withdrawn DE4243317A1 (en) 1992-12-21 1992-12-21 Angle control method for automatic screwdriver - using inertial angular rate sensor built into rotating shaft of insertion tool, and e.g. Sagnac effect rotation pick=up

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4243069A1 (en) * 1992-12-18 1994-06-23 Gardner Denver Gmbh Pulse tool, esp. pulse screwdriver
US5476014A (en) * 1992-12-21 1995-12-19 Mercedes-Benz Ag Process and a device for the rotation-angle-monitored tightening or loosening of screw connections
DE29622317U1 (en) * 1996-12-21 1997-11-27 Wille Gmbh & Co Operating tool for tightening screw connection parts with an angle measuring device
WO1998010901A1 (en) * 1996-09-12 1998-03-19 Saltus-Werk Max Forst Gmbh Torque wrench
EP1022097A2 (en) * 1999-01-22 2000-07-26 BLM S.a.s. di L. Bareggi &amp; C. Torque wrench with angle sensor without external reference
EP2067576A2 (en) * 2007-12-04 2009-06-10 C. &amp; E. Fein GmbH Screw tool and method of controlling the tightening angle on screw connections
WO2009115889A1 (en) * 2008-03-18 2009-09-24 Atlas Copco Blm S.R.L. Electronic torque wrench with replaceable torque sensors
CN101417415B (en) * 2007-10-23 2010-09-29 谢智庆 Wrench measurement structure
WO2011120579A1 (en) 2010-03-31 2011-10-06 Alfing Montagetechnik Gmbh Assembly device and assembly method
US8286723B2 (en) 2010-01-07 2012-10-16 Black & Decker Inc. Power screwdriver having rotary input control
US8418778B2 (en) 2010-01-07 2013-04-16 Black & Decker Inc. Power screwdriver having rotary input control
USRE44311E1 (en) 2004-10-20 2013-06-25 Black & Decker Inc. Power tool anti-kickback system with rotational rate sensor
USD703017S1 (en) 2011-01-07 2014-04-22 Black & Decker Inc. Screwdriver
US9266178B2 (en) 2010-01-07 2016-02-23 Black & Decker Inc. Power tool having rotary input control
US9475180B2 (en) 2010-01-07 2016-10-25 Black & Decker Inc. Power tool having rotary input control
US10589413B2 (en) 2016-06-20 2020-03-17 Black & Decker Inc. Power tool with anti-kickback control system
CN113108164A (en) * 2020-01-10 2021-07-13 上海汽车集团股份有限公司 Sensor fixing device
US11752604B2 (en) 2018-04-13 2023-09-12 Snap-On Incorporated System and method for measuring torque and angle

Cited By (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4243069C2 (en) * 1992-12-18 2001-09-27 Gardner Denver Gmbh Pulse tool, especially pulse screwdriver
DE4243069A1 (en) * 1992-12-18 1994-06-23 Gardner Denver Gmbh Pulse tool, esp. pulse screwdriver
US5476014A (en) * 1992-12-21 1995-12-19 Mercedes-Benz Ag Process and a device for the rotation-angle-monitored tightening or loosening of screw connections
WO1998010901A1 (en) * 1996-09-12 1998-03-19 Saltus-Werk Max Forst Gmbh Torque wrench
US6167788B1 (en) 1996-09-12 2001-01-02 Saltus-Werk Max Forst Gmbh Torque Wrench
DE29622317U1 (en) * 1996-12-21 1997-11-27 Wille Gmbh & Co Operating tool for tightening screw connection parts with an angle measuring device
EP1022097A2 (en) * 1999-01-22 2000-07-26 BLM S.a.s. di L. Bareggi &amp; C. Torque wrench with angle sensor without external reference
EP1022097A3 (en) * 1999-01-22 2003-01-22 BLM S.a.s. di L. Bareggi &amp; C. Torque wrench with angle sensor without external reference
USRE44311E1 (en) 2004-10-20 2013-06-25 Black & Decker Inc. Power tool anti-kickback system with rotational rate sensor
USRE45112E1 (en) 2004-10-20 2014-09-09 Black & Decker Inc. Power tool anti-kickback system with rotational rate sensor
USRE44993E1 (en) 2004-10-20 2014-07-08 Black & Decker Inc. Power tool anti-kickback system with rotational rate sensor
CN101417415B (en) * 2007-10-23 2010-09-29 谢智庆 Wrench measurement structure
EP2067576A2 (en) * 2007-12-04 2009-06-10 C. &amp; E. Fein GmbH Screw tool and method of controlling the tightening angle on screw connections
EP2067576A3 (en) * 2007-12-04 2012-07-11 C. & E. Fein GmbH Screw tool and method of controlling the tightening angle on screw connections
US8794114B2 (en) 2008-03-18 2014-08-05 Atlas Copco Blm S.R.L. Electronic torque wrench with replaceable torque sensors
WO2009115889A1 (en) * 2008-03-18 2009-09-24 Atlas Copco Blm S.R.L. Electronic torque wrench with replaceable torque sensors
US8418778B2 (en) 2010-01-07 2013-04-16 Black & Decker Inc. Power screwdriver having rotary input control
US10160049B2 (en) 2010-01-07 2018-12-25 Black & Decker Inc. Power tool having rotary input control
US9475180B2 (en) 2010-01-07 2016-10-25 Black & Decker Inc. Power tool having rotary input control
US8286723B2 (en) 2010-01-07 2012-10-16 Black & Decker Inc. Power screwdriver having rotary input control
US9321156B2 (en) 2010-01-07 2016-04-26 Black & Decker Inc. Power tool having rotary input control
US8800679B2 (en) 2010-01-07 2014-08-12 Black & Decker Inc. Trigger profile for a power tool
US8800680B2 (en) 2010-01-07 2014-08-12 Black & Decker Inc. Trigger profile for a power tool
US9321155B2 (en) 2010-01-07 2016-04-26 Black & Decker Inc. Power tool having switch and rotary input control
US9199362B2 (en) 2010-01-07 2015-12-01 Black & Decker Inc. Power tool having rotary input control
US9211636B2 (en) 2010-01-07 2015-12-15 Black & Decker Inc. Power tool having rotary input control
US9266178B2 (en) 2010-01-07 2016-02-23 Black & Decker Inc. Power tool having rotary input control
WO2011120579A1 (en) 2010-03-31 2011-10-06 Alfing Montagetechnik Gmbh Assembly device and assembly method
CN102834225B (en) * 2010-03-31 2015-09-16 阿尔芬装配技术有限公司 Assembly equipment and assembly method
CN102834225A (en) * 2010-03-31 2012-12-19 阿尔芬装配技术有限公司 Assembly device and assembly method
USD703017S1 (en) 2011-01-07 2014-04-22 Black & Decker Inc. Screwdriver
US10589413B2 (en) 2016-06-20 2020-03-17 Black & Decker Inc. Power tool with anti-kickback control system
US11192232B2 (en) 2016-06-20 2021-12-07 Black & Decker Inc. Power tool with anti-kickback control system
US11752604B2 (en) 2018-04-13 2023-09-12 Snap-On Incorporated System and method for measuring torque and angle
CN113108164A (en) * 2020-01-10 2021-07-13 上海汽车集团股份有限公司 Sensor fixing device

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OAV Applicant agreed to the publication of the unexamined application as to paragraph 31 lit. 2 z1
8122 Nonbinding interest in granting licenses declared
8127 New person/name/address of the applicant

Owner name: MERCEDES-BENZ AKTIENGESELLSCHAFT, 70327 STUTTGART,

8181 Inventor (new situation)

Free format text: HINUEBER, EDGAR VON, DIPL.-ING., 66125 SAARBRUECKEN, DE

8143 Withdrawn due to claiming internal priority