EP0203370B1 - Screwing device with motor-driven screw driver - Google Patents

Screwing device with motor-driven screw driver Download PDF

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Publication number
EP0203370B1
EP0203370B1 EP86105600A EP86105600A EP0203370B1 EP 0203370 B1 EP0203370 B1 EP 0203370B1 EP 86105600 A EP86105600 A EP 86105600A EP 86105600 A EP86105600 A EP 86105600A EP 0203370 B1 EP0203370 B1 EP 0203370B1
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EP
European Patent Office
Prior art keywords
torque
measuring means
screwdriver
screwing
motor
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.)
Expired
Application number
EP86105600A
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German (de)
French (fr)
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EP0203370A1 (en
Inventor
Klaus Dr.-Ing. Dobler
Hansjörg Dipl.-Ing.(FH) Hachtel
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication date
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Publication of EP0203370A1 publication Critical patent/EP0203370A1/en
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Expired legal-status Critical Current

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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
    • B25B23/145—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for fluid operated wrenches or screwdrivers
    • B25B23/1456—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for fluid operated wrenches or screwdrivers having electrical components
    • 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
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B25B21/008—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose with automatic change-over from high speed-low torque mode to low speed-high torque mode
    • 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
    • B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers

Definitions

  • the invention relates to a screw device with a motor-driven screwdriver according to the preamble of the main claim.
  • Screwing devices of this type are used as screwing machines, for example for screwing in a large number of identical screws.
  • the screws should be screwed in quickly on the respective workpiece, but a predetermined maximum torque should not be exceeded when the screws are tightened.
  • the screwing device has a torque measuring device for monitoring the maximum torque.
  • the screw is first screwed in at a high speed in order to then be tightened to the predetermined maximum final torque when the speed is reduced.
  • the switch to lower speed is initiated in known screw devices when a certain torque threshold is reached when tightening the screw.
  • the screwing device with the features of the main claim has the advantage that the speed of the motor-driven screwdriver can be reduced in time by an additional displacement measuring device to such an extent that the then effective torque measuring device ensures reliable torque monitoring and an exact tightening of the screws predetermined final torque enables.
  • the displacement measuring device monitors the axial displacement of the screwdriver, which preferably has a spline shaft which engages axially displaceably in corresponding grooves on the drive spindle of the screwing device. If the displacement measuring device detects a predetermined axial displacement, the speed of the drive motor, which can be an electric or compressed air motor, is reduced and the torque measuring device is activated at the same time.
  • a common evaluation device is used for the monitoring and evaluation of the axial displacement of the screwdriver and the torque, the input of which can be optionally connected to the displacement measuring device or the torque measuring device via a changeover switch.
  • the displacement measuring device is connected to the evaluation device, since torque monitoring is not initially necessary. Only when the screw head is at a predetermined, adjustable distance from the workpiece surface is this determined by the displacement measuring device, whereupon the evaluation device causes a switchover to the torque measuring device with simultaneous speed reduction. So that such a switchover between torque measuring device and displacement measuring device is possible without any problems, sensors of the same type, for example measuring coils, capacitive or optical sensors, are used in these measuring devices.
  • the torque measuring device can in a manner known per se be carried out as described in DE-OS-2 951 148.
  • the displacement measuring device preferably has an annular coil which surrounds the spline shaft and which, for example, monitors the position of an annular groove provided on the spline shaft.
  • the preferred embodiment provides that the displacement measurement and the torque measurement are carried out using the eddy current measurement method.
  • Fig. 1 shows the lower part of the motor shaft 1 of a screwing device which is connected to a drive spindle 3 via a torque measuring device 2.
  • a spline shaft 4 engages in it, which forms the shaft of an axially displaceable screwdriver 5.
  • screw attachment 6 into which the screw head 7 of a screw 9 to be screwed into a workpiece 8 engages from below.
  • a threaded bore 10 is provided on the workpiece 8, which is indicated here by broken lines.
  • the path measuring device 11 has a ring coil 12 as a sensor element, which surrounds the spline shaft 4 in a ring shape. If the spline shaft 4 moves downward in the direction of arrow a during the screwing process, then an annular groove 13 attached to the spline shaft 4 enters the area of the toroidal coil 12. This causes a change in the inductance of the toroidal coil 12, causing a corresponding electrical signal to be removed -Measuring device 11 is delivered to an evaluation device.
  • the evaluation device is described in more detail with reference to FIG. 3.
  • the drive spindle 3 has an opening 14 adapted to the profile of the spline shaft 4 for receiving the spline shaft 4, which can also be designed as a bushing provided with longitudinal grooves.
  • FIG. 2 shows the highly simplified block diagram of the electrical circuit.
  • an evaluation device 15 is supplied with a start signal from the outside, which then switches on the motor M driving the motor shaft 1.
  • the evaluation device 15 is connected to a motor controller 16 that controls the speed of the motor M.
  • the engine M initially runs at high speed.
  • the displacement measuring device 11 is first connected to the input of the evaluation device 15. As soon as the distance measuring device 11 reports a predetermined distance between the screw head 7 and the surface of the workpiece 8 to the evaluation device 15, this switches the changeover switch 17 into the other position (not shown here) and thus connects the torque measuring device 2 to the input of the evaluation device 15. At the same time, the evaluation device 15 causes a reduction in the engine speed via the engine control 16.
  • the screwing process is now continued with a possibly greatly reduced engine speed, with the torque being monitored continuously via the torque measuring device 2. If the torque increases when the screw head 7 is in contact with the workpiece 8, the screwing operation is switched off as soon as a previously set final torque or a maximum torque is determined by the torque measuring device 2 and transmitted to the evaluation device 15. The evaluation device 15 then switches off the motor M via the motor controller 16 and can subsequently switch the switch 17 into the position shown here.
  • a distance between the screw head 7 and the workpiece 8 corresponding to the respective requirements can thus be determined in a simple manner, at which a speed reduction is carried out during the screwing process. At very high speeds at the beginning of the screwing process, a correspondingly larger distance can be provided for the speed changeover than at low initial speeds.
  • the distance that is decisive for the speed reduction must in any case be selected so that such a strong speed reduction takes into account the inertia of the rotating masses Men can be that an excess of a predetermined torque when tightening the screw 9 is safely avoided.
  • the evaluation circuit 15 contains an oscillator G which supplies a high-frequency AC voltage (e.g. 20 kHz to 10 MHz).
  • the first output terminal of the oscillator G is connected to the one end of a measuring coil 18 via a first resistor R1 and to the output terminal of the changeover switch 17 via a second resistor R2.
  • the second output terminal of the oscillator G is connected to a tap of the measuring coil 18 and via two capacitors C1, C2 to R1 and R2.
  • One of the input terminals of the switch 17 is connected to the other end of the measuring coil 18 and the other input terminal to one end of the ring coil 12.
  • the other end of the ring coil 12 is connected to the tap of the measuring coil 18.
  • the upper part of the measuring coil 18 shown in the drawing serves as a compensation coil 28 in order to eliminate the influence of any temperature fluctuations that may occur on the measurement result and also to enable a common zero point setting for the displacement and torque measurement.
  • the lower part of the measuring coil 18 serves as an inductive sensor for torque measurement. Via the switch 17, the lower part of the measuring coil 18 or the ring coil 12 can be connected to the oscillator G via R2.
  • the measuring coil 18 and the ring coil 12 are arranged in a bridge circuit which has the corner points F, K and M.
  • the corner point F of the bridge circuit is connected via the series connection of a capacitor C3 and a rectifier D1 to a storage capacitor C4, to which a discharge resistor R3 is connected in connection point D, which is also connected to the corner point M of the bridge circuit like capacitor C4 and another rectifier D2 connected.
  • the corner point K is connected via a series connection of a capacitor C5 and a rectifier D3 to a storage capacitor C5, to which a discharge resistor R4 is connected at the connection point E, which, like the capacitor C5 and a rectifier D4, is connected to the corner point M of the bridge circuit connected.
  • two RC elements consisting of resistors R5, R6 and capacitors C6 and C7 are also provided.
  • the practically harmonic-free DC voltage that arises at the series connection of the transverse capacitors C6, C7 can be changed with the aid of the compensation coil 28 and the resistors R1, R2, which can be designed as adjustable resistors, for adjustment purposes.
  • a differential amplifier 19 is provided which is connected to this DC voltage with its two inputs.
  • the first input of the differential amplifier 19 connected to the series resistor R5 is simultaneously connected to the output of the differential amplifier via a resistor R7, while the second input of the differential amplifier 19 connected to the series resistor R6 is connected to ground via a resistor R8.
  • the differential amplifier 19 At the output of the differential amplifier 19 there is a signal which is applied on the one hand as an input signal A to a first input of a switching mechanism 20, and on the other hand serves as a status signal C for controlling the motor M, while a signal B is present at a second input of the switching mechanism 20 Provides information about the state of the screwdriver.
  • a control signal for actuating the changeover switch 17 is formed in the switching mechanism 20 by logically combining the signal A supplied by the differential amplifier 19 and the signal B describing the state of the screwdriver.
  • This signal acts as a status signal C for the control of the motor M and causes the motor M to be switched to a lower speed.
  • the switch 17 goes into the other position, not shown, so that the measuring coil 18 is effective.

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

Description

Schraubvorrichtung mit motorgetriebenem SchraubendreherScrewing device with a motor-driven screwdriver Stand der TechnikState of the art

Die Erfindung geht aus von einer Schraubvorrichtung mit motorgetriebenem Schraubendreher nach der Gattung des Hauptanspruchs. Derartige Schraubvorrichtungen werden als Schraubautomaten beispielsweise zum Einschrauben von einer Vielzahl gleicher Schrauben verwendet. Die Schrauben sollen dabei einerseits schnell an dem jeweiligen Werkstück eingeschraubt werden, wobei jedoch ein vorgegebenes maximales Drehmoment beim Anziehen der Schrauben nicht überschritten werden sollte. Aus diesem Grunde besitzt die Schraubvorrichtung eine Drehmoment-Meßeinrichtung zur Überwachung des maximalen Drehmoments. Die Schraube wird zunächst mit einer hohen Drehzahl eingeschraubt, um dann bei herabgesetzter Drehzahl auf das vorgegebene maximale Enddrehmoment angezogen zu werden. Die Umschaltung auf geringere Drehzahl wird bei bekannten Schraubvorrichtungen dann eingeleitet, wenn eine bestimmte Drehmomentschwelle beim Anziehen der Schraube erreicht ist. In der Praxis wird bei diesen bekannten Schraubvorrichtungen jedoch häufig das maximal zulässige Enddrehmoment überschritten, da beispielsweise bei hohen Drehzahlen die erforderliche schnelle Drehzahlabsenkung auf Grund der Massenträgheit nicht möglich ist. Werden für das Werkstück und die Schraube sehr harte Werkstoffe verwendet, so hat dies einen sehr steilen Drehmomentanstieg zur Folge, sobald der Schraubenkopf die oberfläche des Werkstücks berührt. Auch in diesen Fällen kann bei den bekannten Schraubvorrichtungen mit ausschließlicher Drehmomentüberwachung eine sichere Drehmomentbegrenzung, insbesondere bei hohen Schrauberdrehzahlen, nicht gewährleistet werden.The invention relates to a screw device with a motor-driven screwdriver according to the preamble of the main claim. Screwing devices of this type are used as screwing machines, for example for screwing in a large number of identical screws. On the one hand, the screws should be screwed in quickly on the respective workpiece, but a predetermined maximum torque should not be exceeded when the screws are tightened. For this reason, the screwing device has a torque measuring device for monitoring the maximum torque. The screw is first screwed in at a high speed in order to then be tightened to the predetermined maximum final torque when the speed is reduced. The switch to lower speed is initiated in known screw devices when a certain torque threshold is reached when tightening the screw. In practice, however, the maximum permissible final torque is often exceeded in these known screwing devices, since, for example at high speeds, the required rapid speed reduction is not possible due to the inertia. If very hard materials are used for the workpiece and the screw, this results in a very steep increase in torque as soon as the screw head touches the surface of the workpiece. In these cases, too, reliable torque limitation, in particular at high screwdriver speeds, cannot be guaranteed in the known screwing devices with exclusive torque monitoring.

Aus der Patentschrift US-A-4 173 059 ist ein Schraubverfahren bekannt, das vorzugsweise auf handgeführte Schrauber anwendbar ist. Dabei wird der Schrauber auf den Kopf der Schraube aufgesetzt und "von Hand" der in das Werkstück eindringenden Schraube nachgeführt. Die zunächst hohe Drehzahl des Schraubkopfes wird nach Ablauf einer fest eingestellten Laufzeit auf eine niedere Drehzahl umgeschaltet. Die Schraube wird nun unter Kontrolle des Drehmomentes über einen bestimmten Drehwinkel festgezogen. Hierbei ist ungünstig, daß die Laufzeit des Schraubkopfes mit hoher Drehzahl fest vorgegeben ist. Drehzahlschwankungen des Schraubkopfes sowie unterschiedliche Reibungswerte der einzudrehenden Schraube bewirken, daß die Schraubtiefe sehr unterschiedlich sein kann. Wird die Schraube nach dem Umschalten auf die niedere Drehzahl mit einem vorgegebenen Winkel festgezogen, dann führt auch das Anzugsmoment der Schraube - je nach Reibwert des Gewindes - zu sehr unterschiedlichen Ergebnissen.From the patent US-A-4 173 059 a screwing method is known which is preferably applicable to hand-held screwdrivers. The screwdriver is placed on the head of the screw and adjusted "by hand" to the screw penetrating the workpiece. The initially high speed of the screw head is switched to a low speed after a fixed running time has elapsed. The screw is now tightened over a certain angle of rotation under the control of the torque. It is disadvantageous here that the running time of the screw head is fixed at high speed. Fluctuations in the speed of the screw head and different friction values of the screw to be screwed in mean that the screw depth can be very different. If the screw is tightened to a predetermined angle after switching to the low speed, the tightening torque of the screw - depending on the friction coefficient of the thread - also leads to very different results.

Dieses Verfahren ist insbesondere für feststehende Schrauber nicht geeignet, da solche Schrauber üblicherweise eine vorgegebene Distanz zum Werkstück einhalten und infolgedessen der Schraubkopf nicht wie beim Handbetrieb der in das Werkstück eindringenden Schraube nachgeführt werden kann. Dadurch kommt es dann früher oder später zur Unterbrechung des Kraftschlusses.This method is particularly unsuitable for fixed screwdrivers, since such screwdrivers usually maintain a predetermined distance from the workpiece and, as a result, the screw head cannot be adjusted as in manual operation of the screw penetrating the workpiece. Sooner or later this leads to an interruption of the adhesion.

Vorteile der ErfindungAdvantages of the invention

Die erfindungsgemäße Schraubvorrichtung mit den Merkmalen des Hauptanspruchs hat demgegenüber den Vorteil, daß durch eine zusätzliche Weg-Meßeinrichtung die Drehzahl des motorgetriebenen Schraubendrehers rechtzeitig so weit reduziert werden kann, daß die dann wirksame Drehmoment-Meßeinrichtung eine sichere Drehmomentüberwachung und ein exaktes Anziehen der Schrauben auf ein vorgegebenes Enddrehmoment ermöglicht. Die Weg-Meßeinrichtung überwacht zu diesem Zweck die axiale Verschiebung des Schraubendrehers, der vorzugsweise eine Keilwelle besitzt, die in entsprechende Nuten an der Antriebsspindel der Schraubvorrichtung axial verschiebbar eingreift. Stellt die Weg-Meßeinrichtung eine vorgegebene axiale Verschiebung fest, so wird die Drehzahl des Antriebsmotors, der ein Elektro- oder Druckluftmotor sein kann, herabgesetzt und es wird gleichzeitig die Drehmoment-Meßeinrichtung aktiviert.The screwing device according to the invention with the features of the main claim has the advantage that the speed of the motor-driven screwdriver can be reduced in time by an additional displacement measuring device to such an extent that the then effective torque measuring device ensures reliable torque monitoring and an exact tightening of the screws predetermined final torque enables. For this purpose, the displacement measuring device monitors the axial displacement of the screwdriver, which preferably has a spline shaft which engages axially displaceably in corresponding grooves on the drive spindle of the screwing device. If the displacement measuring device detects a predetermined axial displacement, the speed of the drive motor, which can be an electric or compressed air motor, is reduced and the torque measuring device is activated at the same time.

In besonders vorteilhafter Weise ist weiterhin vorgesehen, daß für die Überwachung und Auswertung der axialen Verschiebung des Schraubendrehers und des Drehmoments eine gemeinsame Auswerteeinrichung verwendet wird, deren Eingang über einen Umschalter wahlweise mit der Weg-Meßeinrichtung oder der Drehmoment-Meßeinrichtung verbindbar ist. Zu Beginn des Schraubvorganges ist nur die Weg-Meßeinrichtung mit der Auswerteeinrichtung verbunden, da zunächst eine Drehmomentüberwachung nicht erforderlich ist. Erst wenn der Schraubenkopf einen vorgegebenen, einstellbaren Abstand zur Werkstückoberfläche aufweist, wird dies von der Weg-Meßeinrichtung festgestellt, worauf die Auswerteeinrichtung eine Umschaltung auf die Drehmoment-Meßeinrichtung mit gleichzeitiger Drehzahlreduzierung veranlasst. Damit eine derartige Umschaltung zwischen Drehmoment-Meßeinrichtung und Weg-Meßeinrichtung problemlos möglich ist, werden in diesen Meßeinrichtungen gleichartige Sensoren, beispielsweise Meßspulen, kapazitive oder optische Sensoren verwendet. Die Drehmoment-Meßeinrichtung kann in an sich bekannter Weise ausgeführt sein, wie sie in der DE-OS-2 951 148 beschrieben ist. Die Weg-Meßeinrichtung besitzt vorzugsweise eine die Keilwelle umschließende Ringspule, die beispielsweise die Lage einer an der Keilwelle angebrachten Ringnut überwacht.In a particularly advantageous manner, it is further provided that a common evaluation device is used for the monitoring and evaluation of the axial displacement of the screwdriver and the torque, the input of which can be optionally connected to the displacement measuring device or the torque measuring device via a changeover switch. At the beginning of the screwing process, only the displacement measuring device is connected to the evaluation device, since torque monitoring is not initially necessary. Only when the screw head is at a predetermined, adjustable distance from the workpiece surface is this determined by the displacement measuring device, whereupon the evaluation device causes a switchover to the torque measuring device with simultaneous speed reduction. So that such a switchover between torque measuring device and displacement measuring device is possible without any problems, sensors of the same type, for example measuring coils, capacitive or optical sensors, are used in these measuring devices. The torque measuring device can in a manner known per se be carried out as described in DE-OS-2 951 148. The displacement measuring device preferably has an annular coil which surrounds the spline shaft and which, for example, monitors the position of an annular groove provided on the spline shaft.

Die bevorzugte Ausführungsform sieht vor, daß die Weg-Messung und die Drehmoment-Messung nach dem Wirbelstrom-Meßverfahren erfolgen.The preferred embodiment provides that the displacement measurement and the torque measurement are carried out using the eddy current measurement method.

Zeichnungdrawing

Die Erfindung wird nachfolgend anhand der Zeichnung näher erläutert. Es zeigen:

  • Fig. 1 eine Teilansicht einer Schraubvorrichtung im Bereich der Antriebsspindel,
  • Fig.2 ein stark vereinfachtes Blockschaltbild der elektrischen Schaltung zur Begrenzung des Enddrehmoments,
  • Fig. 3 ein detaillierteres Schaltbild der in Fig. 2 enthaltenen Auswerteeinrichtung und der mit ihr eingangsseitig verbundenen Einrichtungen und
  • Fig.4 ein Flußdiagramm zur Veranschaulichung der Funktionsweise der Schraubvorrichtung.
The invention is explained below with reference to the drawing. Show it:
  • 1 is a partial view of a screwing device in the area of the drive spindle,
  • 2 shows a greatly simplified block diagram of the electrical circuit for limiting the final torque,
  • FIG. 3 shows a more detailed circuit diagram of the evaluation device contained in FIG. 2 and the devices and connected to it on the input side
  • 4 shows a flowchart to illustrate the functioning of the screwing device.

Fig. 1 zeigt den unteren Teil der Motorwelle 1 einer Schraubvorrichtung, die über eine Drehmoment-Meßeinrichtung 2 mit einer Antriebsspindel 3 verbunden ist. Am unteren Ende der Antriebsspindel 3 greift in diese eine Keilwelle 4 ein, die den Schaft eines axial verschiebbaren Schraubendrehers 5 bildet. Am unteren Ende des Schraubendrehers 5 befindet sich ein Schraubvorsatz 6, in den von unten der Schraubenkopf 7 einer in ein Werkstück 8 einzuschraubenden Schraube 9 eingreift. Am Werkstück 8 ist zu diesem Zweck eine Gewindebohrung 10 vorgesehen, die hier durch unterbrochene Linien angedeutet ist.Fig. 1 shows the lower part of the motor shaft 1 of a screwing device which is connected to a drive spindle 3 via a torque measuring device 2. At the lower end of the drive spindle 3, a spline shaft 4 engages in it, which forms the shaft of an axially displaceable screwdriver 5. At the lower end of the screwdriver 5 there is a screw attachment 6 into which the screw head 7 of a screw 9 to be screwed into a workpiece 8 engages from below. For this purpose, a threaded bore 10 is provided on the workpiece 8, which is indicated here by broken lines.

Am unteren Ende der Antriebsspindel 3 befindet sich eine Weg-Meßeinrichtung 11, die mit der Antriebsspindel 3 starr verbunden ist. Als Sensorelement besitzt die Weg-Meßeinrichtung 11 eine Ringspule 12, die die Keilwelle 4 ringförmig umschließt. Bewegt sich die Keilwelle 4 während des Schraubvorgangs in Pfeilrichtung a nach unten, so gelangt eine an der Keilwelle 4 angebrachte Ringnut 13 in den Bereich der Ringspule 12. Dadurch tritt eine Änderung der Induktivität der Ringspule 12 ein, wodurch ein entsprechendes elektrisches Signal von der Weg-Meßeinrichtung 11 an eine Auswerteeinrichtung abgegeben wird. Die Auswerteeinrichtung ist anhand von Fig. 3 näher beschrieben.At the lower end of the drive spindle 3 there is a displacement measuring device 11 which is rigidly connected to the drive spindle 3. The path measuring device 11 has a ring coil 12 as a sensor element, which surrounds the spline shaft 4 in a ring shape. If the spline shaft 4 moves downward in the direction of arrow a during the screwing process, then an annular groove 13 attached to the spline shaft 4 enters the area of the toroidal coil 12. This causes a change in the inductance of the toroidal coil 12, causing a corresponding electrical signal to be removed -Measuring device 11 is delivered to an evaluation device. The evaluation device is described in more detail with reference to FIG. 3.

Die Antriebsspindel 3 besitzt für die Aufnahme der Keilwelle 4 eine an das Profil der Keilwelle 4 angepaßte Öffnung 14, die auch als mit Längsnuten versehene Buchse ausgebildet sein kann.The drive spindle 3 has an opening 14 adapted to the profile of the spline shaft 4 for receiving the spline shaft 4, which can also be designed as a bushing provided with longitudinal grooves.

Anhand von Fig. 2, die das stark vereinfachte Blockschaltbild der elektrischen Schaltung zeigt, wird die Funktion der Schraubvorrichtung erläutert. Zu Beginn des Schraubvorganges wird einer Auswerteeinrichtung 15 ein Startsignal von außen zugeführt, die daraufhin den die Motorwelle 1 antreibenden Motor M einschaltet. Zu diesem Zweck ist die Auswerteeinrichtung 15 mit einer die Drehzahl des Motors M steuernden Motorsteuerung 16 verbunden. Der Motor M läuft zunächst mit hoher Drehzahl.The function of the screwing device is explained with reference to FIG. 2, which shows the highly simplified block diagram of the electrical circuit. At the start of the screwing process, an evaluation device 15 is supplied with a start signal from the outside, which then switches on the motor M driving the motor shaft 1. For this purpose, the evaluation device 15 is connected to a motor controller 16 that controls the speed of the motor M. The engine M initially runs at high speed.

Über einen Umschalter 17, dessen Schaltstellung von der Auswerteeinrichtung 15 gesteuert wird, ist zunächst die Weg-Meßeinrichtung 11 mit dem Eingang der Auswerteeinrichtung 15 verbunden. Sobald die Weg-Meßeinrichtung 11 einen vorgegebenen Abstand zwischen Schraubenkopf 7 und Oberfläche des Werkstücks 8 an die Auswerteeinrichtung 15 meldet, schaltet diese den Umschalter 17 in die andere, hier nicht dargestellte Stellung um und verbindet damit die Drehmoment-Meßeinrichtung 2 mit dem Eingang der Auswerteeinrichtung 15. Gleichzeitig veranlaßt die Auswerteeinrichtung 15 über die Motorsteuerung 16 eine Reduzierung der Motordrehzahl.Via a changeover switch 17, the switching position of which is controlled by the evaluation device 15, the displacement measuring device 11 is first connected to the input of the evaluation device 15. As soon as the distance measuring device 11 reports a predetermined distance between the screw head 7 and the surface of the workpiece 8 to the evaluation device 15, this switches the changeover switch 17 into the other position (not shown here) and thus connects the torque measuring device 2 to the input of the evaluation device 15. At the same time, the evaluation device 15 causes a reduction in the engine speed via the engine control 16.

Der Schraubvorgang wird nun mit gegebenenfalls stark reduzierter Motordrehzahl fortgesetzt, wobei eine ständige Überwachung des Drehmoments über die Drehmoment-Meßeinrichtung 2 erfolgt. Steigt das Drehmoment bei Anlage des Schraubenkopfes 7 am Werkstück 8 an, so erfolgt eine Abschaltung des Schraubvorganges sobald ein vorher eingestelltes Enddrehmoment beziehungsweise ein maximales Drehmoment von der Drehmoment-Meßeinrichtung 2 festgestellt und an die Auswerteeinrichtung 15 übermittelt wird. Die Auswerteeinrichtung 15 schaltet dann den Motor M über die Motorsteuerung 16 ab und kann nachfolgend eine Umschaltung des Schalters 17 in die hier dargestellte Stellung veranlassen.The screwing process is now continued with a possibly greatly reduced engine speed, with the torque being monitored continuously via the torque measuring device 2. If the torque increases when the screw head 7 is in contact with the workpiece 8, the screwing operation is switched off as soon as a previously set final torque or a maximum torque is determined by the torque measuring device 2 and transmitted to the evaluation device 15. The evaluation device 15 then switches off the motor M via the motor controller 16 and can subsequently switch the switch 17 into the position shown here.

Zur Festlegung des für die Umschaltung des Schalters 17 vorgesehenen Abstandes zwischen Schraubenkopf 7 und Werkstück 8 genügt es, wenn die Antriebsspindel 3 in eine entsprechende vertikale Position gebracht wird, daß gerade bei dem gewünschten Abstand die Ringnut 13 in den Bereich der Ringspule 12 gelangt und von der Weg-Meßeinrichtung 11 ein entsprechendes, diesen Zustand kennzeichnendes elektrisches Signal an die Auswerteeinrichtung 15 übermittelt wird. Es kann somit auf einfache Weise ein den jeweiligen Anforderungen entsprechender Abstand zwischen Schraubenkopf 7 und Werkstück 8 festgelegt werden, bei dem während des Schraubvorganges eine Drehzahlreduzierung vorgenommen wird. Bei sehr hohen Drehzahlen zu beginn des Schraubvorganges kann ein entsprechend größerer Abstand für die Drehzahlumschaltung vorgesehen sein als bei niedrigen Anfangsdrehzahlen. Der für die Drehzahlreduzierung maßgebliche Abstand muß in jedem Fall so gewählt werden, daß unter Berücksichtigung der Trägheit der rotierenden Massen eine so starke Drehzahlreduzierung vorgenommen werden kann, daß eine Überschreitung eines vorgegebenen Drehmoments beim Anziehen der Schraube 9 sicher vermieden wird.To determine the distance between the screw head 7 and the workpiece 8 provided for the switch 17, it is sufficient if the drive spindle 3 is brought into a corresponding vertical position that the annular groove 13 comes into the region of the annular coil 12 and at just the desired distance a corresponding electrical signal characterizing this state is transmitted to the displacement measuring device 11 to the evaluation device 15. A distance between the screw head 7 and the workpiece 8 corresponding to the respective requirements can thus be determined in a simple manner, at which a speed reduction is carried out during the screwing process. At very high speeds at the beginning of the screwing process, a correspondingly larger distance can be provided for the speed changeover than at low initial speeds. The distance that is decisive for the speed reduction must in any case be selected so that such a strong speed reduction takes into account the inertia of the rotating masses Men can be that an excess of a predetermined torque when tightening the screw 9 is safely avoided.

In Fig. 3 ist insbesondere die Auswerteschaltung 15 näher dargestellt. Sie enthält einen Oszillator G der eine hochfrequente Wechselspannung liefert (z. B. 20 kHz bis 10 MHz). Der Oszillator G ist mit seiner ersten Ausgangsklemme über einen ersten Widerstand R1 mit dem einen Ende einer Meßspule 18 und über einen zweiten Widerstand R2 mit der Ausgangsklemme des Umschalters 17 verbunden. Die zweite Ausgangsklemme des Oszillators G ist mit einer Anzapfung der Meßspule 18 und über zwei Kondensatoren C1, C2 mit R1 und R2 verbunden. Eine der Eingangsklemmen des Umschalters 17 ist mit dem anderen Ende der Meßspule 18 und die andere Eingangsklemme mit einem Ende der Ringspule 12 verbunden. Das andere Ende der Ringspule 12 ist mit der Anzapfung der Meßspule 18 verbunden. Der in der Zeichnung dargestellte obere Teil der Meßspule 18 dient als Kompensationsspule 28, um den Einfluß von etwa auftretenden Temperaturschwankungen auf das Meßergebnis zu eliminieren und außerdem eine gemeinsame Nullpunkteinstellung für die Weg- und die Drehmomentmessung zu ermöglichen. Der untere Teil der Meßspule 18 dient als induktiver Sensor für die Drehmomentmessung. Über den Umschalter 17 kann wahlweise der untere Teil der Meßspule 18 oder die Ringspule 12 über R2 mit dem Oszillator G verbunden werden.In Fig. 3 in particular the evaluation circuit 15 is shown in more detail. It contains an oscillator G which supplies a high-frequency AC voltage (e.g. 20 kHz to 10 MHz). The first output terminal of the oscillator G is connected to the one end of a measuring coil 18 via a first resistor R1 and to the output terminal of the changeover switch 17 via a second resistor R2. The second output terminal of the oscillator G is connected to a tap of the measuring coil 18 and via two capacitors C1, C2 to R1 and R2. One of the input terminals of the switch 17 is connected to the other end of the measuring coil 18 and the other input terminal to one end of the ring coil 12. The other end of the ring coil 12 is connected to the tap of the measuring coil 18. The upper part of the measuring coil 18 shown in the drawing serves as a compensation coil 28 in order to eliminate the influence of any temperature fluctuations that may occur on the measurement result and also to enable a common zero point setting for the displacement and torque measurement. The lower part of the measuring coil 18 serves as an inductive sensor for torque measurement. Via the switch 17, the lower part of the measuring coil 18 or the ring coil 12 can be connected to the oscillator G via R2.

Die Meßspule 18 und die Ringspule 12 sind in einer Brückenschaltung angeordnet, die die Eckpunkte F, K und M besitzt. Der Eckpunkt F der Brückenschaltung ist über die Reihenschaltung eines Kondensators C3 und eines Gleichrichters D1 mit einem Speicherkondensator C4 verbunden, an den im Verbindungspunkt D ein Entladewiderstand R3 angeschlossen ist, der ebenfalls wie der Kondensator C4 und ein weiterer Gleichrichter D2 an den Eckpunkt M der Brückenschaltung angeschlossen ist.The measuring coil 18 and the ring coil 12 are arranged in a bridge circuit which has the corner points F, K and M. The corner point F of the bridge circuit is connected via the series connection of a capacitor C3 and a rectifier D1 to a storage capacitor C4, to which a discharge resistor R3 is connected in connection point D, which is also connected to the corner point M of the bridge circuit like capacitor C4 and another rectifier D2 connected.

In spiegelbildlicher Weise ist der Eckpunkt K über eine Reihenschaltung eines Kondensators C5 und eines Gleichrichters D3 mit einem Speicherkondensator C5 verbunden, an den im Verbindungspunkt E ein Entladewiderstand R4 angeschlossen ist, der ebenso wie der Kondensator C5 und ein Gleichrichter D4 an den Eckpunkt M der Brückenschaltung angeschlossen ist.In a mirror-image manner, the corner point K is connected via a series connection of a capacitor C5 and a rectifier D3 to a storage capacitor C5, to which a discharge resistor R4 is connected at the connection point E, which, like the capacitor C5 and a rectifier D4, is connected to the corner point M of the bridge circuit connected.

Zur Unterdrückung von Oberwellen sind noch zwei RC-Glieder bestehend aus den Widerständen R5, R6 und den Kondensatoren C6 und C7 vorgesehen. Die an der Reihenschaltung der Querkondensatoren C6, C7 entstehende, praktisch oberwellenfreie Gleichspannung kann mit Hilfe der Kompensationsspule 28 und der Widerstände R1, R2, die als einstellbare Widerstände ausgebildet sein können, für Justierzwecke verändert werden.To suppress harmonics, two RC elements consisting of resistors R5, R6 and capacitors C6 and C7 are also provided. The practically harmonic-free DC voltage that arises at the series connection of the transverse capacitors C6, C7 can be changed with the aid of the compensation coil 28 and the resistors R1, R2, which can be designed as adjustable resistors, for adjustment purposes.

Zur Weiterverarbeitung dieser Gleichspannung ist ein Differenzverstärker 19 vorgesehen, der mit seinen beiden Eingängen an diese Gleichspannung angeschlossen ist. Der an den Längswiderstand R5 angeschlossene erste Eingang des Differenzverstärkers 19 ist dabei gleichzeitig über einen Widerstand R7 mit dem Ausgang des Differenzverstärkers verbunden, während der an den Längswiderstand R6 angeschlossene zweite Eingang des Differenzverstärkers 19 über einen Widerstand R8 an Masse liegt.For further processing of this DC voltage, a differential amplifier 19 is provided which is connected to this DC voltage with its two inputs. The first input of the differential amplifier 19 connected to the series resistor R5 is simultaneously connected to the output of the differential amplifier via a resistor R7, while the second input of the differential amplifier 19 connected to the series resistor R6 is connected to ground via a resistor R8.

Am Ausgang des Differenzverstärkers 19 steht ein Signal an, das einerseits als Eingangssignal A an einen ersten Eingang eines Schaltwerks 20 gelegt ist, andererseits als Zustandssignal C zur Steuerung des Motors M dient, während an einem zweiten Eingang des Schaltwerks 20 ein Signal B anliegt, das Aufschluß über den Schraubendreherzustand gibt.At the output of the differential amplifier 19 there is a signal which is applied on the one hand as an input signal A to a first input of a switching mechanism 20, and on the other hand serves as a status signal C for controlling the motor M, while a signal B is present at a second input of the switching mechanism 20 Provides information about the state of the screwdriver.

Im Schaltwerk 20 wird durch logische Verknüpfung des vom Differenzverstärker 19 gelieferten Signals A und des den Zustand des Schraubendrehers beschreibenden Signals B ein Steuersignal zur Betätigung des Umschalters 17 gebildet.A control signal for actuating the changeover switch 17 is formed in the switching mechanism 20 by logically combining the signal A supplied by the differential amplifier 19 and the signal B describing the state of the screwdriver.

Wenn der Schraubendreher 5 in seiner Anfangsposition ist und entweder stillsteht oder anläuft, dann liegt an dem zweiten Eingang des Schaltwerks 20 das Signal B = 1 an und der Umschalter 17 befindet sich in der dargestellten Schalterstellung, so daß die Ringspule 12 an die Auswerteeinrichtung 15 angeschlossen ist. Gleichzeitig wird durch das Schaltwerk 20 das am Ausgang des Differenzverstärkers 19 auftretende Signal A abgefragt. Wenn der Schraubvorgang beginnt, ist dieses zunächst auf "Null". Ist der Schraubvorgang jedoch so weit fortgeschritten, daß die Ringnut 13 in den Bereich der Ringspule 12 eintritt, dann wird das Signal am Ausgang des Differenzverstärkers 19 zu A = 1.If the screwdriver 5 is in its initial position and is either stationary or starting, then the signal B = 1 is present at the second input of the switching mechanism 20 and the changeover switch 17 is in the switch position shown, so that the ring coil 12 is connected to the evaluation device 15 is. At the same time, signal A occurring at the output of differential amplifier 19 is queried by switching mechanism 20. When the screwing process begins, it is initially at "zero". However, if the screwing process has progressed so far that the ring groove 13 enters the area of the ring coil 12, the signal at the output of the differential amplifier 19 becomes A = 1.

Dieses Signal wirkt einmal als Zustandssignal C für die Steuerung des Motors M und bewirkt, daß der Motor M auf niedrigere Drehzahl umgeschaltet wird. Die Änderung des Signals A von A = 0 auf A = 1 bewirkt im Schaltwerk 20, daß von diesem an den Schalter 17 ein Umschaltbefehl erteilt wird. Der Umschalter 17 geht in die andere, nicht dargestellte Stellung, so daß die Meßspule 18 wirksam wird.This signal acts as a status signal C for the control of the motor M and causes the motor M to be switched to a lower speed. The change in the signal A from A = 0 to A = 1 has the effect in the switching mechanism 20 that it issues a switch command to the switch 17. The switch 17 goes into the other position, not shown, so that the measuring coil 18 is effective.

Nach Beendigung des Schraubvorgangs wird der Motor M abgeschaltet, so daß am zweiten Eingang des Schaltwerks 20 das Signal B = 0 auftritt. Gleichzeitig oder spätestens beim Abheben des Schraubendrehers 5 vom Schraubenkopf 7 fällt das Spindeldrehmoment auf Null zurück und das vom Ausgang des Differenzverstärkers 19 auf den ersten Eingang des Schaltwerks 20 gegebene Signal A wird wieder A = 0. Der Umschalter 17 erhält jedoch vom Schaltwerk 20 erst dann einen Umschaltbefehl zur Umschaltung auf die dargestellte Schalterstellung, wenn das am zweiten Eingang des Schaltwerks 20 anliegende Signal wieder B = 1 wird. Dies ist dann der Fall, wenn der Schraubendreher 5 in die Anfangsposition für den nächsten Schraubvorgang gebracht ist.After the screwing process has ended, the motor M is switched off, so that the signal B = 0 occurs at the second input of the switching mechanism 20. Simultaneously or at the latest when the screwdriver 5 is lifted off the screw head 7, the spindle torque falls back to zero and the signal A given by the output of the differential amplifier 19 to the first input of the switching mechanism 20 again becomes A = 0. However, the changeover switch 17 receives the switching mechanism 20 only then a switchover command to switch to the switch position shown when the signal present at the second input of the switching mechanism 20 becomes B = 1 again. This is the case when the screwdriver 5 is brought into the starting position for the next screwing operation.

Anhand von dem in Figur 4 dargestellten Flußdiagramm wird nun der Ablauf der Weg-Momentmessung angegeben.Using the flow chart shown in FIG. 4, the course of the path Torque measurement specified.

Nach erfolgtem Start steigt zunächst die Drehzahl n an. Dieser Anfangszustand wird durch ein Signal B = 1 dem Schaltwerk 20 angezeigt. Der Schalter 17 (Figur 3) befindet sich in der dargestellten Stellung, so daß die Wegmessung folgen kann. Während dieses Abschnitts des Schraubvorganges wird ständig überprüft, ob eine vorgegebene Verschiebung bzw. eine Wegschwelle erreicht wird. Bei Erreichen der Wegschwelle wird A = 1 und es wird die Drehzahl n abgesenkt. Daraufhin erfolgt eine Umschaltung auf die Momentmessung und A wird wieder gleich "0". In diesem Abschnitt des Schraubvorganges erfolgt nun eine ständige Momentmessung, die daraufhin überwacht wird, ob eine vorgegebene Momentschwelle erreicht wird. Bei Erreichen der Momentschwelle wird A - 1 und der Schraubvorgang wird dadurch beendet, daß der Antriebsmotor abgeschaltet und der Schrauber in seine Ausgangsposition hochgefahren wird. Dabei wird B = 0 und A = 0 gesetzt. Durch ein erneutes Startsignal kann der nächste Schraubvorgang eingeleitet werden.After the start, the speed n first increases. This initial state is indicated to the switching mechanism 20 by a signal B = 1. The switch 17 (Figure 3) is in the position shown, so that the distance measurement can follow. During this section of the screwing process, it is constantly checked whether a predetermined displacement or a travel threshold is reached. When the travel threshold is reached, A = 1 and the speed n is reduced. Then there is a switchover to the torque measurement and A becomes "0" again. In this section of the screwing process, a constant torque measurement is carried out, which is then monitored to determine whether a predefined torque threshold is reached. When the torque threshold is reached A - 1 and the screwing process is ended by switching off the drive motor and raising the screwdriver to its starting position. B = 0 and A = 0 are set. The next screwing process can be initiated by a new start signal.

Claims (8)

1. Screwing device with motor-driven screwdriver (5), and with a torque measuring means (2) and an evaluation means (15) for torque limitation, characterized in that the screwdriver (5) is axially displaceable with respect to a nonaxially displaceable motor shaft (1) and the housing of the screwing device by a predetermined displacement length (a), in that a distance measuring means (11) monitors the axial displacement of the screwdriver (5) and in that, on reaching the predetermined displacement length (a), the motor speed is reduced and the torque occurring is monitored.
2. Device according to Claim 1, characterized in that an evaluation means (15) can be connected by choice via a change-over switch (17) to the distance measuring means (11) or the torque measuring means (2), in that, during the screwing operation, at first only the distance measuring means (11) is connected to the evaluation means (15) and in that, on reaching the predetermined displacement length (a) of the screwdriver (5), the evaluation means (15) performs the torque evaluation.
3. Device according to one of Claims 1 or 2, characterized in that both the distance measuring means (11) and the torque measuring means (2) have sensors of the same type.
4. Device according to Claim 3, characterized in that the sensors are measuring coils (12, 18).
5. Device according to one of the preceding claims, characterized in that the screwdriver (5) has a splined shaft (4), which engages in a correspondingly profiled opening (14) of a drive spindle (3), which is connected via a torque measuring means (2) to the motor shaft (1).
6. Device according to one of the preceding claims, characterized in that the screwdriver (5) has a mafking, the axial displacement of which is monitored by a sensor connected to the distance measuring means (11).
7. Device according to Claim 6, characterized in that an annular groove (13) is provided as marking, and in that the sensor of the distance measuring means (11) is a ring coil (12).
8. Device according to one of the preceding claims, characterized in that the distance measurement and the torque measurement are performed according to the eddy-current measuring process.
EP86105600A 1985-05-30 1986-04-23 Screwing device with motor-driven screw driver Expired EP0203370B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19853519352 DE3519352A1 (en) 1985-05-30 1985-05-30 SCREW DEVICE WITH MOTOR DRIVEN SCREWDRIVER
DE3519352 1985-05-30

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EP0203370A1 EP0203370A1 (en) 1986-12-03
EP0203370B1 true EP0203370B1 (en) 1989-07-12

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EP86105600A Expired EP0203370B1 (en) 1985-05-30 1986-04-23 Screwing device with motor-driven screw driver

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DE (2) DE3519352A1 (en)

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DE3664280D1 (en) 1989-08-17
DE3519352A1 (en) 1986-12-04
EP0203370A1 (en) 1986-12-03

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