EP0285815A1 - Méthode et outil de vissage automatique des vis et écrous - Google Patents

Méthode et outil de vissage automatique des vis et écrous Download PDF

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Publication number
EP0285815A1
EP0285815A1 EP88103325A EP88103325A EP0285815A1 EP 0285815 A1 EP0285815 A1 EP 0285815A1 EP 88103325 A EP88103325 A EP 88103325A EP 88103325 A EP88103325 A EP 88103325A EP 0285815 A1 EP0285815 A1 EP 0285815A1
Authority
EP
European Patent Office
Prior art keywords
torque
angle
drive unit
rotation
screwing
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Withdrawn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
EP88103325A
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German (de)
English (en)
Inventor
August Dr. Layer
Rudolf Krebs
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP0285815A1 publication Critical patent/EP0285815A1/fr
Withdrawn legal-status Critical Current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
    • B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated 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

Definitions

  • the invention is based on a screwing method according to the preamble of the main claim and a screwdriver according to the preamble of claim 9.
  • Known screwdrivers of this type have a screw spindle with a — possibly integrated — sensor unit, a drive unit with a motor and with a power unit, and a control unit .
  • the information supplied by the sensor unit with regard to the torque, the speed and / or the screw depth is in the control processed unit, which provides the required signal for the given tightening process, such as the desired speed.
  • the accuracy of the tightening torques achieved during screwing is determined by the braking time of the screwdriver after the target torque is reached.
  • the speed must therefore be reduced in good time after the application torque has been reached.
  • the speed must not be reduced too early so that the cycle times are not extended unnecessarily.
  • the disadvantage of this screwdriver is that the switchover point must be determined from case to case and set by an operator, a small value being selected for the application torque serving as the switchover point in the case of a hard screwdriving operation with a steep increase in torque.
  • the screwing method according to the invention with the features characterized in the main claim has the advantage that the adaptation to the respective screwing case takes place automatically. This is done in that the screwdriver has a control circuit that regulates the screwing speed continuously. Disturbances such as the speed-dependent friction occurring during the screwing process are thus included in the control of the screwing process. Particularly advantageous It is that measured variables such as torque, angle of rotation or screw depth as well as derived variables such as the gradient of a screw can be selected as control parameters.
  • screwdrivers are proposed, the control unit of which use the torque, the angle of rotation and / or the screwing depth or derivatives of these variables according to the time or the angle as control parameters.
  • control parameter M to the target torque to which a bolt or a nut to be tightened.
  • M The momentary torque output by the drive 1 of the screwdriver, not shown here, is denoted by M.
  • the difference between the target torque M is applied to a first comparison or addition point 3 is intended and, therefore formed the actual torque to the currently delivered torque M, the torque M is applied to the junction 3 via the connection. 4
  • the reciprocal value of this derivative is in a first multiplication element 7 with the difference M to -M multiplied.
  • a weighting can also be carried out here.
  • the result of this multiplication is multiplied in a second multiplication element 9 by the factor k, and thus the target speed ⁇ soll is won.
  • the factor k will be discussed below.
  • the derivation of the moment M according to the angle, ie dM / d ⁇ can alternatively be obtained in a differentiation element 6 and the reciprocal of this derivation to the multiplication element 7 are fed. This is shown in dashed lines in FIG. 1.
  • Both the value of the target speed should ⁇ as well as the currently given from the drive 1 of the nutrunner speed to a second comparative or summing junction 11 are supplied to ⁇ , wherein the value is inverted by ⁇ .
  • ⁇ the value of the target speed should ⁇ as well as the currently given from the drive 1 of the nutrunner speed to a second comparative or summing junction 11
  • ⁇ the value is inverted by ⁇ .
  • controller 13 supplied to the actuator. 1
  • the reference junction 11, the controller 13 and the drive 1 form the drive unit 14 of the screwdriver shown in dashed lines in FIG.
  • a torque-controlled screwing method is to be explained on the basis of the control loop in FIG.
  • the factor k is used as the parameter, which is referred to as the braking time constant and is explained using the diagram in FIG. 3:
  • the screwdriver In order to ensure that the specified tightening torque M should not exceed the screw or nut, the screwdriver must be switched off in time so that it does not tighten the screw too tightly during the deceleration time after the drive 1 has been switched off.
  • Equation (3) for the closed circuit in FIG. 1 gives the following equation for the torque M acting from the screwdriver or drive 1 on the screw or nut to be tightened:
  • Equation (8) also applies here.
  • ⁇ min is specified instead of a variable value for ⁇ in the final phase of the screw connection.
  • the exemplary embodiment shown in FIG. 1 was based on the constant k determined by the braking behavior of the screwdriver and on the basis of the yield point of the screws to be tightened described certain constants k s .
  • additional parameters such as minimum or maximum speeds can also be entered into the control loop without any problems, for example in order to ensure timely braking in the case of hard screwdriving or to apply the necessary torque.
  • Limit values can also be specified for the measured values, when they are switched off. If, for example, the torque increases too quickly, it is concluded that the screw is seizing and the screwdriver is switched off.
  • the derivative of the torque after the time ⁇ is used as the control parameter.
  • the second and higher derivatives over time can also be used as control parameters.
  • higher derivatives can also be used.
  • the values obtained in the derivation, in particular the values of higher derivations, are preferably smoothed.
  • FIG. 5 shows a second exemplary embodiment of a screwdriver whose control unit uses the angle of rotation ⁇ of the screw or nut or the derivation of the angle of rotation ⁇ as a function of time. Parts which correspond in FIGS. 1 and 5 are provided with identical reference symbols. Their description is omitted here.
  • the angle count starts at a preselectable starting point, for example when the application torque M o is reached or when a specific screw depth L o is reached .
  • the starting point is determined by the application torque M o .
  • a sensor 19 is used to detect the torque or the application torque M o , which emits a start signal to a counter 21 when the application torque M o is reached . After the occurrence of a start signal, this counts the angle of rotation ⁇ with which a screw or nut is turned.
  • This derivative is fed to the multiplication element 7, which multiplies the difference obtained at the comparison point 3 by the reciprocal value of the derivative of the angle over time, that is to say by 1 / ⁇ .
  • the same result can be achieved with a division element that divides this difference by deriving the angle.
  • a weighting factor can be taken into account for both multiplication and division.
  • the result of the first multiplication is in a further multipli cation member 9 multiplied by the factor k and thus the target speed ⁇ should be obtained.
  • the drive unit 14, the controlled system 15 and the multiplication element 17 correspond to those of the exemplary embodiment according to FIG. 1, so that their description can be dispensed with here.
  • FIGS. 1 5 and 6 show an embodiment of a screw depth controlled screwing process. Elements in FIGS. 1 5 and 6 are provided with identical reference symbols, and their description is omitted here.
  • FIG. 6 shows an addition or comparison point 3, at which the difference between a screw depth L determined by a depth sensor 23 and a predetermined screw depth L target is formed.
  • the derivative after the time dL / dt is formed from the screw depth L in a differentiation element 5.
  • the derivation of the screw depth can also be formed in a differentiation element 6 according to the angle of rotation dL / d ⁇ , which is shown in broken lines in FIG.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
EP88103325A 1987-03-30 1988-03-04 Méthode et outil de vissage automatique des vis et écrous Withdrawn EP0285815A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3710512 1987-03-30
DE19873710512 DE3710512A1 (de) 1987-03-30 1987-03-30 Schraubverfahren und schrauber zum automatischen anziehen von schrauben und/oder muttern

Publications (1)

Publication Number Publication Date
EP0285815A1 true EP0285815A1 (fr) 1988-10-12

Family

ID=6324362

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88103325A Withdrawn EP0285815A1 (fr) 1987-03-30 1988-03-04 Méthode et outil de vissage automatique des vis et écrous

Country Status (2)

Country Link
EP (1) EP0285815A1 (fr)
DE (1) DE3710512A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3938787A1 (de) * 1989-11-23 1991-05-29 Gardner Denver Gmbh Elektroschrauber
EP0502451A1 (fr) * 1991-03-04 1992-09-09 Snap-On Tools Corporation Clé dynamométrique électronique avec circuit de compensation pour sur-oscillation
EP0627282A1 (fr) * 1993-06-04 1994-12-07 Ohmi, Tadahiro Procédé de serrage d'un élément fileté
EP0642890A1 (fr) * 1993-09-09 1995-03-15 Robert Bosch Gmbh Procédé pour établir un raccord, notamment un raccord à vis
US5519604A (en) * 1993-09-02 1996-05-21 Atlas Copco Tools Ab Method and device for tightening threaded joints
WO1998010900A2 (fr) * 1996-09-11 1998-03-19 Burkhard Becker Dispositif de vissage automatise
DE10100887C1 (de) * 2001-01-11 2002-01-17 Bosch Gmbh Robert Vorrichtung und Verfahren zum Konfigurieren eines Schraubsystems
EP2128734A1 (fr) * 2007-02-16 2009-12-02 Positec Power Tools (Suzhou) Co., Ltd. Procédé de commande d'un outil électrique et outil électrique réalisant le procédé de commande
EP2380704A1 (fr) * 2009-01-04 2011-10-26 Positec Power Tools (Suzhou) Co., Ltd. Procédé de commande pour un outil électrique et outil électrique qui exécute le procédé de commande
EP3501742A1 (fr) * 2017-12-20 2019-06-26 HILTI Aktiengesellschaft Procédé de pose pour élément d'ancrage à expansion au moyen de la clé à percussion

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005019258B4 (de) * 2005-04-26 2009-02-12 Junkers, Holger, Dipl.-Ing.(FH) Verfahren zur Schraubstellenanalyse und zum streckgrenzengesteuerten Anziehen von Schraubverbindungen unter Einsatz intermittierend arbeitendender Schraubwerkzeuge
DE102005056264A1 (de) * 2005-11-14 2007-05-16 Fein C & E Gmbh Schrauber mit Drehzahlregelung und Verfahren zur Drehzahlregelung eines Schraubers
DE102013217044A1 (de) * 2013-08-27 2015-03-05 Db Bahnbau Gruppe Gmbh Verfahren zum Verspannen von Schienenbefestigungen des Gleisoberbaus
DE102022110777A1 (de) 2022-05-02 2023-11-02 Weber Instrumente Gmbh & Co. Kg Verfahren zur Überwachung eines Schraubvorgangs sowie Überwachungssystem

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2541928B2 (de) * 1974-09-19 1978-12-21 Standard Pressed Steel Co., Jenkintown, Pa. (V.St.A.) Vorrichtung mit einem Meßgerät zum Anziehen einer Verbindung von Bauteilen, insbesondere einer Schraubverbindung
DE3024973A1 (de) * 1979-05-16 1982-01-28 Chicago Pneumatic Tool Co., 10017 New York, N.Y. Verfahren zur steuerung des festziehens von schrauben u.dgl. und vorrichtung zur durchfuehrung des verfahrens
FR2543041A1 (fr) * 1983-03-25 1984-09-28 Baudet Jean Pierre Procede et installation de serrage d'une liaison de type vis, avec controle de la tension mecanique appliquee a la vis
DD237631A1 (de) * 1985-05-28 1986-07-23 Smab Forsch Entw Rat Steuereinrichtung fuer drehwinkelgesteuerte schrauber
EP0203370A1 (fr) * 1985-05-30 1986-12-03 Robert Bosch Gmbh Dispositif à visser avec tournevis entraîné par un moteur

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4106176A (en) * 1977-04-06 1978-08-15 Ingersoll-Rand Company Method and apparatus for fastener tensioning
SE412647B (sv) * 1977-10-07 1980-03-10 Atlas Copco Ab Sett och anordning for overvakning och styrning av skruvforbandsatdragning
US4273198A (en) * 1979-07-09 1981-06-16 Daiichi Dentsu Kabushiki Kaisha Motor-driven clamping method and device
DE3222066A1 (de) * 1982-06-11 1983-12-15 Black & Decker, Inc. (eine Gesellschaft n.d.Ges.d. Staates Delaware), 19711 Newark, Del. Elektrisches handwerkzeug mit einer schaltung zur drehzahleinstellung und drehmomentbegrenzung
DE8616106U1 (fr) * 1986-06-14 1987-02-05 Wilhelm, Raimund, 7080 Aalen, De

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2541928B2 (de) * 1974-09-19 1978-12-21 Standard Pressed Steel Co., Jenkintown, Pa. (V.St.A.) Vorrichtung mit einem Meßgerät zum Anziehen einer Verbindung von Bauteilen, insbesondere einer Schraubverbindung
DE3024973A1 (de) * 1979-05-16 1982-01-28 Chicago Pneumatic Tool Co., 10017 New York, N.Y. Verfahren zur steuerung des festziehens von schrauben u.dgl. und vorrichtung zur durchfuehrung des verfahrens
FR2543041A1 (fr) * 1983-03-25 1984-09-28 Baudet Jean Pierre Procede et installation de serrage d'une liaison de type vis, avec controle de la tension mecanique appliquee a la vis
DD237631A1 (de) * 1985-05-28 1986-07-23 Smab Forsch Entw Rat Steuereinrichtung fuer drehwinkelgesteuerte schrauber
EP0203370A1 (fr) * 1985-05-30 1986-12-03 Robert Bosch Gmbh Dispositif à visser avec tournevis entraîné par un moteur

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3938787A1 (de) * 1989-11-23 1991-05-29 Gardner Denver Gmbh Elektroschrauber
EP0502451A1 (fr) * 1991-03-04 1992-09-09 Snap-On Tools Corporation Clé dynamométrique électronique avec circuit de compensation pour sur-oscillation
EP0627282A1 (fr) * 1993-06-04 1994-12-07 Ohmi, Tadahiro Procédé de serrage d'un élément fileté
US5519604A (en) * 1993-09-02 1996-05-21 Atlas Copco Tools Ab Method and device for tightening threaded joints
EP0642890A1 (fr) * 1993-09-09 1995-03-15 Robert Bosch Gmbh Procédé pour établir un raccord, notamment un raccord à vis
US5631823A (en) * 1993-09-09 1997-05-20 Robert Bosch Gmbh Method of making a connection, particulary a screw connection
WO1998010900A2 (fr) * 1996-09-11 1998-03-19 Burkhard Becker Dispositif de vissage automatise
WO1998010900A3 (fr) * 1996-09-11 1998-07-23 Becker Burkhard Dispositif de vissage automatise
US5890405A (en) * 1996-09-11 1999-04-06 Becker; Burkhard Automated screw driving device
US7032480B2 (en) 2001-01-11 2006-04-25 Robert Bosch Gmbh Device and method for configuring a screw system
DE10100887C1 (de) * 2001-01-11 2002-01-17 Bosch Gmbh Robert Vorrichtung und Verfahren zum Konfigurieren eines Schraubsystems
EP2128734A4 (fr) * 2007-02-16 2013-11-13 Positec Power Tools Suzhou Co Procédé de commande d'un outil électrique et outil électrique réalisant le procédé de commande
EP2128734A1 (fr) * 2007-02-16 2009-12-02 Positec Power Tools (Suzhou) Co., Ltd. Procédé de commande d'un outil électrique et outil électrique réalisant le procédé de commande
US8881842B2 (en) 2007-02-16 2014-11-11 Positec Power Tools (Suzhou) Co., Ltd. Controlling method of electric tool and electric tool carrying out the controlling method
US9162331B2 (en) 2009-01-04 2015-10-20 Positec Power Tools (Suzhou) Co. Ltd. Electric tool and controlling method thereof
EP2380704A4 (fr) * 2009-01-04 2013-10-30 Positec Power Tools Suzhou Co Procédé de commande pour un outil électrique et outil électrique qui exécute le procédé de commande
EP2380704A1 (fr) * 2009-01-04 2011-10-26 Positec Power Tools (Suzhou) Co., Ltd. Procédé de commande pour un outil électrique et outil électrique qui exécute le procédé de commande
EP3501742A1 (fr) * 2017-12-20 2019-06-26 HILTI Aktiengesellschaft Procédé de pose pour élément d'ancrage à expansion au moyen de la clé à percussion
WO2019120989A1 (fr) * 2017-12-20 2019-06-27 Hilti Aktiengesellschaft Procédé de mise en place d'un système d'ancrage à expansion au moyen d'une visseuse à percussion
CN111465470A (zh) * 2017-12-20 2020-07-28 喜利得股份公司 借助冲击旋拧器的用于膨胀锚栓的安装方法
JP2021503571A (ja) * 2017-12-20 2021-02-12 ヒルティ アクチエンゲゼルシャフト インパクトレンチによる拡張アンカーの据え付け方法
CN111465470B (zh) * 2017-12-20 2021-06-29 喜利得股份公司 借助冲击旋拧器的用于膨胀锚栓的安装方法
US11292112B2 (en) 2017-12-20 2022-04-05 Hilti Aktiengesellschaft Setting method for expansion anchors by means of an impact wrench

Also Published As

Publication number Publication date
DE3710512A1 (de) 1988-10-20

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