EP1084010B1 - Method for driving an electric screwing device - Google Patents

Method for driving an electric screwing device Download PDF

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Publication number
EP1084010B1
EP1084010B1 EP99926490A EP99926490A EP1084010B1 EP 1084010 B1 EP1084010 B1 EP 1084010B1 EP 99926490 A EP99926490 A EP 99926490A EP 99926490 A EP99926490 A EP 99926490A EP 1084010 B1 EP1084010 B1 EP 1084010B1
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EP
European Patent Office
Prior art keywords
pulse
speed
screwdriving
torque
motor
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Revoked
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EP99926490A
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German (de)
French (fr)
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EP1084010A1 (en
Inventor
Konrad STÖLZLE
Ulrich Kaminski
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Apex Tool Group GmbH and Co OHG
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Cooper Power Tools GmbH and Co OHG
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Application filed by Cooper Power Tools GmbH and Co OHG filed Critical Cooper Power Tools GmbH and Co OHG
Publication of EP1084010A1 publication Critical patent/EP1084010A1/en
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    • 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
    • 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
    • B25B21/02—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose with means for imparting impact to screwdriver blade or nut socket

Definitions

  • the invention relates to a method for driving an electrical screwing device according to the preamble of claim 1
  • the invention further relates to a corresponding electrical screwing device according to the preamble of claim 10 (see e.g. EP-A-0 808 018 for the two claims).
  • Such a screw has the disadvantage that the force to be exerted by the worker Counter torque, is relatively high With pistol grip screwdrivers, there is one starting at approx. 5 Nm Reaction absorption in the form of mechanical support required. With hard In screwing cases or loosening operations, the torque increase is very steep. Because the worker can not react so quickly, there is a jerky rotation of his Wrist. This carries the risk of injury. It also leads to it relatively quickly Fatigue of the worker. Since the worker uses assembly devices, e.g. in motor vehicle assembly, often has to screw in hard-to-reach places, it has to be relative move strongly to be able to attach the screws. The stronger the dislocation, the lower the reaction force that can be exerted by the worker.
  • the frequency of the PWM control signal changed, the actual screwing process until it is reached a threshold value for the current with a PWM signal of high frequency and then the further screwing is carried out with a PWM signal of low frequency.
  • the low frequency is chosen so that the time-outs are long enough to allow the drive train of the drill to relax.
  • the invention has for its object a method of the type mentioned to improve in such a way that an electrical Screwing device can be driven by a worker if possible gentle use of your own effort is easy to handle.
  • This object is achieved with a generic method for driving solved an electrical screwing device that is characterized in that a pulse break between two PWM pulse signals are determined such that the speed of the motor during the pause to dampen a reaction torque is significantly reduced.
  • the length of the pulse pause thus exceeds the inertia range of the motor, so that this slows down noticeably during the pulse pause. Only after the noticeable slowdown a new pulse-width-modulated pulse is emitted again.
  • the engine gives its Energy mainly goes to the screwdriver.
  • the successive pulses increase when a screw is tightened gradually the torque.
  • the system can turn off during a pulse pause Relax the motor and screwdriver, which may contain a socket. By The inertia of the system makes the acceleration and reaction torque strong attenuated.
  • conventional pulse width modulations are aimed on the energy-saving setting of a certain speed of the electric motor.
  • the speed should be kept approximately constant, with the pulse width modulation only the absolutely necessary electricity is supplied.
  • the invention is to vary an interruption in pulse width modulation directed so that the speed of the motor is opposite in the pulse pause reduced the pulse signal with a large amplitude swing.
  • the speed of the motor can preferably be reduced to approximately zero during the pulse pause become. At zero speed, the motor and screwdriver system can largely expand relax. This has the effect of reducing the reaction torque particularly good. Almost all of the engine's energy with the inertia of the system is given to the screwdriver. This hardly generates any additional heat in the tool.
  • Pulsing can be particularly advantageous during the loosening of a screw. This makes it easier to loosen the screw, since the motor starts at a lower pulse with each new pulse Speed starts. A screw that has been tightened is thus one after the other Torque impacts applied so that it is easier to solve. Understandably can the screw device can be operated so that only when loosening a screw according to the invention with a reduction in the speed in which the pulse pauses.
  • Pulses can be pulsed in a special way during tightening.
  • the pulse pause is determined in accordance with the reduction in speed. Until that Torque limit, the screw device can be operated conventionally.
  • the Torque limit is just barely portable by a worker. Only when the torque limit is reached does the pulse start with a reduction in speed the pulse pause, so that the worker is relieved from higher torques becomes.
  • the tuning of the pulse pause to the reduction of Speed can be switched on and off. So that the screw device can be both conventional at only low torques and also with the pulse pause setting according to the invention are operated at high torques.
  • the pulse frequency and / or the Pulse / pause ratio can be set appropriately during the screwing process.
  • the Setting can e.g. manually or automatically, determined by the control unit.
  • the pulse rate and the pulse / pause ratio can be set to the respective system, e.g. Tool type, screwdriving, tool utilization, adapted become.
  • the parameters are automatically taken from the Control unit detected and varied accordingly. This allows you to get exactly what you want Torque and the corresponding speed for the corresponding Select screw application.
  • the torque can preferably be measured on the basis of the detected pulses. This gives incredibly accurate readings. These could e.g. be used to the control unit to be reported to have a maximum allowable torque to be compared.
  • the pulse length is conceivable according to the accuracy of the torque measurement can be set.
  • the method according to the invention can be done, for example, with an electrical screwing device be performed.
  • an electrical screwing device with a control unit, which is connected to an electric motor and this electric current in the form of Feeds pulse signals, wherein the motor is coupled to a screwing tool and a Torque generated by the screwdriver at a speed to actuate a Screw rotates, the pulse signals being pulse width modulated, characterized in that the control unit is connected to a control unit which has a pulse pause between two PWM pulse signals determined such that the speed of the motor in the Pulse pause for damping a reaction torque is significantly reduced.
  • the power supply, control unit, control unit, Electric motor and screwing tool form one unit.
  • the control unit takes over the determination of the pulse pauses, the one has such a length that the speed of the motor is significantly reduced during the pulse pause and thus the reaction torque to be absorbed by the worker is reduced. In the In practice, a worker may just perceive the pulsing.
  • control unit can determine the pulse pause in such a way that the Speed in the pulse pause is reduced to approximately zero. This will shut down the system Motor, possibly intermediate gear, and socket relaxed and through The inertia of the system makes the reaction moment strong during a pulse attenuated.
  • the control unit can optionally be switched on and off. With low torque requirements the control unit can be switched off because the worker can easily support low reaction torque. At higher torques the control unit switched on, so that there is a reduction in the reaction torque results.
  • control device be connected to an adjusting device via which the pulse frequency and / or the pulse / pause ratio can be set.
  • About the Adjustment device can adapt these parameters to the respective system and the respective Screwing case can be adjusted. This can be done manually or automatically. The setting can even be adjusted during the screwing process.
  • a measuring device connected to the control unit can be provided particularly advantageously be, which measures the torque based on the detected pulses.
  • the capture of the Pulse is relatively simple and precise in terms of electronic control. With the invention Pulsation, the torque can be determined relatively precisely.
  • the electric motor can be connected to the control unit via a servo amplifier be connected.
  • a screw device in the sense of the invention is not just one conventional screwdriver to understand. In this sense, the invention also applies Drilling devices using the method according to the invention can. Basically there is a corresponding application for predominantly rotary Understand movements that also have a translational component.
  • FIG. 1 is a basic block diagram of a first embodiment of an inventive electrical screwing device 1 shown.
  • a control unit 2 is over an electrical line 3 is connected to an electrical screwing device 4.
  • the Line 3 leads to a screw device 4, which is designed as a gun screwdriver.
  • the gun screwdriver contains an electric motor 5, via which a screwing tool 6 is driven.
  • a screwing tool 6 e.g. a so-called socket or a Wrench attachment can be used.
  • the screwing tool 6 can with a Screw17 are brought into engagement, so that the screw head is form-fitting the screwing tool 6 and rotated by rotation of the screwing tool 6 becomes.
  • screwing devices 4 can also be used.
  • an electrical line 7 is shown in dashed lines, which the control unit 2 connects with a rod-like screw device 4.
  • a line 8 shown in broken lines optionally connects the control unit 2 to a Screwing device 4, which is essentially rod-shaped, the Screwing tool 6 protrudes from the rod shape at approximately a right angle.
  • the screwing tools shown are of their shape according to the respective application adapted and are usually held by a worker, e.g. at work on an assembly line for car assembly.
  • the control unit 2 has a control unit 9.
  • the control unit 9 is with a display 10, e.g. an LCD display or a screen, and an input keyboard 11.
  • the control unit is connected to a servo amplifier 13 via electrical lines 12. Furthermore, a signal line 14 leads from the control unit 9 to the servo amplifier 13. The electrical line leads from the servo amplifier 13 to the screwing device 4th
  • the main control of the servo amplifier takes place via the electrical lines 12 (Power supply) 13. Pulse signals are transmitted via the signal line 14, the electrical output via the line 3 to the screw device 4 Electricity controls. Thus the servo amplifier effects the power amplification of the over Line 14 received control signal.
  • the control unit 9 can be designed as a hardware circuit or a microprocessor included, operated by appropriate data processing programs becomes.
  • a measuring device 15 can be provided in the control device, which measures the pulse signals measures and uses this to determine the torque.
  • control unit 9 can be designed with an adjusting device 16 via which the pulse frequency and / or the pulse / pause ratio is adjustable.
  • measuring device 15 and setting device 16 can, for example, in the associated data processing program be realized.
  • Figure 2 is a basic block diagram of an experimental setup according to a second Embodiment of the invention shown.
  • the same reference numerals have essentially the same function as in the first embodiment.
  • the control unit 2 is provided with a controllable power supply unit 18.
  • the Power supply unit 18 is connected to the servo amplifier via electrical lines 12 13 provided.
  • the servo amplifier 13 is connected to the screw device 4 in via the electrical line 3 Form connected to a pistol grip screwdriver.
  • the screw device 4 has in the handle part the electric motor 5 is integrated. It has a screwing tool 6 in the form of a Socket, which can be positively attached to the screw 17.
  • a frequency generator 19 is provided, which serves as control unit 9.
  • the frequency generator 19 is connected to the power supply unit 18 via lines 20.
  • the lines 20 each lead from the frequency generator 19 and the power supply unit 18 to an AND circuit 21. From this, the signal line 14 leads to the Servo amplifier 13 and transmits the control signals.
  • the frequency generator 19 delivers Control signals with adjustable frequency and adjustable pulse / pause ratio. This Control signal is supplied to the AND circuit 21 from the power supply unit 18 Start signal switched.
  • the power supply unit 18 can be like the control unit 9 of FIG. 1 be formed and optionally also a measuring device 15 and an adjusting device 16 included.
  • the course of the pulse signals is shown in FIG. 3 in four diagrams arranged one above the other of the start signal S, a pulse width modulation PWM of the servo amplifier 13, the speed D of the motor 5 and the torque curve M of the motor 5 are shown.
  • the four Diagrams are connected by vertical dash-dotted lines, where mark the dash-dotted lines according to the same time intervals, so that the temporal coherence of the sizes is recognizable.
  • the time t is plotted on the abscissa of all diagrams.
  • the start signal S is plotted in the diagram.
  • the start signal is plotted in the diagram with a pulse width modulation PWM.
  • On The ordinate of the second lowest diagram shows the speed D of the motor 5.
  • the torque M of the motor 5 is on the ordinate of the bottom diagram applied.
  • the start signal S is in the form of the engine 5 supplied by pulse signals 22
  • Each current pulse 22 has approximately the same height.
  • Two in a row Pulses are separated from each other by a pulse pause 23.
  • the transmitted pulse signals 22 become, as shown in the second diagram, a conventional one Subjected to pulse width modulation. Each pulse is modulated accordingly and broken down into individual short consecutive signals. This pulse width modulation controls the torque increase of the motor during a pulse. The Pulse pauses 23 between the pulse signals 22 are retained.
  • the course of the speed D is shown in the second bottom diagram.
  • the electric motor accelerates.
  • the speed drops D strongly. It is significantly reduced and falls to 0. From mechanical-dynamic
  • the torque then briefly drops below 0 and then rises again down to about 0.
  • the motor has a speed of 0. Only at a new pulse signal 22 increases the speed again. This process is repeated per pulse signal and subsequent pulse pause.
  • the speed increases with each pulse signal 22 D about the same value.
  • the curve of the torque M of the engine is shown in the bottom diagram. To At the beginning of each pulse signal 22, the moment rises steeply. At the end of the pulse signal 22 The increase in torque abruptly flattens and increases only slightly. After about two Third of the pulse pause 23 the torque drops to 0, drops slightly below 0 and rises to at the beginning of a new pulse signal 22 again slightly to 0. With each new pulse signal 22 the torque rises to a somewhat higher value than in the previous one Pulse signal 22. This results in an approximately linear increase over the individual cycles of the torque M.
  • the pulse function can be switched on and off. For example, only from a certain one Torque or only "pulsed” when loosening or only when tightening a screw become.
  • the method according to the invention produces very little compared to the prior art little warmth.
  • the pulse frequency and / or the pulse / pause ratio can be changed during the tightening process can be set appropriately.
  • the entire method can be integrated into a data processing program, so that optimal control and adaptation to the respective system is possible.
  • the screwing device can advantageously be battery and / or battery operated.
  • the power supply, control unit, control unit, Electric motor and / or screwing tool form a unit.

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

Description

Die Erfindung bezieht sich auf ein Verfahren zum Antreiben einer elektrischen Schraubvorrichtung gemäß dem Oberbegriff des Anspruchs 1 Ferner bezieht sich die Erfindung auf eine entsprechende elektrische Schraubvorrichtung gemäß dem Oberbegriff des Anspruchs 10 (siehe z.B. EP-A-0 808 018 für die zwei Ansprüche).The invention relates to a method for driving an electrical screwing device according to the preamble of claim 1 The invention further relates to a corresponding electrical screwing device according to the preamble of claim 10 (see e.g. EP-A-0 808 018 for the two claims).

Bei einem aus der DE 31 44 350 A1 bekannten Verfahren zum Antreiben eines elektromotorisch angetriebenen Schraubers dieser Gattung wird vorgeschlagen, die Pulslängen von abgegebenen Rechteckimpulsen so einzustellen, dass dem Motor die erforderliche Leistung zugeführt wird. Hierfür wird ein Oszillator auf eine konstante Pulsfrequenz eingestellt Dementsprechend werden die Längen der Impulse zugeführt, so dass nur der unbedingt notwendige Leistungsanteil an den Motor gegeben wird.In a method known from DE 31 44 350 A1 for driving an electric motor driven screwdriver of this type is proposed the pulse lengths of delivered rectangular pulses so that the motor has the required Power is supplied. For this purpose, an oscillator is set to a constant pulse frequency Accordingly, the lengths of the pulses are supplied so that only the essential power share is given to the engine.

Derartige Schraube haben den Nachteil, dass die vom Werker aufzubringende Kraft, das Gegenmoment, relativ hoch ist Bei Pistolengriffschraubem ist schon ab ca. 5 Nm eine Reaktionsaufnahme in Form einer mechanischen Abstützung erforderlich. Bei harten Schraubfällen oder bei Löseoperation ist der Drehmomentanstieg sehr steil. Da der Werker nicht so schnell reagieren kann, kommt es zu einer ruckartigen Drehung seines Handgelenks. Dies birgt die Gefahr von Verletzung. Femer führt es relativ schnell zum Ermüden des Werkers. Da der Werker bei Montagevorrichtungen, z.B. bei der Kraftfahrzeugmontage, oft an schwer zugänglichen Stellen schrauben muss, muss er sich relativ stark verrenken, um den Schrauben ansetzen zu können. Je stärker die Verrenkung, desto geringer ist die vom Werker aufbringbare Reaktionskraft.Such a screw has the disadvantage that the force to be exerted by the worker Counter torque, is relatively high With pistol grip screwdrivers, there is one starting at approx. 5 Nm Reaction absorption in the form of mechanical support required. With hard In screwing cases or loosening operations, the torque increase is very steep. Because the worker can not react so quickly, there is a jerky rotation of his Wrist. This carries the risk of injury. It also leads to it relatively quickly Fatigue of the worker. Since the worker uses assembly devices, e.g. in motor vehicle assembly, often has to screw in hard-to-reach places, it has to be relative move strongly to be able to attach the screws. The stronger the dislocation, the lower the reaction force that can be exerted by the worker.

Aus der EP 0 808 018 A1, der als nächstliegender Stand der Technik angesehen ist, ist ein Schrauber bekannt, bei dem ein batteriegetriebener Antriebsmotor durch ein pulsweitenmoduliertes Signal einstellbarer Frequenz angetrieben wird. Um die effektive Drehmomentausgabe des Schraubers bei gegebener Motorgröße und Kraftübertragung zu erhöhen, kann der Stromfluss zu dem Motor für bestimmte Zeitintervalle unterbrochen werden. Anschließend kann ein maximales Stromsignal für eine vorbestimmte Einschaltzeit dem Motor wieder zugeführt werden. Die Ausschaltintervalle sind durch den Werker einstellbar und können dazu dienen, die Kraftübertragung zwischen Motor und Schraubwerkzeug weitestgehend zu entspannen. Zu einer solchen Entspannung wird ein PWM-Signal mit einer niedrigen Frequenz von 10 bis 50 Hz gewählt, wobei sich die Ausschaltintervalle durch die Nulldurchläufe des PWM-Signals ergeben.From EP 0 808 018 A1, which is considered the closest prior art, a screwdriver is known in which a battery-powered drive motor driven by a pulse width modulated signal adjustable frequency becomes. The effective torque output of the screwdriver for a given motor size and to increase power transmission, the current flow to the motor for certain Time intervals are interrupted. Then a maximum current signal for a predetermined switch-on time can be fed back to the motor. The switch-off intervals are adjustable by the worker and can serve the power transmission to relax as much as possible between the motor and the screwing tool. To one A PWM signal with a low frequency of 10 to 50 Hz is selected for relaxation. the switch-off intervals result from the zero crossings of the PWM signal.

Bei dem aus der EP 0 808 018 A1 bekannten Schrauber wird daher die Frequenz des PWM-Steuersignals geändert, wobei der eigentliche Schraubyorgang bis zum Erreichen eines Schwellwertes für den Strom mit einem PWM-Signal hoher Frequenz und anschließend das weitere Verschrauben mit einem PWM-Signal niedriger Frequenz erfolgt. Dabei ist die niedrige Frequenz so gewählt, dass die Auszeiten ausreichend lang sind, um ein Entspannen des Antriebsstranges des Bohrers zu ermöglichen.In the screwdriver known from EP 0 808 018 A1, the frequency of the PWM control signal changed, the actual screwing process until it is reached a threshold value for the current with a PWM signal of high frequency and then the further screwing is carried out with a PWM signal of low frequency. The low frequency is chosen so that the time-outs are long enough to allow the drive train of the drill to relax.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren der eingangs genannten Art dahingehend zu verbessern, dass auf möglichst einfache Art und Weise eine elektrische Schraubvorrichtung angetrieben werden kann, die von einem Werker bei möglichst schonendem eigenen Leistungseinsatz einfach handzuhaben ist.The invention has for its object a method of the type mentioned to improve in such a way that an electrical Screwing device can be driven by a worker if possible gentle use of your own effort is easy to handle.

Diese Aufgabe wird erfindungsgemäß mit einem gattungsgemäßen Verfahren zum Antreiben einer elektrischen Schraubvorrichtung gelöst, dass dadurch gekennzeichnet ist, dass eine Pulspause zwischen zwei PWM-Pulssignalen derart bestimmt wird, dass die Drehzahl des Motors in der Pulspause zur Dämpfung eines Reaktionsmoments deutlich reduziert wird.This object is achieved with a generic method for driving solved an electrical screwing device that is characterized in that a pulse break between two PWM pulse signals are determined such that the speed of the motor during the pause to dampen a reaction torque is significantly reduced.

Die Länge der Pulspause überschreitet also den Trägheitsbereich des Motors, so dass sich dieser in der Pulspause spürbar verlangsamt. Erst nach der spürbaren Verlangsamung wird wieder ein neuer pulsweitenmodulierter Puls abgegeben. Der Motor gibt seine Energie im Wesentlichen an die Schrauber ab. The length of the pulse pause thus exceeds the inertia range of the motor, so that this slows down noticeably during the pulse pause. Only after the noticeable slowdown a new pulse-width-modulated pulse is emitted again. The engine gives its Energy mainly goes to the screwdriver.

Bei den aufeinanderfolgenden Pulsen erhöht sich beim Anziehen einer Schraube schrittweise das Drehmoment. Während einer Pulspause kann sich das System aus Motor und Schraubwerkzeug, das eventuell eine Stecknuss enthält, entspannen. Durch die Massenträgheit des Systems wird das Beschleunigungs- und Reaktionsmoment stark gedämpft.The successive pulses increase when a screw is tightened gradually the torque. The system can turn off during a pulse pause Relax the motor and screwdriver, which may contain a socket. By The inertia of the system makes the acceleration and reaction torque strong attenuated.

Herkömmliche Pulsweitenmodulationen zielen im Gegensatz zur vorliegenden Erfindung auf eine möglichst energiesparende Einstellung einer bestimmten Drehzahl des Elektromotors. Die Drehzahl soll etwa konstant gehalten werden, wobei durch die Pulsweitenmodulation nur der dafür unbedingt notwendige Strom zugeführt wird.In contrast to the present invention, conventional pulse width modulations are aimed on the energy-saving setting of a certain speed of the electric motor. The speed should be kept approximately constant, with the pulse width modulation only the absolutely necessary electricity is supplied.

Im Gegensatz dazu ist die Erfindung auf die Variierung einer Unterbrechung der Pulsweitenmodulation gerichtet, so dass sich die Drehzahl des Motors in der Pulspause gegenüber dem Pulssignal mit großem Amplitudenausschlag reduziert.In contrast, the invention is to vary an interruption in pulse width modulation directed so that the speed of the motor is opposite in the pulse pause reduced the pulse signal with a large amplitude swing.

Vorzugsweise kann die Drehzahl des Motors in der Pulspause auf etwa Null reduziert werden. Bei Drehzahl Null kann das System aus Motor und Schraubwerkzeug sich weitgehendst entspannen. Der Effekt der Verringerung des Reaktionsmoments ist dadurch besonders gut. Nahezu die gesamte Energie des Motors mit der Trägheit des Systems wird an die Schrauber abgegeben. Dies erzeugt kaum zusätzliche Wärme im Werkzeug. The speed of the motor can preferably be reduced to approximately zero during the pulse pause become. At zero speed, the motor and screwdriver system can largely expand relax. This has the effect of reducing the reaction torque particularly good. Almost all of the engine's energy with the inertia of the system is given to the screwdriver. This hardly generates any additional heat in the tool.

Besonders vorteilhaft kann während des Lösens einer Schraube gepulst werden. Dies erleichtert das Lösen der Schraube, da der Motor bei jedem neuen Puls wieder bei geringer Drehzahl startet. Eine festgezogene Schraube wird dadurch nacheinander mit Drehmomentstößen beaufschlagt, so daß sie sich leichter löst. Verständlicherweise kann die Schraubvorrichtung so betrieben werden, daß nur beim Lösen einer Schraube erfindungsgemäß mit Reduzierung der Drehzahl in dem Pulspausen gepulst wird.Pulsing can be particularly advantageous during the loosening of a screw. This makes it easier to loosen the screw, since the motor starts at a lower pulse with each new pulse Speed starts. A screw that has been tightened is thus one after the other Torque impacts applied so that it is easier to solve. Understandably can the screw device can be operated so that only when loosening a screw according to the invention with a reduction in the speed in which the pulse pauses.

In besonderer Weise kann während des Anziehens einer Schraube gepulst werden.Pulses can be pulsed in a special way during tightening.

Es wird vorgeschlagen, daß nur oberhalb eines bestimmten Drehmomentgrenzwertes die Pulspause abgestimmt auf die Reduktion der Drehzahl bestimmt wird. Bis zu dem Drehmomentgrenzwert kann die Schraubvorrichtung herkömmlich betrieben werden. Der Drehmomentgrenzwert ist gerade noch in tragbarer Weise von einem Werker aufnehmbar. Erst ab dem Drehmomentgrenzwert setzt das Pulsen mit Reduktion der Drehzahl in der Pulspause ein, so daß ab höheren Drehmomenten der Werker entsprechend entlastet wird.It is suggested that only above a certain torque limit the pulse pause is determined in accordance with the reduction in speed. Until that Torque limit, the screw device can be operated conventionally. The Torque limit is just barely portable by a worker. Only when the torque limit is reached does the pulse start with a reduction in speed the pulse pause, so that the worker is relieved from higher torques becomes.

Als Variante der Erfindung ist das Abstimmen der Pulspause auf die Reduktion der Drehzahl zu- und abschaltbar. Damit kann die Schraubvorrichtung sowohl herkömmlich bei nur geringen Drehmomenten als auch mit der erfindungsgemäßen Pulspauseneinstellung bei zu hohen Drehmomenten betrieben werden.As a variant of the invention, the tuning of the pulse pause to the reduction of Speed can be switched on and off. So that the screw device can be both conventional at only low torques and also with the pulse pause setting according to the invention are operated at high torques.

Gemäß einer besonderen Ausführungsform kann die Pulsfrequenz und/oder das Puls/Pausenverhältnis während des Schraubablaufes passend eingestellt werden. Die Einstellung kann z.B. manuell oder automatisch, durch das Steuergerät bestimmt, erfolgen. Durch diese Einstellung können Pulsfrequenz und das Puls/Pausenverhältnis auf das jeweilige System, z.B. Werkzeugtyp, Schraubfall, Werkzeugauslastung, angepaßt werden. Bei der automatischen Einstellung werden die Parameter automatisch von dem Steuergerät erfaßt und entsprechend variiert. Damit läßt sich besonders genau das gewünschte Drehmoment und die entsprechende Drehzahl für die entsprechende Schraubanwendung wählen. According to a special embodiment, the pulse frequency and / or the Pulse / pause ratio can be set appropriately during the screwing process. The Setting can e.g. manually or automatically, determined by the control unit. With this setting, the pulse rate and the pulse / pause ratio can be set to the respective system, e.g. Tool type, screwdriving, tool utilization, adapted become. With the automatic setting, the parameters are automatically taken from the Control unit detected and varied accordingly. This allows you to get exactly what you want Torque and the corresponding speed for the corresponding Select screw application.

Vorzugsweise kann anhand der erfassten Pulse das Drehmoment gemessen werden. Dies ergibt erstaunlich genaue Messwerte. Diese könnten z.B. genutzt werden, um an das Steuergerät gemeldet zu werden, um mit einem maximal zulässigen Drehmoment verglichen zu werden.The torque can preferably be measured on the basis of the detected pulses. This gives amazingly accurate readings. These could e.g. be used to the control unit to be reported to have a maximum allowable torque to be compared.

Denkbar kann die Pulslänge entsprechend der Genauigkeit der Drehmomentmessung eingestellt werden.The pulse length is conceivable according to the accuracy of the torque measurement can be set.

Das erfindungsgemäße Verfahren kann beispielsweise mit einer elektrischen Schraubvorrichtung durchgeführt werden. Unter Berücksichtigung der entsprechenden eingangs genannten Aufgabe, gerichtet auf eine elektrische Schraubvorrichtung, wird diese erfindungsgemäß gelöst durch eine elektrische Schraubvorrichtung mit einem Steuergerät, das mit einem Elektromotor verbunden ist und diesem elektrischen Strom in Form von Pulssignalen zuführt, wobei der Motor mit einem Schraubwerkzeug gekoppelt ist und ein Drehmoment erzeugt, das das Schraubwerkzeug mit einer Drehzahl zum Betätigen einer Schraube dreht wobei die Pulssignale pulsweitenmoduliert sind, dadurch gekennzeichnet, dass das Steuergerät mit einer Steuereinheit verbunden ist, die eine Pulspause zwischen zwei PWM-Pulssignalen derart bestimmt, dass die Drehzahl des Motors in der Pulspause zur Dämpfung eines Reaktionsmoments deutlich reduziert wird.The method according to the invention can be done, for example, with an electrical screwing device be performed. Taking into account the corresponding input mentioned task, directed to an electrical screwing device, this is the invention solved by an electrical screwing device with a control unit, which is connected to an electric motor and this electric current in the form of Feeds pulse signals, wherein the motor is coupled to a screwing tool and a Torque generated by the screwdriver at a speed to actuate a Screw rotates, the pulse signals being pulse width modulated, characterized in that the control unit is connected to a control unit which has a pulse pause between two PWM pulse signals determined such that the speed of the motor in the Pulse pause for damping a reaction torque is significantly reduced.

Bei akku/batterie-betriebenen Werkzeugen kann Energieversorgung, Steuergerät, Steuereinheit, Elektromotor und Schraubwerkzeug eine Einheit bilden.With battery-operated tools, the power supply, control unit, control unit, Electric motor and screwing tool form one unit.

Mit diesem Gerät sind die Vorteile des eingangs genannten erfindungsgemäßen Verfahrens erreichbar. Die Steuereinheit übernimmt die Bestimmung der Pulspausen, die eine derartige Länge hat, dass die Drehzahl des Motors in der Pulspause deutlich reduziert wird und damit das vom Werker aufzunehmende Reaktionsmoment reduziert wird. In der Praxis nimmt ein Werker das Pulsen eventuell gerade noch wahr.With this device, the advantages of the inventive method mentioned at the outset reachable. The control unit takes over the determination of the pulse pauses, the one has such a length that the speed of the motor is significantly reduced during the pulse pause and thus the reaction torque to be absorbed by the worker is reduced. In the In practice, a worker may just perceive the pulsing.

In besonderer Weise kann die Steuereinheit die Pulspause derart bestimmen, dass die Drehzahl in der Pulspause auf etwa Null reduziert wird. Dadurch wird das System aus Motor, eventuell zwischengeschaltetem Getriebe, und Stecknuss entspannt und durch die Massenträgheit des Systems wird das Reaktionsmoment während eines Puls stark gedämpft. In a special way, the control unit can determine the pulse pause in such a way that the Speed in the pulse pause is reduced to approximately zero. This will shut down the system Motor, possibly intermediate gear, and socket relaxed and through The inertia of the system makes the reaction moment strong during a pulse attenuated.

Wahlweise kann die Steuereinheit zu- und abschaltbar sein. Bei geringen Drehmomentanforderungen kann die Steuereinheit abgeschaltet werden, weil der Werker das geringe Reaktionsmoment mühelos abstützen kann. Bei höheren Drehmomenten wird die Steuereinheit zugeschaltet, so daß sich eine Verringerung des Reaktionsmoments ergibt.The control unit can optionally be switched on and off. With low torque requirements the control unit can be switched off because the worker can easily support low reaction torque. At higher torques the control unit switched on, so that there is a reduction in the reaction torque results.

Es wird vorgeschlagen, daß das Steuergerät mit einer Einstelleinrichtung verbunden ist, über die die Pulsfrequenz und/oder das Puls/Pausenvemältnis einstellbar ist. Über die Einstelleinrichtung können diese Parameter an das jeweilige System und den jeweiligen Schraubfall angepaßt werden. Dies kann manuell oder automatisch verlaufen. Die Einstellung kann sogar während des Schraubablaufes angepaßt werden.It is proposed that the control device be connected to an adjusting device via which the pulse frequency and / or the pulse / pause ratio can be set. About the Adjustment device can adapt these parameters to the respective system and the respective Screwing case can be adjusted. This can be done manually or automatically. The setting can even be adjusted during the screwing process.

Besonders vorteilhaft kann eine mit dem Steuergerät verbundene Meßvorrichtung vorgesehen sein, die das Drehmoment anhand der erfaßten Pulse mißt. Die Erfassung der Pulse ist steuerelektronisch relativ einfach und präzise. Mit der erfindungsgemäßen Pulsung kann dadurch das Drehmoment relativ exakt bestimmt werden.A measuring device connected to the control unit can be provided particularly advantageously be, which measures the torque based on the detected pulses. The capture of the Pulse is relatively simple and precise in terms of electronic control. With the invention Pulsation, the torque can be determined relatively precisely.

In besonderer Weise kann der Elektromotor über einen Servoverstärker mit der Steuereinheit verbunden sein.In a special way, the electric motor can be connected to the control unit via a servo amplifier be connected.

Denkbarerweise ist unter einer Schraubvorrichtung im Sinn der Erfindung nicht nur ein herkömmlicher Schrauber zu verstehen. Die Erfindung betrifft in diesem Sinn genauso Bohrvorrichtungen, bei denen das erfindungsgemäße Verfahren angewendet werden kann. Grundsätzlich ist darunter eine entsprechende Anwendung für überwiegend rotatorische Bewegungen zu verstehen, die auch einen translatorischen Anteil haben.Conceivably, a screw device in the sense of the invention is not just one conventional screwdriver to understand. In this sense, the invention also applies Drilling devices using the method according to the invention can. Basically there is a corresponding application for predominantly rotary Understand movements that also have a translational component.

Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und werden nachstehend erläutert. Es zeigen:

Fig. 1
ein prinzipielles Blockschaltbild für eine elektrische Schraubvorrichtung gemäß einer ersten Ausführungsform der Erfindung,
Fig. 2
ein prinzipielles Blockschaltbild eines Versuchaufbaus für eine erfindungsgemäße elektrische Schraubvorrichtung gemäß einer zweiten Ausführungsform und
Fig. 3
Ablaufdiagramme, die das Verhalten der relevanten Größen beim Durchführen des erfindungsgemäßen Verfahrens darstellen.
Embodiments of the invention are shown in the drawing and are explained below. Show it:
Fig. 1
2 shows a basic block diagram for an electrical screwing device according to a first embodiment of the invention,
Fig. 2
a basic block diagram of a test setup for an electrical screwing device according to the invention according to a second embodiment and
Fig. 3
Flow diagrams that show the behavior of the relevant variables when performing the method according to the invention.

In Figur 1 ist ein prinzipielles Blockschaltbild einer ersten Ausführungsform einer erfindungsgemäßen elektrischen Schraubvorrichtung 1 dargestellt. Ein Steuergerät 2 ist über eine elektrische Leitung 3 mit einer elektrischen Schraubvorrichtung 4 verbunden. Die Leitung 3 führt zu einer Schraubvorrichtung 4, die als Pistolenschrauber ausgebildet ist. Der Pistolenschrauber enthält einen Elektromotor 5, über den ein Schraubwerkzeug 6 angetrieben wird. Als Schraubwerkzeug 6 kann z.B. eine sogenannte Stecknuß oder ein Schraubschlüsselaufsatz verwendet werden. Das Schraubwerkzeug 6 kann mit einer Schraube17 in Eingriff gebracht werden, so daß der Schraubenkopf formschlüssig von dem Schraubwerkzeug 6 umfaßt und durch Rotation des Schraubwerkzeugs 6 gedreht wird.In Figure 1 is a basic block diagram of a first embodiment of an inventive electrical screwing device 1 shown. A control unit 2 is over an electrical line 3 is connected to an electrical screwing device 4. The Line 3 leads to a screw device 4, which is designed as a gun screwdriver. The gun screwdriver contains an electric motor 5, via which a screwing tool 6 is driven. As a screwing tool 6, e.g. a so-called socket or a Wrench attachment can be used. The screwing tool 6 can with a Screw17 are brought into engagement, so that the screw head is form-fitting the screwing tool 6 and rotated by rotation of the screwing tool 6 becomes.

Wahlweise können auch anders ausgestaltete Schraubvorrichtungen 4 verwendet werden. Optional ist eine elektrische Leitung 7 strichliniert dargestellt, die das Steuergerät 2 mit einer stabartig ausgebildeten Schraubvorrichtung 4 verbindet.Optionally, differently designed screwing devices 4 can also be used. Optionally, an electrical line 7 is shown in dashed lines, which the control unit 2 connects with a rod-like screw device 4.

Eine strichliniert dargestellte Leitung 8 verbindet das Steuergerät 2 optional mit einer Schraubvorrichtung 4, die im wesentlichen stabförmig ausgebildet ist, wobei das Schraubwerkzeug 6 am distalen Ende etwa im rechten Winkel von der Stabform absteht.A line 8 shown in broken lines optionally connects the control unit 2 to a Screwing device 4, which is essentially rod-shaped, the Screwing tool 6 protrudes from the rod shape at approximately a right angle.

Die dargestellten Schraubwerkzeuge sind ihrer Form nach der jeweiligen Anwendung angepaßt und werden von einem Werker üblicherweise gehalten, z.B. bei der Arbeit an einem Montageband zur KFZ-Montage.The screwing tools shown are of their shape according to the respective application adapted and are usually held by a worker, e.g. at work on an assembly line for car assembly.

Das Steuergerät 2 weist eine Steuereinheit 9 auf. Die Steuereinheit 9 ist mit einer Anzeige 10, z.B. einer LCD-Anzeige oder einem Bildschirm, und einer Eingabetastatur 11 verbunden. The control unit 2 has a control unit 9. The control unit 9 is with a display 10, e.g. an LCD display or a screen, and an input keyboard 11.

Die Steuereinheit ist über elektrische Leitungen 12 mit einem Servoverstärker 13 verbunden. Ferner führt von der Steuereinheit 9 eine Signalleitung 14 zu dem Servoverstärker 13. Von dem Servoverstärker 13 führt die elektrische Leitung zu der Schraubvorrichtung 4.The control unit is connected to a servo amplifier 13 via electrical lines 12. Furthermore, a signal line 14 leads from the control unit 9 to the servo amplifier 13. The electrical line leads from the servo amplifier 13 to the screwing device 4th

Über die elektrischen Leitungen 12 erfolgt die wesentliche Steuerung des Servoverstärkers (Leistungsversorgung) 13. Über die Signalleitung 14 werden Pulssignale übertragen, die den über die Leitung 3 an die Schraubvorrichtung 4 abgegebenen elektrischen Strom steuert. Somit bewirkt der Servoverstärker die Leistungsverstärkung des über die Leitung 14 erhaltenen Steuersignals.The main control of the servo amplifier takes place via the electrical lines 12 (Power supply) 13. Pulse signals are transmitted via the signal line 14, the electrical output via the line 3 to the screw device 4 Electricity controls. Thus the servo amplifier effects the power amplification of the over Line 14 received control signal.

Die Steuereinheit 9 kann als Hardware-Schaltung ausgebildet sein bzw. einen Mikroprozessor enthalten, der durch entsprechende Datenverarbeitungsprogramme betrieben wird.The control unit 9 can be designed as a hardware circuit or a microprocessor included, operated by appropriate data processing programs becomes.

In dem Steuergerät kann eine Meßvorrichtung 15 vorgesehen sein, die die Pulssignale mißt und anhand dessen das Drehmoment bestimmt.A measuring device 15 can be provided in the control device, which measures the pulse signals measures and uses this to determine the torque.

Ferner kann das Steuereinheit 9 mit einer Einstellvorrichtung 16 ausgebildet sein, über die die Pulsfrequenz und/oder das Puls/Pausenverhältnis einstellbar ist. Meßvorrichtung 15 und Einstelleinrichtung 16 können beispielsweise in dem zugehörigen Datenverarbeitungsprogramm verwirklicht werden.Furthermore, the control unit 9 can be designed with an adjusting device 16 via which the pulse frequency and / or the pulse / pause ratio is adjustable. measuring device 15 and setting device 16 can, for example, in the associated data processing program be realized.

In Figur 2 ist ein prinzipielles Blockschaltbild eines Versuchsaufbaus gemäß einer zweiten Ausführungsform der Erfindung dargestellt. Gleiche Bezugszeichen haben im wesentlichen die gleiche Funktion wie bei dem ersten Ausführungsbeispiel.In Figure 2 is a basic block diagram of an experimental setup according to a second Embodiment of the invention shown. The same reference numerals have essentially the same function as in the first embodiment.

Das Steuergerät 2 ist mit einer regelbaren Stromversorgungseinheit 18 versehen. Die Stromversorgungseinheit 18 ist über elektrische Leitungen 12 mit dem Servoverstärker 13 versehen.The control unit 2 is provided with a controllable power supply unit 18. The Power supply unit 18 is connected to the servo amplifier via electrical lines 12 13 provided.

Der Servoverstärker 13 ist über die elektrische Leitung 3 mit der Schraubvorrichtung 4 in Form eines Pistolengriffschraubers verbunden. Die Schraubvorrichtung 4 hat im Griffteil den Elektromotor 5 integriert ausgebildet. Sie weist ein Schraubwerkzeug 6 in Form einer Stecknuß auf, die formschlüssig auf die Schraube 17 aufsteckbar ist.The servo amplifier 13 is connected to the screw device 4 in via the electrical line 3 Form connected to a pistol grip screwdriver. The screw device 4 has in the handle part the electric motor 5 is integrated. It has a screwing tool 6 in the form of a Socket, which can be positively attached to the screw 17.

Es ist ein Frequenzgenerator 19 vorgesehen, der als Steuereinheit 9 dient. Der Frequenzgenerator 19 ist über Leitungen 20 mit der Stromversorgungseinheit 18 verbunden. Die Leitungen 20 führen jeweils vom Frequenzgenerator 19 und der Stromversorgungseinheit 18 zu einer Und-Schaltung 21. Von dieser führt die Signalleitung 14 zu dem Servoverstärker 13 und überträgt die Steuersignale. Der Frequenzgenerator 19 liefert Steuersignale mit einstellbarer Frequenz und einstellbarem Puls/Pausenverhältnis. Dies Steuersignal wird in das von der Stromversorgungseinheit 18 zur Und-Schaltung 21 gelieferte Startsignal geschaltet.A frequency generator 19 is provided, which serves as control unit 9. The frequency generator 19 is connected to the power supply unit 18 via lines 20. The lines 20 each lead from the frequency generator 19 and the power supply unit 18 to an AND circuit 21. From this, the signal line 14 leads to the Servo amplifier 13 and transmits the control signals. The frequency generator 19 delivers Control signals with adjustable frequency and adjustable pulse / pause ratio. This Control signal is supplied to the AND circuit 21 from the power supply unit 18 Start signal switched.

Die Stromversorgungseinheit 18 kann im Prinzip wie die Steuereinheit 9 von Figur 1 ausgebildet sein und wahlweise auch eine Meßvorrichtung 15 und eine Einstelleinrichtung 16 beinhalten.In principle, the power supply unit 18 can be like the control unit 9 of FIG. 1 be formed and optionally also a measuring device 15 and an adjusting device 16 included.

In Figur 3 ist in vier übereinander angeordneten Diagrammen der Verlauf der Pulssignale des Startsignals S, eine Pulsweitenmodulation PWM des Servoverstärkers 13, die Drehzahl D des Motors 5 und der Drehmomentverlauf M des Motors 5 dargestellt. Die vier Diagramme sind durch senkrechte strichpunktierte Linien miteinander verbunden, wobei die strichpunktierten Linien entsprechend gleiche Zeitintervalle kennzeichnen, so daß die zeitliche Kohärenz der Größen erkennbar ist.The course of the pulse signals is shown in FIG. 3 in four diagrams arranged one above the other of the start signal S, a pulse width modulation PWM of the servo amplifier 13, the speed D of the motor 5 and the torque curve M of the motor 5 are shown. The four Diagrams are connected by vertical dash-dotted lines, where mark the dash-dotted lines according to the same time intervals, so that the temporal coherence of the sizes is recognizable.

Auf der Abszisse aller Diagramme ist die Zeit t aufgetragen. Auf der Ordinate des obersten Diagramms ist das Startsignal S aufgetragen. Auf der Ordinate des zweitobersten Diagramms ist das Startsignal mit einer Pulsweitenmodulation PWM aufgetragen. Auf der Ordinate des zweituntersten Diagramms ist die Drehzahl D des Motors 5 aufgetragen. Auf der Ordinate des untersten Diagramms ist das Drehmoment M des Motors 5 aufgetragen.The time t is plotted on the abscissa of all diagrams. On the ordinate of the top one The start signal S is plotted in the diagram. On the ordinate of the second highest The start signal is plotted in the diagram with a pulse width modulation PWM. On The ordinate of the second lowest diagram shows the speed D of the motor 5. The torque M of the motor 5 is on the ordinate of the bottom diagram applied.

Wie in dem obersten Diagramm dargestellt, wird das Startsignal S dem Motor 5 in Form von Pulssignalen 22 zugeführt Jeder Strompuls 22 hat etwa gleiche Höhe. Zwei aufeinanderfolgende Pulse sind jeweils durch eine Pulspause 23 voneinander getrennt. As shown in the top diagram, the start signal S is in the form of the engine 5 supplied by pulse signals 22 Each current pulse 22 has approximately the same height. Two in a row Pulses are separated from each other by a pulse pause 23.

Die gesendeten Pulssignale 22 werden, wie im zweiten Diagramm dargestellt, einer konventionellen Pulsweitenmodulation unterzogen. Dabei wird jeder Puls entsprechend moduliert und in einzelne kurze aufeinanderfolgende Signale zerlegt. Diese Pulsweitenmodulation steuert den Drehmomentanstieg des Motors während eines Pulses. Die Pulspausen 23 zwischen den Pulssignalen 22 bleiben erhalten.The transmitted pulse signals 22 become, as shown in the second diagram, a conventional one Subjected to pulse width modulation. Each pulse is modulated accordingly and broken down into individual short consecutive signals. This pulse width modulation controls the torque increase of the motor during a pulse. The Pulse pauses 23 between the pulse signals 22 are retained.

In dem zweituntersten Diagramm ist der Verlauf der Drehzahl D dargestellt. Über die Länge eines einzelnen Pulssignals 22 steigt die Drehzahl steil an. Der Elektromotor beschleunigt. Sobald das Pulssignal 22 endet und die Pulspause 23 eintritt, fällt die Drehzahl D stark ab. Sie wird deutlich reduziert und fällt bis auf 0. Aus mechanischdynamischen Gründen fällt das Drehmoment dann kurz unter 0 und steigt danach wieder bis auf etwa 0 an. Am Ende einer Pulspause 23 hat der Motor etwa Drehzahl 0. Erst bei einem neuen Pulssignal 22 steigt die Drehzahl wieder an. Dieser Vorgang wiederholt sich pro Pulssignal und folgender Pulspause. Bei jedem Pulssignal 22 steigt die Drehzahl D etwa auf den selben Wert an.The course of the speed D is shown in the second bottom diagram. About the Length of a single pulse signal 22, the speed increases steeply. The electric motor accelerates. As soon as the pulse signal 22 ends and the pulse pause 23 occurs, the speed drops D strongly. It is significantly reduced and falls to 0. From mechanical-dynamic The torque then briefly drops below 0 and then rises again down to about 0. At the end of a pulse pause 23, the motor has a speed of 0. Only at a new pulse signal 22 increases the speed again. This process is repeated per pulse signal and subsequent pulse pause. The speed increases with each pulse signal 22 D about the same value.

Im untersten Diagramm ist der Verlauf des Drehmoments M des Motors dargestellt. Zu Beginn jedes Pulssignals 22 steigt das Moment steil an. Zum Ende des Pulssignales 22 flacht der Drehmomentanstieg ruckartig ab und steigt nur noch leicht. Nach etwa zwei Drittel der Pulspause 23 fällt das Drehmoment auf 0 ab, sinkt leicht unter 0 und steigt bis zu Beginn eines neuen Pulssignals 22 wieder etwas an auf 0. Bei jedem neuen Pulssignal 22 steigt das Drehmoment auf einen etwas höheren Wert als beim vorhergehenden Pulssignal 22. Dadurch ergibt sich über die einzelnen Takte ein etwa linearer Anstieg des Drehmoments M.The curve of the torque M of the engine is shown in the bottom diagram. To At the beginning of each pulse signal 22, the moment rises steeply. At the end of the pulse signal 22 The increase in torque abruptly flattens and increases only slightly. After about two Third of the pulse pause 23 the torque drops to 0, drops slightly below 0 and rises to at the beginning of a new pulse signal 22 again slightly to 0. With each new pulse signal 22 the torque rises to a somewhat higher value than in the previous one Pulse signal 22. This results in an approximately linear increase over the individual cycles of the torque M.

Aus dem zeitlichen Verlauf von Steuersignal S, Drehzahl D und Drehmoment M ist die Funktionsweise dieser Ausführungsform der Erfindung ersichtlich. Dem Motor werden durch die Steuereinheit 9 bzw. den Frequenzgenerator 19 elektrische Pulssignale 22 zugeführt, die entsprechend durch zwischengeschaltete Pulspausen 23 getaktet sind. Die Pulspause 23 ist so lang, daß die Drehzahl des Motors in der Pulspause 23 deutlich reduziert wird. Das Pulsen überschreitet die Trägheitsgrenze des Motors, so daß sich die Drehzahl spürbar reduziert. Sie wird bis auf 0 reduziert. Ein neues Pulssignal 22 wird erst bei Erreichen der Drehzahl 0 abgegeben. From the time course of control signal S, speed D and torque M is the Operation of this embodiment of the invention can be seen. The engine electrical pulse signals 22 through the control unit 9 or the frequency generator 19 supplied, which are clocked accordingly by interposed pulse pauses 23. The pulse pause 23 is so long that the speed of the motor in the pulse pause 23 becomes clear is reduced. The pulsing exceeds the inertia limit of the motor, so that the Speed noticeably reduced. It is reduced to 0. A new pulse signal 22 is only when speed 0 is reached.

Mit dieser Steuerung wird das Beschleunigungs- und Reaktionsmoment, das vom Werker abgefangen werden muß, stark gedämpft. In den Pulspausen kann sich das System von Motor 5 und Schraubwerkzeug 6 entspannen. Wenn die Drehzahl bis auf 0 in einer Pulspause reduziert wird, so gibt der Motor seine Energie komplett an die Schraube 17 ab.With this control, the acceleration and reaction torque generated by the worker must be intercepted, strongly dampened. During the pulse breaks, the system can relax from motor 5 and screwing tool 6. If the speed is down to 0 in one Pulse pause is reduced, the motor transfers its energy completely to the screw 17 from.

Durch Messen der Pulse 22 ist eine Drehmomentmessung möglich. Diese kann durch Abstimmung der Pulslängen relativ genau sein.By measuring the pulses 22, a torque measurement is possible. This can be done by Matching the pulse lengths should be relatively accurate.

Die Pulsfunktion kann ein- und ausschaltbar sein. Es kann z.B. nur ab einem bestimmten Drehmoment oder nur beim Lösen oder nur beim Anziehen einer Schraube "gepulst" werden.The pulse function can be switched on and off. For example, only from a certain one Torque or only "pulsed" when loosening or only when tightening a screw become.

Das erfindungsgemäße Verfahren erzeugt im Vergleich zum Stand der Technik nur sehr wenig Wärme.The method according to the invention produces very little compared to the prior art little warmth.

Die Pulsfrequenz und/oder das Puls/Pausen-Verhältnis kann während des Schraubablaufes passend eingestellt werden.The pulse frequency and / or the pulse / pause ratio can be changed during the tightening process can be set appropriately.

Das gesamte Verfahren kann in ein Datenverarbeitungsprogramm integriert werden, so daß eine optimale Steuerung und Anpassung an das jeweilige System möglich ist.The entire method can be integrated into a data processing program, so that optimal control and adaptation to the respective system is possible.

Vorteilhafterweise kann die Schraubvorrichtung akku- undloder batteriebetrieben sein. Weiterhin können in einem solchen Fall Energieversorgung, Steuergerät, Steuereinheit, Elektromotor und /oder Schraubwerkzeug eine Einheit bilden.The screwing device can advantageously be battery and / or battery operated. In such a case, the power supply, control unit, control unit, Electric motor and / or screwing tool form a unit.

Claims (16)

  1. Method of driving an electrical screwdriving device (1), wherein a control device (2) feeds electrical current in the form of pulse signals (22) to an electric motor (5) and the motor (5) produces a torque (M) which turns a screwdriving tool (6) with a speed (D) for manipulating a screw (17), wherein the pulse signals (22) are pulse width-modulated,
    characterized in that,
    a pulse space (23) between two PWM pulse signals (22) is set such that the speed (D) of the motor (5) in the pulse space (23) is noticeably reduced for attenuating a reaction momentum.
  2. Method according to Claim 1,
    characterized in that,
    the speed (D) of the motor (5) in the pulse space (23) is reduced approximately to zero.
  3. Method according to one of the previous claims,
    characterized in that,
    pulsing takes place during the loosening of a screw (17).
  4. Method according to one of the previous claims,
    characterized in that,
    pulsing takes place during the tightening of a screw (17).
  5. Method according to one of the previous claims,
    characterized in that,
    the pulse space (23) matched to the reduction of the speed (D) is only set above a certain torque limit.
  6. Method according to one of the previous claims,
    characterized in that,
    the matching of the pulse space (23) to the reduction of the speed (D) can be switched on and off.
  7. Method according to one of the previous claims,
    characterized in that,
    the pulse frequency and/or the pulse/space ratio is suitably adjusted during the screwdriving process.
  8. Method according to one of the previous claims,
    characterized in that,
    the torque (M) is measured based on the acquired pulses (22).
  9. Method according to one of the previous claims,
    characterized in that,
    the pulse length is set according to the accuracy of the torque measurement.
  10. Electrical screwdriving device (1), in particular for implementing the method according to Claim 1, with a control device (2), which is connected to an electric motor (5) and feeds electrical current to it in the form of pulse signals (22), wherein the motor (5) is coupled to a screwdriving tool (6) and a torque (M) is produced, which turns the screwdriving tool (6) with a speed (D) for manipulating a screw (17), wherein the pulse signals (22) are pulse width-modulated,
    characterized in that,
    the control device (2) is connected to a control unit (9), which sets the pulse space (23) between two PWM pulse signals (22) such that the speed (D) of the motor (5) in the pulse space (23) is noticeably reduced for attenuating a reaction momentum.
  11. Screwdriving device according to Claim 10,
    characterized in that,
    the control unit (9) sets the pulse space (23) such that the speed (D) in the pulse space (23) is reduced to approximately zero.
  12. Screwdriving device according to Claim 10 or 11,
    characterized in that,
    the control unit (9) can be switched on and off.
  13. Screwdriving device according to one of the Claims 10 to 12,
    characterized in that,
    the control device (2) is connected to an adjusting device (16) through which the pulse frequency and/or the pulse/space ratio can be set.
  14. Screwdriving device according to one of the Claims 10 to 13,
    characterized in that,
    a measurement device (15) connected to a control device (2) is provided which measures the torque (M) based on the acquired pulses (22).
  15. Screwdriving device according to one of the Claims 10 to 14,
    characterized in that,
    the electric motor (5) is connected through a servo amplifier (13) to the control unit (9).
  16. Screwdriving device according to one of the Claims 10 to 15,
    characterized in that,
    the screwdriving device is powered by an accumulator and/or battery.
EP99926490A 1998-06-02 1999-05-31 Method for driving an electric screwing device Revoked EP1084010B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19824495 1998-06-02
DE19824495A DE19824495A1 (en) 1998-06-02 1998-06-02 Method for driving an electric screwing device
PCT/EP1999/003772 WO1999062675A1 (en) 1998-06-02 1999-05-31 Method for driving an electric screwing device

Publications (2)

Publication Number Publication Date
EP1084010A1 EP1084010A1 (en) 2001-03-21
EP1084010B1 true EP1084010B1 (en) 2002-10-30

Family

ID=7869594

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99926490A Revoked EP1084010B1 (en) 1998-06-02 1999-05-31 Method for driving an electric screwing device

Country Status (4)

Country Link
EP (1) EP1084010B1 (en)
DE (2) DE19824495A1 (en)
ES (1) ES2186364T3 (en)
WO (1) WO1999062675A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3781356B1 (en) * 2018-04-18 2022-07-20 Atlas Copco Industrial Technique AB Hand held electric pulse tool and a method for tightening operations
DE102021121777A1 (en) 2021-08-23 2023-02-23 Metabowerke Gmbh Method of operating a drywall screwdriver, computer program and drywall screwdriver
DE102021121777B4 (en) 2021-08-23 2024-07-11 Metabowerke Gmbh Method for operating a drywall screwdriver, computer program and drywall screwdriver

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3015332B1 (en) * 2013-12-20 2016-01-22 Renault Georges Ets METHOD FOR CONTROLLING AN IMPULSE TRUNKING DEVICE, STEERING DEVICE AND CORRESPONDING SCREWING DEVICE
DE102014201183B4 (en) 2014-01-23 2020-11-05 Bayerische Motoren Werke Aktiengesellschaft Screwdriving tool with motorized drive device and torque support
SE1730109A1 (en) * 2017-04-19 2018-10-20 Atlas Copco Ind Technique Ab Electric Pulse Tool
WO2018192775A1 (en) * 2017-04-19 2018-10-25 Atlas Copco Industrial Technique Ab Electric pulse tool

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Publication number Priority date Publication date Assignee Title
DE3144350C2 (en) * 1981-11-07 1986-07-17 Felo-Werkzeugfabrik Holland-Letz GmbH, 3577 Neustadt Circuit arrangement for the electronic speed setting of an electric motor for a hand drill or hand screwdriver
US5440215A (en) * 1993-07-06 1995-08-08 Black & Decker Inc. Electrical power tool having a motor control circuit for increasing the effective torque output of the power tool
SE506118C2 (en) * 1993-09-02 1997-11-10 Atlas Copco Tools Ab Method for tightening threaded joints to a desired bias level by means of a manually operated force nut puller comprising a downward phase and a biasing phase, sensing the torque resistance in the joint and interrupting rotation at the desired bias level reached
US5738177A (en) * 1995-07-28 1998-04-14 Black & Decker Inc. Production assembly tool
EP0808018B2 (en) * 1996-05-13 2011-06-08 Black & Decker Inc. Electrical power tool having a motor control circuit for providing improved control over the torque output of the power tool

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3781356B1 (en) * 2018-04-18 2022-07-20 Atlas Copco Industrial Technique AB Hand held electric pulse tool and a method for tightening operations
DE102021121777A1 (en) 2021-08-23 2023-02-23 Metabowerke Gmbh Method of operating a drywall screwdriver, computer program and drywall screwdriver
DE102021121777B4 (en) 2021-08-23 2024-07-11 Metabowerke Gmbh Method for operating a drywall screwdriver, computer program and drywall screwdriver

Also Published As

Publication number Publication date
WO1999062675B1 (en) 2001-05-31
DE59903258D1 (en) 2002-12-05
DE19824495A1 (en) 1999-12-09
WO1999062675A1 (en) 1999-12-09
ES2186364T3 (en) 2003-05-01
EP1084010A1 (en) 2001-03-21

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