EP1412135B1 - Procede de commande d'une visseuse fonctionnant par intermittence - Google Patents

Procede de commande d'une visseuse fonctionnant par intermittence Download PDF

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Publication number
EP1412135B1
EP1412135B1 EP02760283A EP02760283A EP1412135B1 EP 1412135 B1 EP1412135 B1 EP 1412135B1 EP 02760283 A EP02760283 A EP 02760283A EP 02760283 A EP02760283 A EP 02760283A EP 1412135 B1 EP1412135 B1 EP 1412135B1
Authority
EP
European Patent Office
Prior art keywords
torque
stroke
rotation angle
angle
reached
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 - Lifetime
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EP02760283A
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German (de)
English (en)
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EP1412135A1 (fr
Inventor
Paul-Heinz Wagner
Ulf Sittig
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Individual
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Individual
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Publication of EP1412135A1 publication Critical patent/EP1412135A1/fr
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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
    • 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
    • B25B21/004—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose of the ratchet type
    • B25B21/005—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose of the ratchet type driven by a radially acting hydraulic or pneumatic piston
    • 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 relates to a method according to the preamble of independent claim 1 for controlling a screwing tool that performs intermittently rotating strokes and has a torque sensor and a rotation angle sensor.
  • the invention is based on the object of specifying a method for controlling a screwing tool with which a high degree of accuracy and reproducibility of the screwing operation is achieved, so that the screwing operations performed with this method provide the security of the proper tightening of the screw.
  • a torque mode is first carried out, in which the screw is tightened to a joining moment.
  • the previously defined joining torque is dimensioned such that the parts to be joined have a certain hold, so that the screw connection is already fundamentally secured upon reaching the joining moment.
  • the turning angle mode is entered, in which a certain predetermined rotation angle, which is referred to as the target angle, is swept over.
  • the sweeping of the rotation angle is performed by counting increments of the rotation angle supplied from a rotation angle sensor.
  • the method according to the invention enables secure control of the screwing operation. It is assumed that the joining torque in torque mode reproducible and with high accuracy can be determined. From reaching the joining moment is transferred to the rotation angle mode, in which an angle measurement is performed until reaching the target angle. The termination of the screwing thus takes place only as a function of the angle of rotation, which was covered after reaching the joining moment.
  • the rotation angle mode is only started when the joining moment is reached out of the movement. If the joining torque is achieved, for example, at the end of a stroke while the turning process has come to a complete or near standstill, there are no defined friction conditions at the screw connection. It may also be the case that by temporarily hooking or blocking the torque increases above the value of the joining torque, so that a random condition would be assumed for the beginning of the rotation angle mode. To avoid this, the achievement of the joining moment is assumed only if the screwing operation takes place in a linear region, and at a certain distance from the stroke end.
  • the achievement of the joining moment is not utilized and the utilization is postponed to the next stroke.
  • This condition corresponds to the case that the joining moment is reached at the end of a stroke.
  • the torque mode is maintained and it is performed after the next return stroke, a new stroke in the torque mode, in which then the joining torque is reached again.
  • This second achievement of the joining moment is evaluated to form the zero point of the angle count.
  • the method according to the invention also makes it possible to determine and utilize the differential quotient of the relationship between torque and angle of rotation.
  • this differential quotient is determined and stored even before the joining moment has been reached. Based on the respectively measured torque and the stored differential quotient, it is predetermined whether the joining moment is reached at the stroke end.
  • the torque indicates the actual state and the differential quotient allows an extrapolation, so that it can be predetermined whether the joining torque is reached at the stroke end. If this is the case, then the stroke is stopped before reaching the stroke end, so that the achievement of the joining moment is shifted to the next following stroke.
  • the differential quotient of the dependence between torque and angle of rotation can also be used for the control of the rotation angle mode, wherein the screwing operation is discarded if, during the counting up of the rotation angle, an out-of-tolerance deviation from the stored value is detected.
  • anomalies can be detected, such as the blocking of a screw or too high a screw resistance. Such a condition occurs when the screwing tool is applied to a screw which has already been tightened. Even screws that are too smooth after reaching the joining moment, can be detected and discarded.
  • a narrower special tolerance range is expediently defined. This will ensure that the target angle is approached only with a differential quotient, which is close to the stored predetermined differential quotient. It is prevented that the target angle is reached with a jerk. If the differential quotient is outside the special tolerance range, the screwing process is discarded.
  • Fig. 1 and 2 is ein.hydraulische power screwdriver shown.
  • This has a drive part 10 and a functional part 11.
  • the drive member includes a hydraulic cylinder in which a piston 12 is slidably guided. Of the Drive of the piston 12 takes place in the feed direction (acc. Fig. 1 to the left) and in the retraction direction (to the right) each hydraulically.
  • a pivotable connection device 13 has a pressure port and a return port.
  • the functional part 11 has a housing 14 in which a ratchet lever 15 moves.
  • the ratchet lever 15 is connected to the piston 12 via a piston rod 16.
  • a shaft 17 is rotatably mounted in a transverse bore of the housing 14.
  • the shaft 17 has in the interior of the housing 14 has a circumferential toothing 18, in which engages a (not shown) toothing of the ratchet lever 15.
  • the shaft 17 is rotated by a certain angle about its axis. Thereafter, the return stroke of the ratchet lever 15, in which the shaft 17 is not taken.
  • the shaft 17 has at one end a driving device in the form of a Einsteckaus Principleung 21 of hexagonal cross-section.
  • a torsion sensor 23 in the form of the measuring strips, which are glued to the peripheral wall.
  • the region of the shaft 17 carrying the torsion sensor 23 forms the measuring section 25.
  • a data transmission element 28 is provided at the rear end of the shaft 17. From the torsion sensor 23, a cable channel 29 extends to the data transmission element 28.
  • the data transmission element 28 is, for example, a slip ring assembly which connects an external cable 30 to the torsion sensor 23 which is rotatable with the shaft 17. Alternatively, the transmission can also be wireless.
  • the cable 30 leads to a cable connection 31 (FIG. Fig. 1 ), which is provided on the housing 14 and to which a control unit can be connected.
  • the hydraulic power wrench is further equipped with a rotation angle measuring device 33.
  • This has a code disc 34 which is fixed to the shaft 17, and an angle sensor 35 which responds to the bars of the code disc 34 and thereby generates rotational angle pulses.
  • the angle sensor 35 consists of a fork-type photoelectric sensor into which projects the radially projecting from the shaft 17 code disk. From the angle sensor 25, a cable 38 leads to the cable terminal 31 so that both the torsion sensor 23 and the angle sensor 35 are electrically accessible at the cable terminal 31.
  • the signals of the torque sensor 23 and the rotation angle sensor 33 are fed to a (not shown) control unit, which in turn controls a valve which can interrupt the pressure supply in the hose connections 13. Moreover, the operation of the power wrench is controlled in such a way that the two hydraulic connections of the power wrench are alternately connected to a pressure line and a return line, wherein the reversing either mechanically effected by actuation of a reversing valve when the piston 12 has hit against the relevant stop and no further movement takes place, or by automatic change of direction.
  • Fig. 3 shows for a certain screw the dependence between the torque M D and the rotation angle ⁇ .
  • a non-linear increase 50 of the torque with respect to the rotation angle ⁇ and then, when the screw engages, a linear increase 51, in which the bolt is stretched.
  • the torque M D in region 52 drops to zero, after which the second stroke then follows.
  • the screws in the torque mode D M Until reaching a predetermined mating torque M F , the screws in the torque mode D M , so under measurement of the torque.
  • the mode enters the rotation angle mode DWM.
  • the joining moment M F is traversed in the movement, ie the change of the mode from DMM to DWM takes place without the stroke being interrupted.
  • the torque reaches the value M HE1 , which refers to the stroke end 1 after reaching the joining moment.
  • M HE1 refers to the stroke end 1 after reaching the joining moment.
  • the torque goes back to 0 and the third stroke is initially a non-linear increase 53 until reaching the torque M HE1 and then joins a linear region 54, in which the screw is tightened further.
  • the value of the torque at the stroke end M HE1 , M HE2 and M HE3 is stored, as well as the associated rotation angle ⁇ HE1 , ⁇ HE2 , ⁇ HE3 .
  • the further counting up of the rotation angle ⁇ starts.
  • the angle ⁇ HE1 which was stored at the end of the second stroke, at the same time forms the initial angle ⁇ HA2 , during which the count continues in the linear region 54 during the third stroke.
  • the final value ⁇ HE2 is stored and at the 4th stroke the incrementing of the angle starts with the value ⁇ HA3 , which is equal to ⁇ HE2 .
  • the screwing is terminated when a target angle ⁇ Z is reached, for example, is set to 90 ° (after reaching the joining torque M F ). Then the power screwdriver is switched off. The screw is now tightened in a defined manner, the desired voltage of the bolt is reached.
  • Another condition is that the counting up of the angle of rotation takes place only when, in the previous stroke, an incrementing of the angle of rotation has taken place and the associated torque has been detected.
  • a summation to the already stored rotation angle takes place only if a torque which was stored at the end of the last stroke minus a tolerance range, e.g. 5%, is achieved.
  • the counting continues, however, only when the final torque of the last stroke is reached. In this way it is ensured that the summation of the angle of rotation takes place only when the nut rotates and not out of the state.
  • the achievement of the mating moment M F should only be determined when the linear part of the tension line is traversed, in the middle region between the end points. If the joining moment is reached in the upper end of the linear range, a new determination of the achievement of the joining moment takes place.
  • the differential quotient of the dependence between torque and angle of rotation is determined, ie the slope of the straight line. Based on the respectively measured torque and the differential quotient, it is predetermined whether the joining moment is reached at the stroke end. If it is detected that the joining moment is reached at the stroke end, the stroke is terminated prematurely by the automatic and a new stroke is initiated, at which the joining torque in the linear range is then reached.
  • Fig. 4 shows the determination of the differential quotient Q in the linear region of the curve M D over ⁇ .
  • M D1 means the torque measured at a certain rotation angle ⁇ 1 after reaching the joining torque
  • the torque M D2 is the torque measured at a higher rotation angle ⁇ 2 .
  • the differential quotient Q can also be used for other tests, for example, to check whether a screw is already tightened. In this case, the power screwdriver works at very high torque without any further rotation. Consequently, the differential quotient is out of tolerance. The screwing process is then canceled.
  • the differential quotient can also be evaluated immediately before reaching the target value.
  • a special tolerance range for the differential quotient is defined and the target value is considered to be reached only if the differential quotient was previously determined in the particular tolerance range. In this way it is avoided that the target angle is achieved by a sudden jerk.
  • Another possibility is to measure the duration of the individual strokes, wherein the screwing is discarded at too long a period of time. For example, it is possible to measure a number of durations of the individual strokes in a plurality of screwing operations for a particular screwing and then define an average stroke duration, which is stored. Likewise, for the differential quotient Q, a typical value may be averaged or otherwise determined from numerous previously measured values.

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

Claims (7)

  1. Procédé de commande d'une visseuse, qui accomplit par intermittence des courses en rotation et présente un détecteur de couple de rotation (23) et un détecteur d'angle de rotation (33), comprenant les étapes consistant
    - à exécuter des courses, moyennant la mesure du couple de rotation (MD), selon un mode par couple de rotation (DMM), et
    - lorsqu'un couple d'assemblage (MF) pré-établi est atteint, à passer à un mode par angle de rotation (DWM), selon lequel l'angle de rotation (α) est compté dans le sens ascendant jusqu'à la fin de la course en cours d'exécution, et à mettre en mémoire les valeurs d'angle de rotation (αHE1) et de couple de rotation (MHE1), atteintes à la fin de la course
    caractérisé en ce qu'il consiste en outre
    - à chaque course suivante, à poursuivre le comptage ascendant de l'angle de rotation (α) lorsque le couple de rotation (MD) atteint une valeur qui correspond au couple de rotation (MHE) à la fin de la course précédente, et à mettre en mémoire les valeurs d'angle de rotation (αHE) et de couple de rotation (MHE), atteintes à la fin de la course, et
    - à mettre fin à l'opération de vissage quand l'angle de rotation, compté dans le sens ascendant, atteint un angle cible (αZ).
  2. Procédé selon la revendication 1, caractérisé en ce que le mode par angle de rotation (DWM) n'est engagé que lorsque le couple d'assemblage (MF) est atteint en dehors de la phase de déplacement.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que dans le cas où, après que le couple d'assemblage (MF) a été atteint pendant une course, le comptage ascendant reste en dessous d'une valeur limite préétablie, le fait d'avoir atteint le couple d'assemblage (MF) n'est pas exploité et l'exploitation est reportée à la course suivante.
  4. Procédé selon l'une des revendications 1 à 3, caractérisé en ce que dès avant que le couple d'assemblage (MF) soit atteint, le quotient différentiel (Q) de la dépendance entre le couple de rotation (MD) et l'angle de rotation (α) est déterminé et mis en mémoire et en ce que, à l'aide du couple de rotation chaque fois mesuré et du quotient différentiel (Q), il est déterminé à l'avance si le couple d'assemblage MF est atteint à la fin de la course.
  5. Procédé selon l'une des revendications 1 à 4, caractérisé en ce que le quotient différentiel (Q) de la dépendance entre le couple de rotation (MD) et l'angle de rotation (α) est déterminé et mis en mémoire et en ce que l'opération de vissage est rejetée lorsque, pendant le comptage ascendant de l'angle de rotation (α), un écart, se situant en dehors d'une plage de tolérance, du quotient différentiel (Q) vis-à-vis de la valeur mise en mémoire, est établi.
  6. Procédé selon la revendication 5, caractérisé en ce que, dans une plage angulaire couverte avant que l'angle cible αZ soit atteint, il est défini une plage de tolérance spéciale, plus étroite, lors du dépassement de laquelle l'opération de vissage est rejetée.
  7. Procédé selon l'une des revendications 1 à 6, caractérisé en ce que la durée des courses individuelles est mesurée et l'opération de vissage est rejetée dans le cas d'une durée trop grande.
EP02760283A 2001-08-02 2002-07-27 Procede de commande d'une visseuse fonctionnant par intermittence Expired - Lifetime EP1412135B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10137896 2001-08-02
DE10137896A DE10137896A1 (de) 2001-08-02 2001-08-02 Verfahren zur Steuerung eines intermittierend arbeitenden Schraubwerkzeugs
PCT/EP2002/008386 WO2003013797A1 (fr) 2001-08-02 2002-07-27 Procede de commande d'une visseuse fonctionnant par intermittence

Publications (2)

Publication Number Publication Date
EP1412135A1 EP1412135A1 (fr) 2004-04-28
EP1412135B1 true EP1412135B1 (fr) 2008-04-30

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ID=7694126

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EP02760283A Expired - Lifetime EP1412135B1 (fr) 2001-08-02 2002-07-27 Procede de commande d'une visseuse fonctionnant par intermittence

Country Status (6)

Country Link
US (1) US7000486B2 (fr)
EP (1) EP1412135B1 (fr)
JP (1) JP4119365B2 (fr)
DE (2) DE10137896A1 (fr)
ES (1) ES2305281T3 (fr)
WO (1) WO2003013797A1 (fr)

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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
JP4749787B2 (ja) * 2005-07-22 2011-08-17 瓜生製作株式会社 手持ち式パルスツールにおけるねじの締付角度測定装置
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US7721631B2 (en) * 2007-11-05 2010-05-25 The Boeing Company Combined wrench and marking system
JP5431006B2 (ja) 2009-04-16 2014-03-05 Ｔｏｎｅ株式会社 ワイヤレス・データ送受信システム
SE533830C2 (sv) * 2009-06-11 2011-02-01 Atlas Copco Tools Ab Mutterdragare med växelhus och parametergivare
US8714057B2 (en) 2010-01-04 2014-05-06 Apex Brands, Inc. Ratcheting device for an electronic torque wrench
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US20130008015A1 (en) * 2010-02-08 2013-01-10 Junkers John K Apparatus and methods for tightening threaded fasteners
DE102011013926A1 (de) 2011-03-14 2012-09-20 Wagner Vermögensverwaltungs-GmbH & Co. KG Verfahren zum Drehen eines drehbaren Teils
DK2809483T3 (da) 2012-02-01 2017-10-09 Ralf Köllges Fremgangsmåde til fremstilling af en mekanisk spændbar skrueforbindelse og spændbar skrueforbindelse med en skruebolt og en møtrik
JP5763708B2 (ja) * 2013-05-27 2015-08-12 トヨタ自動車株式会社 制御装置、制御方法及び制御プログラム
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TWI619582B (zh) * 2017-06-09 2018-04-01 China Pneumatic Corp Torque control system of electric impact type torque tool and torque control method thereof
US10940577B2 (en) * 2017-07-19 2021-03-09 China Pneumatic Corporation Torque control system and torque control method for power impact torque tool
CN112739501B (zh) * 2018-09-21 2022-08-30 阿特拉斯·科普柯工业技术公司 电动脉冲工具
CN110653661A (zh) * 2019-09-30 2020-01-07 山东大学 基于信号融合和多重分形谱算法的刀具状态监测识别方法
KR102414904B1 (ko) * 2020-04-17 2022-07-01 (주)볼팅마스타 유압 토크 렌치
CN112227205A (zh) * 2020-09-04 2021-01-15 中铁大桥局集团有限公司 桥梁高强度螺栓的施工方法

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Also Published As

Publication number Publication date
DE10137896A1 (de) 2003-02-20
EP1412135A1 (fr) 2004-04-28
ES2305281T3 (es) 2008-11-01
WO2003013797A1 (fr) 2003-02-20
JP2004537432A (ja) 2004-12-16
US20040177704A1 (en) 2004-09-16
DE50212187D1 (de) 2008-06-12
JP4119365B2 (ja) 2008-07-16
US7000486B2 (en) 2006-02-21

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