EP3093107B1 - Unite de vissage et procede de vissage d'une vis dans une piece - Google Patents

Unite de vissage et procede de vissage d'une vis dans une piece Download PDF

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Publication number
EP3093107B1
EP3093107B1 EP16169427.8A EP16169427A EP3093107B1 EP 3093107 B1 EP3093107 B1 EP 3093107B1 EP 16169427 A EP16169427 A EP 16169427A EP 3093107 B1 EP3093107 B1 EP 3093107B1
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Prior art keywords
screwing
torque
screw
gradient
head support
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EP16169427.8A
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German (de)
English (en)
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EP3093107A1 (fr
Inventor
Rolf Pfeiffer
Carsten Rosenkranz
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Deprag Schulz GmbH u Co
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Deprag Schulz GmbH u Co
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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
    • 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 screw unit and a method for screwing screws into a workpiece, wherein the screw unit comprises a control unit which is designed to detect a head rest of a screw head on the workpiece and for this purpose has a monitoring module, which for detecting current torque values and for monitoring a torque curve is formed during a respective screwing.
  • the screwing operation can generally be divided into a first phase of screwing in the screw until the so-called head support and a subsequent second phase in which the screw is tightened.
  • the torque characteristic usually changes markedly and it is often also a changeover of the screwdriver drive from a first mode to a second tightening mode.
  • the torque increases.
  • automatic Screwing it is important to finish the screwing, for example, at a defined shutdown.
  • the detection of the headrest or the detection of the torque present at the head is often a decisive criterion for the subsequent tightening of the screw, which takes place, for example, angle-controlled.
  • the reliable recognition of the headrest is a particular problem when the screw unit is used for a variety of different applications, in which therefore a wide variety of torque curves can occur during the screwing.
  • the torque is monitored for a characteristic change, i. the gradient of the torque curve is considered. A steep increase in torque is then often identified as reaching the headrest.
  • Self-tapping screws are generally understood to mean screws which, when screwed into the workpiece, form the thread in the workpiece. This can be done without cutting or machining, as for example in the so-called self-tapping screws. In such self-tapping screws occur naturally during the screwing during the first phase until reaching the head restraint much higher and especially fluctuating torques than for example when screwing a screw in a prefabricated thread. In addition, the required torques also depend heavily on the particular application, in particular on the choice of material of the workpiece but also on the geometric-constructive design of the screw.
  • the screwing unit for a reliable headrest recognition currently has to be parametrically configured, that is, it must be taught-in to the respective application. This is on the one hand associated with a considerable amount of time. On the other hand, this also requires a special know-how. Unless the operating personnel have sufficient know-how, this can lead to incorrect screw connections. Based on this, the present invention seeks to ensure a reliable automated screwing of screws into a workpiece, in particular of self-tapping screws in a workpiece.
  • the screw unit is generally used for automated screwing of screws into a workpiece and for this purpose has a control unit which is designed to detect a head rest of a screw head on the workpiece.
  • the control unit has a monitoring module which is designed to detect current torque values and to monitor a torque curve, that is to say the time profile of the torque values, during a respective screwing-in operation.
  • the torque curve is detected as a function of a rotation angle with which the screw is screwed. As far as in the present case is spoken of detection of the angle of rotation, these are also associated with the rotation angle correlated parameters, such as. Rotational speed and / or time to understand.
  • torque values or “torque curve” is used in this case, this is preferably understood to mean the actual absolute torque values and the actual absolute torque curve.
  • torque values are also understood as meaning additional parameters which correlate with the torque values. These are, for example, engine parameters of a particular electric drive motor, which are correlated with the actual torque exerted, in particular in such a way that the torque curve can be determined from these further parameters, for example with the aid of a mathematical model. Such a parameter may also be, for example, a motor current of an electric motor.
  • the monitoring module is designed such that it derives a trend line and predetermines a tolerance line during screwing in up to the head rest for the torque progression. Furthermore, the monitoring module is designed such that it identifies the reaching of the head rest when the trend line (L) or the torque curve intersects the tolerance line at an intersection. Based on the thus identified head restraint then causes the monitoring module that the screw is tightened defined.
  • the trend line is derived from previous torque values and continuously adjusted so that the current trend is continuously taken into account to determine the trend line.
  • the intersection between the trend line and the tolerance line is used to determine the head rest.
  • a change in the slope of the torque curve is taken into account. This is based on the consideration that on reaching the torque support, the slope of the curve of the torque changes significantly and strikingly and this can therefore be evaluated as a particularly reliable indication of the achievement of the headrest while avoiding error results.
  • the slope of the torque curve is generally first determined and additionally the change of this slope is considered, ie for the trend line is continuously determined during the screwing a value dependent on the rotation angle value as a current trend line value, in each of the currently determined change the slope of the torque curve (based on the slope at a previous rotation angle range) received.
  • the trend line is therefore constructed successively and continuously during the screwing-in process by the individual determined trend line values and in dependence on the rotation angle.
  • a first slope of the torque curve within a first range of the angle of rotation and a momentary slope of the torque curve within a current range of the angle of rotation are determined.
  • the instantaneous range of the angle of rotation is an angular range of, for example, several degrees, in particular up to the current angle of rotation during screwing. From the determined first slope and the current slope, the change is derived, from which then the current trend line value is determined.
  • the two areas preferably extend over a same angular range.
  • the first (earlier) slope and the instantaneous slope are set in relation to one another for the determination of the respective instantaneous value of the trend line, preferably by quotient formation or by subtraction.
  • the particular advantage is achieved that the trend line during the normal screwing until reaching the head restraint shows a more or less constant course, as usually during the screwing torque typically increases continuously, d. H. the slope of the torque curve is constant. In the case of quotient formation, this leads to a constant value. In a subtraction, this typically results in a zero line. Only when reaching the head rest, the slope of the torque increases significantly, which is reflected in a particularly steep rise of the trend line, so that the intersection with the tolerance line clearly identifies the achievement of the headrest.
  • a mathematical averaging is performed over the respective angular region according to a first variant.
  • the mathematical averaging only the end points of this area are considered and from this the slope is determined.
  • the particular fixed angle range for the determination of the first or the current slope preferably extends over several 10 degrees and extends, for example, over a quarter (90 degrees), half (180 degrees), three quarters (270 degrees) or even complete (360 degrees) turn.
  • the regions (first region and instantaneous region) of the angle of rotation which are taken into account for determining the change in the gradient are furthermore preferably spaced apart from one another, in particular by a fixed angle of rotation.
  • the two areas do not overlap. Since the momentary area continuously shifts with the screwing, this also applies to the first area.
  • the distance between the two areas is 360 degrees.
  • a fixed, constant value is preferably specified for the tolerance line.
  • This value can be a parameterizable value, i. H. on the part of the operator, this value can be set for the tolerance line. In principle, however, this can be determined by the manufacturer irrespective of the respective application, so that it is no longer necessary for a user-side adjustment. Due to the specific measure described here, with the characteristic rise of the trend line only when the head rest is reached, the value for the tolerance line for a reliable determination of the head rest is less critical.
  • this also shows a particular advantage of this method, that this just does not require any parameterization that has to be made by the user.
  • automatic monitoring functions for automated screwing operations frequently require that the user requires parameterizations / settings, for example on window widths, etc., in order to obtain these, e.g. for mathematical operations such as filter functions or averaging.
  • these parameterizations often have a very sensitive effect on the error rate, so that such parameterizations require a certain amount of know-how and knowledge about the stored calculation processes.
  • the change in the gradient is multiplied by a superelevation factor in order to determine the current trend line value.
  • the determined change of the slope is multiplied by an additional factor, so that the characteristic change and the characteristic increase are even more clearly emphasized in the course of the trend line. This also serves to reliably avoid errors in the detection of the headrest.
  • the superelevation factor increases with increasing rotation angle.
  • the instantaneous value of the torque and / or the derivative thereof is used.
  • the superelevation factor is formed from a product of several of these quantities, in particular a product of the momentary value for the torque and its derivative. At least, such a product is included in the Kochhöhungstex. This configuration is generally based on the fact that the torque curve increases continuously and that the achievement of the headrest typically takes place only after a few revolutions of the screw, ie at a later angle of rotation and that also on reaching the headrest and the slope increases sharply.
  • the intersection between the torque curve and the tolerance line is determined according to a second variant.
  • the trend line reflects an assumed curve of the torque and the tolerance line is spaced by a tolerance distance from the trend line.
  • the trend line is a straight line with a specified slope, and the tolerance line runs parallel to it by a fixed tolerance distance.
  • different trend lines which differ with regard to their initial value and / or their pitch, as well as additionally or alternatively also different tolerance distances are stored for this purpose.
  • the monitoring module is suitably designed.
  • this is an implemented algorithm, which detects and evaluates an input signal correlated to the current torque value as an input value.
  • the algorithm is therefore integrated in the monitoring module and thus in the control unit and defines this functional-representational.
  • the trend line is derived from previous torque values during the screwing process and continuously adapted.
  • Previous torque refers to those torque values which have already been recorded during the current screwing process.
  • the conditions for detecting the headrest and thus, for example, the switching conditions for switching from the first phase to the second phase are continuously adapted and, in particular, noticeably improved.
  • the deposit of trend lines is waived.
  • the torque curve is detected here as a function of a course parameter.
  • a course parameter This is in particular a rotation angle with which the screw is screwed.
  • other parameters such as, for example, the rotational speed, can also be used as course parameters. Therefore, an interval range is set for this course parameter, which is evaluated to determine the future trend line.
  • an angle interval of at least 60 ° and preferably of at least 120 ° and a maximum of 180 ° or 360 ° is evaluated for the forecast of the trend line.
  • the trend line is preferably derived from the torque curve by means of a sliding averaging. This is understood to mean that an average value of a predetermined interval of the course parameter is formed continuously from the detected torque values.
  • the currently determined mean value plus the tolerance distance then defines the value of the tolerance line for the following, currently recorded torque value.
  • the tolerance distance is derived from previous torque values.
  • the previous torque values are again understood to mean, in particular, the torque values recorded during the respective screwing operation up to the current time.
  • the tolerance distance is therefore additionally adapted in particular continuously.
  • the dynamic adjustment of the tolerance distance is based on the consideration that based on the detected torque curve increasingly reliable statements about the variance and variance of the detected torque values can be made and therefore that the tolerance distance - starting from an initial or initial value - continuously adapted to improve the accuracy can be.
  • the tolerance distance is also determined using a statistical function as a measure of statistical deviation, e.g. Standard deviation determined from the previously recorded torque curve.
  • a fixed initial value for the tolerance range is used at the beginning of each screwing operation.
  • This tolerance range is chosen to be large enough to reliably preclude the beginning of the screwing that the actual torque curve cuts the tolerance line.
  • a single initial value is stored.
  • typed different initial values can also be stored, for example, as a function of typical screw pairings or depending on typical materials for the workpiece.
  • an initial interval of the torque curve remains unconsidered.
  • the initial interval is defined by the first values of the course parameter, ie in particular the angle of rotation.
  • the initial interval preferably extends Over an angular range of 180 ° or even 360 ° (half or full revolution), starting from a first torque increase due to the contact of the screw with the workpiece.
  • the intersection point gives the actual head restraint only - depending on the choice of the current tolerance distance delayed again.
  • a headrest point namely a headrest rotation angle and / or a headrest torque
  • mathematical methods such as a curve fit, etc., are used in particular.
  • the torque curve in a defined interval before the intersection is also interpolated and in particular approximated by a straight line.
  • the intersection of these two straight lines is then identified, for example, as the actual head rest.
  • an interval range before the intersection is preferably disregarded. This interval range is for example at several 10 °, for example at 30 ° or 60 °.
  • the gradient that is to say the change in the torque curve before reaching the point of intersection, is evaluated in an expedient embodiment. It will - like in previous torque monitoring - identified a characteristic change in the slope of the torque curve as reaching the actual headrest. In the present case, however, this is done only once, if in fact already before due to the point of intersection, the headrest has been identified in principle. The gradient formation therefore only serves to determine the exact time of the headrest, but not for the basic recognition of the headrest.
  • this determined actual head rest as a starting point for further tightening, so the second phase of the screwing used.
  • This tightening takes place in a conventional manner, for example, angle-controlled or torque-controlled.
  • the screw unit is in particular a unit provided with a suitably electric drive motor and the monitoring module evaluates an engine characteristic value for determining the torque curve.
  • This is, for example, the motor current as a basis for calculating the output torque.
  • the torque is measured directly with the help of a suitable transducer. This is, for example, a strain gauge or a so-called torque measuring shaft.
  • a screw unit 6 is provided. With the help of the screw 2, for example, a not shown here component is attached to the workpiece 4.
  • This has a particular designed as an electric motor drive unit 8, which is controlled by means of a control unit 10.
  • a spindle is set in a rotational movement about an axis of rotation. During the screwing process, this rotational movement is transmitted to the screw 2 with the aid of a frontally arranged attack element 12, for example a screwdriver bit or a tool key.
  • the screw 2 is, in particular, a self-tapping screw 2, which is thus screwed into the workpiece 4, without a thread being previously introduced in it.
  • the screw 2 has a screw head 14 and a threaded shaft 16.
  • the underside of the screw head 14 forms a head support surface 18.
  • FIG. 1 Three different states during a respective screwing process are shown. On the left side of the picture, the situation at the beginning of the screwing process is shown, in which therefore the screw 2 comes into contact with the workpiece 4 for the first time. By a suitable contact pressure and the rotational movement exerted by the drive unit 8, the screw 2 is then successively screwed into the workpiece 4 during a first phase of the screwing operation, until the so-called head rest K is reached, which in the center of the picture Fig. 1 is shown. In this so-called head rest K, the screw head 14 with its head support surface 18 reaches the surface of the workpiece 4, so comes to rest on this. The achievement of the head rest K is associated with a significant increase in torque.
  • the screw connections of particular interest here are, in particular, workpieces 4 made of a comparatively soft material, in particular wood, plastic or even light metals, such as aluminum and magnesium.
  • the control and monitoring of the screwing is done with the help of the control unit 10, as roughly simplified by the block diagram representation in Fig. 2 is shown.
  • the control unit 10 outputs a suitable control signal S to the drive unit 8. This can either be a control signal in the strict sense or to the release or switching off the power supply for the electric motor.
  • the control unit 10 for example, an integrated control module 20. This also detects, for example, the motor current picked up by the electric motor as a characteristic value for a torque m currently exerted on the screw 2 by the electric motor.
  • the control unit 10 further comprises a monitoring module 22, which receives, for example from the control module 20 as an input signal in each case a current torque value m i or at least one correlated to this characteristic.
  • the monitoring module 22 monitors the screwdriving process, in particular with regard to reaching the head restraint K. As soon as the monitoring module 22 has identified the head rest K, it emits a switching signal k s . This is transmitted, for example, to the control module 20, which then initiates and carries out the second phase of the screwing operation on the basis of the switching signal k s .
  • the monitoring module 22 is configured to evaluate the torque values m i .
  • the monitoring module 22 usually includes a microprocessor with an integrated algorithm, via which the torque values m i are evaluated in a suitable manner.
  • the principle of detection and determination of the head rest K is described below with reference to Fig. 3 explained in more detail.
  • the overall result is a torque curve M.
  • the individual torque values m i are thereby preferably detected as a function of a rotation angle a.
  • This rotation angle a indicates the respective rotational position of the engagement element 12 and thus also of the screw 2.
  • a rotation of 360 ° means a full revolution of the screw 2 about its axis of rotation.
  • a so-called trend line L and a tolerance distance t are defined and preferably continuously adjusted during the respective screwing operation.
  • an upper tolerance line T To the tolerance distance t spaced from the trend line L is an upper tolerance line T, which thus quasi an upper limit of an allowable torque m for each currently detected torque value m i indicates.
  • an initial tolerance distance t is given, which is initially chosen sufficiently large.
  • the first torque values m i are expediently not considered both for the determination of the trend line L and for the tolerance line T derived therefrom.
  • the tolerance line T is determined, for example, only after an initial interval a, for example after an angular range of 60 °.
  • the first point of the tolerance line T results from the detected actual torque value m i plus the initial tolerance distance t.
  • the trend line L results on both sides of a tolerance range and thus a total of a trend channel, within which the torque values m i can fluctuate without K is recognized on head rest.
  • the trend line L is adjusted dynamically. For this purpose, for example, a moving averaging is performed. As a result, a curve which is smoothed in comparison to the torque curve M, which follows the torque curve M, therefore results overall for the trend line L.
  • the tolerance distance t there is also a dynamic adaptation of the tolerance distance t starting from the initial value at the beginning.
  • a statistical evaluation of the torque curve M is made and, for example, a value for a permissible deviation, for example the standard deviation, is determined from the previously recorded torque curve M.
  • the tolerance distance t is therefore directly correlated, in particular, with a statistical dispersion / deviation of the detected torque values m i .
  • the tolerance distance t therefore indicates a measure of an allowable scattering of the individual torque values m i .
  • the torque curve M is evaluated in a suitable manner in the region of the point of intersection S. Specifically, for example, in a defined angular interval before reaching the point of intersection P, the change .DELTA.m / .DELTA..alpha. Of the torque m is evaluated with respect to a characteristic increase, which then corresponds to reaching the actual head rest K at a defined head rest rotation angle a (K) and / or a defined headrest rotation angle m (K) is evaluated.
  • a respective instantaneous value for the trend line L is determined continuously, ie at defined rotational angle intervals of, for example, less than 10 degrees (eg 5-10 degrees).
  • the slope of a current rotation angle range with the slope of a first rotation angle range compared.
  • the instantaneous rotation angle range is, in particular, a rotation angle range starting from the current achieved rotation angle a when the screw is screwed in.
  • the range of rotation angle typically extends over several tens of degrees, or alternatively over a quarter turn (90 degrees), a half turn (180 degrees), a three quarter turn (270 degrees) or even a full turn (360 degrees).
  • the first rotation angle range is spaced from the current rotation angle range, and preferably also several tens of degrees, or even 90 degrees, 180 degrees, 270 degrees, or 360 degrees.
  • distance means the distance between the initial values (or between the end values) of the two rotation angle ranges.
  • the slope of the curve of the torque is then calculated in each case.
  • the mean value of the gradient is determined for the respective rotation angle range, or the slopes are derived from the two end points of the respective rotation angle range. Due to the at least largely constant slope until reaching the head rest, the ascertained inclination values for the first area and the current area until reaching the head rest K are usually at least almost identical.
  • the two slopes are then set in relation to each other and preferably by quotient or by subtraction, so that the desired constant value is obtained, as can be seen from the diagram.
  • the value thus obtained is still weighted with an increase factor.
  • This is, for example, the instantaneous value m i for the torque M. Since this value typically increases continuously, deflections are weighted more heavily and increased as the rotation angle a increases. This measure therefore enhances the characteristic increase of the trend line when reaching the head rest K.
  • the actual headrest K is reached at the top contact point, ie at the headrest rotation angle ⁇ (K) and / or at the headrest torque m (K).
  • a straight line approximating the torque curve for the course of the torque M after reaching the point of intersection P and a corresponding straight line before reaching the point of intersection P are determined and their point of intersection is evaluated as head contact point ⁇ (K), m (K).
  • m (K) then takes the tightening of the screw, for example, rotational angle or torque controlled.

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  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)

Claims (10)

  1. Unité de vissage (6) permettant de visser des vis (2) dans une pièce (4), comprenant une unité de commande (10) qui est conçue pour la détection d'un appui (K) d'une tête de vis (14) sur la pièce (4) et comprend à cet effet un module de surveillance (22), lequel est conçu pour la détection de valeurs de couple effectives (mi) en fonction d'un angle de rotation ainsi que pour la surveillance d'une variation de couple (M) pendant une opération de vissage respective,
    dans laquelle
    le module de surveillance (22)
    - déduit une ligne de tendance (L) à partir de la variation de couple (M) pendant le vissage jusqu'à l'appui de tête (K)
    - et prédéfinit une ligne de tolérance (T) et
    - conclut que l'appui de tête (K) a été obtenu lorsque la ligne de tendance (L) coupe la ligne de tolérance (T) en un point d'intersection (P), et que le module de surveillance (22) est en outre conçu de telle sorte que
    - à partir de l'appui de tête (K), la vis (2) est serrée à fond de manière définie, dans laquelle
    -- pour la détermination de la ligne de tendance (L), un changement de la pente de la variation de couple (M) est pris en compte,
    -- pour la détermination du changement de la pente de la variation de couple (M), une première pente de la variation de couple (M) à l'intérieur d'une première plage de l'angle de rotation ainsi qu'une pente instantanée de la variation de couple (M) à l'intérieur d'une plage instantanée de l'angle de rotation sont déterminées et mises en relation l'une avec l'autre, caractérisée en ce que
    -- la première plage et la plage instantanée sont espacées l'une de l'autre d'un angle de rotation fixe de 360°.
  2. Unité de vissage (6) selon la revendication précédente,
    caractérisée en ce que
    le module de surveillance (22) est conçu de telle sorte que la ligne de tendance (L) est déduite à partir de valeurs de couple précédentes (mi) et adaptée en continu.
  3. Unité de vissage (6) selon l'une des deux revendications précédentes,
    caractérisée en ce que
    le module de surveillance (22) est conçu de telle sorte que la première pente ainsi que la pente instantanée sont mises en relation l'une avec l'autre par formation de quotient ou soustraction.
  4. Unité de vissage (6) selon l'une des revendications précédentes,
    caractérisée en ce que
    le module de surveillance (22) est conçu de telle sorte que la ligne de tolérance est formée par une valeur fixe.
  5. Unité de vissage (6) selon l'une des revendications précédentes,
    caractérisée en ce que
    le module de surveillance (22) est conçu de telle sorte que le changement de la pente est multiplié par un coefficient d'accroissement.
  6. Unité de vissage (6) selon la revendication précédente,
    caractérisée en ce que
    le module de surveillance (22) est conçu de telle sorte que le facteur d'accroissement augmente au fur et à mesure que l'angle de rotation (α) augmente et/ou la valeur instantanée du couple (mi) et/ou la dérivée de celui-ci sont utilisées.
  7. Unité de vissage (6) selon l'une des revendications précédentes,
    caractérisée en ce que
    le module de surveillance (22) est conçu de telle sorte que la détection de l'appui de tête (K) s'effectue sans paramétrage précédente spécifique à la pièce et/ou spécifique à la vis pour la détermination de l'appui de tête (K).
  8. Unité de vissage (6) selon l'une des revendications précédentes,
    caractérisée en ce que
    le module de surveillance (22) est conçu de telle sorte qu'à partir du point d'intersection (P) on déduit un point d'appui de tête (α(K), m(K)) pour l'obtention effective de l'appui de tête (K).
  9. Unité de vissage (6) selon la revendication précédente,
    caractérisée en ce que
    le module de surveillance (22) est conçu de telle sorte que, pour la détermination du point d'appui de tête (α(K), m(K)), une pente de la variation de couple (M) avant et/ou après le point d'intersection (P) est évaluée, et en ce qu'en tant que point d'appui de tête (α(K), m(K)), on utilise en particulier un autre point d'intersection de deux droites qui représentent la pente avant et après l'autre point d'intersection.
  10. Procédé de vissage d'une vis (2) en particulier autotaraudeuse dans une pièce (4) à l'aide d'une unité de vissage (6) selon l'une des revendications précédentes, selon lequel, pendant l'opération de vissage, une variation de couple (M) est détectée et surveillée,
    dans lequel
    - une ligne de tendance (L) est déduite à partir de la variation de couple (M) pendant le vissage jusqu'à un appui de tête (K),
    - une ligne de tolérance (T) est définie,
    - on détecte que l'appui de tête (K) a été obtenu lorsque la ligne de tendance (L) ou la variation de couple (M) coupe la ligne de tolérance (T) en un point d'intersection (P) et
    - à partir de l'appui de tête (K), la vis (2) est serrée à fond de manière définie, dans lequel
    -- pour la détermination de la ligne de tendance (L), un changement de la pente de la variation de couple (M) est pris en compte,
    -- pour la détermination du changement de la pente de la variation de couple (M), une première pente de la variation de couple (M) à l'intérieur d'une première plage de l'angle de rotation ainsi qu'une pente instantanée de la variation de couple (M) à l'intérieur d'une plage instantanée de l'angle de rotation sont déterminées et mises en relation l'une avec l'autre, caractérisé en ce que
    -- la première plage et la plage instantanée sont espacées l'une de l'autre d'un angle de rotation fixe de 360°.
EP16169427.8A 2015-05-12 2016-05-12 Unite de vissage et procede de vissage d'une vis dans une piece Active EP3093107B1 (fr)

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DE102015208735.2A DE102015208735A1 (de) 2015-05-12 2015-05-12 Schraubeinheit sowie Verfahren zum Einschrauben einer Schraube in ein Werkstück

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EP3093107B1 true EP3093107B1 (fr) 2019-09-11

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CN113899538B (zh) * 2021-09-29 2023-09-05 上汽大众汽车有限公司 一种螺栓拧紧监测方法及系统

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