EP3375571A2 - Ensemble de capteurs pour un tournevis électrique permettant de classifier les processus de vissage au moyen d'un capteur de champ magnétique - Google Patents

Ensemble de capteurs pour un tournevis électrique permettant de classifier les processus de vissage au moyen d'un capteur de champ magnétique Download PDF

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Publication number
EP3375571A2
EP3375571A2 EP18158384.0A EP18158384A EP3375571A2 EP 3375571 A2 EP3375571 A2 EP 3375571A2 EP 18158384 A EP18158384 A EP 18158384A EP 3375571 A2 EP3375571 A2 EP 3375571A2
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EP
European Patent Office
Prior art keywords
max1
min1
max2
min2
sensor
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Granted
Application number
EP18158384.0A
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German (de)
English (en)
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EP3375571B1 (fr
EP3375571A3 (fr
Inventor
Christian Nickel
Jochen Seitz
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Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
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Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
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Publication of EP3375571A3 publication Critical patent/EP3375571A3/fr
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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
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for

Definitions

  • Embodiments of the present invention relate to a sensor system for an electric screwdriver and to a corresponding method for classifying drilling and screwing operations.
  • Preferred embodiments relate to a sensor with a magnetic field sensor to supplement an electric screwdriver, such as a cordless screwdriver.
  • Object of the present invention is to provide a concept that provides a cost-effective add-on solution for existing electric screwdriver, by means of which a reliable good classification of screwing is possible.
  • Embodiments of the present invention provide a sensor for an electric screwdriver.
  • This includes a magnetic field sensor and an evaluation unit.
  • the magnetic field sensor such as a single- or three-axis magnetic field sensor, is designed to detect a magnetic field resulting from the activity of an electric motor of the electric screwdriver.
  • the sensor outputs a corresponding signal indicating the current magnetic field strength.
  • the evaluation unit is designed to classify screwing and / or drilling processes on the basis of the time profile of the signal with respect to the magnetic field strength.
  • Embodiments of the present invention is based on the finding that in an electric screwdriver, such. B. a cordless screwdriver, the magnetic field - due to the operation / the electromagnetic induction of the electric motor - has characteristics or varies characteristically, so that starting from an evaluation of the magnetic field strength a classification of screwing and / or drilling operations is possible.
  • classification is meant, for example, the detection of the direction of rotation or, more generally, the differentiation of screwing and unscrewing operations. In this case, for example, it is also possible to differentiate whether it is a (torque-free) screwdriving process or a tightening process. It is particularly advantageous that the magnetic field is measured by means of a magnetic field sensor, e.g.
  • This sensor kit is measured on the outside of the housing of the electric screwdriver, so that is designed so that a sensor kit as an attachment module for a commercial cordless screwdriver according to embodiments.
  • This sensor kit or generally the sensor system thus comprises at least the magnetic field sensor and the corresponding evaluation unit for classification.
  • the advantage is that the screwing processes are made transparent and there is clarity as to whether a screwing or a sequence of screwing operations was in order or not. This can be communicated directly to the user and / or reported to a production system. This can increase process reliability, reduce the error rate and thus increase the quality of a final product.
  • a screwing operation may be classified as a tightening operation or a double screwing operation when a maximum or a first extreme value is present before a minimum or a second value opposite the first extreme value.
  • a driving operation can be classified when the course Maximum / first extreme value before a minimum / second extreme value, before another maximum / further second extreme value and before another minimum / further first extreme value (etc.).
  • a boring process can be classified if the course has a minimum / second extreme value before a maximum / first extreme value (and optionally also a further minimum before another maximum).
  • the rotational speed, change in speed (for example, based on the frequency of the succession of maximum and minimum) and / or the prevailing torque (for example, based on the amplitude) can be recognized.
  • the counting can also be made such that driving-in operations are added up and boring operations are subtracted in order to advantageously detect the actual total number of screwed-in screws and not only to detect how many tightening operations have taken place overall.
  • the magnetic field sensor is designed, for example, triaxial. It should also be noted that the signal of the magnetic field sensor, which indicates the magnetic field strength, before evaluation may be filtered in the evaluation unit.
  • the magnetic field sensor according to one embodiment comprises a filter.
  • the sensor system can be integrated in a bracelet which is arranged close to the electric screwdriver.
  • the sensor can also be coupled directly mechanically to the electric screwdriver, for example, by the magnetic field sensor is glued or generally applied to the housing.
  • each electric screwdriver or each cordless screwdriver has slightly different characteristics.
  • the sensor according to another embodiment may also have a calibration unit, which is designed to determine the corresponding calibration parameters for the respective cordless screwdriver and to provide the evaluation unit, so that it carries out the evaluation taking into account the calibration parameters.
  • the sensor system can also have a wireless interface or, in general, an interface in order to output the evaluation results.
  • parts of the sensor system namely the magnetic field sensor, can also be connected to the external evaluation electronics via this wireless interface.
  • the sensor system comprises an acceleration sensor or, in general, a position sensor which makes it possible to determine, in addition to the individual classification, the prevailing position of the electric screwdriver and store it in the classified screwing operation, in order to determine at a later time whether the screw is vertical, for example (down or up) or screwed in horizontally.
  • Additional embodiments relate to a method for classifying drilling and screwing operations by means of an electric screwdriver.
  • the method comprises the steps of "determining the prevailing magnetic field at or near the electric motor of the electric screwdriver” and “classifying the drilling and screwing operations based on the course of the magnetic field strength over time”. This procedure can also be computer assisted expire, so that individual steps can be implemented as a computer program.
  • Fig. 1 shows a cordless screwdriver 10 with a screw head 12 and an integrated into the housing 14 of the cordless screwdriver electric motor 16th
  • a sensor 20 is attached to the cordless screwdriver 10 (generally electric screwdriver).
  • this sensor system 20 comprises a magnetic field sensor 22 (such as the single-axis or multiaxial magnetic field sensor) and evaluation electronics 24.
  • the sensor 20 is arranged on the housing 14 of the electric screwdriver 10 such that the magnetic field sensor 22 detects the magnetic field sensor 22 from the electric motor 16 outgoing (induced) magnetic field or in particular the magnetic field change can detect.
  • a magnetic field in one direction starts from the same, so that a single-axis magnetic field sensor is sufficient, in particular if it is positioned correspondingly with respect to the electric motor 16.
  • this also means that the sensor system 20 and in particular the magnetic field sensor 22 are also aligned correspondingly with respect to the electric motor 16, that is to say in parallel with it or orthogonally with respect to it.
  • the magnetic field sensor 22, such as. B. a Hall effect sensor is designed to output a corresponding signal indicating the magnetic field strength upon detection of a magnetic field strength.
  • This signal or the course of the same over time is then received by the evaluation unit 24 and classified accordingly.
  • the classification can be based, for example, on the sequence of the successive minima and maxima or maxima of the magnetic field strength curve or on the duration of the change in the magnetic field strength curve or the duration of the process (see plateaus at the extreme points of D1, D2 and D3 in FIG Compared to E1, E2 and E3). For example, with these plateaus, the sensor goes into the limit for a certain amount of time. In Fig.2 this characteristic is no longer visible due to the filtering.
  • the frequency if necessary in combination with the amplitude, for example, gives an indication of the rotational speed of the motor 16, while the amplitude values / amounts give an indication of the torque.
  • the classification of the screwing direction or the direction of rotation is particularly relevant. Next is also relevant to differentiate, whether it is a screw-in or a tightening or unscrewing or loosening process. As already indicated, these features can be identified on the basis of the order of maxima and minima and on the basis of the repetition frequency of maxima and minima as well as the course duration. The classification will be described below with reference to FIGS Fig. 2a to 2c for the cases “penetration”, “double screw connection” and "loosening / unscrewing”.
  • Fig. 2a shows a diagram of a filtered signal of the magnetic field sensor (see reference numeral 20 in FIG Fig. 1 ), where the time in seconds is plotted along the x-axis and the magnetic field strength in an arbitrary unit over the y-axis. It should be noted that the x-axis of the magnetic field sensor was evaluated in the diagram, since it the magnetic field sensor used is a multi-axis magnetic field sensor.
  • FIG. 2a are three screwing, namely screwing or Einfilvorêt E1 to E3 shown. It is characteristic of each driving process that a maximum max1_E1, max1_E2 and max1_E3 precede a minimum min1_E1, min1_E2 and min1_E3.
  • Each screwing operation E1, E2 and E3 also has additional maxima max2_E1, max2_E2 and max2_E3 as well as additional minima min2_E1, min2_E2 and min2_E3. This means that during a screwdriving process, a high dynamic in the signal of the magnetic field sensor is observed.
  • the offset is due for example to further magnetic fields, such. B. the earth's magnetic field or interference in the environment, ago.
  • the magnetic field sensor thus measures all the present magnetic fields and can also differentiate the magnetic field from the torque generator of the other magnetic fields by the change over time, and then to extract the magnetic field from the torque generator (drive, electric motor). This can be done a calibration to zero the relevant magnetic field and eliminate the offset.
  • the processing of the signals of the magnetic field sensor can be done by filtering to extract the relevant features.
  • Fig. 2b shows another diagram with three Doppelverschraubvor réellen D1, D2 and D3.
  • each process D1 to D3 likewise has a first maximum max1_D1 to max1_D3 and, after the maximum, also the following minima min1_D1 to min1_D3.
  • the Doppelverschraubvorgang D1 to D3 is compared to the screwing E1 to E3 characterized in that no further maxima are present.
  • the background to this is that in a double screw although a tightening, but not a significant rotation of the screw takes place.
  • Fig. 2c shows unwinding or loosening operations L1 to L3. These also have minima and maxima, always always beginning each curve with a minimum min1_L1 to min1_L3.
  • the second turning point per curve L1 to L3 is then a maximum max1_L1 to max1_L3.
  • further minima and maxima then follow the maxima max1_L1 and max1_L3 (compare max2_L1 to max2_L3 or min2 / 3_L1 to min2 / 3_L3.)
  • Fig. 3a illustrates the three driving-in processes E1 to E3, Fig. 3b , three double screw D1 to D3 while Fig. 3c illustrates the three Ausfvorêt L1 to L3.
  • 3a to 3c each comprise three values, namely a signal SX for the x-axis, a signal SZ for the z-axis and a signal SY for the y-axis.
  • a signal SX for the x-axis a signal SZ for the z-axis
  • a signal SY for the y-axis a signal SY for the y-axis.
  • an XsensMTE-30 was used as the sensor.
  • the y-axis does not provide any information regarding the screwing operations E1 to L3, since the value in the y-axis over the total time of 5 to 55 seconds (across the three diagrams Fig. 3a to 3c ) remains constant.
  • the diagram for the z-axis signal SZ has variations that can also be assigned to the individual events E1 to L3, the SX signal is to be preferred for the evaluation. With the SX signal, the individual events E1 to L3 can be uniquely identified. For this signal in the raw version (unfiltered version), some further insights regarding the classification can be found.
  • the order of minimum and maximum is that if the sensor axis or the magnetic field sensor is rotated by 180 °, the signal for turning in and out may look reversed, so first Max then Min and then Min and Max again also the magnetic field of the engine depending on the arrangement and structure of a screwdriver generate other magnetic field alignments.
  • there is a screwing in and out if a contrary behavior is observed, for example, in relation to the extreme points. That is, that the waveform when turning is mirrored to screwing.
  • Fig. 3a It should be noted that the last minimum or generally the last value in the respective course for the screwing E1 to E3 has a relatively strong deflection (compared to the other minima and maxima), which is due to the fact that here is high torque.
  • a further finding can be drawn by comparing the diagrams for the driving operations E1 to E3 with the Doppelverschraubvor réellen D1 to D3 from diagram 3a and 3b, namely that the time for the Doppelverschraubvor réelle D1 to D3 compared to the complete driving operations E1 to E3 is significantly reduced.
  • the time of the screwing operations E1 to E3 is approximately as long as the time of Ausfvor réelle L1 to L3, which, for example, provides an indication that a similar number of threads during insertion as well as during unscrewing takes place here.
  • the consideration of the relative values is always based on a zero value, for example, the plateau between the individual processes E1 / E2, E2 / E3, ... L2 / L3 or the initial plateau (see reference numeral A0) is defined.
  • the initial plateaus symbolize no rotation. The reason for this is that with no rotation the magnetic field hardly changes, see plateau between the screwing processes in E1, E2, E3.
  • a change in speed affects e.g. essentially in amplitude. At the time of the change rashes are to be expected (for example due to jerking of the mechanism).
  • the reference to Fig. 1 explained sensors also to other individual sensors, such. B. an acceleration sensor, which is designed to determine the acceleration of gravity and thus the position of the cordless screwdriver to be extended. This makes it possible to make conclusions about the screw location or drilling location (downwards or upwards or to the side). By evaluating the position when screwing, the direction of the intensity of the magnetic field can be determined so much more precisely, which screw is currently being classified in the current screwing.
  • an acceleration sensor which is designed to determine the acceleration of gravity and thus the position of the cordless screwdriver to be extended.
  • acceleration and rotation rate sensors as an extension for the embodiments can lead to increased accuracy and robustness.
  • acceleration values eg determination with the acceleration sensors / inertial sensors
  • a classification can also take place, as explained below.
  • a correct screwing process consists of two phases, the screwing-in phase and the tightening phase.
  • the tightening phase was mainly detected by the jerky rotation of the cordless screwdriver about the screw axis when reaching the maximum torque.
  • the screwing-in phase was mainly recorded by estimating the screwing time. It could be stated that the estimation of the screwing duration and Thus, the determination of the screwing-in phase with the industrial-grade sensors is much more reliable than with the low-cost sensors.
  • a double threaded fitting (ie an already tightened screw is tightened again) is usually present when the screwing time is very short.
  • a double screw connection is not recognizable if the screwing time is unknown.
  • the estimation of the screwing time is not very reliable with the characteristics examined so far by means of low-cost sensors.
  • an artificial jerky rotation of the cordless screwdriver to the (optionally defined) axis of rotation of the screw can be triggered (without the information of the screwing) a faulty classification of a correct screwing. Knowing whether to unscrew or screw in the screw is helpful in successfully detecting a correct screwing operation and provides important information for determining the number of correct screwed connections.
  • an additional location system may be added to the system so that the location of the tool (the sensor element attached to the power tool) may additionally be considered as to whether or not a fitting is in order.
  • the senor can also be a communication interface such.
  • B. have a wireless interface or a USB interface through which the classification data can be read out.
  • the reading can be done either directly during classification or at a later date. If the reading takes place at a later point in time, the sensor kit additionally has a memory for logging the classifications, in which the type, time or number of classified screwdriving / drilling operations is then stored.
  • the driving-in processes are summed up, while possibly existing boring operations (eg for correcting the corresponding screwing) are deducted from the sum.
  • additional information eg. As the operating life of the electric screwdriver, the user behavior in general, the wear / tear are determined.
  • the magnetic field sensor is attached directly to the electric screwdriver, z. B. by gluing or by means of a clip, a hook and loop fastener or other fasteners
  • the magnetic field sensor and / or any other sensors need not be attached directly to the electric screwdriver, but should preferably be placed in the vicinity.
  • a possible place would be the wrist, or the integration into a smartwatch.
  • aspects have been described in the context of a device, it will be understood that these aspects also constitute a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block or detail or feature of a corresponding device.
  • Some or all of the method steps may be performed by a hardware device (or using a hardware device). Apparatus), such as a microprocessor, a programmable Computer or an electronic circuit are running. In some embodiments, some or more of the most important method steps may be performed by such an apparatus.
  • embodiments of the invention may be implemented in hardware or in software.
  • the implementation may be performed using a digital storage medium, such as a floppy disk, a DVD, a Blu-ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or FLASH memory, a hard disk, or other magnetic disk or optical memory are stored on the electronically readable control signals that can cooperate with a programmable computer system or cooperate such that the respective method is performed. Therefore, the digital storage medium can be computer readable.
  • some embodiments according to the invention include a data carrier having electronically readable control signals capable of interacting with a programmable computer system such that one of the methods described herein is performed.
  • embodiments of the present invention may be implemented as a computer program product having a program code, wherein the program code is operable to perform one of the methods when the computer program product runs on a computer.
  • the program code can also be stored, for example, on a machine-readable carrier.
  • inventions include the computer program for performing any of the methods described herein, wherein the computer program is stored on a machine-readable medium.
  • an embodiment of the method according to the invention is thus a computer program which has a program code for performing one of the methods described herein when the computer program runs on a computer.
  • a further embodiment of the inventive method is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program is recorded for carrying out one of the methods described herein.
  • a further embodiment of the method according to the invention is thus a data stream or a sequence of signals, which represent the computer program for performing one of the methods described herein.
  • the data stream or the sequence of signals may be configured, for example, to be transferred via a data communication connection, for example via the Internet.
  • Another embodiment includes a processing device, such as a computer or a programmable logic device, that is configured or adapted to perform one of the methods described herein.
  • a processing device such as a computer or a programmable logic device, that is configured or adapted to perform one of the methods described herein.
  • Another embodiment includes a computer on which the computer program is installed to perform one of the methods described herein.
  • Another embodiment according to the invention comprises a device or system adapted to transmit a computer program for performing at least one of the methods described herein to a receiver.
  • the transmission can be done for example electronically or optically.
  • the receiver may be, for example, a computer, a mobile device, a storage device or a similar device.
  • the device or system may include a file server for transmitting the computer program to the recipient.
  • a programmable logic device eg, a field programmable gate array, an FPGA
  • a field programmable gate array may cooperate with a microprocessor to perform one of the methods described herein.
  • the methods are performed by any hardware device. This may be a universal hardware such as a computer processor (CPU) or hardware specific to the process, such as an ASIC.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
EP18158384.0A 2017-02-23 2018-02-23 Ensemble de capteurs pour un tournevis électrique permettant de classifier les processus de vissage au moyen d'un capteur de champ magnétique Active EP3375571B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017202976.5A DE102017202976A1 (de) 2017-02-23 2017-02-23 Sensorik für einen Elektroschrauber zur Klassifizierung von Schraubvorgängen mittels eines Magnetfeldsensors

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EP3375571A2 true EP3375571A2 (fr) 2018-09-19
EP3375571A3 EP3375571A3 (fr) 2019-01-09
EP3375571B1 EP3375571B1 (fr) 2023-07-05

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EP3375571B1 (fr) 2023-07-05
DE102017202976A1 (de) 2018-08-23
ES2962378T3 (es) 2024-03-18
EP3375571A3 (fr) 2019-01-09

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