JP2006315125A - インパクト式のネジ締め装置の制御方法および装置 - Google Patents
インパクト式のネジ締め装置の制御方法および装置 Download PDFInfo
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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
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- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/065—Arrangements for torque limiters or torque indicators in screw or nut setting machines
- B23P19/066—Arrangements for torque limiters or torque indicators in screw or nut setting machines by electrical means
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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
- B25B23/1405—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers for impact wrenches or screwdrivers
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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
- B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
- B25B23/1475—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers for impact wrenches or screwdrivers
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Abstract
【解決手段】電動式のモータを回転駆動源とするインパクト式のネジ締め装置の制御方法であって、モータに電流を間欠的に供給してモータの回転により負荷に与えられるトルクが時間軸上でパルス状となるように、モータを回転駆動するとともに、トルクが第1の設定値である目標接近トルクTQNに達した後は、トルクの各パルス状の回毎の増加分が目標接近トルクTQNに達する前よりも小さくなるように、各パルス状の回毎の電流を制御する。
【選択図】 図6
Description
前記締付トルクに対する第1の設定値および第2の設定値を設定する設定手段と、前記モータに電流を間欠的に供給して前記締付トルクが時間軸上でパルス状に発生するように前記モータを回転駆動制御するパルス駆動手段と、前記締付トルクが第1の設定値に達した後は、前記締付トルクの各パルス状の回毎の増加分が前記第1の設定値に達する前よりも小さくなるように、各パルス状の回毎の前記電流を制御する、パルス制御手段と、前記締付トルクが前記第2の設定値に達したときに前記モータへの電流の供給を停止する停止制御手段とを有する。
図1は本発明の第1の実施形態のネジ締め装置1の全体の構成を示すブロック図である。
(1) θ1、θ2を直接的に入力する。
(2) ΔI1、ΔI2を直接的に入力する。
(3) θ1またはΔI1を直接的に入力し、θ2またはΔI2は、θ1またはΔI1に対する比率を入力する。
(4) 第1ステージまたは第2ステージの所要時間を入力する。
(5) 第1ステージまたは第2ステージの基準時間に対する比率を入力する。
〔第2の実施形態〕
次に、本発明の第2の実施形態について説明する。
(1) 図12(A)に示すように、第1ステージにおいては、電流値D1T1を一定とし、目標接近トルクTQNに達した時点で電流値を低下させてD1T2とし、その後、第2ステージの間において、電流パルスDPの回毎に、電流値を所定の増加分ΔI2ずつ増大させる。
(2) 図12(B)に示すように、第1ステージにおいては、電流値を、D1T1から、電流パルスDPの回毎に所定の増加分ΔI1ずつ増大させる。目標接近トルクTQNに達した時点で電流値を低下させてD1T2とし、その後、第2ステージの間において、電流値D1T2を一定とする。なお、この場合に、電流値D1T1とD1T2とは同じであってもよく、また異なっていてもよい。
(3) 図12(C)に示すように、第1ステージにおいては、電流値を、D1T1から、電流パルスDPの回毎に所定の増加分ΔI1ずつ増大させる。目標接近トルクTQNに達した時点で電流値を低下させてD1T2とし、その後、第2ステージの間において、電流パルスDPの回毎に、電流値を所定の増加分ΔI2ずつ増大させる。
〔第3の実施形態〕
次に、本発明の第3の実施形態について説明する。
3 ネジ締め装置本体
4 制御装置
8 制御用コントローラ
11 モータ
13 トルクセンサ
14 エンコーダ
32 速度検出部
44 指令制御部(パルス駆動手段、パルス制御手段)
45 設定器(設定手段)
51 速度/電流指令演算部
TQ 締付トルク
TQN 目標接近トルク(第1の設定値)
TQJ 目標トルク(第2の設定値)
θ1 第1スロープ(第1の増加分)
θ2 第2スロープ(第2の増加分)
ΔI1 増加分(第1の増加分)
ΔI2 増加分(第2の増加分)
D1T 電流指令データ
DP 電流パルス
Claims (13)
- 電動式のモータを回転駆動源とするインパクト式のネジ締め装置の制御方法であって、
前記モータに電流を間欠的に供給して前記モータの回転により負荷に与えられるトルクが時間軸上でパルス状となるように、前記モータを回転駆動するとともに、
前記トルクが第1の設定値に達した後は、前記トルクの各パルス状の回毎の増加分が前記第1の設定値に達する前よりも小さくなるように、各パルス状の回毎の前記電流を制御する、
ことを特徴とするインパクト式のネジ締め装置の制御方法。 - 前記モータの回転により負荷に与えられるトルクが第1の設定値に達するまでの第1ステージでは、前記モータに供給する電流を各パルス状の回毎に増加し、前記トルクが前記第1の設定値に達した後の第2ステージでは、前記モータに供給する電流の各パルス状の回毎の増加分を前記第1ステージよりも小さくする、
請求項1記載のインパクト式のネジ締め装置の制御方法。 - 前記トルクが第1の設定値に達したときに、前記モータに供給する各パルス状の回毎の前記電流の値を小さくする、
請求項2記載のインパクト式のネジ締め装置の制御方法。 - 前記モータの回転により負荷に与えられるトルクが第1の設定値に達したときに、前記モータに供給する各パルス状の回毎の前記電流の値を小さくする、
請求項1記載のインパクト式のネジ締め装置の制御方法。 - 前記モータの回転により負荷に与えられるトルクが第1の設定値に達するまでの第1ステージでは、各パルス状の回毎に電流の大きさが第1のスロープで変化するように前記モータに供給し、
前記モータの回転により負荷に与えられるトルクが前記第1の設定値に達した後の第2ステージでは、最初に前記モータに供給する各パルス状の電流の値を小さくし、その後に、各パルス状の回毎に電流の大きさが第2のスロープで変化するように前記モータに供給する、
請求項1記載のインパクト式のネジ締め装置の制御方法。 - 前記第2のスロープの傾斜角度を前記第1のスロープよりも緩く設定する、
請求項5記載のインパクト式のネジ締め装置の制御方法。 - 電動式のモータを回転駆動源とするインパクト式のネジ締め装置の制御方法であって、
前記モータに電流を間欠的に供給して前記モータの発生するトルクが時間軸上でパルス状となるように前記モータを駆動するとともに、
前記モータの発生するトルクが第1の設定値に達するまでの第1ステージでは、各パルス状の回毎に同じ大きさの電流を前記モータに供給し、
前記モータの発生するトルクが前記第1の設定値に達した後の第2ステージでは、最初に前記モータに供給する各パルス状の電流の値を小さくし、その後に、前記モータに供給する電流を各パルス状の回毎に増大する、
ことを特徴とするインパクト式のネジ締め装置の制御方法。 - 前記モータの回転により負荷に与えられるトルクが第2の設定値に達したときに前記モータへの電流の供給を停止する、
請求項1ないし7のいずれかに記載のインパクト式のネジ締め装置の制御方法。 - 電動式のモータを回転駆動源とするインパクト式のネジ締め装置の制御装置であって、
前記モータに電流を間欠的に供給して前記モータの回転により負荷に与えられるトルクが時間軸上でパルス状となるように前記モータを回転駆動制御するパルス駆動手段と、
前記トルクが第1の設定値に達した後は、前記トルクの各パルス状の回毎の増加分が前記第1の設定値に達する前よりも小さくなるように、各パルス状の回毎の前記電流を制御する、パルス制御手段と、
を有してなることを特徴とするネジ締め装置の制御装置。 - 電動式のモータを回転駆動源とするインパクト式のネジ締め装置の制御装置であって、
前記モータに電流を間欠的に供給して前記モータの回転により負荷に与えられるトルクが時間軸上でパルス状となるように前記モータを回転駆動制御するパルス駆動手段と、
前記トルクが第1の設定値に達するまでの第1ステージでは前記モータに供給する電流を各パルス状の回毎に増加し、前記トルクが前記第1の設定値に達した後の第2ステージでは前記モータに供給する電流の各パルス状の回毎の増加分を前記第1ステージよりも小さくするように制御する、パルス制御手段と、
を有してなることを特徴とするネジ締め装置の制御装置。 - 電動式のモータを回転駆動源とするインパクト式のネジ締め装置の制御装置であって、
前記モータに電流を間欠的に供給して前記モータの回転により負荷に与えられるトルクが時間軸上でパルス状となるように前記モータを回転駆動制御するパルス駆動手段と、
前記トルクが第1の設定値に達するまでの第1ステージでは、各パルス状の回毎に電流の大きさが第1のスロープで変化するように制御し、前記トルクが前記第1の設定値に達した後の第2ステージでは、最初に前記モータに供給する各パルス状の電流の値を小さくし、その後に、各パルス状の回毎に電流の大きさが第2のスロープで変化するように制御する、パルス制御手段と、
を有してなることを特徴とするネジ締め装置の制御装置。 - 電動式のモータを回転駆動源とするインパクト式のネジ締め装置の制御装置であって、
前記モータによるネジの締付トルクを検出するトルク検出手段と、
前記締付トルクに対する第1の設定値および第2の設定値を設定する設定手段と、
前記モータに電流を間欠的に供給して前記締付トルクが時間軸上でパルス状に発生するように前記モータを回転駆動制御するパルス駆動手段と、
前記締付トルクが第1の設定値に達した後は、前記締付トルクの各パルス状の回毎の増加分が前記第1の設定値に達する前よりも小さくなるように、各パルス状の回毎の前記電流を制御する、パルス制御手段と、
前記締付トルクが前記第2の設定値に達したときに前記モータへの電流の供給を停止する停止制御手段と、
を有することを特徴とするネジ締め装置の制御装置。 - 電動式のモータを回転駆動源とするネジ締め装置本体と、
前記モータによるネジの締付トルクを検出するトルク検出手段と、
前記締付トルクに対する第1の設定値および第2の設定値を設定する設定手段と、
前記モータに電流を間欠的に供給して前記締付トルクが時間軸上でパルス状に発生するように前記モータを回転駆動制御するパルス駆動手段と、
前記締付トルクが第1の設定値に達した後は、前記締付トルクの各パルス状の回毎の増加分が前記第1の設定値に達する前よりも小さくなるように、各パルス状の回毎の前記電流を制御する、パルス制御手段と、
前記締付トルクが前記第2の設定値に達したときに前記モータへの電流の供給を停止する停止制御手段と、
を有することを特徴とするネジ締め装置。
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JP2005139565A JP4339275B2 (ja) | 2005-05-12 | 2005-05-12 | インパクト式のネジ締め装置の制御方法および装置 |
CA002608147A CA2608147A1 (en) | 2005-05-12 | 2006-05-10 | Control method and control unit for impact type screw fastening device |
PCT/JP2006/309415 WO2006121085A1 (ja) | 2005-05-12 | 2006-05-10 | インパクト式のネジ締め装置の制御方法および装置 |
CN200680015091XA CN101171101B (zh) | 2005-05-12 | 2006-05-10 | 冲击式螺钉紧固装置的控制方法及装置 |
US11/920,162 US7770658B2 (en) | 2005-05-12 | 2006-05-10 | Control method and control unit for impact type screw fastening device |
GB0722233A GB2441670A (en) | 2005-05-12 | 2007-11-13 | Control method and device for impact screw tightening device |
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Cited By (22)
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JP2011031314A (ja) * | 2009-07-29 | 2011-02-17 | Hitachi Koki Co Ltd | インパクト工具 |
JP2011031315A (ja) * | 2009-07-29 | 2011-02-17 | Hitachi Koki Co Ltd | インパクト工具 |
JP2011073123A (ja) * | 2009-10-01 | 2011-04-14 | Hitachi Koki Co Ltd | 回転打撃工具 |
JP2011189412A (ja) * | 2010-03-11 | 2011-09-29 | Hitachi Koki Co Ltd | インパクト工具 |
JP2011212800A (ja) * | 2010-03-31 | 2011-10-27 | Hitachi Koki Co Ltd | 電動工具 |
JP2011251355A (ja) * | 2010-05-31 | 2011-12-15 | Hitachi Koki Co Ltd | 電動工具 |
WO2012042996A1 (ja) * | 2010-09-29 | 2012-04-05 | 株式会社マキタ | 電動工具 |
JP2012139800A (ja) * | 2011-01-05 | 2012-07-26 | Makita Corp | 電動工具 |
JP2013166211A (ja) * | 2012-02-15 | 2013-08-29 | Honda Motor Co Ltd | 締付方法及び締付機の制御装置 |
JP2014514174A (ja) * | 2011-04-21 | 2014-06-19 | エタブリスマン・ジョルジュ・ルノー | 電動インパルススクリュードライバ |
US9314908B2 (en) | 2009-07-29 | 2016-04-19 | Hitachi Koki Co., Ltd. | Impact tool |
WO2017003071A1 (ko) * | 2015-07-02 | 2017-01-05 | 계양전기 주식회사 | 전동 공구의 제어 방법 |
JP2017523056A (ja) * | 2014-08-12 | 2017-08-17 | ヒルティ アクチエンゲゼルシャフト | 拡張アンカの最適化された取付方法 |
JP2017526541A (ja) * | 2014-08-12 | 2017-09-14 | ヒルティ アクチエンゲゼルシャフト | 動力式工具を用いる拡張アンカの最適化された取付方法 |
KR101834974B1 (ko) * | 2016-10-10 | 2018-03-07 | 계양전기 주식회사 | 전동 공구의 제어 방법 |
JP2018108639A (ja) * | 2016-12-30 | 2018-07-12 | エタブリスマン・ジョルジュ・ルノー | 電動インパルススクリュードライバをそのモータの瞬間回転周波数に応じて制御する方法、及び対応する装置 |
JP2018114975A (ja) * | 2018-03-08 | 2018-07-26 | Ntn株式会社 | 電動ブレーキ装置 |
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CN110325323B (zh) * | 2017-01-24 | 2021-09-10 | 阿特拉斯·科普柯工业技术公司 | 电动脉冲工具 |
CN110325323A (zh) * | 2017-01-24 | 2019-10-11 | 阿特拉斯·科普柯工业技术公司 | 电动脉冲工具 |
JP2020517470A (ja) * | 2017-04-19 | 2020-06-18 | アトラス・コプコ・インダストリアル・テクニーク・アクチボラグ | 電気パルス工具 |
JP2020517471A (ja) * | 2017-04-19 | 2020-06-18 | アトラス・コプコ・インダストリアル・テクニーク・アクチボラグ | 電気パルス工具 |
JP7069211B2 (ja) | 2017-04-19 | 2022-05-17 | アトラス・コプコ・インダストリアル・テクニーク・アクチボラグ | 電気パルス工具 |
JP7474593B2 (ja) | 2017-04-19 | 2024-04-25 | アトラス・コプコ・インダストリアル・テクニーク・アクチボラグ | 電気パルス工具 |
JP2018114975A (ja) * | 2018-03-08 | 2018-07-26 | Ntn株式会社 | 電動ブレーキ装置 |
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WO2006121085A1 (ja) | 2006-11-16 |
CA2608147A1 (en) | 2006-11-16 |
CN101171101B (zh) | 2010-12-08 |
US20090014192A1 (en) | 2009-01-15 |
JP4339275B2 (ja) | 2009-10-07 |
CN101171101A (zh) | 2008-04-30 |
GB0722233D0 (en) | 2007-12-27 |
US7770658B2 (en) | 2010-08-10 |
GB2441670A (en) | 2008-03-12 |
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