JP2016013584A - Nut fastener - Google Patents

Abstract

PROBLEM TO BE SOLVED: To alleviate a tool management burden of a user by performing both the primary fastening and the final fastening of a nut by using one fastener, in the nut fastener for a shear bolt.SOLUTION: A brushless DC motor 22 of a first drive system 101 is a brushless motor 22A which is formed by star connection. Windings of an U-phase, a V-phase and a W-phase are divided in two of an illustrated mark C1 and an illustrated mark C2, and connected to each other. Battery attachment parts 77, 77 of the first drive system 101 are constituted so as to be simultaneously attachable with two charging-type batteries B, B as power sources. A control processor 71 is connected to a mode selection switch 91 so as to be capable of receiving a mode changeover switch signal. The mode selection switch 91 is switchable to either of a primary fastening mode (IM) and a final fastening mode (HM) by operation of a user.

Description

  The present invention relates to a nut bolting machine for shear bolts that is used when a nut is tightened on a torque shear bolt (hereinafter referred to as “shear bolt”).

  In recent years, bolts called shear bolts have been used for fastening screws in steel buildings. The shear bolt is screwed by a nut. The screw fastening by the nut is performed by twice fastening of primary fastening and final fastening. For tightening such a nut, a nut tightening machine is used (for example, see Patent Document 1).

JP 2009-297858 A

  By the way, the above-described screw fastening by the nut is based on the second fastening in which the final fastening is performed after the primary fastening. Specifically, first, the nuts are first tightened in order for a number of shear bolts. Then, after the primary tightening of the nuts on all the shear bolts, the final tightening of the nuts is performed sequentially. Incidentally, the primary tightening and the final tightening also differ in the tightening torque of the nut and the turning angle for tightening the nut. For this reason, when tightening the nut, a nut tightening machine dedicated to the tightening is used, and when tightening the nut, a nut tightening machine dedicated to the final tightening is used. In other words, at the construction site, it is necessary to manage two different types of dedicated nut tightening machines, and there is a demand for reducing such a tool management burden.

  The present invention has been made in view of such circumstances, and the problem to be solved by the present invention is to perform both primary tightening and final tightening of nuts in a shear bolt nut tightening machine. The purpose is to reduce the user's tool management burden by making it possible to use one nut tightening machine.

  In solving the above-described problems, the nut tightening machine according to the present invention takes the following means. That is, a nut tightening machine according to the first aspect of the present invention includes a motor, a control unit that controls driving of the motor, and a wrench unit that receives the driving of the motor and tightens a nut on a bolt. The control unit includes a final tightening mode for tightening the nut with a final tightening rotational speed and a final tightening rotational torque for completing the nut screw fastening, and a primary tightening rotational speed for the nut primary screw fastening. And a primary tightening mode for tightening the nut with a primary tightening rotational torque, the primary tightening rotational speed is set at a higher rotational speed than the final tightening rotational speed, and the primary tightening rotational torque is A mode selection mode that is set with a rotational torque smaller than the tightening rotational torque and that allows either the final tightening mode or the primary tightening mode to be selected by a user operation. Having a pitch, a configuration called.

  According to the nut tightening machine according to the first aspect of the invention, the user can select either the final tightening mode or the primary tightening mode by operating the mode selection switch. Here, the primary fastening rotational speed is set at a rotational speed higher than the final fastening rotational speed, and the primary fastening rotational torque is set at a rotational torque smaller than the final fastening rotational torque. As a result, in the nut bolting machine for shear bolts, both the primary tightening and the final tightening can be tightened with one nut tightening machine, and the user's tool management burden can be reduced.

  A nut tightening machine according to a second aspect of the present invention is the nut tightening machine according to the first aspect, wherein the motor generates a motor shaft for rotating output and a magnetic field for rotating the motor shaft. A winding, and the winding is divided into a plurality of switchable connections for each magnetic field to be generated, and the control unit is divided into a plurality in the final tightening mode. The windings are connected in series to generate a magnetic field, and in the primary tightening mode, the windings divided into a plurality of connections are connected in parallel to generate a magnetic field. . According to the nut tightening machine according to the second invention, in the final tightening mode, the windings divided into a plurality are connected in series to generate a magnetic field, and in the primary tightening mode, the divided windings are divided into a plurality of windings. Are connected in parallel to generate a magnetic field. As a result, when both the primary tightening and the final tightening of the nut are performed with a single nut tightening machine, it is only necessary to change the configuration of the winding as compared with the conventional structure, and the structure can be simplified. Further, according to the nut tightening machine according to the second aspect of the invention, by switching the winding connection method, the motor characteristics are changed from the characteristics of high rotation / low torque (for primary tightening) to low rotation / high torque (main torque). It is possible to switch to the characteristics for fastening.

  A nut tightening machine according to a third aspect of the present invention is the nut tightening machine according to the first or second invention, wherein a battery mounting portion for detachably mounting a rechargeable battery as a power source is provided. The battery mounting unit is set so that a plurality of rechargeable batteries can be mounted at the same time, and the control unit connects the plurality of rechargeable batteries mounted on the battery mounting unit in the final tightening mode. Are connected in parallel to supply power to the winding, and in the primary tightening mode, a plurality of rechargeable batteries mounted on the battery mounting portion are connected in series to supply power to the winding. It is the structure of doing. According to the nut tightening machine according to the third aspect of the present invention, in the final tightening mode, a plurality of rechargeable batteries mounted on the battery mounting portion are connected in parallel to supply power to the winding, and the primary tightening mode Then, a plurality of rechargeable batteries mounted on the battery mounting portion are connected in series to supply power to the windings. As a result, when both the primary tightening and the final tightening of the nut are tightened with a single nut tightening machine, it is only necessary to change the configuration of the battery mounting portion as compared with the conventional one, and the structure can be simplified. . Further, according to the nut tightening machine according to the third aspect of the invention, by switching the battery connection method, the motor characteristics can be changed from the characteristics of high rotation / low torque (for primary tightening) to low rotation / high torque (main torque). It is possible to switch to the characteristics for fastening.

  A nut tightening machine according to a fourth aspect of the present invention is the nut tightening machine according to the first aspect, wherein the motor generates a motor shaft for rotating output and a magnetic field for rotating the motor shaft. The winding is divided into a plurality of switches so that the connection can be switched for each magnetic field to be generated, and the battery is mounted for detachably mounting the rechargeable battery as a power source. The battery mounting unit is set so that a plurality of rechargeable batteries can be mounted at the same time, and in the final tightening mode, the control unit is configured such that the windings divided into a plurality of each other are connected to each other. A connection is connected in series to generate a magnetic field, and a plurality of rechargeable batteries mounted on the battery mounting part are connected in parallel to supply power to the windings, in the primary tightening mode A plurality of the windings divided into a plurality are connected in parallel to generate a magnetic field, and a plurality of rechargeable batteries mounted on the battery mounting unit are connected in series to each other to form the windings. It is the structure of supplying electric power to.

  According to the nut tightening machine of the fourth invention, in the final tightening mode, the windings are connected in series and the rechargeable battery is connected in parallel to generate a magnetic field, and in the primary tightening mode, the windings are connected in parallel. A rechargeable battery is connected in series to generate a magnetic field. This makes it possible to increase the difference between the magnetic fields generated by the windings in the main tightening mode and the primary tightening mode when tightening both the primary tightening and the final tightening nuts with a single nut tightening machine. . As a result, the functional classification of both the primary tightening and the final tightening can be made clearer, and it is convenient as a nut tightening machine.

  A nut tightening machine according to a fifth aspect of the present invention is the nut tightening machine according to the third or fourth aspect, wherein the control unit detects a state of a rechargeable battery mounted on the battery mounting unit. A battery state detection unit that selects a connection between the windings and a connection between the plurality of rechargeable batteries based on a state of the battery detected by the battery state detection unit. And a connection selection means. According to the nut tightening machine according to the fifth aspect of the present invention, since it has the first connection selection means, the mutual connection of the windings is selected based on the state of the battery detected by the battery state detection unit, and the rechargeable battery You can choose between each other's connections. Thereby, the electric power charged in the rechargeable battery can be used efficiently. It also leads to protection of the rechargeable battery.

  A nut tightening machine according to a sixth invention of the present invention is the nut tightening machine according to the fifth invention, wherein the state of the battery is a battery cell built in the rechargeable battery mounted on the battery mounting portion. This is based on the temperature of According to the nut tightening machine which concerns on 6th invention, a 1st connection selection means can be functioned based on the temperature of the battery cell incorporated in a rechargeable battery. Thereby, the electric power charged in the rechargeable battery can be efficiently used in correspondence with the temperature state of the battery cell.

  A nut tightening machine according to a seventh aspect of the present invention is the nut tightening machine according to the fifth aspect, wherein the state of the battery is a voltage of a rechargeable battery mounted on the battery mounting portion or the battery mounting. This is based on any one of the voltages of the battery cells built in the rechargeable battery attached to the unit. According to the nut tightening machine which concerns on 7th invention, a 1st connection selection means can be functioned based on either the voltage of a rechargeable battery or the voltage of a battery cell. Thereby, the electric power charged in the rechargeable battery can be efficiently used in correspondence with the voltage state of the rechargeable battery or the battery cell.

  The nut tightening machine according to an eighth aspect of the present invention is the nut tightening machine according to any one of the first to seventh aspects, wherein the control unit includes a motor state detecting unit that detects the state of the motor. A second connection selection means for selecting a mutual connection of the windings and selecting a mutual connection of the plurality of rechargeable batteries based on the state of the motor detected by the motor state detection unit; It is the composition of having. According to the nut tightening machine according to the eighth aspect of the invention, since the second connection selecting means is provided, the connection of the windings to each other is selected based on the motor state detected by the motor state detecting unit, and the rechargeable battery You can choose between each other's connections. As a result, the motor can be driven efficiently.

  A nut tightening machine according to a ninth aspect of the present invention is the nut tightening machine according to the eighth aspect, wherein the state of the motor is based on the temperature of the motor itself. According to the nut tightening machine according to the ninth aspect of the present invention, the second connection selection means can function based on the temperature of the motor itself. As a result, the motor can be driven efficiently in accordance with the temperature of the motor itself.

  A nut tightening machine according to a tenth aspect of the present invention is the nut tightening machine according to the eighth aspect, wherein the state of the motor is based on a temperature around the motor. According to the nut tightening machine according to the tenth aspect of the invention, the second connection selecting means can function based on the temperature around the motor. As a result, the motor can be driven efficiently in accordance with the temperature around the motor.

  A nut tightening machine according to an eleventh aspect of the present invention is the nut tightening machine according to any one of the third to tenth aspects, wherein the motor is a brushless motor having a U phase, a V phase, and a W phase. The resistance value between the U-phase, V-phase, and W-phase of the motor is set to be less than or equal to twice the total value of the internal resistances of the plurality of rechargeable batteries mounted on the battery mounting portion. It is a configuration that. According to the nut tightening machine of the eleventh aspect of the invention, the resistance value between the phases is set to be twice or less the total value of the internal resistance of the rechargeable battery. A torque difference can be produced when the wires are connected in parallel. This facilitates control of the torque difference between the primary tightening and the final tightening.

It is an external appearance perspective view which shows the whole external appearance of a nut clamping machine by a perspective view. It is an internal structure figure which shows the internal structure of a nut clamping machine. This figure has shown the state before the chip | tip part of a shear bolt is inserted in an inner socket. It is a left-right split internal structure figure which shows the internal structure of a nut clamping machine. This figure has shown the state in which the chip | tip part of the shear bolt was inserted in the inner socket. It is a block diagram which shows typically the 1st drive system of a brushless DC motor. It is a block diagram which shows typically the 2nd drive system of a brushless DC motor. It is a block diagram which shows typically the 3rd drive system of a brushless DC motor. It is a block diagram which shows typically the 4th drive system of a brushless DC motor. It is a flowchart which shows the flow of 1st mode switching control. It is a flowchart which shows the flow of 2nd mode switching control. It is a flowchart which shows the flow of 3rd mode switching control. It is a flowchart which shows the flow of 4th mode switching control. It is a flowchart which shows the flow of 5th mode switching control. It is a flowchart which shows the flow of 6th mode switching control. It is a graph which shows the rotational torque and rotation speed of a primary fastening mode and a final fastening mode. It is a graph which shows the comparative example for comparing the graph of FIG.

  Hereinafter, an embodiment for carrying out a nut tightening machine according to the present invention will be described. The perspective view of FIG. 1 shows the overall appearance of the nut tightening machine 10 in perspective. 2 and 3 show the internal structure of the nut tightening machine 10. 2 shows a state before the tip portion Sa of the shear bolt S is inserted into the inner socket 57, and FIG. 3 shows a state where the tip portion Sa of the shear bolt S is inserted into the inner socket 57. Show. In the following description, the nut tightening machine 10 will be described based on the front, rear, top, bottom, left and right directions shown in the drawings. The illustrated nut tightening machine 10 is a tool also called a shear wrench. This nut tightening machine 10 is used for the purpose of screwing a hexagon nut N to a shear bolt S. That is, the nut tightening machine 10 has a function of tightening the hexagon nut N to the shear bolt S and a function of shearing (cutting) the tip portion Sa provided at the end of the shear bolt S.

  As shown in FIG. 1 and the like, the nut tightening machine 10 roughly includes a tool main body 11, a motor unit 20, and a handle unit 30. The tool body 11 roughly receives the rotational drive from the motor unit 20 and exhibits the above-described tightening function and shearing function. The tool body 11 corresponds to a wrench portion according to the present invention in which a hexagon nut N is fastened to the shear bolt S. The motor unit 20 and the handle unit 30 are disposed below the tool body 11. The motor unit 20 includes a brushless DC motor 22 and generates a rotational driving force. The handle portion 30 has a D shape in a side view that can be gripped by the user.

  The motor unit 20 is configured by incorporating a brushless DC motor 22 in a motor housing 21. The brushless DC motor 22 corresponds to the motor according to the present invention. The brushless DC motor 22 includes a motor shaft 23, a rotor 24, a winding 25, an insulator 26, and a sensor substrate 27. The motor shaft 23 is an axis of the rotor 24 and is arranged to extend vertically. The motor shaft 23 is rotatably supported by bearings 231 and 232 arranged on the upper and lower sides. These bearings 231 and 232 are supported by the motor housing 21. Note that. The brushless DC motor 22 is configured as a widely used three-phase motor. For this reason, the coil | winding 25 is provided so that each phase of U phase, V phase, and W phase may be formed.

  The rotor 24 is supported on the motor shaft 23. The winding 25 and the insulator 26 are disposed around the rotor 24 and supported by the motor housing 21. The sensor substrate 27 is disposed on the upper side of the rotor 24 and is electrically connected to a controller 70 described later. The sensor substrate 27 is configured using a Hall element, and performs detection related to the rotation of the rotor 24. That is, the sensor substrate 27 corresponds to a motor position detection unit according to the present invention. The sensor substrate 27 transmits a position signal to the control processing device 71 of the controller 70 based on the rotation of the rotor 24. A cooling fan 28 that mainly cools the winding 25 is attached to the motor shaft 23.

  The handle portion 30 is a portion that is gripped by the user. The handle portion 30 extends in a direction intersecting with the machine axis J serving as a rotation axis for tightening the hexagon nut N. The handle portion 30 is set by the outer shape of the handle housing 31. The handle housing 31 is selected to have a grip shape that can be easily gripped by hand. An operation switch 33 is provided inside the handle housing 31. The operation switch 33 corresponds to an operation input unit according to the present invention. The operation switch 33 is switched on and off by the user's hand. Specifically, the operation switch 33 is turned on by a pulling operation of a switch lever 34 provided on the front surface, and is automatically turned off when the pulling operation is stopped. Here, when the switch is on, the operation switch 33 transmits a switch-on signal indicating that the switch is on to the controller 70 (control processing device 71). Conversely, when the switch is off, the operation switch 33 does not transmit a switch-on signal indicating that the switch is on to the controller 70 (control processing device 71).

  The rotational drive of the motor shaft 23 is transmitted toward the tool body 11. Specifically, a pinion gear 41 is provided at the tip of the motor shaft 23. The pinion gear 41 meshes with the first intermediate gear 42. Further, the first intermediate gear 42 meshes with the second intermediate gear 43. Therefore, the rotational drive of the motor shaft 23 is transmitted to the intermediate shaft 44 via the two intermediate gears 42 and 43. A bevel gear 45 is provided at the tip of the intermediate shaft 44. The bevel gear 45 meshes with the input bevel gear 51 of the tool body 11. Therefore, the rotational drive of the intermediate shaft 44 is transmitted to the input shaft 50 integrated with the input bevel gear 51. The input shaft 50 is rotatably supported by bearings 521 and 522. The bearings 521 and 522 are supported by the main body housing 12. Note that the rotational axis of the input shaft 50 coincides with the machine axis J of the tool body 11.

  A first stage sun gear 52 is provided at the tip of the input shaft 50. The first stage sun gear 52 is meshed with the first stage planetary gear train 13 to receive rotational driving. The first stage planetary gear train 13 is rotationally transmitted to the second stage planetary gear train 14. Further, the second stage planetary gear train 14 is transmitted to the third stage planetary gear train 15 for rotation. The rotational drive of the third stage planetary gear train 15 is transmitted to the inner sleeve 16 and the outer sleeve 17. The inner sleeve 16 and the outer sleeve 17 are rotatable around the machine axis J. The outer sleeve 17 is integrated with the front housing 18 for rotation about the axis J. The front housing 18 is supported to be rotatable about the machine axis J with respect to the main body housing 12.

  The front housing 18 and the outer sleeve 17 rotate integrally. The inner sleeve 16 is rotatably supported on the inner ring side of the bearing 19. The outer sleeve 17 and the front housing 18 are rotatably supported on the outer ring side of the bearing 19. An outer socket 55 is coupled to the front end of the outer sleeve 17. On the inner peripheral surface of the outer socket 55, a nut fitting portion 56 that allows the above-described hexagon nut N to be fitted is provided. The nut fitting portion 56 is a portion into which the hexagon nut N is fitted when the hexagon nut N is tightened.

  The outer socket 55 is coupled to the outer sleeve 17 so as to be axially displaceable and not rotatable relative to the axis. The outer socket 55 is disposed coaxially with the inner sleeve 16. The outer socket 55 can be removed by displacing it to the front side with respect to the outer sleeve 17. An inner socket 57 is supported on the inner peripheral side of the inner sleeve 16 and the outer socket 55. The inner socket 57 is biased forward with respect to the inner sleeve 16 by a compression spring 59.

  Incidentally, the outer socket 55 can be displaced rearward against the urging force of the compression spring 59 so as to be relatively close to the outer sleeve 17. At this time, as shown in FIG. 1, the female guide portion 551 of the outer socket 55 is guided by the male guide portion 171 of the outer sleeve 17. The outer periphery of the inner socket 57 is spline-fitted to the inner periphery of the inner sleeve 16. As a result, the inner sleeve 16 and the inner socket 57 rotate integrally around the axis J.

  A chip fitting portion 58 is provided on the inner peripheral surface of the inner socket 57. A slick prevention pin 60 protrudes into the chip fitting portion 58. The lick prevention pin 60 is urged by a compression spring 61 in a direction protruding from the inner socket 57. When the chip portion Sa is completely fitted into the chip fitting portion 58 of the inner socket 57, the slick prevention pin 60 is retracted from the chip fitting portion 58. Then, the stopper 62 provided on the peripheral surface of the inner socket 57 is retracted to the inner peripheral side of the inner socket 57, and the inner socket 57 can be moved to the rear side of the inner sleeve 16. According to this configuration, the hexagon nut N cannot be fitted to the nut fitting portion 56 of the outer socket 55 unless the chip portion Sa is completely fitted to the chip fitting portion 58 of the inner socket 57. Thereby, the licking with respect to the chip | tip part Sa is prevented.

  Further, the slick prevention pin 60 is integrated with the tip rod 63 so as to be interlocked. That is, when the tip portion Sa is inserted into the tip fitting portion 58 of the inner socket 57, the slick prevention pin 60 and the tip rod 63 are retracted against the compression spring 61. Next, when the tip portion Sa is completely inserted into the tip fitting portion 58, the inner socket 57 is retracted against the compression spring 61. Here, the hexagon nut N is fitted into the nut fitting portion 56 of the outer socket 55 as shown in FIG. Since the inner socket 57 is splined to the inner sleeve 16, the outer socket 55 is rotated by the rotational drive of the brushless DC motor 22 to tighten the hexagon nut N to the shear bolt S.

  The hexagon nut N is tightened by the rotation of the outer socket 55. Then, the tightening of the hex nut N reaches the final stage where the tightening is completed. Here, when the rotation of the outer socket 55 is stopped, the reaction torque of the rotation stop is applied to the outer socket 55. Then, this reaction torque is transmitted toward the third stage planetary gear train 15, and the inner socket 57 is rotated in the direction opposite to the tightening direction of the hexagon nut N. Such rotation of the inner socket 57 acts to shear the tip portion Sa of the shear bolt S.

  That is, a shearing force is applied to the tip portion Sa of the shear bolt S, and the tip portion Sa is sheared (cut). The sheared tip portion Sa is discharged from the tip fitting portion 58 due to a forward output of the slick prevention pin 60 to the front side. A discharge lever 37 is provided above the switch lever 34. When the discharge lever 37 is pulled, the tip rod 63 is forcibly moved to the front side. The tip rod 63 forcibly moved to the front side forcibly discharges the sheared tip portion Sa from the tip fitting portion 58.

  The nut tightening machine 10 uses a rechargeable battery B that is detachable as a power source. A battery mounting structure 80 capable of mounting two rechargeable batteries B, B is provided below the handle portion 30. The battery mounting structure 80 is connected to both the lower part 78 of the motor unit 20 and the lower part 79 of the handle part 30. On the lower surface of the battery mounting structure 80, two sets of battery mounting portions 77 (see FIG. 2) for detachably mounting two rechargeable batteries B are provided in parallel. The battery mounting portions 77 and 77 have a configuration that can be attached and detached by sliding the rechargeable batteries B and B in the same front-rear direction. The rechargeable battery B is a rechargeable battery that is attached to and detached from the battery mounting portion 77 by sliding. As shown in FIG. 1, a mode selection switch 91 is provided on the upper surface of the battery mounting structure 80. This mode selection switch 91 is a dial type, and when it is turned to the right, the final tightening mode can be selected. Further, when turned to the left, the primary tightening mode can be selected.

  Note that the battery mounting portions 77 and 77 arranged in parallel are set so that two rechargeable batteries B and B can be mounted simultaneously. The battery mounting portion 77 is set so that two rechargeable batteries B, B whose voltage is set to 18V can be mounted. As will be described later, when two rechargeable batteries B, B mounted on the battery mounting portions 77, 77 are connected in series, the rated voltage can be used at 36V. Further, when two rechargeable batteries B, B mounted on the battery mounting portion 77 are connected in parallel to each other, the rated voltage can be imitated at 18V. Thus, the rechargeable batteries B and B mounted on the battery mounting portions 77 and 77 are electrically connected to a controller 70 described later. Further, the electric power charged in the rechargeable batteries B and B is supplied to the winding 25 of the brushless DC motor 22 described above.

  By the way, the motor unit 20 is provided with a controller 70. The controller 70 controls power supply related to the rotational drive of the brushless DC motor 22. The controller 70 is built in the lower part of the motor housing 21 that is below the brushless DC motor 22. The controller 70 corresponds to a control unit according to the present invention. In addition, a bolt diameter input dial configured to serve as the above-described mode selection switch 91 is provided below the controller 70. The bolt diameter input dial is configured so that the bolt diameter can be input within the partition range of the primary tightening mode selected by the mode selection switch 91 described above. The mode selection switch 91 that also serves as the bolt diameter input dial is a portion for the user to input the diameter of the bolt to which the hexagon nut N is tightened.

  There are M16, M20, M22, and M24 standards for the diameter of the bolt to which the hexagon nut N is tightened. The user can input from the bolt diameter input dial whether the diameter of the bolt to which the hexagon nut N is tightened is M16, M20, M22, or M24. The bolt diameter input dial is electrically connected to a control processing device 71 of the controller 70 described later. The bolt diameter input dial 39 sends a bolt diameter signal to the control processing device 71 based on the selected bolt diameter.

  4 to 7, which will be described in detail later, drive systems 101 to 104 of the brushless DC motor 22 are schematically shown. The controller 70 includes a control processing device 71 and a bridge circuit device 72 as shown in FIGS. The control processing device 71 includes a CPU (Central Processing Unit) and an appropriate storage medium. The bridge circuit device 72 is configured as a switching circuit for driving the brushless DC motor 22 described above. For this reason, the bridge circuit device 72 has a field effect transistor (FET) as a switching element and receives drive control from the control processing device 71. That is, the control processing device 71 performs drive control of the bridge circuit device 72. Further, the control processing device 71 detects the rated voltage of the rechargeable battery B mounted on the battery mounting unit 77 from an input (not shown). The bridge circuit device 72 is directly supplied with power from the rechargeable battery B, and is connected to the winding 25 of the brushless DC motor 22 so that power can be supplied.

  By the way, as can be seen by comparing FIG. 2 and FIG. 3, the location of the tip rod 63 differs depending on whether or not the tip portion Sa of the shear bolt S is inserted into the tip fitting portion 58 of the inner socket 57. . Specifically, when the tip portion Sa is not inserted into the tip fitting portion 58, the tip rod 63 is not moved by the tip portion Sa and is disposed as shown in FIG. That is, the tip rod 63 receives the urging force of the compression spring 61 and is disposed at the front side portion shown in FIG. On the other hand, when the tip portion Sa is inserted into the tip fitting portion 58, the tip rod 63 is moved by the tip portion Sa inserted against the urging force of the compression spring 32. That is, the tip rod 63 is arranged at the rear side portion shown in FIG. That is, the tip rod 63 is a member that is displaced when the hexagon nut N is fitted to the nut fitting portion 56, and corresponds to a displacement member according to the present invention.

  The tool body 11 as a wrench portion at this time is subjected to a pressure opposite to the direction in which the hexagon nut N is fitted. That is, the tool body 11 is received pressure by the hexagon nut N being fitted into the nut fitting portion 56. That is, when the tip rod 63 is arranged on the rear side shown in FIG. 3, the tool body 11 is configured to detect that the hexagon nut N is fitted and received pressure. That is, the tool body 11 is configured to detect that the tip rod 63 is disposed on the rear side shown in FIG. Specifically, a magnetic sensor 67 for detecting a rear end portion 65 of the tip rod 63 arranged at the rear side shown in FIG. 3 is provided inside the tool body 11.

  The magnetic sensor 67 detects that the rear end portion 65 of the tip rod 63 exists at the position shown in FIG. 3 when the tip rod 63 is disposed on the rear side shown in FIG. In other words, the magnetic sensor 67 does not detect the rear end portion 65 of the front-side tip rod 63 shown in FIG. That is, the magnetic sensor 67 detects the rear end portion 65 of the tip rod 63 only when the tip rod 63 is disposed on the rear side shown in FIG. 3, and the tip rod 63 is placed on the front side shown in FIG. When arranged, the rear end portion 65 of the tip rod 63 is not detected. When this magnetic sensor 67 detects the rear end portion 65 of the tip rod 63, it transmits a sensor signal to the controller 70 (control processing device 71). That is, this sensor signal corresponds to displacement detection and fitting detection according to the present invention.

  The magnetic sensor 67 corresponds to a pressure receiving detection unit and a fitting detection unit according to the present invention. The magnetic sensor 67 corresponds to a displacement detection unit according to the present invention. That is, the magnetic sensor 67 sends a sensor signal (displacement detection) to the control processing device 71 based on the displacement of the tip rod 63 as the displacement member toward the rear side. The sensor signal transmitted from the magnetic sensor 67 at this time corresponds to the pressure receiving signal and the fitting signal according to the present invention. That is, when the magnetic sensor 67 detects the rear end portion 65 of the tip rod 63 as shown in FIG. 3, it is assumed that the tool body 11 is receiving an opposite pressure in the direction in which the hexagon nut N is fitted. The sensor signal is transmitted to (control processing device 71). Similarly, when the magnetic sensor 67 detects the rear end portion 65 of the tip rod 63 as shown in FIG. 3, it is assumed that the hexagon nut N is fitted to the outer socket 55. A sensor signal is transmitted to the processing device 71).

  Next, various drive systems 101 to 104 for rotationally driving the brushless DC motor 22 will be described. The block diagram of FIG. 4 schematically shows the first drive system 101. The block diagram of FIG. 5 schematically shows the second drive system 102. The block diagram of FIG. 6 schematically shows the third drive system 103. The block diagram of FIG. 7 schematically shows the fourth drive system 104. Each of these four drive systems 101-104 is various forms in carrying out the present invention. That is, each of the four drive systems 101 to 104 can exhibit substantially the same operational effects in solving the problems of the present invention. Hereinafter, the first drive system 101 to the fourth drive system 104 will be described.

[First drive system 101]
The brushless DC motor 22 of the first drive system 101 shown in FIG. 4 is a brushless DC motor 22A configured by star connection. The brushless DC motor 22A is provided by dividing the U-phase, V-phase, and W-phase windings 25 into two so as to be switchable with respect to each other for each magnetic field to be generated. That is, the U-phase, V-phase, and W-phase windings 25 are divided into two wires, i.e., indicated symbol C1 and indicated symbol C2, and are connected. Note that the connection type of the winding 25 is adopted as a star connection (star connection). The brushless DC motor 22 </ b> A (22) is driven and controlled by the control processing device 71 via the bridge circuit device 72.

  As described above, the battery mounting portions 77 and 77 of the first drive system 101 are configured to be capable of mounting two rechargeable batteries B and B simultaneously as a power source. The connection configuration of the two rechargeable batteries B and B can be changed between series and parallel as described above. That is, the two rechargeable batteries B, B mounted on the battery mounting portions 77, 77 of the first drive system 101 can be used by imitating the rated voltage at 36V when connected in series with each other, When connected in parallel to each other, the rated voltage can be imitated at 18V. The battery mounting portions 77 and 77 are wired so as to directly supply power to the control processing device 71, but are wired so as to directly supply power to the bridge circuit device 72 that drives the brushless DC motor 22. Has been.

  By the way, although various electric parts are connected to the control processing device 71, only those related to the later explanation are shown in the block diagrams of FIGS. That is, the control processing device 71 is connected to the operation switch 33 so as to receive a switch-on signal. The control processing device 71 is connected to the sensor substrate 27 so as to be able to receive a rotation detection signal. Further, the control processing device 71 is connected to a mode selection switch 91 shown in FIG. 1 so as to be able to receive a mode changeover switch signal. It is provided at an appropriate location of the nut tightening machine 10. The mode selection switch 91 can select either the primary fastening mode (IM) or the final fastening mode (HM) by a user operation, and corresponds to the mode selection switch according to the present invention. That is, the mode selection switch 91 is configured to be able to select and switch to either the primary tightening mode (IM) or the main tightening mode (HM). That is, the mode selection switch 91 allows the user to arbitrarily select either the primary tightening mode (IM) or the final tightening mode (HM).

  The control processing device 71 is connected to the thermistor 92 so that the motor temperature can be detected. Although not shown in FIGS. 1 to 3, the thermistor 92 is provided inside the brushless DC motor 22 or at an appropriate location near the brushless DC motor 22. That is, the motor temperature that the thermistor 92 sends to the control processing device 71 may be the temperature of the brushless DC motor 22 (winding 25) itself or the temperature around the brushless DC motor 22. The thermistor 92 is a part that detects the state of the brushless DC motor 22 and corresponds to a motor state detection unit according to the present invention. Further, the control processing device 71 is connected to the first battery connecting portion 95 so as to be able to detect the battery temperature of the rechargeable battery B. Further, the control processing device 71 is connected to the second battery connection unit 96 so that the battery voltage of the rechargeable battery B can be detected. The first battery connection part 95 and the second battery connection part 96 are provided in the battery mounting part 77. For example, the first battery connection unit 95 includes a communication terminal that communicates with a microcomputer inside the rechargeable battery B. For example, the 2nd battery connection part 96 is comprised by the female connection terminal connected with the male connection terminal of the rechargeable battery B. FIG. The first battery connecting portion 95 and the second battery connecting portion 96 are portions for detecting the state of the battery of the rechargeable battery B attached to the battery attaching portion 77, and each of the batteries according to the present invention. It corresponds to a state detection unit.

[Second drive system 102]
The second drive system 102 shown in FIG. 5 differs from the first drive system 101 in the configuration of the brushless DC motor 22. That is, the brushless DC motor 22 of the second drive system 102 is a brushless DC motor 22B configured by delta connection. The brushless DC motor 22B is provided by dividing the U-phase, V-phase, and W-phase windings 25 in two so that the connection between each can be switched for each magnetic field to be generated. That is, the U-phase, V-phase, and W-phase windings 25 are divided into two wires, i.e., indicated symbol C1 and indicated symbol C2, and are connected. Note that the connection type of the winding 25 is adopted as a delta connection (triangular connection). The brushless DC motor 22 </ b> B (22) is driven and controlled by a control processing device 71 via a bridge circuit device 72. Note that the power supply system of the second drive system 102 is the same power supply system as the first drive system 101. That is, the second drive system 102 is also configured to be capable of mounting two rechargeable batteries B and B simultaneously as a power source. Moreover, the mutual connection structure of the two rechargeable batteries B and B is configured to be changeable in series and in parallel as described above.

[Third drive system 103]
The third drive system 103 shown in FIG. 6 differs from the first drive system 101 in the power supply system. That is, the power supply system of the third drive system 103 fixes the rated voltage at 36 V when the two rechargeable batteries B, B mounted on the battery mounting portions 77, 77 are connected in series. Therefore, FIG. 6 shows only one battery (B, B). Note that the brushless DC motor 22 of the third drive system 103 is a brushless DC motor 22A configured by the star connection similar to the first drive system 101 described above.

[Fourth drive system 104]
The fourth drive system 104 shown in FIG. 7 differs from the first drive system 101 in the configuration of the brushless DC motor 22. That is, the brushless DC motor 22 of the third drive system 103 is configured by a normal three-phase motor. In other words, the brushless DC motor 22 is configured such that the U-phase, V-phase, and W-phase windings 25 cannot be changed in series and parallel and are simply connected. In other words, the brushless DC motor 22 has a plurality of U-phase, V-phase, and W-phase windings 25 such as the above-described star connection and delta connection that can be switched to each other depending on the generated magnetic field. It is not divided. Note that the power supply system of the fourth drive system 104 is the same power supply system as that of the first drive system 101. That is, the fourth drive system 104 is also configured to be capable of mounting two rechargeable batteries B and B simultaneously as a power source. Moreover, the mutual connection structure of the two rechargeable batteries B and B is configured to be changeable in series and in parallel as described above.

[First mode switching control]
Next, the primary tightening mode (IM) and the final tightening mode (HM) performed by the first drive system 101 to the fourth drive system 104 will be described. Note that the primary tightening mode (IM) is a mode for tightening the hexagon nut N with the primary tightening rotation speed and the primary tightening rotation torque so as to be the nut primary screw tightening. On the other hand, the final tightening mode (HM) is a mode for tightening the hexagon nut N with the final tightening rotation speed and the final tightening rotation torque to complete the nut screw tightening. Here, the primary fastening rotational speed is set to a rotational speed higher than the final fastening rotational speed. Further, the primary fastening rotational torque is set to a rotational torque smaller than the final fastening rotational torque. In other words, the final tightening rotation torque is set to be larger than the primary tightening rotation torque. Note that the user can arbitrarily select either the primary fastening mode (IM) or the final fastening mode (HM) by the mode selection switch 91.

  In the first drive system 101 and the second drive system 102 described above, the flow of the first mode switching control (S10) shown in FIG. 8 is performed. When receiving the switch-on signal from the operation switch 33, the control processing device 71 starts the first mode switching control (S10). When the first mode switching control (S10) is started, the control processing device 71 first determines whether or not a primary tightening signal is received from the mode selection switch 91 (S11). If the control processing device 71 determines that the primary tightening signal has been received from the mode selection switch 91 in S11, the control in S15 is then performed. In S15, the control processing device 71 performs motor control and power supply control. Specifically, the control processing device 71 outputs a control signal for switching the motor windings to be connected in parallel to the brushless DC motors 22A and 22B. At the same time, the control processing device 71 outputs a control signal for switching the rechargeable batteries B and B to be connected in series to the battery mounting portions 77 and 77 serving as a power supply circuit. That is, the control processing device 71 controls the brushless DC motors 22A and 22B to connect the two windings 25 of the reference numerals C1 and C2 in parallel. At the same time, the control processing device 71 controls the battery mounting portions 77 and 77 so that the two rechargeable batteries B and B indicated by the reference symbols B1 and B2 are connected in series (S15).

  When the control processing device 71 controls as in S15, in the brushless DC motors 22A and 22B, the two windings 25 of the reference symbols C1 and C2 are connected in parallel. A small magnetic field is generated when the supply current value is constant compared to the case where the two windings 25 are connected in series. In addition, since the two rechargeable batteries B and B indicated by the reference symbols B1 and B2 are connected in series in the battery mounting portions 77 and 77, the two rechargeable batteries B and B indicated by the reference symbols B1 and B2 are illustrated. Electric power is supplied to the windings 25 of the brushless DC motors 22A and 22B at a higher voltage than when B is connected in parallel. That is, the primary tightening mode (IM) is controlled.

  On the other hand, if the control processing device 71 determines that the primary tightening signal has not been received from the mode selection switch 91 in S11, then it determines in S13. In S <b> 13, it is determined whether a final fastening signal is received from the mode selection switch 91. If the control processing device 71 determines that the final fastening signal has been received from the mode selection switch 91 in S13, the control in S17 is then performed. In S17, the control processing device 71 performs motor control and power supply control. Specifically, the control processing device 71 outputs a control signal for switching the motor windings to be connected in series to the brushless DC motors 22A and 22B. At the same time, the control processing device 71 outputs a control signal for switching so that the rechargeable batteries B and B are connected in parallel to the battery mounting portions 77 and 77 serving as a power supply circuit. That is, the control processing device 71 controls the brushless DC motors 22A and 22B so that the two windings 25 of the reference numerals C1 and C2 are connected in series. At the same time, the control processing device 71 controls the battery mounting portions 77 and 77 to connect the two rechargeable batteries B and B indicated by the reference symbols B1 and B2 in parallel (S17).

  When the control processing device 71 controls as in S17, in the brushless DC motors 22A and 22B, the two windings 25 of the reference numerals C1 and C2 are connected in series. A large magnetic field is generated when the supply current value is constant compared to the case where the two windings 25 are connected in parallel. In addition, since the two rechargeable batteries B and B indicated by the reference symbols B1 and B2 are connected in parallel in the battery mounting portions 77 and 77, the two rechargeable batteries B and B indicated by the reference symbols B1 and B2 are connected. Electric power is supplied to the windings 25 of the brushless DC motors 22A and 22B at a higher current than when B is connected in series. As a result, in the brushless DC motors 22A and 22B, the motor shaft 23 is rotationally driven at a rotational speed lower than the primary fastening rotational speed and larger than the primary fastening rotational torque. That is, the final tightening mode (HM) is controlled as described above. On the other hand, in the primary tightening mode (IM), in the brushless DC motors 22A and 22B, the motor shaft 23 has a rotational speed higher than the final tightening rotational speed and smaller than the final tightening rotational torque. Is driven to rotate.

[Second mode switching control]
In the third drive system 103 described above, the flow of the second mode switching control (S20) shown in FIG. 9 is performed. When receiving the switch-on signal from the operation switch 33, the control processing device 71 starts the second mode switching control (S20). When the second mode switching control (S20) is started, the control processing device 71 first determines whether or not a primary tightening signal is received from the same mode selection switch 91 as S11 described above (S21). If the control processing device 71 determines that the primary tightening signal has been received from the mode selection switch 91 in S21, the control in S25 is then performed. In S25, the control processing device 71 performs only motor control. Specifically, the control processing device 71 outputs a control signal for switching the motor windings to be connected in parallel to the brushless DC motor 22A. That is, the control processing device 71 controls the brushless DC motor 22A so as to connect the two windings 25 indicated by reference numerals C1 and C2 in parallel (S25).

  When the control processing device 71 controls as in S25, the two windings 25 indicated by the reference symbols C1 and C2 are connected in parallel, so that the two windings 25 indicated by the reference symbols C1 and C2 are connected in series. In contrast, when the supply current value is constant, a small magnetic field is generated. In the battery mounting portions 77 and 77, the two rechargeable batteries B and B indicated by reference numerals B1 and B2 remain connected in series. That is, the primary tightening mode (IM) is controlled. On the other hand, if the control processing device 71 determines in S21 that the primary tightening signal has not been received from the mode selection switch 91, it then determines in S23. In S23, it is determined whether a final fastening signal is received from the same mode selection switch 91 as in S13. If the control processing device 71 determines that the final fastening signal has been received from the mode selection switch 91 in S23, the control in S27 is then performed. In S27, the control processing device 71 performs only motor control. Specifically, the control processing device 71 outputs a control signal for switching the motor windings to be connected in series to the brushless DC motor 22A. That is, the control processing device 71 controls the brushless DC motor 22A so as to connect the two windings 25 indicated by reference numerals C1 and C2 in series (S27).

  When the control processing device 71 controls as in S27, the brushless DC motor 22A has the two windings 25 of the reference numerals C1 and C2 connected in series, so the two windings 25 of the reference numerals C1 and C2 are shown. When the supply current value is constant compared to the case where the two are connected in parallel, a large magnetic field is generated. In the battery mounting portions 77 and 77, the two rechargeable batteries B and B indicated by reference numerals B1 and B2 remain connected in series. As a result, the brushless DC motor 22A rotates the motor shaft 23 at a rotational speed lower than the primary fastening rotational speed and larger than the primary fastening rotational torque. That is, the final tightening mode (HM) is controlled as described above. On the other hand, in the primary tightening mode (IM), the brushless DC motor 22A rotates the motor shaft 23 at a rotational speed higher than the final tightening rotational speed and smaller than the final tightening rotational torque. It becomes. Note that the brushless DC motor 22 of the third drive system 103 in the second mode switching control (S20) is constituted by the brushless DC motor 22B having the delta connection, instead of the brushless DC motor 22A having the star connection. It may be done.

[Third mode switching control]
In the fourth drive system 104 described above, the flow of the third mode switching control (S30) shown in FIG. 10 is performed. When receiving the switch-on signal from the operation switch 33, the control processing device 71 starts the third mode switching control (S30). When the third mode switching control (S30) is started, the control processing device 71 first determines whether or not a primary tightening signal is received from the same mode selection switch 91 as S11 described above (S31). If the control processing device 71 determines that the primary tightening signal has been received from the mode selection switch 91 in S31, the control in S35 is then performed. In S35, the control processing device 71 performs only power supply control. Specifically, the control processing device 71 outputs a control signal for switching the rechargeable batteries B and B to be connected in series to the battery mounting portions 77 and 77 serving as a power supply circuit. That is, the control processing device 71 controls the battery mounting portions 77 and 77 so that the two rechargeable batteries B and B indicated by the reference symbols B1 and B2 are connected in series (S35).

  When the control processing device 71 controls as in S35, the two rechargeable batteries B, B indicated by the reference symbols B1, B2 are connected in series, so that the two rechargeable batteries B indicated by the reference symbols B1, B2 are connected. , B is supplied to the winding 25 of the brushless DC motor 22 at a higher voltage than that connected in parallel. The brushless DC motor 22 of the fourth drive system 104 is simply formed by connecting windings 25 that cannot be changed in series and parallel. That is, the primary tightening mode (IM) is controlled. On the other hand, if the control processing device 71 determines that the primary tightening signal has not been received from the mode selection switch 91 in S31, then it determines in S33. In S33, it is determined whether a final fastening signal is received from the same mode selection switch 91 as in S13. If the control processing device 71 determines that the final fastening signal has been received from the mode selection switch 91 in S33, the control in S37 is then performed. In S37, the control processing device 71 performs only power supply control. Specifically, the control processing device 71 outputs a control signal for switching the rechargeable batteries B and B to be connected in parallel to the battery mounting portions 77 and 77 serving as a power supply circuit. That is, the control processing device 71 controls the battery mounting portions 77 and 77 so that the two rechargeable batteries B and B indicated by the reference symbols B1 and B2 are connected in parallel (S37).

  When the control processing device 71 controls as in S37, since the two rechargeable batteries B and B, indicated by the symbols B1 and B2, are connected in parallel in the battery mounting portions 77 and 77, the indicated symbol B1. , B2 supplies electric power to the winding 25 of the brushless DC motor 22 at a higher current than the two rechargeable batteries B, B connected in series. As a result, in the brushless DC motor 22, the motor shaft 23 is rotationally driven at a rotational speed lower than the primary fastening rotational speed and larger than the primary fastening rotational torque. That is, the final tightening mode (HM) is controlled as described above. On the other hand, in the primary tightening mode (IM), the brushless DC motor 22 rotates the motor shaft 23 at a rotational speed higher than the final tightening rotational speed and smaller than the final tightening rotational torque. It will be driven.

[Fourth mode switching control]
Next, the primary tightening mode (IM) and the final tightening mode (HM) performed including the abnormal mode by the first driving system 101 to the fourth driving system 104 will be described. As the abnormal mode, the battery (cell) temperature abnormal mode (EM1) performed in the fourth mode switching control (S40) and the battery (cell) voltage abnormal mode (EM2) performed in the fifth mode switching control (S50). And a motor (ambient) temperature abnormality mode (EM3) performed in the sixth mode switching control (S60). First, the fourth mode switching control (S40) including the battery (cell) temperature abnormal mode (EM1) will be described. The primary tightening mode (IM) and the final tightening mode (HM) are modes that are performed in the same manner as the first to third mode switching controls (S10, S20, S30). For this reason, in the following description, the same step number as the step number used in the above-described control flowchart is used for the control performed in the same manner as the first to third mode switching controls (S10, S20, S30). The following flowchart will be attached and the description will be limited to a simple description.

  In the first to fourth drive systems 104 described above, the flow of the fourth mode switching control (S40) shown in FIG. 11 can be performed. That is, when receiving the switch-on signal from the operation switch 33, the control processing device 71 starts the fourth mode switching control (S40). When the fourth mode switching control (S40) is started, the control processing device 71 first determines whether or not a primary tightening signal is received from the same mode selection switch 91 as in S11 (S41). If the control processing device 71 determines that the primary tightening signal has been received from the mode selection switch 91 in S41, then it determines in S43. In S43, the control processing device 71 determines the state of the battery via the first battery connection unit 95 described above. Specifically, in S43, the control processing device 71 determines based on the temperature of the battery cells (hereinafter referred to as “built-in battery cells”) built in the rechargeable batteries B and B via the first battery connection unit 95. Yes.

  Here, the control processing device 71 selects the connection of the two windings 25 indicated by the reference symbols C1 and C2 and the connection of the two rechargeable batteries B and B indicated by the reference symbols B1 and B2 based on the determination in S43. It is supposed to be. Specifically, when the control processing device 71 determines in S43 that the temperature of the built-in battery cells of the rechargeable batteries B and B is equal to or lower than the threshold value, the control in S15 as described above is performed. However, when the control processing device 71 determines in S43 that the temperature of the built-in battery cells of the rechargeable batteries B and B is higher than the threshold value, the control in S17 as described above is performed. Incidentally, in any of these controls, since it is determined that the control processing device 71 has received the primary fastening signal in S41, any of these is established as the primary fastening mode (IM). ing. The control of S15 may be replaced with the control of S25 or S35 as described above. In that case, the control of S17 may be replaced with the control of S27 or S37 as described above. Become. Further, the control processing device 71 in this case corresponds to the first connection selection means according to the present invention.

  On the other hand, if the control processing device 71 determines that the primary tightening signal has not been received from the mode selection switch 91 in S41, then it determines in S45. In S45, it is determined whether a final fastening signal is received from the same mode selection switch 91 as in S13. If the control processing device 71 determines that the final fastening signal has been received from the mode selection switch 91 in S45, then it determines in S47. If it is determined in S45 that the final fastening signal has not been received from the mode selection switch 91, it is again determined whether or not the primary fastening signal has been received from the mode selection switch 91 ( S41). In S47, the control processing device 71 determines the state of the battery via the first battery connection unit 95 described above. Specifically, in S <b> 47, the control processing device 71 makes a determination based on the temperature of the built-in battery cells of the rechargeable batteries B and B via the first battery connection unit 95.

  When the control processing device 71 determines in S47 that the temperature of the built-in battery cells of the rechargeable batteries B and B is equal to or lower than the threshold value, the control in S17 as described above is performed. Incidentally, since the control of S17 is a case where it is determined in S45 that the control processing device 71 has received the final fastening signal, the final fastening mode (HM) is established. The control in S17 may be replaced with the control in S27 or the control in S37 as described above. However, if the control processing device 71 determines in S47 that the temperature of the built-in battery cells of the rechargeable batteries B and B is higher than the threshold value, the battery (cell) temperature abnormal mode (ERM1) is processed. Processing in this battery (cell) temperature abnormality mode (ERM1) includes stop control for stopping power supply from the rechargeable batteries B and B, notification control for notifying the user of the abnormality, and the like.

[Fifth mode switching control]
Further, in the first to fourth drive systems 104 described above, the flow of the fifth mode switching control (S50) shown in FIG. 12 can be performed. That is, when receiving the switch-on signal from the operation switch 33, the control processing device 71 starts the fifth mode switching control (S50). When the fifth mode switching control (S50) is started, the control processing device 71 first determines whether or not a primary tightening signal is received from the same mode selection switch 91 as in S11 (S51). If the control processing device 71 determines that the primary tightening signal has been received from the mode selection switch 91 in S51, then it determines in S53. In S53, the control processing device 71 determines the state of the battery via the second battery connection unit 96 described above. Specifically, in S <b> 53, the control processing device 71 either the voltage of the rechargeable batteries B and B or the voltage of the built-in battery cell of the rechargeable batteries B and B via the second battery connection unit 96. Judgment based on.

  Here, the control processing device 71 selects the connection of the two windings 25 indicated by the reference symbols C1 and C2 and selects the connection of the two rechargeable batteries B and B indicated by the reference symbols B1 and B2 based on the determination in S53. It is supposed to be. Specifically, when the control processing device 71 determines in S53 that either the voltage of the rechargeable batteries B, B or the voltage of the built-in battery cell is equal to or higher than the threshold value, the control in S15 as described above is performed. Made. However, when the control processing device 71 determines in S53 that either the voltage of the rechargeable batteries B, B or the voltage of the built-in battery cell is less than the threshold value, the control in S17 as described above is performed. Incidentally, in any of these controls, since it is determined in S51 that the control processing device 71 has received the primary fastening signal, any of these is established as the primary fastening mode (IM). ing. The control of S15 may be replaced with the control of S25 or S35 as described above. In that case, the control of S17 may be replaced with the control of S27 or S37 as described above. Become. Further, the control processing device 71 in this case corresponds to the first connection selection means according to the present invention.

  On the other hand, if the control processing device 71 determines in S51 that the primary tightening signal has not been received from the mode selection switch 91, it then determines in S55. In S55, it is determined whether a final fastening signal is received from the same mode selection switch 91 as in S13. If the control processing device 71 determines that the final tightening signal has been received from the mode selection switch 91 in S55, then it determines in S57. If it is determined in S55 that the final fastening signal has not been received from the mode selection switch 91, it is determined again whether or not the primary fastening signal has been received from the mode selection switch 91 ( S51). In S <b> 57, the control processing device 71 determines the state of the battery via the second battery connection unit 96 described above. Specifically, in S <b> 57, the control processing device 71 makes a determination based on the voltage of the rechargeable batteries B and B via the second battery connection unit 96, or the built-in battery cell via the second battery connection unit 96. Judgment based on the voltage.

  In S57, when the control processing device 71 determines that either the voltage of the rechargeable batteries B and B or the voltage of the built-in battery cell is equal to or higher than the threshold value, the control of S17 as described above is performed. Incidentally, since the control of S17 is a case where it is determined in S55 that the control processing device 71 has received the final fastening signal, the final fastening mode (HM) is established. The control in S17 may be replaced with the control in S27 or the control in S37 as described above. However, if the control processing device 71 determines in S57 that either the voltage of the rechargeable batteries B, B or the voltage of the built-in battery cell is less than the threshold value, it is processed as a battery (cell) voltage abnormal mode (ERM2). . Processing in this battery (cell) voltage abnormality mode (ERM2) includes stop control for stopping power supply from the rechargeable batteries B and B, notification control for notifying the user of abnormality, and the like.

[Sixth mode switching control]
Further, in the first to fourth drive systems 104 described above, the flow of the sixth mode switching control (S60) shown in FIG. 13 can be performed. That is, when receiving the switch-on signal from the operation switch 33, the control processing device 71 starts the sixth mode switching control (S60). When the sixth mode switching control (S60) is started, the control processing device 71 first determines whether or not a primary tightening signal is received from the same mode selection switch 91 as S11 described above (S61). If the control processing device 71 determines that the primary tightening signal has been received from the mode selection switch 91 in S61, then it determines in S63. In S63, the control processing device 71 determines the state of the brushless DC motor 22 via the thermistor 92 described above. Specifically, in S63, the control processing device 71, via the thermistor 92, the temperature of the brushless DC motor 22 itself (hereinafter referred to as the motor temperature) or the ambient temperature of the brushless DC motor 22 (hereinafter referred to as the motor ambient temperature). ) Based on one of the following.

  Here, the control processing device 71 selects the connection of the two windings 25 indicated by the reference symbols C1 and C2 and the connection of the two rechargeable batteries B and B indicated by the reference symbols B1 and B2 based on the determination in S63. It is supposed to be. Specifically, when the control processing device 71 determines in S63 that either the motor temperature itself or the motor ambient temperature is equal to or less than the threshold value, the control in S15 as described above is performed. However, when the control processing device 71 determines in S63 that either the motor temperature or the motor ambient temperature is higher than the threshold value, the control in S17 as described above is performed. Incidentally, in any of these controls, since it is determined that the control processing device 71 has received the primary fastening signal in S61, any of these is established as the primary fastening mode (IM). ing. The control of S15 may be replaced with the control of S25 or S35 as described above. In that case, the control of S17 may be replaced with the control of S27 or S37 as described above. Become. Further, the control processing device 71 in this case corresponds to the second connection selection means according to the present invention.

  On the other hand, if the control processing device 71 determines in S61 that the primary tightening signal has not been received from the mode selection switch 91, it then determines in S65. In S65, it is determined whether a final fastening signal is received from the same mode selection switch 91 as in S13. If the control processing device 71 determines that the final tightening signal has been received from the mode selection switch 91 in S65, then it determines in S67. If it is determined in S65 that the final fastening signal has not been received from the mode selection switch 91, it is again determined whether or not the primary fastening signal has been received from the mode selection switch 91 ( S61). In S67, the control processing device 71 determines the state of the brushless DC motor 22 via the thermistor 92 described above. Specifically, in S67, the control processing device 71 makes a determination based on either the motor temperature itself or the motor ambient temperature via the thermistor 92.

  When the control processing device 71 determines in S67 that either the motor temperature or the motor ambient temperature is equal to or lower than the threshold value, the control in S17 is performed as described above. Incidentally, since the control of S17 is a case where it is determined in S65 that the control processing device 71 has received the final fastening signal, the final fastening mode (HM) is established. The control in S17 may be replaced with the control in S27 or the control in S37 as described above. However, if the control processing device 71 determines in S67 that either the motor temperature itself or the motor ambient temperature is higher than the threshold value, the motor (ambient) temperature abnormal mode (ERM3) is processed. As processing of the motor (ambient) temperature abnormality mode (ERM3), there are stop control for stopping the power supply from the rechargeable batteries B and B, notification control for notifying the user of the abnormality, and the like.

  By the way, the resistance values (Rm) between the U-phase, V-phase, and W-phase of the brushless DC motor 22 (22A, 22B) described above are the two rechargeable batteries B mounted on the battery mounting portions 77, 77. , B is set to be twice or less the total value (Rb) of the internal resistance of B. In addition, the graph of FIG. 14 has shown the rotational torque (T) and rotation speed (N) of the primary fastening mode (IM) and the final fastening mode (HM). The graph of FIG. 15 shows a comparative example for comparing the graph of FIG. That is, in the graph of FIG. 14, the resistance value (Rm) between the U phase, V phase, and W phase of the brushless DC motor 22 (22A, 22B) is set based on “Rm <2 × Rb”. On the other hand, in the graph of FIG. 15, the resistance value (Rm) between the U phase, V phase, and W phase of the brushless DC motor 22 (22A, 22B) is set based on “Rm = 2 × Rb”. ing. As can be seen by comparing FIG. 14 and FIG. 15, when the resistance value (Rm) between the phases of the brushless DC motor 22 (22A, 22B) is set based on “Rm <2 × Rb”, the final tightening is performed. It can be seen that the maximum value of the rotational torque (T) in the mode (HM) is larger than the maximum value of the rotational torque (T) in the primary tightening mode (IM). As can be seen by comparing FIG. 14 and FIG. 15, when the resistance value (Rm) between each phase of the brushless DC motor 22 (22A, 22B) is set based on “Rm <2 × Rb”, It can be seen that the maximum value of the rotation speed (N) in the primary tightening mode (IM) is larger than the maximum value of the rotation speed (N) in the main tightening mode (HM).

  According to the nut tightening machine 10 described above, the following operational effects can be obtained. That is, according to the nut tightening machine 10 described above, the user can select either the final tightening mode (HM) or the primary tightening mode (IM) by operating the mode selection switch 91. Here, the primary fastening rotational speed is set at a rotational speed higher than the final fastening rotational speed, and the primary fastening rotational torque is set at a rotational torque smaller than the final fastening rotational torque. As a result, in the nut tightening machine 10 for shear bolts, both the primary tightening and the final tightening can be performed with a single nut tightening machine, thereby reducing the user's tool management burden. Further, according to the nut tightening machine 10 described above, in the final tightening mode (HM), the connections of the windings 25 (indicated by reference numerals C1 and C2) divided into two are connected in series to generate a magnetic field, In the primary tightening mode (IM), the windings 25 (indicated by reference numerals C1 and C2) divided into two are connected in parallel to generate a magnetic field. As a result, when both the primary tightening and the final tightening of the nut are performed by the single nut tightening machine 10, it is only necessary to change the configuration of the winding 25 as compared with the conventional case, and the structure can be simplified. it can.

  Further, according to the nut tightening machine 10 described above, in the final tightening mode (HM), the two rechargeable batteries B, B mounted on the battery mounting portions 77, 77 are connected in parallel to each other and wound. In the primary tightening mode (IM), the two rechargeable batteries B1 and B2 mounted on the battery mounting portions 77 and 77 are connected in series to supply power to the winding 25. To do. As a result, when both the primary tightening and the final tightening of the nuts are performed by the single nut tightening machine 10, it is only necessary to change the configuration of the battery mounting portions 77 and 77 as compared with the conventional case, thereby simplifying the structure. Can be planned. Further, according to the nut tightening machine 10 described above, in the final tightening mode (HM), the windings 25 (indicated by reference numerals C1 and C2) are connected in series and the rechargeable batteries B1 and B2 are connected in parallel to generate a magnetic field. In the primary tightening mode (IM), the windings 25 (reference symbols C1 and C2) are connected in parallel and the rechargeable batteries B1 and B2 are connected in series to generate a magnetic field. Thus, when both the primary tightening and the final tightening nuts are tightened by one nut tightening machine 10, the windings 25 (denoted by reference numerals C1, C2 in the main tightening mode (HM) and the primary tightening mode (IM) are used. ) Can generate a large difference between the magnetic fields. This makes it possible to make the functional classification of both the primary tightening and the final tightening clearer functional classification, which is convenient as the nut tightening machine 10. Further, according to the nut tightening machine 10 described above, the resistance value (Rm) between the phases is set to be equal to or less than twice the total value (Rb) of the internal resistances of the rechargeable batteries B1 and B2. The torque difference can be generated between the case where the windings are connected in series and the case where the windings 25 are connected in parallel. This facilitates control of the torque difference between the primary tightening and the final tightening.

  Note that the nut tightening machine according to the present invention is not limited to the above-described embodiment, and may be configured by appropriately changing the location. For example, although the number of winding divisions in the above-described embodiment is two, the number of winding divisions according to the present invention is not limited to this and may be three or four. Moreover, although the number of rechargeable batteries in the above-described embodiment is two, the number of rechargeable batteries according to the present invention is not limited to this and may be three or four. Good.

10 Nut tightening machine 11 Tool body (wrench part)
12 Body housing 13 First stage planetary gear train 14 Second stage planetary gear train 15 Third stage planetary gear train 16 Inner sleeve 17 Outer sleeve 171 Male guide portion 18 Front housing 19 Bearing 20 Motor portion 21 Motor housing 22 Brushless DC motor ( motor)
23 Motor shaft 231, 232 Bearing 24 Rotor 25 Winding 26 Insulator 27 Sensor substrate (Motor position detection unit)
28 Cooling fan 30 Handle part 31 Handle housing 33 Operation switch (operation input part)
34 switch lever 37 discharge lever 41 pinion gear 42 first intermediate gear 43 second intermediate gear 44 intermediate shaft 45 bevel gear 50 input shaft 51 input bevel gear 52 first stage sun gears 521, 522 bearing 55 outer socket 551 female guide portion 56 nut fitting portion 57 Inner socket 58 Tip fitting portion 60 Anti-slip pin 62 Stopper 63 Tip rod (displacement member)
65 Rear end portion 67 of chip rod 67 Magnetic sensor (displacement detection unit, fitting detection unit)
70 Controller (control unit)
71 Control processing device 72 Bridge circuit device 77 Battery mounting portion 78 Lower portion of motor portion 79 Lower portion of handle portion 80 Battery mounting structure 101 Drive system J Axle N Hexagon nut S Shear bolt (Torscher bolt)
Sa chip part

Claims (11)

A nut tightening machine having a motor, a control unit that controls driving of the motor, and a wrench unit that receives the driving of the motor and tightens a nut on a bolt,
The controller is
A final tightening mode in which the nut is tightened with a final tightening rotation speed and a final tightening rotation torque for completing the nut screw tightening;
A primary tightening mode for tightening the nut with a primary tightening rotation speed and a primary tightening rotation torque for setting a nut primary screw; and
The primary fastening rotational speed is set at a rotational speed higher than the final fastening rotational speed, and the primary fastening rotational torque is set at a rotational torque smaller than the final fastening rotational torque,
A nut tightening machine having a mode selection switch that enables either the main tightening mode or the primary tightening mode to be selected by a user operation. The nut tightening machine according to claim 1,
The motor has a motor shaft for rotational output, and a winding for generating a magnetic field for rotating and outputting the motor shaft,
The winding is divided into a plurality of switchable connections for each magnetic field to be generated,
The controller is
In the final tightening mode, the connections of the windings divided into a plurality are connected in series to generate a magnetic field, and in the primary tightening mode, the connections of the windings divided into a plurality are connected in parallel. A nut tightening machine that generates a magnetic field. The nut tightening machine according to claim 1 or 2,
A battery mounting part for detachably mounting the rechargeable battery as a power source is provided,
The battery mounting part is set so that a plurality of rechargeable batteries can be mounted simultaneously,
The controller is
In the final tightening mode, a plurality of rechargeable batteries mounted on the battery mounting portion are connected in parallel with each other to supply power to the windings,
In the primary tightening mode, a nut tightening machine that supplies power to the windings by connecting a plurality of rechargeable batteries mounted on the battery mounting portion in series with each other. The nut tightening machine according to claim 1,
The motor has a motor shaft for rotational output, and a winding for generating a magnetic field for rotating and outputting the motor shaft,
The winding is divided into a plurality of switchable connections for each magnetic field to be generated,
A battery mounting part for detachably mounting the rechargeable battery as a power source is provided,
The battery mounting part is set so that a plurality of rechargeable batteries can be mounted simultaneously,
The controller is
In the final tightening mode, the plurality of windings connected in series are connected in series to generate a magnetic field, and the plurality of rechargeable batteries mounted on the battery mounting unit are connected in parallel. Connect to supply power to the winding,
In the primary tightening mode, the plurality of divided windings are connected in parallel to generate a magnetic field, and the plurality of rechargeable batteries mounted on the battery mounting portion are connected in series. A nut tightening machine that connects and supplies power to the winding. In the nut tightening machine according to claim 3 or 4,
The controller is
A battery state detection unit for detecting a state of the rechargeable battery mounted on the battery mounting unit;
First connection selection means for selecting mutual connection of the windings and selecting mutual connection of the plurality of rechargeable batteries based on the state of the battery detected by the battery state detection unit; , Nut tightening machine. The nut tightening machine according to claim 5,
The state of the said battery is a nut clamping machine based on the temperature of the battery cell incorporated in the said rechargeable battery with which the said battery mounting part was mounted | worn. The nut tightening machine according to claim 5,
The state of the battery is based on either the voltage of the rechargeable battery attached to the battery attachment portion or the voltage of the battery cell built in the rechargeable battery attached to the battery attachment portion. Nut tightening machine. The nut tightening machine according to any one of claims 1 to 7,
The controller is
A motor state detector for detecting the state of the motor;
Second connection selection means for selecting mutual connection of the windings and selecting mutual connection of the plurality of rechargeable batteries based on the state of the motor detected by the motor state detection unit. , Nut tightening machine. The nut tightening machine according to claim 8,
A nut tightening machine in which the state of the motor is based on the temperature of the motor itself. The nut tightening machine according to claim 8,
The nut tightening machine, wherein the state of the motor is based on the temperature around the motor. The nut tightening machine according to any one of claims 3 to 10,
The motor is composed of a brushless motor having U phase, V phase, and W phase,
A resistance value between the U phase, V phase, and W phase of the motor is set to be not more than twice a total value of internal resistances of the plurality of rechargeable batteries mounted on the battery mounting portion. Tightening machine.

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