JP3215326U - Automatic screw tightening control and management system - Google Patents

Abstract

An object of the present invention is to easily and surely confirm and determine an appropriate screw tightening state in screw tightening work, as well as production management and screw related to screw tightening work for a production line for assembling required products. Provided is an automatic screw tightening control and management system that enables construction of a network capable of reliably performing information management on a tightening state. A load current setting value for outputting a torque-up detection signal can be variably set to a load current detection means provided in an electric motor that drives an electric driver. When the torque increase is detected by the load current detection means when the screw tightening is completed, the load current, the rotation amount of the electric motor, and the number of screw tightening are respectively compared with preset values to determine the screw tightening state. It is set so as to determine whether the quality is good or bad. [Selection] Figure 1

Description

  The present invention relates to an appropriate screw tightening state and various inappropriate screw tightening states in the screw tightening operation in an electric screwdriver configured to couple a screwdriver bit to the drive output shaft of the electric motor. It can be set so that it can be confirmed and judged easily and simply, and a wide range and large-scale of them, including a large number of electric screwdrivers used in production lines for assembling required products etc. The present invention relates to an automatic screw tightening control and management system that enables construction of a network capable of reliably performing production management related to each screw tightening operation and information management related to screw tightening states, for various production lines. .

  Conventionally, as a screw tightening device that performs screw tightening work by rotationally driving a driver bit by a driving means such as an electric motor, etc., it has various functions that can achieve screw tightening work properly and smoothly and quickly. Screw fastening devices have been proposed and put into practical use.

  For example, in an electric screwdriver configured to couple a screwdriver bit to a drive output shaft of an electric motor via a clutch mechanism and perform a screw tightening operation, screw tightening is performed with respect to a screw hole provided in a required screw mounting object. When the screw is tightened by the device, the predetermined screw tightening torque value is reached in a state where the screw is not completely screwed, and the clutch mechanism is operated to complete the screw tightening operation. is there.

  Conventionally, the present applicant can perform torque control by automatically stopping the driving of the electric driver that drives the rotary tool by detecting the load current of the electric motor without providing the above-described clutch mechanism. A screw tightening device equipped with an automatic stop device was developed, a patent application was filed, and a patent was obtained (see Patent Document 1).

  That is, in the screw tightening device including the automatic stop device described in Patent Document 1, when the electric motor is rotationally driven in a constant state, the drive shaft of the electric motor is rotationally driven during the screw tightening operation. The load current becomes an overload current due to a reaction force proportional to the screw tightening torque value applied to the drive shaft. Therefore, when the overload current proportional to the preset screw tightening torque value reaches a required value In addition, this state is detected, the electric motor is powered off, and automatic stop as an electric driver is performed.

  In addition, the applicant of the present invention is able to detect a screw tightening failure such as a screw fraying or screw floating with respect to the screw hole easily, simply and with a relatively simple configuration at a low cost and properly and reliably. The device was developed and a patent application was filed (see Patent Document 2).

  That is, the screw tightening device described in Patent Document 2 performs a screw tightening operation by rotating a rotary tool such as a driver bit by a driving means such as an electric motor, and completes tightening of a screw to a required screw mounting target. In the screw tightening device configured to detect the load torque generated in the rotary tool and to stop the rotation drive of the rotary tool when the load torque reaches a preset torque value, (1) A rotation amount detection means is provided in the rotary tool or the drive means to detect a rotation amount based on the number of rotations and rotation time associated with the rotation drive of the rotary tool, and (2) a screw head is provided at the tip of the rotary tool. Screw tightening reference by pressing the rotary tool in the axial direction when the screw shaft tip of the screw fitted with the part is positioned and abutted against the screw hole of the screw mounting object Point a (t1) is obtained by adapted to set by screwing the reference point setting means.

  (3) After the screw tightening reference time is set by the screw tightening reference time setting means, the driving means of the rotary tool is started and the screw tightening start time (t2) is set by the screw tightening start time setting means. And (4) a screw tightening completion time (t3) when the load torque generated in the rotary tool reaches a preset torque value by rotating the screw positioned and abutting on the screw hole by the rotational drive of the rotary tool. ) Is detected by the screw tightening completion time point detection means, and (5) after the screw tightening reference time point (t1) is set by the screw tightening reference time point setting means, the screw tightening start time point setting means starts the rotary tool driving means. From the screw tightening start time (t2) to the screw tightening completion time point (t3) detected by the screw tightening completion time detecting means, the rotation amount detecting means The rotation amount of the rotating tool to be output is compared with a preset reference value to determine whether it is within the allowable range and to determine whether the screw tightening is good or bad by the screw tightening quality determination means. is there.

  In the screw tightening device described in Patent Document 2, a torque setting clutch mechanism provided at the shaft coupling portion between the drive shaft of the drive means for rotating the rotary tool and the rotary tool as the screw tightening completion time detection means. By using the load current detection means for detecting the load current of the electric motor that rotationally drives the rotary tool, and the screw tightening completion time detection signal when the clutch is operated when the torque setting value set in advance is reached, It is disclosed that a screw tightening completion time point detection signal when reaching a preset load current value is used.

Japanese Examined Patent Publication No. 53-15240 JP 2010-214564 A

  As described above, in the screw tightening device described in Patent Document 2, the screw tightening reference time (t1) is set, and the rotation amount is detected from the screw tightening start time (t2) to the screw tightening completion time (t3). It is judged whether the amount of rotation of the rotating tool detected by the means is within the allowable range compared with the preset reference value, and screw tightening failure such as screw galling or screw floating in the screw hole Can be detected appropriately and reliably at a low cost by a simple and simple and relatively simple configuration.

  However, in the screw tightening operation, the dimensions of the screw to be used, the number of screws to be mounted, and the like are changed by changing the object to be screwed. In such a case, it is necessary to change the screw tightening torque value of each screw handled.

  However, in such a case, when an electric screwdriver provided with a clutch mechanism is used, a plurality of electric screwdrivers used in a required production line is composed of a mechanical configuration provided in each electric screwdriver. Since all operations for changing the torque value set in the clutch mechanism are manual operations, there is a difficulty in becoming extremely complicated. Therefore, for example, it is extremely difficult to functionally achieve production management related to each screw tightening operation for an electric screwdriver group targeting a wide variety of large-scale production lines or a plurality of production factories. .

  Therefore, the present inventor detects the required load current detecting means in the screw tightening operation by using the electric screwdriver that employs the method of detecting the load current of the electric motor proposed in the prior art. A point in time when the load current of the electric motor reaches a preset load current value is detected as a torque-up point, and the rotation amount from the screw tightening start point is sequentially detected together with the load current value of the electric motor at the point of detection of the torque-up. We focused on configuring the electric screwdriver to detect or record.

  That is, in the present invention, the electric screwdriver having the above-described configuration differs from the electric screwdriver provided with the clutch mechanism by changing the object to be screwed, etc. In the case where the number or the like is changed, it has been found that the setting of the load current value of the electric motor which becomes a reference when the torque of each electric driver is increased can be easily changed by a digital signal by computer control or the like.

  Therefore, in the present invention, the load current required to increase the torque of the electric motor to be set in advance for proper screw tightening work at the start of performing predetermined screw tightening work using the electric screwdriver having the above-described configuration. The value is set, and then the screw tightening operation associated with the driving of the electric motor is started, and the detection of the rotation amount of the electric motor by the required rotation amount detection means is started. It detects when the load current detected by the detection means reaches the load current set value, and detects and records the amount of rotation from the start of screw tightening of the electric motor at the time of this torque increase detection. Then, the rotation amount detected and recorded in this case is compared with a preset target rotation amount, and if the rotation amount matches the target rotation amount (including an allowable range), it is determined that the screw is properly tightened. It was also found that if the rotation amount does not match the target rotation amount (including the allowable range), it is possible to easily and reliably determine that the screw tightening state is defective or abnormal.

  In the present invention, the load current detection means is set so as to detect and record a load current value sequentially detected in each predetermined screw tightening operation, and a preset load current setting is performed until the torque up detection time is reached. By comparing with a value (including an allowable range), it is possible to determine whether or not the screw tightening state is good and to display the determination result. That is, in this case, whether the screw tightening state is good or bad can be determined by comparing time-series changes in the load current value up to the time point when the torque increase is detected by the load current detecting means, for example, a load current pattern.

  In addition, when the rotation amount of the electric motor sequentially detected by the time of torque increase detection in each predetermined screw tightening operation is compared with the target rotation amount set in advance as described above, the setting of the target rotation amount is performed. The rotation amount of the electric motor detected from the value until the time of torque increase detection in a predetermined screw tightening operation is calculated to be sequentially added, and the final rotation amount detection value is the target rotation amount (including the allowable range). It can be set to be compared with the set value.

  Furthermore, when performing the screw tightening operation using the load current detecting means described above, in order to efficiently perform the screw tightening operation, it is necessary to drive the electric motor at a high speed from the start of the screw tightening. In this case, when the screw is seated on the attachment object and the screw is tightened, the tightening torque varies greatly due to the influence of the inertia of the armature of the electric motor, etc., and the target load current that detects torque increase is detected. There is a problem that it is impossible to perform screw tightening with a constant screw tightening torque that is always stable, especially in the screw tightening operation of a small screw, such as a large overshoot with respect to the value.

  From this point of view, various settings have been proposed in the past to detect the timing of the above-described screw seating and to perform setting control so that the electric motor is switched to the low-speed rotation drive from the seating time point to perform screw tightening. ing. However, as the conventional means for detecting the seating state, for example, a detection signal is generated at the time before the seating depending on the relative position between the driver bit and the attachment object, or the seating torque is set, or the seating timing is set by a timer. In other words, the seating state is detected, and finally, the load current value corresponding to the tightening torque is detected to determine the completion of the screw tightening.

  Therefore, in the present invention, in a predetermined screw tightening operation by the electric screwdriver, the seating state of the screw to be attached is determined based on the load torque (reaction force) applied to the screwdriver bit. In the speed reduction mechanism composed of a planetary gear and an internal gear coupled to each other, it is possible to detect in combination with the operation of mechanically absorbing the reaction force generated in the seating state, and the detection time of the seating state The electric motor is switched to a low-speed rotation drive to perform screw tightening, and a torque-up state is detected based on a load current value detected by the load current detecting means, and the torque-up state is detected from the start of screw tightening. The amount of rotation of the electric motor up to the point in time is sequentially detected by the amount of rotation detection means, and the amount of rotation detected at the point of time when the torque is detected is detected. By comparing the target rotation amount set order (including tolerance), we have found that it is possible to obtain an automatic screwing control and management system capable of determining the quality of screw tightening state stably and reliably.

  In addition, when the rotation amount detected at the time of the torque increase detection described above is compared with a preset target rotation amount (including the allowable range), the target rotation amount (including the allowable range) is set to a predetermined screw tightening. In the first proper screw tightening work in the work, the rotation amount detected from the start time of screw tightening to the torque up detection time can be set as a target rotation amount (including an allowable range). In this case, the average value of the rotation amounts detected from the screw tightening start time to the torque increase detection time in the first proper plural times of screw tightening operations in the predetermined screw tightening operation is set as the target rotation amount (including the allowable range). ) Is preferable.

  In addition, when the rotation amount of the electric motor sequentially detected by the time of torque increase detection in each predetermined screw tightening operation is compared with the previously set first target rotation amount, the first target rotation amount is compared. Calculation is performed so as to successively subtract the rotation amount of the electric motor detected from the set value of the rotation amount until the torque is increased in a predetermined screw tightening operation, and finally the second target rotation amount is set to 0 (including the allowable range). ) So that the final detected value of the rotation amount is compared with the set value of the second target rotation amount (including the allowable range).

  Further, in the present invention, in the predetermined screw tightening work by the electric screwdriver, the load current accompanying the completion of screw tightening from the start of screw tightening scheduled by a prior trial or the like based on a standard of a screw to be used in advance. Also by setting the rotation amount of the electric motor at the time of detection of torque increase by the detection means as a target rotation amount (including an allowable range), in the predetermined screw tightening operation, the screw tightening from the start time of screw tightening is completed. The amount of rotation of the electric motor up to the point of time when the torque current is detected by the load current detecting unit is sequentially detected by the amount of rotation detection unit, and the amount of rotation detected at the point of time when the torque is detected is determined as the target amount of rotation (including an allowable range). By comparing, it was ascertained that the determination of the quality of the screw tightened state can be properly achieved.

  In the above device, the electric screwdriver is provided with a push operation switch or an encoder that is operated by an axial displacement at the time of contact of the screwdriver bit with an object to be screwed, and an operation signal of the push operation switch or the encoder is provided. By detecting, it can set as a screw fastening start time at the time of performing a screw fastening operation | work.

  Furthermore, in the present invention, in the required screw tightening work, the number of screws that need to be tightened is set in advance, and the number of screws that have been tightened is detected and recorded when performing sequential screw tightening. At the same time, by detecting and recording the number of each screw according to the determination of the quality of each screw tightening state, it is possible to perform better control and management for the screw tightening operation. In other words, according to such an automatic screw tightening control and management system, for example, for a production line that performs various screw tightening operations, including a case where a network of those wide-area and large-scale various production lines is configured. Therefore, it is possible to easily construct an excellent production management system.

  Therefore, the purpose of the present invention is to simply and surely confirm the proper screw tightening state in the screw tightening operation in an electric screwdriver configured to couple the screwdriver bit to the drive output shaft of the electric motor and perform the screw tightening operation. Production management for each screw tightening operation and information management regarding the screw tightening state for production lines that assemble required products, etc. or their wide-area and large-scale production lines, etc. An object of the present invention is to provide an automatic screw tightening control and management system that enables construction of a network that can be performed reliably.

In order to achieve the above object, an automatic screw tightening control and management system according to claim 1 of the present invention reduces an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor. A switch operating member for operating the drive switch, and a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit in the electric motor. And a load current detection means for outputting a predetermined torque-up detection signal when the load current reaches a preset set value, an electric motor control circuit for performing drive and stop control of the electric motor, Consists of an electric screwdriver with
In a predetermined screw tightening operation by the electric screwdriver, a load current setting value for outputting the torque-up detection signal to the load current detection means is variably set by a required communication control means,
The load current value from the start time of screw tightening to the time of torque increase detection upon completion of screw tightening is detected by the load current detecting means, and the load current value detected at the time of torque increase detection is set in advance. A control unit configured to determine whether the screw tightening state is good or bad by comparing with the value is provided.

An automatic screw tightening control and management system according to claim 2 of the present invention is coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a reduction mechanism. A load operating device that detects a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit in the electric motor, and a switch operating member that operates the drive switch. Load current detecting means for outputting a predetermined torque-up detection signal when the motor reaches a preset set value, an electric motor control circuit for controlling driving and stopping of the electric motor, and a rotation amount of the electric motor. Comprising an electric screwdriver provided with a rotation amount detecting means for detecting each,
In a predetermined screw tightening operation by the electric screwdriver, a load current setting value for outputting the torque-up detection signal to the load current detection means is variably set,
The rotation amount detection means sequentially detects the rotation amount of the electric motor from the start time of screw tightening to the time of torque increase detection accompanying the completion of screw tightening, and the rotation amount detected at the time of torque increase detection is set in advance. A control unit configured to determine whether the screw tightening state is good or bad by comparing with the rotation amount (including an allowable range) is provided.

An automatic screw tightening control and management system according to claim 3 of the present invention is coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a reduction mechanism. A load operating device that detects a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit in the electric motor, and a switch operating member that operates the drive switch. Load current detecting means for outputting a predetermined torque-up detection signal when the motor reaches a preset set value, an electric motor control circuit for controlling driving and stopping of the electric motor, and a rotation amount of the electric motor. Comprising an electric screwdriver provided with a rotation amount detecting means for detecting each,
In a predetermined screw tightening operation by the electric screwdriver, a load current setting value for outputting the torque-up detection signal to the load current detection means is variably set,
The load current value from the start time of screw tightening to the time of torque increase detection upon completion of screw tightening is detected by the load current detecting means, and the load current value detected at the time of torque increase detection is set in advance. By setting to determine whether the screw tightening state is good or bad by comparing with the value,
Further, the rotation amount of the electric motor from the start time of screw tightening to the time of torque increase detection by the load current detection means upon completion of screw tightening is sequentially detected by the rotation amount detection means and detected at the time of torque increase detection. A control unit configured to determine whether or not the screw tightening state is good by comparing the rotation amount with a preset target rotation amount (including an allowable range) is provided.

An automatic screw tightening control and management system according to claim 4 of the present invention is coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a reduction mechanism. A load operating device that detects a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit in the electric motor, and a switch operating member that operates the drive switch. Load current detecting means for outputting a predetermined torque-up detection signal when the motor reaches a preset set value, an electric motor control circuit for controlling driving and stopping of the electric motor, and a rotation amount of the electric motor. Comprising an electric screwdriver provided with a rotation amount detecting means for detecting each,
The load current setting value for outputting the torque-up detection signal to the load current detection means can be set variably, and the load torque (reverse force) applied to the driver bit in a predetermined screw tightening operation by the electric screwdriver. Based on the force), the seating state of the screw to be mounted is set to be detectable,
The electric motor is switched to low-speed rotation drive from the time of detection of the seating state and screwed, and set to detect the torque-up state based on the load current value detected by the load current detection means,
Furthermore, the rotation amount of the electric motor accompanying the completion of screw tightening from the start time of screw tightening to the detection time of the torque-up state is sequentially detected by the rotation amount detection means, and the rotation amount detected at the torque-up detection time is detected. A control unit configured to determine whether the screw tightening state is good or bad by comparing with a preset target rotation amount (including an allowable range) is provided.

  According to a fifth aspect of the present invention, there is provided an automatic screw tightening control and management system according to a screw mounting target based on a load torque (reaction force) applied to the driver bit in a predetermined screw tightening operation by the electric screwdriver. The setting for detecting the seating state of the object is to mechanically absorb the reaction force generated in the seating state in a reduction mechanism comprising a planetary gear and an internal gear coupled to the output shaft of the electric motor. It is characterized in that the detection is performed in combination with the operation to be performed.

  The automatic screw tightening control and management system according to claim 6 of the present invention is configured to compare the rotation amount detected at the time of the torque increase detection with a preset target rotation amount (including an allowable range). The rotation amount (including the permissible range) is calculated based on the rotation amount detected from the start of screw tightening to the time of torque increase detection in the first proper screw tightening operation in a predetermined screw tightening operation. Including) is set in the control unit.

  The automatic screw tightening control and management system according to claim 7 of the present invention is configured such that when the rotation amount detected at the time of the torque increase detection is compared with a preset target rotation amount (including an allowable range), the target The amount of rotation (including the allowable range) is a target of the average value of the amount of rotation detected from the screw tightening start time to the torque-up detection time in the first proper multiple times of screw tightening operations. The rotation amount (including the allowable range) is set in the control unit.

  The automatic screw tightening control and management system according to claim 8 of the present invention makes it possible to variably set the number of screws to be screwed in a predetermined screw tightening operation by the electric screwdriver, and torque from the start of the screw tightening. In addition to detecting and recording the number of screws up to the time of up detection, the screw tightening state is detected and recorded, and the number of screws detected and recorded is compared and the number of screws is compared. It is characterized in that a control unit is provided which is set so as to determine whether the quality is good or bad.

According to a ninth aspect of the present invention, there is provided an automatic screw tightening control and management system, wherein a production line for assembling a required product using a plurality of the electric drivers together with a management terminal via a control device. , Combined with the communication network connected to the central management center,
When performing predetermined screw tightening work by each electric screwdriver in any one of the production lines, it is provided in a central management center and the production line via a communication network based on a command of a management terminal corresponding to the production line Performs communication control with the control device, and variably sets the load current setting value for outputting the torque-up detection signal to the load current detection means of each electric driver set in the production line It is comprised so that it may carry out.

  The automatic screw tightening control and management system according to claim 10 of the present invention is characterized in that time series data or pattern of the load current from the load current detection start time to the torque up detection time by the load current detecting means, and rotation The target rotation amount detected by the amount detection means, the number of screw tightening of the screw that has been tightened, and the number of screw tightening of the screw that has been determined to be proper are configured to be settable, respectively. .

  According to the automatic screw tightening control and management system according to claim 1 of the present invention, a driver bit is coupled to the drive output shaft of the electric motor via the speed reduction mechanism, and is given to the driver bit in the electric motor control circuit. Load current detection means for detecting a load current obtained in the electric motor based on the load torque (reaction force) is provided, and a predetermined torque-up detection signal is output when the load current reaches a preset set value. When a predetermined screw tightening operation is performed using an electric screwdriver configured as described above, a load current set value for outputting the torque-up detection signal to the load current detecting means can be varied by a required communication control method or means. The screw tightening torque setting of the electric screwdriver can be set digitally without any mechanical operation. Simultaneously it is possible to reliably achieve a uniform torque setting to manage it is possible to set easily and quickly by the data set, for example, with respect to a plurality of electric screwdriver according to Patent.

  According to the automatic screw tightening control and management system according to the second aspect of the present invention, as described above, when the predetermined screw tightening operation is performed, the torque up detection signal is output to the load current detecting means. By making the load current setting value variable, the setting of the screw tightening torque of the electric screwdriver can be easily and quickly set by data setting with a digital signal without mechanical operation. For example, uniform torque setting or management can be reliably achieved simultaneously for a plurality of electric drivers.

  In the present invention, the rotation amount is detected by the rotation amount detection means for detecting the rotation amount of the electric motor, and the load current set value preset by the load current detection means is detected at the time of torque increase detection. By setting a target rotation amount (including an allowable range) with respect to the rotation amount detection signal detected by the rotation amount detection unit at the time, at the time when the torque current is detected by the load current detection unit, By comparing the rotation amount detection signal detected by the rotation amount detection means with a preset target rotation amount (including an allowable range), it is possible to easily and easily determine whether the screw tightening state is good or not. It is possible to reliably confirm and determine the proper screw tightening state in the work. Therefore, according to the present invention, even an unskilled person in screw tightening work can easily and accurately achieve the screw tightening work.

  According to the automatic screw tightening control and management system of the third aspect of the present invention, as described above, when the predetermined screw tightening operation is performed, the torque up detection signal is output to the load current detecting means. By making the load current setting value variable, the setting of the screw tightening torque of the electric screwdriver can be easily and quickly set by data setting with a digital signal without mechanical operation. For example, uniform torque setting or management can be reliably achieved simultaneously for a plurality of electric drivers.

  According to the automatic screw tightening control and management system of the present invention, as the load current set value for the load current detecting means, for example, the time point when the torque current is detected by the load current detecting means accompanying the completion of screw tightening from the start time of screw tightening. By setting the load current time-series data or pattern as the load current value until, the load current time-series data or the load current detected from the start of screw tightening by the load current detecting means until the torque-up detection time By comparing with the pattern, the quality of the screw tightening state can be easily and easily determined, and the proper screw tightening state in the screw tightening operation can be surely confirmed and determined. Therefore, according to the present invention, even an unskilled person in screw tightening work can easily and accurately achieve the screw tightening work.

  In the present invention, as the load current setting value for the load current detecting means, for example, as the load current value from the start time of screw tightening to the time of torque increase detection by the load current detecting means accompanying the completion of screw tightening, the load current By setting the time series data or pattern of the load current, the screw current tightening is compared with the time series data or pattern of the load current detected from the time of starting the screw tightening by the load current detecting means to the time of torque increase detection. It is possible to easily and easily determine the quality of the state, and the rotation amount is detected by the rotation amount detection means for detecting the rotation amount of the electric motor, and the load current set in advance by the load current detection means The rotation detected by the rotation amount detecting means at the time of detecting the torque increase when the set value is detected. By setting a target rotation amount (including an allowable range) with respect to the amount detection signal, the rotation amount detection signal detected by the rotation amount detection unit at the time of torque increase detection by the load current detection unit in the same manner as described above. By comparing with a preset target rotation amount (including the allowable range), it is possible to easily and easily determine the quality of the screw tightening state, and to confirm and confirm the proper screw tightening state in the screw tightening operation. Can be determined. Therefore, according to the present invention, even an unskilled person in screw tightening work can easily and accurately achieve the screw tightening work.

  According to the automatic screw tightening control and management system according to claim 5 of the present invention, an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor are coupled via a speed reduction mechanism. A driver bit, a switch operating member for operating the drive switch, and a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit in the electric motor and Load current detection means for outputting a predetermined torque-up detection signal when the load current reaches a preset set value, an electric motor control circuit for controlling driving and stopping of the electric motor, and rotation of the electric motor A rotation amount detecting means for detecting the amount, and using an electric screwdriver provided respectively, the load current detection Based on load torque (reaction force) applied to the driver bit in a predetermined screw tightening operation by the electric screwdriver, while making it possible to variably set a load current set value for outputting the torque-up detection signal to the stage The seating state with respect to the mounting object of the screw can be detected, the electric motor is switched to the low-speed rotation drive from the time when the seating state is detected, and the screw is tightened, and the load current value detected by the load current detecting means is used. Then, the torque-up state is detected, and the rotation amount of the electric motor from the start point of screw tightening to the detection point of the torque-up state is sequentially detected by the rotation amount detection means, and the rotation detected at the torque-up detection point is detected. By comparing the amount with the preset target rotation amount (including the allowable range), it is always possible to check the quality of the screw tightening state. It can be determined constant and reliably.

  According to the automatic screw tightening control and management system according to claim 6 of the present invention, in a predetermined screw tightening operation by the electric screwdriver, the screw tightening is based on a load torque (reaction force) applied to the driver bit. When detecting the seating state with respect to the attachment target, the reaction force generated in the seating state is mechanically absorbed by a reduction mechanism including a planetary gear and an internal gear coupled to the output shaft of the electric motor. By detecting in combination with the operation, the influence of the inertia of the armature of the electric motor can be avoided when the screw is seated on the mounting object and the screw is tightened. In the screw tightening operation, it is possible to always perform screw tightening with a constant screw tightening torque.

  According to the automatic screw tightening control and management system according to claims 7 and 8 of the present invention, when the rotation amount detected at the time of torque increase detection is compared with a preset target rotation amount (including an allowable range). The target rotation amount (including the permissible range) is the target rotation amount (the rotation amount detected from the start time of screw tightening to the torque increase detection time in the first proper screw tightening operation in a predetermined screw tightening operation). In this case, it is detected from the start time of screw tightening to the time of torque increase detection in the first proper plural times of screw tightening work in a predetermined screw tightening work. By setting the average value of the rotation amount as the target rotation amount (including the allowable range) in the control unit, a more appropriate and simple screw tightening operation can be achieved easily and accurately. Rukoto can.

  According to the automatic screw tightening control and management system of the present invention, when a predetermined screw tightening operation is performed, the number of screws to be screwed can be set variably, and from the start of screw tightening to the time of torque increase detection. The number of reached screws is detected and recorded, the quality of the screw tightening state is determined and recorded, and the number of detected screws is detected and recorded, and the number of screws is compared to determine the quality of the screw tightened state. By combining with each of the above-described determination methods or determination means, a more appropriate and simple screw tightening operation can be achieved easily and accurately.

  According to the automatic screw tightening control and management system of the present invention, it becomes possible to accurately detect the rotation amount of the electric motor during the actual screw tightening operation, and based on this, various screw tightening abnormalities can be detected. The detection of the state can be facilitated, and the proper screw tightening state in the screw tightening operation can be reliably confirmed and determined. In this way, according to the present invention, it is possible to smoothly and easily achieve data collection or image processing related to control detected in the electric driver to be used, and to enhance the control data processing function as the electric driver.

  In particular, according to the automatic screw tightening control and management system of the present invention, by appropriately providing a rotary encoder as the rotation amount detection means of the electric motor, the electric motor can be appropriately detected from the screw tightening start time to the torque up time. The rotation amount can be properly detected.

  According to the automatic screw tightening control and management system according to claims 9 and 10 of the present invention, each electric screwdriver is used in a production line for assembling a required product using the electric screwdriver comprising a plurality of units. In the predetermined screw tightening work by the communication control is performed between a central management center and a control device provided in the production line via a communication network based on a command of a management terminal corresponding to the production line, and the production By setting the load current setting value for outputting the torque-up detection signal variably to the load current detection means of each electric driver set in the line, a plurality of units provided in the production line Simultaneously set screw tightening torque of electric screwdriver by data setting by digital signal without mechanical operation A uniform torque setting or management can be achieved easily and quickly, yet it is possible to easily realize the construction of a production control system in a production line and their network for various screwing operation.

  It is explanatory drawing which shows the schematic system configuration | structure which shows one embodiment of the automatic screw fastening control and management system which concerns on this invention, and its control system.   It is explanatory drawing which shows the general | schematic system structure which shows another embodiment of the automatic screw fastening control and management system which concerns on this invention, and its control system.   It is a flowchart figure which shows the screw tightening control program for performing the screw tightening quality determination by the automatic screw tightening control and management system which concerns on this invention.   It is a flowchart figure which shows another screw tightening control program for performing the screw tightening quality determination by the automatic screw tightening control and management system which concerns on this invention.   It is a flowchart figure which shows another screw tightening control program for performing the screw tightening quality determination by the automatic screw tightening control and management system which concerns on this invention.   It is explanatory drawing which shows the schematic system configuration | structure which shows another embodiment of the automatic screw fastening control and management system concerning this invention, and its control system.   6 is a cross-sectional view of an essential part of an electric screwdriver showing an embodiment of a seating state detection mechanism for detecting the seating state of a screw in screw tightening work in the system configuration shown in FIG. 6 as an automatic screw tightening control and management system according to the present invention. FIG.   FIG. 7B is an exploded explanatory view of the seating state detection mechanism shown in FIG. 7A.   It is a flowchart figure which shows the screw tightening control program by the system configuration | structure shown in FIG. 6 for performing the screw tightening quality determination by the automatic screw tightening control and management method concerning this invention.   It is a flowchart figure which shows the screw tightening control program added to the screw tightening control program shown in FIG.3, FIG.4, FIG.5 and FIG.8 which perform the screw tightening quality determination by the automatic screw tightening control and management system based on this invention, respectively. .   It is explanatory drawing which shows the general | schematic system configuration | structure which shows the embodiment at the time of constructing the network system by remote operation by multiplexing the automatic screw fastening control and management system which concerns on this invention, and its control system.   It is explanatory drawing which shows the system configuration | structure of the central management center (server) in the network system shown in FIG.   It is explanatory drawing which shows the system configuration | structure of the control apparatus in the network system shown in FIG.   It is explanatory drawing which shows the function content of the management terminal in the network system shown in FIG.

  Next, the system configuration of the automatic screw tightening control and management system according to the present invention will be described in detail with reference to the accompanying drawings.

[ Configuration of automatic screw tightening control and management system (1) ]
FIG. 1 is a schematic system configuration diagram showing an embodiment of an automatic screw tightening control and management system according to the present invention. That is, in FIG. 1, reference numeral 10 </ b> A denotes an electric driver, and an electric motor 12, a drive switch 13 for driving the electric motor 12, and a drive output of the electric motor 12 are included in a grip portion of the electric driver 10 </ b> A. A speed reduction mechanism 16 coupled to a shaft (not shown) is built in, and a driver bit 20 is coupled via the speed reduction mechanism 16.

  In the electric driver 10 </ b> A, a switch operation member 14 that operates the drive switch 13 of the electric motor 12 and an electric motor control circuit 22 that performs drive control and stop control of the electric motor 12 are provided. The electric motor control circuit 22 is provided with a rotation amount detecting means 24 for detecting the rotation amount of the precursor electric motor 12. Furthermore, load current detection means 26 for detecting the load current obtained in the electric motor 12 based on the load torque (reaction force) applied to the driver bit 20 is appropriately provided.

  In the electric driver 10A of this embodiment, a brushless motor can be suitably used as the electric motor 12. Further, the switch operating member 14 for operating the drive switch 13 to drive the electric motor 12 can be configured as a known lever member provided on the outer periphery of the grip portion of the electric driver 10, for example.

  In this embodiment, the rotation amount detection means 24 for detecting the rotation amount of the electric motor 12 counts pulses generated at the time of magnetic pole detection with respect to the Hall element that detects the magnetic pole of the rotor in the brushless motor. It can be provided as a means. In this case, the count number of the pulses detected by the rotation amount detection means 24 can be detected and recorded as a rotation amount correlated with the screw tightening rotation amount in the screw tightening operation accompanying the rotation of the driver bit 20.

  Furthermore, the load current detection means 26 for detecting the load current of the electric motor 12 can be provided as means for detecting the load current in the power supply circuit of the electric motor 12. In this case, the detected load current value of the electric motor 12 can be detected and recorded as a load current value correlated with a screw tightening torque value in the screw tightening operation accompanying the rotation of the driver bit 20.

  Therefore, in this embodiment, the control unit 30 is provided, and when the CPU 32 starts screw tightening work on the electric motor control circuit 22 provided in the electric motor 12 in the electric driver 10, the switch operation member is provided. The drive switch operation signal S13 obtained by the operation of the drive switch 13 operated by 14 is input, and based on this drive switch operation signal S13, the motor drive control signal S22a is output and input to the electric motor control circuit 22 Thus, the drive control of the electric motor 12 is performed.

  When a required screw tightening operation is performed by driving the electric motor 12, the CPU 32 detects the rotation amount detected by the rotation amount detection means 24 at the drive start time t0 of the electric motor 12 accompanying the start of the screw tightening operation. Based on the detection signal S24, the rotation amount Rx of the electric motor 12 is set to be detected and recorded.

  Further, similarly to the above, at the driving start time t0 of the electric motor 12 accompanying the start of the screw tightening operation, it is proportional to the screw tightening torque value based on the load current detection signal S26 detected by the load current detecting means 26. The load current value Ix is set to be detected and recorded.

  In the CPU 32, the load current detection value Ix detected by the load current detection means 26 is sequentially detected and recorded, and compared with a load current setting value Im corresponding to a preset screw tightening torque value, the load current detection value Ix is detected. When the current detection value Ix coincides with the load current setting value Im, the torque up detection time tm is set.

  In the CPU 32, the rotation amount Rx sequentially detected and recorded by the rotation amount detection means 24 of the electric motor 12 at the torque-up detection time tm detected and set by the load current detection means 26 is set as a preset target. Compared with the rotation amount Rm ± α (± α is an allowable range), it is set so as to determine whether the screw tightening state is good or bad.

  Similarly to the above, at the torque up detection time point tm detected and set by the load current detection means 26, the load current detection value I · DPx sequentially detected and recorded by the load current detection means 26 is set in advance. Compared with time series data of load current or load current pattern I · DPm, it is set to determine whether the screw tightening state is good or bad.

  Furthermore, in the present embodiment, the number of screws to be tightened can be set. Similarly to the above, at the torque-up detection time tm detected and set by the load current detection means 26, from the screw tightening start time. Detect and record the number of screws that have reached the point of torque-up detection, detect and record the number of screws that have been detected to determine whether the screw tightening is good, and compare the number of screws. It is set to determine whether the state is good or bad.

  As described above, when the torque increase detection time point tm is detected and set by the load current detection means 26, the motor stop control signal S22b is output and input to the electric motor control circuit 22 via the CPU 32. Thus, the electric motor 12 is configured to be stopped.

  In the present embodiment, as described above, the CPU 32 of the control unit 30 compares the rotation amount Rx detected at the torque-up detection time tm with the target rotation amount Rm ± α set in advance. Comparing the load current detection value I · PDx detected at the torque-up detection time tm to the load current setting value I · PDm set in advance when it is determined whether the screw tightening state is good or bad Thus, when it is determined whether the screw tightening state is good or bad, each determination content is appropriately displayed on the display 40 by one of the screw tightening determination signals S40 output from the CPU 32.

[ Configuration of automatic screw tightening control and management system (2) ]
FIG. 2 is a schematic system configuration diagram showing another embodiment of the automatic screw tightening control and management system according to the present invention. For convenience of explanation, the system configuration shown in FIG. 1 described above and the same components have the same functions, and thus the same reference numerals are given and detailed descriptions thereof are omitted.

  That is, in the electric driver 10B of the present embodiment, an electric motor other than the brushless motor can be applied as the electric motor 12, so that the rotation amount detecting means of the electric motor 12 is publicly known for the drive shaft of the electric motor 12. The first encoder 25 composed of the rotary encoder is added. Accordingly, in the present embodiment, the rotation amount of the electric motor 12 is determined as the rotation amount detection means by inputting the encoder detection signal S25 detected by the first encoder 25 to the CPU 32 of the control unit 30. Can be set. In this case, the encoder detection signal S25 detected by the first encoder 25 can be detected and recorded as a rotation amount correlated with a screw tightening rotation amount at the time of screw tightening of the driver bit 20 rotated by the electric motor 12. it can.

  In the electric driver 10B of this embodiment, a second encoder 29 including a known rotary encoder coupled to the driver bit 20 can be provided as a rotation amount detection unit of the driver bit 20. Accordingly, the rotation amount of the driver bit 20 can be set as rotation amount detection means by inputting the encoder detection signal S29 detected by the second encoder 29 to the CPU 32 of the control unit 30. . In this case, the encoder detection signal S29 detected by the second encoder 29 can be detected and recorded as a rotation amount correlated with the screw tightening rotation amount in the screw tightening operation by the rotation of the driver bit 20.

  In the electric driver 10B of this embodiment, the other configurations are the same as those of the above-described embodiment. Therefore, in the CPU 32 of the control unit 30, the preset target rotation amount Rm ± α is the same as in the above-described embodiment. In comparison with the rotation amount detection value Rx sequentially detected at the torque-up detection time point tm, and whether or not each of the above-described screw tightening states is determined to be good and / or a preset load current When it is determined whether each of the above-described screw tightening states is good or bad by comparing the value I · DPm with the load current detection value I · DPx detected at the torque-up detection time tm, the CPU 32 outputs the result. Each determination content is appropriately displayed on the display 40 by any one of the screw tightening determination signals S40. It is.

  In the present embodiment, the screw tightening is performed by using the first encoder 25 or the second encoder 29 that detects the rotation amount correlated with the screw tightening rotation amount at the time of the screw tightening operation of the driver bit 20. It is possible to appropriately and easily detect and record from the screw tightening start time t0 to the torque-up time tm when performing the work, and appropriately detect the rotation amount of the electric motor as the rotation amount detection means of the electric motor. Can do.

  Next, as automatic screw tightening control and management methods (1) to (3) by the automatic screw tightening control and management system having the above-described configuration, the control flow charts for determining whether or not the screw tightening state is good (FIGS. 3 to 5). Reference) is also described.

[ Automatic screw tightening control and management method (1) ]
In the present control and management method (1), when a required screw tightening operation is started, the drive switch 13 is operated by operating the switch operation member 14, and the motor drive control signal S22a is sent to the electric motor control circuit 22. Then, the drive control of the electric motor 12 is performed, and the drive of the electric driver 10 is started (see FIGS. 1 and 2).

  In this control and management method (1), basically, at the start of the screw tightening operation accompanying the driving of the electric drivers 10A, 10B, the torque increase detection time tm is set in the load current detecting means 26 with the completion of the screw tightening. The load current set value Im is set to be detected by the CPU 32. That is, in this case, the set load current setting value Im is used by appropriately transmitting / receiving digital signals (wired or wireless) to the load current setting memory provided in the CPU 32 using an external operation device. It can be set so as to be able to detect an appropriate screw tightening state in conformity with the standard of the screw to be used.

  Therefore, in the present control and management method (1), as shown in FIG. 3, the load current setting detected by the load current detection means 26 when a predetermined screw tightening operation is performed by the electric drivers 10A and 10B. As a value Im, together with a predetermined load current setting value Im that sets a torque-up detection time tm with the completion of screw tightening, a load current detection value Ix that is sequentially detected and recorded from the screw tightening start time t0 to the completion of screw tightening. The load current detection value I · DPm as the time series data or load current pattern (I · DPx) of the detected load current is set (STEP-1).

  Then, in a predetermined screw tightening operation thereafter, the load current value Ix from the screw tightening start time t0 (STEP-2) to the torque up detection time tm by the load current detecting means 26 accompanying the completion of the screw tightening is sequentially increased. At the torque-up detection time tm (STEP-4) at which the load current set value Im is detected (Ix = Im) by the load current detecting means 26 after being detected and recorded (STEP-3), the load current detecting means 26 By comparing the time series data or load current pattern I · DPx of the load current sequentially detected and recorded with the time series data or load current pattern I · DPm of the preset load current (STEP-5), screw tightening Set to determine whether the state is good or bad.

  In this case, if the load current detection value Ix detected by the load current detection means 26 does not match the load current setting value Im (Ix ≠ Im), it indicates that the screw cannot be tightened, and the load current detection value Based on the detection signal when Ix matches the load current set value Im (Ix = Im), the number SNx of screws that have been screwed can be calculated.

  Further, when the load current time series data or load current pattern I · DPx sequentially detected and recorded by the load current detecting means 26 is compared with a preset load current time series data or load current pattern I · DPm. If the detected value (I · DPx) and the set value (I · DPm) are approximate (I · DPx≈I · DPm), it is determined that the screw is properly tightened (STEP-6) and is not approximated. In this case, it is possible to determine that the screw tightening state is defective (STEP-7). Therefore, based on the detection signal (STEP-6) determined to be appropriate, the number SNn of screws that have been properly screwed can be calculated.

  Therefore, in the present control and management method (1), as proposed by the present applicant in Japanese Patent No. 4721535, in the electric screwdriver 10, the axial direction at the time of contact of the screwdriver bit 20 with the screw mounting object is determined. A push operation switch (not shown) that operates by displacement is provided, and a screw tightening start time t0 when performing the screw tightening operation can be set by an operation signal of the push operation switch.

  That is, as the push operation switch, for example, a support shaft that supports the driver bit 20 is coupled by a shaft joint so as to be elastically displaceable in the axial direction, and a magnet is provided at a displacement portion of the support shaft. It can be set as the structure which has arrange | positioned the magnetic sensor (hall element) in the outer peripheral part of the said support shaft so that it may oppose.

[ Automatic screw tightening control and management method (2) ]
In the present control and management method (2), in the same manner as in the control and management method (1), at the start of the screw tightening operation accompanying the driving of the electric drivers 10A and 10B, The load current set value Im set as the torque-up detection time tm is set so as to be detected by the CPU 32. That is, in this case, the set load current setting value Im is adapted to the standard of the screw to be used by appropriately transmitting / receiving digital signals to / from the load current setting memory provided in the CPU 32 using an external operation device. Thus, the proper screw tightening state can be detected.

  In the present control and management method (2), as shown in FIG. 4, the load current setting value Im detected by the load current detection means 26 when performing predetermined screw tightening work by the electric drivers 10A, 10B. As the screw tightening is completed, a predetermined load current setting value Im for setting the torque-up detection time point tm is set (STEP-11a).

  1 is started, the rotation of the electric motor 12 is rotated on the basis of the rotation amount detection signal S24 detected by the rotation amount detection means 24 provided in the electric motor 12. The amount Rx is set so as to be sequentially detected and recorded by the CPU 32 (see FIG. 1), and as shown in FIG. 4, a target rotation amount Rm ± α (including an allowable range) at the torque-up detection time tm is set. (STEP-11b).

  Further, when performing the predetermined screw tightening work by the electric screwdriver 10B shown in FIG. 2, the detection signal S25 or S29 detected by the encoder 25 or the encoder 29 from the start of the screw tightening work accompanying the driving of the electric screwdriver 10B. Based on this, the rotation amount Rx of the electric motor 12 is set so as to be sequentially detected and recorded by the CPU 32 (see FIG. 2), and in the same manner as described above, the target rotation amount Rm ± α (allowable at the torque-up detection time tm). (Including range) is set (STEP-11b).

  Therefore, in the present control and management method (2), as shown in FIG. 4, in the predetermined screw tightening operation, the load current detecting means accompanying the completion of screw tightening from the screw tightening start time t0 (STEP-12). 26, the load current value Ix up to the torque up detection time tm is sequentially detected and recorded (STEP-13a), and the load current detection value 26 is detected by the load current detection means 26 (Ix = Im). tm is confirmed (STEP-14).

  In this case, if the load current detection value Ix detected by the load current detection means 26 does not match the load current setting value Im (Ix ≠ Im), it indicates that the screw cannot be tightened, and the load current detection value Based on the detection signal when Ix matches the load current set value Im (Ix = Im), the number SNx of screws that have been screwed can be calculated.

  In this control and management method (2), based on the rotation amount detection signal S24 detected by the rotation amount detection means 24 provided in the electric motor 12 or the detection signals S25 and S29 detected by the encoders 25 and 29. The rotation amount Rx (STEP-13b) is detected by detecting the rotation amount Rn when the load current detecting means 26 confirms the torque-up detection time tm (STEP-14) (STEP-15). The rotation amount Rn is compared with a preset target rotation amount Rm ± α (including the allowable range) (STEP-16), so as to determine whether the screw tightening state is good or bad.

  In this case, the rotation amount Rx of the electric motor 12 sequentially detected from the screw tightening start time t0 to the torque increase detection time tm by a predetermined screw tightening operation is compared with the target rotation amount Rm ± α (including the allowable range). (STEP-16), the rotation amount Rx of the electric motor detected from the set value of the target rotation amount Rm ± α to the torque-up detection time tm in a predetermined screw tightening operation is calculated so as to be sequentially added. Thus, the detection value of the final rotation amount Rn can be compared with the set value of the target rotation amount Rm ± α (including the allowable range).

  In addition, the rotation amount Rx of the electric motor 12 sequentially detected from the screw tightening start time t0 to the torque increase detection time tm by a predetermined screw tightening operation is set to the (first) target rotation amount Rm ± α (the allowable range is (STEP-16), the rotation amount of the electric motor 12 detected from the set value of the first target rotation amount Rm ± α to the torque-up detection time tm in a predetermined screw tightening operation. It is calculated so as to be subtracted successively, and finally set to be the second target rotation amount 0 ± α (including the allowable range), and the final detected value of the rotation amount Rn is set as the second target rotation amount. It can also be configured to compare with a set value of the amount 0 ± α (including the allowable range).

  As described above, when the target rotation amount Rm ± α or 0 ± α (including the allowable range) is set and a predetermined screw tightening operation is performed, the torque is detected by the CPU 32 when the torque-up detection time tm is detected. The up detection time tm is detected and recorded, and the rotation amount Rn of the electric motor 12 at the torque up detection time tm is detected and recorded (STEP-15). Therefore, the rotation amount Rn of the electric motor 12 detected at the torque-up detection time tm is compared with a preset target rotation amount Rm ± α or 0 ± α to compare the target rotation amount Rm ± α or 0 ±. It is determined whether or not α is satisfied (Rm + α ≧ Rt1 ≧ Rm−α or 0 + α ≧ Rt1 ≧ 0−α) (STEP-16).

  Further, as described above, the screw tightening start time t0 for detecting the rotation amount Rx of the electric motor 12 during the actual screw tightening operation after the driver bit 20 comes into contact with the screw mounting target. , The rotation amount Rn (STEP-15) of the electric motor 12 detected and recorded by the CPU 32 is compared with a preset target rotation amount Rm ± α or 0 ± α (STEP-16). If the target rotational amount Rm ± α or 0 ± α (including the allowable range) is satisfied, it can be determined that the screw is properly tightened (STEP-17). Further, if the rotation amount Rn of the electric motor 12 detected and recorded by the CPU 32 does not conform to the target rotation amount Rm ± α or 0 ± α (including the allowable range), the screw tightening state is defective. It can be determined (STEP-18).

  In this case, when the rotation amount Rn of the electric motor 12 detected and recorded by the CPU 32 reaches 60% to 70% of a preset target rotation amount, it may be determined that the screw is properly tightened. Is possible. Furthermore, similarly, when it reaches 80% or more, it can be determined that the screw is properly tightened.

  Therefore, in this case, the control unit 30 can accurately record the number of screws determined to be appropriate in the screw tightening state, and the display unit 40 can be set to display the recorded contents. it can. Further, based on the rotation amount Rn of the electric motor 12 detected at the torque-up detection time tm, the length of the screw that has been screwed is also accurately recorded in the control unit 30 and further recorded. The recorded contents can be set to be displayed on the display 40.

  When the rotation amount Rn of the electric motor 12 detected and recorded by the CPU 32 is smaller than the target rotation amount Rm ± α (Rn <Rm−α) or larger than the target rotation amount 0 ± α (Rn> 0 + α), It can be detected as an abnormal state such as screw galling, screw floating, or incompatibility of selected screw dimensions that occurs in the screw tightened state. Further, when the amount of rotation Rn is larger than the target amount of rotation Rm ± α (Rn> Rm + α) or smaller (Rn <0−α), screw burr generated during screw tightening, pilot hole wear, screw camout It can be detected as an abnormal state such as breakage of the bit or incompatibility of the selected screw size.

  In this way, when it is determined whether the screw tightening state is good or bad, a determination display that can clearly distinguish between the appropriateness determination and the failure determination can be performed. In view of this, the present control method can be configured to appropriately display each determination content on the display device 40 based on any one of the screw tightening determination signals S40 output from the CPU 32 (see FIGS. 1 and 2). ).

  In the present control and management method (2), when the rotation amount Rn detected at the torque-up detection time tm is compared with a preset target rotation amount Rm ± α, the target rotation amount (including the allowable range). Set the rotation amount detected from the screw tightening start time t0 to the torque-up detection time tm in the first proper screw tightening operation in a predetermined screw tightening operation as a target rotation amount (including an allowable range). In this case, the average value of the rotation amount detected from the screw tightening start time t0 to the torque-up detection time tm in the first proper plural times of screw tightening operations in the predetermined screw tightening operation is set as a target. By setting the rotation amount (including the allowable range) in the CPU 32 of the control unit 30, a more appropriate and simple screw tightening operation can be achieved easily and accurately. can do. The allowable range ± α can be, for example, ± 5% of the detected rotation amount.

[ Automatic screw tightening control and management method (3) ]
In this control and management method (3), in the same manner as in the control and management methods (1) and (2), at the start of the screw tightening operation accompanying the driving of the electric drivers 10A and 10B, The load current setting value Im set as the torque-up detection time tm in the current detection means 26 is set so as to be detected by the CPU 32. That is, in this case, the set load current setting value Im is adapted to the standard of the screw to be used by appropriately transmitting / receiving digital signals to / from the load current setting memory provided in the CPU 32 using an external operation device. Thus, the proper screw tightening state can be detected.

  In the present control and management method (3), as shown in FIG. 5, the load current set value Im detected by the load current detecting means 26 when performing predetermined screw tightening work by the electric drivers 10A, 10B. As the screw tightening is completed, a predetermined load current setting value Im for setting the torque-up detection time tm is set (STEP-21a), and the screw tightening is performed in the same manner as in the control and management method (1). For the load current detection value Ix that is sequentially detected and recorded from the start time t0 to the completion of screw tightening, the load current detection value I · DPm as the time series data or load current pattern (I · DPx) of the detected load current is It is set (STEP-21a).

  In this control and management method (3), as in the control and management method (2), the electric control is performed based on the rotation amount detection signal S24 detected by the rotation amount detection means 24 provided in the electric motor 12. The rotation amount Rx of the motor 12 is set so as to be sequentially detected and recorded by the CPU 32 (see FIG. 1), and as shown in FIG. 4, the target rotation amount Rm ± α (including the allowable range) at the torque-up detection time point tm. ) Is set (STEP-21b). Further, based on the detection signal S25 or S29 detected by the encoder 25 or the encoder 29, the rotation amount Rx of the electric motor 12 is set so as to be sequentially detected and recorded by the CPU 32 (see FIG. 2) and the same as described above. Thus, the target rotation amount Rm ± α (including the allowable range) at the torque-up detection time tm is set (STEP-21b).

  Therefore, in the present control and management method (3), as with the control and management method (1), the load current detection means 26 accompanying the completion of screw tightening from the screw tightening start time t0 (STEP-22). The load current value Ix up to the torque up detection time tm is sequentially detected and recorded (STEP-23a), and the load current detection value 26 is detected by the load current detection means 26 (Ix = Im). In STEP-24), the load current time series data or load current pattern I · DPx sequentially detected and recorded by the load current detecting means 26 is used as the preset load current time series data or load current pattern I · DPm. (STEP-26a) is set so as to determine whether the screw tightening state is good or bad.

  In this case, if the load current detection value Ix detected by the load current detection means 26 does not match the load current setting value Im (Ix ≠ Im), it indicates that the screw cannot be tightened, and the load current detection value Based on the detection signal when Ix matches the load current set value Im (Ix = Im), the number SNx of screws that have been screwed can be calculated.

  Further, when the load current time series data or load current pattern I · DPx sequentially detected and recorded by the load current detecting means 26 is compared with a preset load current time series data or load current pattern I · DPm. If the detected value (I · DPx) and the set value (I · DPm) are approximate (I · DPx≈I · DPm), it is determined that the screw is properly tightened (STEP-27) and is not approximated. In this case, it is possible to determine that the screw tightening state is defective (STEP-28a). Therefore, based on the detection signal (STEP-27) determined to be appropriate, the number SNn of screws that have been properly screwed can be calculated.

  Further, in this control and management method (3), as in the control and management method (2), the rotation amount detection signal S25 or encoder 25 detected by the rotation amount detection means 24 provided in the electric motor 12; Rotation amount Rx (STEP-23b) based on the detection signals S25 and S29 detected by 29 is the rotation amount Rn when the load current detection means 26 confirms the torque-up detection time tm (STEP-24). Is detected (STEP-25), and the detected rotation amount Rn is compared with a preset target rotation amount Rm ± α (including an allowable range) (STEP-26b). Is set to be judged.

  In this case, the rotation amount Rx of the electric motor 12 sequentially detected from the screw tightening start time t0 to the torque increase detection time tm by a predetermined screw tightening operation is compared with the target rotation amount Rm ± α (including the allowable range). (STEP-26b), the rotation amount Rx of the electric motor detected from the set value of the target rotation amount Rm ± α to the torque increase detection time tm in a predetermined screw tightening operation is calculated so as to be sequentially added. Thus, the detection value of the final rotation amount Rn can be compared with the set value of the target rotation amount Rm ± α (including the allowable range).

  Further, the rotation amount Rx of the electric motor 12 sequentially detected from the screw tightening start time t0 to the torque increase detection time tm by a predetermined screw tightening operation is set to the first target rotation amount Rm ± α (including an allowable range). (STEP-26b), the rotation amount of the electric motor 12 detected by the predetermined screw tightening operation until the torque increase detection time tm is successively subtracted from the set value of the first target rotation amount Rm ± α. And finally set to the second target rotation amount 0 ± α (including the allowable range), and the detection value of the final rotation amount Rn is set to the second target rotation amount 0 ±. It can also be configured to compare with a set value of α (including the allowable range).

  As described above, when the target rotation amount Rm ± α or 0 ± α (including the allowable range) is set and a predetermined screw tightening operation is performed, the torque is detected by the CPU 32 when the torque-up detection time tm is detected. The up detection time tm is detected and recorded, and the rotation amount Rn of the electric motor 12 at the torque up detection time tm is detected and recorded (STEP-25). Therefore, the rotation amount Rn of the electric motor 12 detected at the torque-up detection time tm is compared with a preset target rotation amount Rm ± α or 0 ± α to compare the target rotation amount Rm ± α or 0 ±. It is determined whether or not α is satisfied (Rm + α ≧ Rt1 ≧ Rm−α or 0 + α ≧ Rt1 ≧ 0−α) (STEP-26b).

  Further, as described above, the screw tightening start time t0 for detecting the rotation amount Rx of the electric motor 12 during the actual screw tightening operation after the driver bit 20 comes into contact with the screw mounting target. , The rotation amount Rn (STEP-25) of the electric motor 12 detected and recorded by the CPU 32 is compared with a preset target rotation amount Rm ± α or 0 ± α (STEP-26b). If the target rotational amount Rm ± α or 0 ± α (including the allowable range) is satisfied, it can be determined that the screw is properly tightened (STEP-27). Further, if the rotation amount Rn of the electric motor 12 detected and recorded by the CPU 32 does not conform to the target rotation amount Rm ± α or 0 ± α (including the allowable range), the screw tightening state is defective. It can be determined (STEP-28a, 28b, 28c).

  In this case, when the rotation amount Rn of the electric motor 12 detected and recorded by the CPU 32 reaches 60% to 70% of a preset target rotation amount, it may be determined that the screw is properly tightened. Is possible. Furthermore, similarly, when it reaches 80% or more, it can be determined that the screw is properly tightened.

  Therefore, in this case, the control unit 30 can accurately record the number of screws determined to be appropriate in the screw tightening state, and the display unit 40 can be set to display the recorded contents. it can. Further, based on the rotation amount Rn of the electric motor 12 detected at the torque-up detection time tm, the length of the screw that has been screwed is also accurately recorded in the control unit 30 and further recorded. The recorded contents can be set to be displayed on the display 40.

  When the rotation amount Rn of the electric motor 12 detected and recorded by the CPU 32 is smaller than the target rotation amount Rm ± α (Rn <Rm−α) or larger than the target rotation amount 0 ± α (Rn> 0 + α), It can be detected as an abnormal state such as screw galling, screw floating, or incompatibility of selected screw dimensions that occurs in the screw tightened state. Further, when the amount of rotation Rn is larger than the target amount of rotation Rm ± α (Rn> Rm + α) or smaller (Rn <0−α), screw burr generated during screw tightening, pilot hole wear, screw camout It can be detected as an abnormal state such as breakage of the bit or incompatibility of the selected screw size.

  In this way, when it is determined whether the screw tightening state is good or bad, a determination display that can clearly distinguish between the appropriateness determination and the failure determination can be performed. In view of this, the present control method can be configured to appropriately display each determination content on the display device 40 based on any one of the screw tightening determination signals S40 output from the CPU 32 (see FIGS. 1 and 2). ).

  Also in the present control and management method (3), when the rotation amount Rn detected at the torque-up detection time tm is compared with a preset target rotation amount Rm ± α, the target rotation amount (including the allowable range). ) Sets the rotation amount detected from the screw tightening start time t0 to the torque-up detection time tm in the first proper screw tightening operation in a predetermined screw tightening operation as a target rotation amount (including an allowable range). In this case, the average value of the rotation amounts detected from the screw tightening start time t0 to the torque-up detection time tm in the first proper plural times of screw tightening operations in the predetermined screw tightening operation is obtained. By setting the target rotation amount (including the allowable range) in the CPU 32 in the control unit 30, a more appropriate and simple screw tightening operation can be achieved easily and accurately. Can be made. The allowable range ± α can be, for example, ± 5% of the detected rotation amount.

[ Configuration of automatic screw tightening control and management system (3) ]
FIG. 6 is a schematic system configuration diagram showing still another embodiment of the automatic screw tightening control and management system according to the present invention. For convenience of explanation, the system configuration shown in FIG. 1 described above and the same components have the same functions, and thus the same reference numerals are given and detailed descriptions thereof are omitted.

  That is, in the electric driver 10C according to the present embodiment, the seating state detection mechanism 18 is provided at the coupling portion with the driver bit 20 in the speed reduction mechanism 16 coupled to the drive output shaft (not shown) of the electric motor 12. It will be. The seating state detection mechanism 18 is provided with seating detection means 19 for detecting the seating state, and a seating state detection signal S19 detected by the seating detection means 19 is input to the CPU 32 of the control unit 30. Thus, the electric motor 12 is set so that it can be switched from the high speed rotation drive to the low speed rotation drive.

  In the electric driver 10C of the present embodiment, the other configuration is the same as that of the embodiment shown in FIG. 1, and therefore the CPU 32 of the control unit 30 detects the torque-up detection time tm, so that the load current detection means The preset target load current value I · DPm to be compared with the load current detection value I · DPx detected by the engine 26 is set, and the rotation amount detected by the rotation amount detection means 24 at the torque-up detection time tm. By comparing the detected value Rx with a preset target rotation amount Rm ± α, it is determined whether the screw tightening state is good or not, and each determination content is determined by any one of the screw tightening determination signals S40 output from the CPU 32. It is configured to display on the display 40 as appropriate.

  In the present embodiment, the screw tightening is performed by using the first encoder 25 or the second encoder 29 that detects the rotation amount correlated with the screw tightening rotation amount at the time of the screw tightening operation of the driver bit 20. It is possible to appropriately and easily detect and record from the screw tightening start time t0 to the torque-up time tm when performing the work, and appropriately detect the rotation amount of the electric motor as the rotation amount detection means of the electric motor. Can do.

  A preferred embodiment of the seating state detection mechanism 18 in the automatic screw tightening control and management system for the electric screwdriver 10C having the above-described configuration is shown in FIGS. 7A and 7B.

  That is, the seating state detection mechanism 18 of the present embodiment is based on the load torque (reaction force) applied to the driver bit 20 in a predetermined screw tightening operation by the electric driver 10C, as shown in FIGS. 7A and 7B. The speed reduction mechanism 16 coupled to the output shaft of the electric motor 12 is configured as a planetary gear and an internal gear as means for enabling detection of the seating state with respect to the mounting object of the screw. The seating state is detected in combination with the operation of mechanically absorbing the reaction force generated in the speed reduction mechanism 16.

  7A and 7B show the main part of the seating state detection mechanism 18 formed in the part of the speed reduction mechanism 16 that couples the output shaft of the electric motor 12 and the driver bit 20, and FIG. FIG. 7B is an exploded explanatory view thereof.

  7A and 7B, reference numeral 101 denotes an outer casing of the speed reduction mechanism 16, and an internal gear 103 in which a planetary gear 102 is rotatably meshed with an inner peripheral portion of the outer casing 101. It consists of the structure which accommodated rotatably. A drive shaft 105 that extends downward is provided at the center of the rotating disk 104 that supports the planetary gear 102, and is inserted through a bearing 106 into the center of the bottom surface of the internal gear 103. Although not shown, it is configured to be coupled with a driver bit at its tip.

  As shown in FIG. 7B, a notch 107 is appropriately provided in a part of the outer peripheral portion of the bottom surface of the internal gear 103, and a concave cam member is provided with an inclined surface 108a as shown in the notch 107. 108 is loosely fitted so as to slightly protrude downward. Corresponding to the cam member 108, a stepped portion 109 is provided on the inner peripheral portion of the bottom portion of the outer casing 101 with a cut portion 109 a having a required length in a part thereof.

  As shown in FIG. 7B, a part of the bottom surface of the cut portion 109a in the step portion 109 of the outer casing 101 is displaced to a position opposite to the normal rotation direction of the drive shaft 105, and the cam member 108 is displaced. A hole 111 for inserting and arranging the steel ball 110 is formed so as to be opposed to the inclined surface 108a of the cam member 108 in the rotation direction while maintaining a space capable of sufficiently storing the cam member 108.

  Then, as shown in FIG. 7A, a flanged sleeve 112 that holds the steel ball 110 is inserted into the bottom surface of the outer casing 101 so as to surround the boss portion 113 of the outer casing 101. The flanged sleeve 112 is elastically held in the axial direction by appropriately attaching a cap 115 from below through a spring 114.

  Therefore, as described above, for the flanged sleeve 112 that holds the steel ball 110 on the upper surface portion and is elastically held in the axial direction, as shown in FIG. 7A with respect to the lower surface portion of the flange portion 112a. In addition, a seating detection means 19 comprising a limit switch is provided.

  The seating state detection mechanism 18 of the present embodiment configured as described above is shown in FIGS. 6, 7 </ b> A, and 7 </ b> B with the drive shaft 105 screwed via the speed reduction mechanism 16 by driving the electric motor 12 during the screw tightening operation. In the case of high-speed rotation in the direction (solid arrow direction shown in FIG. 7B), when the screw is seated on the attachment object, a required load torque (reaction force) is abruptly applied to the driver bit 20. In this case, the internal gear 103 is opposite to the revolution direction of the drive shaft 105, that is, the planetary gear 102, due to the reaction force applied to the drive shaft 105 with respect to the speed reduction mechanism 18 that rotationally drives the drive shaft 105. It will rotate in the direction of the broken line shown in FIG. 7B. By such rotation of the internal gear 103, a sudden reaction or impact to the drive shaft 105 when the screw is seated can be mitigated.

  Further, in this case, the internal gear 103 is configured such that a part of the steel ball 110 abuts against the inclined surface 108a of the cam member 108 provided in a part thereof, and the cam member 108 is inclined by the reaction force. The surface 108a acts to sequentially push down the steel balls 110, whereby the flanged sleeve 112 that elastically holds the steel balls 110 is pushed down, and the limit switch as the seating detection means 19 is activated, and the seating state A detection signal S19 can be generated.

  Next, as the automatic screw tightening control and management method (4) by the automatic screw tightening control and management system having the above-described configuration, the quality determination of the screw tightening state will be described with reference to the control flowchart (see FIG. 8). To do.

[ Automatic screw tightening control and management method (4) ]
In this control and management method (4), as in the control and management method (2), when the screw tightening operation accompanying the driving of the electric screwdriver 10C is started, the torque is increased in the load current detecting means 26 upon completion of the screw tightening. The load current set value Im set as the detection time tm is set so as to be detected by the CPU 32. That is, in this case, the set load current setting value Im is adapted to the standard of the screw to be used by appropriately transmitting / receiving digital signals to / from the load current setting memory provided in the CPU 32 using an external operation device. Thus, the proper screw tightening state can be detected.

  In the present control and management method (4), as shown in FIG. 8, when the predetermined screw tightening operation by the electric screwdriver 10C is performed, the load current setting value Im detected by the load current detecting means 26 is as follows: A predetermined load current setting value Im for setting a torque-up detection time point tm is set with the completion of screw tightening (STEP-31a).

  6 is started, the rotation of the electric motor 12 is rotated based on the rotation amount detection signal S24 detected by the rotation amount detection means 24 provided in the electric motor 12. The amount Rx is set so as to be sequentially detected and recorded in the CPU 32 (see FIG. 6), and as shown in FIG. 8, the target rotation amount Rm ± α (including the allowable range) at the torque-up detection time tm is set. (STEP-31b).

  Therefore, in this control and management method (4), as shown in FIG. 8, in a predetermined screw tightening operation, the electric motor 12 is driven to rotate at a high speed from the screw tightening start time t0 (STEP-30). It sets so that the seating state with respect to the attachment target object of a screw may be detected (STEP-32). Therefore, the seating state of the screw in this case is configured to be detected by the seating state detection mechanism 18 shown in FIGS. 7A and 7B described above, and based on the seating state detection signal S19 detected by the seating detection means 19, The electric motor 12 is switched to the low-speed rotation drive from the seating detection time ts and set so that the screw is tightened (STEP-33a).

  Further, in the present control and management method (4), as shown in FIG. 8, in a predetermined screw tightening operation, the load current detecting means accompanying the completion of screw tightening from the screw tightening start time t0 (STEP-30). 26, the load current value Ix up to the torque up detection time tm is sequentially detected and recorded (STEP-33a), and the load current detection means 26 detects the load current set value Im (Ix = Im) (STEP-34). Then, confirmation of the torque-up detection time tm (STEP-35a) is performed.

  In this case, when the load current detection value Ix detected by the load current detection means 26 does not coincide with the load current setting value Im (Ix ≠ Im) (STEP-34), it indicates a state where the screw cannot be tightened, Based on the detection signal when the load current detection value Ix matches the load current setting value Im (Ix = Im) (STEP-35a), the number SNx of screws that have been screwed can be calculated.

  In this control and management method (4), the rotation amount Rx (STEP-33b) based on the rotation amount detection signal S24 detected by the rotation amount detection means 24 provided in the electric motor 12 is detected as the load current detection. The rotation amount Rn when the torque-up detection time tm is confirmed by the means 26 (STEP-35a) is detected (STEP-35b), and the detected rotation amount Rn is used as a preset target rotation amount Rm. By comparing with ± α (including the allowable range) (STEP-36), it is set to determine whether the screw tightening state is good or bad.

  In this case, the rotation amount Rx of the electric motor 12 sequentially detected from the screw tightening start time t0 to the torque increase detection time tm by a predetermined screw tightening operation is compared with the target rotation amount Rm ± α (including the allowable range). (STEP-36), the rotation amount Rx of the electric motor detected from the set value of the target rotation amount Rm ± α to the torque increase detection time tm in a predetermined screw tightening operation is calculated so as to be sequentially added. Thus, the detection value of the final rotation amount Rn can be compared with the set value of the target rotation amount Rm ± α (including the allowable range).

  In addition, the rotation amount Rx of the electric motor 12 sequentially detected from the screw tightening start time t0 to the torque increase detection time tm by a predetermined screw tightening operation is set to the (first) target rotation amount Rm ± α (the allowable range is (STEP-36), the rotation amount of the electric motor 12 detected from the set value of the first target rotation amount Rm ± α to the torque-up detection time tm in a predetermined screw tightening operation is determined. It is calculated so as to be subtracted successively, and finally set to be the second target rotation amount 0 ± α (including the allowable range), and the final detected value of the rotation amount Rn is set as the second target rotation amount. It can also be configured to compare with a set value of the amount 0 ± α (including the allowable range).

  As described above, when the target rotation amount Rm ± α or 0 ± α (including the allowable range) is set and a predetermined screw tightening operation is performed, the torque is detected by the CPU 32 when the torque-up detection time tm is detected. The up detection time tm is detected and recorded, and the rotation amount Rn of the electric motor 12 at the torque up detection time tm is detected and recorded (STEP-35b). Therefore, the rotation amount Rn of the electric motor 12 detected at the torque-up detection time tm is compared with a preset target rotation amount Rm ± α or 0 ± α to compare the target rotation amount Rm ± α or 0 ±. It is determined whether or not α is satisfied (Rm + α ≧ Rt1 ≧ Rm−α or 0 + α ≧ Rt1 ≧ 0−α) (STEP-36).

  Further, as described above, the screw tightening start time t0 for detecting the rotation amount Rx of the electric motor 12 during the actual screw tightening operation after the driver bit 20 comes into contact with the screw mounting target. , The rotation amount Rn (STEP-35b) of the electric motor 12 detected and recorded by the CPU 32 is compared with a preset target rotation amount Rm ± α or 0 ± α (STEP-36). If the target rotational amount Rm ± α or 0 ± α (including the allowable range) is satisfied, it can be determined that the screw is properly tightened (STEP-37). Further, if the rotation amount Rn of the electric motor 12 detected and recorded by the CPU 32 does not conform to the target rotation amount Rm ± α or 0 ± α (including the allowable range), the screw tightening state is defective. It can be determined (STEP-38).

  In this case, when the rotation amount Rn of the electric motor 12 detected and recorded by the CPU 32 reaches 60% to 70% of a preset target rotation amount, it may be determined that the screw is properly tightened. Is possible. Furthermore, similarly, when it reaches 80% or more, it can be determined that the screw is properly tightened.

  Therefore, in this case, the control unit 30 can accurately record the number of screws determined to be appropriate in the screw tightening state, and the display unit 40 can be set to display the recorded contents. it can. Further, based on the rotation amount Rn of the electric motor 12 detected at the torque-up detection time tm, the length of the screw that has been screwed is also accurately recorded in the control unit 30 and further recorded. The recorded contents can be set to be displayed on the display 40.

  When the rotation amount Rn of the electric motor 12 detected and recorded by the CPU 32 is smaller than the target rotation amount Rm ± α (Rn <Rm−α) or larger than the target rotation amount 0 ± α (Rn> 0 + α), It can be detected as an abnormal state such as screw galling, screw floating, or incompatibility of selected screw dimensions that occurs in the screw tightened state. Further, when the amount of rotation Rn is larger than the target amount of rotation Rm ± α (Rn> Rm + α) or smaller (Rn <0−α), screw burr generated during screw tightening, pilot hole wear, screw camout It can be detected as an abnormal state such as breakage of the bit or incompatibility of the selected screw size.

  In this way, when it is determined whether the screw tightening state is good or bad, a determination display that can clearly distinguish between the appropriateness determination and the failure determination can be performed. Therefore, the present control method can be configured such that each determination content is appropriately displayed on the display 40 by any one of the screw tightening determination signals S40 output from the CPU 32 (see FIG. 6).

  Also in the present control and management method (4), when the rotation amount Rn detected at the torque-up detection time tm is compared with the preset target rotation amount Rm ± α, the target rotation amount (including the allowable range). ) Sets the rotation amount detected from the screw tightening start time t0 to the torque-up detection time tm in the first proper screw tightening operation in a predetermined screw tightening operation as a target rotation amount (including an allowable range). In this case, the average value of the rotation amounts detected from the screw tightening start time t0 to the torque-up detection time tm in the first proper plural times of screw tightening operations in the predetermined screw tightening operation is obtained. By setting the target rotation amount (including the allowable range) in the CPU 32 in the control unit 30, a more appropriate and simple screw tightening operation can be achieved easily and accurately. Can be made. The allowable range ± α can be, for example, ± 5% of the detected rotation amount.

[ Automatic screw tightening control and management method (5) ]
The present control and management method (5) includes the automatic screw tightening control and management methods (1), (2), (3), (4) described above, as shown in FIGS. ) And the screw tightening number SNm (STEP-31) set in advance from the screw tightening number SNn of the screw that has been properly determined for the screw tightening state. By determining the tightening state, a proper screw tightening state is detected (see FIG. 9).

  That is, as shown in FIG. 9, in the present control and management method (5), the screw screw calculated in the automatic screw tightening control and management methods (1), (2), (3), and (4), respectively. The number of screw tightening SNx (STEP-42) is compared with a predetermined number of screw tightening SNm (STEP-41) (STEP-43), and the number of screw tightening corresponds to each other (SNx = SNm). If so, it is determined that the screw is properly tightened, and otherwise it is determined that it is inappropriate (STEP-46).

  Next, when it is determined that the screw tightening state is appropriate, the screw tightening number SNx of the screw is calculated in the automatic screw tightening control and management methods (1), (2), (3), and (4), respectively. If the screw tightening number SNn (STEP-44) of each screw determined to be appropriate and screwed is compared (STEP-45), and if these screw tightening numbers correspond to each other (SNn = SNx) Therefore, it can be determined that the screw is properly tightened (STEP-47). Moreover, when the said number of screw fastening does not respond | correspond mutually, the defect determination made into improper is performed (STEP-48).

  In this way, the automatic screw tightening control and management methods (1), (2), (3), and (4) described above are preset by combining this control and management method (5). The determination of the screw tightening state with respect to the number of screws tightened can be easily and appropriately performed.

[ Expansion of automatic screw tightening control and management system (1), (2), (3) ]
FIG. 10 is a schematic system configuration diagram showing an embodiment of a system that further expands the above-described automatic screw tightening control and management systems (1), (2), and (3) according to the present invention. That is, in FIG. 10, assembly of required products is performed using a plurality of electric drivers 10A, 10B, and 10C (see FIGS. 1, 2, and 6) each having a control unit 30. Production lines FL50a, FL50b, FL50c,. . . The management terminals MTU 70a, MTU 70b, MTU 70c,. . . On the basis of the command of the central management center SV90 and the production lines FL50a, FL50b, FL50c,. . . Control units CU60a, CU60b, CU60c,. . . The load current setting value Im for outputting the torque-up detection signal to the load current detection means (26) of each electric driver set in the production line is variable. It is configured to be set to.

  The central management center SV90 is configured as a computer-controlled server and includes a CPU 91, a RAM 92, an input device 93, a transmission control unit 94, and a storage device 95 as shown in FIG. The storage device 95 is a memory that stores setting information related to the load current setting values Im, I / DPm, the set screw tightening number SNm, and the target rotation amount Rm, and a memory that records detection information corresponding to each setting information. The memory includes information related to the above-described screw tightening pass / fail judgment, and the information stored in these memories is managed by the CPU 91, the RAM 92, the input device 93, and the transmission control unit 94 via the communication network NW80. Terminals MTU 70a, MTU 70b, MTU 70c,. . . Production lines FL50a, FL50b, FL50c,. . . Are set to mutually perform signal processing.

  Therefore, the production lines FL50a, FL50b, FL50c,. . . Control units CU60a, CU60b, CU60c,. . . 12 includes a CPU 61, a RAM 62, a transmission control unit 63, a screw tightening quality determination control unit 64, and a storage device 65. The storage device 65 stores a load information set value Im, I / DPm, a set screw tightening number SNm, a setting information related to the target rotation amount Rm, and a memory that records detection information corresponding to each setting information. The memory includes information relating to the above-described screw tightening pass / fail judgment, and the information stored in these memories is stored in the communication network NW80 by the CPU 61, RAM 62, transmission control unit 63, and screw tightening pass / fail judgment control unit 64. Through the management terminals MTU 70a, MTU 70b, MTU 70c,. . . And the central management center SV90 to perform signal processing with each other, and to the control unit 30 provided in each electric screwdriver, the automatic screw tightening control and management method (1) of the present invention described above. ) To (5) are executed so that signal processing is performed.

  The management terminals MTU 70a, MTU 70b, MTU 70c,. . . As shown in FIG. 13, the display setting of the screw tightening work content 71 which can display and confirm the content of the screw tightening work can be performed. That is, in the display setting of the screw tightening operation content 71, the preset load current set values Im, I · DPm, the target rotation amount Rm, the set screw tightening number SNm, etc. in the predetermined production line FL50a are displayed. The load current detection values Ix, I · DPx, target rotation amounts Rx, Rn, screw tightening numbers SNx, SNn, and the like when the screw tightening operation is performed are set to be displayed. In addition, when changing a required screw tightening object (product) in a predetermined production line FL50a, the load current set value Im, I · DPm, target rotation amount Rm, set screw tightening number SNm, etc. are set and It is set so as to enable a display setting in which the changes 72, 73, and 74 can be performed.

  Therefore, according to the automatic screw tightening control and management system according to the present invention, for example, when changing an object to be screwed in an assembly line of a required product, it is used in an electric screwdriver that performs the screw tightening operation. It is necessary to change the setting so as to obtain an appropriate screw tightening torque according to the type of screw. In such a case, according to the present invention, the setting is made in the CPU of the control unit provided in each electric screwdriver without changing the setting so that each screwdriver has an appropriate screw tightening torque. The load current set value change processing and the target rotation amount of the electric motor, etc. or the setting change of the number of screw tightening can all be easily and appropriately performed by the required signal processing, and batch processing can be performed. Thus, it becomes possible to easily construct a production line for performing various screw tightening operations and a production management system in those networks.

  According to the automatic screw tightening control and management system according to the present invention, the rotation amount of the electric motor from the start of screw tightening to a required screw hole until the screw is seated in a predetermined screw tightening operation using various screws or the like. If it is possible to confirm up to about 50% at the time of detection, it is possible to confirm and solve half of the trouble that causes screw tightening failure that occurs in the screw tightening operation. In other words, it is called the four major troubles of screw tightening work, (1) screw galling generated at the entrance by oblique tightening of the screw to the pilot hole, and (2) work and pilot hole generated when tightening the tapping screw etc. It is possible to confirm each of the screw floats that torque up before sitting due to a problem. These troubles occur during about half the length of the screw from the start of screw tightening. And, when these conditions are cleared and the prescribed screw tightening torque after screw seating is reached, (3) When the camout occurs due to bit wear or the like and the prescribed screw tightening torque cannot be achieved, (4) By detecting the torque-up signal due to load current and confirming the amount of rotation of the electric motor, such as screw fastening failure due to wear of the pilot hole, the above four major troubles of screw tightening work require skill respectively. Therefore, it is possible to obtain an excellent effect that detection can be performed easily and reliably.

  In particular, according to the automatic screw tightening control and management system according to the present invention, in the required screw tightening operation, the rotation amount of the electric motor by the electric screwdriver is properly detected by detecting the torque up signal due to the load current. It is possible to easily and reliably determine the state of complete screw tightening (screw seating), and record or display the respective screw tightening states in relation to the number of screws to be subjected to many continuous screw tightening. In addition, the time series data or load current pattern of the load current of the electric motor is detected and recorded until reaching the point of time when the torque increase due to the load current in each screw tightening operation is reached. By comparing with the load current pattern, it is possible to confirm with an extremely accurate correlation between the screw tightening states of the respective screws that have been tightened (sitting). By setting the load current values of the motors to be combined with detection recording or display, it becomes possible to easily construct a production line that performs various screw tightening operations and a production management system in those networks. .

  As described above, as a preferred embodiment of the present invention, the case where the screw tightening control is performed using the normal screw on the object provided with the normal screw hole has been described. However, the present invention is not limited to such an embodiment. For example, the present invention can be similarly applied to screw tightening control and management using a tapping screw or a drill screw, or tapping threading.

10A, 10B, 10C Electric driver 12 Electric motor 13 Drive switch 14 Switch operation member 16 Deceleration mechanism 18 Seating state detection mechanism 19 Seating detection means 20 Driver bit 22 Electric motor control circuit 24 Rotation amount detection means 25 First encoder (Rotation amount) Detection means)
26 Load current detection means 29 Second encoder (rotation amount detection means)
30 control unit 32 CPU
40 Display S13 Drive switch operation signal S19 Seating state detection signal S22a Motor drive control signal S22b Motor stop control signal S24 Rotation amount detection signal S25 Encoder detection signal S26 Load current detection signal S29 Encoder detection signal S40 Screw tightening state determination signal FL50a-c Factory / Production line CU60a-c Controller 61 CPU 62 RAM
63 Transmission control unit 64 Screw tightening pass / fail judgment control unit 65 Storage device MTU 70a-c Management terminal 71 Screw tightening work content 72 Load current setting / change 73 Target rotation amount setting / change 74 Screw tightening number setting / change NW80 Communication network SV90 Central management Center (server)
DESCRIPTION OF SYMBOLS 101 Outer casing 102 Planetary gear 103 Internal gear 104 Rotating disc 105 Drive shaft 106 Bearing 107 Notch part 108 Cam member 108a Inclined surface 109 Step part 109a Cut part 110 Steel ball 111 Hole part 112 Flange sleeve 112a Flange part 113 Boss part 114 Spring 115 Cap Im Load current setting value Ix Load current detection value I / DPm Load current time-series data / pattern setting value I / DPx Load current time-series data / pattern detection value Rm ± α Target rotation amount Including)
Rx Rotation amount detection value Rn Rotation amount detection value at the time of torque up SNm Screw tightening set number SNx Screw tightening detection number SNn Screw tightening number t0 determined to be appropriate Screw tightening start time tm Torque up detection time point ts Seating detection time point

In order to achieve the above target, an automatic screw tightening control and management system according to claim 1 of the present invention includes an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor. A switch operating member for operating the drive switch, and a load current obtained in the electric motor based on a load torque as a reaction force applied to the driver bit in the electric motor. And a load current detection means for outputting a predetermined torque-up detection signal when the load current reaches a preset set value, an electric motor control circuit for performing drive and stop control of the electric motor, Consists of an electric screwdriver with
In a predetermined screw tightening operation by the electric screwdriver, a load current setting value for outputting the torque-up detection signal to the load current detection means is variably set by a required communication control means,
The load current value from the start time of screw tightening to the time of torque increase detection upon completion of screw tightening is detected by the load current detecting means, and the load current value detected at the time of torque increase detection is set in advance. A control unit configured to determine whether the screw tightening state is good or bad by comparing with the value is provided.

An automatic screw tightening control and management system according to claim 2 of the present invention is coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a reduction mechanism. A load operating device that detects a load current obtained in an electric motor based on a load torque as a reaction force applied to the driver bit in the electric motor, and a switch operating member that operates the drive switch. Load current detecting means for outputting a predetermined torque-up detection signal when the motor reaches a preset set value, an electric motor control circuit for controlling driving and stopping of the electric motor, and a rotation amount of the electric motor. Comprising an electric screwdriver provided with a rotation amount detecting means for detecting each,
In a predetermined screw tightening operation by the electric screwdriver, a load current setting value for outputting the torque-up detection signal to the load current detection means is variably set,
Sequentially detected by the rotation amount detection means for rotation of the electric motor from the beginning of the screwing up the torque-up detection time associated with completion of the screw tightening, a preset rotation amount detected in the torque-up detection time allowed A control unit configured to determine whether the screw tightening state is good or bad by comparing with a target rotation amount including a range is provided.

An automatic screw tightening control and management system according to claim 3 of the present invention is coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a reduction mechanism. A load operating device that detects a load current obtained in an electric motor based on a load torque as a reaction force applied to the driver bit in the electric motor, and a switch operating member that operates the drive switch. Load current detecting means for outputting a predetermined torque-up detection signal when the motor reaches a preset set value, an electric motor control circuit for controlling driving and stopping of the electric motor, and a rotation amount of the electric motor. Comprising an electric screwdriver provided with a rotation amount detecting means for detecting each,
In a predetermined screw tightening operation by the electric screwdriver, a load current setting value for outputting the torque-up detection signal to the load current detection means is variably set,
The load current value from the start time of screw tightening to the time of torque increase detection upon completion of screw tightening is detected by the load current detecting means, and the load current value detected at the time of torque increase detection is set in advance. By setting to determine whether the screw tightening state is good or bad by comparing with the value,
Further, the rotation amount of the electric motor from the start time of screw tightening to the time of torque increase detection by the load current detection means upon completion of screw tightening is sequentially detected by the rotation amount detection means and detected at the time of torque increase detection. A control unit configured to determine whether or not the screw tightening state is good by comparing the rotation amount with a target rotation amount including a preset allowable range is provided.

An automatic screw tightening control and management system according to claim 4 of the present invention is coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a reduction mechanism. A load operating unit that detects a load current obtained in an electric motor based on a load torque as a reaction force applied to the driver bit in the electric motor, and a switch operating member that operates the electric switch. Load current detecting means for outputting a predetermined torque-up detection signal when the motor reaches a preset set value, an electric motor control circuit for controlling driving and stopping of the electric motor, and a rotation amount of the electric motor. Comprising an electric screwdriver provided with a rotation amount detecting means for detecting each,
As a reaction force applied to the driver bit in a predetermined screw tightening operation by the electric screwdriver, it is possible to variably set a load current set value for outputting the torque-up detection signal to the load current detecting means . Based on the load torque , set the seating state for the screw mounting object to be detectable,
The electric motor is switched to low-speed rotation drive from the time of detection of the seating state and screwed, and set to detect the torque-up state based on the load current value detected by the load current detection means,
Furthermore, the rotation amount of the electric motor accompanying the completion of screw tightening from the start time of screw tightening to the detection time of the torque-up state is sequentially detected by the rotation amount detection means, and the rotation amount detected at the torque-up detection time is detected. A control unit configured to determine whether the screw tightening state is good or bad by comparing with a target rotation amount including a preset allowable range is provided.

The automatic screw tightening control and management system according to claim 5 of the present invention is based on a load torque as a reaction force applied to the driver bit in a predetermined screw tightening operation by the electric screwdriver. The setting for detecting the seating state of the object is to mechanically absorb the reaction force generated in the seating state in a reduction mechanism comprising a planetary gear and an internal gear coupled to the output shaft of the electric motor. It is characterized in that the detection is performed in combination with the operation to be performed.

The automatic screw tightening control and management system according to claim 6 of the present invention is configured such that when the rotation amount detected at the time of the torque increase detection is compared with a target rotation amount including a preset allowable range, the allowable range is set. The target rotation amount includes the rotation amount detected from the start time of screw tightening to the time of torque increase detection in the first proper screw tightening operation in a predetermined screw tightening operation as the target rotation amount including an allowable range. It is set to a part.

The automatic screw tightening control and management system according to claim 7 of the present invention is configured such that when the rotation amount detected at the time of the torque increase detection is compared with a target rotation amount including a preset allowable range, the allowable range is set. The target rotation amount including an allowable range includes an average value of the rotation amount detected from the screw tightening start time to the torque increase detection time in the first proper plural times of screw tightening work in the predetermined screw tightening work. The target rotation amount is set in the control unit.

Claims (10)

An electric motor, a drive switch for driving the electric motor, a driver bit coupled to a drive output shaft of the electric motor via a speed reduction mechanism, and a switch operating member for operating the drive switch; In the electric motor, a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit is detected, and a predetermined torque-up detection signal is detected when the load current reaches a preset set value. And an electric motor provided with a load current detecting means for outputting and an electric motor control circuit for controlling driving and stopping of the electric motor,
In a predetermined screw tightening operation by the electric screwdriver, a load current setting value for outputting the torque-up detection signal to the load current detection means is variably set by a required communication control means,
The load current value from the start time of screw tightening to the time of torque increase detection upon completion of screw tightening is detected by the load current detecting means, and the load current value detected at the time of torque increase detection is set in advance. An automatic screw tightening control and management system comprising a control unit configured to determine whether the screw tightening state is good or bad by comparing with a value. An electric motor, a drive switch for driving the electric motor, a driver bit coupled to a drive output shaft of the electric motor via a speed reduction mechanism, and a switch operating member for operating the drive switch; In the electric motor, a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit is detected, and a predetermined torque-up detection signal is detected when the load current reaches a preset set value. An electric driver provided with load current detection means for outputting, an electric motor control circuit for controlling driving and stopping of the electric motor, and a rotation amount detection means for detecting the rotation amount of the electric motor,
In a predetermined screw tightening operation by the electric screwdriver, a load current setting value for outputting the torque-up detection signal to the load current detection means is variably set,
The rotation amount detection means sequentially detects the rotation amount of the electric motor from the start time of screw tightening to the time of torque increase detection accompanying the completion of screw tightening, and the rotation amount detected at the time of torque increase detection is set in advance. An automatic screw tightening control and management system comprising a control unit set to determine whether or not a screw tightening state is good by comparing with a rotation amount (including an allowable range). An electric motor, a drive switch for driving the electric motor, a driver bit coupled to a drive output shaft of the electric motor via a speed reduction mechanism, and a switch operating member for operating the drive switch; In the electric motor, a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit is detected, and a predetermined torque-up detection signal is detected when the load current reaches a preset set value. An electric driver provided with load current detection means for outputting, an electric motor control circuit for controlling driving and stopping of the electric motor, and a rotation amount detection means for detecting the rotation amount of the electric motor,
In a predetermined screw tightening operation by the electric screwdriver, a load current setting value for outputting the torque-up detection signal to the load current detection means is variably set,
The load current value from the start time of screw tightening to the time of torque increase detection upon completion of screw tightening is detected by the load current detecting means, and the load current value detected at the time of torque increase detection is set in advance. By setting to determine whether the screw tightening state is good or bad by comparing with the value,
Further, the rotation amount of the electric motor from the start time of screw tightening to the time of torque increase detection by the load current detection means upon completion of screw tightening is sequentially detected by the rotation amount detection means and detected at the time of torque increase detection. Automatic screw tightening control and management characterized by providing a control unit configured to determine whether the screw tightening state is good or bad by comparing the rotation amount with a preset target rotation amount (including an allowable range) system. An electric motor, a drive switch for driving the electric motor, a driver bit coupled to a drive output shaft of the electric motor via a speed reduction mechanism, and a switch operating member for operating the drive switch; In the electric motor, a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit is detected, and a predetermined torque-up detection signal is detected when the load current reaches a preset set value. An electric driver provided with load current detection means for outputting, an electric motor control circuit for controlling driving and stopping of the electric motor, and a rotation amount detection means for detecting the rotation amount of the electric motor,
The load current setting value for outputting the torque-up detection signal to the load current detection means can be set variably, and the load torque (reverse force) applied to the driver bit in a predetermined screw tightening operation by the electric screwdriver. Based on the force), the seating state of the screw to be mounted is set to be detectable,
The electric motor is switched to low-speed rotation drive from the time of detection of the seating state and screwed, and set to detect the torque-up state based on the load current value detected by the load current detection means,
Further, the rotation amount of the electric motor from the start time of screw tightening to the detection time of the torque-up state is sequentially detected by the rotation amount detection means, and the rotation amount detected at the torque-up detection time is set in advance as a target rotation amount. An automatic screw tightening control and management system comprising a control unit set to determine whether the screw tightening state is good or bad by comparing with (including an allowable range).   In a predetermined screw tightening operation by the electric screwdriver, the setting for detecting the seating state of the screw to be attached based on the load torque (reaction force) applied to the driver bit is set on the output shaft of the electric motor. The speed reduction mechanism including a planetary gear and an internal gear to be coupled are configured to detect the reaction force generated in the seating state together with an operation of mechanically absorbing the reaction force. Item 5. The automatic screw tightening control and management system according to item 4.   In a case where the rotation amount detected at the time of the torque increase detection is compared with a preset target rotation amount (including an allowable range), the target rotation amount (including the allowable range) is the first value in a predetermined screw tightening operation. The rotation amount detected from the time point when screw tightening is started to the time point when the torque is increased in an appropriate screw tightening operation is set as a target rotation amount (including an allowable range) in the control unit. The automatic screw tightening control and management system according to 3 or 4.   In a case where the rotation amount detected at the time of the torque increase detection is compared with a preset target rotation amount (including an allowable range), the target rotation amount (including the allowable range) is the first value in a predetermined screw tightening operation. In an appropriate plural times of screw tightening operations, an average value of the rotation amount detected from the start time of screw tightening to the time of torque increase detection is set in the control unit as a target rotation amount (including an allowable range). The automatic screw tightening control and management system according to claim 2, 3 or 4.   In a predetermined screw tightening operation by the electric screwdriver, the number of screws to be screwed can be set variably, the number of screws from the screw tightening start time to the torque up detection time is detected and recorded, and the screw It is provided that a control unit is provided which is configured to detect and record the number of screws that have been detected and detected whether the tightening state is good and to compare the number of the respective screws, and to determine whether the screw tightening state is good or bad. The automatic screw tightening control and management system according to any one of claims 1 to 7. A production line for assembling required products using the electric screwdrivers composed of a plurality of units is combined with a communication terminal connected to a central management center together with a management terminal via a control device,
When performing predetermined screw tightening work by each electric screwdriver in any one of the production lines, it is provided in a central management center and the production line via a communication network based on a command of a management terminal corresponding to the production line Performs communication control with the control device, and variably sets the load current setting value for outputting the torque-up detection signal to the load current detection means of each electric driver set in the production line The automatic screw tightening control and management system according to claim 1, wherein the automatic screw tightening control and management system is configured as described above.   Time series data or pattern of the load current, the target rotation amount detected by the rotation amount detection means, and the screw tightened screw from the load current detection start time to the torque increase detection time by the load current detection means. The automatic screw tightening control and management system according to any one of claims 1 to 7, wherein the number of screw tightening and the number of screw tightening of a screw whose screw tightening state is determined to be appropriate can be set respectively. .

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