JP5034899B2 - Tightening diagnosis system and tightening diagnosis method - Google Patents

Description

  The present invention relates to a tightening diagnosis system and a tightening diagnosis method for determining whether or not a tightening member such as a bolt is normally tightened by a nut runner.

  A nut runner, which is a device for fastening a fastening member such as a bolt, is used when assembling various machine parts. For example, in the nutrunner disclosed in Patent Document 1, a clutch mechanism is interposed between a reduction shaft and a rotation main shaft, a torque sensor is attached to the rotation main shaft, and the tightening torque is smaller than the clutch mechanism operating torque value. A torque sensor detects that the motor switching torque value has been reached, and the motor that rotates the rotating spindle is switched from high speed rotation to low speed rotation. Further, the clutch mechanism is composed of an upper clutch, a lower clutch, and a ball sandwiched between them, and the clutch mechanism is configured to operate after the torque sensor sends the switching signal to the motor. .

  By the way, in order for the nut runner to normally tighten the tightening member to the object to be tightened, it is assumed that the clutch mechanism operates normally. However, the conventional nutrunner has not been devised sufficiently as a means for detecting that the clutch mechanism has operated normally. For this reason, the detection timing when the clutch mechanism does not operate normally is delayed, and it is necessary to replace the clutch mechanism after it has failed or to replace the clutch mechanism periodically.

Japanese Patent No. 3889947

  The present invention has been made in view of such a conventional problem, and is capable of quickly detecting an abnormality of the clutch mechanism and capable of stably performing tightening of the tightening member and tightening. It is intended to provide a diagnostic method.

According to a first aspect of the present invention, a nutrunner that electrically tightens a tightening member such as a bolt is controlled by an electronic controller, and the abnormality diagnosis computer determines whether the tightening member has been normally tightened. In the tightening diagnosis system,
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servo motor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque by the torque sensor is determined by the increase specified value. When the value is reached, the servo motor is configured to perform a tightening operation to rotate at a low speed at a rotation speed slower than the high speed rotation,
When the measured value of the tightening torque continues to be lower than the predetermined decrease specified value for a predetermined time after the measured value of the tightening torque reaches the specified increase value, the abnormality diagnosis computer In the tightening diagnosis system, the clutch mechanism is normally operated to detect that the tightening member is normally tightened (Claim 1).

  The tightening diagnosis system of the present invention is configured to control a nutrunner having a servo motor, a speed reducer, a rotation spindle, a clutch mechanism, a holding socket, a torque sensor, and a rotation speed detector by an electronic controller. Then, the electronic controller performs a moving operation of rotating the servo motor at a high speed, thereby rotating the fastening member held in the holding socket at a high speed, and fastening the fastening member to the tightened portion in the tightening target. Can be performed at high speed. Thereby, the time which clamps a clamping member can be shortened.

  When the head of the tightening member held by the holding socket comes into contact with the tightening surface at the tightened portion, the measured value of the tightening torque by the torque sensor increases. At this time, when the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, the electronic controller performs a tightening operation that rotates the servo motor at a low speed, thereby holding the tightening member in the holding socket. Can be rotated at a low speed, and the tightening member can be fastened to the tightened portion of the object to be tightened at a low speed. As a result, the tightening member can be stably tightened to the tightened portion.

  By the way, when the head of the tightening member held by the holding socket comes into contact with the tightening surface at the tightened portion, a load is applied to the rotation main shaft or a load applied to the rotation main shaft is increased. At this time, when the load applied to the rotation main shaft becomes a predetermined value, the engagement state between the rotation main shaft and the speed reducer is released by the clutch mechanism. The electronic controller can switch the rotation of the servo motor from a high speed to a low speed while the speed reducer rotates relative to the main spindle by a predetermined amount of rotation. It is possible to prevent a large impact torque from being generated between the head of the tightening member and the tightening surface. Therefore, the tightening operation can be performed more stably.

  The abnormality diagnosis computer of the present invention can detect whether the clutch mechanism has been operated normally by monitoring the measured value of the tightening torque by the torque sensor. Specifically, when the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and continues to decrease for a predetermined time below the predetermined decrease specified value (below the predetermined decrease specified value). When the reduced time becomes equal to or longer than a predetermined time), the abnormality diagnosis computer can detect that the clutch mechanism has been operated normally and the tightening member has been normally tightened.

  On the other hand, after the measured value of the tightening torque by the torque sensor has reached the predetermined increase specified value, when the state of decreasing for a predetermined time does not continue below the predetermined decrease specified value (decreased below the predetermined decrease specified value) When the time is less than the predetermined time), the abnormality diagnosis computer can detect that the clutch mechanism does not operate normally and the tightening member is not normally tightened.

Thus, according to the tightening diagnosis system of the present invention, when any abnormality occurs in the clutch mechanism, this can be detected quickly. Therefore, management of the clutch mechanism is facilitated, and for example, the clutch mechanism can be maintained in a normal state without performing periodic disassembly inspection, replacement, or the like.
Further, by monitoring the operating state of the clutch mechanism, it is possible to monitor whether the tightening member is normally tightened, and the tightening member can be stably tightened.

  Therefore, according to the tightening diagnosis system of the present invention, the abnormality of the clutch mechanism can be quickly detected, and the tightening member can be stably tightened.

According to a second aspect of the present invention, a nut runner that electrically tightens a tightening member such as a bolt is controlled by an electronic controller, and the abnormality diagnosis computer determines whether the tightening member has been normally tightened. In the tightening diagnosis system,
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the specified increase value, the abnormality diagnosis computer determines that the tightening angle of the tightening member accumulated from the measured rotational speed by the rotational speed detector is a predetermined tightening angle. The tightening diagnosis system is configured to detect that the clutch mechanism operates normally and the tightening of the tightening member is normally performed when the normal tightening angle is reached ( Claim 2).

In the tightening diagnosis system of the present invention, as in the above-described tightening diagnosis system, the moving operation can shorten the time for tightening the tightening member, and the tightening operation can tighten the tightening member. The attaching member can be stably tightened to the tightened portion.
The abnormality diagnosis computer of the present invention can also detect whether the clutch mechanism has been operated normally by monitoring the measured value of the tightening torque by the torque sensor.

Specifically, after the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, the tightening angle of the tightening member integrated from the measured value of the rotational speed by the rotational speed detector is a predetermined value. When the normal tightening angle is reached (when the normal tightening angle is exceeded), the abnormality diagnosis computer detects that the clutch mechanism has been operated normally and the tightening member has been normally tightened. be able to.
The normal tightening angle can be set as a tightening angle when the tightening member is normally tightened.

  On the other hand, after the measured value of the tightening torque by the torque sensor reaches the predetermined increase specified value, the tightening angle of the tightening member accumulated from the measured rotational speed by the rotational speed detector is the predetermined normal tightening. When the angle has not been reached (when the angle is less than the predetermined normal tightening angle), the abnormality diagnosis computer detects that the clutch mechanism has not operated normally and the tightening member has not been tightened normally. can do.

Thus, even with the tightening diagnosis system of the present invention, if any abnormality occurs in the clutch mechanism, this can be detected quickly. Therefore, management of the clutch mechanism is facilitated, and for example, the clutch mechanism can be maintained in a normal state without performing periodic disassembly inspection, replacement, or the like.
Further, by monitoring the operating state of the clutch mechanism, it is possible to monitor whether the tightening member is normally tightened, and the tightening member can be stably tightened.

  Therefore, even with the tightening diagnosis system of the present invention, the abnormality of the clutch mechanism can be quickly detected, and the tightening member can be stably tightened.

According to a third aspect of the present invention, a nut runner that electrically tightens a tightening member such as a bolt is controlled by an electronic controller, and the abnormality diagnosis computer determines whether the tightening member has been normally tightened. In the tightening diagnosis system,
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque has reached the specified increase value, the abnormality diagnosis computer has a predetermined time required for the measured value of the tightening torque to reach a predetermined tightening completion specified value. The tightening diagnosis system is configured to detect that the clutch mechanism operates normally and the tightening of the tightening member is normally performed when the tightening is normal time or longer. (Claim 3).

In the tightening diagnosis system of the present invention, as in the above-described tightening diagnosis system, the moving operation can shorten the time for tightening the tightening member, and the tightening operation can tighten the tightening member. The attaching member can be stably tightened to the tightened portion.
The abnormality diagnosis computer of the present invention can also detect whether the clutch mechanism has been operated normally by monitoring the measured value of the tightening torque by the torque sensor.

Specifically, the time required to reach the predetermined tightening completion specified value after the measured value of the tightening torque by the torque sensor reaches the predetermined increase specified value is equal to or longer than the predetermined normal tightening time. In such a case, the abnormality diagnosis computer can detect that the clutch mechanism operates normally and the tightening member is normally tightened.
The tightening completion specified value can be set to a size that can maintain the tightening state of the tightening member to the tightened portion.

  On the other hand, when the time required to reach the predetermined tightening completion specified value after the measured value of the tightening torque by the torque sensor reaches the predetermined increase specified value is less than the predetermined normal tightening time The abnormality diagnosis computer can detect that the clutch mechanism does not operate normally and the tightening member is not normally tightened.

Thus, even with the tightening diagnosis system of the present invention, if any abnormality occurs in the clutch mechanism, this can be detected quickly. Therefore, management of the clutch mechanism is facilitated, and for example, the clutch mechanism can be maintained in a normal state without performing periodic disassembly inspection, replacement, or the like.
Further, by monitoring the operating state of the clutch mechanism, it is possible to monitor whether the tightening member is normally tightened, and the tightening member can be stably tightened.

  Therefore, even with the tightening diagnosis system of the present invention, the abnormality of the clutch mechanism can be quickly detected, and the tightening member can be stably tightened.

According to a fourth aspect of the present invention, a nutrunner that electrically tightens a tightening member such as a bolt is controlled by an electronic controller, and the abnormality diagnosis computer determines whether the tightening member has been normally tightened. In the tightening diagnosis system,
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the increase specified value, the abnormality diagnosis computer has a rotation speed measured by the rotation speed detector continuously exceeding a predetermined tightening normal rotation speed for a predetermined specified time. In the tightening diagnosis system, the clutch mechanism is configured to normally operate to detect that the tightening member has been tightened normally. 4).

In the tightening diagnosis system of the present invention, as in the above-described tightening diagnosis system, the moving operation can shorten the time for tightening the tightening member, and the tightening operation can tighten the tightening member. The attaching member can be stably tightened to the tightened portion.
The abnormality diagnosis computer of the present invention can also detect whether the clutch mechanism has been operated normally by monitoring the measured value of the tightening torque by the torque sensor.

Specifically, after the measured value of the tightening torque by the torque sensor reaches the predetermined increase specified value, the rotational speed measured by the rotational speed detector continues for a predetermined specified normal rotation for a predetermined specified time. When the speed is maintained above the speed (when the time maintained above the predetermined tightening normal rotation speed is equal to or longer than the predetermined specified time), the abnormality diagnosis computer causes the clutch mechanism to operate normally and the tightening member It is possible to detect that the tightening has been performed normally.
When the tightening of the tightening member is finished (when the measured value of the tightening torque measured by the torque sensor reaches the predetermined tightening completion specified value), the rotational speed measured by the rotational speed detector becomes the normal tightening rotation. Decrease below speed or to zero.

  On the other hand, after the measured value of the tightening torque by the torque sensor reaches the predetermined increase specified value, the rotation speed measured by the rotation speed detector continues for a predetermined specified time and exceeds the predetermined normal tightening rotation speed. If it is not maintained (when the time maintained above the predetermined tightening normal rotation speed is less than the predetermined specified time), the abnormality diagnosis computer does not operate the clutch mechanism normally and the tightening member It is possible to detect that the tightening has not been performed normally.

Thus, even with the tightening diagnosis system of the present invention, when any abnormality occurs in the clutch mechanism, it can be quickly detected. Therefore, management of the clutch mechanism is facilitated, and for example, the clutch mechanism can be maintained in a normal state without performing periodic disassembly inspection, replacement, or the like.
Further, by monitoring the operating state of the clutch mechanism, it is possible to monitor whether the tightening member is normally tightened, and the tightening member can be stably tightened.

  Therefore, even with the tightening diagnosis system of the present invention, the abnormality of the clutch mechanism can be quickly detected, and the tightening member can be stably tightened.

According to a fifth aspect of the present invention, there is provided a tightening diagnosis method in which a nutrunner that electrically tightens a tightening member such as a bolt is controlled by an electronic controller to determine whether the tightening member is normally tightened.
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the specified increase value, the clutch mechanism operates normally when the measured value of the tightening torque continues to decrease below a predetermined specified decrease value for a predetermined time. Then, the tightening diagnosis method is characterized in that it is detected that the tightening member has been normally tightened (claim 8).

The tightening diagnosis method of the present invention can shorten the time for tightening the tightening member by the moving operation, as well as the above-described tightening diagnosis method. The member can be stably clamped to the tightened portion.
In the abnormality diagnosis method of the present invention, it is possible to detect whether the clutch mechanism has operated normally by monitoring the measured value of the tightening torque by the torque sensor.

  Specifically, when the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and continues to decrease for a predetermined time below the predetermined decrease specified value (below the predetermined decrease specified value). When the reduced time becomes equal to or longer than a predetermined time), it is possible to detect that the clutch mechanism has been operated normally and the tightening member has been normally tightened.

  On the other hand, after the measured value of the tightening torque by the torque sensor has reached the predetermined increase specified value, when the state of decreasing for a predetermined time does not continue below the predetermined decrease specified value (decreased below the predetermined decrease specified value) When the time is less than the predetermined time), it can be detected that the clutch mechanism does not operate normally and the tightening member is not normally tightened.

Thus, according to the tightening diagnosis method of the present invention, when any abnormality occurs in the clutch mechanism, it can be quickly detected. Therefore, management of the clutch mechanism is facilitated, and for example, the clutch mechanism can be maintained in a normal state without performing periodic disassembly inspection, replacement, or the like.
Further, by monitoring the operating state of the clutch mechanism, it is possible to monitor whether the tightening member is normally tightened, and the tightening member can be stably tightened.

  Therefore, according to the tightening diagnosis method of the present invention, the abnormality of the clutch mechanism can be quickly detected, and the tightening member can be stably tightened.

A sixth aspect of the present invention relates to a tightening diagnosis method in which a nut runner that electrically tightens a tightening member such as a bolt is controlled by an electronic controller to determine whether the tightening member has been normally tightened.
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the specified increase value, the tightening angle of the tightening member accumulated from the measured value of the rotational speed by the rotational speed detector has reached a predetermined normal tightening angle. In some cases, the tightening diagnosis method is characterized by detecting that the clutch mechanism operates normally and the tightening member is normally tightened (Claim 9).

In the tightening diagnosis method of the present invention, as in the above-described tightening diagnosis method, the moving operation can shorten the time for tightening the tightening member, and the tightening operation can tighten the tightening member. The attaching member can be stably tightened to the tightened portion.
Also in the tightening diagnosis method of the present invention, it is possible to detect whether the clutch mechanism has operated normally by monitoring the measured value of the tightening torque by the torque sensor.

Specifically, after the measured value of the tightening torque by the torque sensor reaches the predetermined increase specified value, the tightening angle of the tightening member integrated from the measured rotational speed value by the rotational speed detector is the predetermined tightening angle. When the normal tightening angle is reached (when the predetermined normal tightening angle is reached), it is possible to detect that the clutch mechanism has operated normally and the tightening member has been normally tightened.
The normal tightening angle can be set as a tightening angle when the tightening member is normally tightened.

  On the other hand, after the measured value of the tightening torque by the torque sensor reaches the predetermined increase specified value, the tightening angle of the tightening member accumulated from the measured rotational speed by the rotational speed detector is the predetermined normal tightening. When the angle has not been reached (when the angle is less than the predetermined normal tightening angle), it can be detected that the clutch mechanism has not operated normally and the tightening member has not been normally tightened.

Thus, even with the tightening diagnosis method of the present invention, when any abnormality occurs in the clutch mechanism, it can be quickly detected. Therefore, management of the clutch mechanism is facilitated, and for example, the clutch mechanism can be maintained in a normal state without performing periodic disassembly inspection, replacement, or the like.
Further, by monitoring the operating state of the clutch mechanism, it is possible to monitor whether the tightening member is normally tightened, and the tightening member can be stably tightened.

  Therefore, even with the tightening diagnosis method of the present invention, the abnormality of the clutch mechanism can be quickly detected, and the tightening member can be stably tightened.

According to a seventh aspect of the present invention, there is provided a tightening diagnosis method in which a nut runner that electrically tightens a tightening member such as a bolt is controlled by an electronic controller to determine whether the tightening member has been normally tightened.
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the specified increase value, the time required for the measured value of the tightening torque to reach the predetermined tightening completion specified value is equal to or greater than the predetermined normal tightening time. In some cases, there is a tightening diagnosis method characterized by detecting that the clutch mechanism operates normally and the tightening member is normally tightened (Claim 10).

In the tightening diagnosis method of the present invention, as in the above-described tightening diagnosis method, the moving operation can shorten the time for tightening the tightening member, and the tightening operation can tighten the tightening member. The attaching member can be stably tightened to the tightened portion.
Also in the tightening diagnosis method of the present invention, it is possible to detect whether the clutch mechanism has operated normally by monitoring the measured value of the tightening torque by the torque sensor.

Specifically, the time required to reach the predetermined tightening completion specified value after the measured value of the tightening torque by the torque sensor reaches the predetermined increase specified value is equal to or longer than the predetermined normal tightening time. When this is the case, it can be detected that the clutch mechanism operates normally and the tightening member is normally tightened.
The tightening completion specified value can be set to a size that can maintain the tightening state of the tightening member to the tightened portion.

  On the other hand, when the time required to reach the predetermined tightening completion specified value after the measured value of the tightening torque by the torque sensor reaches the predetermined increase specified value is less than the predetermined normal tightening time It is possible to detect that the clutch mechanism does not operate normally and the tightening member is not normally tightened.

Thus, even with the tightening diagnosis method of the present invention, when any abnormality occurs in the clutch mechanism, it can be quickly detected. Therefore, management of the clutch mechanism is facilitated, and for example, the clutch mechanism can be maintained in a normal state without performing periodic disassembly inspection, replacement, or the like.
Further, by monitoring the operating state of the clutch mechanism, it is possible to monitor whether the tightening member is normally tightened, and the tightening member can be stably tightened.

  Therefore, even with the tightening diagnosis method of the present invention, the abnormality of the clutch mechanism can be quickly detected, and the tightening member can be stably tightened.

According to an eighth aspect of the present invention, there is provided a tightening diagnosis method in which a nut runner that electrically tightens a tightening member such as a bolt is controlled by an electronic controller to determine whether the tightening member has been normally tightened.
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the specified increase value, when the rotational speed measured by the rotational speed detector is maintained at a predetermined normal tightening speed or higher for a predetermined specified time, In the tightening diagnosis method, it is detected that the clutch mechanism operates normally and the tightening member is normally tightened.

In the tightening diagnosis method of the present invention, as in the above-described tightening diagnosis method, the moving operation can shorten the time for tightening the tightening member, and the tightening operation can tighten the tightening member. The attaching member can be stably tightened to the tightened portion.
The abnormality diagnosis method of the present invention can also detect whether the clutch mechanism has operated normally by monitoring the measured value of the tightening torque by the torque sensor.

Specifically, after the measured value of the tightening torque by the torque sensor reaches the predetermined increase specified value, the rotational speed measured by the rotational speed detector continues for a predetermined specified normal rotation for a predetermined specified time. When the speed is maintained above the speed (when the time maintained above the predetermined tightening normal rotation speed is equal to or longer than the predetermined specified time), the clutch mechanism operates normally and the tightening of the tightening member is normally performed. It is possible to detect what has been done.
When the tightening of the tightening member is finished (when the measured value of the tightening torque measured by the torque sensor reaches the predetermined tightening completion specified value), the rotational speed measured by the rotational speed detector becomes the normal tightening rotation. Decrease below speed or to zero.

  On the other hand, after the measured value of the tightening torque by the torque sensor reaches the predetermined increase specified value, the rotation speed measured by the rotation speed detector continues for a predetermined specified time and exceeds the predetermined normal tightening rotation speed. If not maintained (when the time maintained above the predetermined normal tightening rotational speed is less than the predetermined specified time), the clutch mechanism does not operate normally and the tightening member is normally tightened. It is possible to detect that it was not missed.

Thus, even with the tightening diagnosis method of the present invention, when any abnormality occurs in the clutch mechanism, it can be quickly detected. Therefore, management of the clutch mechanism is facilitated, and for example, the clutch mechanism can be maintained in a normal state without performing periodic disassembly inspection, replacement, or the like.
Further, by monitoring the operating state of the clutch mechanism, it is possible to monitor whether the tightening member is normally tightened, and the tightening member can be stably tightened.

  Therefore, even with the tightening diagnosis method of the present invention, the abnormality of the clutch mechanism can be quickly detected, and the tightening member can be stably tightened.

A preferred embodiment in the first to eighth inventions described above will be described.
The first to fourth inventions can be used in combination of any two or more, and the fifth to eighth inventions can also be used in combination of any two or more.
For example, the abnormality diagnosis computer can determine abnormality of the clutch mechanism by using both the measured value of the tightening torque and the tightening time.

  In the first to eighth aspects of the invention, when the clutch mechanism is in the engaged state, the clutch mechanism maintains a state in which the ball is sandwiched between the clutch surfaces of the pair of clutch members by receiving the urging force of the urging spring. In addition, the ball is sandwiched in the circumferential direction between one original raised portion formed on the clutch surface of one clutch member and the other original raised portion formed on the clutch surface of the other clutch member. When releasing the engagement state, the ball moves over the one original position raised portion and the other original position raised portion, and the one operation formed on the clutch surface of the one clutch member The one clutch member and the other through the ball until it is sandwiched in the circumferential direction between the position raised portion and the other operating position raised portion formed on the clutch surface of the other clutch member It is preferred that the clutch member are configured to relatively rotate against a biasing force of said biasing spring (claims 5, 12).

  In this case, the clutch mechanism can be easily formed by a configuration using a pair of clutch members, a ball, and an urging spring. Note that by changing the urging force by the urging spring, it is possible to change the magnitude of a predetermined load applied to the rotating main shaft when the engagement state of the clutch mechanism is released.

In addition, when the clutch mechanism is in the engaged state, the pair of clutch members receive a biasing force from the biasing spring and sandwich the ball in the circumferential direction between the raised portions in the original position. In response to the rotation, the output shaft of the reduction gear and the rotation main shaft rotate integrally, and the tightening member held in the holding socket can be rotated and tightened to the tightened portion.
On the other hand, when the head of the tightening member held by the holding socket comes into contact with the tightening surface at the tightened portion and a predetermined load is applied to the rotation main shaft, The clutch member rotates relatively via the ball, and the speed reducer can be rotated relative to the rotation main shaft by a predetermined amount of rotation.

The holding socket is attached to the rotating main shaft via an urging means, and when the fastening member held by the holding socket is fastened to the tightened portion, an elastic repulsive force by the urging means is used. It is preferable that the fastening member is configured to be pressed against the tightened portion (claims 6 and 13).
In this case, the tightening member can be pressed against the tightened portion by the biasing means, and the tightening member can be easily tightened to the tightened portion by the rotation of the servo motor.

  The nut runner is attached to an advancing / retreating means for allowing the nut runner to approach a tightened part in the tightened object, and the advance / retreat means extends the nut runner to the tightened part in the tightened object. The electronic controller is attached to a mobile robot to be moved, and the reciprocating means causes the nut runner to approach a tightened portion of the tightening target to generate a repulsive elastic force in the biasing means. Is preferably configured to start the moving operation (claims 7 and 14).

  In this case, after the nut runner is moved to the tightened portion by the mobile robot, the nut runner is moved closer to the tightened portion by the advancing / retreating means, and is held in the holding socket by the elastic repulsive force by the biasing means. The tightening member can be pressed against the tightened portion. Thereby, a fastening member can be easily fastened to a to-be-fastened site | part by rotation of a servomotor.

Embodiments of the tightening diagnosis system and the tightening diagnosis method of the present invention will be described below with reference to the drawings.
Example 1
In the tightening diagnosis system 1 of this example, as shown in FIG. 1, the nut runner 2 that electrically tightens the bolt 85 as a tightening member is controlled by the electronic controller 11 so that the bolt 85 is normally tightened. Is determined by the abnormality diagnosis computer 12.
As shown in FIG. 2, the nut runner 2 includes a servo motor 31, a speed reducer 32, a rotation main shaft 4, a clutch mechanism 5, a holding socket 6, a torque sensor (torque transducer) 45, and a rotation speed detector 33.

  As shown in FIG. 1, the servo motor 31 is configured to be driven by a driver circuit that operates in response to a command from the electronic controller 11. As shown in FIG. 3, the speed reducer 32 is connected to the output shaft of the servo motor 31. The speed reduction speed of the servo motor 31 is reduced by a predetermined reduction ratio, and the speed reducer 32 is reduced at the reduced speed. The output shaft 321 is configured to rotate. A holding shaft portion 34 for disposing the clutch mechanism 5 is connected to the output shaft 321 of the speed reducer 32 with the same axis. As shown in FIGS. 4 to 6, in the clutch mechanism 5, the upper clutch member 51 is disposed on the outer periphery of the holding shaft portion 34, and after a predetermined load is applied to the rotation main shaft 4, the clutch mechanism 5 is decelerated from the rotation main shaft 4. The engagement state between the machine 32 and the holding shaft portion 34 is released, and the speed reducer 32 is rotated relative to the rotary main shaft 4 by a predetermined amount of rotation.

As shown in FIG. 3, the rotation main shaft 4 is rotatably supported with the same axis center with respect to the holding shaft portion 34 and is engaged with the lower clutch member 52 of the clutch mechanism 5. ing. The rotation main shaft 4 is configured to rotate integrally with the output shaft 321, the holding shaft portion 34, and the clutch mechanism 5 of the speed reducer 32 when the clutch mechanism 5 is in the engaged state. As shown in FIG. 7, the holding socket 6 is connected to the rotating main shaft 4 with the same axis, and holds a head 851 of a bolt 85 as a fastening member at the tip thereof. A holding recess 61 is provided.
As shown in FIGS. 1 and 3, the torque sensor 45 is disposed on the outer periphery of the rotation main shaft 4, measures the tightening torque P applied to the rotation main shaft 4, and transmits this measurement signal to the abnormality diagnosis computer 12. It is configured as follows. The rotational speed detector 33 is connected to the servo motor 31 and is configured to detect the rotational speed V of the servo motor 31 and transmit this detection signal to the abnormality diagnosis computer 12.

  As shown in FIG. 8, the electronic control controller 11 is configured to cause the nut runner 2 to perform the movement operations A <b> 1 and A <b> 2 as screwing of the bolt 85 and the tightening operation B as tightening of the bolt 85. More specifically, as shown in FIGS. 7 to 9, the electronic controller 11 starts the tightening of the bolt 85 to the tightened portion 81 in the tightened object 8 as the movement operations A <b> 1 and A <b> 2, The head 851 of the bolt 85 held in the holding socket 6 comes into contact with the tightening surface 811 in the tightened portion 81, and the measured value of the tightening torque P by the torque sensor 45 is a predetermined clutch operation specified value (rising specified value). ) The servo motor 31 is configured to rotate at high speed until P1 is reached. Further, as the tightening operation B, the electronic controller 11 is configured to rotate the servo motor 31 at a low speed V that is slower than the high speed when the measured value of the tightening torque P reaches the clutch operation regulation value P1. It is.

  Then, as shown in FIG. 9, the abnormality diagnosis computer 12 receives the measurement signal from the torque sensor 45, and when the measured value of the tightening torque P reaches a predetermined clutch operation prescribed value P1, the abnormality diagnosis computer 12 The measurement is started, and the measurement of the time t is continued until the measured value of the tightening torque P again becomes equal to or less than the clutch operation prescribed value P1, and then reaches the predetermined clutch operation completion prescribed value P2. When the measured time t is equal to or longer than the predetermined clutch operation normal time t1, the abnormality diagnosis computer 12 detects that the clutch mechanism 5 is operating normally and the bolt 85 is tightened normally. To do. On the other hand, when the measurement time t is less than the predetermined clutch operation normal time t1, the abnormality diagnosis computer 12 confirms that the clutch mechanism 5 does not operate normally and the bolt 85 is tightened normally. Detect.

Hereinafter, the tightening diagnosis system 1 and the tightening diagnosis method of this example will be described in detail with reference to FIGS.
The nut runner 2 of this example is attached to a mobile robot (not shown) that moves two-dimensionally or three-dimensionally, and moves to a plurality of tightening parts 81 in the object 8 to be tightened, and a plurality of tightening parts A bolt 85 as a fastening member can be sequentially fastened to 81.
As shown in FIG. 7, the tightened object 8 of this example includes a first part 8A having a through hole 81A through which a threaded portion 852 of a bolt 85 as a tightening member is inserted, and a bolt 85 inserted into the through hole 81A. And a second part 8B having a screw hole 81B into which the threaded portion 852 is screwed.

Advancing / retreating means 7 for allowing the nut runner 2 to approach the tightened portion 81 of the tightening target 8 is attached to the moving tip of the mobile robot. The advancing / retracting means 7 includes an actuator such as a cylinder or a motor, and a guide portion 71 that guides the nut runner 2 to advance / retreat by the actuator. The actuator of this example consists of an air cylinder. The nut runner 2 is configured to move to a predetermined tightening portion 81 in the tightening target 8 by the mobile robot and then approach the tightening portion 81 by the advancing / retreating means 7.
The mobile robot and advance / retreat means 7 can be controlled by various control computers. As shown in FIG. 1, the abnormality diagnosis computer 12, the controller, and the like can be formed in the same computer 10 or can be formed in an upper computer.

As shown in FIG. 4, the clutch mechanism 5 of the present example includes an in-situ engagement state 501 in which the holding shaft portion 34 connected to the output shaft 321 of the speed reducer 32 and the rotary main shaft 4 are integrally rotated, and FIG. As shown, after the holding shaft portion 34 connected to the output shaft 321 of the speed reducer 32 is rotated relative to the rotation main shaft 4 (see FIG. 5), the holding shaft connected to the output shaft 321 of the speed reducer 32 again. An operation position engagement state 502 is formed in which the portion 34 and the rotary main shaft 4 are rotated together. As shown in FIGS. 3 and 4, the clutch mechanism 5 includes an upper clutch member 51 disposed on the outer periphery of the holding shaft portion 34, a lower clutch member 52 connected to the upper end portion of the rotating main shaft 4, and an upper clutch member 51. And a plurality of balls 53 (steel balls) sandwiched between a clutch surface 511 formed on the lower surface of the lower clutch member 52 and a clutch surface 521 formed on the upper surface of the lower clutch member 52.
The clutch mechanism 5, the holding shaft portion 34, the output shaft 321 of the speed reducer 32, and the upper end portion of the rotary main shaft 4 are accommodated in the clutch case 54.

  As shown in FIG. 4, the clutch surface 511 of the upper clutch member 51 is formed with an upper inclined ridge portion 512 that increases downwardly toward the circumferential one side C <b> 1. The clutch surface 521 is formed with a lower inclined ridge portion 522 in which an upward protrusion amount increases toward the other circumferential side C2. When the clutch mechanism 5 is in the original position engaged state 501, the circumferential positions of the upper inclined ridge portion 512 and the lower inclined ridge portion 522 are deviated, and the clutch space 530 formed between them. A ball 53 is disposed on the surface.

  Further, an upper original position raised portion 513 is formed at the base portion on the other circumferential side C2 of the upper inclined mountain portion 512, and the upper operation position is located at the apex portion on the circumferential one side C1 of the upper inclined mountain portion 512. A raised portion 514 is formed. Further, a lower original position raised portion 523 is formed at the base portion on one side C1 in the circumferential direction of the lower inclined mountain portion 522, and at the apex portion on the other circumferential side C2 of the lower inclined mountain portion 522, A lower operating position raised portion 524 is formed.

As shown in the figure, when the clutch mechanism 5 is in the original position engaged state 501, the ball 53 in the clutch space 530 is located between the upper original position raised portion 513 and the lower original position raised portion 523. Is sandwiched from the circumferential direction.
Further, the upper inclined ridge portion 512 and the lower inclined ridge portion 522 are formed at a plurality of locations in the circumferential direction of the upper clutch member 51 and the lower clutch member 52, respectively, and clutch spaces formed at a plurality of locations in the circumferential direction. A ball 53 is disposed in each of 530.

As shown in FIG. 3, a spring seat plate 341 is provided on the upper end side of the outer periphery of the holding shaft portion 34, and between the spring seat plate 341 and the upper clutch member 51 on the outer peripheral side of the holding shaft portion 34. The urging spring 342 is disposed on the front side. The upper clutch member 51 is pressed in the direction of the lower clutch member 52 under the urging force of the urging spring 342.
Further, the upper clutch member 51 is disposed on the outer periphery of the holding shaft portion 34 in a state in which it can slide up and down. The upper clutch member 51 is prevented from rotating with respect to the holding shaft portion 34 by a ball key 55 configured by arranging a plurality of balls in the axial direction at a plurality of locations in the circumferential direction. You can slide up and down.

When the servo motor 31 is rotated, when no load is applied to the rotating spindle 4, as shown in FIG. 4, a ball is placed between the upper original position raised portion 513 and the lower original position raised portion 523 in the circumferential direction. In a state where 53 is sandwiched, the urging force of the urging spring 342 is received, and an in-situ engagement state 501 by the upper clutch member 51 and the lower clutch member 52 is formed.
Next, when the servo motor 31 is rotated, when a predetermined load (a load torque larger than the rotational friction torque due to the urging force of the urging spring 342) is applied to the rotating main shaft 4, as shown in FIG. The original position engagement state 501 is released, and the ball 53 passes over the upper original position raised portion 513 and the lower original position raised portion 523 and passes between the upper inclined mountain portion 512 and the lower inclined mountain portion 522. roll over. Then, as shown in FIG. 6, the upper clutch member 51 with respect to the lower clutch member 52 until the ball 53 is sandwiched in the circumferential direction between the upper operation position raised portion 514 and the lower operation position raised portion 524. However, they rotate relatively against the urging force of the urging spring 342, and the operation position engagement state 502 is formed.

  As shown in FIG. 7, the holding socket 6 of this example is connected to the rotating main shaft 4 with the same axis center in a state of receiving a biasing force by a spring (biasing means) 41. The spring 41 is disposed between the rotating main shaft 4 and the holding socket 6 on the outer peripheral side of the rotating main shaft 4. The rotating main shaft 4 and the spring 41 and the rear end portion of the holding socket 6 are disposed in the case 42. The holding socket 6 is configured to be able to rotate together with the rotating main shaft 4 and to be retracted toward the rotating main shaft 4 while contracting the spring 41.

  When the bolt 85 held in the holding recess 61 of the holding socket 6 is tightened to the tightened portion 81, the bolt 85 can be pressed to the tightened portion 81 by the elastic repulsive force of the spring 41. When the nutrunner 2 holding the bolt 85 is moved closer to the tightened portion 81 by the advance / retreat means 7, the holding socket 6 is retracted toward the rotating spindle 4 against the urging force of the spring 41, and the repulsion by the spring 41. Elastic force can be applied to the bolt 85 from the holding socket 6. In this state, by rotating the holding socket 6 by the servo motor 31, the screw portion 852 of the bolt 85 can be tightened into the screw hole 81B in the second component 8B.

The rotation speed detector 33 of this example is an encoder. In addition to this, the rotation speed detector 33 may be various detectors such as a tachometer generator.
As the torque sensor 45, various sensors that can measure torque generated in the rotation main shaft 4 can be used. For example, a torque sensor 45 such as a strain gauge method, a magnetostriction effect method, a phase difference detection method, a mechanical reaction force method, or the like can be used depending on the principle of measuring torque.

  The electronic controller 11 of the present example includes, as the movement operations A1 and A2, the first-stage movement operation A1 in which the servo motor 31 is rotated at a higher speed and the bolt 85 is screwed at a higher speed. The second stage moving operation A2 is performed in which the rotation speed V of the servo motor 31 is decreased as compared with the operation A1 and the bolt 85 is screwed.

Next, a method for performing a tightening diagnosis of the bolt 85 using the tightening diagnosis system 1 of the present example and the operation and effect of the present example will be described with reference to the flowchart of FIG.
First, the mobile robot is controlled by a control computer or the like, and the nut runner 2 holding the bolt 85 is moved to a position facing the tightened portion 81 in the tightened object 8 (step S101 in FIG. 10). Then, the advancing / retreating means 7 is controlled by a control computer or the like, and the nut runner 2 holding the bolt 85 is moved closer (advanced) to the tightened portion 81.
At this time, the screw portion 852 of the bolt 85 is inserted into the through hole 81A of the first component 8A, and the tip end portion of the screw portion 852 contacts the screw hole 81B of the second component 8B. Then, when the nut runner 2 is further advanced, the holding socket 6 is retracted in the direction of the rotating spindle 4 while the spring 41 is contracted (see FIG. 7).

Next, the electronic controller 11 rotates the servo motor 31 at a high speed for a predetermined time to screw the bolt 85 as the first stage moving operation A1, and the rotational speed V of the servo motor 31 as the second stage moving operation A2. And the bolt 85 is screwed (S102). Then, the electronic controller 11 performs the second-stage moving operation A2 until the measured value of the tightening torque P by the torque sensor 45 reaches the predetermined clutch operation regulation value P1 (S103).
In this way, the electronic controller 11 performs the two-stage moving operations A1 and A2 for rotating the servo motor 31 at a high speed, thereby rotating the bolt 85 held in the holding socket 6 at a high speed and tightening the tightened object 8 to be tightened. The bolt 85 can be fastened to the attaching portion 81 at a high speed. Thereby, the time which tightens the volt | bolt 85 can be shortened.

  By the way, when the head 851 of the bolt 85 held in the holding socket 6 comes into contact with the tightening surface 811 in the tightened portion 81, a load is applied to the rotation main shaft 4 or a load torque applied to the rotation main shaft 4 is increased. The measured value of the tightening torque P by the torque sensor 45 increases. At this time, when the measured value of the tightening torque P by the torque sensor 45 reaches a predetermined clutch operation prescribed value (rising prescribed value) P1 (when S103 is Yes), the electronic controller 11 rotates the servo motor 31. The speed V is further reduced (S104). The electronic controller 11 can quickly reduce the rotational speed V of the servo motor 31 using a regenerative brake, an electromagnetic brake, or the like.

  Then, the electronic controller 11 performs a tightening operation B for rotating the servo motor 31 at a low speed, thereby rotating the bolt 85 held in the holding socket 6 at a low speed, to the tightened portion 81 in the tightened object 8. The bolt 85 can be fastened at a low speed. Thereby, the bolt 85 can be stably tightened to the tightened portion 81.

  When the load torque applied to the rotation main shaft 4 becomes larger than the rotational friction torque due to the biasing force of the biasing spring 342, the clutch mechanism 5 engages the rotation main shaft 4 and the speed reducer 32 as shown in FIG. The state is released. The electronic controller 11 can switch the rotation of the servo motor 31 from the high-speed rotation to the low-speed rotation while the speed reducer 32 rotates relative to the rotation spindle 4 by a predetermined rotation amount. At this time, it is possible to prevent a sudden impact torque from being generated between the head 851 of the bolt 85 and the fastening surface 811. Therefore, the tightening operation B can be performed more stably.

When the measured value of the tightening torque P by the torque sensor 45 reaches the predetermined clutch operation prescribed value P1, the abnormality diagnosis computer 12 starts measuring the time t (S105).
Then, the abnormality diagnosis computer 12 detects that the measured value of the tightening torque P by the torque sensor 45 has again become equal to or less than the clutch operation prescribed value P1, and then the measured value of the tightening torque P becomes the predetermined clutch operation. The measurement of the time t is continued until the completion specified value P2 is reached (S106). Thereafter, when the measured value of the tightening torque P reaches a predetermined clutch operation completion prescribed value P2 (when S106 is Yes), the abnormality diagnosis computer 12 ends the measurement of the time t (S107).

Thus, the abnormality diagnosis computer 12 measures the time t, and when the measured time t is equal to or longer than the predetermined clutch operation normal time t1 (when S108 is Yes), it indicates that the clutch mechanism 5 has operated normally. It can be detected (S109).
On the other hand, when the measured time t is less than the predetermined normal clutch operation time t1 (when S108 is No), the abnormality diagnosis computer 12 may detect that the clutch mechanism 5 has not operated normally. Yes (S110).

Thereafter, the electronic controller 11 rotates the servo motor 31 at a low speed until the measured value of the tightening torque P by the torque sensor 45 reaches a predetermined tightening completion prescribed value P3. When the measured value of the tightening torque P reaches a predetermined tightening completion prescribed value P3, the rotation of the servo motor 31 is stopped and the tightening operation B is completed (see FIG. 8).
The abnormality diagnosis computer 12 can detect that the bolt 85 has been tightened normally when the measurement time t is equal to or longer than the predetermined clutch operation normal time t1 (S109).

  On the other hand, when the measured time t is less than the predetermined clutch operation normal time t1, the abnormality diagnosis computer 12 can detect that the bolt 85 has not been tightened normally (S110). Further, in this case, it is considered that some abnormality has occurred in the clutch mechanism 5, and an operator or the like can take measures at an early stage.

Thus, according to the tightening diagnosis system 1 of this example, when any abnormality occurs in the clutch mechanism 5, this can be detected quickly. Therefore, management of the clutch mechanism 5 is facilitated. For example, the clutch mechanism 5 can be maintained in a normal state without performing periodic disassembly and inspection, replacement, and the like.
Further, by monitoring the operating state of the clutch mechanism 5, it is possible to monitor whether the bolt 85 is normally tightened, and the bolt 85 can be stably tightened.

  Therefore, according to the tightening diagnosis system 1 of this example, the abnormality of the clutch mechanism 5 can be detected quickly, and the bolt 85 can be tightened stably.

(Example 2)
This example is an example in which the abnormality determination method by the abnormality diagnosis computer 12 is different from the first embodiment.
As shown in FIG. 11, the abnormality diagnosis computer 12 of the present example uses the rotational speed detector 33 after the measured value of the tightening torque P by the torque sensor 45 reaches a predetermined clutch actuation prescribed value (rising prescribed value) P1. When the tightening angle R of the bolt 85 accumulated from the measured value of the rotational speed V reaches the predetermined normal tightening angle R1, the clutch mechanism 5 has been operated normally and the bolt 85 has been normally tightened. Is detected. On the other hand, in the abnormality diagnosis computer 12 of this example, when the tightening angle R of the bolt 85 does not reach the predetermined tightening normal angle R1, the clutch mechanism 5 does not operate normally and the bolt 85 is tightened. Detect that it was not successful.

  When performing the tightening diagnosis of the bolt 85 using the tightening diagnosis system 1 of the present example, the electronic controller 11 performs the two-stage moving operations A1 and A2 and holds the same as in the first embodiment. The bolt 85 held in the socket 6 is rotated at a high speed, and the bolt 85 can be fastened to the tightened portion 81 in the tightened target 8 (steps S201 and S202 in FIG. 12). When the second stage moving operation A2 is performed, when the measured value of the tightening torque P by the torque sensor 45 reaches a predetermined clutch operation regulation value P1 (when S203 is Yes), the electronic controller 11 The tightening operation B is performed with the rotation speed V of the motor 31 at a low speed (S204). At this time, the abnormality diagnosis computer 12 integrates the measured values of the rotation speed V by the rotation speed detector 33 and starts measuring the rotation amount of the servo motor 31 (S205).

  Then, the abnormality diagnosis computer 12 continues to measure the rotation amount of the servo motor 31 until the measured value of the tightening torque P by the torque sensor 45 reaches a predetermined tightening completion prescribed value P3 (S206). Thereafter, when the measured value of the tightening torque P by the torque sensor 45 reaches a predetermined tightening completion prescribed value P3 (when S206 is Yes), the electronic controller 11 stops the rotation of the servo motor 31. The tightening operation B is completed, and the abnormality diagnosis computer 12 ends the rotation amount measurement (S207).

Thereafter, the abnormality diagnosis computer 12 calculates a tightening angle (tightening rotation amount) R of the bolt 85 from the rotation amount, and when the tightening angle R is equal to or greater than a predetermined tightening normal angle R1 (S208). Is Yes), it can be detected that the clutch mechanism 5 has operated normally (S209). In this case, the abnormality diagnosis computer 12 can detect that the bolt 85 has been tightened normally.
On the other hand, when the tightening angle R of the bolt 85 is less than the predetermined normal tightening angle R1 (when S208 is No), the abnormality diagnosis computer 12 confirms that the clutch mechanism 5 did not operate normally. It can be detected (S210). In this case, the abnormality diagnosis computer 12 can detect that the bolt 85 has not been tightened normally. Further, in this case, it is considered that some abnormality has occurred in the clutch mechanism 5, and an operator or the like can take measures at an early stage.

Thus, even with the tightening diagnosis system 1 and the tightening diagnosis method of this example, when any abnormality occurs in the clutch mechanism 5, this can be detected quickly. Therefore, management of the clutch mechanism 5 is facilitated. For example, the clutch mechanism 5 can be maintained in a normal state without performing periodic disassembly and inspection, replacement, and the like.
Further, by monitoring the operating state of the clutch mechanism 5, it is possible to monitor whether the bolt 85 is normally tightened, and the bolt 85 can be stably tightened. Also in this example, other configurations are the same as those of the first embodiment, and the same effects as those of the first embodiment can be obtained.

(Example 3)
This example is also an example in which the abnormality determination method by the abnormality diagnosis computer 12 is different from the first embodiment.
As shown in FIG. 13, the abnormality diagnosis computer 12 of the present example shows that the measured value of the tightening torque P after the measured value of the tightening torque P by the torque sensor 45 becomes the clutch operation specified value (the increased specified value) P1. When the time t required to reach the predetermined tightening completion prescribed value P3 is equal to or longer than the predetermined normal tightening time t2, the clutch mechanism 5 is operated normally and the bolt 85 is normally tightened. Detect that. On the other hand, when the time t required for the measured value of the tightening torque P to reach the predetermined tightening completion prescribed value P3 is less than the predetermined normal tightening time t2, the abnormality diagnosis computer 12 of this example. Then, it is detected that the clutch mechanism 5 does not operate normally and the bolt 85 is not properly tightened.

  When performing the tightening diagnosis of the bolt 85 using the tightening diagnosis system 1 of the present example, the electronic controller 11 performs the two-stage moving operations A1 and A2 and holds the same as in the first embodiment. The bolt 85 held in the socket 6 can be rotated at a high speed, and the bolt 85 can be fastened to the tightened portion 81 of the object to be tightened 8 (Steps S301 and S302 in FIG. 14). When the measured value of the tightening torque P by the torque sensor 45 reaches the predetermined clutch operation prescribed value P1 when the second stage moving operation A2 is performed (when S303 is Yes), the electronic controller 11 The tightening operation B is performed with the rotation speed V of the motor 31 at a low speed (S304). At this time, the abnormality diagnosis computer 12 starts measuring time t (S305).

  Then, the abnormality diagnosis computer 12 continues to measure time t until the measured value of the tightening torque P by the torque sensor 45 reaches a predetermined tightening completion prescribed value P3 (S306). Thereafter, when the measured value of the tightening torque P by the torque sensor 45 reaches the predetermined tightening completion prescribed value P3 (when S306 is Yes), the electronic controller 11 stops the rotation of the servo motor 31. The tightening operation B is completed, and the abnormality diagnosis computer 12 ends the measurement of the time t (S307).

Next, when the measurement time t is equal to or longer than the predetermined tightening normal time t2 (when S308 is Yes), the abnormality diagnosis computer 12 can detect that the clutch mechanism 5 has operated normally ( S309). In this case, the abnormality diagnosis computer 12 can detect that the bolt 85 has been tightened normally.
On the other hand, when the measurement time t is less than the predetermined tightening normal time t2 (when S308 is No), the abnormality diagnosis computer 12 may detect that the clutch mechanism 5 has not operated normally. Yes (S310). In this case, the abnormality diagnosis computer 12 can detect that the bolt 85 has not been tightened normally. Further, in this case, it is considered that some abnormality has occurred in the clutch mechanism 5, and an operator or the like can take measures at an early stage.

Thus, even with the tightening diagnosis system 1 and the tightening diagnosis method of this example, when any abnormality occurs in the clutch mechanism 5, this can be detected quickly. Therefore, management of the clutch mechanism 5 is facilitated. For example, the clutch mechanism 5 can be maintained in a normal state without performing periodic disassembly and inspection, replacement, and the like.
Further, by monitoring the operating state of the clutch mechanism 5, it is possible to monitor whether the bolt 85 is normally tightened, and the bolt 85 can be stably tightened. Also in this example, other configurations are the same as those of the first embodiment, and the same effects as those of the first embodiment can be obtained.

Further, the tightening diagnosis system 1 and the tightening diagnosis method of this example can be applied as follows.
The abnormality diagnosis computer 12 detects that the bolt 85 has been tightened normally when the measurement time t is equal to or greater than the predetermined tightening normal time t2 and equal to or less than the predetermined tightening allowable time. Can do. That is, when a problem such as screw crushing, bolt 85 floating, abnormality of the tightening surface 811 of the tightened portion 81 occurs in the threaded portion 852 of the bolt 85, the tightening time of the bolt 85 is longer than usual. This is considered to be the case.

FIG. 15 shows the waveform of the rotational speed V of the servo motor 31 and the waveform of the tightening torque P when screw crushing occurs in the threaded portion 852 of the bolt 85. In this case, since the measured value of the tightening torque P does not become the tightening completion prescribed value P3 even after the predetermined tightening allowable time t3 has elapsed, the abnormality diagnosis computer 12 has detected an abnormality other than the clutch mechanism 5. It is possible to detect that the bolt 85 has not been tightened normally.
Although illustration is omitted, when the torque sensor 45 fails, it is considered that a time lag occurs in the relationship between the tightening time and the tightening angle R. Therefore, the abnormality diagnosis computer 12 can detect an abnormality occurring in the torque sensor 45 by monitoring the waveform of the tightening torque P.

Example 4
This example is also an example in which the abnormality determination method by the abnormality diagnosis computer 12 is different from the first embodiment.
As shown in FIG. 16, the abnormality diagnosis computer 12 of the present example measures the measured value of the tightening torque P by the torque sensor 45 with the rotational speed detector 33 after the clutch actuation prescribed value (rising prescribed value) P1. When the rotation speed V is maintained at a predetermined tightening normal rotation speed V1 or higher for a predetermined specified time, it is detected that the clutch mechanism 5 operates normally and the bolt 85 is normally tightened. . On the other hand, when the rotational speed V measured by the rotational speed detector 33 is not maintained at a predetermined tightening normal rotational speed V1 or higher for a predetermined specified time, the abnormality diagnosis computer 12 of this example 5 is not operating normally, and it is detected that the bolt 85 has not been tightened normally.

  When performing the tightening diagnosis of the bolt 85 using the tightening diagnosis system 1 of the present example, the electronic controller 11 performs the two-stage moving operations A1 and A2 and holds the same as in the first embodiment. The bolt 85 held in the socket 6 can be rotated at a high speed, and the bolt 85 can be fastened to the tightened portion 81 of the object to be tightened 8 (Steps S401 and S402 in FIG. 16). When the second stage moving operation A2 is performed, when the measured value of the tightening torque P by the torque sensor 45 reaches a predetermined clutch operation regulation value P1 (when S403 is Yes), the electronic controller 11 The tightening operation B is performed by setting the rotation speed V of the motor 31 to a low speed rotation (S404). At this time, the abnormality diagnosis computer 12 starts measuring time t (S405).

  Then, the abnormality diagnosis computer 12 continues to measure time t until the rotational speed V measured by the rotational speed detector 33 becomes less than the predetermined tightening normal rotational speed V1 (S306). Thereafter, when the measured value of the tightening torque P reaches the predetermined tightening completion prescribed value P3 (when S406 is Yes), the electronic controller 11 stops the rotation of the servo motor 31 and performs the tightening operation B. Is completed, and the abnormality diagnosis computer 12 ends the measurement of the time t (S407). At this time, the rotational speed V measured by the rotational speed detector 33 is less than a predetermined tightening normal rotational speed V1 (below zero).

Next, when the measurement time t is equal to or longer than the predetermined tightening normal time t2 (when S408 is Yes), the abnormality diagnosis computer 12 can detect that the clutch mechanism 5 has operated normally ( S409). In this case, the abnormality diagnosis computer 12 can detect that the bolt 85 has been tightened normally.
On the other hand, when the measurement time t is less than the predetermined tightening normal time t2 (when S408 is No), the abnormality diagnosis computer 12 may detect that the clutch mechanism 5 has not operated normally. Yes (S410). In this case, the abnormality diagnosis computer 12 can detect that the bolt 85 has not been tightened normally. Further, in this case, it is considered that some abnormality has occurred in the clutch mechanism 5, and an operator or the like can take measures at an early stage.

Thus, even with the tightening diagnosis system 1 and the tightening diagnosis method of this example, when any abnormality occurs in the clutch mechanism 5, this can be detected quickly. Therefore, management of the clutch mechanism 5 is facilitated. For example, the clutch mechanism 5 can be maintained in a normal state without performing periodic disassembly and inspection, replacement, and the like.
Further, by monitoring the operating state of the clutch mechanism 5, it is possible to monitor whether the bolt 85 is normally tightened, and the bolt 85 can be stably tightened. Also in this example, other configurations are the same as those of the first embodiment, and the same effects as those of the first embodiment can be obtained.

(Example 5)
In this example, the clutch mechanism 5 operates normally and the bolt 85 is normally tightened, and the clutch mechanism 5 does not operate normally and the bolt 85 is not normally tightened. 2 is an example showing a waveform of a rotation speed V of a servo motor 31 and a waveform of a tightening torque P. FIGS. 17 to 20 are graphs showing temporal changes of the rotational speed V of the servo motor 31 detected by the rotational speed detector 33 and the tightening torque P detected by the torque sensor 45.

  FIG. 17 shows a case where the clutch mechanism 5 operates normally and the bolt 85 is normally tightened. In this case, as shown in the figure, when the head 851 of the bolt 85 comes into contact with the tightening surface 811 of the tightened portion 81, the in-situ engagement state 501 in the clutch mechanism 5 is released, and the clutch mechanism 5 Since the ball 53 gets over the pair of in-situ raised portions 513 and 523, the tightening torque P temporarily increases (a portion in FIG. 17). After that, since the speed reducer 32 rotates relative to the rotary spindle 4, the tightening torque P decreases for a predetermined time (b portion in FIG. 17), and the clutch mechanism 5 enters the operating position engaged state 502. It can be seen that the tightening torque P gradually increases (section c in FIG. 17).

  Further, the rotation speed V of the servo motor 31 is switched to a low speed rotation when the tightening torque P is temporarily increased. When the measured value of the tightening torque P reaches the tightening completion specified value P3, the rotation of the servo motor 31 is stopped and the rotation speed V becomes zero (in FIG. 17, the rotation speed is zero, so it is zero). It is below.)

  18 to 20 show a case where the clutch mechanism 5 does not operate normally and the bolt 85 is not properly tightened. As shown in the drawings, when the clutch mechanism 5 does not operate normally, the in-situ engagement state 501 in the clutch mechanism 5 is obtained when the head 851 of the bolt 85 contacts the tightening surface 811 of the tightened portion 81. Is not released normally, and after the tightening torque P has temporarily increased (part a in each figure), it can be seen that the tightening torque P increases without decreasing for a predetermined time (part c in each figure). . In this case, it can be seen that the tightening time of the bolt 85 is shorter than that in the case where the clutch mechanism 5 operates normally (with this, the tightening angle R also decreases).

  Further, FIG. 21 shows that the head 851 of the bolt 85 is shown on the horizontal axis until the tightening angle R (the measured value of the tightening torque P becomes the clutch operation specified value P1 to the tightening completion specified value P3). The rotation angle), and the vertical axis is the tightening time (the time required from the measured value of the tightening torque P to the clutch operation specified value P1 to the tightening complete specified value P3), It is a graph which shows both relationship about G when the clutch mechanism 5 operate | moves normally, and B when it does not operate | move normally.

As shown in the figure, when the clutch mechanism 5 operates normally, the tightening angle R increases and the tightening time increases, and it can be seen that the two have a proportional relationship. On the other hand, it can be seen that when the clutch mechanism 5 does not operate normally, the tightening time becomes extremely short and the tightening angle R becomes small.
From this, it can be seen that according to the tightening diagnosis system 1 and the tightening diagnosis method shown in the first to fourth embodiments, it is easy to determine whether the clutch mechanism 5 is normal or abnormal.

  22 and 23 are diagrams showing waveforms of the tightening torque P when the clutch mechanism 5 operates normally with the tightening angle R on the horizontal axis and the tightening torque P on the vertical axis. FIG. 22 shows variations due to repetition, and FIG. 23 shows variations due to individual differences in the nutrunner 2. Note that, when the clutch mechanism 5 operates normally, it can be seen that the operation causes the speed reducer 32 to rotate relative to the rotary spindle 4 by an angle r of about 25 to 35 °.

(Comparative example)
In the conventional nutrunner, whether or not the bolt 85 as the tightening member has been normally tightened is determined by whether the measured value of the tightening torque P by the torque sensor 45 is 1/2 of a predetermined tightening completion prescribed value P3. It was determined from the relationship between the tightening time and the tightening angle R until the tightening completion specified value P3 is reached. In this case, as shown in FIG. 24, in the relationship between the tightening angle R and the tightening time, the difference between G when the clutch mechanism 5 operates normally and B when the clutch mechanism 5 does not operate normally does not become significant. .
Therefore, by using the tightening diagnosis system 1 and the tightening diagnosis method according to the first to fourth embodiments described above, it is possible to accurately determine whether or not the clutch mechanism 5 has malfunctioned, and to accurately determine whether or not the bolt 85 is tightened. It turned out that it can judge well.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram illustrating an electrical configuration of a tightening diagnosis system according to a first embodiment. BRIEF DESCRIPTION OF THE DRAWINGS FIG. Sectional explanatory drawing which shows the periphery of the clutch mechanism in a nut runner in Example 1. FIG. Sectional explanatory drawing which shows the periphery of the clutch mechanism in an original position engagement state in Example 1. FIG. Sectional explanatory drawing which shows the periphery of the clutch mechanism in the transient state in Example 1. FIG. Sectional explanatory drawing which shows the periphery of the clutch mechanism in the operation position engagement state in Example 1. FIG. Sectional explanatory drawing which shows the periphery of a holding | maintenance socket and a to-be-tightened object in Example 1. FIG. The graph which shows the change of a rotational speed and a fastening torque in Example 1 by taking time on a horizontal axis and taking a rotational speed and a fastening torque on a vertical axis | shaft. FIG. 3 is a graph showing a part of the change in the tightening torque, with time taken on the horizontal axis and tightening torque on the vertical axis in Example 1. FIG. 3 is a flowchart showing the operation of the tightening diagnosis system in the first embodiment. In Example 2, it is a graph which shows the change of a rotational speed and a fastening torque, taking time on a horizontal axis and taking a rotational speed and a fastening torque on a vertical axis | shaft. 9 is a flowchart showing the operation of the tightening diagnosis system in the second embodiment. The graph which shows the change of a rotational speed and a fastening torque in Example 3 by taking time on a horizontal axis and taking a rotational speed and a fastening torque on a vertical axis | shaft. 10 is a flowchart showing the operation of the tightening diagnosis system in the third embodiment. In Example 3, time is plotted on the horizontal axis and the rotational speed and tightening torque are plotted on the vertical axis, and the graph shows the change in rotational speed and tightening torque when thread crushing occurs on the bolt. 10 is a flowchart showing the operation of the tightening diagnosis system in the fourth embodiment. FIG. 10 is a graph showing changes in rotational speed and tightening torque when the clutch mechanism operates normally, with time on the horizontal axis and rotational speed and tightening torque on the vertical axis in Example 5. In Example 5, time is plotted on the horizontal axis, and the rotational speed and tightening torque are plotted on the vertical axis, and the graph shows the change in rotational speed and tightening torque when the clutch mechanism does not operate normally. In Example 5, time is plotted on the horizontal axis, and the rotational speed and tightening torque are plotted on the vertical axis, and the graph shows the change in rotational speed and tightening torque when the clutch mechanism does not operate normally. In Example 5, time is plotted on the horizontal axis, and the rotational speed and tightening torque are plotted on the vertical axis, and the graph shows the change in rotational speed and tightening torque when the clutch mechanism does not operate normally. In Example 5, it is a graph which shows both relationship between the case where a fastening angle is taken on a horizontal axis | shaft and fastening time is taken on the vertical axis | shaft and the clutch mechanism operate | moved normally and it did not operate | move normally. FIG. 10 is a graph showing a tightening torque waveform when the clutch mechanism operates normally, with the horizontal axis representing the tightening angle and the vertical axis representing the tightening torque in Example 5. FIG. 10 is a graph showing a tightening torque waveform when the clutch mechanism operates normally, with the horizontal axis representing the tightening angle and the vertical axis representing the tightening torque in Example 5. The graph which shows the relationship between the case where a clutch mechanism operate | moves normally and the case where it does not operate | move normally, taking a fastening angle on a horizontal axis and taking a fastening time on a vertical axis | shaft in a comparative example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Tightening diagnosis system 11 Electronic controller 12 Abnormality diagnosis computer 2 Nutrunner 31 Servo motor 32 Reduction gear 33 Rotational speed detector 34 Holding shaft part 4 Rotating spindle 41 Spring (biasing means)
45 Torque sensor 5 Clutch mechanism 51 Upper clutch member 52 Lower clutch member 53 Ball 6 Holding socket 61 Holding recess 7 Advancing and retracting means 8 Tightened object 81 Tightened part 811 Tightening surface 85 Tightening member (bolt)
851 Head 852 Threaded portion A1 First stage moving operation A2 Second stage moving operation B Tightening operation P Tightening torque P1 Clutch actuation regulation value (rising regulation value)
P2 Clutch operation completion prescribed value P3 Tightening completion prescribed value t Time t1 Clutch operation normal time t2 Tightening normal time V Rotation speed V1 Tightening normal rotation speed R Tightening angle R1 Tightening normal angle

Claims (14)

In a tightening diagnosis system configured to control a nutrunner that electrically tightens a tightening member such as a bolt by an electronic controller, and to determine whether the tightening member is normally tightened by an abnormality diagnosis computer,
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
When the measured value of the tightening torque continues to be lower than the predetermined decrease specified value for a predetermined time after the measured value of the tightening torque reaches the specified increase value, the abnormality diagnosis computer A tightening diagnosis system configured to detect that the clutch mechanism operates normally and that the tightening member is normally tightened. In a tightening diagnosis system configured to control a nutrunner that electrically tightens a tightening member such as a bolt by an electronic controller, and to determine whether the tightening member is normally tightened by an abnormality diagnosis computer,
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the specified increase value, the abnormality diagnosis computer determines that the tightening angle of the tightening member accumulated from the measured rotational speed by the rotational speed detector is a predetermined tightening angle. A tightening diagnosis system configured to detect that the clutch mechanism is normally operated and the tightening of the tightening member is normally performed when the normal angle is reached. In a tightening diagnosis system configured to control a nutrunner that electrically tightens a tightening member such as a bolt by an electronic controller, and to determine whether the tightening member is normally tightened by an abnormality diagnosis computer,
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque has reached the specified increase value, the abnormality diagnosis computer has a predetermined time required for the measured value of the tightening torque to reach a predetermined tightening completion specified value. A tightening diagnosis system configured to detect that the clutch mechanism is normally operated and the tightening of the tightening member is normally performed when the tightening normal time is exceeded. In a tightening diagnosis system configured to control a nutrunner that electrically tightens a tightening member such as a bolt by an electronic controller, and to determine whether the tightening member is normally tightened by an abnormality diagnosis computer,
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the increase specified value, the abnormality diagnosis computer has a rotation speed measured by the rotation speed detector continuously exceeding a predetermined tightening normal rotation speed for a predetermined specified time. A tightening diagnosis system configured to detect that the clutch mechanism is normally operated and the tightening of the tightening member is normally performed when the clutch mechanism is maintained. The clutch mechanism according to any one of claims 1 to 4, wherein when the clutch mechanism is in the engaged state, the clutch mechanism receives a biasing force by a biasing spring in a state where the ball is held between the clutch surfaces of the pair of clutch members. And holding the ball in the circumferential direction between one original raised portion formed on the clutch surface of one clutch member and the other original raised portion formed on the clutch surface of the other clutch member. And
When the engagement state is released, the ball moves over the one original position raised portion and the other original position raised portion, and the one operation position formed on the clutch surface of the one clutch member. The one clutch member and the other clutch member are interposed through the ball until the protruding portion is sandwiched in the circumferential direction between the protruding portion and the other operating position protruding portion formed on the clutch surface of the other clutch member. A tightening diagnosis system, wherein the tightening diagnosis system is configured to rotate relatively against the biasing force of the biasing spring.   6. The holding socket according to claim 1, wherein the holding socket is attached to the rotary main shaft via an urging means, and the fastening member held in the holding socket is fastened to the tightened portion. In this case, the tightening diagnosis system is configured such that the tightening member is pressed against the tightened portion by the elastic repulsive force of the biasing means. 7. The nut runner according to claim 6, wherein the nut runner is attached to an advancing / retreating means for allowing the nut runner to approach a tightened portion of the tightened object, and the advance / retreat means includes the nut runner being tightened on the tightened object. It is attached to a mobile robot that moves to the attached site,
The electronic controller is configured to start the moving operation after the nutrunner is caused to approach the tightened portion of the tightening target by the advancing / retreating means and a repulsive elastic force is generated in the biasing means. A tightening diagnosis system characterized by In the tightening diagnosis method for determining whether or not the tightening member is normally tightened by controlling the nutrunner that electrically tightens the tightening member such as a bolt by an electronic controller.
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the specified increase value, the clutch mechanism operates normally when the measured value of the tightening torque continues to decrease below a predetermined specified decrease value for a predetermined time. And a tightening diagnosis method for detecting that the tightening member has been normally tightened. In the tightening diagnosis method for determining whether or not the tightening member is normally tightened by controlling the nutrunner that electrically tightens the tightening member such as a bolt by an electronic controller.
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the specified increase value, the tightening angle of the tightening member accumulated from the measured value of the rotational speed by the rotational speed detector has reached a predetermined normal tightening angle. In some cases, the tightening diagnosis method comprises detecting that the clutch mechanism operates normally and the tightening member is normally tightened. In the tightening diagnosis method for determining whether or not the tightening member is normally tightened by controlling the nutrunner that electrically tightens the tightening member such as a bolt by an electronic controller.
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the specified increase value, the time required for the measured value of the tightening torque to reach the predetermined tightening completion specified value is equal to or greater than the predetermined normal tightening time. In some cases, the tightening diagnosis method includes detecting that the clutch mechanism is normally operated and the tightening member is normally tightened. In the tightening diagnosis method for determining whether or not the tightening member is normally tightened by controlling the nutrunner that electrically tightens the tightening member such as a bolt by an electronic controller.
The nutrunner includes a servo motor,
A speed reducer for reducing the rotational speed of the servo motor;
A rotating spindle that rotates at a rotational speed reduced by the speed reducer;
A clutch for releasing the engagement state between the rotation main shaft and the speed reducer after the predetermined load is applied to the rotation main shaft, and rotating the speed reducer relative to the rotation main shaft by a predetermined amount of rotation. Mechanism,
A holding socket that holds the tightening member and rotates in response to the rotation of the rotating spindle;
A torque sensor for measuring a tightening torque applied to the rotating spindle;
A rotation speed detector for detecting the rotation speed of the servo motor,
After the electronic controller starts to tighten the tightening member to the tightened portion of the tightening target, the head of the tightening member held by the holding socket tightens the tightening portion at the tightened portion. The servomotor is rotated at a high speed until the measured value of the tightening torque by the torque sensor reaches a predetermined increase specified value, and the measured value of the tightening torque becomes the increased specified value. The servo motor is configured to perform a tightening operation to rotate at a low speed slower than the high speed rotation,
After the measured value of the tightening torque reaches the specified increase value, when the rotational speed measured by the rotational speed detector is maintained at a predetermined normal tightening speed or higher for a predetermined specified time, A tightening diagnosis method comprising detecting that the clutch mechanism operates normally and the tightening member is normally tightened. 12. The clutch mechanism according to claim 8, wherein when the clutch mechanism is in the engaged state, a state in which a ball is held between the clutch surfaces of the pair of clutch members receives a biasing force by a biasing spring. And holding the ball in the circumferential direction between one original raised portion formed on the clutch surface of one clutch member and the other original raised portion formed on the clutch surface of the other clutch member. And
When the engagement state is released, the ball moves over the one original position raised portion and the other original position raised portion, and the one operation position formed on the clutch surface of the one clutch member. The one clutch member and the other clutch member are interposed through the ball until the protruding portion is sandwiched in the circumferential direction between the protruding portion and the other operating position protruding portion formed on the clutch surface of the other clutch member. A tightening diagnosis method characterized by being configured to rotate relatively against the biasing force of the biasing spring.   13. The holding socket according to claim 8, wherein the holding socket is attached to the rotary main shaft through an urging means, and the fastening member held in the holding socket is fastened to the tightened portion. In this case, the tightening diagnosis method is characterized in that the tightening member is pressed against the tightened portion by the elastic repulsive force of the biasing means. 14. The nut runner according to claim 13, wherein the nut runner is attached to an advancing / retreating means for allowing the nut runner to approach a tightened portion of the tightening target, and the advancing / retreating means includes It is attached to a mobile robot that moves to the attached site,
The electronic controller is configured to start the moving operation after the nutrunner is caused to approach the tightened portion of the tightening target by the advancing / retreating means and a repulsive elastic force is generated in the biasing means. A tightening diagnosis method characterized by that.

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