JPH0248181A - Screw tightening with nut runner - Google Patents
Screw tightening with nut runnerInfo
- Publication number
- JPH0248181A JPH0248181A JP19641188A JP19641188A JPH0248181A JP H0248181 A JPH0248181 A JP H0248181A JP 19641188 A JP19641188 A JP 19641188A JP 19641188 A JP19641188 A JP 19641188A JP H0248181 A JPH0248181 A JP H0248181A
- Authority
- JP
- Japan
- Prior art keywords
- tightening
- variation
- turning
- motor control
- screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
Landscapes
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明はナツトランナによるネジ締付は方法に関し、詳
しくは回転角度検出器を有する簡易型ナツトランナを使
用してネジを自動的に締付ける方法に関するものである
。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a method for tightening screws using a nut runner, and more particularly, to a method for automatically tightening screws using a simple nut runner having a rotation angle detector. It is.
ネジ自動締付けに用いるナツトランナは、このナツトラ
ンナの運転時に発生する締付はトルクを検出するトルク
トランスジューサが設けられたものが一般的である。こ
の種ナツトランナでは、ネジ締付は時、トルクトランス
ジューサから出力されるトルク検出信号に基づいてネジ
締付は態様に応じて上記ナツトランナを駆動制御してい
る。しかしながら、上記トルクトランスジューサが高価
なものであり、その為このトルクトランスジューサを有
するナツトランナを使用した場合、ネジ締付けを行った
製品のコストアップにつながる虞もあった。Nut runners used for automatic screw tightening are generally equipped with a torque transducer that detects the tightening torque that occurs during operation of the nut runner. In this type of nut runner, when a screw is tightened, the nut runner is driven and controlled based on a torque detection signal outputted from a torque transducer depending on the manner of screw tightening. However, the above-mentioned torque transducer is expensive, and therefore, when a nut runner having this torque transducer is used, there is a possibility that the cost of the screw-tightened product may increase.
そこで近年では、高価なトルクトランスジューサに替わ
って比較的安価な回転角度検出器を有する簡易型ナツト
ランナが賞月されている。Therefore, in recent years, a simple nut runner having a relatively inexpensive rotation angle detector has been gaining popularity in place of the expensive torque transducer.
この種簡易型ナツトランナ(1)は、第6図に示すよう
にナツトランチ本体(2)に回転角度検出器(3)を有
する駆動用モータ(4)を内蔵し、この駆動用モータ(
4)の出力軸(4a)に、モータ回転を減速して大きな
トルクを発生させる減速機(5)を介してネジ締付は用
アタッチメント(6)を連結したものである。This type of simple nut runner (1) has a drive motor (4) having a rotation angle detector (3) built into the nut runner body (2) as shown in FIG.
A screw tightening attachment (6) is connected to the output shaft (4a) of 4) via a reducer (5) that decelerates the rotation of the motor and generates a large torque.
上記ナツトランナ(1)でネジ締付けを行うに際しては
、ネジ締めすべき二部材(7)(8)の貫通孔(7a)
(8a)に挿通されてす7)(9)に螺合したポル
) (10)の頭部に上記ナツトランナ(1)のアタッ
チメント(6)を嵌合させた状態でナツトランナ本体(
2)の駆動用モータ(4)を回転制御する。このネジ締
付は時、回転角度検出器(3)からフィードバックされ
る回転パルス信号FBとこの回転パルス信号FBに基づ
くモータ制御電流Iとで上記駆動用モータ(4)を回転
制御している。この駆動用モータ(4)の回転制御によ
るネジ締付けでは、ポル) (10)の締付開始時点か
ら着座時点までは高速定回転で上記ポル) (10)を
締付けて締付は時間を短縮し、そして上記着座時点から
締付完了時点までは低速定回転でポル) (10)を締
付けて締付はトルクのばらつきを少なくしている。また
上記ポル) (10)の締付開始時点から着座時点まで
の無負荷領域ではモータ制御電流■及び締付はトルクが
一定であり、着座時点から締付完了時点までの締付は領
域ではモータ制御電流I及び締付はトルクが共に増加す
る。When tightening screws with the nut runner (1), the through holes (7a) of the two members (7) and (8) to be screwed are
With the attachment (6) of the nut runner (1) fitted to the head of the nut runner (10), the nut runner body (
2) controls the rotation of the drive motor (4). During this screw tightening, the drive motor (4) is rotationally controlled by a rotation pulse signal FB fed back from the rotation angle detector (3) and a motor control current I based on the rotation pulse signal FB. When tightening screws by controlling the rotation of the drive motor (4), the time required for tightening is shortened by tightening the above-mentioned pole (10) at a high-speed constant rotation from the start of tightening of the drive motor (10) until the time of seating. , and from the time of seating to the time of completion of tightening, the torque is reduced by tightening (10) at a low speed constant rotation. In addition, in the no-load region (10) from the start of tightening to the time of seating, the motor control current ■ and the tightening torque are constant, and in the region of tightening from the time of seating to the time of completion of tightening, the motor control current Control current I and tightening torque both increase.
ところで、前述したようなナツトランナ(1)によるネ
ジ締付けでは、回転角度検出器(3)からフィードバッ
クされる回転パルス信号FBと、これに基づくモータ制
御電流Iとで駆動用モータ(4)を回転制御している。By the way, when tightening screws using the nut runner (1) as described above, the rotation of the drive motor (4) is controlled by the rotation pulse signal FB fed back from the rotation angle detector (3) and the motor control current I based on the rotation pulse signal FB. are doing.
特に上記ネジ締付けで着座時点に達するまでは、負荷の
微小変動によりモータ制御電流lが微小変動しようとし
ても、回転パルス信号FBによるフィードバックでその
電流変動分を高速で補正処理して駆動用モータ(4)の
回転変動を抑止している。そしてネジ締付けが着座時点
に達して駆動用モータ(4)の負荷が大きく変動すると
、その負荷の変動をモータ制御電流■の変動で監視しな
がらこれに基づいて着座時点を検出している。しかしな
がら、このように上記モータ制御電流Iによりその変動
を監視して着座時点を検出しようとしても、そのモータ
制御電流Iを回転パルス信号FBによるフィードバック
で制御しているため、モータ制御電流■による着座時点
検出が遅れる傾向にあり、その結果、上記着座時点検出
のばらつきによりネジ締付は精度が大幅に低下するとい
う問題があった。In particular, until the seating point is reached by tightening the screws, even if the motor control current l is subject to slight fluctuations due to minute fluctuations in the load, the current fluctuations are corrected at high speed by feedback from the rotation pulse signal FB, and the drive motor ( 4) The rotational fluctuations are suppressed. When the screw tightening reaches the seating point and the load on the drive motor (4) changes greatly, the seating point is detected based on this while monitoring the load fluctuation by the motor control current (2). However, even if an attempt is made to detect the seating point by monitoring the fluctuations of the motor control current I in this way, since the motor control current I is controlled by feedback from the rotation pulse signal FB, the seating point due to the motor control current There is a tendency for timing detection to be delayed, and as a result, there has been a problem in that the accuracy of screw tightening is significantly reduced due to variations in the seating timing detection.
本発明は前記問題点に鑑みて提案されたもので、ナンド
ランチの駆動用モータを、この駆動用モータから検出さ
れた回転パルス信号に基づくモータ制御電流で回転制御
しながらネジ締付けを行う方法であって、ネジ締付は時
、回転変動による上記モータ制御電流の変動を補正して
そのモータ制御電流を一定に保持しながら、上記回転パ
ルス信号のパルス周期の変動で着座時点を検出するよう
にしたことにより前記問題点を解決したナツトランナに
よるネジ締付は方法である。The present invention was proposed in view of the above-mentioned problems, and is a method for tightening screws while controlling the rotation of a drive motor for a Nando Lunch using a motor control current based on a rotation pulse signal detected from the drive motor. Therefore, when tightening the screws, the seating point is detected by the variation in the pulse cycle of the rotation pulse signal while correcting the variation in the motor control current due to rotation variation and keeping the motor control current constant. This method solves the above-mentioned problems by tightening screws using a nut runner.
本発明方法では、ナツトランナの駆動用モータを回転パ
ルス信号及びモータ制御電流のみで回転制御し、ネジ締
付は時、回転変動によるモータ制御電流の変動に替わっ
て回転パルス信号のパルス周期の変動を監視する。そし
て−上記ネジ締付けが着座時点に達して駆動用モータの
回転速度が高速回転から低速回転へ移行して大幅に低下
した結果、回転パルス信号のパルス周期が変動して一定
以上に大きくなった時を着座時点としてばらつきなく検
出することができる。In the method of the present invention, the rotation of the drive motor of the nut runner is controlled using only rotation pulse signals and motor control current, and when tightening screws, the fluctuations in the pulse cycle of the rotation pulse signal are used instead of the fluctuations in the motor control current due to rotational fluctuations. Monitor. - When the above-mentioned screw tightening reaches the seating point and the rotational speed of the drive motor shifts from high-speed rotation to low-speed rotation and decreases significantly, and as a result, the pulse period of the rotational pulse signal fluctuates and becomes larger than a certain level. can be detected without variation as the seating point.
本発明方法を第6図に示す簡易型ナツトランナに適用し
た一実施例を第1図乃至第5図を参照しながら説明する
。但し、第6図と同−又は相当部分には同一参照符号を
付してその説明は省略する。上記簡易型ナツトランナ(
1)は、第1図に示すように速度制御部(11) 、電
流制御部(12)及びPWM (パルスワイドモジュレ
ーション)方式によるドライバ(13)を具備しく6)
たモータ制御系を有する。An embodiment in which the method of the present invention is applied to a simple nut runner shown in FIG. 6 will be described with reference to FIGS. 1 to 5. However, the same reference numerals are given to the same or equivalent parts as in FIG. 6, and the explanation thereof will be omitted. The above simple nut runner (
1) has a motor control system including a speed control section (11), a current control section (12), and a driver (13) using a PWM (pulse wide modulation) method, as shown in FIG.
上記ナツトランナ(1)でネジ締付けを行うに際しては
、回転角度検出器(3)からフィードバックされる回転
パルス信号、即ち速度フィードバンク信号FBI及び電
流フィードバック信号FB2と、この速度及び電流フィ
ードバック信号FBI 、FB2に基づいてドライバ(
13)から送出されるモータ制御電流■0とで駆動用モ
ータ(4)を回転制御する。この駆動用モータ(4)の
回転制御によるネジ締付けは、第2図及び第3図に示す
ようにポル) (10)の締付開始時点toから着座時
点11までの無負荷領域り、では、駆動用モータ(4)
を高速定回転で回転させ、ボルト(10)を一定の締付
はトルクで締付ける。そして着座時点t1から締付完了
時点t2までの締付は領域D2では、駆動用モータ(4
)を低速定回転で回転させ、上記ポル) (10)を締
付はトルク及びモータ制御電流1oを増加させながら締
付ける。When tightening screws with the nut runner (1), the rotation pulse signals fed back from the rotation angle detector (3), that is, the speed feed bank signal FBI and the current feedback signal FB2, and the speed and current feedback signals FBI, FB2 are used. Driver (based on
The rotation of the drive motor (4) is controlled by the motor control current (■0) sent from the drive motor (4). The screw tightening by controlling the rotation of the drive motor (4) is performed in the no-load region from the tightening start time t to the seating time 11 of (10) as shown in FIGS. 2 and 3. Drive motor (4)
is rotated at a constant high speed, and the bolt (10) is tightened with a constant torque. The tightening from the seating time t1 to the tightening completion time t2 is performed by the drive motor (4
) is rotated at a constant low speed, and the above-mentioned part (10) is tightened while increasing the torque and motor control current 1o.
このネジ締付は時、第1図に示すように回転角度検出器
(3)から送出される速度フィードバンク信号FB、と
所望の速度設定値とを比較して速度制御部(11)から
速度制御信号S1を送出し、これと電流フィードバンク
信号FB2とを比較して電流制御部(12)から電流制
御信号S2を送出し、これに基づいてドライバ(13)
からモータ制御電流IOを駆動用モータ(4)に通電す
る。これにより回転変動による上記モータ制御電流Io
の変動を補正処理しながらそのモータ制御電流Ioを一
定に保持する。このようにモータ制御電流1oを一定に
保持するモータ制御系では、第4図実線に示すような垂
下特性を有する。尚、図中破線は通常のモータ特性を示
す。このような垂下特性を有するモータ制御系では、安
定した電流に対して回転速度の変動範囲が大きいのが一
般的である。そこでネジ締付は時、回転パルス信号であ
る速度フィードバンク信号FB、の変動を監視する。上
記速度フィードハック信号FBIでモータ制御電流Io
を制御しているので、従来のようにモータ制御電流1o
の変動を監視するよりも速度フィードバンク信号FBI
の変動を監視した方が回転変動に対する応答が迅速に行
える。上述した速度フィードバック信号FB、の変動は
、その逆数値であるパルス周期(間隔)の変動に対応し
、このパルス周期の変動を監視しながら着座時点を検出
する。即ら、第5図に示すようにネジ締付は時、締付開
始時点to面直後パルス周期は急激に減少し、駆動用モ
ータ(4)の回転が高速で安定すると、上記パルス周期
が一定に保持される。そして着座時点t1に達すると駆
動用モータ(4)の回転速度が急激に低下するので、こ
れに反して上記パルス周期が急激に増加する。このパル
ス周期の変動により上記着座時点t1を検出し、それ以
降前述したように締付は領域D2に移行して一定のパル
ス周期のもとてネジ締付けが行われて締付けが完了する
。This screw tightening is performed by comparing the speed feed bank signal FB sent from the rotation angle detector (3) with the desired speed setting value as shown in FIG. A control signal S1 is sent out, this is compared with a current feed bank signal FB2, a current control signal S2 is sent out from the current control section (12), and based on this, a current control signal S2 is sent out from a driver (13).
A motor control current IO is applied to the drive motor (4) from the motor control current IO. As a result, the motor control current Io due to rotational fluctuations
The motor control current Io is held constant while correcting fluctuations in the motor control current Io. The motor control system that maintains the motor control current 1o constant as described above has a drooping characteristic as shown by the solid line in FIG. Note that the broken line in the figure indicates normal motor characteristics. In a motor control system having such drooping characteristics, the range of variation in rotational speed is generally large for a stable current. Therefore, when tightening the screw, the fluctuation of the speed feed bank signal FB, which is a rotation pulse signal, is monitored. Motor control current Io with the above speed feed hack signal FBI
Since the motor control current is controlled at 1o as in the conventional
speed feedbank signal than to monitor fluctuations in the FBI
It is possible to respond more quickly to rotational fluctuations by monitoring fluctuations in rotation. The fluctuation of the speed feedback signal FB mentioned above corresponds to the fluctuation of the pulse period (interval) which is its inverse value, and the seating point is detected while monitoring the fluctuation of this pulse period. That is, as shown in Fig. 5, when tightening a screw, the pulse period decreases rapidly immediately after the start of tightening, and when the rotation of the drive motor (4) stabilizes at high speed, the pulse period becomes constant. is maintained. Then, when the seating time point t1 is reached, the rotational speed of the drive motor (4) rapidly decreases, and the pulse period increases rapidly. The above-mentioned seating time t1 is detected by the fluctuation of this pulse cycle, and from then on, as described above, the tightening moves to the area D2, and the screw tightening is performed at a constant pulse cycle to complete the tightening.
本発明方法によれば、ネジ締付は時、モータ制御電流を
一定に保持した上で回転パルス信号のパルス周期の変動
で着座時点を検出するようにしたから、従来のモータ制
御電流の変動で着座時点を検出するよりも回転変動に対
する応答が迅速且つ確実に行え、着座時点検出のばらつ
きを抑止できて締付は精度が大幅に向上し、信頼性の高
いネジ締付けが実現できる。According to the method of the present invention, when tightening a screw, the motor control current is held constant and the seating point is detected by fluctuations in the pulse cycle of the rotation pulse signal. It is possible to respond more quickly and reliably to rotational fluctuations than by detecting the seating point, suppress variations in seating point detection, greatly improve tightening accuracy, and achieve highly reliable screw tightening.
第1図乃至第5図は本発明方法の一実施例を説明するた
めのもので、第1図はナツトランナによるネジ締付は装
置を示す概略構成図、第2図は締付は時間に対する締付
はトルクの関係を示す特性図、第3図は締付は時間に対
する回転速度の関係を示す特性図、第4図はモータ制御
系における垂下特性を示す特性図、第5図は締付は時間
に対するパルス周期の関係を示す特性図である。
第6図はナツトランナの構造例を示す概略構成図である
。
(1)−ナツトランナ、(4)−駆動用モータ、FBI
−回転パルス信号(速度フィードハック信号)、I。
モータ制御電流、
1−着座時点。
特
許
出
願
人
三洋機工株式会社
代
理
人
江
原
省
五Figures 1 to 5 are for explaining one embodiment of the method of the present invention. Figure 1 is a schematic configuration diagram showing the device for tightening screws using a nut runner, and Figure 2 is a diagram showing the tightening with respect to time. Figure 3 is a characteristic diagram showing the relationship between torque and tightening, Figure 4 is a characteristic diagram showing the drooping characteristics in the motor control system, and Figure 5 is a characteristic diagram showing the relationship between tightening and rotational speed. FIG. 3 is a characteristic diagram showing the relationship between pulse period and time. FIG. 6 is a schematic configuration diagram showing an example of the structure of the nut runner. (1) - Nut runner, (4) - Drive motor, FBI
- Rotation pulse signal (velocity feed hack signal), I. Motor control current, 1-at the time of seating. Patent applicant Sanyo Kiko Co., Ltd. Agent Shogo Ebara
Claims (1)
タから検出された回転パルス信号に基づくモータ制御電
流で回転制御しながらネジ締付けを行う方法であって、 ネジ締付け時、回転変動による上記モータ制御電流の変
動を補正してそのモータ制御電流を一定に保持しながら
、上記回転パルス信号のパルス周期の変動で着座時点を
検出するようにしたことを特徴とするナットランナによ
るネジ締付け方法。(1) A method of tightening screws while controlling the rotation of a drive motor for a nut runner using a motor control current based on a rotation pulse signal detected from the drive motor, which controls the motor by rotational fluctuations when tightening a screw. A method for tightening screws using a nut runner, characterized in that the seating point is detected based on fluctuations in the pulse cycle of the rotation pulse signal, while correcting current fluctuations and keeping the motor control current constant.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19641188A JPH0248181A (en) | 1988-08-05 | 1988-08-05 | Screw tightening with nut runner |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19641188A JPH0248181A (en) | 1988-08-05 | 1988-08-05 | Screw tightening with nut runner |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH0248181A true JPH0248181A (en) | 1990-02-16 |
Family
ID=16357411
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP19641188A Pending JPH0248181A (en) | 1988-08-05 | 1988-08-05 | Screw tightening with nut runner |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0248181A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62194862A (en) * | 1986-02-21 | 1987-08-27 | 大日精化工業株式会社 | Deodorizing resin composition and molded article |
JPH0488394U (en) * | 1990-12-14 | 1992-07-31 | ||
JP2010240781A (en) * | 2009-04-07 | 2010-10-28 | Max Co Ltd | Power tool and motor control method therefor |
-
1988
- 1988-08-05 JP JP19641188A patent/JPH0248181A/en active Pending
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62194862A (en) * | 1986-02-21 | 1987-08-27 | 大日精化工業株式会社 | Deodorizing resin composition and molded article |
JPH0378432B2 (en) * | 1986-02-21 | 1991-12-13 | Dainichiseika Color Chem | |
JPH0488394U (en) * | 1990-12-14 | 1992-07-31 | ||
JP2010240781A (en) * | 2009-04-07 | 2010-10-28 | Max Co Ltd | Power tool and motor control method therefor |
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