JPH07308864A - Impact type thread fastening device - Google Patents

Abstract

PURPOSE:To provide an impact type thread fastening device capable of preventing defectively fastened articles from flowing out to the next process in thread fastening work. CONSTITUTION:An impact type thread fastening device is provided with an impact type thread fastening device body 100 including a drive section (a motor 102 and an impact torque generator 103), a main spindle 104 driven by the drive section to fasten threads and a torque detecting section 101 to detect the change in the torque of the main spindle 104. In addition, this device is provided with a control device 120, which calculates the increased amount of the fastening force at each impact using the peak values of the torque pulses, which are determined from the detection result of the torque detection section 101 and determines fastening force in order, controls the power source so as to realize the objective fastening force, and judges the seating time point from the change in the wave form of impact torque, which is accompanied by seating and an abnormality judging means (a part of an abnormality judging power controlling section 125), which judges the abnormality in fastening based on the detection result of the torque detecting section.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION This invention utilizes impact force to
A screw tightening device that performs screw tightening work, such as impact
The present invention relates to a wrench, an impact-type nut / runner, and the like, and more particularly to a technology for controlling the fastening force (tightening force) of a screw.

[0002]

2. Description of the Related Art As a conventional impact wrench for controlling tightening torque, there is, for example, a device described in Japanese Patent Application No. 3-12370. FIG. 21 is a sectional view of the above device. In FIG. 21, the main shaft 15 is made of a material having a magnetostrictive effect. Then, a change in torque is detected by detecting a change in magnetic permeability on the surface of the main shaft 15 that accompanies a torque pulse generated during screw tightening as a change in inductance of the detection coils 26a and 26b of the torque detection unit 11. Then, when the detected torque reaches a value in a predetermined range, the shut-off valve 12 is closed by the control signal from the control device 110, and the air motor unit 13 is closed.
The compressed air is shut off, and the drive of the hydraulic pressure pulse generator 14 and the main shaft 15 is stopped. However, when tightening a screw with a torque wrench such as a taper beam wrench, the tightening torque and the tightening force generated at the tightening part are in a proportional relationship. -The peak value of the pulse is not proportional to the fastening force. For example, the fastening force often increases even when an impact with a smaller torque / pulse peak value occurs than the previous impact. It turned out as a result of the experiment. As described above, the peak value of the torque pulse due to impact cannot be said to correspond to the fastening force on a one-to-one basis. Therefore, even if the peak value of the torque pulse is accurately detected, the fastening force must be detected accurately. Therefore, even if the shut-off valve is cut-off controlled based on this, the fastening force is not accurately controlled. As described above, in the conventional device, it was not possible to accurately detect the fastening force.
There is a problem that it is difficult to accurately control the desired fastening force.

In order to solve the above problems, the applicant has
An application has already been filed for a device that determines the seating time from the waveform deformation of the torque pulse accompanying the seating of the screw and accurately calculates the fastening force (Japanese Patent Application No. 5-333988: unpublished). FIG. 22
3 is a flowchart of calculation in the above device.
The mechanical portion is the same as that shown in FIG.

The procedure for calculating and controlling the fastening force will be described below with reference to the flowchart shown in FIG. First,
After setting the target fastening force cFc value in step S201 and the seating determination threshold free running time st _FR in step S202, the impact number counter is reset in step S203 <count i = 0>,
Further, in step S204, the value of the fastening force up to then is reset <F (0) = 0>.

Next, in step S205, screw tightening is started. In addition, steps S206 to S208
Forms a loop, and seating determination is performed for each impact until seating. First, in step S206, the count i
After increasing by 1, the free running time t _FR is obtained from the signal of the torque sensor in step S207. The free-running time is the interval between the first torque pulse and the second torque pulse of the plurality of torque pulses generated for each impact, during which the nut and bolt are Free running state.

Next, in step S208, it is determined whether or not the free running time t _FR is equal to or less than the seating determination threshold free running time st _FR. Repeat. On the other hand, if YES in step S208, that is, if it is determined that the vehicle is seated, the process proceeds to a loop including steps S209 to S212 and step S213, and the fastening force is calculated for each impact. First, in step S209, a peak value (hereinafter referred to as a peak torque value) T _P (i) of a torque pulse corresponding to an impact is obtained from the signal of the torque sensor and stored. At the time of sitting, the peak torque value T is calculated from the torque signal temporarily stored in step S207.
Find _P (i). Next, in step S210,
Torque-engagement force conversion coefficient C _TF (i) at F (i-1)
Is calculated based on the table of the fastening force data / memory unit. However, C _TF (i) = C _TF [F (i-1)]. Next, in step S211, the increase amount of the fastening force due to the impact δF (i) = C _TF (i) × T _P (i) is calculated, and the fastening force F (i) after this impact is calculated as before. Fastening force, that is, fastening force F (i-
It is calculated by adding the increment δF (i) to 1). Therefore, F (i) is F (i) = F (i-
1) + C _TF (i) × T _P (i).

Next, in step S212, it is determined whether or not the fastening force F (i) after impact is greater than or equal to the target fastening force cFc. If NO, the count i is incremented by 1 in step S213.
Then, the process returns to step S209 to repeat step S212.

On the other hand, if YES in step S212, the flow advances to step S214, at which point a cut-off command is issued. This causes the compressed air valve to close. Next, in step S215, it is determined whether or not to end the process. If YES, the process ends, and if NO, the process returns to step S203 to perform the next screw tightening. In addition, the above-mentioned conventional example and the description of the prior art of the applicant are as follows.
Although the impact wrench has been described as an example, the same applies to the impact type nut runner and the like.

[0009]

As described above, as shown in FIG.
In the conventional device shown in FIG. 2, since the fastening force cannot be detected accurately, there is a problem that it is difficult to accurately control the fastening force to a desired fastening force. Further, in the prior invention of the applicant made to solve the above problems, the fastening force can be accurately detected,
Since there is no means to deal with troubles such as fastening failure or torque sensor operation abnormality, the fastening work may continue even if troubles such as fastening failure occur and defective fastening products may leak to the next process. There was a problem that there was.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the problems in the prior art of the applicant as described above and to provide an impact type screw tightening device capable of preventing outflow of defective tightening products during screw tightening work. .

[0011]

In order to achieve the above object, the present invention is constructed as described in the claims. That is, in the invention described in claim 1, a drive means having a pulse component in the drive output, a joint part with a screw at one end, and a main shaft for tightening the screw when driven by the drive means, An impact type screw tightener main body having a torque detecting means for detecting a torque change of the main shaft, and a peak torque value obtained from the detection result of the torque detecting means are used to calculate an increase amount of the fastening force for each impact. Then, the fastening force is sequentially obtained, the power source applied to the drive means is controlled so as to realize the target fastening force, and when the fastening force is calculated,
A seating time is determined from a change in the waveform of impact / torque associated with seating, and a fastening abnormality is determined based on the detection result of the torque detection means and a control means that calculates the fastening force with the seating time as a fastening force calculation start time. An abnormality determination means. Each of the above means corresponds to, for example, the following part in the embodiment shown in FIG. That is, the impact type screw tightener main body is the impact type screw tightener main body 100, the driving means is the motor 102 and the torque pulse generator 103, and the main shaft is the main shaft 104.
The torque detecting means is the torque detector 101, the control means is the control device 120, and the abnormality determining means is the abnormality determining power control unit 1.
25 corresponds to part of each.

Further, in the invention described in claim 2,
The impact type screw tightening device according to claim 1,
A disconnection control means is provided for immediately disconnecting the power source of the drive means when it is determined that there is an abnormality in engagement. The shutoff control means corresponds to, for example, a part of the abnormality determination power control unit 125 in the embodiment shown in FIG. Further, in the invention according to claim 3, the impact type screw tightening device according to claim 1 is provided with a display means for displaying the determination result when the abnormality determining means determines that the fastening is abnormal. The display means corresponds to, for example, the display unit 126 in the embodiment shown in FIG. 1 described later. According to a fourth aspect of the present invention, in the impact type screw tightening device according to any of the first to third aspects, the abnormality determination means determines that the vehicle is seated after an impact is generated by the drive means. The number of impact occurrences up to the above is detected, and if the number of impact occurrences described above is abnormal, it is determined that the fastening is abnormal.
The above configuration corresponds to, for example, the embodiment shown in FIG. 1 described later. Moreover, in the invention described in claim 5,
In the impact type screw tightening device described in (1), when the number of occurrences of impact until the abnormality determination means determines that the seat is seated greatly deviates from the standard range of the number of occurrences in normal tightening, a fastening abnormality It is configured to determine that. The above configuration corresponds to, for example, the embodiment shown in FIG. 1 described later.

Further, in the invention according to claim 6,
In the impact type screw tightening device according to any one of claims 1 to 3, the abnormality determining means is configured as follows. In other words, when tightening a fastening part where multiple impacts occur before it is determined to be seated if it is normal tightening, the parameters included in the torque waveform detected at the first impact are When the torque waveform has a characteristic, it is configured to determine that the fastening is abnormal. The above configuration corresponds to, for example, the embodiment of FIG. 5, FIG. 7, or FIG. 9 described later. According to a seventh aspect of the invention, in the impact type screw fastening device according to the sixth aspect, the abnormality determining means is configured as follows. That is, as a parameter included in the torque waveform detected at the first impact, the torque pulse generated first and the torque pulse generated second from the plurality of torque pulses generated at the first impact by the driving means. And the free running time is detected, and if the above free running time is less than or equal to a predetermined value, that is, the seating determination threshold free running time, it is determined that the fastening is abnormal.
The above configuration corresponds to, for example, the embodiment shown in FIG. Moreover, in the invention described in claim 8,
In the impact type screw tightening device described in (1), the abnormality determining means is configured as follows. That is,
As a parameter included in the torque waveform detected at the first impact, the change in the duration of the torque pulse due to the above impact is detected, and the above duration is a predetermined value, that is, the seating determination threshold duration time, In some cases, it is configured to determine that the fastening is abnormal.
The above configuration corresponds to, for example, the embodiment shown in FIG. 7 described later. Further, in the invention described in claim 9,
In the impact type screw tightening device described in (1), the abnormality determining means is configured as follows. That is,
As a parameter included in the torque waveform detected at the first impact, a torque pulse generated first and a torque pulse generated second from among a plurality of torque pulses generated at the first impact by the driving means are set. Two parameters of the interval, that is, the free running time and the change in the duration of the torque pulse due to the impact are detected, and the above free running time is equal to or less than the seating determination threshold free running time, or A configuration in which it is determined that the engagement is abnormal when the above duration is equal to or longer than the seating determination threshold duration, or at least one of the two conditions is satisfied, or both are satisfied. Is. The above configuration is
For example, this corresponds to the embodiment shown in FIG. 9 described later.

According to the tenth aspect of the present invention, there is provided a drive means having a pulse component in the drive output and a joint portion with a screw at one end, and the main shaft for tightening the screw by being driven by the drive means. And the torque detection means for detecting the torque change of the main shaft, and the tightening force increases for each impact by using the impact type screw tightener main body having the torque detection means and the peak torque value obtained from the detection result of the torque detection means. A control means for controlling the power source applied to the drive means so as to calculate the amount and sequentially obtain the fastening force and achieve the target fastening force, and at least one of the control means before the target fastening force is reached. After the impact occurs, if a next impact does not occur even after a lapse of a predetermined time, an abnormality determination means for determining an engagement abnormality is provided. It should be noted that, for example, the abnormality determining means is shown in FIG.
This corresponds to a part of the abnormality determination power control unit 165 in this embodiment. Further, in the invention according to claim 11, in the impact type screw tightening device according to claim 10,
When the abnormality determining means determines that the fastening is abnormal, the power source of the driving means is immediately shut off. The cutoff control means is, for example, the abnormality determination power control unit 165 in the embodiment shown in FIG.
Corresponds to a part of. Further, in the invention described in claim 12, the impact type screw tightening device according to claim 10 or claim 11 is provided with a display means for displaying the determination result of the abnormality determination means. The display means corresponds to, for example, the display unit 126 in the embodiment of FIG. 12 described later.

According to a thirteenth aspect of the present invention, there is provided a drive means having a pulse component in a drive output, a main shaft having a joint portion with a screw at one end, and tightening the screw by being driven by the drive means. , An increase amount of fastening force for each impact, using an impact type screw tightener main body having a torque detecting means for detecting a torque change of the main shaft, and a peak torque value obtained from a detection result of the torque detecting means. When the output of the torque detecting means and the control means for controlling the power source applied to the driving means so as to realize the target fastening force by calculating And an abnormality determining unit that determines that the apparatus is abnormal. The abnormality determination means is, for example, the abnormality determination power control unit 175 in the embodiment of FIG. 16 described later.
Corresponds to a part of. Further, in the invention described in claim 14, in the impact type screw tightening device according to claim 13, when the abnormality determination means determines that the apparatus is abnormal, the power source of the drive means is immediately shut off. A shutoff control means is provided. The shutoff control means is, for example, the abnormality determination power control unit 1 in the embodiment shown in FIG.
It corresponds to a part of 75. According to a fifteenth aspect of the present invention, the impact type screw tightening device according to the thirteenth or the fourteenth aspect further includes display means for displaying the determination result of the abnormality determination means. The cutoff control means corresponds to, for example, the display unit 126 in the embodiment of FIG. 16 described later.

[0016]

According to the invention described in claims 1 to 9, when the fastening force is calculated, the seating is performed based on the waveform change accompanying the seating in the torque pulse (hereinafter abbreviated as impact torque) corresponding to the impact occurrence. The impact type screw tightening device, which determines the time point and calculates the fastening force with the seating time point as the fastening force calculation start time, is provided with abnormality determination means for determining fastening abnormality. First, the invention according to claim 1 is configured to determine the fastening abnormality based on the detection result of the torque detection means. Also,
In the invention according to claim 2, the power source of the drive means is immediately shut off when it is determined that there is an abnormality in the fastening, and in the invention according to the third aspect, it is determined that there is an abnormality in the fastening. In this case, the judgment result is displayed. With this configuration, it is possible to prevent the work from moving to the next step while the fastening abnormality is present, and also the worker can recognize the fastening abnormality.

Further, in the invention described in claim 4,
The number of impact occurrences from the start of impact occurrence to the seating determination is detected, and if the number of impact occurrences described above is abnormal, it is determined that the fastening is abnormal. Further, in the invention according to claim 5, it is determined that the fastening is abnormal when the number of impact occurrences until it is determined to be seated greatly deviates from the standard range of the number of occurrences in normal tightening. I have to. The above standard range is, for example, about 8 to 12 times, and when it is about half (3 to 4 times) or less, it is determined that the tightening is abnormal. With the above configuration, when the bolt or nut has a defect such as defective pitch or biting, it is possible to determine the abnormality before the seating and stop the tightening work. The seat surface can be prevented from being scratched, and the fastened body can be reused as it is.

Further, in the invention described in claim 6,
If the tightening is normal, multiple impacts will occur before the seat is determined.When tightening a fastening part, the parameters included in the torque waveform detected in the first impact are the torque waveforms in the impact after seating. In the invention according to claim 7, the torque waveform detected in the first impact is as a parameter included in the torque waveform. 9. The free running time is detected, and if the free running time is a predetermined value, that is, the seating determination threshold free running time, or less, it is determined to be a fastening abnormality, and
In the invention described in (1), the change in the duration of the torque pulse due to the impact is detected as a parameter included in the torque waveform detected at the first impact, and the duration is set to a predetermined value, that is, seating. When the judgment threshold duration is equal to or more than the threshold value, it is configured to determine that the fastening is abnormal. Further, in the invention according to claim 9, the free running time and the change in the duration of the torque pulse, Both of the conditions are detected, and if at least one of them is satisfied or if both are satisfied, it is determined that the fastening is abnormal. In addition, if at least one of the above is satisfied, what is determined to be abnormal is
For example, it is shown in the flowchart of FIG. 10 described later, and what is judged to be abnormal when both are satisfied is shown in the flowchart of FIG. 11 described later, for example. The free running time before sitting is, for example,
As shown in FIG. 19, it is about 300 to 400 μs, and becomes almost 0 after sitting. Therefore, the seating determination threshold free running time is, for example, 100 to 200 μs.
It may be set to some value. The duration of the torque pulse before seating is, for example, about 0.2 ms, and it changes to about 1 ms or more after seating, so the seating determination threshold duration is, for example, about 0.5 ms. You can set it to.

With the above-described structure, when a part that has already been tightened is tightened twice, the work error can be detected, and therefore, re-tightening or other measures can be taken. I can.

The characteristics of the impact torque waveforms before, during, and after seating during normal tightening and abnormal waveforms will be described. FIG. 19 shows a detent nut (for the detent nut, for example, “Points of screw tightening mechanism design”, Japanese Standards Association 1989.
When the normal tightening is carried out using the 4th edition of the issue, pp. 299 to 301), the impact occurrence situation from when the impact starts to sit down to when the tightening is completed, It is the figure which showed typically the waveform of the impact torque of each step.

As is apparent from FIG. 19, the significant difference in the waveform of the impact torque before sitting, during sitting and after sitting is the difference in free running time. The free running time is an interval between a torque pulse generated first and a torque pulse generated second among a plurality of torque pulses generated for each impact. The first torque pulse is a torque waveform at the time when the stationary bolt or nut starts to be torqued and then the maximum static friction torque is reached and the bolt or nut starts to rotate.・
The pulse is a torque waveform when the rotating bolt or nut is gradually decelerated due to dynamic friction and then stopped. Then, the bolt or the nut rotates in the free running state during the period from the first torque pulse to the second torque pulse, that is, during the free running time. Then, the free running time sharply shortens with sitting, and the free running time is no longer observed after sitting. Utilizing this fact, Japanese Patent Application No. 5-333988 cited as prior art determines seating.

In mass-produced products such as automobiles,
Since the shapes and materials of bolts, nuts, and objects to be fastened are determined depending on the fastening parts, the rotation angle of the nut from the time when the crimped part of the detent nut starts to hit the screw surface of the bolt until it is seated should be considered to be constant. You can Therefore, when using an impact type screw tightener such as an impact wrench with a specified specification, the number of impact occurrences from when the detent nut's crimped portion hits the thread surface of the bolt until impact begins until it is seated Although there are some variations, they are almost constant. In other words, with normal tightening, the number of impact occurrences up to seating falls within a standard range. However, if the bolt or nut has a defect such as defective pitch or biting, the friction waveform on the screw surface increases before the actual seating. The shape is similar to that of the latter one, so it may be mistakenly determined to be seated. Also, if the part that has already been tightened is tightened twice, the waveform of the impact torque detected first will be the same as that after seating in normal tightening. . Therefore, by configuring as in claims 1 to 9, it becomes possible to detect the fastening abnormality as described above.

According to the tenth aspect of the invention, before the target fastening force is reached, at least one impact has occurred for a predetermined time (normally 30 to 5).
Since it occurs at intervals of about 0 ms, for example, when the next impact does not occur even after a lapse of about 100 ms), it is determined that the fastening is abnormal. Also,
In the invention according to claim 11, the power source of the drive means is immediately shut off when it is determined that there is an abnormality in the fastening. In the invention according to claim 12, when it is determined that there is an abnormality in the fastening, It is configured to display the determination result. With the above configuration, when the worker interrupts the tightening during the tightening work, the worker can be made to recognize the fastening abnormality.

In the thirteenth aspect of the invention, when the output of the torque detecting means is out of the rated range, it is determined that the apparatus is abnormal. That is, in this case, the failure of the device is determined before the determination of the fastening abnormality. If the device is abnormal, it can be determined that the fastening state is also abnormal. Further, in the invention described in claim 14, when it is determined that the device is abnormal, the power source of the driving means is immediately shut off. In the invention described in claim 15, it is determined that the device is abnormal. In this case, the determination result is displayed. With the above configuration, when a trouble such as a wire breakage occurs during tightening work, the power source is shut off to prevent the tightening work from continuing, and the operator is not allowed to break down the device. Can be recognized. Note that FIG.
FIG. 6 is a characteristic diagram showing a change in signal between a normal state and a wire breakage, and a case where a bridge circuit is configured by two coils of a torque detection unit and a reference resistance in an example described later when torque is detected as an electric signal. FIG. 3 is a diagram schematically showing the differentially amplified signal and the analog signal after the sample and hold processing in a normal state and a disconnection state. From FIG. 20, it can be seen that the analog output becomes an abnormally large value due to the disconnection. In this way, when the output of the torque detection means shows an abnormal value outside the rated range, it is determined that the device is abnormal.

[0025]

Embodiments of the present invention will be described below with reference to the drawings. In the first embodiment, when calculating the fastening force, the seating time is determined from the waveform change of the impact torque associated with the seating, and the fastening force is calculated with the seating time as the fastening force calculation start time. In the type screw tightening device, the fastening abnormality is determined based on the detection result of the torque detection means, and when the fastening abnormality is determined, the power source of the drive means is immediately shut off and the determination result is displayed. It is a thing. As a specific method of determining the fastening abnormality based on the detection result of the torque detection means, the number of impact occurrences from the start of impact occurrence to the determination of seating is detected. If it is confirmed, specifically, if the number of impact occurrences until it is determined to be seated deviates greatly from the standard range of the number of occurrences in normal tightening, it is determined that the fastening is abnormal. Here is an example. The standard range is, for example, about 8 to 12 times, and when it becomes about half (3 to 4 times) or less, it is determined that the fastening is abnormal.

1 to 3 are diagrams of a first embodiment of the present invention, FIG. 1 is a block diagram of the present embodiment, and FIG. 2 is a sectional view of an impact wrench body using compressed air as a power source. 3 is a flow chart showing the arithmetic processing. First, in FIG. 1, the impact type screw tightener main body 100 is a motor 10
2 and the output shaft of the motor 102, the motor 1
An impact torque generator 103 for converting the continuous torque of 02 into impact torque, and a torque detector 101 for detecting the torque acting on the output shaft of the impact torque generator 103, that is, the main shaft 104, Tightening socket (joint part) 10 attached to the main shaft 104
It consists of 5. The motor 102 may be of any type as long as it can generate a driving force such as an electric motor or an air motor. Also, the tightening socket 10
By selecting the shape of 5, it can be configured as a wrench or a nut / runner. A control device 120 is connected to the impact type screw tightener main body 100. The control device 120 includes the torque detector 101.
Torque signal processing unit 1 for converting a signal from a torque signal into a torque signal
21, a peak value processing unit 122, a free running time processing unit 128, a fastening force data / memory unit 123,
A fastening force calculation unit 124, an abnormality determination power control unit 125,
The display unit 126 is included.

Next, FIG. 2 is a specific embodiment of the present invention and shows a sectional view in the case of being configured as an impact wrench using compressed air as a power source. In FIG. 2, 10 is an impact wrench body (corresponding to 100 in FIG. 1)
In the impact wrench body 10, the air supply unit 16, the air. A motor unit 13, a hydraulic pressure pulse generation unit 14, and a torque detection unit 11 are provided. An air passage 17 communicating with the air motor portion 13 is formed in the air supply portion 16, and a main valve 18 and a switching valve 19 are provided in this order in the air passage 17. Main valve 1
8 is opened by pulling the valve operating lever 20,
The switching valve 19 is opened by turning the rotation switching lever 21 to a predetermined rotation position. The air motor unit 13 includes a rotary drive shaft 22 arranged in an eccentric cylinder, and the rotary drive shaft 22 is rotated by the compressed air acting on the vanes 23. The hydraulic pulse generator 14 is connected to the rotary drive shaft 22 of the air motor unit 13 and is directly connected to the liner case 2.
The main shaft 15 provided inside the main shaft 4 and the driving blade 25 that is externally mounted on the main shaft 15, and the liner case 24 is filled with oil liquid. The main shaft 15 rotates together with the rotary drive shaft 22 of the air motor unit 13 by the resistance of the inner surface of the liner case 24 and the driving blade 25 when there is no load above a certain level, and the relief valve when there is a load above a certain level. The hydraulic pressure acting on the inner surface of the driving blade 25 via 28 fluctuates so as to shockly rotate. This spindle 15
The tip end of is shaped so as to be connected to a screw via a socket (box wrench), and the screw tightening can be performed by aligning the tip end with a desired screw. The torque detector 11 is arranged around the main shaft 15 and is composed of a pair of coils 26 a and 26 b fixed to the impact wrench body 10. The main shaft 15 is made of a material having a magnetostrictive effect in which a pair of left and right groove rows 27a and 27b having different spiral angles are provided, and the coils 26a and 26 are opposed to the groove rows 27a and 27b.
b is arranged. And these coils 26a,
The torque acting on the main shaft 15 can be detected by 26b. Regarding the structure of the compressed air cutoff mechanism, the compressed air sent to the air motor unit 13 is supplied.
A shut-off valve 12 for shutting off is provided in the middle of an air passage 17 that connects the switching valve 19 and the air motor unit 13.

Further, the control device 30 electrically connected to the impact wrench body 10 is a portion corresponding to 120 in FIG. 1, and torque signal processing for producing a torque signal by inputting a signal emitted from the torque detecting portion 11 as an input. Part 121
And a peak value processing unit 122 that extracts a peak torque value for each impact from the torque signal, a free running time processing unit 128, and a function that indicates the relationship between the torque-fastening force conversion coefficient and the fastening force. The fastening force data / memory unit 123, the fastening force calculation unit 124, and an abnormality determination that determines whether the calculated fastening force is in an appropriate range and sends an opening / closing control signal to the shut-off valve 12. It includes a power control unit 125 and a display unit 126 that displays a calculated value of the fastening force and a fastening abnormality. In addition, the above 121 to 12
6 and 128 have the same configuration as in FIG. 1, and are not shown.

FIG. 4 is an example of a function showing the relationship between the torque-fastening force conversion coefficient recorded in the fastening force data / memory section 123 and the fastening force. As shown in FIG. 4, when an impact having a certain peak torque value (peak value of torque pulse) is applied, and when the fastening force at that time is small, the fastening force due to the given impact It can be seen that the amount of increase in the fastening force is large, while on the other hand, when the fastening force of a considerable level has already been generated, the amount of increase in the fastening force added by this is not large even with the impact of the same peak torque value. The specific value differs depending on the combination of the bolt, the tightened body, and the impact wrench. Such coefficient data is prepared as a function for each combination of the impact wrench, the bolt and the object to be fastened, which are objects of use of the impact wrench. As will be described later, the fastening force calculator 124 calculates the fastening force based on the peak torque value and the function data described above.

Next, the operation of the first embodiment will be described based on the flow chart shown in FIG. When the valve operating lever 20 shown in FIG. 2 is pulled, the air motor unit 1 is supplied from the air supply unit 16 via the shut-off valve 12.
By the compressed air sent to 3, the rotary drive shaft 22 of the air motor unit 13 rotates, and the rotational force thereof is converted into a shocking rotational force in the hydraulic pressure pulse generation unit 14, transmitted to the main shaft 15, and screwed. Tightening work is performed. First, in step S1 of FIG. 3, the value of the target fastening force cFc is set, and in steps S2 and S3, the seating determination threshold free-running time st _FR and the number of occurrences of abnormal determination threshold impact values obtained in advance by experiments. After setting each sN _PP , the impact number counter is reset in step S4 <count i = 0>, the fastening force value up to that time is reset <F (0) = 0> in step S5, and further step S6. Then, the number of impacts before seating _NPP is reset < _NPP = 0>. Here, the abnormality determination threshold value impact occurrence count sN _PP is, for example, a value of sN _PP ≦ N _PPA −3σN _PP with respect to the average value N _PPA and standard deviation σN _{PP of the} pre-seating impact occurrence count in normal tightening. You can set it to. Next, in step S7, screw tightening is started. In steps S8 to S20, step S9 is the free running time processing unit 128.
Processing contents in step S13 is the peak value processing unit 1
Processing contents in step 22, step S12, step S1
6 and Steps S18 to S20 are the processing contents in the abnormality determination power control unit 125, and the others are the processing contents in the fastening force calculation unit 124.

Further, steps S8 to S10 and step S11 form a loop, and the seating determination and the number of impact occurrences are performed for each impact up to the seating. First, after incrementing the count i by 1 in step S8, the free running time t _FR is calculated based on the signal (torque signal) from the torque signal processing unit 121 in step S9. Next, in step S10,
It is determined whether or not the free running time t _FR is equal to or less than the seating determination threshold free running time st _FR. If NO, that is, if the user is not seated yet, the number of impacts before seating _NPP is increased by 1 in step S11, and then the step is performed. The process returns to S8 and steps S10 to S10 are repeated. On the other hand, step S
If YES in 10, that is, if it is determined that the vehicle is seated, the process proceeds to step S12, and it is determined whether or not the number of impacts N _PP before seating is greater than or equal to the number of times sN _{PP of} abnormality determination threshold impact occurrence. If NO in step S12, that is, if it is determined that there is an abnormality in engagement, the flow advances to step S19 to issue a cut-off command, and in step S20 an error display command is issued, after which the flow advances to step S21. As a result, the valve for the compressed air is closed and the fastening error is displayed on the display unit 126 of the control device 120. If YES in step S12, that is, if the fastening is normally performed,
Steps S13 to S16 and Step S17
Go to the loop consisting of and calculate the fastening force for each impact.

First, in step S13, a peak impact torque value T _P (i) is obtained from the torque signal and stored. It should be noted that at the time of sitting, the peak signal from the torque signal temporarily stored in step S9 is detected.
The torque value T _P (i) may be calculated. Next, step S1
In 4, F (i-1) Torque in - a fastening force conversion coefficient C _{T F} (i), is calculated based on the tightening force data memory unit 123 table. However, C _TF (i) = C _TF [F
(i-1)]. Next, in step S15, the amount of increase in fastening force due to impact δF (i) = C _TF (i) × T _P (i)
And the fastening force F (i) after this impact
Is calculated by adding the increasing amount δF (i) to the fastening force up to that point, that is, the fastening force F (i-1) after the impact one time before. Therefore, F (i) is F (i)
= F (i-1) + _CTF (i) * _TP (i). Next, in step S16, it is determined whether or not the post-impact fastening force F (i) is greater than or equal to the target fastening force cFc.
After incrementing the count i by 1 in 17, the step S1
Returning to step 3, the steps up to step S16 are repeated. On the other hand, if YES in step S16, the flow advances to step S18, at which point a cut-off command is issued. This causes the compressed air valve to close.

Next, in step S21, it is determined whether or not to end the process. If YES, the process ends as it is, and if NO, the process returns to step S4 to perform the next screw tightening. With the above configuration, when the bolt or the nut has a defect such as a defective pitch or biting, the abnormality can be determined before the seating and the tightening operation can be stopped.

As described above, in the present embodiment, when the fastening force is calculated, the seating time is determined from the waveform change of the impact torque due to the seating, and the seating time is used as the fastening force calculation start time. In the impact type screw tightening device for calculating, the fastening abnormality is determined based on the detection result of the torque detection means, and when the fastening abnormality is determined, the power source of the drive means is immediately shut off, and the determination result Is configured to display. Then, as a specific method for determining the fastening abnormality based on the detection result of the torque detection means, the number of impact occurrences from the start of impact occurrence to the determination of seating is detected, and the impact occurrence count is abnormal. If the number of impact occurrences until it is determined to be seated deviates significantly from the standard range of the number of occurrences in normal tightening, it is determined that the fastening is abnormal. I am configuring. Therefore, it is possible to prevent the work from moving to the next process with the fastening abnormality, and also the worker can recognize the fastening abnormality. Also, if the bolt or nut has a problem such as defective pitch or biting, it is possible to judge the abnormality before the seating and stop the tightening work, so the seating surface of the object to be fastened is scratched. Can be prevented
The fastened body can be reused as it is.

Next, FIGS. 5 and 6 show a second embodiment of the present invention, FIG. 5 is a block diagram, and FIG. 6 is a flow chart showing arithmetic processing. In this embodiment, when calculating the fastening force, the seating time is determined from the change in the waveform of the impact torque associated with the seating, and the fastening force is calculated with the seating time as the fastening force calculation start time. In the tightening device, the fastening abnormality is determined based on the detection result of the torque detection means, and when the fastening abnormality is determined, the power source of the drive means is immediately shut off and the determination result is displayed. There is. Then, as a specific method for determining the fastening abnormality based on the detection result of the torque detection means, when fastening the fastening portion such that a plurality of impacts occur until it is determined to be seated if the fastening is normal, The fastening abnormality is determined when the torque waveform detected at the first impact has the characteristics of impact after seating. Specifically, the change in free running time is detected as a parameter included in the first impact torque waveform, and if the above free running time is equal to or less than the seating determination threshold free running time, it is determined that there is a fastening error. It is an example configured to do so.

The free running time before sitting is
For example, as shown in FIG. 19, it is about 300 to 400 μs and becomes almost 0 after sitting. Therefore, the seating determination threshold free running time is, for example, 100 to 2
It may be set to a value of about 00 μs.

First, the structure will be described with reference to FIG. In FIG. 5, the impact type screw tightener main body 100 includes a motor 102, an impact / torque generator 103, a main shaft 104, a torque detector 101, and a tightening socket 105, as in the first embodiment. A control device 130 is connected to the impact type screw tightener main body 100. The control device 130 has the same torque signal processing unit 121, peak value processing unit 122, free running time processing unit 128, and fastening force data / memory unit 123 as in the first embodiment.
In addition to the display unit 126 and the display unit 126, the fastening force calculation unit 134 and the abnormality determination power control unit 13 are slightly different from those in the first embodiment.
It is equipped with 5.

Next, the operation of the second embodiment will be described based on the flow chart shown in FIG. First, step S3
In step 1, the value of the target fastening force cFc is set, and step S
After setting the seating determination threshold free running time st _FR obtained in advance by 32 in step 32, the impact number counter is reset in step S33 <count i = 0>, and the value of the fastening force up to that point is set in step S34. Reset <
F (0) = 0>. Next, in step S35, screw tightening is started. In steps S36 to S47, the step S37 is the free running time processing unit 12
8 is the processing content, Step S40 is the processing content in the peak value processing unit 122, Steps S38, S39 and Steps S45 to S47 are the processing content in the abnormality determination power control unit 135, and the others are the processing content in the fastening force calculation unit 134. Is. Also, step S3
6 to step S38 form a loop, and the seating determination is performed for each impact up to the seating.

First, after incrementing the count i by 1 in step S36, the free running time t _FR is obtained based on the torque signal in step S37. Next, in step S38, it is determined whether the free running time t _FR is the seating determination threshold free running time st _FR or less,
If NO, that is, if the player is not seated, the process returns to step S36 and repeats steps up to step S38. Meanwhile, in step S38, Y
When it becomes ES, that is, when it is determined to be seated, step S
In step 39, it is determined whether or not the impact number i exceeds 1. If NO in step S39, that is, if it is determined that there is an abnormality in engagement, the process proceeds to step S46, a cut-off command is issued, and an abnormality display command is issued in step S47, and then the process proceeds to step S48. As a result, the valve for compressed air is closed and the display unit 1 of the control device 130 is closed.
A fastening error is displayed at 26. Further, if YES in step S39, that is, if the fastening is normally performed, the process proceeds to the loop including steps S40 to S43 and step S44, and the fastening force is calculated for each impact.

First, in step S40, the torque signal
Impact peak torque value T _Pmemorize in search of (i)
To do. At the time of sitting, the above step S37 is performed.
From the torque signal temporarily stored at
・ Torque value T_P(i) should be calculated. Next, step S
In 41, the torque-fastening force conversion function in F (i-1)
Number C_{T F}(i) is the data of the fastening force data / memory unit 123.
Calculate based on Bull. However, C_TF(i) = C
_TF[F (i-1)]. Next, in step S42,
Increase in fastening force due to Pact δF (i) = C_TF(i) x T
_P(i) is calculated and the fastening force F after this impact is calculated.
(i) is the fastening force up to that point, that is,
The fastening force F (i-1) after
Calculate by adding. Therefore, F (i) is
F (i) = F (i-1) + C_TF(i) x T_P(i). next,
In step S43, the fastening force F (i) after impact is
It is determined whether or not the target fastening force cFc is equal to or more than the target fastening force.
After increasing the count i by 1 at step S44,
The process returns to step S40 and steps S43 to S43 are repeated. one
If YES in step S43, step S45
Proceed to and a cut-off command will be issued at that time. this
The valve of compressed air is closed by Next,
In step S48, it is determined whether or not to end, and if YES
If it is NO, return to step S33.
And tighten the next screw. As a result, the fastening has already been completed.
If you have tightened the part that has been
When it becomes, the abnormality is judged immediately after the first impact.
Then, the tightening work can be stopped.

As described above, in the present embodiment, when calculating the fastening force, the seating time is determined from the change in the waveform of the impact torque due to the seating, and the seating time is used as the fastening force calculation start time. In the impact type screw tightening device for calculating, the fastening abnormality is determined based on the detection result of the torque detection means, and when the fastening abnormality is determined, the power source of the drive means is immediately shut off, and the determination result In addition, as a specific method of determining the fastening abnormality based on the detection result of the torque detection means, as a parameter included in the waveform of the impact torque, the change of the free running time is detected, When the free running time is equal to or less than the seating determination threshold free running time, it is determined that the fastening is abnormal. Therefore, it is possible to prevent the work from moving to the next process with the fastening abnormality, and also the worker can recognize the fastening abnormality. Further, in the case where the part which has already been tightened is tightened twice, the work error can be detected, and therefore the re-tightening or the like can be performed.

7 and 8 show a third embodiment of the present invention, FIG. 7 is a block diagram, and FIG. 8 is a flow chart showing arithmetic processing. In this embodiment, when calculating the fastening force, the seating time is determined from the change in the waveform of the impact torque associated with the seating, and the fastening force is calculated with the seating time as the fastening force calculation start time. In the tightening device, the fastening abnormality is determined based on the detection result of the torque detection means, and when the fastening abnormality is determined, the power source of the drive means is immediately shut off and the determination result is displayed. is there. Then, as a specific method for determining the fastening abnormality based on the detection result of the torque detection means, when fastening the fastening portion such that a plurality of impacts occur until it is determined to be seated if the fastening is normal, The fastening abnormality is determined when the torque waveform detected at the first impact has the characteristics of impact after seating. Specifically, as a parameter included in the impact torque waveform, the torque
In this example, a change in pulse duration is detected, and if the duration is equal to or longer than the seating determination threshold duration, it is determined that the fastening is abnormal.

The duration of the torque pulse before seating is, for example, about 0.2 ms, and it changes to about 1 ms or more after seating. Therefore, the seating determination threshold duration is, for example, 0 ms. It may be set to about 0.5 ms.

First, the configuration will be described with reference to FIG. In FIG. 7, the impact type screw tightener main body 100 includes a motor 102, an impact torque generator 103, a main shaft 104, a torque detector 101, and a tightening socket 105, as in the first embodiment. A control device 140 is connected to the impact type screw tightener main body 100. In addition to the torque signal processing unit 121, the peak value processing unit 122, the fastening force data / memory unit 123, and the display unit 126, which are the same as those in the first embodiment, the control device 140 also controls the torque.
The pulse duration processing unit 148 is provided with a fastening force calculation unit 144 and an abnormality determination power control unit 145, which are slightly different from those in the first embodiment.

Next, the operation of the third embodiment will be described based on the flow chart shown in FIG. First, step S5
In step 1, the value of the target fastening force cFc is set, and step S
In 52, the sitting determination threshold duration s previously obtained by experiments
After setting W _P , the impact number counter is reset in step S53 <count i = 0>, and step S5
The value of the fastening force up to that point is reset with 4 <F (0) =
0>. Next, in step S55, screw tightening is started. In steps S56 to S67, step S57 is the processing content in the torque / pulse duration processing unit 148, step S60 is the processing content in the peak value processing unit 122, and steps S58, S59 and steps S65 to S67 are the abnormality determination power control units. 145
Is the processing content of the above, and the other is the fastening force calculation unit 144.
It is the processing content in. Further, steps S56 to S58 form a loop, and seating determination is performed for each impact until seating.

First, after incrementing the count i by 1 in step S56, the torque / pulse duration W _P is obtained based on the torque signal in step S57. Next, in step S58, it is determined whether or not the torque pulse duration W _P is equal to or longer than the seating determination threshold duration sW _P , and if NO, that is, if the vehicle is not seated, the process returns to step S56 and step S56
Repeat up to 58. On the other hand, if YES in S58, that is, if it is determined that the player is seated, the process proceeds to step S59, and it is determined whether or not the impact number i exceeds 1. If NO in step S59, that is, if it is determined that the fastening is abnormal,
In step S66, a cut-off command is issued, and an abnormality display command is issued in step S67.
Proceed to 68. As a result, the valve of the compressed air is closed and the fastening abnormality is displayed on the display unit 126 of the control device 140. Further, if YES in step S59, that is, if the fastening is normally performed, the process proceeds to the loop including steps S60 to S63 and step S64, and the fastening force is calculated for each impact.

First, in step S60, the impact peak torque value T _P (i) is obtained from the torque signal and stored. At the time of sitting, the above step S57 is performed.
The peak torque value T _P (i) may be obtained from the torque signal temporarily stored in. Next, step S
In 61, F (i-1) Torque in - a fastening force conversion coefficient C _{T F} (i), is calculated based on the tightening force data memory unit 123 table. However, C _TF (i) = C
_TF [F (i-1)]. Next, in step S62, the amount of increase in fastening force due to impact δF (i) = C _TF (i) × T
Calculate _P (i), and further tightening force F after this impact
(i) is calculated by adding the increment δF (i) to the fastening force up to that point, that is, the fastening force F (i-1) after the impact one time before. Therefore, F (i) is F
(i) = F (i-1) + _CTF (i) * _TP (i). Next, in step S63, it is determined whether or not the fastening force F (i) after impact is greater than or equal to the target fastening force cFc. If NO, the count i is incremented by 1 in step S64, and the process returns to step S60. And step S63 is repeated. on the other hand,
If YES in step S63, the flow advances to step S65, at which point a cut-off command is issued. This causes the compressed air valve to close. Next, step S
At 68, it is determined whether or not to end the process. If YES, the process ends, and if NO, the process returns to step S63 to perform the next screw tightening. As a result, as in the case of the second embodiment, when the part that has already been fastened is tightened twice, an abnormality is detected immediately after the first impact when the tightening is performed twice. It is possible to judge and stop the tightening work.

As described above, in the present embodiment, when the fastening force is calculated, the seating time is determined from the change in the waveform of the impact torque due to the seating, and the seating time is used as the fastening force calculation start time. In the impact type screw tightening device for calculating, the fastening abnormality is determined based on the detection result of the torque detection means, and when the fastening abnormality is determined, the power source of the drive means is immediately shut off, and the determination result In addition, as a specific method for determining the fastening abnormality based on the detection result of the torque detection means, a change in the duration of the torque pulse is used as a parameter included in the waveform of the impact torque. When it is detected and the above duration is equal to or longer than the seating determination threshold duration, it is determined that the fastening is abnormal. Therefore, similarly to the second embodiment, it is possible to prevent the work from moving to the next step while the fastening abnormality is left, and the worker can also recognize the fastening abnormality. Also, if you have tightened the part that has already been tightened twice,
Since the work error can be detected, it is possible to take actions such as tightening.

Next, FIGS. 9 to 11 show a fourth embodiment of the present invention, FIG. 9 is a block diagram, and FIGS. 10 and 11 are flowcharts showing arithmetic processing. This example
This is a combination of the second embodiment and the third embodiment, and when the fastening force is calculated, the impact due to seating
In the impact type screw tightening device in which the seating time is determined from the change of the torque waveform, and the seating time is used as the fastening force calculation start time, the fastening force is calculated based on the detection result of the torque detection means. Along with this, when it is determined that there is a fastening abnormality, the power source of the drive means is immediately shut off, and the determination result is output, and the concrete determination of the fastening abnormality based on the detection result of the torque detection means is performed. As a method, when tightening a fastening part where multiple impacts occur before it is determined to be seated if it is normal tightening, the torque waveform detected at the first impact is characteristic of the impact after seating. If it has, it is configured to determine that the fastening is abnormal. Specifically, both the free running time and the duration of the torque pulse are detected as parameters included in the above impact torque waveform, and the above free running time is equal to or less than the above seating determination threshold free running time. Or if the above duration is equal to or longer than the above seating determination threshold duration, or if at least one of the two conditions is satisfied, or both are satisfied, then it is determined that the fastening is abnormal. It is an example configured to do so.

First, the structure will be described with reference to FIG. In FIG. 9, the impact type screw tightener main body 100 includes a motor 102, an impact / torque generator 103, a main shaft 104, a torque detector 101, and a tightening socket 105, as in the first embodiment. A control device 150 is connected to the impact type screw tightener main body 100. The control device 150 has the same torque signal processing unit 121, peak value processing unit 122, fastening force data / memory unit 123, and free running time processing unit 128 as in the first embodiment.
In addition to the display unit 126, the torque / pulse duration processing unit 148 similar to that of the third embodiment, the fastening force calculation unit 154 and the abnormality determination power control unit 1 which are slightly different from those of the first embodiment.
55, and.

Next, the operation of the fourth embodiment will be described based on the flow chart shown in FIG. First, step S
Set the value of the target engagement force cFc In 71, after step S72 and step S73 in advance by experiments in seek seating determination threshold free running time st _FR and the seating determination threshold duration sW _P were respectively set, step In step S74, the impact number counter is reset <count i = 0>, and in step S75, the value of the fastening force up to that time is reset <F (0) = 0>. Next, step S
At 76, screw tightening is started. In steps S77 to S90, step S78 is the processing content in the free running time processing unit 128, and step S79.
Is the processing content in the torque / pulse duration processing section 148, step S83 is the processing content in the peak value processing section 122, step S80 to step 82 and step S88 to step S90 are the processing content in the abnormality determination power control section 155, and others. Is a processing content in the fastening force calculation unit 154.

Further, steps S77 to S80 and step S81 form a loop, and the seating determination is performed for each impact until seating. First, step S
After incrementing the count i by 1 at 77, step S7
In step 8, the free running time t _FR is obtained and stored based on the torque signal, and in step S79, the duration W _P of the torque pulse is obtained from the torque signal. Next, in step S80, the free-running determines whether the time t _FR is sitting determination threshold free running time st _FR less, further duration W _P is sitting determination of the torque pulse in step S81 if NO Threshold duration s
W determines whether _P or more or not, step S80 returns to step S77 if again NO, that non-seated, further repeated until step S81. On the other hand, step S8
If 0 or YES in step S81, that is, if seating is determined, the process proceeds to step S82, and it is determined whether or not the impact number i exceeds 1. Step S82
If NO, that is, if it is determined that the fastening is abnormal, the process proceeds to step S89, a cut-off command is issued, and step S89 is performed.
After the abnormality display command is issued at 90, the process proceeds to step S91. As a result, the valve for the compressed air is closed and the fastening abnormality is displayed on the display unit 126 of the control device 150. If YES in step S82, that is, if the fastening is normally performed, steps S83 to S86.
Then, the process proceeds to the loop including step S87, and the fastening force is calculated for each impact.

First, at step S83, the impact peak torque value T _P (i) is obtained from the torque signal and stored. At the time of sitting, the above step S78
The peak torque value T _P (i) may be obtained from the torque signal temporarily stored in. Next, step S
In 84, F (i-1) Torque in - a fastening force conversion coefficient C _{T F} (i), is calculated based on the tightening force data memory unit 123 table. However, C _TF (i) = C
_TF [F (i-1)]. Next, in step S85, the amount of increase in fastening force due to impact δF (i) = C _TF (i) × T
Calculate _P (i), and further tightening force F after this impact
(i) is calculated by adding the increment δF (i) to the fastening force up to that point, that is, the fastening force F (i-1) after the impact one time before. Therefore, F (i) is F
(i) = F (i-1) + _CTF (i) * _TP (i). Next, in step S86, it is determined whether or not the fastening force F (i) after impact is equal to or greater than the target fastening force cFc. If NO, the count i is incremented by 1 in step S87, and then the process returns to step S83. Then, step S86 is repeated. on the other hand,
If YES in step S86, the flow advances to step S88, at which point a cut-off command is issued. This causes the compressed air valve to close. Next, step S
At 91, it is determined whether or not to end the process. If YES, the process ends, and if NO, the process returns to step S74 to perform the next screw tightening. As a result, as in the second and third embodiments, when the portion that has already been fastened is tightened twice, the first tightening is performed when the tightening is doubled. Immediately after the impact, it is possible to judge the abnormality and stop the tightening work.

The flowchart of FIG. 11 differs from the above description in the following points. That is, in the flowchart of FIG. 10, when either the free running time is equal to or less than the seating determination threshold free running time or the duration of the torque pulse is equal to or more than the seating determination threshold duration time, In the flowchart of FIG. 11, the free running time is equal to or less than the seating determination threshold free running time, and the duration of the torque pulse is equal to or more than the seating determination threshold duration. In the case of, that is, when both of the two conditions are satisfied, it is configured to determine that the engagement is abnormal. In some cases, such a configuration is preferable.

As described above, in the present embodiment, when calculating the fastening force, the seating time is determined from the waveform change of the impact torque due to the seating, and the seating time is used as the fastening force calculation start time. In the impact type screw tightening device for calculating the above, the fastening abnormality is determined based on the detection result of the torque detection means, and when the fastening abnormality is determined, the power source of the drive means is immediately shut off, and the determination result And a specific method for determining the fastening abnormality based on the detection result of the torque detection means is as a parameter included in the waveform of the impact torque, the free running time and the duration of the torque pulse. Detecting time, whether the free running time is less than the seating determination threshold free running time,
Alternatively, at least one of the following two conditions: whether the above duration is equal to or longer than the above seating determination threshold duration
It is configured to determine that the fastening is abnormal when either one or both of them are satisfied. Therefore, the second
Similar to the embodiment and the third embodiment, the work can be prevented from moving to the next process while the fastening abnormality is present, and the worker can recognize the fastening abnormality. Further, in the case where the part which has already been tightened is tightened twice, the work error can be detected, and therefore the re-tightening or the like can be performed.

Next, FIGS. 12 to 15 show a fifth embodiment of the present invention, FIG. 12 is a block diagram, and FIGS. 13 to 15 are flow charts showing arithmetic processing. This example
It is configured to determine the fastening abnormality based on the detection result of the torque detection means, to immediately shut off the power source of the drive means when the fastening abnormality is determined, and to display the determination result. As a concrete method for judging the fastening abnormality based on the detection result of, when the at least one impact occurs before the target fastening force is reached and the next impact does not occur even after a predetermined time has elapsed In addition, it is an example configured to determine that the fastening is abnormal. In addition, since the impact occurs at intervals of about 30 to 50 ms in normal times, the predetermined time used for the above determination may be set to about 100 ms, for example. For example, when the worker releases the lever and grips it again during the tightening work, the impact is interrupted for at least 100 ms or more, so that the interrupt of the work can be detected by the above determination.

First, the structure will be described with reference to FIG.
In FIG. 12, the impact type screw tightener main body 100
Is the same as in the first embodiment, the motor 102, the impact torque generator 103, the main shaft 104, and the torque detector 10.
1 and a tightening socket 105. A control device 160 is connected to the impact type screw tightener main body 100. The control device 160 includes a torque signal processing unit 121, a peak value processing unit 122, a fastening force data / memory unit 123, and a display unit 126, which are the same as those in the first embodiment.
It is provided with a free-running data number processing unit 168 and an elapsed time processing unit 167, a fastening force calculation unit 164 and an abnormality determination power control unit 165 which are slightly different from those in the first embodiment.

Next, the operation of the sixth embodiment will be described based on the flow charts shown in FIGS. In addition, in FIGS. 13 to 15, ˜ indicates that parts having the same reference numerals are connected. First, step S1 in FIG.
01, the value of the target fastening force cFc is set, and steps S102, S103, S104,
In step S105 and step S106, the impact occurrence determination threshold torque s obtained in advance by an experiment.
After setting T _IS , sampling data count N _SG , free running judgment threshold torque sT _FR , seating judgment threshold free running data count s N _FR , and abnormality judgment threshold elapsed time st _PI , Step S1
At 07, the impact number counter is reset <count i = 0>, and at step S108, the value of the fastening force up to then is reset <F (0) = 0>.

Next, in step S109, screw tightening is started. In steps S110 to S147, steps S122 to S127 are processing contents in the free running data number processing unit 168, step S110, step S111, step S116 to.
Step S119, Step S129, Step S13
3, step S134 and step S138 to step S141 are processing contents in the peak value processing unit 122,
Step S114, Step S132, Step S13
6 and steps S144 to S146 are processing contents in the abnormality determination power control unit 165, step S11.
2, step S113, step S120, step S
121, step S135, step S142, and step S143 are the processing contents in the elapsed time processing unit 167, and the others are the processing contents in the fastening force calculation unit 164. In addition, steps S110 to S128
Forms a loop, and seating determination is performed for each impact until seating, and at the same time, abnormality in elapsed time after impact is monitored.

First, after reading the value of the torque T in step S110, it is determined in step S111 whether the torque T is greater than or equal to the impact occurrence determination threshold torque sT _IS , and N
If O, that is, no impact occurs, it is further determined in step S112 whether or not the count i is 1 or more,
If NO, that is, if the first impact has not occurred, the process returns to step S110 and steps up to step S111 are repeated.
On the other hand, if YES in step S112, that is, if an impact has already occurred, the elapsed time t _PI after the impact has occurred is read in step S113, and then step S11.
4, it is determined whether the elapsed time t _PI is less than or equal to the abnormality determination threshold elapsed time st _PI . If NO, that is, if the occurrence of impact is interrupted, the process proceeds to step S145 in FIG.・ Off command issued, step S1
After the abnormality display command is issued at 46, the process proceeds to step S147. As a result, the valve for the compressed air is closed and the fastening error is displayed on the display unit 126 of the control device 160. If YES in step S114, that is, if the impacts occur at normal intervals, step S1
The procedure returns to step 10 and repeats the steps up to step S111.

If YES in step S111, that is, if an impact has occurred, step S11 in FIG.
5 (→), increment the count i by 1 and reset the counter of the sampling data number in step S116 <count j = 0>, step S117
~ Proceeding to the loop of step S119, torque of a predetermined sampling data number N _{SG for the} impact is calculated.
The data T (i, j) is sampled and stored. That is, after the count j is incremented by 1 in step S117, the torque is calculated based on the torque signal in step S118.
The data T (i, j) is sampled and stored.

Next, in step S119, it is determined whether or not the count j is equal to the sampling data number N _SG ,
If NO, that is, if sampling is not completed, step S1
It returns to 17 and repeats step S119. On the other hand, at the YES at step S119, that is reset when it is determined that the sampling end, the timer for measuring the elapsed time after the impact in the step S120 <t _PI
= 0>, and after the timer for measuring elapsed time is started in step S121, sampling /
Reset the data counter again <count j = 0
>, Free running until step S123
After resetting the value of the number of data N _FR <N _FR = 0>, the process proceeds to the loop of steps S124 to S127 to obtain the number N _FR of free running data at the impact. That is, the count j is set to 1 in step S124.
After that, the torque data T (i, j) is changed to the free running determination threshold torque sT in step S125.
_It is determined whether or not it is equal to or less than _FR , and if NO, step S127.
To proceeds, after the free-running data number N _FR is increased by 1 in step S126, if YES, the process proceeds to step S127. In step S127, it is determined whether the count j is equal to the sampling data number N _SG, and N
If it is O, that is, if unprocessed torque data remains, the process returns to step S124 and repeats steps up to step S127.

On the other hand, if YES in step S127, that is, if the free running data number N _FR is obtained, the process proceeds to step S128, and the free running data number N _FR is equal to or less than the seating determination threshold free running data number sN _FR. If NO, that is, if it is not seated, the process returns to step S110 of FIG. 13 (→) and repeats steps up to step S128. If YES in step S128, that is, if it is determined that the user is seated, steps S129 to S132 and step S132 in FIG.
The process proceeds from 133 to step S143 (→
), The fastening force is calculated for each impact, and the abnormality in the elapsed time after the impact is also monitored.

First, in step S129, the impact peak torque value T is calculated from the torque data T (i, j) temporarily stored in step S118.
_Find and store _P (i). However, T _P (i) = MAX
[T (i, j)]. Next, in step S130, F (i
The torque-engagement force conversion coefficient C _TF (i) in -1) is
Calculation is performed based on the table of the fastening force data / memory unit 123. However, C _TF (i) = C _TF [F (i-1)]. Next, in step S131, the amount of increase in fastening force due to impact δF (i) = C _TF (i) × T _P (i) is calculated, and the fastening force F (i) after this impact is calculated as Fastening force, that is, fastening force F (i-
It is calculated by adding the increment δF (i) to 1). Therefore, F (i) is F (i) = F (i-
1) + C _TF (i) × T _P (i). Next, step S132.
Then, the fastening force F (i) after impact is the target fastening force cF.
If it is NO, it is determined in step S133.
-After performing the process of step S143, step S12
The process returns to step 9 and repeats steps up to step S132.

Incidentally, steps S133 to S14
The processing of No. 3 is performed by the above steps S110 to S12.
The process is the same as that of step S112 deleted in the process of No. 1. This is i at the time of step S133.
This is because ≧ 1 and it is always YES even if the same determination process as in step S112 is inserted. On the other hand, if YES in step S132, step S1
Proceed to 44, at which point a cut-off command is issued.
This causes the compressed air valve to close. Next, in step S147, it is determined whether or not to end, and YES.
If so, the process ends as it is, and if NO, the process returns to step S107 in FIG. 13 (→) to perform the next screw tightening. As a result, when the worker interrupts the tightening during the tightening work, the power source is shut off to put the screw tightening device itself in the standby state, and the worker is made to recognize the tightening abnormality. be able to.

As described above, in this embodiment, the fastening abnormality is determined based on the detection result of the torque detection means, and when the fastening abnormality is determined, the power source of the drive means is immediately shut off and the determination is made. Configured to output the result,
Further, as a specific method for determining the fastening abnormality based on the detection result of the torque detection means, the following method is performed even after a predetermined time has elapsed after at least one impact has occurred before the target fastening force is reached. If no impact occurs,
It is determined that the fastening is abnormal. Therefore, it is possible to prevent the work from moving to the next process with the fastening abnormality, and also the worker can recognize the fastening abnormality. Also,
A normal tightening state can be achieved by returning the screw tightening device from the standby state to the operating state and performing additional tightening from the state before the interruption.

16 to 18 show a sixth embodiment of the present invention, FIG. 16 is a block diagram, FIG. 17 and FIG.
8 is a flow chart showing the arithmetic processing. This embodiment determines the device abnormality based on the detection result of the torque detection means, immediately shuts off the power source of the drive means when it is determined that the device abnormality, and is configured to display the determination result, Further, as a specific method of determining the device abnormality based on the detection result of the torque detecting means, when the output of the torque detecting means is out of the rated range (for example, refer to the characteristic of FIG. 20), it is determined that the device is abnormal. This is an example of doing so.
As described above, this embodiment is configured to determine that the device is abnormal when the output of the torque detecting means is out of the rated range. That is, in this case, the failure of the device is determined before the determination of the fastening abnormality. If the device is abnormal, it can be determined that the fastening state is also abnormal.

First, the structure will be described with reference to FIG.
In FIG. 16, the impact type screw tightener main body 100
Is the same as in the first embodiment, the motor 102, the impact torque generator 103, the main shaft 104, and the torque detector 10.
1 and a tightening socket 105. A control device 170 is connected to the impact type screw tightener main body 100. The control device 170 has the same torque signal processing unit 121 and fastening force data / memory unit 123 as those in the first embodiment.
The display unit 126, the free-running data number processing unit 168 and the fastening force calculation unit 16 similar to those in the fifth embodiment.
4, a peak value processing unit 172 and an abnormality determination power control unit 175, which are slightly different from those of the first embodiment, are provided.

Next, the operation of the sixth embodiment will be described with reference to the flow charts shown in FIGS. In addition, in FIG.17 and FIG.18, each shows that the part of the same code | symbol is connected. First, the value of the target fastening force cFc is set in step S151 of FIG. 17, and in step S152, step S153, step S154, and step S155, the impact occurrence determination threshold torque sT _IS , which is experimentally obtained in advance, sampling / The number of data N _SG , the free running determination threshold torque sT _FR , and the seating determination threshold free running data number sN _FR are set, respectively, and further, the value of the abnormality determination threshold torque sT _T is set in step S156. After that, in step S157, the impact number counter is reset <count i = 0>, and in step S158, the value of the fastening force until then is reset <F (0) = 0>. Here, if abnormality setting value determination threshold torque sT _T is (the value between the value at break value in the normal state, for example, in FIG. 20) rated torque value more suitable value of the torque detector Good.

Next, in step S159, screw tightening is started. In steps S160 to S189, steps S168 to S173 are processing contents in the free running data number processing unit 168, step S160, step S161, and step S163.
Step S167, Step S175, Step S17
9, step S180 and step S182 to step S186 are processing contents in the peak value processing unit 172,
Step S162, Step S178, Step S18
1 and steps S187 to S189 are the processing contents in the abnormality determination power control unit 175, and the others are the processing contents in the fastening force calculation unit 164. Further, steps S160 to S174 form a loop, and the seating determination is performed for each impact until seating, and the abnormality of the detected torque is also monitored.

First, after reading the value of the torque T in step S160, it is determined in step S161 whether or not the torque T is at or above the impact occurrence determination threshold torque sT _IS.
If O, that is, no impact has occurred, the process returns to step S160 and steps up to step S161 are repeated. If YES in step S162, that is, if an impact occurs, it is further determined in step S162 whether or not the torque _{T is} equal to or less than the abnormality determination threshold torque sTT, and NO.
That is, if the torque value is abnormal, step S in FIG.
Proceed to 188 (→), cut-off command is issued,
After the abnormality display command is issued in step S189, the process proceeds to step S190. As a result, the valve for the compressed air is closed and the fastening abnormality is displayed on the display unit 126 of the control device 170. On the other hand, if YES in step S162, that is, if the impact has already occurred, the count i is incremented by 1 in step S163, and step S1
After resetting the counter for the number of sampling data at 64 <count j = 0>, the process proceeds to the loop of steps S165 to S167, and the torque data T for a predetermined sampling data number N _{SG for the} impact.
(i, j) is sampled and stored. That is, after incrementing the count j by 1 in step S165, the torque data T is calculated based on the torque signal in step S166.
(i, j) is sampled and stored.

Next, in step S167, it is determined whether or not the count j is equal to the sampling data number N _SG ,
If NO, that is, if sampling is not completed, step S1
Returning to step S65, the steps up to step S167 are repeated. On the other hand, if YES in step S167, that is, if it is determined that sampling has ended, the counter for the number of sampling data is reset again in step S168 <count j =
0>, after resetting the value of the free-running data number N _FR so far in step S169 <N _FR = 0>, the process proceeds to the loop of steps S170~ step S173 of FIG. 18 (→), free-running at the impact・ Calculate the number of data N _FR . That is, step S1
After increasing the count j by 1 at 70, step S1
At 71, it is determined whether the torque data T (i, j) is less than or equal to the free running determination threshold torque sT _FR. If NO, the process proceeds to step S173, and if YES, the number of free running data is determined at step S172. After incrementing N _FR by 1, the process proceeds to step S173. Step S17
In 3, it is judged whether or not the count j is equal to the number of sampling data N _SG, and if NO, that is, if there is unprocessed torque data, the process returns to step S170 to repeat step S173. On the other hand, step S1
Becomes a YES at 73, i.e. when the free-running data number N _FR obtained, the process proceeds to step S174, the free-running data number N _FR is determined whether the sitting determination threshold free running data number sN _FR below , NO
That is, if it is not seated, the process returns to step S160 of FIG. 17 (→) and repeats steps up to step S174. Also,
If YES in step S174, that is, if it is determined that the vehicle is seated, the process proceeds to a loop including steps S175 to S178 and steps S179 to S186, the fastening force is calculated for each impact, and the detected torque abnormality is also monitored.

First, in step S175, the impact peak torque value T is calculated from the torque data T (i, j) temporarily stored in step S166.
_Find and store _P (i). However, T _P (i) = MAX
[T (i, j)]. Next, in step S176, F (i
The torque-engagement force conversion coefficient C _TF (i) in -1) is
Calculation is performed based on the table of the fastening force data / memory unit 123. However, C _TF (i) = C _TF [F (i-1)]. Next, in step S177, the amount of increase in fastening force due to impact δF (i) = C _TF (i) × T _P (i) is calculated, and the fastening force F (i) after this impact is calculated as before. Fastening force, that is, fastening force F (i-
It is calculated by adding the increment δF (i) to 1). Therefore, F (i) is F (i) = F (i-1)
+ C _TF (i) x T _P (i). Next, in step S178, the fastening force F (i) after impact is the target fastening force cFc.
It is determined whether or not the above is true, and if NO, step S179-
After performing the processing of step S186, step S175
Then, the process returns to step S178 and is repeated. The processing of steps S179 to S186 is similar to the processing of steps S160 to S167 described above. On the other hand, if YES in step S178, step S1
Proceed to 87, at which point a cut-off command is issued.
This causes the compressed air valve to close. Next, in step S190, it is determined whether or not to end, and YES.
If so, the process ends as it is, and if NO, the process returns to step S157 in FIG. 17 (→) to perform the next screw tightening. As a result, when a trouble such as a wire breakage occurs during the tightening work, the power source is shut off so that the tightening work cannot be performed, and the operator can recognize the abnormality of the device.

As described above, in the present embodiment, the fastening abnormality is determined based on the detection result of the torque detection means, and when the fastening abnormality is determined, the power source of the drive means is immediately shut off, and It is configured to output the judgment result,
Further, as a specific method of determining the fastening abnormality based on the detection result of the torque detecting means, when the output of the torque detecting means is out of the rated range, it is determined that the apparatus is abnormal. Therefore, when a trouble such as a wire breakage occurs during the tightening work, the power source is shut off so that the tightening work cannot be continued and the operator can be made aware of the failure of the device.

[0075]

As described above, in the invention described in claims 1 to 5, when the fastening force is calculated,
In the impact type screw tightening device that determines the seating time from the waveform change of impact torque due to seating and calculates the tightening force with the seating time as the starting time of the tightening force calculation, based on the detection result of the torque detection means. When the fastening abnormality is determined, the power source of the driving unit is immediately shut off when the fastening abnormality is determined, and the determination result is displayed, and the concrete determination of the fastening abnormality based on the detection result of the torque detection unit is performed. A typical method is to detect the number of impact occurrences from when the impact begins to occur until it is determined to be seated, and if the number of impact occurrences above is determined to be abnormal, it is determined that the fastening is abnormal. ,
It is possible to prevent the work from moving to the next process while the fastening is abnormal, the operator can recognize the fastening abnormality, and if the bolt or nut has a problem such as defective pitch or biting, sit down. Since it is possible to judge the abnormality at the previous stage and stop the tightening work, it is possible to prevent the seating surface of the fastened object from being scratched and to reuse the fastened object as it is. To be

Further, in the inventions according to claims 6 to 9, as a concrete method for judging the fastening abnormality based on the detection result of the torque detecting means, it is determined that the seating is determined if the fastening is normal. When tightening a fastening part where multiple impacts occur, if the parameter included in the torque waveform detected in the first impact has the characteristic of the torque waveform in the impact after seating, there is a fastening error. It is configured so as to make a determination, and more specifically, the claim 7
The free running time is equal to or less than the seating determination threshold free running time as described in 1 above, or the duration of the torque pulse is equal to or more than the seating determination threshold duration as described in claim 8, or As described in claim 9, since the fastening abnormality is determined when at least one of the both conditions is satisfied or both are satisfied, the work moves to the next step with the fastening abnormality. In addition to preventing this, the operator can also recognize the fastening abnormality, and if the part that has already been tightened is tightened twice, the work error can be detected. The effect that the treatment such as repair can be performed is obtained.

Further, in the invention described in claims 10 to 12, the fastening abnormality is judged based on the detection result of the torque detecting means, and when the fastening abnormality is judged, the power source of the driving means is immediately shut off. In addition, as a specific method for determining the fastening abnormality based on the detection result of the torque detection means, at least one impact has occurred before the target fastening force is reached. After that, when the next impact does not occur even after the lapse of a predetermined time, it is determined that the fastening is abnormal, so that the work proceeds to the next step with the fastening abnormal as in the invention according to claim 1. In addition to preventing movement, the worker can also recognize the fastening abnormality, and if the screw tightening device is returned from the standby state to the operating state and additional tightening is performed from the state before the interruption. Can be a normal tightening, the effect is obtained that.

Further, in the invention described in claims 13 to 15, the abnormality of the device is judged based on the detection result of the torque detecting means, and the power source of the driving means is immediately shut off when it is judged that the device is abnormal. And, configured to display the determination result, as a specific method of determining the device abnormality based on the detection result of the torque detection means, when the output of the torque detection means is out of the rated range, If a trouble such as a wire breakage occurs during tightening work by determining that the device is abnormal, the power source is shut off so that the tightening work cannot be continued. The effect that the failure of the device can be recognized is obtained.

[Brief description of drawings]

FIG. 1 is a block diagram of a first embodiment of the present invention.

FIG. 2 is a cross-sectional view when configured as an impact wrench using compressed air as a power source.

FIG. 3 is a flowchart showing a calculation process of the first embodiment.

FIG. 4 is an example diagram of a function showing a relationship between a torque-fastening force conversion coefficient recorded in a fastening force data memory unit 123 and a fastening force.

FIG. 5 is a block diagram of a second embodiment of the present invention.

FIG. 6 is a flowchart showing a calculation process of the second embodiment.

FIG. 7 is a block diagram of a third embodiment of the present invention.

FIG. 8 is a flowchart showing a calculation process of the third embodiment.

FIG. 9 is a block diagram of a fourth embodiment of the present invention.

FIG. 10 is a part of a flowchart showing the arithmetic processing of the fourth embodiment.

FIG. 11 is another part of the flowchart showing the arithmetic processing of the fourth embodiment.

FIG. 12 is a block diagram of a fifth embodiment of the present invention.

FIG. 13 is a part of a flowchart showing the arithmetic processing of the fifth embodiment.

FIG. 14 is another part of the flowchart showing the arithmetic processing of the fifth embodiment.

FIG. 15 is another part of the flowchart showing the arithmetic processing of the fifth embodiment.

FIG. 16 is a block diagram of a sixth embodiment of the present invention.

FIG. 17 is a part of a flowchart showing the arithmetic processing of the sixth embodiment.

FIG. 18 is another part of the flowchart showing the arithmetic processing of the sixth embodiment.

FIG. 19 is a schematic characteristic diagram of the number of impact occurrences from the start of impact occurrence to seating and the free running time at each impact.

FIG. 20 is a schematic signal waveform diagram of a differential amplification signal in a normal state and a disconnection state and an analog signal after sample hold processing when a bridge circuit is configured with two coils of a torque detection unit and a reference resistance. .

FIG. 21 is a sectional view of an example of a conventional device.

FIG. 22 is a flowchart showing arithmetic processing in the prior art of the applicant.

[Explanation of symbols]

10 ... Impact wrench main body 15 ... Spindle 11 ... Torque detecting section 16 ... Air supply section 12 ... Shut off valve 17 ... Air passage 13 ... Air motor section 18 ... Main
Valve 14 ... Hydraulic pulse generator 19 ... Switching valve 20 ... Valve operating lever 25 ... Driving blade 21 ... Rotation switching lever 26a, 26b
... Detection coil 22 ... Rotation drive shafts 27a, 27b
... Groove row 23 ... Vane 28 ... Relief valve 24 ... Liner case 30 ... Control device 100 ... Impact type screw tightener main body 135 ... Abnormality determination power control unit 101 ... Torque detection unit 140 ... Control device 102 ... Motor 144 ... Fastening Force calculation unit 103 ... Impact torque generator 145 ... Abnormality determination power control unit 104 ... Spindle 148 ... Torque / pulse duration processing unit 105 ... Tightening socket 150 ... Control device 110 ... Control device 154 ... Fastening force calculation unit 120 ... Control Device 155 ... Abnormality determination power control unit 121 ... Torque signal processing unit 160 ... Control device 122 ... Peak value processing unit 164 ... Fastening force calculation unit 123 ... Fastening force data / memory unit 165 ... Abnormality determination power control unit 124 ... Fastening force calculation Part 167 ... Elapsed time processing part 125 ... Abnormality determination power control part 168 ... Free N'ningu - 126 ... display unit data count unit 128 ... free running time processing unit 170 ... control unit 130 ... control unit 172 ... peak value processing section 134 ... tightening force calculating unit 175 ... abnormality determining the power control unit

Claims (15)

[Claims] 1. A drive means having a pulse component in a drive output, a joint part for a screw at one end, and a main shaft for tightening the screw when driven by the drive means, and a torque change of the main shaft is detected. Using the impact type screw tightener main body having the torque detecting means and the peak value of the torque pulse obtained from the detection result of the torque detecting means, the increasing amount of the fastening force is calculated for each impact and the fastening force is sequentially calculated. And controlling the power source applied to the drive means so as to achieve the target fastening force, and, at the time of calculating the fastening force, the waveform accompanying the seating of the torque pulse corresponding to the occurrence of impact. The seating time is determined from the change, and the fastening abnormality is determined based on the control result that calculates the fastening force with the seating time as the fastening force calculation start time and the detection result of the torque detection means. Impact screw tightening apparatus characterized by comprising an abnormality judging means. 2. The impact type screw tightening device according to claim 1, further comprising shutoff control means for immediately shutting off the power source of the drive means when the abnormality determination means determines that there is a fastening abnormality. Impact type screw tightening device. 3. The impact type screw tightening device according to claim 1 or 2, further comprising display means for displaying a determination result of the abnormality determining means. 4. The impact type screw tightening device according to any one of claims 1 to 3, wherein the abnormality determining means generates an impact from when the driving means starts to generate an impact until when it is determined that the vehicle is seated. When the number of times of occurrence of the above impact is detected to be abnormal, it is determined that the fastening is abnormal.
Impact type screw tightening device characterized by that. 5. The impact type screw tightening device according to claim 4, wherein the abnormality determination means determines that the number of impact occurrences until it is determined to be seated largely deviates from a standard range of the number of occurrences in normal tightening. The impact type screw tightening device is characterized in that it determines that the fastening is abnormal when the screwing is performed. 6. The impact type screw tightening device according to any one of claims 1 to 3, wherein the abnormality determining means has a plurality of impacts before it is determined to be seated if the tightening is normal. When tightening such a fastening portion, when the parameter included in the torque waveform detected in the first impact has a characteristic of the torque waveform in the impact after seating, it is determined that the fastening is abnormal. Impact type screw tightening device characterized by that. 7. The impact type screw tightening device according to claim 6, wherein the abnormality determining means is generated at the first impact by the driving means as a parameter included in the torque waveform detected at the first impact. Multiple torques
Of the pulses, the interval between the first torque pulse and the second torque pulse generated, that is, the free running time is detected, and the above free running time is a predetermined value, that is, the seating determination threshold free running time. The impact type screw tightening device is characterized in that it is determined to be a fastening abnormality in the following cases. 8. The impact type screw tightening device according to claim 6, wherein the abnormality determining means uses the continuation of the torque pulse due to the impact as a parameter included in the torque waveform detected in the first impact. An impact-type screw tightening device, which detects a change in time, and determines that the fastening is abnormal when the above-mentioned duration is a predetermined value, that is, a seating determination threshold duration time or more. 9. The impact type screw tightening device according to claim 6, wherein the abnormality determination means is generated at the first impact by the driving means as a parameter included in the torque waveform detected at the first impact. Multiple torques
Detects two parameters: the interval between the first torque pulse and the second torque pulse generated in the pulse, that is, the free running time, and the change in the duration of the torque pulse due to the above impact. Then
Satisfies at least one of the following two conditions: whether the free running time is equal to or less than the seating determination threshold free running time, or whether the above duration is equal to or more than the seating determination threshold duration. The impact type screw tightening device is characterized in that it is judged that the fastening is abnormal when both or both are satisfied. 10. A drive shaft having a pulse component in the drive output and a screw joint at one end, the main shaft tightening the screw when driven by the drive shaft, and the torque change of the main shaft is detected. Using the impact type screw tightener main body having the torque detecting means and the peak value of the torque pulse obtained from the detection result of the torque detecting means, the increasing amount of the fastening force is calculated for each impact and the fastening force is sequentially calculated. The control means for controlling the power source applied to the drive means so as to realize the target fastening force, and a predetermined impact after at least one impact occurs before the target fastening force is reached. An impact type screw tightening device comprising: an abnormality determining unit that determines that a fastening abnormality occurs when the next impact does not occur even after a lapse of time. 11. The impact type screw tightening device according to claim 10, further comprising shut-off control means for immediately shutting off the power source of the drive means when the abnormality determining means determines that there is a fastening abnormality. Impact type screw tightening device. 12. The impact type screw tightening device according to claim 10 or 11, further comprising display means for displaying a determination result of the abnormality determining means. 13. A drive shaft having a pulse component in a drive output, a joint part for a screw at one end, and a main shaft for tightening the screw when driven by the drive device, and a torque change of the main shaft is detected. Using the impact type screw tightener main body having the torque detecting means and the peak value of the torque pulse obtained from the detection result of the torque detecting means, the increasing amount of the fastening force is calculated for each impact and the fastening force is sequentially calculated. The control means for controlling the power source applied to the drive means so as to realize the target fastening force, and the output that the torque detection means is out of the rated range An impact-type screw tightening device comprising: a determining unit. 14. The impact type screw tightening device according to claim 13, further comprising shutoff control means for immediately shutting off the power source of the drive means when the abnormality determination means determines that the apparatus is abnormal. Impact type screw tightening device. 15. The impact type screw tightening device according to claim 13 or 14, further comprising display means for displaying a determination result of the abnormality determining means.