JPS62188633A - Automatic tightening device - Google Patents

Abstract

PURPOSE:To control tightening action from its start to finish, by constituting a device such that an alarm is generated if a preset action parameter, when it is compared with the actual tightening action, exceeds a permissible range. CONSTITUTION:Here a rotary speed and rotary torque of a driving motor 51 are used as an action parameter. And a cap 80 is tightened to a bottle 81 by a tightening actuator mechanism 50. Here a speed of tightening and its torque are input to a speed pattern setter 11 and a torque pattern setter 14 from a start of the tightening to its finish. And the cap 80, if its tightening smoothly advances, comes to be soon tightened by predetermined tightening torque. However, in a case that the cap 80 is idly rotated and diagonally tightened, abnormal torque such as in the above case is detected by a torque comparator 15, and an alarm is generated in a holding control means 70, speed pattern setter 11, lift turning mechanism 60, etc. as the result, the tightening from its start to finish can be surely controlled.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is an automatic tightening device, more specifically a turning tightening device that automatically tightens nuts, bolts, plugs, lids, etc. (hereinafter simply referred to as lids, etc.). This relates to a device that clamps the workpiece to the workpiece.

[Prior Art] Many devices have been provided and put to practical use in the past for turning and tightening tools such as lids.

In such conventional automatic tightening devices, various measures have been taken to equalize the tightening torque.

Mechanical tightening methods for uniformizing the torque have been provided, using clutches, springs, etc., to prevent torque above a certain amount from being applied.

Furthermore, as a method for electrically equalizing the tightening torque, there has been provided one that uses a servo circuit to directly or indirectly manage the maximum tightening torque.

[Problems to be Solved by the Invention] However, even if an attempt is made to mechanically equalize the tightening torque, it has been difficult to maintain the uniformity for a long period of time due to clutch wear, spring deterioration, etc. In addition, if you want to achieve uniformity with considerable accuracy, it is necessary to adjust the clutch,
Or the exchange of springs! etc., and it was also extremely difficult to use.

Also, does tightening mechanically equalize the torque?

Or, regardless of whether it is electrically equalized, in the conventional device, the maximum tightening is only controlled by the torque, so if it slips, one mechanism does not work. Furthermore, if the bolt or nut is galled or if the lid is screwed onto a bottle, etc. at an angle, the maximum torque will be reached even though the bolts or nuts have not been tightened properly. It was also treated as such.

Therefore, in the present invention, the rotational speed of the drive motor for tightening, the drive torque, the rotation angle of the lid, etc., the axial movement distance of the lid, etc. are set in advance by an operation parameter setting means, and the actual tightening is performed. A means for detecting actual operating parameters in work is provided, and a comparing means compares the operating parameters set by the setting means and operating parameters detected by the detecting means, and if an abnormality occurs as a result, an alarm means is provided. The system is designed to issue an alarm when tightening, and it is possible to control not only the maximum torque but also the tightening of lids, etc. from start to finish. The purpose is to provide an automatic tightening device that enables reliable tightening by monitoring the work, and also enables immediate detection of any defects in tightening. .

[Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention provides an automatic tightening device that performs rotational tightening by rotating a tool toward the workpiece. In the above, the turning tightening includes a parameter setting means for presetting the operating parameters of the tool, the turning tightening corresponding to the operating parameters, the actual tightening of the tool, the operation detecting means, and the set parameters and the detection means. The present invention is characterized in that it is provided with means for comparing with the actual operation, and means for issuing a warning when the actual operation exceeds the allowable range of the operation parameters set in advance.

[Function] In the present invention, it is determined by a comparison means whether the operation when actually tightening is within the permissible range of the preset operational parameters, and if it is not within the permissible range, , a warning is issued in the event that some kind of accident occurs.

[Example] Embodiments of the present invention will be described below according to illustrated examples.

Figure 1 shows the entire automatic tightening device.

This automatic tightening is performed using the rotational speed and rotational torque of the drive motor 51 as operating parameters for controlling the device.

The lid 8 as a tool is used to rotate and tighten the bottle 81 etc. as a processing object.
The tightening mechanism 50 that tightens 0 is the actuator! l
+ It is fixed to an elevating and rotating mechanism 60 for moving the entire mechanism 50 vertically and horizontally.

The tightening mechanism 50 is a drive motor 51 for rotating and tightening aaO, etc., and a holding part 52 for detachably holding 480 of the bottle 81, which are connected by a connection i'j 153. . Further, a rotary encoder 54 that outputs a rotation angle signal is fixed to the drive motor 51. Here, the holding portion 52 holds the lid 80 and the like using a widely used air chuck or the like.

Although the connecting portion 53 transmits one rotational motion, it is formed to be movable in the axial direction, and the holding portion 52 is tightened during operation.
is designed to rotate and move up and down.

In addition, IO is a first control device, which compares the speed pattern setting fill as an external input means and the rotational speed output from the rotary encoder 54 of the tightening mechanism 50 with this speed pattern setting device 11. Comparator 12
, an amplifier 13 for the comparison output from the speed comparator 12, and a torque pattern setting device 1 as an external input means.
4, and a torque comparator 15 that compares the output of the torque pattern setter 14 and the amplifier 13.
1, and from the torque comparator 15, the tightening signal is outputted to the holding portion 52 of the actuating mechanism 50 via the holding control means 70 in addition to the speed pattern setting device IT.

As a result, the speed comparator 12 compares the set speed of the speed pattern setter 11 and the rotation speed of the drive motor 51 with the speed signal detected by the rotary encoder 54, and if there is an error in the comparison result, , this error signal is sent to amplifier 1
3, the drive motor 51 connects to the speed pattern setter 11.
Since the drive current is supplied to the drive motor 51 so that it rotates at a preset rotation speed, the speed pattern can be set! The rotational speed set to lit does not deviate significantly from the rotational speed of the drive motor 51. At the same time, the output of the amplifier 13 is sent to the torque comparator 15 as a torque signal proportional to the rotational torque.

Next, a description will be given of the normal tightening operation of the automatic tightening device shown in FIG. 1.

First, the tightening speed and tightening torque from the start to the end of the lid 80, which actually performs the tightening operation, are input into the speed pattern setter 11 and the torque pattern setting s14.

Next, the lifting mechanism 60 moves the actuating mechanism 50 above the bottle 81 for tightening.

Next, after the lid 80 is held by the holding part 52 by an appropriate means, the holding part 52 is lowered toward the bottle 81 while being rotated.

After reaching the bottle 81, the lid 80 is tightened on the bottle 81, and at the same time, the load on the drive motor 51 increases.

If this continues, the rotational speed and rotational torque of the drive motor 51 will decrease due to the increased load, but in such a case.

By comparing the rotational speed of the drive motor 51 with the speed pattern setter 11, the current supplied from the amplifier 13 to the drive motor 51 is increased to increase the rotational speed, and at the same time, by increasing the current, the one-rotation torque is also increased. It will be necessary to do so.

When the lid 80 is closed in this manner, the lid 80 will eventually be tightened to a predetermined torque.

In this case, the torque pattern set in advance by the torque pattern setting temperature 14 by the torque comparator 15 is compared with the actual torque, and the tightening is performed when the torque change during operation changes within a predetermined range. The numbers shown are when the torque is reached.

At this time, when the torque comparator 15 detects that this tightening is complete, a command is issued from the torque comparator 15 to the holding control means 70 to open the lid 80 from the holding part 52, and at the same time, the torque comparator From 15 onwards, the speed pattern setter 11. Lifting and turning mechanism 60. A termination signal is sent to other necessary devices.

The speed pattern setter IT receives this signal.

The rotation of the drive motor 51 is stopped, and the lifting/lowering turning mechanism 60 is tightened by returning the operating mechanism 50 to the position before starting rotation.
The operation of tightening the lid 80 is completed.

The above explanation is that during tightening, the torque required to perform the operation is
This is a case where the value falls within a preset value range.

However, if the ti80 or the like slips or is tightened diagonally, the torque comparator 15 will detect such abnormal torque.

In this case, from the torque comparator 15, the holding control means 7
0. Speed pattern setter 11. An alarm will be sent to the lifting/lowering rotation mechanism 60 and other necessary devices.

In response to this signal, the holding control means 70 causes the holding part 52 to open the lid 80, etc., the speed pattern setter 11 stops the rotation of the drive motor 51, and the lifting/lowering turning mechanism 60 tightens the operating mechanism 50 before starting rotation. It will be returned to the position.

In this way, in this embodiment, by controlling the rotational speed and tightening torque, not only can precise rotational speed and tightening of 2i80 be performed under torque, but also the tightening can be performed without abnormalities during operation. It can also be adapted to any situation.

In the above explanation, the torque signal is output from the amplifier 13, but for the tightening shown in FIG. It is also possible to extract the signal and input it to the torque comparator 15.

What is shown in FIG. 2 is a second II control device 1i120, in which the at@ of the first control device IO is replaced with a digital computer.

This second control device W120 includes a numerical setting board 21 as an input means, an input/output interface 22, a CPU 23. Memory 24 of numerical values set in setting 9i21, digital-to-analog conversion for speed signals! ! It is formed of an analog-to-digital converter 26 and an amplifier 27 for the 25° torque signal.

Next, each process in this second control @@20 will be explained.

First, the second control unit! At 1t20, the rotational speed or rotational torque of the drive motor 51, which has been set in advance using the numerical value setting @21 as an input means, is input. .

This input data is transferred to the input/output interface 22
The data enters the CPU 23 via the , and is stored in the memory 24 in advance.

On the other hand, the drive motor 51 from the rotary encoder 54
The rotation speed signal from the drive motor 51 or the torque signal from the torque detector 71 is sent to the CPIJ 23 via the input/output interface 22, and compared with the rotation speed and rotation torque of the drive motor 51 stored in the memory 24. will be carried out.

° Depending on the result of such comparison processing, drive current control of the drive motor 51 via the amplifier 27 is performed,
Holding control means 7 via input/output interface 22
It issues processing commands to 0, other necessary termination signals, and alarm signals.

In this way, the second control section 20 shown in FIG.

Each function of the first control 611'o shown in Fig. 1 is replaced with a digital computer, and it performs the same operation and processing as the implementation measure shown in Fig. 1, and produces the same effects. .

In the embodiment shown in FIG. 1 and the embodiment shown in FIG. 2, which have been explained above, among a plurality of operating parameters, the rotational speed pattern and rotational torque pattern of the drive motor 51 are managed as parameters. The overall operation was controlled by performing comparison processing with each numerical value.

The embodiment shown in FIG.
This shows a case where an i-control device 30 is used.

In this example, speed pattern setting! 131° speed comparator 32. Amplifier 33, reference tightening torque setting device 34.
Regarding the torque comparator 35, since it is similar to the embodiment shown in FIG. 1, detailed explanation will be omitted. However, for the standard tightening, the torque setting device 34 is used to input the torque for the final tightening.

The output from the torque comparator 15 shown in FIG. 1 was directly sent to the holding control means 70, but in the embodiment shown in FIG. 36, and is output from this signal selection circuit 36 to the holding control means 70.

Further, processed signals from an angle comparator 37 and a timer 38 are input to this signal selection circuit 36.

The angle comparator 37 compares the angle signal from the angle setting device 39 as an input means with the actual rotation angle signal from the rotary encoder 54.

Next, the operation and processing of the embodiment shown in FIG. 3 will be explained.

Description of the parts described in the embodiment shown in FIG. 1 will be omitted.

In this embodiment, first, the standard rotation angle of the lid 80 and the like from the start to the end of the tightening operation is set and input into the angle setting device 39 in advance.

On the other hand, in this embodiment, the angle comparator 37 compares the actual rotation angle signal from the rotary encoder 54 of the actuating mechanism 50 with the angle set in the angle setting device 39 to determine the actual rotation angle. The signal is set angle tolerance i[
Compare whether or not it is within the surrounding area.

As a result of the comparison, if it is determined that rotation by a predetermined angle has been performed, and if it is determined by the torque comparator 35 that the rotational torque has reached the preset tightening torque, the signal selection circuit 36 sends a holding control. A tightening completion signal is sent to the means 70, and the tightening operation is completed.

In addition, when tightening, even if the torque reaches the specified torque, the actual rotation angle signal is outside the allowable range of the set angle, or when the actual rotation angle is within the allowable range of the set angle. If the torque is not reached, etc., the tightening operation is stopped and a necessary alarm signal is generated.

Furthermore, within the time set by the timer 38, the signal selection circuit 36
If there is no signal to stop the rotation of the drive motor 51, this means that some kind of accident has occurred.
A stop signal for the drive motor 51 etc. is sent from M2O.
etc., and sends an alarm signal to each necessary device.

In the embodiment shown in Fig. 13, the rotation angle is managed as a parameter in addition to the rotational speed, so even though the tightening does not end, the tightening torque at the end of the tightening is calculated as the torque. Even if the same torque is generated, at the same time it is determined whether the rotation angle until the torque is generated reaches the rotation angle that corresponds to the end of tightening of the lid 80, etc. It is also easy to detect cases where the 80 is closed diagonally.

The embodiment shown in FIG. 4 is a fourth control device 40 in which the rotation angle as an operating parameter in the embodiment shown in FIG.

That is, the angle setting device 39 and angle comparator 37 in the embodiment shown in FIG. 3 are replaced with a distance setting device 49 and a distance comparator 47. The other parts are shown in the drawings with their numbers changed from 30 to 40.

In the embodiment shown in FIG.
The moving distance signal from 2 is compared with the preset value of the distance setting device 49 using the distance comparator 47, and if the actual moving distance is within the distance tolerance range set on the distance setting device 49, When it is determined that the tightening is appropriate and the tightening torque reaches the set value, a tightening operation end signal is sent from the signal selection circuit 46.

In addition, if the actual moving distance is outside the allowable range, it is assumed that some kind of accident has occurred and the lid 8 is removed from the holding part 52.
0 etc. is released.

Note that the distance traveled is detected by the distance detector 72 as described above.
The tightening is made! In addition to being attached near the holding part 52 of the 1bIm mechanism 50, a means for optically detecting the amount of movement of the holding part 52 from the outside, or a means for fixing the coupling part 53, can be used to prevent tightening. There is a means for detecting the movement amount of the entire II mechanism 50 using the elevating and lowering rotating mechanism 60.

In the embodiment shown in FIG. 4, in addition to the rotational speed, the moving distance of the holding part 52 is also managed as a parameter, so that the same torque as the tightening torque at the end of tightening is generated. However, at the same time, it is determined whether the amount of movement until the torque is generated has been lowered enough to reach the amount of movement corresponding to the completion of tightening of the lid 80, etc., or the amount of movement is determined in advance. Even if the tightening torque reaches the set value, it is determined whether the torque has reached the set value or not, so it is easy to detect cases where the lid is closed at an angle of 8 degrees or not completely closed. .

Further, in the embodiment shown in FIG. 3 and the embodiment shown in FIG. 4, digital control can also be performed as shown in FIG. 2, which corresponds to the embodiment shown in FIG.

When performing digital control, the parameters for setting and managing numerical values can be selected using software, so FIGS. 1 and 3.

It is possible to manage the tightening operation by specifying all the parameters required in each embodiment of FIG. 4, or any combination of parameters therein.

Therefore, when tightening i80 or turning bolts, nuts, plugs, etc., by considering the type, shape, pitch, etc. of the tool, the most effective parameter selection can be made and the tightening can be managed.

[Effects of the Invention] As explained above, one aspect of the present invention is to set a specific operating parameter in advance by a setting means, and for actual tightening, a means for detecting the actual operating parameter in the work is provided, and the setting means Compare the operating parameters set by the comparison means with the actual operating parameters detected by the detection means, and if an abnormality occurs as a result,
Since the alarm means is configured to issue an alarm, it is possible to control not only the maximum torque but also the tightening of the lid, etc. from start to finish. .

Tightening is performed to ensure reliable tightening by monitoring work, and furthermore, even if a defect occurs in tightening, it can be detected immediately.

[Brief explanation of drawings]

Each drawing shows an embodiment of the present invention, and FIG. 1 shows the entire automatic tightening device, a control circuit that controls the automatic tightening device using the rotational speed and rotational torque of the drive motor as operating parameters, and FIG. 2 shows another embodiment of the control circuit shown in FIG.
Figure 3 shows a control circuit for automatic tightening, which controls the device using drive motor rotational speed, torque per rotation, and rotation angle operating parameters, and Figure 4 shows automatic tightening, which controls the device using drive motor rotational speed, torque per rotation, and travel distance. This figure shows a control device that controls the operating parameters. 10...First control device 11...Speed pattern setter 12...Speed comparison 2! 13...Amplifier 14.
... Torque pattern setter 15 ... Torque comparator 20 ... Second control device 21 ... Setting board 22 ...
・Input/output interface 23...CPU 24...Memory 25
...Digital-to-analog f converter for speed signal 26...Analog-to-digital converter for torque signal 27...Amplifier 30...Third control device 31...Speed pattern setter 32...Speed comparator 33...Amplifier 34...
・For standard tightening, use torque setting device 35...Torque comparator 36...Signal selection circuit 3
7... Angle comparator 38... Timer 39...
・Angle setting device 4G...Fourth meter control device 41...Speed pattern setting device 42...Speed comparator 43...Amplifier 44...
・For standard tightening, use torque setting device 45...Torque comparison = 46...Signal selection circuit 4
7... Distance comparator 48... Timer 49...
・Distance setter 50... Tightening is done by operating mechanism 51... Drive motor 52
...Holding section 53...Joining section 54...Rotary encoder 60...Elevating/lowering turning device 70...Holding control means 71...Torque detector 7
2... Distance detector

Claims (1)

[Claims] 1. An automatic tightening device that performs tightening by rotating a rotating fastener toward a workpiece, comprising: parameter setting means for presetting operating parameters of the rotating tightener; means for detecting the actual tightening movement of the corresponding pivoting fastener; and means for comparing the detected actual movement with the set parameters; and if the actual movement exceeds the permissible range of the preset operating parameters. An automatic tightening device characterized by being provided with an alarm means for issuing an alarm. 2. The automatic tightening device according to claim 1, wherein the rotational speed and rotational torque are set as operating parameters. 3. The automatic tightening device according to claim 1, wherein the rotation speed, reference tightening torque, and rotation angle are set as operating parameters. 4. The automatic tightening device according to claim 1, wherein the rotational speed, reference tightening torque, and moving distance of the rotating tightening tool are set as operating parameters.