RU2783598C2 - Screwing device, means for creation of drive torque, screwing system, as well as method for adjustment of torque - Google Patents

Abstract

FIELD: car industry.

SUBSTANCE: group of inventions relates to a screwing device for application and/or transmission of torque to a screw component and for interaction with a means for creation of drive torque, to a means for creation of drive torque for creation of torque and interaction with a screwing device, a screwing system, a method for control of a drive engine of a screwing system, and the use of a screwing system for implementation of the method. The screwing device contains gear wheels (8, 14, 16, 18), which are installed axially parallel to each other and located linearly along a longitudinal direction of case (4) with the possibility of rotation in it, and they have an output part detachably connected to the screw component, as well as a drive part loaded manually or with mechanically drive torque. Moreover, gear wheel (8) is made in the form of output gear wheel (8), which is made with the possibility of being driven by mentioned gear wheels (14, 16, 18). The device contains mechanical interface (46) made for selective direct or indirect connection to the means for creation of drive torque for introduction of torque, compensation unit (30) for compensation of stroke tightness, which depends on an angle of rotation of mentioned output gear wheel (8), made for storage and processing of compensation data including data on characteristic changes in torque of output gear wheel (8) and/or data on characteristic changes in performance of output gear wheel (8) for recalculation with a value of actual output torque for generation of a value of compensated output torque, and data interface (36) made for transmission of compensation data to the means for creation of drive torque.

EFFECT: creation of a structure of a screwing device providing high-quality screw connection with the possibility of tightening screw connection to certain limit torque.

18 cl, 9 dwg

Description

The present invention relates to a screw or screw device for applying torque to a screw partner or component. In addition, the invention relates to a driving torque generation means for generating torque. Further, the present invention relates to a screw or screw system at least including a screw (screw) device and means for generating a driving torque. Further, the present invention relates to a method for adjusting the drive motor of a screw (screw) system. In addition, the invention relates to the use of a screw (screw) system for carrying out the method.

From practice, in particular from industrial screw technology, screw devices are known, which are designated, for example, as so-called planar output (driven) parts, and in particular for screw / assembly work, in which the screw partner (i.e., for example, loaded within context of the present invention, the torque of the screw) is only accessible with difficulty or with great difficulty due to special spatial installation conditions. When referring to planar outlets, these are generally transmission units mounted in a flat housing, with a drive section generally provided at one end and an output (driven) section provided at the opposite end, on which the screw partner can then suitably detachable, fixed. In this case, the transmission mechanism in the housing of the planar output part often consists of a system of gears interlocking with each other and thereby realizing the transmission of torque from the drive part to the output part, which between the drive part and the output part (which are themselves often provided in the form of gears with corresponding external teeth) implement, for example, a 1:1 transmission, and, however, depending on the field of application, its various variants and modifications are generally known, and the generally proposed technology is possible and known.

On the output side, the planar output parts have an output (driven) gear, which can be made with support from at least one adjacent gear and meshed with it. The output gear is used to transmit torque to the screw partner. In this regard, a distinction must be made with flat output parts between a closed design, in which the screw partner can be inserted exclusively in the axial direction into an output gear equipped with, for example, a hexagon socket, and an open design, in which the screw partner can also be inserted radially relative to the axis. rotation of the output gear to engage with the output gear.

With an open design, the output gear is made open, and has a recess on its perimeter in order to be able to receive a screw partner in the radial direction in the internal hexagon. In order to be able to sufficiently support the output gear in each phase of its rotation, the output gear is intermittently engaged with at least two adjacent gears, respectively support gears, so that the output gear is driven, at least one of both support gears. The output gear thus passes, during a complete revolution of 360°, at least one complete reference phase, during which it is engaged with at least two other gears, respectively, support gears, and, according to at least one partial support phase, during which it is in engagement with a smaller number of gears, respectively, support gears than during the full support phase. As a rule, the output gear is engaged during the full support phase with two support gears, and during the partial support phase with one support gear. During the partial support phase, the recess of the output gear thus faces the supporting gear which is not currently engaged with the output gear.

With a closed design, as a rule, one adjacent gear is enough to support and transmit torque, so that the output gear of the closed design only passes through a complete reference phase during a full 360° revolution.

The screw device just described is most often used in conjunction with a drive torque generating means which can be configured to generate torque and to interact with the screw device. The means for generating the drive torque can be, for example, a hand tool or a rod or rod-angle screwdriver. Such drive torque generation means are most often used in industrial environments and in particular in combination with a screw device in order to achieve a satisfactory installation under special spatial installation conditions, in which the screw partners are only barely accessible.

The combination of the screw device and the drive torque generating means can be combined as a screw system, the two parts being able to be combined with each other independently of manufacturers. Manufacturers of screw devices are known, for example, who do not sell means for generating driving torque, and vice versa.

Screw systems with means for generating a drive torque, and in particular the means for generating a drive torque, comprise a drive motor and optionally a control or regulation unit for the drive motor. This control unit specifies, for example, whether the tool is operated with either torque control or speed control. With speed control, for example, a sustained speed and a shutdown torque are set. The control unit then adjusts the torque delivered by the drive motor accordingly. However, this interdependence completely ignores the inaccuracies, stiffness and loss of efficiency of the driven screw device. And although the overall efficiency is known, but not the effect of the screw device on the overall efficiency.

Due to engagement with said at least one adjacent support gear, the efficiency of the screw device and thus also of the screw system is adversely affected with a screw device of both open and closed design, for example, cyclic error, radial run-out, error teeth (e.g. tooth flank damage), lubrication, surface quality and/or friction mode between contacting tooth flanks. The greater these effects, the more unstable the efficiency. "Unstable" means here that the efficiency curve has significant deviations compared to the harmonic efficiency curve.

Owing to the design-related phases of a different number of meshed support gears at the open planar outlet part, a measurable running stiffness of the planar outlet part also arises. This results in strong fluctuations in the operating behavior of the motor of the drive torque generating means as it attempts to compensate for the resulting stiffness. During speed-controlled operation (speed is set, the motor adjusts the torque), the motor tries, for example, to maintain the set speed by changing the output torque. This non-uniform and non-harmonic torque curve results in a low efficiency of the propeller system for partial support phases compared to the efficiency of full support phases. As a result, in addition, an overall lower efficiency is obtained if the design of the open planar outlet part is compared with the design of the closed planar outlet part.

The large change in torque per revolution of the output gear also causes that, at a given trip torque, the output torque of the motor can pass through the trip torque, and thus cut the motor off. However, the shutdown may be caused by the above efficiency-reducing effects of the planar outlet portion, and not, desirably, by a tightened screw partner. That is, it may happen that the screw connection is not even tightened to the required tightening torque, as the motor is switched off prematurely. However, in the worst case, the user assumes that the screw partner is properly tightened, which can lead to damage and/or significant safety hazards due to the screw partner being unexpectedly unscrewed.

The unevenness in the torque curve causes individual peaks in the torque curve to exceed the set trip threshold, which causes the drive motor to switch off before the required torque limit of the screw connection is reached. In other words, with screw devices and in particular with open planar outlets, the momentary passage of the shutdown threshold due to the partial reference phase leads to a motor shutdown, despite the fact that it is not even known what tightening torque is actually transmitted to the screw partner, which leads to an indefinitely tightened screw connection.

Therefore, there is a particular technical need to solve a common problem for each of the three aspects (screw device, drive torque generating means, and screw system).

The problem that all three aspects have (screw arrangement, drive torque generator and screw system) can be seen in that efficiency-reducing influences have a direct influence on the behavior of the engine, and thus a uniform behavior in operation and a certain tightening of the screw partner are difficult or impossible. In particular, when using open planar output parts, the short passage of the shutdown torque by the supplied torque due to the partial reference phase can lead to premature shutdown of the motor and thus to an indefinitely tightened or unfinished screw connection (make-up).

However, in a direct industrial context, it is often necessary to install a high-quality screw connection for quality assurance reasons.

On this basis, the object of the present invention is to provide a screw device, a means for generating a driving torque, a screw system, a method, and also an application which provides, in particular in view of the design of the screw device, a high-quality screw connection. In addition, the screw connection (screwing) must be able to be carried out in such a way that it can be tightened up to a certain limiting torque.

This problem is solved using a screw device with the features of paragraph 1 of the claims, using a means of creating a drive torque with the features of paragraph 5 of the claims, using a screw system with the features of paragraph 9 of the claims, using a drive motor control method with the features of paragraph 12 of the claims of the invention, as well as using the features of paragraph 18 of the claims.

The invention is based on the understanding that said efficiency-reducing effects and/or running stiffness occur cyclically around a full 360° revolution of the output gear. In particular, with a planar outlet part of an open structure, significant effects occur during the partial support phase. Thus, it became known in which angular position of the output gear which efficiency is present, and which influences have a detrimental effect. In order to ensure a uniform behavior during operation and/or to prevent the drive motor from shutting down due to premature reaching of a predetermined threshold value, such as a shutdown torque, manipulation or compensation of the value of the actual drive torque issued by the drive motor is provided. To do this, compensation data is used, which may include a torque curve and/or an efficiency curve, which are generated, for example, by a full 360° rotation of the output gear and/or its passage through a full reference phase (rotational phase, in in which the output gear meshes with at least two other gears) and a partial reference phase (a rotational phase in which the output gear meshes with less than said at least two other gears that mesh during the full reference phase ). Data on the behavior of the torque or on the efficiency of the screw device can thus be used.

The compensation dataset or the output gear-specific torque curve, or more precisely its value, can be obtained, for example, by first measuring the screw device on a suitable test stand. Knowing the time and/or the angle of rotation of the stiffness, the value of the actual drive torque can now be manipulated or the peak in the registered actual drive torque exceeding the value of the cut-off torque in known conditions can be compensated for. Due to the fact that it is now known at what time and/or at what angle of rotation the stiffness occurs, the torque peak caused by the output gear and/or its proportion in the torque peak can be calculated from the value of the actual drive torque output by the drive motor. .

The output gear-specific torque curve can include, for example, data or values for a complete 360° revolution of the output gear, or also only for said at least one angular spacing or partial reference phase.

As a result, several advantages can be achieved. On the one hand, a significant increase in efficiency can be achieved. On the other hand, it can now be detected by comparison with at least one compensation data set whether the torque peak is caused by the output gear or the screw connection. Namely, in case the value of the compensated torque exceeds the threshold value, such as the trip torque, it is assumed that there is a strong screw connection. The invention only compensates for the increase in torque caused by the output gear, so that when the threshold value caused by the screw connection is reached, the motor can be switched off as usual.

This inventive basic idea is embodied in the screw device according to claim 1, in the drive torque generating means according to claim 3, in the screw system according to claim 7, and is implemented by the method according to claim 10, as well as the application according to claim 16 claims.

Therefore, in order to solve the above problems, a screw device is proposed for applying and/or transmitting torque to a screw partner and for interacting with a means for generating a drive torque, including planar output means that have an output part detachably connected to the screw partner, as well as manually loaded or a mechanically torque-driven drive part, an output gear that can be driven by planar output means, a mechanical interface (coupling) for selectively connecting directly or indirectly to the drive torque generating means for introducing torque, a compensation unit configured to store and processing compensation data including output gear-specific torque curve (= output gear torque characteristic change data) and/or output gear-specific gear efficiency curve (=characteristic change data of the output gear efficiency), to be converted with the actual output torque value to generate the compensated output torque value, and a data interface configured to transmit the compensation data to the drive torque generating means moment.

The screw device may, for example, have an open design. In this case, the output gear passes during a complete revolution, at least one complete reference phase, during which it is engaged with at least two other gears, and at least one partial reference phase, during the time during which it is engaged with fewer gears than during the full support phase. However, the screw device may also have, for example, a closed structure. The screw device can also be an angle head. An angle head may be positioned between the drive torque generating means and the planar output portion in order to transmit torque by transmitting a power flow deflection. Therefore, the invention can also be carried out with an angle head, whereby the flat output means can also be referred to with an angle head as gears or bevel gears for transmitting torque, and the output gear can be called as a gear that transmits torque from an angle head , for example, on a planar output part.

The screw device can be connected in a known manner to suitably different drive torque generating means and contains at least one compensation data set of its own in order to make it available via a data interface to the drive torque generating means. "Recalculation" means, according to the invention, not the direct use of basic arithmetic operations, but rather computerized processing.

In one preferred embodiment of the screw device according to the invention, at least one torque recording means is provided for recording the value of the actual output torque. As a rule, screw devices, and in particular planar output parts, do not include their own torque detection means. The torque recording means of the screw device may be a torque sensor. Since screw devices are used for screwing in combination with drive torque generating means, and the drive torque generating means generally includes its own torque recording means, the torque recording means in the screw device can be omitted as a matter of principle. However, such torque recording means allows the recording of torque in the helical device itself, so that this data gives an accurate representation of the torque actually present on the output gear, or at least gives a clear indication of it.

According to the invention, in addition, means for generating a driving torque for generating torque and interacting with a screw device are provided, including a driving motor, a mechanical interface designed to be selectively connected directly or indirectly to the screw device for introducing torque, a torque registration means for registering actual output torque values; and a compensation unit configured to store and process compensation data including an output gear-specific torque curve and/or an output gear-specific efficiency curve for conversion with the actual output torque value for generating a compensated output torque value.

The basic idea according to the invention can also be implemented in the drive torque generating means. By means of the torque detection, the position of the output gear can be detected by the torque detection means at any time by comparison with the compensation data. As a result, the compensation according to the invention can be carried out at least in a partial reference phase. The means for detecting torque can be, for example, a torque sensor or also an engine sensor.

The drive torque generation means can be connected in a known manner to various suitable screw devices and contain the compensation data of the connected screw device. The data interface is not necessarily necessary.

In another preferred embodiment of the drive torque generating means according to the invention, a data interface is provided for transmitting compensation data. As a result, data can, for example, be exchanged between the drive torque generating means and the screw device connected thereto. For example, it is conceivable that one drive torque generation means can perform a compensation according to the invention in the manner according to the invention for each torque of the various screw devices connected to the drive torque generation means. Thus, one means of generating a driving torque can be used for various screw devices. The data may be able to be transmitted, for example, wirelessly or by wire.

Alternatively or additionally, it is possible that a means of identifying the screw device is provided. Such a means is suitable for unambiguously identifying a screw device connected to the means for generating a driving torque. The identification can be carried out, for example, by manual data entry into the drive torque generation means, or else automatically when the screw device is connected. Preferably, the screw device can transmit its own identification data via the data interface to the means for generating the drive torque. With each identification data, a specific compensation data set can be assigned, which, if the identification data is recognized, can be retrieved and used. The compensation unit can store, for example, a plurality of output gear-specific torque curves or efficiency curves in order to interact in the manner according to the invention with the various respective screw devices.

According to another preferred embodiment of the invention, provided at the screw device or at the drive torque generating means is an angle detection means for determining the position angle of the output gear. By means of such an angle detection means, the position of the output gear or its position angle can be accurately recorded, for example in a 360° system, and it can thus be possible to ascertain which phase the output gear is in. In this case, it may also be advantageous to identify the screw device and in particular its transmission ratio. In addition, the zero position (0°) or the angular distance to it should not be initially specified, as it can be determined.

In addition, a screw system is proposed, at least including a screw device, including planar output means, which have an output part releasably connected to the screw partner, as well as a drive part loaded manually or mechanically driven by torque, an output gear wheel, which can be driven by planar output means, a mechanical interface for selectively connecting directly or indirectly to the torque generating means for introducing torque,

as well as a means for generating a drive torque, which is connected on the drive side to planar output means, including a drive motor, a mechanical interface designed to be selectively connected directly or indirectly to the screw device for introducing torque, a torque recording means for registering the value of the actual output torque and a compensation unit configured to store and process compensation data including an output gear-specific torque curve and/or an output gear-specific efficiency curve for recalculation with an actual output torque value to generate a value compensated output torque.

The screw system can be designed as a manual screw system and in this case has such a weight that it can be carried preferably with one hand of the user. Thus, it is shifted in terms of weight within the framework of legal requirements. However, it can also be implemented as a stationary system.

According to one preferred embodiment of the screw system according to the invention, it includes at least one data interface configured to transmit compensation data. By means of such a data interface, data can be exchanged either between the screw device and the drive torque generator or between the screw system and an external data point. Namely, for example, it is possible to carry out maintenance work on the compensation data or to adapt the compensation data.

According to one other preferred embodiment of the helical system according to the invention, it includes an angle detection means for determining the position angle of the output gear.

The invention also proposes a method for controlling the drive motor of a screw system, preferably a screw system according to claim 7, comprising at least the following steps:

recording the output gear-specific torque curve and/or the output gear-specific efficiency curve in the compensation unit,

- recording the value of the actual output torque given by the drive motor by the torque recording means,

- recalculating the value of the actual output torque using at least one compensation dataset to generate the value of the compensated output torque, and

- issuance by the compensation unit of the value of the compensated output torque to the adjustment unit of the drive motor.

The method thus realizes the main idea of the invention. The output gear-specific torque curve and the output gear-specific efficiency curve are compensation datasets. The method according to the invention has essentially the above advantages, to which reference is made herein.

In one preferred embodiment of the method according to the invention, the recalculation comprises comparing and/or subtracting and/or adding the compensation data set with the value of the actual output torque, preferably exclusively for at least one partial reference phase, and/or smoothing the value of the actual output torque, preferably exclusively for at least one partial reference phase. As a result, the torque increase caused by the screw device can be manipulated in such a way that it can be presented as non-existent. The value of the compensated output torque given to the control unit, which can be performed for example for control and/or control processes, is processed there and depending on the operating mode (speed control or torque control) is processed in a known manner.

According to one preferred embodiment of the method according to the invention, it comprises

- determining by means of determining the angle of the position angle of the output gear and

- use of the specified position angle by the compensation unit to generate the value of the compensated output torque.

In such an embodiment, the position angle of the output gear may be used for finer compensation. By means of this angle, for example, when the helical device is open, it can be detected in which rotational phases the output gear is in full reference phase or partial reference phase. The position angle can be specified in the 360° system. Typically, for an output gear supported by two support gears, a first partial seat phase may be in a first angular gap between about 130 degrees position angle and a 170 degree position angle, and a second partial seat phase in a first angular gap between about 190 degrees position angle and 230-degree position angle. However, the angular gaps depend on the specific design of the support gears and their location. At a zero position or a position angle of 0° of the output gear, the open screw device has an attachment position in which the output gear can be attached to the screw partner.

According to one other preferred embodiment of the method according to the invention, it comprises

- setting the trip torque value at which the drive motor is switched off by the value of the compensated output torque, and

- setting the design (nominal) speed with which the motor rotates, and the design speed can be dynamically adapted in such a way that it is selected as high as possible before reaching the tripping torque value.

During operation, the rated speed can ideally be chosen so high that the tripping torque value is not directly exceeded. Such an embodiment results in a fast screwing process.

In addition, it is possible that the method according to the invention involves the operation of a screw system with speed control. Such a mode of operation is customary, in particular in an industrial context, and makes possible the advantageous use of the invention there.

According to one other preferred embodiment according to the invention, the method comprises the steps

- combining several partial reference phases within a full revolution of the output gear into a group of partial reference phases and

- recalculation of the value of the actual output torque using at least one compensation data array to generate the value of the compensated output torque, at least for the specified group of partial reference phases.

In the event that the output gear passes during a full 360° revolution several partial bearing phases, several, preferably all, these partial bearing phases can be combined into a group of partial bearing phases. This has the advantage that only one single compensation has to be made per revolution, namely for the area of the group of partial reference phases, which extends from the first partial reference phase of the group to the last partial reference phase.

For example, if there are two partial reference phases (e.g., a first partial reference phase in the first angular gap between approximately 130 degrees position angle and a 170 degree position angle, and a second partial reference phase in the first angular gap between approximately 190 degrees position angle and 230 -degree position angle) they can form a group of partial reference phases that extends from a 130-degree position angle to a 230-degree position angle. One single compensation would be done in this way for this angular gap.

In addition, it is proposed to use a screw system according to paragraph 7 of the claims for carrying out the method according to paragraph 10 of the claims. The use according to the invention has essentially the above advantages to which reference is made herein.

In order to prevent repetitions, the features disclosed according to the device must also occur and be claimed as disclosed according to the method. Likewise, disclosure according to the method features must take place and be claimed as disclosed according to the device.

The scope of the invention includes all combinations of at least two features disclosed in the description, the claims and/or the drawing. They should also be considered as claimed in combination.

Further advantages, features and details of the invention result from the following description of the preferred embodiment, as well as on the basis of the drawings.

The drawings show:

1 is a perspective view of the manual screw system according to the invention;

Fig. 2 is a schematic top view (with the casing removed) of the planar exit means according to the invention;

3 is a block diagram of the components of the screw system according to the invention;

Fig. 4 is a protocol of the torque curve of the open planar output part;

Fig. 5 is a log of the efficiency curve of the open planar outlet part according to Fig. 4;

Fig. 6 is a protocol of the torque curve of the closed planar output part;

Fig. 7 is a log of the efficiency curve of the closed planar outlet part according to Fig. 6;

Fig.8 is a diagram of compensation on the partial reference phase of the open planar output part; and

9 is a compensation diagram for a group of partial reference phases of an open in-plane output portion.

Figure 1, a representation of the system and likewise the context for the present invention, shows in perspective a manual screw system with a screw device 2 for applying torque to a screw partner not shown, having installed in the housing 4 an open planar output (driven) part 32 planar output means 6. Planar output means 6 are provided at one end (on the output side) for interacting with and driving a suitable and slotted output gear 8 screw tool. On the drive side, i.e. at the end of the planar outlet means 6 opposite the outlet part, they are connected with a pair of gears or, if necessary, bevel gears, an angular head 10 with a manually actuated and made in the form of a screw tool 12 means for generating a drive torque through a mechanical interface 46.

The screw tool 12 has a drive motor 26 (for example, electric or pneumatic) and introduces the output torque generated by it into the screw device 2. Both the screw device 2 and the screw tool 12 have in each case a mechanical interface for selective direct or indirect connection to the screw device 2. each case to the other of both partners of the screw system.

In a typical implementation for manual screw drive, such screw devices 2 or planar output means 6 are provided and are suitable for transmitting a maximum torque of about 250 Nm.

The screw device 2 is made in the form of an open flat output part and is characterized in that the output gear wheel 8 has a recess 62 made in the form of a slot for radial reception of the screw partner into the internal hexagon. The screw device shown in the figures can also be made in the form of a closed planar outlet part. Both designs have identical and initially indicated efficiency-reducing effects, the effects of which are equally eliminated for both designs by the invention. The additionally open structure also has an effect on the efficiency during the partial reference phase, the effects of which can also be eliminated according to the invention.

FIG. 2 now shows, with the housing 4 removed, a plurality of planar output means 6 or gears of the screw device 2 in plan view, as well as the output gear 8 from the output side. , the second intermediate gear 16, as well as the first support gear 18 and the second support gear 20. Both support gears 18 and 20 transmit torque through their respective meshing to the output gear 8.

The gear wheels 8, 14, 16, 18 and 20 have axes parallel to each other and are arranged linearly along the longitudinal length of the housing 4 with the possibility of rotation in it. The arrow indicates the direction 48 of rotation of the tightening of the output gear wheel 8.

The output gear 8 passes during a complete revolution of 360° two complete bearing phases and two partial bearing phases. During the full support phase, the output gear 8 is engaged with both support gears 18 and 20. During the partial support phases, the output gear 8 is engaged with only one of both support gears 18, 20. Expressed in angular positions, where 0° points in the longitudinal direction of the housing 4 to the attachment position and can be referred to as the zero position in which the output gear 8 can be attached to the screw partner, this means that the first complete reference phase starts at an angular position of 230°, passes through the angular position at 0° and extends to an angular position of 130°. The first partial reference phase starts at an angular position of 130° and extends to an angular position of 170°. It is followed by a narrow second full reference phase between angular positions of 170° and 190°. Finally, the output gear 8 passes through a second partial reference phase between angular positions of 190° and 230°. Thus, full reference phases and partial reference phases alternate.

During each of the two partial support phases, a stiffness occurs which results in reduced efficiency, as shown in FIG. Stiffness may also occur during a narrow full stance.

Figure 3 now gives an overview of the various means and elements of the screw system according to the invention and adjacent systems.

The screw tool 12 includes a trigger button 22 for controlling the screw tool 12 by the user. With the help of the start button 22, the power supply is activated, as well as the control unit 24. During operation of the speed-controlled screw system, the speed is set and the control unit 24 adjusts, in particular, the torque delivered by the drive motor 26 by means of the signals output to the drive motor 26 . To this end, the drive motor 26 may include, for example, a planetary gear not shown. The drive motor 26 can in turn transmit its position and/or its angle of rotation by means of signals to the control unit 24 . The driving motor 26 outputs the actual output torque, which is registered as a value by the torque sensor 28, which serves as the torque detection means.

From this moment on, a kind of control loop begins to control the drive motor of the screw system. Namely, the torque sensor 28 transmits the actual output torque registered and issued by the driving motor 26, respectively, its value to the compensation unit 30 . The compensation unit 30 stores the output gear-specific torque curve or the output gear-specific efficiency curve. The adjusting unit 30 is configured specifically to recalculate the actual output torque value using the output gear-specific torque curve in order to generate a compensated output torque value. In other words, the running stiffness caused by the output gear, which appears as a peak value of the output torque actually delivered, is removed or compensated. The value of the compensated output torque is then transmitted by the compensation unit 30 to the adjustment unit 24 . The adjusting unit 24 is configured to compare the value of the compensated output torque with the shutdown torque at which the value of the compensated output torque turns off the drive motor 26 .

Thanks to the invention, it can now be detected and ensured that with the switching off of the drive motor 26 when the switching off torque is reached, the screw connection has also been successfully completed, i.e. to a firm or predetermined screw connection. Premature disengagement caused by the stiffness of the screw device 2 and the resulting increase in torque, if necessary, above the disengagement torque is now eliminated.

The control unit 24 processes the otherwise compensated output torque value in the same known manner as the actual output torque value in the known engine control loop.

The torque outputted by the drive motor 26 is output via a mechanical interface to the screw device 2. The screw device 2 includes, in the embodiment shown in FIG. output gear 8. The torque is finally transmitted by the output gear 8 to the screw partner 50 to establish a strong screw connection.

The drive torque generating means, respectively screw device 2, may include screw device identification means 34, which can wirelessly or wired transmit identification data, for example, about the design, in-plane output means 6, in-plane output part 32 and/or gear ratio. to the screw tool 12. For this, a data interface 36 can be used in order to transmit, for example, compensation data. Also screw device 2 may include a data interface 36 in order to receive, for example, compensation data from screw device 2 and/or receive data from or send data to an external data source. The helical device 2 may include, for example, an angle detection means 40 for determining the position angle of the output gear 8. This measured position angle value may be transmitted, for example, using one or both of the data interfaces 36 and 38. This is indicated by an idealized data channel 64 which transmits the measured position angle value from the angle head 10 and/or the angle detection means 40 for further processing to the adjustment unit 24 .

An illustrative example of a measurement is shown within a system boundary 42. To do this, the screw device 2 is connected in combination with the screw tool 12, respectively, the drive torque generation means, and at least one complete revolution of the output gear 8 is recorded, as shown by block 52. Attention is paid to the transmitted torque and the ratio useful action. Preferably, for example, more than 50 complete revolutions or screwing cycles can be recorded, as shown by block 54. The torque measurement signal resulting from this is shown in FIG. This measurement signal is further processed and, if necessary, digitized in a manner not described below in block 56. It is then transmitted via a data interface 58, for example to a compensation block 30, and stored there. However, this measuring signal can also be stored in a suitable memory block of the screw device 2.

FIG. 4 shows the measurement curve of an open planar output part recorded within the system boundary 42 with an output gear 8 engaging with two support gears 18 and 20. Considering FIGS. 4 and 5 together shows the underlying knowledge. Namely, it has been found that the stiffness of the screw device 2 occurs cyclically. The drive motor 26 attempts to equalize this running stiffness, for example, in speed control by increasing the delivered output torque, as shown by the peaks in FIG. The result is the efficiency curve shown in FIG. 5, which drops significantly every 360°. The drop in efficiency and the stiffness coincide in time, so that it can be concluded that the change in value should result in the drive motor 26 not having to respond with increased output torque to the stiffness, which ultimately leads to increased efficiency factor.

FIG. 6 shows the measuring curve of a closed planar output part registered within the system boundary 42 with an output gear engaged with only one support gear. 7 shows the efficiency curve immediately following from this. Compared to the measuring curves shown in FIG. 5 of the open planar outlet part, this measuring curve shows a more stable stroke. The averaging of the efficiency curve shows a sine wave 60 with a cyclic character. In this case, the wave is repeated every 360° with each revolution of the output gear.

Examples of compensation respectively two drive motor control possibilities are shown in FIGS. 8 and 9. Although the following description refers only to an open planar outlet, these principles can also be used with a closed planar outlet.

8 schematically, in a simplified manner, the torque is plotted in Newton meters as a function of the angle of rotation in degrees. The tripping torque value is shown with a large dashed line. The value of the output torque actually delivered is shown by the middle dashed line. The value of the output gear-specific torque curve is shown as a compensation data set with a thin dashed line. The value of the compensated output torque is shown as a solid line.

It can be seen that between the 130° and 170° angular positions of the output gear 8, the drive motor 26 tries to equalize the stiffness of the ride due to its increased output torque—the torque peak shown in FIG. 6. The compensation unit 30 recalculates, at least for this partial reference phase between 130° and 170°, the value of the output torque actually delivered by means of the output gear-specific torque value. Namely, the compensation unit 30 detects, when compared with the value of the output gear-specific torque, that in this angular interval (130°-170°) a cyclic torque peak occurs - a clear indication of the torque peak caused by the output gear. The result of this conversion is the schematically shown value of the compensated output torque. This output torque increases independently of the compensation according to the invention and reaches the tripping torque at point 44 . At this point 44, the adjustment unit 24 causes the drive motor 26 to switch off. It is assumed that a solid screw connection has been made by this point in time.

Fig. 9 is largely similar to Fig. 8, so that only the differences will be considered in the following.

It can be seen that the output gear 8 has both a first partial reference phase between a rotation angle of 130° and 170° and a second partial reference phase between a rotation angle of 190° and 230°. Between both partial reference phases there is a complete reference phase at an angular interval from 170° to 190°. Both partial reference phases are flanked by a further full reference phase which extends from a rotation angle of 230° through a zero position of 0° to a rotation angle of 130°. The compensation of both torque peaks on the partial reference phases can now be carried out either for each partial reference phase separately. Alternatively, it is also possible to combine both partial support phases within a full revolution of the output gear 8 into a group of partial support phases. A single compensation can now be carried out in the manner described above for the group of partial reference phases as a whole.

LIST OF REFERENCES

2 screw device

4 building

6 planar exit means

8 output gear

10 angle head

12 screw tool

14 first intermediate wheel

16 second intermediate wheel

18 first support wheel

20 second support wheel

22 start button

24 adjustment block

26 drive motor

28 torque sensor

30 compensation block

32 planar outlet

34 screw device identification tool

36 data interface

38 data interface

40 angle finder

42 system boundary

44 point of intersection

46 mechanical interface

48 tightening rotation direction

50 screw partner

52 block

54 block

56 block

58 interface

60 sine wave

62 notch

64 data channel.

Claims (49)

1. A screwing device for applying and/or transmitting torque to a screw component and for interacting with a means for generating a driving torque, including: – gear wheels (8, 14, 16, 18), which are installed axially parallel to each other and are located linearly along the longitudinal direction of the housing (4) with the possibility of rotation in it and have an output part detachably connected to the screw component, as well as loaded manually or mechanically driven torque drive part, moreover, the gear wheel (8) is made in the form of an output gear wheel (8), which is configured to be driven by the said gear wheels (14, 16, 18), – a mechanical interface (46) designed to be selectively connected directly or indirectly to the means for generating a driving torque for introducing a torque, – a compensation unit (30) for compensating the stiffness of the movement, which depends on the angle of rotation of the mentioned output gear (8), made for storing and processing compensation data, including data on the characteristic changes in the torque of the output gear (8) and/or data on characteristic changes in the efficiency of the output gear (8), to be converted with the value of the actual output torque to generate the value of the compensated output torque, and – data interface (36) designed to transfer compensation data to the drive torque generation means. 2. The screwing device according to claim 1, including at least one torque recording means for recording the value of the actual output torque. 3. The screwing device according to claim 1 or 2, including means for identifying the screwing device. 4. Screwing device according to claim 1 or 2, including means (40) for determining the angle to determine the position angle of the output gear (8). 5. Means for generating driving torque for generating torque and interacting with the screwing device, including drive motor (26), mechanical interface (46) designed for selective direct or indirect connection to the screwing device to introduce torque, torque recording means for recording the value of the actual output torque, and a compensation unit (30) for compensating the stiffness of the movement, which depends on the angle of rotation of the output gear (8), made for storing and processing compensation data, including data on the characteristic changes in the torque of the output gear (8) and/or data on characteristic changes in the efficiency of the output gear (8), to be recalculated with the value of the actual output torque to generate the value of the compensated output torque. 6. The drive torque generating means according to claim 5, including a data interface (38) configured to transmit compensation data. 7. The means for generating a driving torque according to claim 5 or 6, including means for identifying the screwing device. 8. Drive torque generation means according to any one of claims 5 to 7, including angle detection means (40) for determining the position angle of the output gear (8). 9. Screwing system, at least including screwing device, including gear wheels (8, 14, 16, 18), which are installed axially parallel to each other and are located linearly along the longitudinal direction of the housing (4) with the possibility of rotation in it and have an output part that is detachably connected to the screw component, as well as loaded manually or mechanically driven by a torque moment driving part, moreover, the gear wheel (8) is made in the form of an output gear wheel (8), which is configured to be driven by the said gear wheels (14, 16, 18), a mechanical interface (46) designed to be selectively connected directly or indirectly to the torque generating means for introducing torque, as well as a means for generating a drive torque, which on the drive side is connected to the mentioned gears, including drive motor (26), mechanical interface (46) designed for selective direct or indirect connection to the screwing device to introduce torque, torque recording means for recording the value of the actual output torque, and a compensation unit (30) for compensating the stiffness of the movement, which depends on the angle of rotation of the output gear (8), made for storing and processing compensation data, including data on the characteristic changes in the torque of the output gear (8) and/or data on characteristic changes in the efficiency of the output gear (8), to be recalculated with the value of the actual output torque to generate the value of the compensated output torque. 10. The system according to claim 9, including, at least one data interface (36, 38) configured to transmit compensation data. 11. System according to claim 9 or 10, including means (40) for determining the angle to determine the position angle of the output gear (8). 12. The method of adjusting the drive motor of the screwing system according to claim 9, including the following steps: - recording data on the characteristic changes in the torque of the output gear (8) and / or data on the characteristic changes in the efficiency of the output gear (8) in the compensation block (30) to compensate for the stiffness of the movement, which depends on the angle of rotation of the output gear ( eight), - recording the value of the actual output torque given by the drive motor (26) by means of the torque recording means, - recalculating said actual output torque value using at least one compensation dataset to generate a compensated output torque value, and - issuance by the compensation unit (30) of the specified value of the compensated output torque to the drive motor adjustment unit (24). 13. The method according to claim 12, wherein the recalculation includes comparing and/or subtracting and/or adding a compensation data set with a specified value of the actual output torque, preferably exclusively for at least one phase of rotation in which the output gear (8) is in mesh with at least two other gears with which the output gear (8) is in mesh during another phase of its rotation, and/or the recalculation includes smoothing said value of the actual output torque, preferably exclusively for at least one phase of rotation in which the output gear (8) is in engagement with at least two other gears with which the output gear is in engagement during another phase of its rotation. 14. The method according to claim 12 or 13, including further: - determining by the means (40) for determining the angle of the position angle of the output gear (8) and - use of the specified position angle by the compensation unit (30) to generate the specified value of the compensated output torque. 15. The method according to any one of claims 12-14, further comprising: - setting the trip torque value, upon reaching which the drive motor (26) is switched off by the value of the compensated output torque, and - setting the calculated rotational speed with which the drive motor (26) rotates, and the calculated rotational speed is dynamically adapted in such a way that it is selected as high as possible until the tripping torque value is reached. 16. The method according to any one of claims 12-15, further comprising: - operation of the screwing system with speed control. 17. The method according to any one of claims 12-16, further comprising: - the combination of several rotation phases, in which the output gear (8) is repeatedly engaged with less than two other gears with which the output gear is engaged during another phase of its rotation, within a full revolution of the output gear wheels (8) into a group of rotation phases and - recalculation of the value of the actual output torque using at least one compensation data array to generate the value of the compensated output torque, at least for the specified group of phases of rotation. 18. Use of the screwing system according to claim 9 to carry out the method according to claim 12.

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