SU1265032A1 - Control system for multispindle power nut-driver - Google Patents

Control system for multispindle power nut-driver Download PDF

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Publication number
SU1265032A1
SU1265032A1 SU853912318A SU3912318A SU1265032A1 SU 1265032 A1 SU1265032 A1 SU 1265032A1 SU 853912318 A SU853912318 A SU 853912318A SU 3912318 A SU3912318 A SU 3912318A SU 1265032 A1 SU1265032 A1 SU 1265032A1
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SU
USSR - Soviet Union
Prior art keywords
connected
output
inputs
input
element
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Application number
SU853912318A
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Russian (ru)
Inventor
Виталий Валентинович Устинов
Николай Анатольевич Гонольд
Original Assignee
Специализированное конструкторское бюро по механизации и автоматизации слесарно-сборочных работ
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Priority to SU853912318A priority Critical patent/SU1265032A1/en
Application granted granted Critical
Publication of SU1265032A1 publication Critical patent/SU1265032A1/en

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Abstract

MULTI-SPINDLE WRENCH CONTROL SYSTEM, containing an alternating current source, an electric motor whose shaft is designed for kinematic connection with spindles, a magnetic starter with an excitation coil, a sensor mounted on the shaft, and a torque applied to each spindle of the nutrunner electromagnetic clutch coupling excitation coils and a pulling force control unit including a power supply unit, a comparator, a multivibrator, a pulse counter, a decoder, the first and second logic circuits And, the first and second S-flip-flops and transistor switches, a comparator, one of the inputs is connected to the output of the torque sensor, the other to the installation bus of the control node, the pulse counter of the outputs is connected to the inputs of the decoder, the outputs of which are connected to one of the inputs the first element And, the output of which is connected with the base of transistor switches, the emitters of which are connected to the first output of the power supply unit, collectors through the excitation coils of the electromagnetic couplings to the second of its conclusions, characterized in that accuracy of control of tightening of threaded connections; it is equipped with a flywheel and an angular velocity sensor mounted on the shaft and electrically connected with the tightening control unit, a second comparator, the first and second pulse shaper, logic elements NOT and OR, and a button control, the second comparator is connected to one of the inputs to the output of the angular velocity sensor, the other to the installation bus of the control unit, and the output to the input of the first pulse shaper, the output of which is connected to the counting input m pulse counter, the input of the multivibrator and one of the inputs of the OR logic element, the output of which is connected to the reset input of the first trigger, the first comparator output is connected with the installation input of the last, and the inverse outputs of both triggers are connected to the inputs of the second element The ND of the magnetic starter is connected to the first output of the power supply unit; the decoder is connected to the input of the second pulse driver, the output of which is connected to the installation terminal. the second trigger input, the multivibrator output is connected to the input element NOT, the output of which is connected to the other input of the first element AND, and the fault inputs of the pulse counter and the second trigger and one of the inputs of the element OR are connected via a control button to the second output of the power unit .

Description

The invention relates to mechanical engineering, in particular to control systems of multi-spindle wrenches, and can be used in assembling group threaded connections. The purpose of the invention is to improve the accuracy of controlling the tightening torque of threaded joints, by controlling the torque tightening torque and the angular velocity of the working head. The drawing shows a functional diagram of the control system of a multi-spindle wrench. The proposed system comprises an alternating current source 1, an electric motor 2, the shaft 3 of which is intended for kinematic communication with spindles 4 having working heads 5, connected to the electric motor 2 by a magnetic starter 6 with excitation coil 7. The kinematic coupling of shaft 3 with spindles 4 is made in the form of gearboxes 8, driven shafts 9, gears 10 and central gear 11. Shaft 12 is equipped with a twist torque sensor 12, and at each spindle 4 electromagnetic clutches 13 are mounted with coils , and 14 excitement. System / ia. The multi-spindle wrench control also contains a knot for controlling the tightening force, including a power supply unit 16, a comparator 17, a multivibrator 18, a pulse counter 19, a decoder 20, the first 21 and the second 22 logic elements And, the first 23 and the second 24 S-triggers and transistor switches 25. The comparator 17 is connected to the output of the torque sensor 12 by one of the inputs, and to the installation bus of the control unit 15 by others. A pulse counter 19 for the outputs is connected to the inputs of the decoder 20, the outputs of which are connected to one of the inputs of the first element 21, whose output is connected to the base of transistor switches 25 whose emitters are connected to the first terminal 25 of the power supply 16, the collectors to the second of it terminals 27. The control unit 15 is provided with a flywheel 28 mounted on the shaft 3 of the electric motor 2 and an angular velocity sensor 29 electrically connected to the pulling control unit 15 by the second comparator 30, the first 31 and the second 32 pulse makers. and NOT 33 and OR 34 and the control button 35. The second comparator 30 is connected by one of the inputs to the output of the angular velocity sensor 29, the other to the installation bus of the control unit 15, and the output to the input of the first pulse generator 31, the output of which is connected to the counting input of the pulse counter 19, the input of the multivibrator 18 and one of the inputs an OR 34, the output of which is connected to the reset input of the first trigger 23. The first comparator 17 is connected to the installation input of the first trigger 23, and the inverse outputs of both triggers 23 and 24 are connected to the inputs of the second element 22, you od through which magnetic excitation coil 7 of the actuator 6 connected to the first terminal unit 26, 16 power. The decoder 20 one of the outputs is connected to the input of the second pulse shaper 32, the output of which is connected to the setup output of the second trigger 24. The multivibrator 18 is connected to the input of the HE element 33, the output of which is connected to the other input of the first And 21 element, and the counter inputs of the counter 19 pulses and the second trigger 24 and one of the inputs of the OR element 34 are connected via a control button 35 to the second terminal 27 of the power supply 16. The control system of the multi-spindle wrench works as follows. The working heads 5 set the wrench on the nuts (not shown) of the threaded connection and press the control button 35. In this case, the triggers 23 and 24 are set to the zero state, the logical voltage "1 appears at their inverse outputs, the matching condition for the AND 34 starts to be satisfied; At its output a voltage of logical «1 appears and a current starts to flow through the excitation coil 7 of the magnetic actuator 6. The magnetic starter 6 is activated and connects the electric motor 2 to the AC source 1. After turning on the electric motor 2, the rotation from the central gear 11 is transmitted to the driven gear 10 and due to the residual torque (4-5% of the nominal torque transmitted by the clutch) in the electromagnetic clutch 13, the rotation is transmitted through the gearbox 8 to the operating gotov 5. The nuts are freely screwed on by all the spindles 4. After the ends of the nuts come into contact with the supporting surface of the assembly to be assembled, all the spindles 4, except for the first one, stop, because the pulse counter 19 sets the are in the zero state and the first output of the decoder 20 is at logic voltage "1. At the output of the multivibrator 18, there is no voltage, therefore, at the output of the NOT element 33, the logic voltage is "1, the first element And 2 satisfies the coincidence condition, the corresponding transistor switch 25 is open, the excitation coil 14 is connected to the power supply 16, the electromagnetic clutch 13 is turned on and transmits the rotation to the working head 5. For the remaining logic elements of AND 21, the coincidence condition is not fulfilled, therefore the remaining transistor switches 25 are closed, the drive coils 14 of the remaining electromagnetic clutches 13 are disconnected S from power supply 16 and electromagnetic clutches 13 do not transmit a moment, but operate in slip mode. The first nut is tightened. At the same time, an increasing voltage appears at the output of the torque sensor 12, proportional to the torque on the working head 5, which is fed to one of the inputs of the first comparator 17. When the torque reaches the value of the initial tightening, which is within 15 -20% of the required adjustment of the reference voltage supplied to another of the inputs of the comparator 17, at the output of the comparator 17 is the logic voltage "1, which the trigger 23 is set to one state. The coincidence condition for the element 22 ceases to be fulfilled, the logical "1" voltage disappears at its output, the excitation drive 7 of the magnetic actuator 6 is de-energized and the magnetic actuator 6 disconnects the electric motor 2 from the AC source 1. The angular velocity of the electric motor 2, and with it the flywheel 28, begins to decrease. Consequently, the voltage at the output of the angular velocity sensor 29 also begins to decrease. As soon as, decreasing, the angular velocity reaches the set value, which is determined by the magnitude of the reference voltage supplied to one of the inputs of the first comparator 17, the logical 1 voltage is lost at its output. A short pulse is generated from the trailing edge of the voltage at the output of the comparator 17 by the first driver 31, by which the pulse counter 19 switches to the next network and the multivibrator 18 is started. At the output of the multivibrator 18, an impulse appears depending on the moment of inertia of the flywheel 28 and the power of the electric motor 2. At the output of the logic element HE 33, the logic voltage "1 disappears, the matching condition for the first logic elements And 21 ceases to be satisfied , Transistor., X-U J key 25 through which the connection was carried out katuschki drive 14 first electromagnetic clutch 13 to the power unit 16, closes the electromagnetic clutch 13 is turned off and the first puff terminates nut. Since the magnitude of the angular velocity of the electric motor 2 and the moment of inertia of the flywheel 28 are constant, by setting the magnitude of the angular velocity at which the electromagnetic clutch of the operating spindle 4 disconnects after deactivating the electric motor 2, the dose of energy transmitted to the threaded connection can be set after reaching the torque on the working head 5 the value of the initial tightening. The pulse at the output of the first pulse driver 31, the first trigger 23 returns to the zero state, the coincidence condition for the logic elements And 22 starts to be performed again and the electric motor 2 is again connected to the AC source 1. After the end of the action of the pulse of the multivibrator 18, the duration of which is determined on the basis that during the duration of the pulse of the multivibrator 18, the angular velocity of the electric motor 2 has reached a fixed value, after which the matching condition for the next logic element 21 begins to fulfill, the next coupling 13 spindle 4 and the next nut is tightened in the same sequence. After final tightening of the last nut, the logical output voltage 1 disappears at the last output of the decoder 20, from the rear front of which a second pulse shaper of 32 pulses produces a short pulse, by which the second trigger 24 is set to one. The coincidence condition for the second logic element AND 22 ceases to be fulfilled, the electric motor 2 opens from the source of alternating current 1, the pulling is completed and the wrench is retracted from the assembled unit. The introduction of torque and angular velocity sensors into the multispindle wrench enhances the accuracy of torque control by initial tightening with torque 1 torque control and final tightening by transferring a certain dose of flywheel energy to the threaded joint.

Claims (1)

  1. CONTROL SYSTEM MULTIPLINE GAYKERT, containing an AC source, an electric motor whose shaft is designed for kinematic coupling with spindles, a magnetic starter with an excitation coil, an on-shaft sensor mounted on the shaft, and a magnetic torque coupling mounted on each wrench spindle with an exciter coil control force tightening, including power supply, comparator, multivibrator, pulse counter, decoder, the first and second logic element And the first and second 5-triggers and transistor switches, a comparator, one of the inputs is connected to the output of the torque sensor, the other is connected to the installation bus of the monitoring unit, the pulse counter of the outputs is connected to the inputs of the decoder, the outputs of which are connected to one of the inputs of the first element The output of which is connected with the base of transistor switches, the emitters of which are connected
    to the first output of the power supply, collectors through the excitation coils of the electromagnetic couplings to the second of its conclusions, characterized in that, in order to improve the accuracy of monitoring the tightening force of the threaded connections, it is equipped with a flywheel and an angular velocity sensor mounted on the shaft electrically connected to the node control tightening, the second comparator, the first and second pulse shapers, logic elements NOT and OR, and a control button, the second comparator is connected to the output of the carbon sensor by one of the inputs speed, others to the control bus of the control unit, and output to the input of the first pulse shaper, the output of which is connected to the counting input of the pulse counter, F input of the multivibrator and one of the inputs of the OR logic element, the output of which is connected to the reset input of the first trigger, the first comparator output is connected to the installation input of the latter, and the inverse outputs of both triggers are connected to the inputs of the second element I, the output of which is connected to the first output through the exciter coil of the magnetic starter ohm power supply, the decoder one of the outputs connected to the input of the second pulse shaper, the output of which is connected to the installation input of the second trigger, the multivibrator output is connected to the input of the element NOT, the output of which is connected to another input of the first element And, and the fault inputs of the pulse counter and the second trigger and one of the inputs of the OR element is connected via a control button with the second output of the power supply.
    δ and, „, 1265032
    1265032
SU853912318A 1985-04-25 1985-04-25 Control system for multispindle power nut-driver SU1265032A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SU853912318A SU1265032A1 (en) 1985-04-25 1985-04-25 Control system for multispindle power nut-driver

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SU853912318A SU1265032A1 (en) 1985-04-25 1985-04-25 Control system for multispindle power nut-driver

Publications (1)

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SU1265032A1 true SU1265032A1 (en) 1986-10-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
SU853912318A SU1265032A1 (en) 1985-04-25 1985-04-25 Control system for multispindle power nut-driver

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5713250A (en) * 1996-09-26 1998-02-03 The Boeing Company Automatic fastening tool and method therefor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Авторское свидетельство СССР № 288967, кл. В 23 Р 19/06, 1972. Авторское свидетельство СССР № 921840, кл. В 25 В 21/00, G 05 В 19/08, 1980. *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5713250A (en) * 1996-09-26 1998-02-03 The Boeing Company Automatic fastening tool and method therefor

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