WO1999052684A1 - Rotary drive tool-carrying machine with no reaction torque - Google Patents

Rotary drive tool-carrying machine with no reaction torque Download PDF

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Publication number
WO1999052684A1
WO1999052684A1 PCT/FR1999/000880 FR9900880W WO9952684A1 WO 1999052684 A1 WO1999052684 A1 WO 1999052684A1 FR 9900880 W FR9900880 W FR 9900880W WO 9952684 A1 WO9952684 A1 WO 9952684A1
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WO
WIPO (PCT)
Prior art keywords
flywheel
tool
machine
rotation
machine according
Prior art date
Application number
PCT/FR1999/000880
Other languages
French (fr)
Inventor
Vincent Braibant
Gabriel De Smet
Original Assignee
Association Leonard De Vinci
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Association Leonard De Vinci filed Critical Association Leonard De Vinci
Priority to CA002328311A priority Critical patent/CA2328311A1/en
Priority to EP99913413A priority patent/EP1071544A1/en
Priority to JP2000543282A priority patent/JP2002511348A/en
Publication of WO1999052684A1 publication Critical patent/WO1999052684A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B23P19/065—Arrangements for torque limiters or torque indicators in screw or nut setting machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B25B23/141—Mechanical overload release couplings

Definitions

  • the present invention relates to tool-holding machines, for example screwdrivers or drills, of axis driven in rotation by any type of rotary energy generator, for example by electric motor, which can be mounted on robots, for example multispindle handling robots, or that can be portable and operated by an operator.
  • any type of rotary energy generator for example by electric motor
  • robots for example multispindle handling robots
  • this type of machine most often causes a reaction to the torque on the machine housing at the end of tightening of the screws or nuts or blocking of the drill.
  • Such a reaction results in a rotation around the central axis corresponding to the maximum torque delivered by the machine.
  • This reaction can result in serious injury to the operator's wrist or severe twisting of the robot arm, or, at best, a significantly reduced quality of clamping or drilling.
  • the approach followed by the present invention is different. It consists in eliminating the reactions due to the couple by the implementation of an inertial effect.
  • the flywheels usually used in machine tools are intended to be used simply as a balancing mass of the tool during its operation, as described for example in patent EP 209916.
  • the subject of the invention is a tool-holder machine with rotary drive without torque reaction, comprising a rotary energy source for a rotation shaft carrying tools around an axis, characterized in that it comprises a flywheel which is temporarily driven in rotation by the rotary energy source and which restores the kinetic energy stored to drive in rotation the tool-carrying shaft by means of a speed reducer and d '' a torque limiter.
  • the flywheel drive motor is either incorporated into the tool-holding machine, and in this case the acceleration of the flywheel can be carried out gradually outside of the operational phase. of the machine, or placed at a fixed position outside the machine. In the latter case, temporary connection means are provided between the shaft of the flywheel of the machine and that of the drive motor.
  • the drive source being an electric motor conventionally composed of a rotor and a peripheral stator surrounding the rotor, the rotor is immobilized and the stator, released, advantageously serves as a flywheel by coupling to the machine rotation shaft.
  • the speed reducer is decoupled from the flywheel using a clutch during the periods of launching of the flywheel and of non-operational use of the machine. This decoupling reduces the noise generated by this type of speed reducer, which consumes energy in a reduced volume to obtain strong speed reductions, for example by a factor of 10 or 100.
  • FIG. 1 a schematic sectional view of an example of a screwdriver according to the invention, without on-board drive motor;
  • FIG. 2 a schematic sectional view of an electric drive motor, on board a machine according to the invention in which the stator serves as a flywheel.
  • the screwdriver shown diagrammatically in section according to FIG. 1, passing through a central axis X'X, comprises: - an external casing 1, substantially of revolution around the axis
  • a torque limiter 4 with wolf teeth in the exemplary embodiment, intended to obtain the power adapted to a given drilling or screwing according to the conditions of use (nature of the materials to be screwed, tightening force, etc.); the torque limiter 4 is adjusted in position by a counter-support spring 13;
  • a speed reducer 5 formed, in this example, of two hepicycloidal trains 5a and 5b, each train ensuring a reduction of speed of rotation by a factor of 10, the reduction gear being coupled to a flywheel 6 via a clutch device 7 known to those skilled in the art, for example an electromagnetic disc clutch;
  • the flywheel 6 formed of an inertial mass with a peripheral crown 6a mounted on a disc 6b and closed by flanges with holes 6c; to obtain a rotation value of 1500 revolutions per minute and a tightening torque of 50 Newtons-meters, the flywheel has a mass of 4 kg for a diameter and a width of the order of a decimeter.
  • the internal rotation shaft 2b of the machine is connected at its rear end, mounted on the flywheel 6, to a source of rotary energy, an electric motor 8 in the exemplary embodiment.
  • This electric motor can be installed at the rear of the machine, as shown diagrammatically, or be placed at a fixed station as illustrated by the cutting plane Y'Y, the machine then coming to connect to this station by the element of connection.
  • Micro-sensors 10 are arranged in the casing 1 opposite the studs 11, integrated in the flywheel 6, in order to determine the speed of rotation of the flywheel by electrical coupling to a calculation and control chip 12.
  • This chip which comprises a microprocessor and conventional components (memories, transistors, filters, etc.) is of known design and its description would go beyond the scope of the present invention.
  • the power supply is provided by on-board batteries (not shown), the voltage supplied is adjusted by the control chip.
  • the different operating phases: launch, work, reminders, and stop take place as follows.
  • the flywheel 6, disengaged from the speed reducer by disengaging the device 7, is rotated according to a progressive acceleration controlled by the chip, in order to reach a determined speed after a predetermined period of time.
  • a rotation speed of 1500 rpm. is obtained in 1.5 seconds in the example embodiment.
  • the reduction trains 5a and 5b are therefore not driven in order to avoid a loss of energy, approximately equal to 10% per train. This disengagement also eliminates the noise triggered by these trains.
  • a control trigger 13 is engaged in order to couple the speed reducer 5 to the flywheel 6 by a suitable positioning. of the clutch 7.
  • the trigger 13 thus sends a signal to the control chip which triggers the movement of the clutch 7 by the establishment of a suitable electromagnetic field in this clutch.
  • the flywheel 6 is decoupled from the drive motor 8 by action on the connection element 14. This decoupling is obtained by any means known to those skilled in the art, for example by electromagnetic means.
  • the torque and the rotation are then communicated to the tool-carrying shaft 2a through the speed reducer 5 and the torque limiter 4. Due to the decoupling of the flywheel, the energy available is limited. It may then be necessary to restart the rotation of the flywheel by recoupling to the drive motor, when the speed of the flywheel reaches a minimum value, for example 1000 revolutions per minute. When this predetermined minimum speed is measured by the micro-sensors, the chip controls the connection to the drive motor or warns the operator of the need for a raise. During this restart period, the speed reducer is automatically disengaged from the flywheel by command of the chip. Several reminders may be necessary during the operational phase. When the operation to be carried out ends, the flywheel supplies all of its residual kinetic energy, and the machine can be removed without any torque effect.
  • the drive motor is an electric motor incorporated in the tool-holding machine, as shown diagrammatically in FIG. 2.
  • the peripheral element 8a of the drive motor 8 usually the stator is driven in rotation by the central element 8b, immobilized by means of pins 15, the central element usually being the rotor of electric motors.
  • the peripheral element 8a then serves as a flywheel and is directly coupled to the reduction gear 5b through the clutch device 7.
  • the peripheral element 8a is also mounted on a ball bearing 9 in the casing 1.
  • the micro-sensors 10 ' are then placed in the casing opposite the studs 11' for counting revolutions integrated on this peripheral element.
  • the dimensions of such a peripheral element usually used in conventional electric drive motors, in particular the external diameter D and the internal diameter d, have values such that they are directly suitable for use as a flywheel d inertia under the conditions set out above. It is thus possible to use this type of motor directly without having to use any other flywheel, which constitutes an economy of realization.
  • the invention is not limited to the embodiments described and shown.
  • the invention applies to any type of tool-carrying machine, whether milling, sharpening, cutting and shearing or machine-tool, as well as for any portable or non-portable tool-carrying machine, or for any multi or single spindle handling robot.
  • the adaptations in mass and in dimensions of the flywheel are calculated as a function of the values of tightening torque and of rotational speed which must be reached, the development of which is within the reach of those skilled in the art from the calculations of moments.
  • any type of rotary energy source can be adapted and used, as well as electric motor as pneumatic, hydraulic or turbine motor.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

The invention concerns a system for eliminating reactions caused by torque in a tool-carrying machine, which consists in incorporating in the machine an inertia element. The invention is characterised in that the rotary drive tool-carrying machine further comprises a rotating energy source (8) for a rotating shaft (2a) bearing tool equipment about an axis (X'X), a flywheel (6) which is temporarily driven in rotation by the rotating energy source (8) and restores stored kinetic energy for driving in rotation the tool equipment bearing shaft (2a) via a speed reduction unit (5) and a torque limiter (4).

Description

MACHINE PORTE-OUTILS A ENTRAINEMENT ROTATIF SANS REACTION DE COUPLE TOOL HOLDER MACHINE WITH ROTARY DRIVE WITHOUT TORQUE REACTION
La présente invention concerne les machines porte-outils, par exemple les visseuses ou les perceuses, d'axe entraîné en rotation par tout type de générateur d'énergie rotative, par exemple par moteur électrique, pouvant être monté sur des robots, par exemple des robots manutentionneurs multibroches, ou pouvant être portatifs et actionnés par un opérateur. Qu'il soit tenu par la main de l'opérateur ou par le poignet d'un robot manutentionneur, ce type de machine provoque le plus souvent une réaction au couple sur le carter de la machine en fin de serrage des vis ou écrous ou de blocage du foret. Une telle réaction se traduit par une rotation autour de l'axe central correspondant au couple maximal délivré par la machine. Cette réaction peut entraîner des lésions graves au poignet de l'opérateur ou des vrillages importants du bras de robot, ou, au mieux, une qualité de serrage ou de forage sensiblement diminuée.The present invention relates to tool-holding machines, for example screwdrivers or drills, of axis driven in rotation by any type of rotary energy generator, for example by electric motor, which can be mounted on robots, for example multispindle handling robots, or that can be portable and operated by an operator. Whether held by the operator's hand or by the wrist of a handling robot, this type of machine most often causes a reaction to the torque on the machine housing at the end of tightening of the screws or nuts or blocking of the drill. Such a reaction results in a rotation around the central axis corresponding to the maximum torque delivered by the machine. This reaction can result in serious injury to the operator's wrist or severe twisting of the robot arm, or, at best, a significantly reduced quality of clamping or drilling.
Afin de résoudre ce problème, il est possible de déterminer par modélisation les enveloppes des positions de fonctionnement admissibles et leur reproductibilite en fonction du type de robot utilisé, du type de montage et des différentes positions de vissage. Cette démarche de modélisation est complexe car, pour obtenir des résultats valables, il est nécessaire de rassembler, pour chaque type de machine ou de robot, un grand nombre de données précises pour obtenir un paramétrage suffisant des logiciels d'asservissement.In order to solve this problem, it is possible to determine by modeling the envelopes of the admissible operating positions and their reproducibility as a function of the type of robot used, the type of assembly and the different screwing positions. This modeling approach is complex because, to obtain valid results, it is necessary to gather, for each type of machine or robot, a large number of precise data to obtain sufficient configuration of the servo software.
La démarche suivie par la présente invention est différente. Elle consiste à éliminer les réactions dues au couple par la mise en oeuvre d'un effet inertiel. Les volants d'inertie habituellement utilisés dans les machines-outils sont destinés à servir simplement de masse d'équilibrage de l'outil pendant son fonctionnement, comme décrit par exemple dans le brevet EP 209916.The approach followed by the present invention is different. It consists in eliminating the reactions due to the couple by the implementation of an inertial effect. The flywheels usually used in machine tools are intended to be used simply as a balancing mass of the tool during its operation, as described for example in patent EP 209916.
La présente démarche mécanistique permet d'atteindre l'objectif souhaité sans dépendre du type de robot manutentionneur ou des positions de vissage à respecter.This mechanistic approach makes it possible to achieve the desired objective without depending on the type of handling robot or the screwing positions to be observed.
Plus précisément, l'invention a pour objet une machine porte-outils à entraînement rotatif sans réaction de couple, comportant une source d'énergie rotative pour un arbre de rotation porteur d'outillage autour d'un axe, caractérisée en ce qu'elle comporte un volant d'inertie qui est temporairement entraîné en rotation par la source d'énergie rotative et qui restitue l'énergie cinétique emmagasinée pour entraîner en rotation l'arbre porteur d'outillage par l'intermédiaire d'un réducteur de vitesse et d'un limiteur de couple.More specifically, the subject of the invention is a tool-holder machine with rotary drive without torque reaction, comprising a rotary energy source for a rotation shaft carrying tools around an axis, characterized in that it comprises a flywheel which is temporarily driven in rotation by the rotary energy source and which restores the kinetic energy stored to drive in rotation the tool-carrying shaft by means of a speed reducer and d '' a torque limiter.
Selon différents modes de réalisation, le moteur d'entraînement du volant d'inertie est soit incorporé à la machine porte-outils, et dans ce cas l'accélération du volant d'inertie peut être effectuée de manière progressive en dehors de la phase opérationnelle de la machine, soit disposé à poste fixe hors de la machine. Dans ce dernier cas, des moyens de connexion temporaire sont prévus entre l'arbre du volant d'inertie de la machine et celui du moteur d'entraînement.According to different embodiments, the flywheel drive motor is either incorporated into the tool-holding machine, and in this case the acceleration of the flywheel can be carried out gradually outside of the operational phase. of the machine, or placed at a fixed position outside the machine. In the latter case, temporary connection means are provided between the shaft of the flywheel of the machine and that of the drive motor.
Selon une forme de réalisation particulière, la source d'entraînement étant un moteur électrique composé classiquement d'un rotor et d'un stator périphérique entourant le rotor, le rotor est immobilisé et le stator, libéré, sert avantageusement de volant d'inertie par couplage à l'arbre de rotation de la machine.According to a particular embodiment, the drive source being an electric motor conventionally composed of a rotor and a peripheral stator surrounding the rotor, the rotor is immobilized and the stator, released, advantageously serves as a flywheel by coupling to the machine rotation shaft.
Selon un exemple de réalisation, le réducteur de vitesse est découplé du volant d'inertie à l'aide d'un embrayage pendant les périodes de lancement du volant d'inertie et de non-utilisation opérationnelle de la machine. Ce découplage permet de diminuer le bruit engendré par ce type de réducteur de vitesse, qui consomme de l'énergie dans un volume réduit pour obtenir de fortes réductions de vitesse, par exemple selon un facteur 10 ou 100.According to an exemplary embodiment, the speed reducer is decoupled from the flywheel using a clutch during the periods of launching of the flywheel and of non-operational use of the machine. This decoupling reduces the noise generated by this type of speed reducer, which consumes energy in a reduced volume to obtain strong speed reductions, for example by a factor of 10 or 100.
Les contraintes mécaniques induites par les vitesses de rotation et les valeurs de couple de serrage que l'on cherche à obtenir, imposent des valeurs d'énergie cinétique emmagasinée par le volant d'inertie, valeurs qui résultent classiquement de sa masse, de ses dimensions et de sa vitesse de rotation. Il apparaît que les valeurs de diamètre, de largeur et de masse du volant d'inertie ainsi déterminées sont compatibles avec les dimensions et le poids habituellement utilisés pour ce type de machine. D'autres caractéristiques et avantages de l'invention apparaîtront à la lecture qui suit d'un exemple de réalisation particulier, accompagné des figures annexées qui représentent respectivement :The mechanical stresses induced by the speeds of rotation and the values of tightening torque that one seeks to obtain, impose values of kinetic energy stored by the flywheel, values which conventionally result from its mass, its dimensions and its speed of rotation. It appears that the values of diameter, width and mass of the flywheel thus determined are compatible with the dimensions and the weight usually used for this type of machine. Other characteristics and advantages of the invention will appear on reading the following of a particular embodiment, accompanied by the appended figures which respectively represent:
- la figure 1 , une vue en coupe schématique d'un exemple de visseuse selon l'invention, sans moteur d'entraînement embarqué ; - la figure 2, une vue en coupe schématique d'un moteur d'entraînement électrique, embarqué dans une machine selon l'invention dans laquelle le stator sert de volant d'inertie.- Figure 1, a schematic sectional view of an example of a screwdriver according to the invention, without on-board drive motor; - Figure 2, a schematic sectional view of an electric drive motor, on board a machine according to the invention in which the stator serves as a flywheel.
La visseuse représentée schématiquement en coupe selon la figure 1 , passant par un axe central X'X, comporte : - un carter externe 1 , sensiblement de révolution autour de l'axeThe screwdriver shown diagrammatically in section according to FIG. 1, passing through a central axis X'X, comprises: - an external casing 1, substantially of revolution around the axis
X'X et contenant les pièces de mise en rotation d'un arbre 2 couplé à une douille de serrage 3 de la lame à utiliser (et du foret dans le cas d'une machine multi-usage, ou de tout outillage adaptable) ;X'X and containing the parts for rotating a shaft 2 coupled to a clamping sleeve 3 of the blade to be used (and of the drill in the case of a multi-use machine, or of any adaptable tool);
- un limiteur de couple 4, à dents de loup dans l'exemple de réalisation, destiné à obtenir la puissance adaptée à un forage ou à un vissage donné en fonction des conditions d'utilisation (nature des matériaux à visser, force de serrage, etc.) ; le limiteur de couple 4 est ajusté en position par un ressort de contre-appui 13 ;a torque limiter 4, with wolf teeth in the exemplary embodiment, intended to obtain the power adapted to a given drilling or screwing according to the conditions of use (nature of the materials to be screwed, tightening force, etc.); the torque limiter 4 is adjusted in position by a counter-support spring 13;
- un réducteur de vitesse 5 formé, dans cet exemple, de deux trains hépicycloïdaux 5a et 5b, chaque train assurant une réduction de vitesse de rotation d'un facteur 10, le réducteur étant couplé à un volant d'inertie 6 par l'intermédiaire d'un dispositif d'embrayage 7 connu de l'homme du métier, par exemple d'un embrayage électromagnétique à disque ; - le volant d'inertie 6 formé d'une masse inertielle à couronne périphérique 6a montée sur un disque 6b et fermée par des flasques trouées 6c ; pour obtenir une valeur de rotation de 1500 tours par minute et un couple de serrage de 50 Newtons-mètres, le volant d'inertie possède une masse de 4 kg pour un diamètre et une largeur de l'ordre du décimètre.a speed reducer 5 formed, in this example, of two hepicycloidal trains 5a and 5b, each train ensuring a reduction of speed of rotation by a factor of 10, the reduction gear being coupled to a flywheel 6 via a clutch device 7 known to those skilled in the art, for example an electromagnetic disc clutch; - The flywheel 6 formed of an inertial mass with a peripheral crown 6a mounted on a disc 6b and closed by flanges with holes 6c; to obtain a rotation value of 1500 revolutions per minute and a tightening torque of 50 Newtons-meters, the flywheel has a mass of 4 kg for a diameter and a width of the order of a decimeter.
En fonctionnement, l'arbre de rotation interne 2b de la machine est connecté à son extrémité arrière, montée sur le volant d'inertie 6, à une source d'énergie rotative, un moteur électrique 8 dans l'exemple de réalisation. Ce moteur électrique peut être embarqué à l'arrière de la machine, comme schematiquement illustré, ou être disposé à un poste fixe comme illustré par le plan de coupe Y'Y, la machine venant alors se connecter à ce poste par l'élément de connexion.In operation, the internal rotation shaft 2b of the machine is connected at its rear end, mounted on the flywheel 6, to a source of rotary energy, an electric motor 8 in the exemplary embodiment. This electric motor can be installed at the rear of the machine, as shown diagrammatically, or be placed at a fixed station as illustrated by the cutting plane Y'Y, the machine then coming to connect to this station by the element of connection.
La plupart des éléments rotatifs sont maintenus dans le carter 1 et stabilisés en rotation par l'intermédiaire d'éléments de liaison sans frottement, des roulements à billes 9 dans l'exemple de réalisation. Des micro-capteurs 10 sont disposés dans le carter 1 en face de plots 11 , intégrés dans le volant 6, afin de déterminer la vitesse de rotation du volant par couplage électrique à une puce de calcul et de commande 12. Cette puce, qui comporte un microprocesseur et des composants classiques (mémoires, transistors, filtres,...) est de conception connue et sa description sortirait du cadre de la présente invention. L'alimentation électrique est assurée par des batteries embarquées (non représentées) dont la tension délivrée est ajustée par la puce de commande.Most of the rotary elements are held in the casing 1 and stabilized in rotation by means of frictionless connecting elements, ball bearings 9 in the exemplary embodiment. Micro-sensors 10 are arranged in the casing 1 opposite the studs 11, integrated in the flywheel 6, in order to determine the speed of rotation of the flywheel by electrical coupling to a calculation and control chip 12. This chip, which comprises a microprocessor and conventional components (memories, transistors, filters, etc.) is of known design and its description would go beyond the scope of the present invention. The power supply is provided by on-board batteries (not shown), the voltage supplied is adjusted by the control chip.
Les différentes phases de fonctionnement : lancement, travail, relances, et arrêt se déroulent comme suit. Dans un premier temps, appelé phase de lancement, le volant d'inertie 6, débrayé du réducteur de vitesse par débrayage du dispositif 7, est entraîné en rotation selon une accélération progressive commandée par la puce, afin d'atteindre une vitesse déterminée après une période de temps prédéterminée. Une vitesse de rotation de 1500 tour/min. est obtenue en 1 ,5 secondes dans l'exemple de réalisation.The different operating phases: launch, work, reminders, and stop take place as follows. Initially, called the launch phase, the flywheel 6, disengaged from the speed reducer by disengaging the device 7, is rotated according to a progressive acceleration controlled by the chip, in order to reach a determined speed after a predetermined period of time. A rotation speed of 1500 rpm. is obtained in 1.5 seconds in the example embodiment.
Dans cette phase, les trains réducteurs 5a et 5b ne sont donc pas entraînés afin d'éviter une perte d'énergie, environ égale à 10% par train. Ce débrayage permet également de s'affranchir du bruit déclenché par ces trains.In this phase, the reduction trains 5a and 5b are therefore not driven in order to avoid a loss of energy, approximately equal to 10% per train. This disengagement also eliminates the noise triggered by these trains.
A la fin de la période de lancement, c'est-à-dire lorsque le volant d'inertie a atteint sa vitesse nominale, une gâchette de commande 13 est enclenchée afin de coupler le réducteur de vitesse 5 au volant 6 par un positionnement adapté de l'embrayage 7. Pour ce faire, la gâchette 13 envoie ainsi un signal à la puce de commande qui déclenche le déplacement de l'embrayage 7 par l'établissement d'un champ électromagnétique adapté dans cet embrayage. Parallèlement, le volant d'inertie 6 est découplé du moteur d'entraînement 8 par action sur l'élément de connexion 14. Ce découplage est obtenu par tout moyen connu de l'homme du métier, par exemple par des moyens électromagnétiquesAt the end of the launch period, that is to say when the flywheel has reached its nominal speed, a control trigger 13 is engaged in order to couple the speed reducer 5 to the flywheel 6 by a suitable positioning. of the clutch 7. To do this, the trigger 13 thus sends a signal to the control chip which triggers the movement of the clutch 7 by the establishment of a suitable electromagnetic field in this clutch. In parallel, the flywheel 6 is decoupled from the drive motor 8 by action on the connection element 14. This decoupling is obtained by any means known to those skilled in the art, for example by electromagnetic means.
Au début de la phase opérationnelle, le couple et la rotation sont alors communiqués à l'arbre porte-outils 2a à travers le réducteur de vitesse 5 et le limiteur de couple 4. Du fait du découplage du volant d'inertie, l'énergie disponible est limitée. Il peut alors être nécessaire de relancer la rotation du volant d'inertie par recouplage au moteur d'entraînement, lorsque la vitesse du volant atteint une valeur minimale, par exemple 1000 tours par minute. Lorsque cette vitesse minimale prédéterminée est mesurée par les micro- capteurs, la puce commande la connexion au moteur d'entraînement ou avertit l'opérateur de la nécessité d'une relance. Pendant cette période de relance, le réducteur de vitesse est débrayé automatiquement du volant d'inertie par commande de la puce. Plusieurs relances peuvent être nécessaires au cours de la phase opérationnelle. Lorsque l'opération à effectuer se termine, le volant d'inertie fournit toute son énergie cinétique résiduelle, et la machine peut être retirée sans effet de couple.At the start of the operational phase, the torque and the rotation are then communicated to the tool-carrying shaft 2a through the speed reducer 5 and the torque limiter 4. Due to the decoupling of the flywheel, the energy available is limited. It may then be necessary to restart the rotation of the flywheel by recoupling to the drive motor, when the speed of the flywheel reaches a minimum value, for example 1000 revolutions per minute. When this predetermined minimum speed is measured by the micro-sensors, the chip controls the connection to the drive motor or warns the operator of the need for a raise. During this restart period, the speed reducer is automatically disengaged from the flywheel by command of the chip. Several reminders may be necessary during the operational phase. When the operation to be carried out ends, the flywheel supplies all of its residual kinetic energy, and the machine can be removed without any torque effect.
Selon un exemple particulier de réalisation, le moteur d'entraînement est un moteur électrique incorporé à la machine porte- outils, comme représenté schematiquement sur la figure 2. Dans cet exemple de réalisation, l'élément périphérique 8a du moteur d'entraînement 8, habituellement le stator, est entraîné en rotation par l'élément central 8b, immobilisé à l'aide de broches 15, l'élément central étant habituellement le rotor des moteurs électriques. L'élément périphérique 8a sert alors de volant d'inertie et est couplé directement au réducteur 5b à travers le dispositif d'embrayage 7.According to a particular embodiment, the drive motor is an electric motor incorporated in the tool-holding machine, as shown diagrammatically in FIG. 2. In this embodiment, the peripheral element 8a of the drive motor 8, usually the stator is driven in rotation by the central element 8b, immobilized by means of pins 15, the central element usually being the rotor of electric motors. The peripheral element 8a then serves as a flywheel and is directly coupled to the reduction gear 5b through the clutch device 7.
L'élément périphérique 8a est monté également sur roulement à billes 9 dans le carter 1. Les micro-capteurs 10' sont alors disposés dans le carter en regard des plots 11 ' de décompte de tours intégrés sur cet élément périphérique. Les dimensions d'un tel élément périphérique habituellement utilisé dans les moteurs d'entraînement électriques classiques, en particulier le diamètre externe D et le diamètre interne d, ont des valeurs telles qu'elles sont directement adaptées à l'utilisation en tant que volant d'inertie dans les conditions exposées précédemment. Il est ainsi possible d'utiliser directement ce type de moteur sans avoir à utiliser d'autre volant d'inertie, ce qui constitue une économie de réalisation.The peripheral element 8a is also mounted on a ball bearing 9 in the casing 1. The micro-sensors 10 'are then placed in the casing opposite the studs 11' for counting revolutions integrated on this peripheral element. The dimensions of such a peripheral element usually used in conventional electric drive motors, in particular the external diameter D and the internal diameter d, have values such that they are directly suitable for use as a flywheel d inertia under the conditions set out above. It is thus possible to use this type of motor directly without having to use any other flywheel, which constitutes an economy of realization.
L'invention n'est pas limitée aux exemples de réalisation décrits et représentés. L'invention s'applique à tout type de machine porte-outils, aussi bien fraiseuse, affûteuse, découpeuse et cisailleuse ou machine-outil, aussi bien que pour toute machine porte-outils portative ou non, ou pour tout robot manutentionneur multi ou mono broche(s). Les adaptations en masse et en dimensions du volant d'inertie sont calculées en fonction des valeurs de couple de serrage et de vitesse de rotation devant être atteintes dont l'élaboration est à la portée de l'homme du métier à partir des calculs de moments d'inertie polaire du volant d'inertie annulaire et de l'expression à réaliser en fonction de la géométrie du volant d'inertie. Par ailleurs, tout type de source d'énergie rotative peut être adaptée et utilisée, aussi bien moteur électrique que moteur pneumatique, hydraulique ou turbine. The invention is not limited to the embodiments described and shown. The invention applies to any type of tool-carrying machine, whether milling, sharpening, cutting and shearing or machine-tool, as well as for any portable or non-portable tool-carrying machine, or for any multi or single spindle handling robot. The adaptations in mass and in dimensions of the flywheel are calculated as a function of the values of tightening torque and of rotational speed which must be reached, the development of which is within the reach of those skilled in the art from the calculations of moments. of polar inertia of the annular flywheel and of the expression to be produced as a function of the geometry of the flywheel. In addition, any type of rotary energy source can be adapted and used, as well as electric motor as pneumatic, hydraulic or turbine motor.

Claims

REVENDICATIONS 1. Machine porte-outils à entraînement rotatif sans réaction de couple, comportant une source d'énergie rotative (8) pour un arbre de rotation (2a) porteur d'outillage autour d'un axe (X'X), caractérisée en ce qu'elle comporte un volant d'inertie (6) qui est temporairement entraîné en rotation par la source d'énergie rotative (8) et qui restitue l'énergie cinétique emmagasinée pour entraîner en rotation l'arbre porteur d'outillage (2a) par l'intermédiaire d'un réducteur de vitesse (5) et d'un limiteur de couple (4). CLAIMS 1. Machine tool with rotary drive without torque reaction, comprising a rotary energy source (8) for a rotation shaft (2a) carrying tools around an axis (X'X), characterized in what it comprises a flywheel (6) which is temporarily driven in rotation by the rotary energy source (8) and which restores the kinetic energy stored to drive in rotation the tool-carrying shaft (2a ) via a speed reducer (5) and a torque limiter (4).
2. Machine porte-outils selon la revendication 1 , caractérisée en ce que la source d'énergie rotative du volant d'inertie est disposée à poste fixe hors de la machine, et en ce que des moyens de connexion temporaire sont prévus entre l'arbre du volant d'inertie de la machine et celui du moteur d'entraînement. 2. Tool-holding machine according to claim 1, characterized in that the rotary power source of the flywheel is disposed at a fixed position outside the machine, and in that temporary connection means are provided between the machine flywheel shaft and drive motor shaft.
3. Machine porte-outils selon la revendication 1 , caractérisée en ce que la source d'énergie rotative du volant d'inertie est incorporée à la machine porte-outils, et en ce que, pendant la phase de lancement, le volant d'inertie est accéléré de manière progressive.3. Tool holder machine according to claim 1, characterized in that the rotary power source of the flywheel is incorporated in the tool holder machine, and in that, during the launching phase, the flywheel inertia is gradually accelerated.
4. Machine porte-outils selon la revendication 3, caractérisée en ce que, la source d'entraînement étant un moteur électrique (8) composé d'un rotor (8b) et d'un stator périphérique (8a) entourant le rotor, et en ce que, le rotor étant immobilisé, le stator, libéré, constitue le volant d'inertie par son couplage à l'arbre de rotation interne (2b) de la machine.4. Tool-holding machine according to claim 3, characterized in that, the drive source being an electric motor (8) composed of a rotor (8b) and a peripheral stator (8a) surrounding the rotor, and in that, the rotor being immobilized, the stator, released, constitutes the flywheel by its coupling to the internal rotation shaft (2b) of the machine.
5. Machine porte-outils selon l'une quelconque des revendications 3 et 4, caractérisée en ce que, pendant une phase de lancement, le volant d'inertie (6) est entraîné en rotation selon une accélération progressive.5. Tool holder machine according to any one of claims 3 and 4, characterized in that, during a launch phase, the flywheel (6) is rotated according to a progressive acceleration.
6. Machine porte-outils selon l'une quelconque des revendications précédentes, caractérisée en ce que le réducteur de vitesse est découplé du volant d'inertie à l'aide d'un embrayage pendant les périodes de lancement du volant d'inertie et de non-utilisation opérationnelle de la machine.6. Tool-holding machine according to any one of the preceding claims, characterized in that the speed reducer is decoupled from the flywheel using a clutch during the periods of launch of the flywheel and operational non-use of the machine.
7. Machine porte-outils selon l'une quelconque des revendications précédentes, caractérisée en ce qu'elle comporte - un carter externe (1 ), sensiblement de révolution autour de l'axe7. Tool-holding machine according to any one of the preceding claims, characterized in that it comprises - an external casing (1), substantially of revolution around the axis
(X'X) et contenant des pièces de mise en rotation de l'arbre externe (2a) couplé à une douille de serrage (3) d'outil ;(X'X) and containing parts for rotating the external shaft (2a) coupled to a tool clamping sleeve (3);
- un limiteur de couple (4) ajusté en position par un ressort de contre-appui (13) ; - un réducteur de vitesse (5) formé de deux trains hépicycloïdaux- a torque limiter (4) adjusted in position by a counter-support spring (13); - a speed reducer (5) formed by two hepicycloidal trains
(5a, 5b), le réducteur étant couplé au volant d'inertie (6) par l'intermédiaire d'un dispositif d'embrayage (7) ; et en ce que(5a, 5b), the reduction gear being coupled to the flywheel (6) via a clutch device (7); and in that
- le volant d'inertie 6 est formé d'une masse inertielle à couronne périphérique (6a) montée sur un disque (6b) et fermée par des flasques trouées (6c) ;- The flywheel 6 is formed by an inertial mass with a peripheral crown (6a) mounted on a disc (6b) and closed by perforated flanges (6c);
- le volant d'inertie (6), le réducteur de vitesse (5) et le limiteur de couple (4) sont maintenus dans le carter (1 ) et stabilisés en rotation par l'intermédiaire d'éléments de liaison sans frottement (9) ;- the flywheel (6), the speed reducer (5) and the torque limiter (4) are held in the housing (1) and stabilized in rotation by means of frictionless connecting elements (9 );
- des micro-capteurs (10) sont disposés dans le carter (1 ) en face de plots (11 ), intégrés dans le volant (6), afin de déterminer la vitesse de rotation du volant par couplage électrique à une puce de calcul et de commande (12).- micro-sensors (10) are arranged in the casing (1) opposite studs (11), integrated in the flywheel (6), in order to determine the speed of rotation of the flywheel by electrical coupling to a calculation chip and control (12).
8. Machine porte-outils selon la revendication 7, caractérisée en ce que le dispositif d'embrayage (7) est du type électromagnétique à disque. 8. Tool-holding machine according to claim 7, characterized in that the clutch device (7) is of the electromagnetic disc type.
9. Machine porte-outils selon l'une quelconque des revendications précédentes, caractérisée en ce que la source d'énergie rotative est choisie parmi les moteurs électriques, pneumatiques, hydrauliques ou les turbines. 9. Tool-holding machine according to any one of the preceding claims, characterized in that the rotary energy source is chosen from electric, pneumatic, hydraulic motors or turbines.
PCT/FR1999/000880 1998-04-14 1999-04-14 Rotary drive tool-carrying machine with no reaction torque WO1999052684A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CA002328311A CA2328311A1 (en) 1998-04-14 1999-04-14 Rotary drive tool-carrying machine with no reaction torque
EP99913413A EP1071544A1 (en) 1998-04-14 1999-04-14 Rotary drive tool-carrying machine with no reaction torque
JP2000543282A JP2002511348A (en) 1998-04-14 1999-04-14 Rotary drive type tool holder without torque reaction force

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9804634A FR2777216B1 (en) 1998-04-14 1998-04-14 TOOL HOLDER MACHINE WITH ROTARY DRIVE WITHOUT TORQUE REACTION
FR98/04634 1998-04-14

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WO1999052684A1 true WO1999052684A1 (en) 1999-10-21

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JP (1) JP2002511348A (en)
CA (1) CA2328311A1 (en)
FR (1) FR2777216B1 (en)
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WO2003017857A1 (en) * 2001-08-23 2003-03-06 Synthes Ag Chur Device for limiting torque to be transferred
JP2006262688A (en) * 2005-02-18 2006-09-28 Shinano Kenshi Co Ltd Clutching mechanism for motor

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DE602006010098D1 (en) * 2006-12-07 2009-12-10 Uryu Seisaku Ltd Electric screwdriver
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EP3030381B1 (en) * 2013-08-08 2018-05-09 Atlas Copco Industrial Technique AB Torque delivering power tool with flywheel
CN105473285A (en) * 2013-08-08 2016-04-06 阿特拉斯·科普柯工业技术公司 Power tool with flywheel and gear for accelerating said flywheel
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CN105291032A (en) * 2014-06-03 2016-02-03 美之岚机械工业有限公司 Two-segment locking and attaching electric screw driver
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EP0418442A1 (en) * 1986-04-30 1991-03-27 John Theodore Wagner Transmissions having variable -inertia flywheels
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DE3111378A1 (en) * 1981-03-23 1982-10-28 Gartemann & Hollmann Gmbh, 4800 Bielefeld Drive for the cutting stations of flexible tube drawing machines
EP0418442A1 (en) * 1986-04-30 1991-03-27 John Theodore Wagner Transmissions having variable -inertia flywheels
US5158354A (en) * 1990-02-07 1992-10-27 Spiranyl S.A.R.L. Device for screwing and unscrewing screws, bolts and nuts
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003017857A1 (en) * 2001-08-23 2003-03-06 Synthes Ag Chur Device for limiting torque to be transferred
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JP2006262688A (en) * 2005-02-18 2006-09-28 Shinano Kenshi Co Ltd Clutching mechanism for motor

Also Published As

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EP1071544A1 (en) 2001-01-31
JP2002511348A (en) 2002-04-16
CA2328311A1 (en) 1999-10-21
FR2777216B1 (en) 2000-06-16
FR2777216A1 (en) 1999-10-15

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