WO2009001678A1 - トルク制御装置とその制御方法 - Google Patents

トルク制御装置とその制御方法 Download PDF

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Publication number
WO2009001678A1
WO2009001678A1 PCT/JP2008/060680 JP2008060680W WO2009001678A1 WO 2009001678 A1 WO2009001678 A1 WO 2009001678A1 JP 2008060680 W JP2008060680 W JP 2008060680W WO 2009001678 A1 WO2009001678 A1 WO 2009001678A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
command
rotating speed
torque
mechanical unit
Prior art date
Application number
PCT/JP2008/060680
Other languages
English (en)
French (fr)
Inventor
Ryuta Matsutani
Kenji Yoshida
Shigeru Sakurai
Original Assignee
Kabushiki Kaisha Yaskawa Denki
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 Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Priority to JP2009520444A priority Critical patent/JP5120790B2/ja
Publication of WO2009001678A1 publication Critical patent/WO2009001678A1/ja
Priority to US12/605,373 priority patent/US8089226B2/en

Links

Classifications

    • 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
    • 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
    • B23P19/066—Arrangements for torque limiters or torque indicators in screw or nut setting machines by electrical means
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)

Abstract

　ねじりトルクを高精度に制御するトルク制御装置とその方法を提供する。 　結合部材を介して同軸に結合された第１メカ部と第２メカ部と、第1メカ部を駆動する第１モータ（５）と、第１メカ部を駆動する第２モータ（６）と、第１モータを第１指令どおりに制御する第1モータ制御部（３）と、第２モータを第２指令どおりに制御する第２モータ制御部（４）と、上位システムのコマンドによりプログラムに基づいて第１指令と第２指令を生成するコントローラ（２）と、を備えたトルク制御装置において、プログラムは、第１モータと第２モータを同期して加速し、第１回転速度に到達したら、第２モータの回転速度を第１回転速度より大きい所定の速度プロファイルで変化させて結合部材にねじりトルクを発生させ、ねじりトルクが所定値に到達したら第２モータを第１回転速度に減速し、所定時間が経過したら同期して減速停止する第１指令および第２指令を生成するようにした。
PCT/JP2008/060680 2007-06-26 2008-06-11 トルク制御装置とその制御方法 WO2009001678A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2009520444A JP5120790B2 (ja) 2007-06-26 2008-06-11 トルク制御装置とその制御方法
US12/605,373 US8089226B2 (en) 2007-06-26 2009-10-26 Torque control device and method for controlling the same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007167864 2007-06-26
JP2007-167864 2007-06-26

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/605,373 Continuation US8089226B2 (en) 2007-06-26 2009-10-26 Torque control device and method for controlling the same

Publications (1)

Publication Number Publication Date
WO2009001678A1 true WO2009001678A1 (ja) 2008-12-31

Family

ID=40185498

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/060680 WO2009001678A1 (ja) 2007-06-26 2008-06-11 トルク制御装置とその制御方法

Country Status (3)

Country Link
US (1) US8089226B2 (ja)
JP (1) JP5120790B2 (ja)
WO (1) WO2009001678A1 (ja)

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WO2019208105A1 (ja) * 2018-04-27 2019-10-31 工機ホールディングス株式会社 電動工具

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US8232750B2 (en) * 2010-02-25 2012-07-31 Quantum Fuel Systems Technologies Worldwide, Inc. Broad turndown ratio traction drive
CN102893514B (zh) * 2010-05-18 2015-10-14 三菱电机株式会社 马达控制装置
JP5452715B2 (ja) * 2010-05-18 2014-03-26 三菱電機株式会社 モータ制御装置
JP5769385B2 (ja) * 2010-05-31 2015-08-26 日立工機株式会社 電動工具
WO2012008222A1 (ja) * 2010-07-14 2012-01-19 三菱電機株式会社 モータ制御装置
DE102012220482A1 (de) * 2012-11-09 2014-05-15 Wagner Vermögensverwaltungs-GmbH & Co. KG Verfahren zur Steuerung eines Drehschraubers sowie Drehschrauber
US10420577B2 (en) 2014-03-31 2019-09-24 Covidien Lp Apparatus and method for tissue thickness sensing
ES2706498T3 (es) 2014-12-23 2019-03-29 Scs Concept S R L Banco de ensayos para destornilladores con sistema de frenado mejorado
PT3237869T (pt) * 2014-12-23 2019-01-24 Scs Concept S R L Bancada de ensaio para chaves de aparafusamento
DE102015107583B4 (de) * 2015-05-13 2022-11-10 Egt Eppinger Getriebe Technologie Gmbh Positionierantrieb sowie Verfahren zum Positionieren eines Abtriebselements
US10411631B2 (en) * 2016-04-27 2019-09-10 GM Global Technology Operations LLC Method and apparatus for vibration damping in a powertrain system
US10884012B1 (en) * 2016-12-06 2021-01-05 United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Velocity determination system and method
CN112548924B (zh) * 2020-12-02 2022-03-15 安徽大学 一种基于模糊pid的螺栓扳手扭矩控制方法
WO2024170952A1 (en) * 2023-02-17 2024-08-22 Cembre S.P.A. Controlled speed wrench and control method

Citations (2)

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JPH07281721A (ja) * 1994-04-15 1995-10-27 Fanuc Ltd 走行ロボット装置及び該装置を用いた組立作業実行方法
WO2007099626A1 (ja) * 2006-03-01 2007-09-07 Fujitsu Limited トルク測定装置

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KR920701796A (ko) * 1989-12-15 1992-08-12 스가이 신지 인버터 제어물품 반송 측정장치
JPH0678139B2 (ja) * 1990-04-13 1994-10-05 エス・ケイエンジニアリング株式会社 ウェブ自動継ぎ装置
JP3452373B2 (ja) * 1992-12-18 2003-09-29 松下電器産業株式会社 ねじ締め装置、およびねじ締め方法
JP3707873B2 (ja) * 1996-09-10 2005-10-19 トヨタ自動車株式会社 締め付け装置
US5729100A (en) * 1997-02-03 1998-03-17 The United States Of America As Represented By The Secretary Of The Navy Method and apparatus for controlling backlash in motor drive systems
JP4234547B2 (ja) 2003-09-18 2009-03-04 博允 井上 ハンド装置
JP4848187B2 (ja) * 2006-01-17 2011-12-28 日立オートモティブシステムズ株式会社 電力変換装置
US7893636B2 (en) * 2007-10-31 2011-02-22 Progress Rail Services Corp Mobile machine with one or more electric propulsion motors
US20090237026A1 (en) * 2008-03-18 2009-09-24 Siemens Energy & Automation, Inc. System and Method for Drive Controller Anti-Backlash Control Topology
WO2009139046A1 (ja) * 2008-05-13 2009-11-19 三菱電機株式会社 数値制御方法及びその装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07281721A (ja) * 1994-04-15 1995-10-27 Fanuc Ltd 走行ロボット装置及び該装置を用いた組立作業実行方法
WO2007099626A1 (ja) * 2006-03-01 2007-09-07 Fujitsu Limited トルク測定装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019208105A1 (ja) * 2018-04-27 2019-10-31 工機ホールディングス株式会社 電動工具
JPWO2019208105A1 (ja) * 2018-04-27 2021-04-22 工機ホールディングス株式会社 電動工具

Also Published As

Publication number Publication date
US20100039053A1 (en) 2010-02-18
US8089226B2 (en) 2012-01-03
JPWO2009001678A1 (ja) 2010-08-26
JP5120790B2 (ja) 2013-01-16

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