WO2014065066A1 - 自動ねじ締め制御方法および装置 - Google Patents
自動ねじ締め制御方法および装置 Download PDFInfo
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- WO2014065066A1 WO2014065066A1 PCT/JP2013/075856 JP2013075856W WO2014065066A1 WO 2014065066 A1 WO2014065066 A1 WO 2014065066A1 JP 2013075856 W JP2013075856 W JP 2013075856W WO 2014065066 A1 WO2014065066 A1 WO 2014065066A1
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- WIPO (PCT)
- Prior art keywords
- screw tightening
- electric motor
- rotation amount
- load current
- clutch
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- 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
- B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
- B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
- B25F5/001—Gearings, speed selectors, clutches or the like specially adapted for rotary tools
Definitions
- the present invention relates to an electric screwdriver configured to perform screw tightening work by connecting a driver bit to a drive output shaft of an electric motor via a clutch mechanism.
- the present invention relates to an automatic screw tightening control method and apparatus set so that the screw tightening state can be simply and reliably confirmed and determined.
- screw tightening device that performs screw tightening work by rotationally driving a driver bit by a driving means such as an electric motor, etc.
- a driving means such as an electric motor, etc.
- Screw fastening devices have been proposed and put into practical use.
- screw tightening is performed with respect to a screw hole provided in a required screw mounting object.
- the predetermined screw tightening torque value is reached in a state where the screw is not completely screwed, and the clutch mechanism is operated to complete the screw tightening operation. is there.
- the applicant of the present invention can detect a screw tightening failure such as a screw galling or screw floating in a screw hole easily and simply with a relatively simple configuration at a low cost in an appropriate and reliable manner.
- a fastening device was developed and a patent application was filed (see Patent Document 1).
- the screw tightening device described in Patent Document 1 performs a screw tightening operation by rotationally driving a rotary tool such as a driver bit by a driving means such as an electric motor, and completes tightening of a screw to a required screw mounting target.
- a rotary tool such as a driver bit
- a driving means such as an electric motor
- a rotation amount detection means is provided in the rotary tool or the drive means in order to detect the rotation amount based on the number of rotations and the rotation time associated with the rotation drive of the rotary tool
- a screw head is provided at the tip of the rotary tool.
- the screw tightening reference point is determined by pressing the rotary tool in the axial direction.
- (T1) is configured to be set by the screw tightening reference time setting means.
- a torque setting clutch mechanism provided at the shaft coupling portion between the drive shaft of the drive means that rotates the rotary tool and the rotary tool is used as the screw tightening completion time detection means.
- a load current detecting means for detecting a load current of an electric motor that rotationally drives the rotary tool, or a detection signal for detecting a screw tightening completion time when the clutch is operated when reaching a preset torque setting value. It is disclosed that a screw tightening completion point detection signal when reaching a load current value is obtained.
- the applicant of the present invention can perform torque control by automatically stopping the driving of the electric screwdriver that drives the rotary tool by detecting the load current of the electric motor without providing the clutch mechanism described above.
- a screw tightening device equipped with an automatic stop device that can be used was developed and patented (see Patent Document 2).
- JP 2010-214564 A Japanese Patent Publication No.53-15240
- the screw tightening reference time (t1) is set, and the rotation amount is detected from the screw tightening start time (t2) to the screw tightening completion time (t3). It is judged whether the amount of rotation of the rotating tool detected by the means is within the allowable range compared with the preset reference value, and screw tightening failure such as screw galling or screw floating in the screw hole Can be detected appropriately and reliably at a low cost by a simple and simple and relatively simple configuration.
- the screw tightening reference time (t1) in each screw tightening operation, the screw tightening reference time (t1) is set, and from the screw tightening start time (t2) to the screw tightening complete time (t3), the rotation amount detecting means Since the detected amount of rotation of the rotating tool is detected, it is necessary to always pay attention to the work of setting the screw tightening reference time point (t1), and there is no particular problem for skilled workers, but unskilled workers In the screw tightening work in step 1, there may be a case where the proper work effect and work efficiency exhibited in the invention cannot be obtained.
- the present inventor has detected the amount of rotation of the electric motor with respect to the control circuit of the electric motor that rotationally drives the driver bit in the electric driver employing the various clutch mechanisms proposed in the past.
- an appropriate screw tightening operation (first time) is performed in advance at the start of performing a predetermined screw tightening operation, whereby the rotation amount detection means
- the detection of the amount of rotation of the electric motor by means of, and then the completion of screw tightening is detected by the clutch operation of the clutch mechanism, and the amount of rotation from the start of screw tightening of the electric motor at the time of this clutch operation is detected
- the detected rotation amount is set as a target rotation amount.
- subsequent predetermined screw tightening operations from the start of the screw tightening operation to the time of clutch operation of the clutch mechanism is sequentially detected.
- the rotation amount detected at the time of the clutch operation is compared with the target rotation amount, and if the rotation amount matches the target rotation amount (including an allowable range), it is determined that the screw is properly tightened. It has been found that if the rotation amount does not match the target rotation amount (including the allowable range), it is possible to easily and reliably determine that the screw tightening state is defective or abnormal.
- the first target rotation amount is compared with the first target rotation amount. Is calculated so as to successively subtract the rotation amount of the electric motor detected until the clutch operation time in a predetermined screw tightening operation, and finally the second target rotation amount is set to 0 (allowable range). And the detected value of the final rotation amount can be compared with the set value of the second target rotation amount (including the allowable range).
- the load current detecting means is provided so as to detect and record the load current value proportional to the screw tightening torque value, and the rotation for detecting and recording the rotation amount of the electric motor.
- the amount detection means in the clutch operation of the clutch mechanism, the rotation amount of the electric motor and the load current value are detected and compared with a preset target rotation amount (including an allowable range) and a preset target load. By comparing with the current value (including the allowable range), it is possible to determine whether the screw tightening state is good, further detect the load current value during clutch operation, and display the determination result. I found it.
- the load current detecting means is provided so as to detect and record the load current value proportional to the screw tightening torque value without providing the rotation amount detecting means for detecting and recording the rotation amount of the electric motor.
- a preset target load current value including an allowable range
- the clutch mechanism in the predetermined screw tightening operation by the electric screwdriver, the clutch mechanism accompanying the completion of screw tightening from the start of screw tightening scheduled by a prior trial or the like based on the standard of a screw to be used in advance.
- the clutch mechanism according to the completion of the screw tightening from the start of the screw tightening The rotation amount of the electric motor until the clutch operation time is sequentially detected by the rotation amount detection means, and the rotation amount detected at the clutch operation time is compared with the target rotation amount (including an allowable range), thereby tightening the screw. It was determined that the judgment of the quality of the state can be properly achieved.
- the electric screwdriver is provided with a push operation switch or an encoder that is operated by an axial displacement at the time of contact of the screwdriver bit with an object to be screwed, and an operation signal of the push operation switch or the encoder By detecting this, it can be set as the screw tightening start time when the screw tightening operation is performed.
- the driver bit is first brought into contact with the mounting object of the screw, and at this time, the operation signal of the push operation switch or the encoder is detected.
- the screw tightening start time when performing the screw tightening operation, and then operating the drive switch for driving the electric motor with the switch operating member, the actual screw tightening until the screw is seated is performed. It becomes possible to accurately detect the amount of rotation of the electric motor during the work.
- the present invention as seen in a micrometer, in precision screwing, along with the improvement in processing accuracy related to the pitch dimension of the screw, coupled with the improvement in detection accuracy of the screw rotation amount described above,
- the positioning of the screw rotation amount and the screw shaft movement distance can be set with high accuracy, so that when the screw is tightened, the screw is properly seated with respect to its mounting object. It was confirmed that the relationship between the rotation amounts can be accurately set and confirmed, and the reliability of the quality determination in the screw tightening operation can be sufficiently enhanced.
- an object of the present invention is to provide an appropriate screw tightening state in various screw tightening operations in an electric screwdriver configured to perform a screw tightening operation by connecting a driver bit to a drive output shaft of an electric motor via a clutch mechanism. It is an object of the present invention to provide an automatic screw tightening control method and apparatus set so that a screw tightening state that is inappropriate can be easily and reliably confirmed and determined.
- an automatic screw tightening control method includes an electric motor, a drive switch for driving the electric motor, a reduction mechanism on a drive output shaft of the electric motor, and A driver bit coupled via a clutch mechanism, a switch operation member for operating the drive switch, a clutch operation detection sensor for detecting a clutch operation of the clutch mechanism, and driving and stopping control of the electric motor
- an electric driver provided with an electric motor control circuit and a rotation amount detection means for detecting the rotation amount of the electric motor
- the rotation amount detection means detects the rotation amount of the electric motor from the start of screw tightening in the first screw tightening operation to the clutch operation time by the clutch mechanism accompanying the completion of screw tightening.
- the rotation amount detecting means sequentially detects the rotation amount of the electric motor from the start time of screw tightening to the clutch operation time by the clutch mechanism when the screw tightening is completed, and the clutch operation time point It is set to determine whether the screw tightening state is good or bad by comparing the detected rotation amount with the target rotation amount (including an allowable range).
- an automatic screw tightening control method coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a speed reduction mechanism and a clutch mechanism.
- a switch operating member that operates the drive switch, a clutch operation detection sensor that detects a clutch operation of the clutch mechanism, an electric motor control circuit that performs drive and stop control of the electric motor, Rotation amount detection means for detecting the rotation amount of the electric motor; and load current detection means for detecting a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit in the electric motor control circuit;
- the rotation amount detection means detects the rotation amount of the electric motor from the start of screw tightening in the first screw tightening operation to the clutch operation time by the clutch mechanism accompanying the completion of screw tightening.
- the detected rotation amount is recorded and set as a target rotation amount (including an allowable range), and a load current value proportional to the screw tightening torque value of the electric motor detected by the load current detection means is detected and recorded. Then, set the detected and recorded load current value as the target load current value (including the allowable range), Thereafter, in a predetermined screw tightening operation, the rotation amount detecting means sequentially detects the rotation amount of the electric motor from the start time of screw tightening to the clutch operation time by the clutch mechanism when the screw tightening is completed, and the clutch operation time point Is compared with the target rotation amount (including an allowable range), and the load current value from the start time of screw tightening to the time of clutch operation by the clutch mechanism accompanying the completion of screw tightening is calculated as the load current. It is set so as to determine whether the screw tightening state is good or bad by sequentially detecting by the detecting means and comparing the load current value detected at the time of the clutch operation with the target load current value (including an allowable range).
- an automatic screw tightening control method coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a speed reduction mechanism and a clutch mechanism.
- a switch operating member that operates the drive switch, a clutch operation detection sensor that detects a clutch operation of the clutch mechanism, an electric motor control circuit that performs drive and stop control of the electric motor,
- an electric screwdriver provided with load current detection means for detecting a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit
- a load current value proportional to the screw tightening torque value of the electric motor at the time of clutch operation by the clutch mechanism accompanying the completion of screw tightening from the start of screw tightening in the first screw tightening operation is Detected and recorded by the load current detection means, set the detected and recorded load current value as the target load current value (including the
- an automatic screw tightening control method coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a speed reduction mechanism and a clutch mechanism.
- a switch operating member that operates the drive switch, a clutch operation detection sensor that detects a clutch operation of the clutch mechanism, an electric motor control circuit that performs drive and stop control of the electric motor,
- an electric screwdriver provided with rotation amount detection means for detecting the rotation amount of the electric motor,
- the rotation amount detecting means sequentially detects the rotation amount of the electric motor from the start time of screw tightening to the clutch operation time by the clutch mechanism upon completion of screw tight
- the rotation amount of the electric motor sequentially detected from the screw tightening start time to the clutch operation time is determined as the target rotation amount (allowable range).
- the rotation amount of the electric motor detected from the set value of the target rotation amount until the clutch operation time in the predetermined screw tightening operation is calculated so as to be sequentially added, and the final value is calculated.
- the detection value of the rotation amount is configured to be compared with a set value of the target rotation amount (including an allowable range).
- the rotation amount of the electric motor sequentially detected from the screw tightening start time to the clutch operation time is determined as the first target rotation amount.
- calculation is performed so as to sequentially subtract the rotation amount of the electric motor detected until the clutch operation time in the predetermined screw tightening operation from the set value of the first target rotation amount.
- the second target rotation amount is set to 0 (including the allowable range), and the final rotation amount detection value is set to the second target rotation amount (including the allowable range). It is configured to compare with a value.
- a push operation switch or an encoder that is operated by an axial displacement at the time of contact of a driver bit with an object to be screwed is provided, According to an operation signal of the push operation switch or the encoder, it is set as a screw tightening start time when performing screw tightening work.
- the automatic screw tightening control method is such that the rotation amount of the electric motor at the time of the clutch operation or at the time of non-operation does not match a preset target rotation amount (including an allowable range), and / Or if the load current detection value proportional to the screw tightening torque value of the electric motor at the time of the clutch operation does not match the preset target load current value (including the allowable range), the screw tightening state is poor. It is characterized by setting so that it may be determined.
- the rotation amount of the electric motor detected at the time of clutch operation and / or the load current detection value detected at the time of clutch operation are respectively set to the target rotation amount.
- Set to detect and record the number of screws and / or the length of the screw that is suitable for the target load current value (including the allowable range) and / or the target load current value (including the allowable range) It is characterized by that.
- an automatic screw tightening control method when it is determined that the screw tightening state detected at the time of the clutch operation is appropriate or defective, the respective states are distinguished and displayed on the display. It is characterized by setting.
- An automatic screw tightening control method is coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a speed reduction mechanism and a clutch mechanism.
- a switch operating member that operates the drive switch, a clutch operation detection sensor that detects a clutch operation of the clutch mechanism, an electric motor control circuit that performs drive and stop control of the electric motor, Rotation amount detection means for detecting the rotation amount of the electric motor; and load current detection means for detecting a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit in the electric motor control circuit; , Using an electric screwdriver provided respectively, In the predetermined screw tightening operation by the electric screwdriver, the load current value detected by the load current detecting means and / or the clutch operation time by the clutch mechanism accompanying the completion of screw tightening and / or the load current detection means are set in advance.
- the rotation amount of the electric motor sequentially detected by the rotation amount detecting means is detected, and the target load current value (allowable range) associated with the completion of screw tightening is detected.
- An automatic screw tightening control device is coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a reduction mechanism and a clutch mechanism.
- the rotation amount detection means for detecting the rotation amount of the electric motor comprises an electric screwdriver provided respectively. In the predetermined screw tightening operation by the electric screwdriver, the rotation amount detection means detects the rotation amount of the electric motor from the start of screw tightening in the first screw tightening operation to the clutch operation time by the clutch mechanism accompanying the completion of screw tightening.
- the rotation amount detecting means sequentially detects the rotation amount of the electric motor from the start time of screw tightening to the clutch operation time by the clutch mechanism when the screw tightening is completed, and the clutch operation time point
- a control unit configured to determine whether the screw tightening state is good or bad by comparing the detected rotation amount with the target rotation amount (including an allowable range) is provided.
- An automatic screw tightening control device is coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a speed reduction mechanism and a clutch mechanism.
- a switch operating member that operates the drive switch, a clutch operation detection sensor that detects a clutch operation of the clutch mechanism, an electric motor control circuit that performs drive and stop control of the electric motor, Rotation amount detection means for detecting the rotation amount of the electric motor; and load current detection means for detecting a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit in the electric motor control circuit; ,
- the rotation amount detection means detects the rotation amount of the electric motor from the start of screw tightening in the first screw tightening operation to the clutch operation time by the clutch mechanism accompanying the completion of screw tightening.
- the detected rotation amount is recorded and set as a target rotation amount (including an allowable range), and a load current value proportional to the screw tightening torque value of the electric motor detected by the load current detection means is detected and recorded.
- the load current value detected and recorded is set as a target load current value (including an allowable range), and
- the rotation amount detecting means sequentially detects the rotation amount of the electric motor from the start time of screw tightening to the clutch operation time by the clutch mechanism when the screw tightening is completed, and the clutch operation time point Is compared with the target rotation amount (including an allowable range), and the load current value from the start time of screw tightening to the time of clutch operation by the clutch mechanism accompanying the completion of screw tightening is calculated as the load current. It is set so as to determine whether the screw tightening state is good or not by sequentially detecting by the detecting means and comparing the load current value detected at the time of the clutch operation with the target load current value (including the allowable range).
- An automatic screw tightening control device is coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a speed reduction mechanism and a clutch mechanism.
- a switch operating member that operates the drive switch, a clutch operation detection sensor that detects a clutch operation of the clutch mechanism, an electric motor control circuit that performs drive and stop control of the electric motor,
- a load current detecting means for detecting a load current obtained in the electric motor based on a load torque (reaction force) applied to the driver bit in the electric motor control circuit, and an electric driver provided respectively.
- a load current value proportional to the screw tightening torque value of the electric motor at the time of clutch operation by the clutch mechanism accompanying the completion of screw tightening from the start of screw tightening in the first screw tightening operation is
- the load current detection means detects and records the load current value detected and recorded as a target load current value (including an allowable range), and Thereafter, in a predetermined screw tightening operation, a load current value proportional to a torque value of the screw tightening electric motor from the start time of the screw tightening to the clutch operation time by the clutch mechanism when the screw tightening is completed is obtained by the load current detecting means.
- a controller configured to sequentially detect and compare the load current value detected at the time of clutch operation with the target load current value (including an allowable range) to determine whether the screw tightening state is good or bad; It is characterized by providing.
- An automatic screw tightening control device is coupled to an electric motor, a drive switch for driving the electric motor, and a drive output shaft of the electric motor via a speed reduction mechanism and a clutch mechanism.
- the rotation amount detection means for detecting the rotation amount of the electric motor comprises an electric screwdriver provided respectively.
- the rotation amount detecting means sequentially detects the rotation amount of the electric motor from the start time of screw tightening to the clutch operation time by the clutch mechanism upon completion of screw tightening, and detects it at the clutch operation time point.
- a control unit configured to determine whether the screw tightening state is good or not by comparing the rotation amount thus obtained with the target rotation amount (including an allowable range) is provided.
- the automatic screw tightening control device is provided with a push operation switch or an encoder that is operated by an axial displacement at the time of contact of a screwdriver bit with a screw attachment target in the electric screwdriver,
- the screw tightening start time when performing the screw tightening operation is set by the operation signal of the push operation switch or the encoder.
- the amount of rotation of the electric motor detected at the time of the clutch operation and / or the load current detection value detected at the time of the clutch operation are respectively determined in the control unit. Detects and records the number of screws and / or the length of the screw that is suitable for the target rotation amount (including the allowable range) and / or the target load current value (including the allowable range) and is determined to be in the proper screw tightening state. It is configured as described above.
- the automatic screw tightening control device is characterized in that a display for distinguishing and displaying each state is provided with respect to the determination result of the screw tightening state obtained by the control unit. To do.
- an electric motor configured to perform a screw tightening operation by coupling a driver bit to a drive output shaft of an electric motor via a clutch mechanism.
- a clutch operation by the clutch mechanism is detected by a clutch operation detection sensor using a driver, a rotation amount based on a rotation amount detection signal obtained by a rotation amount detection means of the electric motor is detected.
- To set the target rotation amount (including the allowable range) and compare it with the target rotation amount (including the allowable range) set in the subsequent screw tightening operation. can be easily and easily determined, and it is possible to reliably confirm and determine the proper screw tightening state in the screw tightening operation. That. Therefore, according to the present invention, even an unskilled person of screw tightening work can achieve easy and accurate screw tightening work.
- the electric motor control circuit By detecting the load current value based on the load current detection signal obtained by the load current detection means, the target load current value (allowable range) in addition to the preset target rotation amount (including the allowable range), respectively. And the target rotation amount (including the allowable range) and the target load current value (including the allowable range) are compared with each other to determine whether the screw tightening state is good or simple as described above. Thus, it is possible to reliably confirm and determine the proper screw tightening state in the screw tightening operation.
- the clutch by the clutch mechanism is used instead of the rotation amount detecting means for detecting the rotation amount of the electric motor.
- the drive output shaft of the electric motor is provided.
- the rotation amount based on the rotation amount detection signal obtained by the detection means is configured to be detected, and the target rotation amount (including the allowable range) is set, and the target rotation amount (allowable) set in the subsequent screw tightening operation Comparison with the range), it is possible to easily and easily determine the quality of the screw tightening state. It is possible to reliably confirm and determine the proper screw fastening state. Therefore, according to the present invention, even an unskilled person of screw tightening work can achieve easy and accurate screw tightening work.
- the rotation amount of the electric motor can be accurately detected during the actual screw tightening operation. Based on this, it is possible to facilitate detection of various screw tightening abnormal states, and to confirm and determine the proper screw tightening state in the screw tightening operation. In this way, according to the present invention, it is possible to smoothly and easily achieve data collection or image processing related to control detected in the clutch-type electric driver to be used, and enhance the control data processing function as the electric driver. it can.
- a torque setting for operating the clutch mechanism is performed by determining the state of conformity with a preset target load current value (including an allowable range). If the operator inadvertently misoperates the adjustment mechanism that can be operated externally, the target load current value will be set incorrectly, and this will cause the detected value of the load current value in the electric motor at the time of clutch operation. Since it does not conform to the initial target load current value (including the allowable range), it can be easily determined as screw tightening failure. Therefore, in this case, the torque setting of the erroneously operated clutch mechanism can be reconfirmed and reset, so that appropriate screw tightening work from the next time can be easily handled. Can be reduced.
- a preset target load current value including an allowable range
- the rotation amount of the electric motor when the screw tightening state is determined as described above, for example, the rotation amount of the electric motor is smaller than the target rotation amount (including the allowable range). Indicates an abnormal condition such as screw galling, screw floating, or incompatibility of the selected screw size. If the rotation amount of the electric motor is greater than the target rotation amount (including the allowable range), As an abnormal state such as screw cam-out, bit breakage, or incompatibility of selected screw dimensions, it is possible to easily determine whether or not the screw tightening is defective. Therefore, according to the present invention, it is possible to easily detect and confirm human and physical work mistakes, as well as reducing the defective rate in the above-described screw tightening work.
- the screw tightening state is particularly good.
- the number of screws judged to be appropriate can be distinguished from the number of screws judged to be abnormal or defective, and can be reliably recorded in the control unit, and the number of these recorded screws can be confirmed or displayed.
- the efficiency of the screw tightening operation can be improved and the reliability can be improved.
- the length of the screw tightened screw is accurately recorded in the control unit based on the rotation amount detected during the clutch operation. Further, the recorded contents recorded can be displayed.
- the above-described screw tightening state determination is displayed on the display, so that the screw tightening operation is optimized, the efficiency thereof, and the electric drive Expansion of functions as a driver can be achieved.
- the clutch operation detection sensor detects the clutch operation of the clutch mechanism, and / or by the load current detection means.
- the rotation amount of the electric motor sequentially detected by the rotation amount detecting means is detected, and the target load accompanying the completion of the screw tightening is detected.
- FIG. 3 show the relationship of screw tightening pass / fail judgment based on the detected value characteristic of the rotation amount in the electric motor during the clutch operation by the automatic screw tightening control method according to the present invention, and set the target rotation amount as Rm ⁇ ⁇ . It is explanatory drawing which shows the proper screw fastening state in the case of having carried out.
- FIG. 2 and FIG. 3 show the relationship of screw tightening pass / fail judgment based on the detected value characteristic of the rotation amount in the electric motor during clutch operation by the automatic screw tightening control method according to the present invention, and set the target rotation amount to 0 ⁇ ⁇ . It is explanatory drawing which shows the proper screw fastening state in the case of having carried out.
- FIG. 2 and FIG. 3 show the relationship of screw tightening pass / fail judgment based on the detected value characteristic of the rotation amount in the electric motor during clutch operation by the automatic screw tightening control method according to the present invention, and set the target rotation amount to 0 ⁇ ⁇ . It is explanatory drawing
- FIG. 5 is an explanatory diagram showing a defective screw tightening state when the amount of rotation is smaller than the target amount of rotation Rm ⁇ ⁇ (including the allowable range).
- (b) is an explanatory view showing a defective screw tightening state when the rotation amount is larger than the target rotation amount Rm ⁇ ⁇ (including the allowable range).
- FIG. 6A is an explanatory diagram showing a defective screw tightening state when the amount of rotation is larger than the target amount of rotation 0 ⁇ ⁇ (including the allowable range), in the same screw tightening quality determination relationship as in the case shown in FIG. 6.
- (b) is an explanatory view showing a defective screw tightening state when the rotation amount is smaller than the target rotation amount 0 ⁇ ⁇ (including the allowable range).
- FIG. 3 and FIG. 4 show the relationship of the screw tightening pass / fail judgment based on the detected value characteristic of the load current value in the electric motor during the clutch operation by the automatic screw tightening control method according to the present invention, and an appropriate screw tightening state.
- FIG. FIG. 10 is an explanatory diagram showing a screw tightening pass / fail judgment similar to that shown in FIG. 9 and showing a defective screw tightening state of a load current value. It is explanatory drawing which shows the schematic structure which shows another Example of the apparatus which implements the screw fastening control method which concerns on this invention, and its control system.
- FIG. 1 is a schematic configuration explanatory view showing an embodiment of an apparatus for carrying out an automatic screw tightening control method according to the present invention. That is, in FIG. 1, reference numeral 10 indicates an electric screwdriver. An electric motor 12, a drive switch 13 for driving the electric motor 12, and a drive output of the electric motor 12 are provided in a grip portion of the electric screwdriver 10. A speed reduction mechanism 16 and a clutch mechanism 18 coupled to a shaft (not shown) are respectively incorporated, and a driver bit 20 is coupled via the clutch mechanism 18.
- the switch operating member 14 that operates the drive switch 13 of the electric motor 12, the electric motor control circuit 22 that performs drive control and stop control of the electric motor 12, and the clutch operation of the clutch mechanism 18.
- a clutch operation detection sensor 28 for detection is provided.
- the electric motor control circuit 22 is provided with a rotation amount detecting means 24 for detecting the rotation amount of the precursor electric motor 12.
- load current detection means 26 for detecting the load current obtained in the electric motor 12 based on the load torque (reaction force) applied to the driver bit 20 is appropriately provided.
- a brushless motor can be suitably used as the electric motor 12.
- the switch operating member 14 for operating the drive switch 13 to drive the electric motor 12 can be configured as a known lever member provided on the outer periphery of the grip portion of the electric driver 10, for example.
- the rotation amount detection means 24 for detecting the rotation amount of the electric motor 12 counts the pulses generated at the time of magnetic pole detection with respect to the Hall element that detects the magnetic pole of the rotor in the brushless motor. It can be provided as a means. In this case, the count number of the pulses detected by the rotation amount detection means 24 can be detected and recorded as a rotation amount correlated with the screw tightening rotation amount in the screw tightening operation accompanying the rotation of the driver bit 20.
- the load current detecting means 26 for detecting the load current of the electric motor 12 can be provided as means for detecting the load current in the power supply circuit of the electric motor 12.
- the detected load current value of the electric motor 12 can be detected and recorded as a load current value correlated with a screw tightening torque value in the screw tightening operation accompanying the rotation of the driver bit 20.
- a clutch plate is attached to the output shaft of the speed reduction mechanism 16, and a clutch ball is elastically engaged with the clutch plate in the axial direction.
- a load torque (reaction force) above a certain level is applied to the output shaft, the clutch plate gets over the clutch ball, and the transmission of the rotational driving force to the bit holder that engages and holds the driver bit 20 is cut off.
- the screw can be tightened with a preset torque.
- the screw tightening torque can be set by appropriately adjusting the elasticity.
- the clutch operation detection sensor 28 for detecting the clutch operation of the clutch mechanism 18 includes, for example, a limit switch that operates by displacement of the clutch plate at the time of clutch operation, and an internal that constitutes the deceleration mechanism 16 that idles at the time of clutch operation. It can be configured by a known means such as a magnetic sensor for detecting the rotation of the gear.
- the control unit 30 is provided, and when the CPU 32 starts screw tightening work on the electric motor control circuit 22 provided in the electric motor 12 in the electric driver 10, the switch operation member is provided.
- a drive switch operation signal S13 obtained by the operation of the drive switch 13 operated by 14 is input, and based on this drive switch operation signal S13, a motor drive control signal S22a is output and input to the electric motor control circuit 22.
- the drive control of the electric motor 12 is performed.
- the CPU 32 detects the rotation amount detected by the rotation amount detection means 24 at the driving start time t0 of the electric motor 12 accompanying the start of the screw tightening operation. Based on the detection signal S24, the rotation amount Rt of the electric motor 12 is set to be detected and recorded.
- the driving start time t0 ⁇ ⁇ of the electric motor 12 accompanying the start of the screw tightening operation is proportional to the screw tightening torque value based on the load current detection signal S26 detected by the load current detecting means 26.
- the load current value It is set to be detected and recorded.
- the CPU 32 detects the amount of rotation of the electric motor 12 at the clutch operation time point t1 obtained based on the clutch operation detection signal S28 detected by the clutch operation detection sensor 28 at the clutch operation time point of the clutch mechanism 18.
- setting of a target rotation amount Rm ⁇ ⁇ ( ⁇ ⁇ is an allowable range) described later and a rotation amount Rt1 ⁇ ⁇ for comparison with the target rotation amount Rm ⁇ ⁇ is set to be detected and recorded.
- the load current proportional to the screw tightening torque value at the clutch operation time point t1t obtained based on the clutch operation detection signal S28 detected by the clutch operation detection sensor 28 at the clutch operation time point of the clutch mechanism 18.
- a setting of a target load current value Im ⁇ ⁇ ( ⁇ ⁇ is an allowable range) described later and a load current value It1t for comparison with the target load current value Im ⁇ ⁇ are detected and recorded.
- the motor stop control signal S22b is output and input to the electric motor control circuit 22 via the CPU 32, and the electric motor 12 stop control is performed.
- the CPU 32 of the control unit 30 compares the rotation amount Rt1 detected at the clutch operation time t1 with the preset target rotation amount Rm ⁇ ⁇ , When it is determined whether the screw tightening state is good and / or, by comparing the load current value It1 detected at the clutch operation time t1 with a preset target load current value Im ⁇ ⁇ , the screw tightening state When the quality is determined, the determination content is appropriately displayed on the display device 40 by any one of the screw tightening determination signals S40 output from the CPU 32.
- the CPU 32 calculates the rotation amount Rt of the electric motor 12 based on the rotation amount detection signal S24 detected in advance by the rotation amount detection means 24. It is set to detect and record together with the driving start time t0 (STEP-1, STEP-2).
- the predetermined screw tightening operation by the electric screwdriver 10 when the predetermined screw tightening operation by the electric screwdriver 10 is performed, the predetermined screw tightening operation is performed in advance, so that the screw tightening is started from the screw tightening start time t0-1 (STEP-1).
- the rotation amount Rm of the electric motor 12 until the clutch operation time t1 by the clutch mechanism 18 upon completion of the rotation is detected by the rotation amount detection means 24 (STEP-2), recorded in the CPU 32 of the controller 30, and the target rotation
- An amount Rm ⁇ ⁇ ( ⁇ ⁇ is an allowable range) is set in the CPU 32 (STEP-3).
- the rotation amount Rt of the electric motor 12 is based on the rotation amount detection signal S24 detected by the rotation amount detection means 24 at the start (STEP-1 and STEP-4) of the screw tightening operation accompanying the driving of the electric driver 10.
- the CPU 32 detects and records the rotation amount Rt of the electric motor 12 during the actual screw tightening operation after the driver bit 20 comes into contact with the object to be screwed, it is accurate. The amount of rotation can be detected.
- a support shaft that supports the driver bit 20 is coupled by a shaft joint so as to be elastically displaceable in the axial direction, and a magnet is provided at a displacement portion of the support shaft. It can be set as the structure which has arrange
- the rotation amount Rt1 of the electric motor 12 sequentially detected from the screw tightening start time t0 to the clutch operation time t1 by a predetermined screw tightening operation is set to the target rotation amount Rm ⁇ ⁇ (the allowable range is set).
- the rotation amount Rt1 of the electric motor detected from the set value of the target rotation amount Rm ⁇ ⁇ to the clutch operation time t1 in a predetermined screw tightening operation is sequentially added. And the detected value of the final rotation amount Rt1 can be compared with the set value of the target rotation amount Rm ⁇ ⁇ (including the allowable range).
- the rotation amount Rt1 ⁇ of the electric motor 12 sequentially detected from the screw tightening start time t0 to the clutch operation time t1 by a predetermined screw tightening operation is set as the first target rotation amount Rm ⁇ ⁇ (including the allowable range).
- the rotation amount of the electric motor 12 detected from the set value of the first target rotation amount Rm ⁇ ⁇ to the clutch operation time t1 in a predetermined screw tightening operation is sequentially subtracted.
- the final detection value of the rotation amount Rt1 is set to the second target rotation amount 0 ⁇ ⁇ ( It can also be configured to be compared with a set value (including an allowable range).
- the target rotation amount Rm ⁇ ⁇ or 0 ⁇ ⁇ (including the allowable range) is set and a predetermined screw tightening operation is performed
- the CPU 32 The clutch operation time t1 is detected and recorded, and the rotation amount Rt1 of the electric motor 12 at the clutch operation time t1 is detected and recorded (STEP-5). Therefore, the rotation amount Rt1 of the electric motor 12 detected at the clutch operation time t1 is compared with a preset target rotation amount Rm ⁇ ⁇ or 0 ⁇ ⁇ to compare the target rotation amount Rm ⁇ ⁇ or 0 ⁇ ⁇ . (Rm + ⁇ ⁇ Rt1 ⁇ Rm ⁇ or 0 + ⁇ ⁇ Rt1 ⁇ 0 ⁇ ) is determined (STEP-6).
- the screw tightening start time t0 for detecting the rotation amount Rt ⁇ of the electric motor 12 during the actual screw tightening operation after the driver bit 20 abuts against the object to be screwed is set ′.
- the rotation amount Rt1 of the electric motor 12 detected and recorded by the CPU 32 is compared with the target rotation amount Rm ⁇ ⁇ or 0 ⁇ ⁇ set in advance, respectively. If it complies with 0 ⁇ ⁇ (including the allowable range) (see FIGS. 5 and 6), it can be determined that the screw is properly tightened (STEP-7).
- the screw tightening state is bad. It can be determined (STEP-8).
- the control unit 30 can accurately record the number of screws determined to be appropriate in the screw tightening state, and the display unit 40 can be set to display the recorded contents. it can. Further, based on the rotation amount Rt1 of the electric motor 12 detected at the clutch operation time t1, the length of the screw that has been screwed is also accurately recorded by the control unit 30, and the recorded record is also recorded. The content can be set to be displayed on the display 40.
- the present control method can be configured such that the contents of each determination are appropriately displayed on the display 40 based on any one of the screw tightening determination signals S40 output from the CPU 32 (see FIG. 1).
- the rotation amount detection means 24 detects the rotation amount Rm of the electric motor 12 from the time point t0 (STEP-11) to the clutch operation time point t1 by the clutch mechanism 18 upon completion of screw tightening (STEP-12a). It is recorded in the CPU 32 of the device 30 and set in the CPU 32 as a target rotation amount Rm ⁇ ⁇ ( ⁇ ⁇ is an allowable range) (STEP-13a).
- the load current detection means 26 detects the load current value Im of the electric motor 12 from the start time t0 of the screw tightening to the clutch operation time t1 by the clutch mechanism 18 when the screw tightening is completed (STEP-12b ), And is recorded in the CPU 32 of the controller 30 and set in the CPU 32 as a target load current value Im ⁇ ⁇ ( ⁇ ⁇ is an allowable range) (STEP-13b).
- the clutch operation by the clutch mechanism 18 accompanying the completion of screw tightening from the screw tightening start time t0 (STEP-14).
- the rotation amount detection means 24 sequentially detects the rotation amount Rt ⁇ of the electric motor 12 up to the time point t1 (STEP-15a), and the rotation amount Rt1 detected at the clutch operation time point t1 is determined as the target rotation amount Rm ⁇ ⁇ (allowable). It is set so as to determine whether the screw tightening state is good or not (STEP-16a).
- the load current detection means 26 sequentially detects the load current value It from the start time t0 ⁇ of the screw tightening to the clutch operation time t1 ⁇ by the clutch mechanism 18 upon completion of the screw tightening (STEP-15b). By comparing the load current value It1 detected at the time t1 with the target load current value Im ⁇ ⁇ (including the allowable range) (STEP-16b), it is set to determine whether the screw tightening state is good or bad.
- the rotation amount Rt1 of the electric motor 12 detected at the clutch operation time point t1 ⁇ is compared with a preset target rotation amount Rm ⁇ ⁇ to determine whether or not it matches the target rotation amount Rm ⁇ ⁇ ( Rm + ⁇ ⁇ Rt1 ⁇ Rm ⁇ ) is determined (STEP-16a). Further, the load current value It1 detected at the clutch operation time t1 is compared with a preset target load current value Im ⁇ ⁇ , and whether or not the target load current value Im ⁇ ⁇ is satisfied (Im + ⁇ ⁇ It1 ⁇ Im ⁇ ) is determined (STEP-16b).
- the rotation amount Rt1 of the electric motor 12 is compared with the target rotation amount Rm ⁇ ⁇ to determine whether or not the target rotation amount Rm ⁇ ⁇ is satisfied (Rm + ⁇ ⁇ Rt1 ⁇ Rm ⁇ ).
- the means all the control methods (1) described above can be applied.
- the screw tightening state is It can be determined that it is appropriate (STEP-17). Therefore, in this case, the control unit 30 can accurately record the number of screws determined to be appropriate in the screw tightening state, and the display unit 40 can be set to display the recorded contents. it can. Further, based on the rotation amount Rt1 of the electric motor 12 detected at the clutch operation time t1, the length of the screw that has been screwed is also accurately recorded by the control unit 30, and the recorded record is also recorded. The content can be set to be displayed on the display 40.
- the load current value It1 detected and recorded at the clutch operation time t1t Becomes a state (It1 ⁇ Im ⁇ ⁇ ⁇ It1 ′) that does not conform to the target load current value Im ⁇ ⁇ including the allowable range (see FIG. 10).
- the electric motor 12 detected and recorded is recorded. Even if the rotation amount Rt1 is in a state that matches the target rotation amount Rm ⁇ ⁇ (Rm + ⁇ ⁇ Rt1 ⁇ Rm ⁇ ) (see FIG. 5), it can be determined that the screw tightening state is defective. (STEP-19).
- the load current value It1 detected and recorded at the clutch operating time t1 described above does not conform to the target load current value Im ⁇ ⁇ (It1 ⁇ Im ⁇ ⁇ ⁇ It1), and is also detected and recorded. If the rotation amount Rt1 of the electric motor 12 thus applied does not conform to the target rotation amount Rm ⁇ ⁇ (Rt1 ⁇ Rm ⁇ ⁇ ⁇ Rt1), it can be determined that the screw tightening state is defective (STEP). -18).
- the present control method (2) as in the case of the control method (1) described above, when the quality of the screw tightening state is determined, a determination display that can clearly distinguish between the appropriate determination and the defect determination is performed. Can do.
- the present control method can be configured such that the contents of each determination are appropriately displayed on the display 40 based on any one of the screw tightening determination signals S40 output from the CPU 32 (see FIG. 1).
- the screw tightening state is It can be determined that it is appropriate (STEP-27). Therefore, in this case, the control unit 30 can accurately record the number of screws determined to be appropriate in the screw tightening state, and the display unit 40 can be set to display the recorded contents. it can. Further, based on the rotation amount Rt1 of the electric motor 12 detected at the clutch operation time t1, the length of the screw that has been screwed is also accurately recorded by the control unit 30, and the recorded record is also recorded. The content can be set to be displayed on the display 40.
- the load current value It1 detected and recorded at the clutch operation time t1t. However, it becomes a state (It1 ⁇ Im ⁇ ⁇ ⁇ It1 ′) that does not conform to the target load current value Im ⁇ ⁇ including the allowable range (see FIG. 10), and it can be determined that the screw tightening state is defective ( (STEP-28).
- control method (3) as in the control methods (1) and (2) described above, when the quality of the screw tightening state is determined, the determination that can clearly distinguish between the appropriate determination and the defect determination. Display can be made.
- the present control method can be configured such that the contents of each determination are appropriately displayed on the display 40 based on any one of the screw tightening determination signals S40 output from the CPU 32 (see FIG. 1).
- the clutch operation time t1 by the clutch mechanism 18 accompanying the completion of screw tightening from the start time of screw tightening planned by a prior trial or the like based on the standard of the screw to be used in advance.
- the rotation amount Rm ′ of the electric motor 12 is set as the target rotation amount Rm ′ ⁇ ⁇ ( ⁇ ⁇ is an allowable range).
- the clutch mechanism 18 is used when the screw tightening is completed from the screw tightening start time t0 (t0 ′).
- the rotation amount detection means 24 sequentially detects the rotation amount of the electric motor 12 until the clutch operation time t1, and the rotation amount Rt1 detected at the clutch operation time t1 is the target rotation amount Rm ' ⁇ ⁇ (including the allowable range).
- the load current detection unit 26 detects the load current value It1 at the clutch operating time t1 and compares it with the target load current value Im ⁇ ⁇ . It can also be set as the structure set so.
- FIG. 11 is a schematic configuration explanatory view showing another embodiment of an apparatus for carrying out the automatic screw tightening control method according to the present invention.
- the same constituent elements as those of the apparatus of the embodiment shown in FIG. 1 described above have the same functions, and thus the same reference numerals are given and detailed descriptions thereof are omitted. .
- an electric motor other than the brushless motor can be applied as the electric motor 12, so that the rotation amount detecting means of the electric motor 12 is the driving shaft of the electric motor 12.
- the first encoder 25 made of a known rotary encoder is provided. Accordingly, in the present embodiment, the rotation amount of the electric motor 12 is determined as the rotation amount detection means by inputting the encoder detection signal S25 detected by the first encoder 25 to the CPU 32 of the control unit 30. Can be set. In this case, the encoder detection signal S25 detected by the first encoder 25 can be detected and recorded as a rotation amount correlated with a screw tightening rotation amount at the time of screw tightening of the driver bit 20 rotated by the electric motor 12. it can.
- the electric driver 10 ′ of the present embodiment can be configured such that a second encoder 29 composed of a known rotary encoder coupled to the driver bit 20 is attached as a rotation amount detection means of the driver bit 20. Accordingly, the rotation amount of the driver bit 20 can be set as rotation amount detection means by inputting the encoder detection signal S29 detected by the second encoder 29 to the CPU 32 of the control unit 30. . In this case, the encoder detection signal S29 detected by the second encoder 29 can be detected and recorded as a rotation amount correlated with the screw tightening rotation amount in the screw tightening operation by the rotation of the driver bit 20.
- the other configuration of the electric driver 10 ′ of the present embodiment is the same as that of the above-described embodiment, and therefore, the CPU 32 of the control unit 30 has a preset target rotation amount Rm ⁇ as in the above-described embodiment.
- the CPU 32 of the control unit 30 has a preset target rotation amount Rm ⁇ as in the above-described embodiment.
- the first encoder 25 or the second encoder 29 that detects a rotation amount correlated with the screw tightening rotation amount at the time of screw tightening of the driver bit 20, It is possible to detect and record the screw tightening start time t0 ′ when performing the screw tightening operation appropriately and easily.
- the start of screw tightening for a required screw hole is started.
- half of the trouble that causes screw tightening failure in the screw tightening operation can be confirmed and solved.
- screw tightening work (1) screw galling that occurs at the entrance by slant tightening to the pilot hole of the screw, and (2) workpiece and pilot hole generated when tightening tapping screw It is possible to confirm each of the screw floats that torque up before sitting due to a problem.
- the automatic screw tightening control method and apparatus when a plurality of preset screws are sequentially tightened in a required screw tightening operation, the above-described screw tightening for each screw is performed. At the same time as detecting and recording the judgment of the quality of the state, it is also possible to collect and record the number of screw tightening at the same time, facilitating the construction of a production line that performs various screw tightening operations and a production management system in those networks It becomes possible.
- the amount of rotation of the electric motor by the electric screwdriver is appropriately detected by using the clutch mechanism, so that the proper screw tightening can be performed. It is possible to easily and reliably determine the tightening completion (screw seating) state, and record or display each screw tightening state in relation to the number of screws to be subjected to many continuous screw tightening. Also, by detecting and recording the load current of the electric motor at the time of clutch operation in each screw tightening operation, the load current value at the time of clutch operation is the screw tightening torque value of the screw that has been completely screwed (seated), respectively.
- the present invention is not limited to such an embodiment.
- the present invention can be similarly applied to screw tightening control using a tapping screw or a drill screw or tapping screw processing.
- the time point (timing) at which the screw is seated in the screw tightening operation is set or configured to be detected by the clutch mechanism.
- the clutch mechanism for example, as the timing for detecting the rotation amount of the electric motor and the load current value, the detected rotation amount and load current value match the preset target rotation amount and target load current value, respectively. In this case, it can be configured to generate the required output signal and set the timing. Many other design changes can be made without departing from the spirit of the present invention.
Abstract
Description
前記電動ドライバーによる所定のねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を前記回転量検出手段により検出記録し、この検出記録された回転量を目標回転量(許容範囲を含む)として設定し、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定することを特徴とする。
前記電動ドライバーによる所定のねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を前記回転量検出手段により検出記録し、この検出記録された回転量を目標回転量(許容範囲を含む)として設定すると共に、前記負荷電流検出手段により検出される電動モータのねじ締めトルク値に比例する負荷電流値を検出記録し、この検出記録された負荷電流値を目標負荷電流値(許容範囲を含む)として設定し、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較すると共に、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの負荷電流値を前記負荷電流検出手段により逐次検出し、前記クラッチ動作時点に検出された負荷電流値を前記目標負荷電流値(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定することを特徴とする。
前記電動ドライバーによるねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータのねじ締めトルク値に比例する負荷電流値を前記負荷電流検出手段により検出記録し、この検出記録された負荷電流値を目標負荷電流値(許容範囲を含む)として設定し、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までのねじ締め電動モータのトルク値に比例する負荷電流値を前記負荷電流検出手段により逐次検出し、前記クラッチ動作時点に検出された負荷電流値を前記目標負荷電流値(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定することを特徴とする。
前記電動ドライバーによる所定のねじ締め作業において、予め使用するねじの規格に基づいて予定されるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を目標回転量(許容範囲を含む)として設定し、
所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定することを特徴とする。
前記電動ドライバーによる所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点、および/または、前記負荷電流検出手段により検出する負荷電流値が予め設定したねじ締めの完了に伴う目標負荷電流値に到達した時点において、前記前記回転量検出手段により逐次検出される電動モータの回転量を検出し、ねじ締めの完了に伴う前記目標負荷電流値(許容範囲を含む)と、前記電動モータの回転量として予め設定した目標回転量(許容範囲を含む)とを比較することにより、ねじ締め状態の良否を判定するように設定することを特徴とする。
前記電動ドライバーによる所定のねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を前記回転量検出手段により検出記録し、この検出記録された回転量を目標回転量(許容範囲を含む)として設定すると共に、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定してなる制御部を設けることを特徴とする。
前記電動ドライバーによる所定のねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を前記回転量検出手段により検出記録し、この検出記録された回転量を目標回転量(許容範囲を含む)として設定すると共に、前記負荷電流検出手段により検出される電動モータのねじ締めトルク値に比例する負荷電流値を検出記録し、この検出記録された負荷電流値を目標負荷電流値(許容範囲を含む)として設定すると共に、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較すると共に、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの負荷電流値を前記負荷電流検出手段により逐次検出し、前記クラッチ動作時点に検出された負荷電流値を前記目標負荷電流値(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定してなる制御部を設けることを特徴とする。
前記電動ドライバーによるねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータのねじ締めトルク値に比例する負荷電流値を前記負荷電流検出手段により検出記録し、この検出記録された負荷電流値を目標負荷電流値(許容範囲を含む)として設定すると共に、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までのねじ締め電動モータのトルク値に比例する負荷電流値を前記負荷電流検出手段により逐次検出し、前記クラッチ動作時点に検出された負荷電流値を前記目標負荷電流値(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定してなる制御部を設けることを特徴とする。
前記電動ドライバーによる所定のねじ締め作業において、予め使用するねじの規格に基づいて予定されるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を目標回転量(許容範囲を含む)として設定すると共に、
所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定してなる制御部を設けることを特徴とする。
図1は、本発明に係る自動ねじ締め制御方法を実施する装置の実施例を示す概略構成説明図である。すなわち、図1において、参照符号10は電動ドライバーを示し、この電動ドライバー10の把持部内に、電動モータ12と、この電動モータ12を駆動するための駆動スイッチ13と、前記電動モータ12の駆動出力軸(図示せず)に結合される減速機構16およびクラッチ機構18とを、それぞれ内蔵し、前記クラッチ機構18を介してドライバービット20を結合した構成からなる。
本制御方法(1)において、所要のねじ締め作業を開始するに際しては、スイッチ操作部材14を操作することにより駆動スイッチ13を作動し、前記電動モータ制御回路22にモータ駆動制御信号S22a が入力されて、電動モータ12の駆動制御が行われ、電動ドライバー10の駆動が開始される(図1、図2参照)。
本制御方法(2)においては、前記制御方法(1)と同様にして、電動ドライバー10の駆動に伴うねじ締め作業の開始に際して、予め前記回転量検出手段24により検出される回転量検出信号S24に基づいて電動モータ12の回転量Rt を、CPU32において電動モータ駆動開始時点t0 と共に検出記録する(STEP-11、STEP-12a)と共に、さらに負荷電流検出手段26により検出されるねじ締めトルク値に比例する負荷電流値It を、CPU32においてねじ締め開始時点t0 と共に検出記録する(STEP-11、STEP-12b)ように設定する(図1、図3参照)。
本制御方法(3)においては、前記回転量検出手段24を設けない場合であって、電動ドライバー10の駆動に伴うねじ締め作業の開始に際して、予め負荷電流検出手段26により検出されるねじ締めトルク値に比例する負荷電流値It を、CPU32においてねじ締め開始タイミングt0 と共に検出記録する(STEP-21、STEP-22)ように設定する(図1、図4参照)。
本制御方法(4)は、前述した自動ねじ締め制御方法(1)および(2)において行っている、回転量検出手段24による目標回転量の設定方法に代えて、簡便に目標回転量の設定を行うようにした自動ねじ締め制御方法である。すなわち、前述した自動ねじ締め制御方法(1)および(2)においては、図2に示すように、回転量検出手段24による目標回転量の設定に際して、予め電動ドライバー10の駆動による所定のねじ締め作業において、ねじ締めの開始時点t0 (STEP-1)からねじ締めの完了に伴う前記クラッチ機構18によるクラッチ動作時点t1 までの電動モータ12の回転量Rmを前記回転量検出手段24により検出して(STEP-2)、制御器30のCPU32に記録し、目標回転量Rm±α(±αは許容範囲)として前記CPU32に設定するものである(STEP-3)。
図11は、本発明に係る自動ねじ締め制御方法を実施する装置の別の実施例を示す概略構成説明図である。なお、説明の便宜上、前述した図1に示す実施例の装置と、同一の構成要素については、それぞれ同一の機能を有することから、同一の参照符号を付し、それらの詳細な説明は省略する。
13 駆動スイッチ 14 スイッチ操作部材
16 減速機構 18 クラッチ機構
20 ドライバービット 22 電動モータ制御回路
24 回転量検出手段 25 第1のエンコーダ(回転量検出手段)
26 負荷電流検出手段 28 クラッチ動作検出センサ
29 第2のエンコーダ(回転量検出手段)
30 制御部 32 CPU
40 表示器 S13 駆動スイッチ操作信号
S22a モータ駆動制御信号 S22b モータ停止制御信号
S24 回転量検出信号 S25 エンコーダ検出信号
S26 負荷電流検出信号 S28 クラッチ動作検出信号
S29 エンコーダ検出信号 S40 ねじ締め状態判定信号
Rm±α 目標回転量(許容範囲を含む)
Im±β 目標負荷電流値(許容範囲を含む)
t0 電動モータ駆動開始時点/ねじ締め開始時点
t0´ (プッシュ操作スイッチによる)ねじ締め開始時点
t1 クラッチ動作時点
Rt1 クラッチ動作時点または不動作時点の回転量
It1、It1´ クラッチ動作時点の負荷電流検出値
Claims (19)
- 電動モータと、この電動モータを駆動するための駆動スイッチと、前記電動モータの駆動出力軸に減速機構およびクラッチ機構を介して結合されるドライバービットとを備え、前記駆動スイッチを操作するスイッチ操作部材と、前記クラッチ機構のクラッチ動作を検出するクラッチ動作検出センサと、前記電動モータの駆動および停止制御を行う電動モータ制御回路と、前記電動モータの回転量を検出する回転量検出手段とを、それぞれ設けた電動ドライバーを使用し、
前記電動ドライバーによる所定のねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を前記回転量検出手段により検出記録し、この検出記録された回転量を目標回転量(許容範囲を含む)として設定し、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定することを特徴とする自動ねじ締め制御方法。 - 電動モータと、この電動モータを駆動するための駆動スイッチと、前記電動モータの駆動出力軸に減速機構およびクラッチ機構を介して結合されるドライバービットとを備え、前記駆動スイッチを操作するスイッチ操作部材と、前記クラッチ機構のクラッチ動作を検出するクラッチ動作検出センサと、前記電動モータの駆動および停止制御を行う電動モータ制御回路と、前記電動モータの回転量を検出する回転量検出手段と、前記電動モータ制御回路において前記ドライバービットに付与される負荷トルク(反力)に基づく電動モータにおいて得られる負荷電流を検出する負荷電流検出手段と、をそれぞれ設けた電動ドライバーを使用し、
前記電動ドライバーによる所定のねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を前記回転量検出手段により検出記録し、この検出記録された回転量を目標回転量(許容範囲を含む)として設定すると共に、前記負荷電流検出手段により検出される電動モータのねじ締めトルク値に比例する負荷電流値を検出記録し、この検出記録された負荷電流値を目標負荷電流値(許容範囲を含む)として設定し、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較すると共に、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの負荷電流値を前記負荷電流検出手段により逐次検出し、前記クラッチ動作時点に検出された負荷電流値を前記目標負荷電流値(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定することを特徴とする自動ねじ締め制御方法。 - 電動モータと、この電動モータを駆動するための駆動スイッチと、前記電動モータの駆動出力軸に減速機構およびクラッチ機構を介して結合されるドライバービットとを備え、前記駆動スイッチを操作するスイッチ操作部材と、前記クラッチ機構のクラッチ動作を検出するクラッチ動作検出センサと、前記電動モータの駆動および停止制御を行う電動モータ制御回路と、前記電動モータ制御回路において前記ドライバービットに付与される負荷トルク(反力)に基づく電動モータにおいて得られる負荷電流を検出する負荷電流検出手段とを、それぞれ設けた電動ドライバーを使用し、
前記電動ドライバーによるねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータのねじ締めトルク値に比例する負荷電流値を前記負荷電流検出手段により検出記録し、この検出記録された負荷電流値を目標負荷電流値(許容範囲を含む)として設定し、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までのねじ締め電動モータのトルク値に比例する負荷電流値を前記負荷電流検出手段により逐次検出し、前記クラッチ動作時点に検出された負荷電流値を前記目標負荷電流値(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定することを特徴とする自動ねじ締め制御方法。 - 電動モータと、この電動モータを駆動するための駆動スイッチと、前記電動モータの駆動出力軸に減速機構およびクラッチ機構を介して結合されるドライバービットとを備え、前記駆動スイッチを操作するスイッチ操作部材と、前記クラッチ機構のクラッチ動作を検出するクラッチ動作検出センサと、前記電動モータの駆動および停止制御を行う電動モータ制御回路と、前記電動モータの回転量を検出する回転量検出手段とを、それぞれ設けた電動ドライバーを使用し、
前記電動ドライバーによる所定のねじ締め作業において、予め使用するねじの規格に基づいて予定されるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を目標回転量(許容範囲を含む)として設定し、
所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定することを特徴とする自動ねじ締め制御方法。 - 所定のねじ締め作業において、ねじ締め開始時点からクラッチ動作時点までに逐次検出される電動モータの回転量を前記目標回転量(許容範囲を含む)と比較する場合において、前記目標回転量の設定値から所定のねじ締め作業においてクラッチ動作時点までに検出される電動モータの回転量を、逐次加算するように演算して、最終的な回転量の検出値を前記目標回転量(許容範囲を含む)の設定値と比較するように構成することを特徴とする請求項1、2または4記載の自動ねじ締め制御方法。
- 所定のねじ締め作業において、ねじ締め開始時点からクラッチ動作時点までに逐次検出される電動モータの回転量を前記第1の目標回転量(許容範囲を含む)と比較する場合において、前記第1の目標回転量の設定値から所定のねじ締め作業においてクラッチ動作時点までに検出される電動モータの回転量を逐次減算するように演算し、最終的に第2の目標回転量を0(許容範囲を含む)となるように設定して、最終的な回転量の検出値を前記第2の目標回転量(許容範囲を含む)の設定値と比較するように構成することを特徴とする請求項1、2または4記載の自動ねじ締め制御方法。
- 前記電動ドライバーにおいて、ねじの取付け対象物に対するドライバービットの当接時における軸方向の変位によって作動するプッシュ操作スイッチまたはエンコーダを設けて、前記プッシュ操作スイッチまたはエンコーダの動作信号により、ねじ締め作業を行う際のねじ締め開始時点として設定することを特徴とする請求項1ないし6のいずれかに記載の自動ねじ締め制御方法。
- 前記クラッチ動作時点に検出される電動モータの回転量が、予め設定した目標回転量(許容範囲を含む)に適合した場合、および/または、前記クラッチ動作時点に検出される負荷電流検出値が、予め設定した目標負荷電流値(許容範囲を含む)に適合した場合には、ねじ締め状態を適正と判定するように設定することを特徴とする請求項1ないし6のいずれかに記載の自動ねじ締め制御方法。
- 前記クラッチ動作時点または不動作時の電動モータの回転量が、予め設定した目標回転量(許容範囲を含む)に適合しない場合、および/または、前記クラッチ動作時点での電動モータのねじ締めトルク値に比例する負荷電流検出値が、予め設定した目標負荷電流値(許容範囲を含む)に適合しない場合には、ねじ締め状態を不良と判定するように設定することを特徴とする請求項1ないし6のいずれかに記載の自動ねじ締め制御方法。
- 前記クラッチ動作時点に検出される電動モータの回転量および/または前記クラッチ動作時点に検出される負荷電流検出値が、それぞれ目標回転量(許容範囲を含む)および/または目標負荷電流値(許容範囲を含む)に適合し、ねじ締め状態を適正と判定されたねじの本数および/またはねじの長さ寸法を検出記録するように設定したことを特徴とする請求項1ないし6のいずれかに記載の自動ねじ締め制御方法。
- 前記クラッチ動作時点に検出されるねじ締め状態を適正または不良と判定した場合に、それぞれの状態を区別して表示器において表示するように設定することを特徴とする請求項1ないし10のいずれかに記載の自動ねじ締め制御方法。
- 電動モータと、この電動モータを駆動するための駆動スイッチと、前記電動モータの駆動出力軸に減速機構およびクラッチ機構を介して結合されるドライバービットとを備え、前記駆動スイッチを操作するスイッチ操作部材と、前記クラッチ機構のクラッチ動作を検出するクラッチ動作検出センサと、前記電動モータの駆動および停止制御を行う電動モータ制御回路と、前記電動モータの回転量を検出する回転量検出手段と、前記電動モータ制御回路において前記ドライバービットに付与される負荷トルク(反力)に基づく電動モータにおいて得られる負荷電流を検出する負荷電流検出手段と、をそれぞれ設けた電動ドライバーを使用し、
前記電動ドライバーによる所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点、および/または、前記負荷電流検出手段により検出する負荷電流値が予め設定したねじ締めの完了に伴う目標負荷電流値に到達した時点において、前記前記回転量検出手段により逐次検出される電動モータの回転量を検出し、ねじ締めの完了に伴う前記目標負荷電流値(許容範囲を含む)と、前記電動モータの回転量として予め設定した目標回転量(許容範囲を含む)とを比較することにより、ねじ締め状態の良否を判定するように設定することを特徴とする自動ねじ締め制御方法。 - 電動モータと、この電動モータを駆動するための駆動スイッチと、前記電動モータの駆動出力軸に減速機構およびクラッチ機構を介して結合されるドライバービットとを備え、前記駆動スイッチを操作するスイッチ操作部材と、前記クラッチ機構のクラッチ動作を検出するクラッチ動作検出センサと、前記電動モータの駆動および停止制御を行う電動モータ制御回路と、前記電動モータの回転量を検出する回転量検出手段とを、それぞれ設けた電動ドライバーからなり、
前記電動ドライバーによる所定のねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を前記回転量検出手段により検出記録し、この検出記録された回転量を目標回転量(許容範囲を含む)として設定すると共に、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定してなる制御部を設けることを特徴とする自動ねじ締め制御装置。 - 電動モータと、この電動モータを駆動するための駆動スイッチと、前記電動モータの駆動出力軸に減速機構およびクラッチ機構を介して結合されるドライバービットとを備え、前記駆動スイッチを操作するスイッチ操作部材と、前記クラッチ機構のクラッチ動作を検出するクラッチ動作検出センサと、前記電動モータの駆動および停止制御を行う電動モータ制御回路と、前記電動モータの回転量を検出する回転量検出手段と、前記電動モータ制御回路において前記ドライバービットに付与される負荷トルク(反力)に基づく電動モータにおいて得られる負荷電流を検出する負荷電流検出手段と、をそれぞれ設けた電動ドライバーからなり、
前記電動ドライバーによる所定のねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を前記回転量検出手段により検出記録し、この検出記録された回転量を目標回転量(許容範囲を含む)として設定すると共に、前記負荷電流検出手段により検出される電動モータのねじ締めトルク値に比例する負荷電流値を検出記録し、この検出記録された負荷電流値を目標負荷電流値(許容範囲を含む)として設定すると共に、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較すると共に、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの負荷電流値を前記負荷電流検出手段により逐次検出し、前記クラッチ動作時点に検出された負荷電流値を前記目標負荷電流値(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定してなる制御部を設けることを特徴とする自動ねじ締め制御装置。 - 電動モータと、この電動モータを駆動するための駆動スイッチと、前記電動モータの駆動出力軸に減速機構およびクラッチ機構を介して結合されるドライバービットとを備え、前記駆動スイッチを操作するスイッチ操作部材と、前記クラッチ機構のクラッチ動作を検出するクラッチ動作検出センサと、前記電動モータの駆動および停止制御を行う電動モータ制御回路と、前記電動モータ制御回路において前記ドライバービットに付与される負荷トルク(反力)に基づく電動モータにおいて得られる負荷電流を検出する負荷電流検出手段とを、それぞれ設けた電動ドライバーからなり、
前記電動ドライバーによるねじ締め作業において、最初のねじ締め作業におけるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータのねじ締めトルク値に比例する負荷電流値を前記負荷電流検出手段により検出記録し、この検出記録された負荷電流値を目標負荷電流値(許容範囲を含む)として設定すると共に、
その後における所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までのねじ締め電動モータのトルク値に比例する負荷電流値を前記負荷電流検出手段により逐次検出し、前記クラッチ動作時点に検出された負荷電流値を前記目標負荷電流値(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定してなる制御部を設けることを特徴とする自動ねじ締め制御装置。 - 電動モータと、この電動モータを駆動するための駆動スイッチと、前記電動モータの駆動出力軸に減速機構およびクラッチ機構を介して結合されるドライバービットとを備え、前記駆動スイッチを操作するスイッチ操作部材と、前記クラッチ機構のクラッチ動作を検出するクラッチ動作検出センサと、前記電動モータの駆動および停止制御を行う電動モータ制御回路と、前記電動モータの回転量を検出する回転量検出手段とを、それぞれ設けた電動ドライバーからなり、
前記電動ドライバーによる所定のねじ締め作業において、予め使用するねじの規格に基づいて予定されるねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点の電動モータの回転量を目標回転量(許容範囲を含む)として設定すると共に、
所定のねじ締め作業において、ねじ締めの開始時点からねじ締めの完了に伴う前記クラッチ機構によるクラッチ動作時点までの電動モータの回転量を前記回転量検出手段により逐次検出し、前記クラッチ動作時点に検出された回転量を前記目標回転量(許容範囲を含む)と比較することにより、ねじ締め状態の良否を判定するように設定してなる制御部を設けることを特徴とする自動ねじ締め制御装置。 - 前記電動ドライバーにおいて、ねじの取付け対象物に対するドライバービットの当接時における軸方向の変位によって作動するプッシュ操作スイッチまたはエンコーダを設け、前記プッシュ操作スイッチまたはエンコーダの動作信号により、ねじ締め作業を行う際のねじ締め開始時点を設定するように構成することを特徴とする請求項13ないし16のいずれかに記載の自動ねじ締め制御装置。
- 前記制御部において、前記クラッチ動作時に検出される電動モータの回転量および/または前記クラッチ動作時に検出される負荷電流検出値が、それぞれ目標回転量(許容範囲を含む)および/または目標負荷電流値(許容範囲を含む)に適合し、ねじ締め状態を適正と判定されたねじの本数および/またはねじの長さ寸法を検出記録するように構成したことを特徴とする請求項13ないし16のいずれかに記載の自動ねじ締め制御装置。
- 前記制御部において得られるねじ締め状態の良否の判定結果に対して、それぞれの状態を区別して表示する表示器を設けることを特徴とする請求項13ないし18のいずれかに記載の自動ねじ締め制御装置。
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US20200001442A1 (en) | 2020-01-02 |
EP2913155A4 (en) | 2016-11-09 |
EP2913155B1 (en) | 2021-10-20 |
CN104661796B (zh) | 2018-07-03 |
CN104661796A (zh) | 2015-05-27 |
US10471576B2 (en) | 2019-11-12 |
US20150273671A1 (en) | 2015-10-01 |
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US20210394343A1 (en) | 2021-12-23 |
JP6304661B2 (ja) | 2018-04-04 |
US11130217B2 (en) | 2021-09-28 |
EP2913155A1 (en) | 2015-09-02 |
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