JPS58114830A - Automatic thread screwing device - Google Patents
Automatic thread screwing deviceInfo
- Publication number
- JPS58114830A JPS58114830A JP21143181A JP21143181A JPS58114830A JP S58114830 A JPS58114830 A JP S58114830A JP 21143181 A JP21143181 A JP 21143181A JP 21143181 A JP21143181 A JP 21143181A JP S58114830 A JPS58114830 A JP S58114830A
- Authority
- JP
- Japan
- Prior art keywords
- torque
- detection
- output
- detection system
- tightening
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
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
- B23P19/066—Arrangements for torque limiters or torque indicators in screw or nut setting machines by electrical means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
Description
【発明の詳細な説明】
軸トルクを検既し、この検出信号に基づきねじの締付ト
ルクを制御する自動ねじ締め機に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic screw tightening machine that detects shaft torque and controls screw tightening torque based on this detection signal.
この種のねじ締め機において、５トルクセンサ乃至はそ
れを含む検出系は、高精度なトルク制御を行なう上での
中核的な地位を占めている。In this type of screw tightening machine, a five-torque sensor or a detection system including the sensor occupies a core position in performing highly accurate torque control.
従って、検出系が常に正常に検出動作を行なうこと特に
トルクセンサが正常ｔこ動作することは絶対的な条件と
なる。然るに検出系は、取付時の初期故障をも含めてト
ルクセンサの故障、バノファアンプ部或いはトルクセン
サの経時的変化や温度変化によるキャリブレーションの
ズレ等の異常を起すことがある。Therefore, it is an absolute condition that the detection system always performs a normal detection operation, especially that the torque sensor operates normally. However, in the detection system, abnormalities may occur, including initial failures at the time of installation, failures in the torque sensor, and deviations in calibration due to changes in the vanofer amplifier section or torque sensor over time or temperature changes.
現行のねじ締め機は単一の検出系しかもたず、また当該
検出系が正常に動作しているかどうかを監視する機能も
有していないので、上記の如き検出系の１作異常を早期
に発見することができず、そのため高精度なトルク制御
を行なうことが常にできるとはいえないものである。Current screw tightening machines only have a single detection system, and do not have a function to monitor whether the detection system is operating normally. Therefore, it is not always possible to perform highly accurate torque control.
本発明は、同一構成の検出系を複数用いた場合、いずれ
の検出系とも正常に動作していると全ての検出系の検出
々力が等しくその値が一致しているが、いずれかの検出
系が動作異常を起すとその値が異なり、検出々力の所望
値に達するタイミングが大きく異なるという点に着目し
、複数の検出系を用いることによって、別途に動作異常
を監視する機構を用いずとも検出系の動作異常を発見で
きるように工夫したものである。In the present invention, when a plurality of detection systems with the same configuration are used, if all the detection systems are operating normally, the detection power of all the detection systems is equal and the values match; Focusing on the fact that when a system malfunctions, the value will differ and the timing at which the detection force reaches the desired value will vary greatly, by using multiple detection systems, we can eliminate the need for a separate mechanism for monitoring malfunctions. Both have been devised to detect malfunctions in the detection system.
即ち、本発明に係る自動ねじ締め機は、トルクセンサな
２個以上複数個設けて夫々独立して一例ツー？
軸トルクを検出する検出系となし、かつ各検出系の検出
々力を比較し、全ての検出々力が一致しないときトルク
センサを含む検出系が異常であると判定するように構成
したことを要旨としている。ここに検出系とは、トルク
センサのみではなく、その検出信号のゼロ補正、ゲイン
補正をしてキヤリプレーシ膠ンをする回路及びバラフッ
アンプ部を含めた回路系をいう。That is, in the automatic screw tightening machine according to the present invention, two or more torque sensors are provided and each torque sensor is independently operated. The system is configured to have a detection system that detects shaft torque, compare the detected forces of each detection system, and determine that the detection system including the torque sensor is abnormal when all detected forces do not match. This is the summary. Here, the detection system refers to a circuit system that includes not only the torque sensor but also a circuit that performs zero correction and gain correction of the detection signal to perform caliper adjustment, and a balance amplifier section.
検出系の数は２個以上が必要であるが、通常は２個設け
て実施するのが望ましい。そして３個以上設けた場合は
、そのうちの２個を使用し、残りは使用中のものが故障
したときの代替用としておけば良い。また各検出系の検
出々力の比較は、ねじ締め開始から終了まで常時比較す
る手法をとることもてきるが、ねじ締め作業の各節目毎
に比較するという手法をとるほうが好ましい。節目とは
例えはねじ締め作業を仮締め段階と本締め段階とに分け
て行なう場合にあっては仮締め完了時と本締め完了時と
をいう。但しいずれかの検出系が動作異常を起している
と仮締め完了時や本締め完了時という節目にいつの時点
で達したか不明であるので、これらの節目は、各検出々
力のうちの一つが最先に所定の仮締付トルク値又は本締
付トルクｆｆｌに達した時点から一定時時経過するまで
と定めるのが良い。Although two or more detection systems are required, it is usually desirable to use two detection systems. If three or more are provided, two of them can be used and the rest can be used as replacements in case the one in use breaks down. Although it is possible to compare the detected forces of each detection system by constantly comparing them from the start to the end of screw tightening, it is preferable to compare them at each turning point of the screw tightening operation. For example, in the case where the screw tightening work is divided into a temporary tightening stage and a final tightening stage, the turning point refers to the time when the preliminary tightening is completed and the time when the final tightening is completed. However, if any of the detection systems has malfunctioned, it is unclear at what point the preliminary tightening or final tightening is completed, so these milestones are determined by the amount of each detection force. It is preferable that one of them is set as a period from when a predetermined temporary tightening torque value or a final tightening torque ffl is reached first until a certain period of time has elapsed.
この一定時間内に他の検出系の検出々力が前記所定のト
ルク値に達しないと動作異常を起していると判定できる
。また、検出系が異常であると判定された場合、警報を
発して作業者１こ告知するのも一手法であるが、異常と
判定した時点以後、ねじ締め作業を中止させるのが自動
化作業を行なう上においては望ましい。If the detected force of the other detection system does not reach the predetermined torque value within this certain period of time, it can be determined that an abnormal operation has occurred. In addition, if the detection system determines that there is an abnormality, one method is to issue an alarm and notify the worker, but automated work is better at stopping the screw tightening work after the detection system determines that there is an abnormality. It is desirable in practice.
以下、図面に基づき本発明の一実施例を説明する。第１
図は自動ねじ締め機の一例として定置式単軸型の自動ね
じ締め機を示し、図中（１）は支柱、（２）は該支柱に
取付けられた支持プレートで、上下端の腕部ｔ３１ ＋
３１に棒杆（４）が上下摺動自在に挿通されている。こ
の棒杆（４）にはねじ締め機本体１５）を取着する取着
部材（６）が上下摺動自在に挿通されており、両者を引
張りばね（７）が連結している。また、この棒杆（４）
には止め輪（図示せず）が設けられており、棒杆（４；
の上端と取着部材（６）とが一定の間隔に保持されてい
る。更に棒杆（４）にはキャプチャ（８（を支持する支
持板（９］がヌフィド自在に挿通され、棒杆下端に螺入
されたナツトααによって受止められている。前記ねじ
締め機本体（５）は、パルスモータαＤとドライバビッ
トα２とパルスモータａＤからドライバビットαりに回
転動力を伝達する伝達軸０３とから組立てられており、
伝達軸０にはドライバビットの軸トルクを検出するトル
クセンサα４Ｑシが複数個例えば２個設けられている。Hereinafter, one embodiment of the present invention will be described based on the drawings. 1st
The figure shows a stationary single-shaft type automatic screw tightening machine as an example of an automatic screw tightening machine. +
A rod rod (4) is inserted into 31 so as to be vertically slidable. An attachment member (6) for attaching the screw tightening machine body 15) is inserted into the rod (4) so as to be slidable up and down, and a tension spring (7) connects both. Also, this rod (4)
is provided with a retaining ring (not shown), and the bar rod (4;
The upper end of the mounting member (6) is maintained at a constant distance from the mounting member (6). Further, a support plate (9) supporting the capture (8) is freely inserted into the rod rod (4), and is received by a nut αα screwed into the lower end of the rod rod. 5) is assembled from a pulse motor αD, a driver bit α2, and a transmission shaft 03 that transmits rotational power from the pulse motor aD to the driver bit α,
A plurality of, for example two, torque sensors α4Q are provided on the transmission shaft 0 to detect the shaft torque of the driver bit.
また、このねじ締め機本体（５）は支持プレートｆ２１
に設けられた昇降シリンダ０υによって上下昇降運動可
能に構成されている。昇降シリンダαＧの昇降動作は棒
杆（４）を介してキャッチャ（８１にも伝達されるので
キャッチャ（８１もねじ締め機本体１５１と共に昇降動
作するが、その下降量は棒杆（４ｊの上端と上側の腕部
（３）によって規制されている。またキャッチャ（８）
は駆動手段［１７＋としてのシリンダのロッド０印先端
に綬けたす’ ？（１８ａ）ｔこ係止可能とされており
、該駆動手段Ｇ７＋の動作によってドライバビットα２
とは別個独立に上昇動が可能である。尚、図示はしない
が、ねじ締め機本体（５）が上昇し原位置に復帰してい
るとスイッチオンするリミノトスインチ等の原位置復帰
確認用スイッチが設けられている。前記パルスモータ卸
、昇降シリンダａｅ、ｇ動手段（１７１は第２図１こ示
す回路によって制御され、自動ねじ締め動作を行なうよ
うにしである。In addition, this screw tightening machine main body (5) has a support plate f21
It is configured to be able to move up and down by an up/down cylinder 0υ provided at. The vertical movement of the lifting cylinder αG is also transmitted to the catcher (81) via the rod (4), so the catcher (81) also moves up and down together with the screw tightening machine main body 151, but the amount of descent is determined by the upper end of the rod (4j). It is regulated by the upper arm (3). Also, the catcher (8)
Is the driving means [17+] tied to the end of the rod marked 0'? (18a) The driver bit α2 can be locked by the operation of the driving means G7+.
An upward movement is possible separately and independently. Although not shown, a switch for confirming return to the original position, such as a riminotosinch, which is turned on when the screw tightening machine body (5) has risen and returned to the original position, is provided. The pulse motor, lifting cylinder ae, and g movement means (171) are controlled by the circuit shown in FIG. 2 to perform automatic screw tightening operation.
第２図中、■はねじ締めスタート部、■は、トルクセン
サＱ４１とバッフファンツブ部ノとキャリフ。In Figure 2, ■ is the screw tightening start part, and ■ is the torque sensor Q41, the buff fan knob, and the calf.
レジ肩ン回路へとによって構成される第１の検出系、（
至）はトルクセンサαりとバッファアンプ（支）とキャ
リプレーシーン回路面とによって構成される第２の検出
系である。（支）は所定の仮締付トルク値が設定された
設定器、凶は所定の本締付トルク値が設定された設定器
である。パルスモータαυはドライバピットの軸トルク
が前記所定の仮締付トルり値に達するまでは高速で回転
され、仮締付トルク値をこ達して後本締付トルク値に達
するまでは低速で回転される。前記第１の検出系□□□
の検出々力は設定器＠に設定された仮締付トルク値と比
較器（至）で比較され、設定器内に設定された本締付ト
ルク値とは比較器３Ｂで比較される。他方、第２の検出
系虞の検出々力は設定器（至）に設定された仮締付トル
ク値と比較器［有］で比較され、設定器のに設定された
本締付トルク値とは比較器（至）で比較される。そして
、比較器田と鈴の比較出力は一数回路一に入力され、両
比較出力か一致すると、−数回路（至）の−散出力線（
ａ）から出力を発し、一致しないと不一致出力線ｔｂ＋
から出力を発する。同様に比較器ｏｎと■の比較出力は
一数回路□□□ｔこ入力され、両比較出力が一致すると
一数回路缶の一致出力線ｔａｌから出力を発し、一致し
ないと不一致出力線（ｂ）から出力を発する。いずれか
の−数回路□□□田の不一致出力線（ｂ）から出力が発
することは２つの検出矛に■の検出々力が一致してない
ことであり、それはいずれかの検出系＠（ハ）が動作異
常を起していることを意味する。The first detection system is configured by a register shoulder circuit, (
(to) is a second detection system composed of a torque sensor α, a buffer amplifier (support), and a caliplay scene circuit. (Support) is a setting device in which a predetermined temporary tightening torque value is set, and (in) is a setting device in which a predetermined main tightening torque value is set. The pulse motor αυ is rotated at high speed until the shaft torque of the driver pit reaches the predetermined temporary tightening torque value, and rotates at low speed until it reaches the temporary tightening torque value and then reaches the final tightening torque value. be done. Said first detection system □□□
The detected force is compared with the temporary tightening torque value set in the setting device @ by a comparator (to), and compared with the main tightening torque value set in the setting device by a comparator 3B. On the other hand, the detected force of the second detection system is compared with the temporary tightening torque value set on the setting device (to) by a comparator, and compared with the actual tightening torque value set on the setting device. are compared by the comparator (to). Then, the comparative outputs of the comparators and Suzu are input to the one-number circuit 1, and when both comparison outputs match, the -several output line of the -several circuit (to)
Output is generated from a), and if they do not match, the mismatch output line tb+
emits output from. Similarly, the comparison outputs of the comparators on and ) emits output. The fact that an output is emitted from the mismatch output line (b) of one of the -number circuits □□□ means that the detection power of ■ does not match the two detection spears, which means that one of the detection systems @( c) means that an abnormal operation has occurred.
尚、各検出系ニムが動作異常を起していないときでも、
それらの検出々力が同時に同様な変化を示すとは限らず
、多くの場合、各検出系の検出々力の変化には多少の１
時間差がある。従ってそれらの検出々力が設定器θ（支
）に設定された設定値と一致する時点も異なる。このた
め、−数回路ｏｔｃａには最先に所定の仮締付トルク値
又は本締付トルク値に達した検出々力を、それに遅れて
所定の仮締付ト〃り値又は本締付トルク値に達する検出
々力が比較器を通じて入力されるまでの時間に相当する
一定時間保持する保持回路が組込んである。In addition, even when each detection system NIMS does not have any abnormal operation,
These detection powers do not necessarily show similar changes at the same time, and in many cases, there is a slight difference in the detection power of each detection system.
There is a time difference. Therefore, the points at which the detected forces match the set value set in the setting device θ (support) also differ. Therefore, the -several circuit otca first receives the detected force that has reached the predetermined temporary tightening torque value or the main tightening torque value, and then, after that, the predetermined temporary tightening torque value or the main tightening torque. A holding circuit is built in to hold the sensor for a certain period of time corresponding to the time it takes for the detection force to reach the value to be input through the comparator.
次に、缶はパワー供給部、（９）は高速駆動パルス供給
部、（至）は低速駆動バμヌ供給部、■はパルスモータ
駆動制御部、■はねじ締め機本体（５）を昇降させる昇
降シリンダ叩を駆動する昇降用電磁弁、（転）は駆動手
段αのを駆動してキャッチャ（８）を単独で上昇させる
゛電磁弁、（転）は前記−数回スイッチである。Next, the can is the power supply section, (9) is the high-speed drive pulse supply section, (to) is the low-speed drive vane supply section, ■ is the pulse motor drive control section, and ■ is the main body of the screw tightening machine (5). The solenoid valve for lifting and lowering that drives the lifting cylinder, (turn) is the solenoid valve that drives the drive means α to raise the catcher (8) independently, and (turn) is the -several switch mentioned above.
また、ＯＲ１，ＯＲ２はオア回路である。Further, OR1 and OR2 are OR circuits.
この構成にお、いて、今ねじ締めスタート部ｃｌｌｌが
作動すると、パワー供給部圓が動作し、パルスモータ駆
動制御部−にパワー供給を開始すると同時に、高速パル
ス供給部（支）を作動させ、パルスモータ駆動制御部（
支）を通じてパルスモータＯ１ｌを自起動周波数以上の
周波数で高速回転させる。また、同時に電磁野菊を通電
し、昇降シリンダ止を下降させる。これによって、高速
回転でねじ締めが行なわれる。In this configuration, when the screw tightening start part clll is activated, the power supply part is activated and starts supplying power to the pulse motor drive control part, and at the same time, the high speed pulse supply part (support) is activated. Pulse motor drive control section (
The pulse motor O1l is rotated at a high speed at a frequency higher than the self-starting frequency. At the same time, the electromagnetic field chrysanthemum is energized and the lifting cylinder stop is lowered. This allows screw tightening to be performed at high speed rotation.
更に、ねじ締めスタート部ｃ！ワの作動により判定表示
部０、−数回路（至）灸の記憶内容がリセットされる。Furthermore, screw tightening start part c! By the operation of wa, the memory contents of the judgment display section 0, - number of circuits (to) moxibustion are reset.
かくしてねじ締め作業が進行し、各検出系−■の検出々
力が設定器αに設定された仮締付トルク値に一致すると
、−数回路（至）の−散出力線ｆａ）から出力が発して
高速駆動パルス供給部面を作動停止し、′仮締め作業を
完了する。この作業完了と同時に前記出力によって電磁
弁動を通電し、駆動手段ｕ９を駆動させる。駆動手段α
９の駆動によってキャッチャ（８）が単独で上昇するの
で、仮締め完了した段階においてねじの頭部がキャッチ
ャ（８１に保持されていたり、引掛かっていたりしてい
ても、キャッチャ（８）が上昇した後はその状類が解消
され、各検出系によって純粋に締付トルクに関与してい
る軸トルりのみの検出が行なえるようになる。As the screw tightening work progresses in this way, when the detected force of each detection system -■ matches the temporary tightening torque value set in the setting device α, the output from the -dissipated output line fa) of the -several circuits (to) Then, the high-speed drive pulse supply section is stopped and the temporary tightening work is completed. At the same time as this work is completed, the electromagnetic valve is energized by the output to drive the driving means u9. Drive means α
Since the catcher (8) is raised independently by the drive of 9, even if the head of the screw is held or caught in the catcher (81) when the temporary tightening is completed, the catcher (8) will not rise. After that, this situation will be resolved and each detection system will be able to detect only the shaft torque that is purely related to the tightening torque.
前記−数回路（至）の−散出力線（ａｌより発した出力
はまた低速駆動パルス供給部（至）にも加えられる。こ
の供給部（至）は駆動手段０ηが作動完了するのを待っ
て作動し、パルスモータ駆動制御部（岬 、′
を通じてパルスモータαυを自起動周波数以下の低速で
回転させる。ねじ締め機本体（５）は、パルスモータα
１）の低速回転により本締め作業を開始する。そして、
各検出系ニ四の検出々力が設定器■に設定された本締付
トルク値と一致すると一数回路一の一致出力線（ａｌか
ら出力が発して低速駆動パルス供給部（至）及びパワー
供給部（ト）の作動を停止すると共に、電磁弁（転）を
非通電にし、昇降シリンダα会を上昇動させる。また、
判定表示部りを通じて良の表示を行なう。低速駆動パル
ス供給部（至）の作動停止によってパルスモータαυは
回転停止し、停動トｙりで拘束さることにルスモータ０
υは無励磁となり停動トルクでの拘束状態が解除される
。昇降シリンダＯｅの上昇はこの拘束状態の解除後に行
なわれるようにしである。これは、ドライバビットｔこ
てねじ頭部が損傷されるのを防止するためである。昇降
シリ。The output emitted from the dispersion output line (al) of the several circuits (to) is also applied to the low-speed drive pulse supply (to). This supply (to) waits for the drive means 0η to complete its operation. The screw tightening machine body (5) rotates the pulse motor αυ at a low speed below the self-starting frequency through the pulse motor drive control unit (Misaki, ′).
Start the final tightening work by rotating at low speed in step 1). and,
When the detected force of each detection system 24 matches the final tightening torque value set in the setting device Stop the operation of the supply section (G), de-energize the solenoid valve (T), and move the lifting cylinder α upward.
A pass is displayed through the judgment display section. The pulse motor αυ stops rotating due to the stoppage of the low-speed drive pulse supply unit (to), and the pulse motor αυ stops rotating due to the stoppage.
υ becomes de-energized and the state of restraint at stall torque is released. The lifting cylinder Oe is designed to be raised after this restrained state is released. This is to prevent the screw head of the driver bit t from being damaged. Lifting Siri.
ンダＯυの上昇によってねじ締め機本体（５１が原位置
に復帰し、原位置復帰確認用スイッチ（ハ）が動作する
。これにより、電磁弁（４１１が非通電となりキャッチ
ャ（８１へねじを供給し、次いでねじ−めスタート部２
＋１か作動するまでその状態で待機する。かくしてねじ
締め動作を完了する。As the driver Oυ rises, the screw tightening machine body (51) returns to its original position, and the switch (c) for confirming return to its original position operates. As a result, the solenoid valve (411) becomes de-energized and the screw is supplied to the catcher (81). , then screw start part 2
Waits in that state until +1 or activates. The screw tightening operation is thus completed.
ところで、上記ねじ締め作業は、各検出糸■鉋が動作異
常を起してない場合に関しての動作であるが、いずれか
一方の検出系に又は器か動作異常を起していた場合は・
一方０検出系ム又 、１は為の検出々力が設定器
色に設定された仮締付トルク値に達しても、その後一定
時間内に他方の検出系内又は＠の検出々力が仮締付トル
ク値に達しない。このため−数回路供の不一致出力線ｆ
ｂ）から出力が発して、高速駆動パルス供給部（至）の
作動停止、電磁弁（社）の通電パワー供給部鉋の作動停
止、電磁弁（イ）を非通電しての昇降シリンダ叫の上昇
動という一連の動作を行なって、本締め作業を開始する
ことなくねじ締め機本体（５）を原位置に復帰させる。By the way, the above screw tightening work is performed when there is no abnormality in the operation of each detection thread or plane, but if there is an abnormality in the operation of either one of the detection systems or the machine.
On the other hand, even if the detected force in the 0 detection system or 1 reaches the temporary tightening torque value set in the setting device color, the detected force in the other detection system or @ reaches the temporary tightening torque value set in the setting device color. The tightening torque value is not reached. Therefore, the mismatch output line f for several circuits
An output is generated from b), and the high-speed drive pulse supply section (to) stops operating, the solenoid valve (a) is energized, the power supply section of the plane stops operating, and the solenoid valve (a) is de-energized, causing the elevating cylinder to scream. A series of movements called upward movements are performed to return the screw tightening machine main body (5) to its original position without starting the final tightening work.
また同時に不一致出力線（ｂ）の出力によって判定表示
部ゆを通じて動作異常の表示をする。ねじ締め機本体（
５）が本締めを行なうことなく原位置に復帰することに
よって不正確なトルク制御によるねじ締め作業が回避で
きるし、判定表示部（転）の表示によって作業者が動作
異常を察知し、早急に修復作業にかかることができる。At the same time, an abnormal operation is displayed through the judgment display section by the output of the mismatch output line (b). Screw tightening machine body (
5) returns to the original position without performing final tightening, thereby avoiding screw tightening work due to inaccurate torque control, and the display on the judgment display section (turn) allows the operator to detect malfunctions and quickly correct them. Repair work can be undertaken.
一方、仮締付トルク値までは各検出系＠５とも正常な動
作を４行なうが、仮締付トルク値以上ではいずれかの検
出系の内が異常動作を行なう場合においては、仮締め作
業は正常に行なわれるが、本締め作業においては、一方
の検出系＠又は為の検出４力か設定器熱に設定された本
締付トルク値に達しても、その後一定時間内會こ他方の
検出系■又は■の検出々力が本締付トルク値に達しない
。このため、−数回路艶の不一致出力線（ｂｌから出力
が発して、低速駆動パルス供給部■及びパワー供給部缶
の作動停止、電磁弁論を非通電しての昇降シリンダ＋ｌ
［１の上昇動という一連の動作を行ない、ねじ締め機本
体）５を原位置に復帰させると共に、判定表示部嘔を通
じて動作異常の表示を行なう。この場合も、ねじ締め機
本体（５［が原位置復帰することによって不正確なトル
ク制御によるねじ締め作業が回避できるし、判定表示部
Ｏの表示によって作業者が動作異常を察知し、速やかに
修復作業にかかることができる。尚、検出系に■の動作
異常の原因としてはバッファアンプ部の或いはトルクセ
ンサ０４１ ｕｓ：の経時的変化や温度変化によるキャ
リプレーシランのズレや取付時の初期故障も含めてトル
クセンサａ４１Ｕの故障等があるが、前者にあつてはキ
ヤリプレーシ謬ン回路（財）（ハ）のゼロ補正量、ゲイ
ン補正量の調整を行って、トルクセン＋ ０４１ （１
５１ｙｋ含めた検出系のキヤリプレーシコンを再度行な
うことにより、また後者にあってはトルクセンサの交換
を行なうことによって修復できる。On the other hand, each detection system @5 performs four normal operations up to the temporary tightening torque value, but if any of the detection systems operates abnormally above the temporary tightening torque value, temporary tightening work is not performed. However, during the final tightening work, even if one detection system reaches the final tightening torque value set for the detection force or setting device heat, the other detection system will not be able to detect it within a certain period of time. The detected force of system ■ or ■ does not reach the final tightening torque value. For this reason, the output is emitted from the mismatched output line (bl) of - several circuits, the operation of the low-speed drive pulse supply unit ■ and the power supply unit is stopped, and the lifting cylinder +l is de-energized with the solenoid valve de-energized.
The screw tightening machine body 5 is returned to its original position by performing a series of upward movements (1), and an abnormal operation is displayed through the judgment display section. In this case as well, screw tightening work due to inaccurate torque control can be avoided by returning the screw tightening machine body (5) to its original position, and the operator can detect abnormal operation by the display on the judgment display section O and promptly take action. Repair work may be required.In addition, causes of malfunction in the detection system include changes in the buffer amplifier section or torque sensor 041 us: over time, misalignment of the caliper silane due to temperature changes, and initial failure during installation. In the case of the former, please adjust the zero correction amount and gain correction amount of the Cali Precision Faulty Circuit (C).
The problem can be repaired by recalculating the detection system including the 51yk, or in the case of the latter, by replacing the torque sensor.
上記実施例ではトルクセン、す（１４１０５１を２個し
か使用していないが、３個以上使用しても良いことは勿
論であるし、また各検出系の検出々力が不一致の場合、
単に動作異常の警報を行なうようにしても良いことは勿
論である。In the above embodiment, only two torque sensors (141051) are used, but it is of course possible to use three or more, and if the detection forces of the respective detection systems do not match,
Of course, it is also possible to simply issue a warning of abnormal operation.
以上説明した如く本発明によれは、トルクセンサな２個
以上複数個設けて夫々独立して軸トルクを検出する検出
系となすと共に、各検出系の検出４力を比較し、全ての
検出々力が一致しないときトルクセンサを含む検出系の
異常であると判定するようにしたものであるから次のよ
うな効果がある。As explained above, according to the present invention, two or more torque sensors are provided to form a detection system that independently detects shaft torque, and the four detected forces of each detection system are compared. Since it is determined that there is an abnormality in the detection system including the torque sensor when the forces do not match, the following effects are achieved.
■ 不正確なトルク制御によるねじ締め作業が一掃でき
る。これによって高精度かつ高信頼性のあるトルク管理
が図れるし、締上り品の高品質化に大ぎく貢献する。■ Screw tightening work caused by inaccurate torque control can be eliminated. This allows for highly accurate and reliable torque management, which greatly contributes to improving the quality of fastened products.
■ 検出系の動作異常を判定するための別途機構や手段
が不要である。即ち、検出系が単一の場合にその動作異
常を判定しようとすれば特殊な判定機構等が必要である
が、本発明によれば、そのような機構が不要であり、そ
れでいて検出系の動作異常を判定することができる。■ No separate mechanism or means is required to determine malfunction of the detection system. That is, in the case of a single detection system, a special judgment mechanism is required to determine abnormal operation of the detection system, but according to the present invention, such a mechanism is not necessary, and the operation of the detection system can be easily determined. Abnormalities can be determined.
尚、本実施例では単軸型のねじ締め機をこりいて説明さ
れているが、多軸型のねじ締め機に使用しても同様の効
果がもたらされる。又、本実施例ではパルスモータにつ
いて説明されているが、これをパルスモータ以外のモー
タに代えても同様の効果がもたらされる。Although this embodiment has been explained using a single-shaft type screw-driving machine, the same effect can be obtained even if it is used in a multi-shaft type screw-driving machine. Further, although a pulse motor is described in this embodiment, the same effect can be obtained even if a motor other than the pulse motor is used.
図は本発明の一実施例を示し、第１図は自動ねじ締め機
の全体図、第２図は該ねじ締め機の自動ねじ締め動作を
司どる電気回路図である。
■−一一例ライバビノト、 Ｑ〜Ｑ５１−−− ）ルク
センサ、■−−−−検出系。
特許出願人 日東精工株式会社
第 １ 図The drawings show one embodiment of the present invention; FIG. 1 is an overall view of an automatic screw tightening machine, and FIG. 2 is an electric circuit diagram that controls the automatic screw tightening operation of the screw tightening machine. ■-Example: Raibabi Noto, Q~Q51---) Luxensor, ■---Detection system. Patent applicant: Nitto Seiko Co., Ltd. Figure 1
Claims (1)
この検出信号に基づきねじの締付トルクを制御する自動
ねじ締め機において、前記卸 ２ ＋ トルクセンサを２個以上複数個設けて夫々独立して軸ト
ルクを検出する検出系となし、かつ各検出系の検出々力
を比較し、全ての検出々力が一致しないときトルクセン
サを含む検出系が異常であると判定するように構成した
ことを特徴とする自動ねじ締め機。[Claims] Detecting the shaft torque of the Dophypa bit with a torque sensor,
In an automatic screw tightening machine that controls the tightening torque of a screw based on this detection signal, a detection system is provided in which two or more of the above-mentioned torque sensors are provided to independently detect the shaft torque, and each detection An automatic screw tightening machine characterized in that the detected forces of the systems are compared, and when all the detected forces do not match, it is determined that the detection system including the torque sensor is abnormal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21143181A JPS58114830A (en) | 1981-12-28 | 1981-12-28 | Automatic thread screwing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21143181A JPS58114830A (en) | 1981-12-28 | 1981-12-28 | Automatic thread screwing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS58114830A true JPS58114830A (en) | 1983-07-08 |
Family
ID=16605830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21143181A Pending JPS58114830A (en) | 1981-12-28 | 1981-12-28 | Automatic thread screwing device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58114830A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0601988A1 (en) * | 1992-12-07 | 1994-06-15 | Atlas Copco Controls Ab, Tyresö | Torque delivering power tool |
| FR2896440A1 (en) * | 2006-01-25 | 2007-07-27 | Peugeot Citroen Automobiles Sa | Controlled screw gun`s operational state diagnosing method for e.g. passenger car assembly line, involves determining nominal or defective operational state of screw gun based on torque of gun`s motor and torque exerted by screw socket |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4895279A (en) * | 1972-03-17 | 1973-12-06 | ||
| JPS5169300A (en) * | 1974-12-11 | 1976-06-15 | Aisin Seiki | SHIMETSUKETORUKUSEIGYOSOCHI |
-
1981
- 1981-12-28 JP JP21143181A patent/JPS58114830A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4895279A (en) * | 1972-03-17 | 1973-12-06 | ||
| JPS5169300A (en) * | 1974-12-11 | 1976-06-15 | Aisin Seiki | SHIMETSUKETORUKUSEIGYOSOCHI |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0601988A1 (en) * | 1992-12-07 | 1994-06-15 | Atlas Copco Controls Ab, Tyresö | Torque delivering power tool |
| US5442965A (en) * | 1992-12-07 | 1995-08-22 | Atlas Copco Controls Ab | Torque delivering power tool |
| FR2896440A1 (en) * | 2006-01-25 | 2007-07-27 | Peugeot Citroen Automobiles Sa | Controlled screw gun`s operational state diagnosing method for e.g. passenger car assembly line, involves determining nominal or defective operational state of screw gun based on torque of gun`s motor and torque exerted by screw socket |
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