Screw tightening device, driving torque generating means, screw tightening system, and torque control method

Abstract

To provide a screwing device which secures a high-quality screw connection part.SOLUTION: The invention relates to a screwing device for applying and / or transmitting a torque to a screw partner and for interacting with drive torque generating means, comprising gearwheel type offset head means which has an output part that can be detachably connected to the screw partner and a drive part, to which a drive torque can be manually or mechanically applied, an output gearwheel 8 that can be driven by the gearwheel type offset head means, a mechanical interface 46 for selective direct or indirect connection to the drive torque generating means for initiating the torque, a compensation part which is designed to store and process compensation data which comprises an output gearwheel-specific torque curve and / or an output gearwheel-specific efficiency curve for offsetting a value of an actual output torque with the data in order to generate a value of a compensated output torque, and a data interface which is designed to transmit compensation data to drive torque generating means.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a screw tightening device for applying a torque to a screw partner. The present invention further relates to a driving torque generating means for generating a torque. , a screw tightening system including at least a screw tightening device and a driving torque generating means The present invention further relates to a method for controlling a drive motor of a screw tightening system. and further relates to the use of a screw tightening system for carrying out said method. [Background technology]

[0002] In practice, especially in industrial screw tightening technology, so-called gear offset heads are used. Specifically, a gear-type offset head is a specific Due to the spatial installation conditions of the screwed counterpart (i.e., within the context of the present invention, It is useful for screw tightening and assembly work where it is difficult to reach the object to which torque is to be applied (e.g., a screw). Typically, a gear offset head is a gear unit housed in a flat housing. The gear unit has a drive section, which is typically provided at one end, and a The output part is provided at the end of the screw side. It is possible to mount the offset head detachably, and preferably it is possible to mount the offset head detachably. The gears inside the housing of the drive unit mesh with each other to transmit torque from the drive unit to the output unit. This assembly of gears is often made up of gears that achieve the desired result. , realizing, for example, 1:1 transmission between the driving unit and the output unit (the driving unit itself and the output unit itself) (These are often realized as gears with corresponding external toothing.) However, depending on the field of application, Accordingly, many variations and modifications of the above general and commonly used techniques are available and known.

[0003] The gear-type offset head has an output gear on the output side. Each of the gears is supported by one adjacent gear and can mesh with the adjacent gear. Force gears are used to transmit torque to the screwed component. The output gear has a hexagonal socket, and the screw-fastening mating part can only be inserted in the axial direction. The closed gear offset head does not have a screwdriver, and the output gear is screwed to the corresponding output gear. An open-type gear that can be engaged radially with the rotation axis of the force gear as the reference. A distinction is made between offset heads.

[0004] The open type output gear is not closed and has a recess on its outer periphery. This allows the hexagonal socket to radially receive the screw-tightening mating part. The output gear is made up of two or more adjacent gears so that it receives sufficient support in any phase of rotation. The gear (i.e., the support gear) is intermittently meshed with at least one of the two support gears. Therefore, the output gear rotates 360°. At least one complete gear engages with two or more gears other than itself (i.e., support gears). The support phase and the small number of gears that mesh with fewer gears than the fully supported phase (i.e., support gears) Normally, the output gear passes through two supports in the fully supported phase. In the partially supported phase, the gear meshes with one support gear. The recess of the output gear faces the support gear that is not meshed with the output gear at that moment. This becomes the case.

[0005] For closed types, one adjacent gear is usually sufficient for support and torque transmission. In other words, a closed output gear has only one complete support phase during one 360° rotation. It will not pass.

[0006] The screw tightening device described above is usually used in combination with a driving torque generating means. The torque generating means is adapted to generate torque and to interact with the screw tightening device. For example, the driving torque generating means may be a hand-held tool, a straight or Rate-angle screwdriver (Stab- oder Stab-Winkel-Schrauber) The majority of such driving torque generating means are used in industrial settings, In particular, satisfactory assembly under certain spatial installation conditions where it is difficult to reach the screw-fastening mating parts. It is used in combination with a screw tightening device to achieve a secure fit.

[0007] The combination of the screw tightening device and the driving torque generating means requires that these components are supplied by a specific manufacturer. can be combined into a screw tightening system that can be combined with other systems regardless of For example, there are manufacturers of screw tightening devices that do not sell the driving torque generating means, and Manufacturers of drive torque generating means are known that do not sell the device.

[0008] A screw tightening system having a driving torque generating means, in particular, the driving torque generating means and, if necessary, a controller or control unit for the drive motor. The control section may determine, for example, whether the tool is operated by torque control or by rotation. Determine whether to operate with speed control. In speed control, for example, the rotation speed to be maintained is set. The switch-off torque (Abschaltdrehmoment) is determined. The controller appropriately readjusts the torque output from the drive motor. However, the low accuracy, difficulty in movement, and efficiency loss of the screw tightening device that is the driving object are not taken into consideration. Although the overall efficiency is known, the impact of the screw tightening device on the overall efficiency is unknown.

[0009] If one or more adjacent support gears are engaged, whether the screw tightening device is open or closed Whether it is a standard type or not, machining errors and / or runout and / or transmission errors ( (e.g., damage to the tooth surface, etc.) and / or lubrication and / or surface finish and / or joint The effectiveness of the screw tightening device (and therefore the screw tightening system) depends on the friction conditions between the contacting tooth surfaces. The more severe these factors are, the greater the fluctuations in efficiency will be. The harmonic efficiency curve has a large slope compared to the harmonic efficiency curve. This means that a pike will occur.

[0010] Moreover, in the open gear offset head, the positions of the various numbers of meshing support gears are The phases cause measurable stiffness in the geared offset head. The motor of the driving torque generating means tries to compensate for the instability, and the operating behavior of the motor The speed control (setting the speed and readjusting the torque by the motor) When operating at a given speed, the motor can be adjusted to meet speed requirements by, for example, varying the output torque. This non-smooth non-harmonic torque curve causes the screw tightening system to The efficiency of the stem is worse than that of the fully supported phase. The gear offset head is less efficient than the closed gear offset head.

[0011] Also, if the power cutoff (switch-off) torque is set, the output gear When the torque changes significantly, the motor output torque exceeds the power cutoff torque. The power supply to the motor may be cut off. However, this power cut off does not necessarily mean that the desired operation of the screw is completed. This is not due to the fastening but to the aforementioned factors of the gear offset head that lead to a decrease in efficiency. This may have resulted in the motor being powered off early, preventing the desired tightening torque. In the worst case scenario, the screw connection may not be tightened to the full torque. The user may mistakenly believe that the tightening mating has been completed as desired, and the tightening mating may suddenly come loose. This can result in injury and / or significant safety risks.

[0012] If the torque curve is not smooth, each outlier in the torque curve will exceed the configured power-off limit. This can result in the drive motor running out of torque before the desired limit torque of the threaded connection is reached. In other words, the power supply to the screw tightening device, especially the open gear type With offset heads, the tightening torque may temporarily exceed the power cut-off limit. Therefore, it is unclear whether the signal was actually transmitted to the other party, but the motor power is cut off. This results in the screw connection not being tightly fastened. Summary of the Invention [Problem to be solved by the invention]

[0013] Therefore, each of the three aspects (screw tightening device, driving torque generating means and screw tightening system) There is a particular technological need for solutions to problems common to the above.

[0014] The challenges of all three aspects (screw tightening device, driving torque generating means and screw tightening system) The problem is that factors that cause efficiency degradation directly affect motor behavior, resulting in stable operation behavior. The problem is that a secure fastening of the screw or the mating part is hindered or even impossible. Specifically, when an open-type gear offset head is used, the partial support phase The output torque generated temporarily exceeds the power cutoff torque, causing the motor power to be cut off early. This can result in the screw connection being loose or incomplete. The situation can be inviting.

[0015] However, especially in industrial settings, there is a need to establish high quality threaded connections for quality assurance reasons. The need often arises. The object of the present invention is therefore to provide a method for producing high quality screw connections, in particular in connection with types of screw tightening devices. Proposes a screw tightening device, a driving torque generating means, a screw tightening system, a method and use thereof Furthermore, the screw connection can be tightened until it reaches the set limit torque. The goal is to realize the conclusion. [Means for solving the problem]

[0016] The object of the present invention is to provide a screw tightening device having the configuration of claim 1, a driving train having the configuration of claim 3, and a torque generating means, a screw tightening system having the configuration of claim 7, and a drive system having the configuration of claim 10 This is achieved by a method for controlling a motor and a use comprising the features of claim 16.

[0017] The present invention is based on the idea that the above factors that cause efficiency reduction and / or stiffness are eliminated by rotating the output gear in one of 360°. This is based on the knowledge that rotation occurs periodically. The set head has a large effect during the partial support phase. What degree of efficiency is demonstrated at what angle position? What factors show a deteriorating effect? To ensure stable operating behavior, and / or , the speed of the drive motor due to prematurely reaching a set limit value (e.g., power cut-off torque, etc.) To avoid switching off, the actual output torque value from the drive motor is For this purpose, one full 360° rotation of the output gear and / or Or, for example, a torque curve formed by passing through the output gear in a fully supported phase, a partially supported phase, etc. and / or efficiency curves of the screw tightening device. Information about torque behavior or efficiency can be utilized.

[0018] The specific torque of the output gear can be measured beforehand, for example by measuring the screw tightening device on a suitable test stand. The compensation file or torque curve, or the exact value, can be obtained. By having information about the rotational speed and / or rotation angle, the actual output torque value can be manipulated. or compensates for the peak of the detected value of the actual output torque exceeding the output torque value. Knowing the time and / or rotation angle at which the difficulty occurs allows The torque peaks and / or portions of the torque peaks caused by the output gear are This can be subtracted from the actual output torque value output from the motor.

[0019] For example, the torque curve specific to an output gear may be determined by one or more rotations of the output gear through 360°. Both may include data or values ​​for a given angle range or partial support phase.

[0020] This has several advantages: First, it can significantly improve efficiency. Furthermore, a comparison with at least one compensation file determines whether the torque peaks are being compensated by the output gear. After compensation, it is possible to determine whether the error is caused by the screw connection or by the If the torque value exceeds a limiting value, such as the power-off torque, a tight screw connection will result. This is because the present invention compensates only for the torque increase caused by the output gear. If the limit is reached due to a screw connection, the motor power supply is already It can be blocked by modes of knowledge.

[0021] This concept of the present invention is realized by a screw tightening device as described in claim 1 and a drive train as described in claim 3. The torque generating means and the screw tightening system according to claim 7 are realized in addition to the torque generating means and the screw tightening system according to claim 10. This is also achieved by the method described and the use according to claim 16.

[0022] In order to solve the above-mentioned problems, a torque generating means is provided to generate a torque for tightening the screw. A screw tightening device that applies and / or transmits a screw to a partner, An output part that can be detachably connected to the screw-fastening counterpart, and a driving torque that can be manually a geared offset head means including a drive that can be manually or mechanically applied; , an output gear drivable by said geared offset head means; selectively coupled directly or indirectly to the driving torque generating means to introduce torque thereto; a mechanical interface; Compensation including a torque curve specific to the output gear and / or an efficiency curve specific to the output gear By storing and processing the data and offsetting the actual output torque value with the data, a compensator configured to generate a compensated output torque value based on the a data interface configured to transmit compensation data to the drive torque generating means; A screw tightening device is proposed, comprising:

[0023] For example, the screw tightening device may be an open type. The output gear of this type rotates as follows during one rotation: At least one fully supported phase that meshes with two or more gears other than itself, and It passes through at least one partially supported phase that meshes with a smaller number of gears than the Therefore, the screw fastening device may be a closed type. The angle head can be a drive torque deflector gear to transmit torque. The torque generating means may be disposed between the geared offset head. In the angle head, the gear offset can be The gear head means may also be referred to as a torque transmitting gear (i.e., a bevel gear). An output gear transmits torque, for example, from the angle head to a geared offset head. It may also be called a gear.

[0024] The screw tightening device may be connected in a known manner to any suitable driving torque generating means. It is possible to store at least one compensation file. The compensation file is received by the driving torque generating means via the data interface. The "offset" used in this invention directly refers to the use of arithmetic operations. Rather, it refers to computer processing.

[0025] In a preferred embodiment of the screw tightening device according to the present invention, the actual output torque is At least one torque sensing means is provided for sensing the torque value. Generally, screw tightening devices, especially gear-type offset heads, are equipped with torque detection means. The torque detecting means of the screw tightening device is not provided with a torque sensor. The screw tightening device may comprise a driving torque generating means and Used in combination to establish a threaded connection, The driving torque generating means itself is provided with a torque detecting means, so in principle, The device does not need to be provided with a torque detection means. However, if such a torque detection means is provided, This provides the option of detecting the torque of the screw tightening device itself. Such data provides accurate information about the actual torque produced at the output gear. Or at least provide a clear indication of the actual torque.

[0026] The present invention further includes a driving torque generating device that generates torque and interacts with the screw tightening device. A means, A drive motor; a mechanical element selectively connected directly or indirectly to the screw tightening device for introducing torque; The interface and a torque detection means for detecting the value of the actual output torque; Compensation including a torque curve specific to the output gear and / or an efficiency curve specific to the output gear Storing and processing the data to offset the value of actual output torque with the data. a compensator configured to generate a compensated output torque value by (Kompensationseinheit) and a driving torque generating means is proposed.

[0027] The concept of the present invention can also be realized in a driving torque generating means. The torque is detected by the torque detection means, and compared with the compensation data, the position of the output gear is calculated. This makes it possible to always detect the position of the object. For example, the torque detection means may be a torque sensor. It may be a sensor or a motor encoder.

[0028] The driving torque generating means may be connected in a known manner to any suitable screw tightening device. It is possible to store compensation data for the connected screw tightening device. A data interface is not necessarily required.

[0029] In another preferred embodiment of the driving torque generating means according to the present invention, a compensation data transmitting means is provided. A data interface is provided that is configured to Data is transferred between the driving torque generating means and a screw fastening device connected to the driving torque generating means. For example, one driving torque generating means can generate the driving torque. The present invention provides compensation according to the present invention for each torque of various screw tightening devices that can be connected to the generating means. It is conceivable that it will be possible to carry out such a method in a clear manner. The data can be used for various screw tightening devices. It may be transmitted wirelessly or by wire.

[0030] Instead of or in addition to the above configuration, a screw tightening device identification means is provided. Such means may be a screw tightening device connected to the driving torque generating means. For example, this identification may be used to provide a signal to the driving torque generating means. This may be done by manual input of the screwdriver or automatically when the screwdriver is connected. Preferably, the screw tightening device has its own identification information. may be transmitted to the driving torque generating means via the data interface. The identification information must have a unique identifier that can be extracted and applied when the identification information is detected. For example, the compensation unit may be configured to correspond to various screw tightening devices. and multiple torque or efficiency curves specific to the output gear to interact in a manner consistent with the present invention. The lines can be stored.

[0031] In another preferred embodiment of the present invention, the screw tightening device or the driving torque generating device The means includes angle determining means for determining the position angle of the output gear. By the means, for example, the position of the output gear (i.e., the position of the output gear in a 360° system) It is necessary to accurately detect the position of the output gear (the position angle), that is, to determine the phase in which the output gear is positioned. In such a case, it is possible to store the identification information of the screw fastening device, particularly the It can be advantageous to know the transmission ratio and the zero position (0°) and the angular distance. This will allow decisions to be made about the issue at hand, eliminating the need to clarify this in advance.

[0032] Furthermore, an output section that can be detachably connected to the screw tightening counterpart and a drive torque a geared offset head means including a drive that can be applied manually or mechanically; an output gear that can be driven by the geared offset head means, and a torque a mechanical interface selectively connected directly or indirectly to the torque generating means for introducing torque; a screw tightening device having a face; a driving torque generating means connected to the gear type offset head means on the driving unit side; A drive motor is selectively connected directly or indirectly to the screw tightening device to introduce torque. a mechanical interface for connecting the motor to the motor; a torque detection means for detecting the value of the actual output torque; and a torque curve specific to the output gear and / or an efficiency curve specific to the output gear. and storing and processing compensation data including the actual output torque to offset the value of the actual output torque. a compensator configured to generate a compensated output torque value by a driving torque generating means; A screw tightening system is proposed, comprising at least:

[0033] The screw driving system may be configured as a handheld screw driving system. The weight of the device is preferably such that the operator can hold it with one hand. The screw tightening system complies with legal requirements regarding weight. The stem may be implemented as a fixed system.

[0034] In a preferred embodiment of the screw tightening system according to the present invention, The system includes at least one data interface configured to transmit compensation data. Such a data interface allows the screw tightening device and the driving torque data between the screw tightening system and the external data storage device; This allows you to carry out maintenance work on the compensation data or send compensation data. This is because compensation data may need to be adjusted.

[0035] In another preferred embodiment of the screw tightening system according to the present invention, comprises an angle determining means for determining the position angle of the output gear.

[0036] The present invention provides a drive system for a screw tightening system, preferably a drive system for a screw tightening system according to claim 7. 1. A method for controlling a motor, comprising: - The torque curve specific to the output gear and / or the efficiency curve specific to the output gear are stored in the compensation unit. The process of -The torque detection means detects the actual output torque value output from the drive motor. The process and -By offsetting the actual output torque value in at least one compensation file , generating a compensated output torque value; The compensation unit outputs the value of the compensated output torque to a control unit of the drive motor. The process of A method is proposed comprising at least:

[0037] In this way, the method realizes the concept of the present invention. The efficiency curve specific to the output gear is compensation data. Please refer to them as they essentially have points.

[0038] In a preferred embodiment of the method according to the invention, the offsetting step preferably comprises a compensation function for the value of the actual output torque in only one partial support phase; Comparing and / or subtracting and / or adding files, and / or Preferably, the value of the actual output torque is smoothed in at least one partial support phase only. This reduces the torque increase caused by the screw tightening device to a level that is not present. For example, the control and / or regulation processes may be configured The control unit receives and processes the output value of the compensated output torque and controls the operating mode. This is handled in a known manner depending on the mode (speed control or torque control).

[0039] In a preferred embodiment of the method according to the invention, the method comprises the steps of: - determining a position angle of the output gear by an angle determining means; generating the value of the compensated output torque by the compensator using the position angle; It also includes a process of

[0040] In such an embodiment, the position angle of the output gear can be used to provide more accurate compensation. For example, in an open-type screw tightening device, the angle can be used to determining whether the output gear is in a fully supported phase or a partially supported phase of rotation; The position angle can be expressed in 360°. Regarding the output gear, the first partial support phase is generally from a position angle of about 130°. The second partial support phase can be in a first angle range from about 190° to about 170°. The first angle ranges from a position angle of 230° to a position angle of 230°. The angular range depends on the specific design of the support gear and the placement of the support gear. In the case of a pull-type screw tightening device, the zero position (i.e., the position angle of 0°) of the output gear is This provides a mounting position where the output gear can be attached to a mating part by screwing.

[0041] In another preferred embodiment of the method according to the invention, the method comprises the steps of: - a step of setting a power cut-off torque value of the driving motor; When the compensated output torque reaches the set power-off torque value, the drive motor The power supply is cut off, and - setting a target speed at which the drive motor rotates, the target speed being dynamically adjustable to reach said power-off torque value as fast as possible; Equipped with.

[0042] Ideally, the magnitude of the target speed during operation is such that the target speed is exactly equal to the power-off torque value. This embodiment allows the screw tightening process to be carried out quickly. can be.

[0043] The method according to the invention also considers operating the screw tightening system under speed control. Such an operating mode is particularly common in industrial settings, This allows the present invention to be advantageously used in such situations.

[0044] In another preferred embodiment of the invention, the method comprises the steps of: - combining a plurality of partial support phases in one rotation of the output gear into one partial support phase group; The process of generating a compensated output torque value for at least said partially supported phase group; To achieve this, the actual output torque value is offset for at least one compensation file. A process for testing will be established.

[0045] When the output gear passes through a plurality of partial support phases during one rotation of 360°, Several, preferably all, of these partially supported phases may be combined into one partially supported phase group. This involves one compensation per revolution, i.e. the first partially supported phase of the group of partially supported phases. Advantage of only having to perform compensation once for the part from There is.

[0046] For example, a first angle range from a position angle of about 130° to a position angle of 170° A partial support phase and a first angle range from a position angle of about 190° to a position angle of 230° If two partial support phases are present (such as the second partial support phase in the range), a position angle of 130° A partial support topology group can be formed for position angles from 100° to 230°. This allows Compensation is performed only once for the range.

[0047] Furthermore, the screw tightening system according to claim 7 is provided with a screw tightening mechanism for carrying out the method according to claim 10. The use of the present invention essentially has the above-mentioned advantages, , please refer to them.

[0048] To avoid repetition, features disclosed with respect to an apparatus are also considered to be features with respect to a method. Similarly, a feature disclosed in terms of a method may also be claimed in terms of an apparatus. It is also considered to be a component, and claims can be made for the device.

[0049] Two or more of the components disclosed in the specification and / or claims and / or drawings Any combination is part of the scope of the present invention. are also deemed to be claimable.

[0050] Further advantages, features and details of the present invention are set forth below in relation to the exemplary preferred embodiments. This will become apparent from the description and drawings. [Brief explanation of the drawings]

[0051] [Figure 1] 1 is a perspective view of a handheld screw driving system according to the present invention; [Figure 2] 1 is a schematic plan view showing a gear-type offset head means (without the housing) according to the present invention; [Figure 3] 1 is a block diagram showing components of a screw tightening system according to the present invention; [Figure 4] This is a protocol for the torque curve of an open gear offset head. [Figure 5] Protocol of the efficiency curve of the open gear offset head of Fig. 4. [Figure 6] This is a protocol for the torque curve of a closed gear offset head. [Figure 7] Fig. 6 is a protocol of the efficiency curve of a closed gear offset head. [Figure 8] FIG. 10 is a diagram showing compensation in a partial support phase of an open-type gear-type offset head. [Figure 9] FIG. 10 is a diagram showing compensation of partial support phase of an open-type gear offset head. DETAILED DESCRIPTION OF THE INVENTION

[0052] Figure 1 shows both a system view and a context view of the present invention. A handheld screw tightening system equipped with a screw tightening device 2 that applies a screw to a screw tightening partner (not shown) The screw fastening device 2 is an open-type gear-type offset head 32. The gear offset head means 6 is housed within the housing 4. The gear means 6 is provided at its end (on the output side) with a slotted output gear. ahnrad) 8 and its corresponding screw tightening tool part (Schraubwerkzeugs) ) and is configured to interact with and drive the geared offset head means 6 is on the drive side, that is, the opposite side to the output part of the gear type offset head means 6. At the opposite end, an angle head 10 is provided with a pair of gears (i.e., bevel gears). (possibly via a mechanical interface 46) with the screwdriver tool 12. The actuator is connected to a human-operable driving torque generating means realized as a motor.

[0053] The screwdriving tool 12 includes a drive motor 26 (e.g., an electric motor, a pneumatic motor, etc.). The output torque generated by the drive motor 26 is applied to the screw tightening device 2. Both the screwdriver 2 and the screwdriver tool 12 are the two components of the screwdriver system. A mechanical interface that selectively connects directly or indirectly to one of the components. Each has its own.

[0054] In a typical example of a screw tightening operation by a human, such a screw tightening device 2 or a gear type The offset head means 6 is provided for the transmission of torques up to about 250 Nm and is suitable There are.

[0055] The screw tightening device 2 is designed as an open gear offset head. The hexagonal socket is realized as a slot for radially receiving a screw-on component. The output gear 8 is characterized by a recess 62 formed therein. In the drawings, the screw tightening device is configured as a closed gear offset head. Both types have the same factors that cause efficiency loss, as mentioned above. In the open type, these effects are also eliminated by using the present invention. Furthermore, there is an additional effect on efficiency during the partially supported phase, but this effect is also addressed by the present invention. It is possible to remove it.

[0056] FIG. 2 shows a screw tightening device 2 including a plurality of gear-type offset head means 6 (i.e., gears FIG. 1 is a plan view showing the drive motor (drive wheel) and the output gear 8 on the output side, with the housing 4 omitted. The output torque output from the motor 26 is transmitted through the first intermediate gear 14, the second intermediate gear 16, and the first The two support gears 18 and 20 are connected to the output Torque is transmitted to gear 8 by appropriate meshing.

[0057] The gears 8, 14, 16, 18, and 20 are attached parallel to each other and have a housing. The axial direction of the shaft is linearly arranged along the length of the housing 4 so as to be rotatable within the housing 4. The arrow indicates the tightening rotation direction 48 of the output gear 8.

[0058] The output gear 8 passes through two fully supported phases and two partially supported phases during one rotation of 360°. In the fully supported phase, the output gear 8 engages with the two support gears 18 and 20. In the holding phase, the output gear 8 is engaged with only one of these two support gears 18, 20. The gear 8 can be attached to the screw-fastened mating portion at the longitudinal direction of the housing 4, which is called the zero position. From the angle point of view, with the mounting position facing in the direction of the arrow set to 0°, this is the first fully supported The phase starts at an angle position of 230°, passes through an angle position of 0°, and goes up to an angle position of 130°. The first partial support phase starts from the 130° angle position and extends to 170°. After this first partial support phase, the angle position is increased to 170°-190°. The output gear 8 is finally rotated at an angle of 190° to 230°. The second partial support phase is passed between the two positions. exists in.

[0059] In each of these two partial support phases, instability occurs, leading to a decrease in efficiency as shown in Figure 5. Reluctance can also occur in the narrower fully supported phase.

[0060] FIG. 3 shows various means and components of the screw tightening system and related systems according to the present invention. An overview of the

[0061] The screw tightening tool 12 includes a start button 2 for an operator to operate the screw tightening tool 12. 2. The energy supply and control unit 24 is activated by a start button 22. When the system is operating in speed control, the speed is set and the control unit 24 In particular, the torque output from the drive motor 26 is controlled by outputting a signal to the drive motor 26. For this purpose, the drive motor 26 is adapted to rotate, for example, by a planetary gear (not shown). The drive motor 26 may include a position of the drive motor 26 and / or a drive motor 2 The rotation angle of the drive motor 26 can be transmitted to the control unit 24 as a signal. The actual output torque detected as a value by the torque sensor 28 used in the control is output.

[0062] At this point, the control loop that controls the drive motor of the screw tightening system starts. At this time, the torque sensor 28 detects the actual output torque, i.e., the torque output from the drive motor 26. The inputted actual output torque value is transmitted to a compensation unit 30. The output gear specific torque curve or the output gear specific efficiency curve is stored in the unit 30. The compensation unit 30 offsets the actual output torque value with the torque curve specific to the output gear. In other words, the compensated output torque value is generated by: , the stiffness caused by the output gear is reflected as a peak in the value of the output torque actually output. The compensation unit 30 then calculates the compensated output torque value as The control unit 24 compares the compensated output torque value with the power-off torque. When the compensated output torque reaches the power cut-off torque, the drive The motor 26 is switched off.

[0063] The present invention provides a method for reducing the power consumption by switching off the drive motor 26 when the power-off torque is reached. until the objective is achieved, i.e., a fixed or firm threaded connection is established. This ensures that the screw tightening process is carried out until the screw tightening device 2 is firmly fixed. Due to the instability, the torque may increase to the power cut-off torque, and the power may be cut off quickly. This will eliminate the need for interruptions during periods of time.

[0064] The control unit 24 further calculates the compensated output torque value in a known control loop of the motor control. The actual output torque value is treated in the same known manner.

[0065] The torque output from the drive motor 26 is transmitted to the screw tightening mechanism via the mechanical interface. In the embodiment shown in FIG. 3, the screw tightening device 2 is 0 and a geared offset head 32. The geared offset head 32 is The offset head means 6 and the output gear 8 are connected to the output gear 8. The torque is transmitted from the output gear 8 to the screw thread. The force is transmitted to the tightening partner 50, thereby establishing a firm threaded connection.

[0066] The driving torque generating means or the screw tightening device 2 is provided with a screw tightening device identification means (Schraubvor The screw tightening device identification means 34 may include, for example, If the design and / or geared offset head means 6 and / or geared offset The identification information about the screwdriver head 32 and / or transmission ratio etc. For this purpose, a device that transmits compensation data etc. may be used. The screw tightening device 2 may be connected to a computer interface 36. receive data from external sources, e.g. compensation data, and / or It may also include a data interface 36 for transmitting data to an external data source. For example, the screw tightening device 2 determines the position angle of the output gear 8. This measurement of the angular position may include a determination means 40. 6, 38, or both. This transmission is performed using the ideal data path 64. The data path 64 transmits the measurements of angular position to the angle head 10 and / or Or it is sent from the angle determining means 40 to the control unit 24 for further processing.

[0067] An example of a measurement method is shown within the system boundary 42. For this purpose, the screw tightening device 2 is In addition to being connected to a tightening tool 12 or a drive torque generating means, As shown in 52, the rotation of the output gear 8 is detected at least once. Preferably, the torque and efficiency are measured over a period of time, e.g., 50 times, as shown in block 54. The resulting rotation or screwing cycles can be recorded. 1 shows a measurement signal. At block 56, the measurement signal is subjected to further processing, which will not be described in detail. This measurement signal is then transmitted to the data transmission interface. The data is transmitted to, for example, the compensation unit 30 via the interface 58 and stored there. This measurement signal may then be stored in a suitable memory of the screw tightening device 2.

[0068] FIG. 4 shows an open-type gear type having an output gear 8 meshing with two support gears 18 and 20. The measurement curves detected within the system boundary 42 for the offset head are shown in FIG. 5, the knowledge that forms the basis of the present invention can be obtained. (Heavy working) (Schwergaengigkeit der Schraubvorrichtung) occurs periodically. It was found that the drive motor 26 has difficulty in controlling the speed, for example, by using the control circuit shown in FIG. It tries to compensate by increasing the output torque, as shown by the peak. The result is the efficiency curve shown in Figure 5, which shows a significant drop off every 360°. Therefore, if you change the value, you can increase the output torque. The drive motor 26 does not need to deal with the difficulty of adding It can be concluded that there is an improvement.

[0069] Figure 6 shows a closed-type gear offset clutch with an output gear that meshes with only one support gear. The measurement curves detected within the system boundary 42 for the slit head are shown in FIG. This curve shows the efficiency directly attributable to the open-gear offset shown in Figure 5. The average efficiency curve is The sine wave 60 shows a periodic behavior. In this case, the wave occurs for every 360° rotation of the output gear. It is repeated.

[0070] 8 and 9 show examples of compensation for drive motor control, i.e., two options. The description only refers to open gear offset heads. However, the principle described is that of a closed gear offset head (geschlossenen Flac It can also be applied to habtrieb.

[0071] Figure 8 shows a simplified schematic plot of torque (Nm) against rotation angle (degrees). The switch-off torque value is shown by the coarse dashed line. The actual output torque value is shown by the medium to thin dashed line. The torque specific to the output gear as a compensation file Ku The values ​​of the output torque after compensation are shown by the thin dashed line.

[0072] The drive motor 26 is adapted to rotate the output gear 8 in a range of 130° to 170°. The torque peak shown in Figure 6 is an increase in the torque output. At least in this partial support phase between 130° and 170°, the compensation section 30 The actual output torque value is offset by the torque value specific to the output gear. The compensator 30 detects periodic torque peaks (at the output gear) by comparing them with the torque value specific to the output gear. A clear indication that the torque peak is due to the vehicle is within this angle range (130°-170°). This offset results in the This is the value of the output torque after compensation. This output torque is independent of the compensation according to the present invention. The torque increases and reaches the power-off (switch-off) torque at the cutoff 44. The drive motor 26 is then de-energized by the drive unit 24. At this point, the threaded connection is considered to be tight. can be obtained.

[0073] FIG. 9 has much in common with FIG. 8, so the following discussion will focus only on the differences. It can be seen that the output gear 8 has a first partially supported phase between 130° and 170° of rotation and a second partially supported phase between 190° and 230° of rotation. Between these two partially supported phases there is a fully supported phase with an angle range of 170° to 190°. These two partially supported phases are bordered by a further fully supported phase that extends from a rotational angle of 230° past the zero position at 0° to a rotational angle of 130°. The two torque peaks of these partially supported phases can be compensated separately for each partially supported phase. However, it is also conceivable to combine two partially supported phases during one revolution of the output gear 8 into a partially supported phase group. This makes it possible to achieve a single compensation for the entire partially supported phase group in the manner described above. The following describes aspects included in the present invention. [Aspect 1] A screw tightening device that interacts with a driving torque generating means to apply and / or transmit torque to a screw-tightening partner, a geared offset head means (6) including an output part that can be detachably connected to the screw-fastening counterpart, and a drive part that can apply a driving torque manually or mechanically; an output gear (8) that can be driven by the geared offset head means (6); a mechanical interface (46) selectively connecting directly or indirectly with said driving torque generating means for introducing torque; a compensator (30) configured to store and process compensation data including a torque curve specific to the output gear (8) and / or an efficiency curve specific to the output gear (8), and to generate a compensated output torque value by offsetting an actual output torque value with the compensation data; a data interface (36) configured to transmit compensation data to the drive torque generating means. [Aspect 2] In the screw fastening device according to aspect 1, at least one torque detection means for detecting the value of said actual output torque; A screw tightening device comprising: Aspect 3 a driving torque generating means for generating a torque and interacting with the screw tightening device, a drive motor (26); a mechanical interface (46) configured to selectively connect directly or indirectly with the screw tightening device (2) to introduce torque; a torque detection means for detecting an actual output torque value; a compensator (30) configured to store and process compensation data including an output gear specific torque curve and / or an output gear specific efficiency curve and offset the value of the actual output torque with said data to generate a compensated output torque value; A driving torque generating means comprising: Aspect 4 In the driving torque generating means according to aspect 3, a data interface (38) configured to communicate compensation data; A driving torque generating means comprising: Aspect 5 In the screw fastening device according to aspect 1 or 2 or the driving torque generating means according to aspect 3 or 4, a screw fastening device identification means; A screw tightening device or a driving torque generating means comprising: Aspect 6 In the screw fastening device according to aspect 1 or 2, or the driving torque generating means according to any one of aspects 3 to 5, Angle determination means (40) for determining the position angle of the output gear (8); A screw tightening device or a driving torque generating means comprising: Aspect 7 a screw tightening device (2) including a geared offset head means (6) including an output part that can be detachably connected to a screw-tightening partner and a drive part to which a driving torque can be applied manually or mechanically, an output gear (8) that can be driven by the geared offset head means (6), and a mechanical interface (46) that selectively connects directly or indirectly to a driving torque generating means to introduce torque; a driving torque generating means connected to the gear-type offset head means (6) on the driving unit side, the driving torque generating means including at least a driving motor (26), a mechanical interface (46) configured to selectively connect directly or indirectly to the screw fastening device (2) to introduce torque, torque detecting means for detecting an actual output torque value, and a compensating unit (30) configured to store and process compensation data including a torque curve specific to the output gear (8) and / or an efficiency curve specific to the output gear (8), and offset the value of the actual output torque with the data to generate a compensated output torque value. Aspect 8 In the screw tightening system according to aspect 7, A screw tightening system comprising at least one data interface (36, 38) configured to transmit compensation data. Aspect 9 In the screw tightening system according to aspect 7 or 8, Angle determination means (40) for determining the position angle of the output gear (8); A screw tightening system comprising: Aspect 10 A method for controlling a drive motor (26) of a screw tightening system, preferably of the screw tightening system according to aspect 7, comprising: - storing the output gear specific torque curve and / or the output gear specific efficiency curve in a compensation unit (30); - detecting the value of the actual output torque output from the drive motor (26) by a torque detection means; - offsetting the value of the actual output torque with at least one compensation file to generate a compensated output torque value; - outputting the value of the compensated output torque from the compensation unit (30) to a control unit (24) of the drive motor (26). Aspect 11 A method according to aspect 10, wherein the offsetting process compares and / or subtracts and / or adds a compensation file to the value of the actual output torque, preferably in only at least one partial support phase, and / or the offsetting process smooths the value of the actual output torque, preferably in only at least one partial support phase. Aspect 12 The method of embodiment 10 or 11, further comprising: - determining the position angle of the output gear (8) by an angle determining means (40); generating, by the compensator (30), the value of the compensated output torque using the position angle. Aspect 13 The method of any one of aspects 10 to 12, further comprising: - setting a switch-off torque value, wherein the drive motor (26) is switched off when the compensated output torque value of the drive motor (26) reaches the set switch-off torque value; - setting a target speed at which the drive motor (26) rotates, said target speed being dynamically adjustable so as to reach said switch-off value as fast as possible; A method comprising: Aspect 14 The method of any one of aspects 10 to 13, further comprising: - operating the screw tightening system in a speed controlled manner. Aspect 15 The method of any one of aspects 10 to 14, further comprising: - a step of combining a plurality of partially supported phases in one rotation of the output gear (8) into a partially supported phase group; - offsetting the value of the actual output torque with at least one compensation file, at least for the partial support phase group, to generate a compensated output torque value; A method comprising: Aspect 16 Use of the screw tightening system according to embodiment 7 for carrying out the method according to embodiment 10. [Explanation of symbols]

[0074] 2 Screw tightening device 4. Housing 6 Gear-type offset head means 8 Output gear 10 Angle Head 12 Screw tightening tools 14 First intermediate gear 16 Second intermediate gear 18 First support gear 20 Second support gear 22 Start button 24 Control Unit 26 Drive motor 28 Torque sensor 30 Compensation Department 32 Gear offset head 34 Screw tightening device identification means 36 Data Interface 38 Data Interface 40 Angle determination means 42 System Boundary 44 Power off (switch off) 46 Mechanical Interface 48 Tightening rotation direction 50 Screw tightening partner 52 blocks 54 blocks 56 blocks 58 Interface 60 sine wave 62 Recessed part 64 Data Path

Claims

1. A driving torque generating means of a screw tightening device (2) that applies and / or transmits torque to a screw tightening partner, a geared offset head means (6) including an output part that can be detachably connected to the screw-driving counterpart and a drive part to which a driving torque can be applied manually or mechanically; an output gear (8) capable of being driven by said geared offset head means (6); a mechanical interface (46) selectively connecting directly or indirectly with said driving torque generating means for introducing torque; a compensating unit (30) configured to store and process compensation data including a torque curve specific to the output gear (8) and / or an efficiency curve specific to the output gear (8), and to generate a compensated output torque value by offsetting an actual output torque value with the compensation data; a data interface (36) configured to transmit the compensation data to the drive torque generating means; The control unit (24) is configured to compare the compensated output torque value with a power-off torque, and the drive motor (26) is switched off when the compensated output torque value reaches the power-off torque.

2. 2. The driving torque generating means according to claim 1, at least one torque detection means for detecting the value of the actual output torque; Driving torque generating means.

3. A driving torque generating means for generating a torque and interacting with the screw tightening device (2), a drive motor (26); a mechanical interface (46) configured to selectively connect directly or indirectly with the screw tightening device (2) to introduce torque; a torque detection means for detecting an actual output torque value; An output gear (8) provided in the screw fastening device (2); a compensating unit (30) configured to store and process compensation data including a torque curve specific to the output gear (8) and / or an efficiency curve specific to the output gear (8) and offset the value of the actual output torque with the compensation data to generate a compensated output torque value; a data interface (38) configured to transmit compensation data to the drive torque generating means; The control unit (24) is configured to compare the compensated output torque value with a power-off torque, and the drive motor (26) is switched off when the compensated output torque value reaches the power-off torque.

4. 4. The driving torque generating means according to claim 3, A drive torque generating means comprising a data interface (38) configured to communicate compensation data.

5. 3. The driving torque generating means according to claim 1, A driving torque generating means having a screw tightening device identifying means.

6. 3. The driving torque generating means according to claim 1, An angle determining means (40) for measuring and determining the position angle of the output gear (8), Driving torque generating means.

7. a screw tightening device (2) including a geared offset head means (6) including an output part that can be detachably connected to a screw-tightening partner and a drive part to which a drive torque can be applied manually or mechanically, an output gear (8) that can be driven by the geared offset head means (6), and a mechanical interface (46) that selectively connects directly or indirectly to a drive torque generating means to introduce a torque; a driving torque generating means connected to the gear-type offset head means (6) on the driving unit side, the driving torque generating means including at least a driving motor (26), a mechanical interface (46) configured to selectively connect directly or indirectly with the screw tightening device (2) to introduce torque, a torque detecting means for detecting an actual output torque value, and a compensating unit (30) configured to store and process compensation data including a torque curve specific to the output gear (8) and / or an efficiency curve specific to the output gear (8), and offset the value of the actual output torque with the data to generate a compensated output torque value; The control unit (24) is configured to compare the compensated output torque value with a power-off torque, and when the compensated output torque value reaches the power-off torque, the drive motor (26) is switched off.

8. The screw tightening system according to claim 7, A screw tightening system comprising at least one data interface (36, 38) configured to transmit compensation data.

9. The screw tightening system according to claim 7 or 8, A screw tightening system comprising an angle determining means (40) for measuring and determining the position angle of the output gear (8).

10. A method for controlling a drive motor (26) of a screw tightening system according to claim 7, comprising: - storing the torque curve specific to the output gear (8) and / or the efficiency curve specific to the output gear (8) in a compensation unit (30); - detecting the value of the actual output torque output from the drive motor (26) by means of torque detection means; - generating a compensated output torque value by offsetting said value of said actual output torque with at least one compensation file; outputting the value of the compensated output torque from the compensation section (30) to a control unit (24) of the drive motor (26).

11. 11. The method of claim 10, wherein the offsetting step compares and / or subtracts and / or adds a value of the compensation file to the value of the actual output torque, and / or the offsetting step smooths the value of the actual output torque.

12. The method of claim 10 or 11, further comprising: - measuring and determining the position angle of said output gear (8) by means of angle determination means (40); - generating, by said compensation unit (30), said value of said compensated output torque using said position angle.

13. The method of any one of claims 10 to 12, further comprising: - setting a switch-off torque value, in which the drive motor (26) is switched off when the compensated output torque value of the drive motor (26) reaches the set switch-off torque value; - setting a target speed at which the drive motor (26) rotates, said target speed being dynamically adjustable so as to reach said switch-off torque value as fast as possible.

14. The method of any one of claims 10 to 13, further comprising: - operating the screw tightening system in a speed controlled manner.

15. The method of claim 13 further comprising: - coupling a plurality of partially supported phases during one rotation of the output gear (8) into a group of partially supported phases; - offsetting the output torque value with at least one compensation file, at least in the partial support phase group, to generate a compensated output torque value.

16. Use of a screw tightening system according to claim 7 for carrying out a method according to claim 10.

17. 4. The driving torque generating means according to claim 3, further comprising a screw tightening device identifying means.

18. 5. The driving torque generating means according to claim 3 or 4, A driving torque generating means comprising an angle determining means (40) for measuring and determining the position angle of the output gear (8).

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