Holding device with torque limitation and method for controlling torque limitation

Abstract

The present invention relates to a holding device (10) with torque limitation for objects (11) which are to be screwed into parts (12), in particular for piston rods (13) which can be screwed into pistons (14) contained within syringe cylinders (15), having a holder (33) for the object (11, 13) and a braking device (30) which holds the holder (33) and, via this, the object (11, 13) with a predetermined braking torque (Mt1) non-rotatably, wherein the braking device (30) has an electric brake (31) acting on the holder (33), wherein the holding device (10) further has a control device (60) for control, in particular for in-process control, of the torque limitation. The present invention further relates to a method (100) for control, in particular in-process control, of the torque limitation.

Description

Holding device with moment limiter and method for controlling the moment limiter

[0001] The invention relates to a holding device with torque limitation for objects to be screwed into parts and a method for controlling, in particular in-process control, the torque limitation.

[0002] Such screw-in tasks occur in a wide variety of fields where these types of holding devices with torque limitation can be used. One example is the filling and assembly of medical syringes. This is done using systems in which the individual work steps are carried out automatically, e.g., filling the syringe cylinder, then inserting the plunger into the filled syringe cylinder, and finally screwing the plunger rod into the plunger. The plunger is usually made of plastic, rubber, or a similar easily deformable material.

[0003] Such holding devices are known in the prior art. Publication EP1524002B1 discloses a holding device with torque limitation, particularly for piston rods that can be screwed into pistons contained within syringe cylinders. The device comprises a holder for the piston rod and a braking device that holds the holder, and thus the piston rod, in a non-rotatable position with a predetermined braking torque. The braking device includes an electric brake acting on the holder, e.g., in the form of an electric stepper motor.

[0004] However, there is still room for improvement. In particular, it is currently necessary to perform a time-consuming check of the quality of the screw connections after the components have been inserted. As part of this check, each syringe must be assessed to determine whether the piston rod has been screwed in correctly, thus ensuring the syringe meets the specified requirements (in other words, whether it is a "good syringe") or whether it does not meet the specified requirements (in other words, whether it is a "bad syringe"). Specifically, a syringe may be considered a "bad syringe" if the thread of the component being screwed in is not fully engaged. This can occur, for example, if the thread is faulty, particularly if it is incomplete.Furthermore, a syringe may be considered defective if the required tightening torque is not achieved. This can occur, for example, if the thread is missing or partially broken, or if the torque limit is incorrectly set, particularly too high. In these cases, the syringe does not meet the specified requirements. Specifically, current technology lacks a means of determining, through downstream quality control, whether the piston's breakaway torque was exceeded during tightening, which could compromise the syringe's integrity and, in particular, contaminate the product filled into the syringe.

[0005] Against this background, it is an object of the present invention to provide an improved device and an improved method by means of which the quality control of the screw connection can be improved. In particular, it is an object of the present invention to provide an improved device and an improved To provide methods by which the screwing of objects into the part can be improved.

[0006] According to a first aspect, a holding device with torque limitation is provided for objects to be screwed into parts, in particular for piston rods that can be screwed into pistons contained within syringe cylinders. The device comprises a holder for the object and a braking device that holds the holder and, via the holder, the object, in a non-rotatable position with a predetermined braking torque, wherein the braking device includes an electric brake acting on the holder. The holding device further includes a control device for monitoring, in particular for in-process monitoring, the torque limitation.

[0007] According to a second aspect, a method is provided for controlling, in particular for in-process control, the torque limitation of a holding device for objects to be screwed into parts, especially for piston rods that can be screwed into pistons contained within syringe cylinders. The holding device comprises a holder for the object and a braking device that holds the holder and, via it, the object, in a non-rotatable position with a predetermined braking torque, wherein the braking device includes an electric brake acting on the holder, and wherein the holding device further comprises a control device for in-process control of the torque limitation, the method comprising the following steps: screwing the object to be screwed into the part; applying the braking torque; and detecting any movement of the holder or the braking device.

[0008] In particular, the procedure according to the second aspect can be carried out with a holding device according to the first aspect.

[0009] The holding device prevents the thread from skipping when the object, in particular the piston rod, is screwed into the part, in particular the piston, and also prevents an axial force acting on the object to be screwed in, in the direction of the part, in particular the piston.

[0010] The electric brake, or electronic clutch, ensures in a simple way that the thread does not skip when screwing in. Such a braking device, in the form of an electric brake or electronic clutch, can be designed in a variety of ways and offers numerous advantages. Compared to a braking device with a slip clutch, where the braking torque changes over time due to wear, an electric brake or electronic clutch guarantees that the braking torque remains constant over extended periods. Because an electric brake is easily controllable and thus allows for adjustments to the braking torque, it can be quickly and easily adapted to different conditions.In piston rod insertion systems with multiple individual stations, the braking torque can be centrally set for all stations and adjusted under changing conditions. This is exceptionally simple and ensures consistent conditions for all stations. A further advantage is that virtually no axial force acts on the component being screwed in, particularly the piston rod, thus eliminating all the associated disadvantages. In this context, "virtually no axial force" means that the small forces, which are considered negligible with regard to any potential impairment of the structural integrity of the components being screwed in, especially damage to or stripping of the thread, are negligible with respect to the axial force.For example, a force of up to 3 Newtons, caused by an axial compression spring of a transmission element, is negligible with regard to the structural integrity of the parts being screwed in. When the object is screwed into the part, and especially when the piston rod is screwed into the piston, practically no axial force or pressure acts on the piston, so there is no risk of any rotation or displacement of the piston. Furthermore, the holding device is simple, compact, space-saving, and cost-effective. It consists of only a few parts.

[0011] It is particularly advantageous if the braking system incorporates an electric stepper motor. This motor is not used as a drive motor, but rather operates as a brake or electronic clutch when stationary. For this purpose, the stepper motor is supplied with a sufficiently high quiescent current, thereby establishing the appropriate braking torque. Such stepper motors These are commercially available components. They are therefore inexpensive and also small, light and compact, which makes them particularly suitable for the aforementioned application.

[0012] The holding device serves to hold the objects being screwed into parts during the screwing process. Furthermore, the holding device provides torque limitation and control, in particular in-process control, of the torque limitation.

[0013] In-process control, also known as inline control, refers to the monitoring of torque limits during the screwing-in process. Specifically, in-process control allows for the monitoring of torque limits.

[0014] The torque limiter prevents the breakaway torque from being reached or exceeded. The breakaway torque is the torque required for the piston or piston plug to begin sliding, rotating, or tilting within the syringe cylinder, or for the piston rod thread to slip. The torque limiter provides the necessary braking torque via the braking device. This braking torque holds the holder securely in place, preventing relative movement or rotation between the held object and the rotating part, thus allowing for the screwing in of the thread. If the braking torque is exceeded, the holder, along with the held object, can rotate with the rotating part, resulting in no, or at least significantly reduced, relative movement between the object and the part.

[0015] The required tightening torque refers to the torque needed to screw the piston rod into the piston plug. Specifically, the required tightening torque is the torque with which the screw connection on the machine should be made to fully screw the piston rod into the piston plug. The piston rod is fully screwed into the piston plug when it is flush with the piston plug.

[0016] The braking device serves to provide the braking torque. For this purpose, the braking device incorporates an electric brake. As previously described, the electric brake can, for example, be a stepper motor. The more current is applied to the coils in the electric brake motor, or stepper motor, the higher the motor's braking torque. If the instantaneous tightening torque (actual torque during the tightening process) exceeds the set braking torque of the motor, it will rotate. This creates the effect of an (electronic) clutch.

[0017] The holder serves to hold the object to be screwed in. The holder can be essentially cylindrical and have a cylinder axis or axis of rotation. The holder is, in particular indirectly, rotationally coupled to the electric brake, especially a drive pin of the brake, with respect to the cylinder axis or axis of rotation.

[0018] The control device serves for in-process monitoring of the torque limitation. In other words, the control device is designed to check whether the electronic clutch has triggered during the screw-in process. This occurs when the screw-in torque exceeds the braking torque, causing the holder to rotate with the syringe cylinder. Since the required screw-in torque must be less than the braking torque and less than the breakaway torque to fully screw the piston rod into the piston plug without moving the plug, the control device, through in-process monitoring of the torque limitation, is designed to detect a successful screw-in process when the electronic clutch triggers and a failed screw-in process when the electronic clutch does not trigger. Detecting a successful screw-in process, or a good screw connection, indicates a "good syringe."Detecting a poor screw-in process or a poor screw connection suggests a "bad injection".

[0019] A "good injection" is achieved when the required tightening torque has been reached during the screw-in process. Specifically, the piston rod is fully screwed into the piston plug and sits flush against it. In other words, a "good injection" is achieved when the piston rod has been screwed in correctly.

[0020] A "malfunctioning syringe" occurs when the required tightening torque is not achieved during the screw-in process, and / or the piston rod is not fully screwed into the piston plug, and / or the piston rod is not flush against the piston plug. In particular, a "malfunctioning syringe" can occur even after the electronic clutch has been triggered if the piston rod is not flush against the piston plug. In other words, a "malfunctioning syringe" occurs when the piston rod is not fully screwed in or the required tightening torque is not achieved.

[0021] The control device is designed to detect the activation of the electronic clutch by sensing movement of the mounting bracket or by detecting movement of the braking device. The control device can be configured to directly detect the movement of the mounting bracket or the braking device, in other words, to measure it directly. Alternatively, the control device can also indirectly detect movement of the braking device, and thus also of the mounting bracket, by evaluating the current-voltage waveform of the electric brake, for example, using a resolver.

[0022] The insertion of the object into the part and the application of the braking torque are carried out in a known manner, in particular controlled by the machine control system. The insertion and the application of the braking torque can occur simultaneously.

[0023] The control device detects movement of the bracket or braking device. This detection provides information about whether or not the bracket or braking device has moved. In other words, it provides information about whether the electronic clutch or torque limiter has been triggered. To detect movement of the bracket or braking device, the control device can monitor the bracket or braking device, or an element coupled to the bracket or braking device, for movement, particularly rotation, using sensors. Detection can be performed using tactile or non-contact measurement methods. In particular, a positive signal can be generated following and based on the detection. An evaluation (in the case of a detected movement) or a negative evaluation (in the case of no detected movement) of the screw connection of the object to be screwed in with the part is carried out.

[0024] By using the control device of the holding fixture to detect the movement of the holder, it is possible to monitor during the screwing process whether the torque limiter, in other words the electronic clutch, has actually been triggered. This allows it to be determined during the screwing process whether the required screwing torque for fully screwing the object into the part has been applied and whether the breakaway torque of the piston or piston plug has been exceeded. In this way, the necessary information for evaluating the syringe can be provided during the screwing process itself. This improves the quality control of the screw connection.In particular, if the electronic clutch is successfully triggered, the syringe can be classified as a "good syringe" even during the screw-in process. Conversely, if the required torque is not reached during the screw-in process—in other words, if the electronic clutch does not trigger—the syringe can be classified as a "bad syringe" based on this information, also during the screw-in process. This allows for corresponding feedback to be sent to the machine control system. Therefore, additional downstream quality control and corresponding equipment are unnecessary. Furthermore, due to the in-process control, a faulty process setting can be immediately detected and promptly adjusted or improved. This reduces the number of defective syringes that are rejected.This improves the process of screwing items into the part.

[0025] The task posed at the beginning is thus fully solved.

[0026] In its first embodiment, the braking device features an electric stepper motor.

[0027] In a further embodiment, the holder has a plunger with a receiving head for the objects to be held in place, in particular for the piston rods.

[0028] In a further embodiment, the receiving head is provided with a vacuum holder for an end part, in particular a finger rest, of the object to be held, especially the piston rod.

[0029] In a further embodiment, the bracket has a transmission element, e.g. a sleeve, which is connected to the braking device in a rotationally fixed and axially immovable manner and is connected to the plunger in a non-rotatable but axially relatively displaceable manner.

[0030] In a further embodiment, a compression spring is arranged axially between the transmission element and the plunger.

[0031] In a further embodiment, the holder, in particular its plunger and transmission element, is arranged within a housing.

[0032] In a further embodiment, the braking device is attached to the housing, in particular to its end facing away from the receiving head of the bracket.

[0033] In another embodiment, the braking device protrudes into the housing with a drive pin.

[0034] In a further embodiment, the control device has a first sensor arrangement which is configured to detect a movement of the holder or a movement of the braking device, in particular the electric brake, or the electric stepper motor, wherein the first sensor arrangement for detecting the movement has a sensor, in particular a rotary encoder or a distance or motion sensor, or rotation detection sensor.

[0035] The sensor is used to detect movement, in particular rotation or twisting of the bracket or the braking device. Since the bracket and the braking device Since the drive pin and the part to be screwed in (piston rod) are rotationally coupled to each other, the sensor is configured to determine the movement of the other rotationally coupled parts from the detection of the movement of the bracket or the brake device. In particular, the bracket and the brake device are indirectly connected to each other via a transmission element. In other words, the sensor is configured to detect whether the bracket or the brake device is rotating or not. In particular, the sensor can also provide a speed or angle measurement of the bracket or the brake device.

[0036] The sensor is preferably a rotation sensor. In particular, the rotation sensor is a Hall effect sensor. However, other sensors that can detect the rotation of an object, especially a shaft, are also suitable (for example, a magnetoresistive sensor, inductive sensor, optical sensor, or an accelerometer or gyroscope sensor; in particular, the sensor can also be a distance sensor that can detect radial projections on a shaft).

[0037] The first sensor array can also be configured to provide sensor data. This sensor data can include measured values ​​from the sensor of the first sensor array. The sensor data can represent the detected movement of the bracket, the braking device, or other parts rigidly connected to it.

[0038] In a further embodiment, the holder is designed to be rotatable and is configured to perform a rotation in the opposite direction to the braking torque, in particular around the cylinder axis or axis of rotation of the holder or of the syringe cylinder.

[0039] This ensures that the rotation of the bracket and the rotations of the driven syringe cylinder and the brake assembly (drive pin) are identical once the electronic clutch has been engaged. Thus, the sensor can detect the rotations of all parts rotating together.

[0040] In a further embodiment, the first sensor arrangement has a pulse generator rotatably connected to the holder, wherein the pulse generator has at least one detectable element which is configured to be detected by the sensor, in particular wherein each detectable element is arranged radially outside the pulse generator, in particular wherein a plurality of detectable elements are arranged in a uniform spacing around a circumference of the pulse generator.

[0041] The pulse generator is designed to rotate with the bracket when the bracket is no longer held by the brake. In other words, the movement of the pulse generator is directly related to the movement of the bracket. The pulse generator can be directly connected to the bracket for this purpose. Alternatively, the pulse generator can also be connected to the bracket indirectly via the transmission element or the drive shaft. In this way, the movement of the bracket can be inferred from the movement of the pulse generator. It goes without saying that the pulse generator can be arranged on any part of the bracket that is coupled to its movement, in particular the drive shaft or the transmission element. The pulse generator is preferably ring-shaped. The pulse generator can be arranged at least partially around the bracket.Alternatively, the pulse generator can have at least one detectable element arranged individually on the mounting.

[0042] The term "division" can refer to the uniform division or distribution of elements along a line, circumference, or area. In relation to the pulse generator, division describes the uniform distribution of detectable elements across the circumference of the pulse generator.

[0043] The detectable element is designed to be moved from the mount. For this purpose, each detectable element is rotationally fixed to the holder. Alternatively, the detectable element can also be arranged on the drive shaft or the transmission element. Each detectable element is designed to generate a detectable pulse in the sensor's measured values ​​when passing the sensor. The detectable element must be selected according to the sensor. For example, when using a magnetic sensor, especially a Hall-effect sensor, The detectable element must be magnetic. In this way, the sensor can measure changes in a magnetic field caused by the rotating magnetic detectable element on the shaft or mounting. This change is registered as an electrical voltage, indicating the rotational movement. For example, similarly, when using an inductive proximity sensor, each detectable element can be a metallic feature on the shaft or mounting (e.g., a tooth of a gear, a cam, or the like) that generates a changing magnetic field as it passes the sensor, which is then detected. Each rotation of the detectable element generates a pulse, allowing the rotational speed to be determined. Specifically, when using a distance sensor, each detectable element can be a radial projection on the shaft or mounting.Each protrusion can generate a reduction in the measured distance and thus a pulse as it passes the distance sensor. Specifically, when using an optical (photo)sensor, any detectable element can be a light-emitting, reflecting, or absorbing element. In this way, the photosensor can detect changes in light reflection caused by the rotating pulse generator or changes in an applied pattern or markings.

[0044] The resolution of the rotation angle determination by the sensor can be determined by the selected number and division of the detectable elements. For example, with one detectable element, the sensor can detect a full rotation of the pulse generator or its mounting bracket. For example, with two detectable elements, the sensor can detect a half rotation of the pulse generator or its mounting bracket. For example, with three detectable elements, the sensor can detect a third rotation of the pulse generator or its mounting bracket. For example, with four detectable elements, the sensor can detect a quarter rotation of the pulse generator or its mounting bracket.

[0045] In this way, the first sensor arrangement can be designed as a rotary encoder. The first sensor arrangement can then not only detect a rotation of the bracket, but also provide information about the angle of rotation of the bracket.

[0046] In a further embodiment, the sensor is stationary and arranged radially next to the holder or next to the transmission element with respect to the cylinder axis of the holder or the syringe cylinder, in particular with respect to the cylinder axis at the level of the pulse generator.

[0047] The sensor is arranged radially outwards with respect to the cylinder axis or rotation axis of the mount and can be oriented radially towards the cylinder axis or rotation axis of the mount to detect any detectable element on a radially outward-facing end face of the pulse generator. Alternatively, the sensor's measuring field can be aligned parallel to the rotation axis and measure a flat side of the pulse generator extending orthogonally to the cylinder axis or rotation axis of the mount. In this case, any detectable element, particularly those located radially outwards, is attached to the flat side. The sensor is fixedly arranged within the housing.

[0048] In this way, the sensor can be positioned particularly securely and with minimal space requirements within the mounting device. This protects the measurement result from external interference. In particular, the sensor can be protected by the housing.

[0049] In a further embodiment, the sensor is a distance sensor, in particular an inductive proximity switch, or a magnetic sensor, in particular a Hall effect sensor, and the pulse generator is a cam disk. Each detectable element of the pulse generator can be magnetic.

[0050] A cam disk is a disk that has at least one cam as a detectable element on its circumference. Each cam projects radially outwards. Each cam has a radially outward-facing end face. The cam disk can have one cam, preferably two cams, preferably three cams, and most preferably four cams. It goes without saying that other numbers of cams can also be used. In particular, the angular distances between the cams are uniform. Alternatively, the The cam disc also has cams on a flat side. Each cam then rises in a direction parallel to an axis of rotation of the cam disc. In this case, the cam disc can have recesses or holes instead of cams. It can then also be referred to as a perforated disc.

[0051] In this way, the first sensor arrangement can be designed as a rotary encoder with particularly safe and precise measurement.

[0052] In a further embodiment, the control device has a second sensor arrangement which is designed to detect a gap between the object to be screwed in and the part, in particular a gap arranged orthogonally to the cylinder axis of the holder or syringe cylinder and between the piston rod and the piston or piston plug.

[0053] The gap between the object being screwed in and the part (piston) occurs when the thread of the object being screwed in is not fully engaged with the part. This can happen, as previously described, if the thread is defective, particularly incomplete. Specifically, the gap between the object being screwed in and the part (piston) can occur even if the required tightening torque has been achieved. In other words, the gap indicates a "bad syringe," especially if the required tightening torque has been reached.

[0054] The second sensor array can also be configured to provide sensor data. This sensor data can include measured values ​​from a sensor in the second sensor array. The sensor data can represent the gap.

[0055] In this way, the holding device and the corresponding procedure can be further improved using the second sensor arrangement. In particular, in addition to the movement of the holder, the gap can be checked as a second evaluation criterion or safety feature. This allows for further improvement in the quality control of the screw connection. Specifically, the improved device and the The improved process of screwing the objects into the part can be further improved.

[0056] In a further embodiment, the second sensor arrangement for detecting the gap includes an optical sensor, in particular a camera.

[0057] The optical sensor serves to detect the gap between the object to be screwed in and the part. The optical sensor is at least configured to qualitatively detect the gap. In other words, the optical sensor is at least configured to provide an indication of whether the gap is present or not. In particular, the optical sensor can determine this based on a defined threshold value. In particular, the optical sensor is configured to quantitatively measure the gap. For example, the optical sensor can detect width and / or variability along the gap, especially differences in width and / or depth along the gap. The optical sensor provides a field of view within which the object to be measured can be detected. The optical sensor is configured to optically detect the gap. In particular, the optical sensor can detect the gap through an outer wall of the syringe barrel.For this purpose, the optical sensor can be configured to detect the slit using a measurement method based on light reflection. Alternatively, the optical sensor can be configured to detect the slit using distance measurement, in particular using a laser-based measurement method. Alternatively, the optical sensor can be configured to detect the slit using image analysis, in particular based on camera images and / or based on laser line projections.

[0058] In particular, the optical axis of the optical sensor, or camera, points essentially radially inwards with respect to the cylinder axis of the holder, or the syringe cylinder. The field of view of the optical sensor, or camera, covers an area in which at least the threaded shoulder of the piston rod and the threaded bore of the piston are located when the piston rod is screwed into the part.

[0059] In this way, the gap can be measured easily, without contact, with high precision and high measuring speed.

[0060] In a further embodiment, the second sensor arrangement has a camera illumination that is designed to improve contrast representation when imaging the slit.

[0061] The camera illumination can, for example, be a light source designed to illuminate the field of view of the optical sensor. Specifically, the camera illumination can illuminate the field of view of the optical sensor with infrared light. However, other wavelengths / wavelength ranges are also possible if they are matched to the optical sensor used. In particular, the camera illumination can be configured to provide a fringe projection.

[0062] In this way, the measurement using the optical sensor can be improved and, in particular, accelerated. Specifically, the measurement can be performed with higher precision. Measurement errors can be reduced.

[0063] In a further embodiment, the control device also includes a control unit which communicates with the first sensor arrangement and / or the second sensor arrangement, in particular via a wireless or wired data connection, and is configured to perform a positive or negative evaluation of the screw connection of the object to be screwed in with the part based on sensor data from the first sensor arrangement and / or the second sensor arrangement, and to transmit a corresponding evaluation signal, in particular to the machine control or to a data acquisition system.

[0064] The control unit can be a standalone device. Alternatively, it can be integrated into the machine control system. In particular, the control unit can provide in-process evaluation of sensor data as part of in-process control.

[0065] In this way, information for evaluating the syringe can be provided even during the screw-in process. This improves the quality control of the screw connection. Specifically, if the electronic clutch is successfully triggered during the screw-in process, the syringe can be rated as a "good syringe" based on this information. In other words, this is a positive evaluation. Conversely, if the required torque is not reached during the screw-in process—in other words, if the electronic clutch does not trigger—the syringe can be rated as a "bad syringe" based on this information, also during the screw-in process. In other words, this is a negative evaluation.In particular, if a gap is detected based on the sensor data from the second sensor array, the syringe may be rated as a "bad syringe" even if the electronic coupling is successfully triggered during the screw-in process. In other words, this is a negative rating.

[0066] The evaluation signal is a signal that represents the assessment of the tightness of the screw connection between the object being screwed in and the part, in machine-readable form. The evaluation signal can also be understood as information for evaluating the syringe. Specifically, this information can be retrieved by the machine control or the data acquisition system from the control unit. In particular, this allows for appropriate feedback to be provided to the machine control in order to influence subsequent screwing processes.

[0067] The evaluation using the control unit eliminates the need for additional downstream quality control and corresponding equipment. Furthermore, in-process control allows for the immediate detection and timely adjustment or improvement of any incorrectly configured process. This reduces the number of defective syringes that are rejected, thus improving the insertion of components into the part.

[0068] In a further embodiment, the method, after the step of detecting a movement of the bracket or the braking device, includes a further step of impulse control.

[0069] Impulse control can be performed if a movement of the bracket or braking device was detected during the sensing step. In particular, impulse control can be performed instead of the step of detecting the movement of the bracket or braking device and provide the same effect. Specifically, impulse control can be performed using the pulse generator.

[0070] Impulse control is used primarily for the quantitative evaluation of the movement, especially the rotation, of the mounting or braking device. Impulse control can detect how many impulses are generated by the pulse generator or at least one detectable element. An impulse is generated when a detectable element of the pulse generator passes the sensor of the first sensor array during the movement of the mounting. In particular, impulse control can determine the minimum extent to which the movement has been completed. In the case of a rotational movement, impulse control can determine a minimum rotation, for example, in degrees or in multiples of a full revolution. This can be determined based on the division of the detectable elements and the number of detected impulses. In other words, impulse control can determine the minimum required number of impulses.In particular, the evaluation of the impulse control can be carried out using the control unit.

[0071] In particular, impulse control involves comparing the movement to a threshold value. If the threshold is exceeded, the impulse control is positive. In other words, a sufficient number of impulses are detected, and sufficient movement is recognized. If the threshold is not met, the impulse control is negative. In other words, an insufficient number of impulses are detected, and insufficient movement is recognized.

[0072] If the impulse control is positive, it can indicate that the movement of the bracket or braking device has been sufficient, or that the threshold has been exceeded. In other words, a positive impulse control result indicates that the electronic clutch has been triggered. This can occur, for example, if the sensor of the first sensor array has been triggered and the threshold (e.g., angular rotation) has been exceeded, consequently The torque limit is considered triggered. In particular, following the positive impulse control, a positive evaluation of the screw connection of the object to be screwed in to the part can be made.

[0073] If the impulse control fails, it can indicate that the movement of the bracket or braking device did not occur, or not to a sufficient degree, or that the threshold value was not reached. In other words, a negative impulse control can indicate that the electronic clutch did not trigger (sufficiently). For example, this can be the case if the sensor of the first sensor array triggered, but the threshold value (e.g., angular rotation) was not exceeded, so that the torque limiter is consequently considered not to have been triggered. In particular, a negative impulse control can lead to a negative assessment of the tightness of the screw connection between the object being screwed in and the part.

[0074] This approach prevents incorrectly detected movements, thus improving the quality control of the screw connection. It further enhances the in-process control of torque limitation, and in particular, improves the insertion of components into the part.

[0075] In a further embodiment, the method, after the step of detecting a movement of the bracket or the braking device, includes a further step of gap measurement.

[0076] Gap measurement can be performed if movement of the bracket or braking device is detected during the detection step. Gap measurement can be performed before or, preferably, after impulse control. In particular, gap measurement can be carried out using the second sensor arrangement.

[0077] Gap measurement serves for qualitative and / or quantitative detection, or... Measurement of the gap. Preferably, the gap measurement is carried out without contact, in particular by means of an optical sensor of the second sensor device. In particular During gap measurement, the width and / or variability along the gap, in particular differences in width and / or depth, can be determined. Specifically, the measured width and / or variability of the gap can be compared to a threshold value. If the threshold value is exceeded, the gap measurement is positive. In other words, a gap is detected. If the threshold value is not reached, the gap measurement is negative. In other words, no gap is detected. The evaluation of the gap measurement can be carried out using the control unit.

[0078] If the gap measurement is positive, it indicates that a gap exists between the object being screwed in and the part (piston). In other words, the gap measurement then indicates that it is a "bad syringe," especially if the required screw-in torque has been achieved.

[0079] If the gap measurement is negative, it indicates that there is no gap between the object being screwed in and the part (piston). In other words, the gap measurement then indicates that it is a "good injection".

[0080] In this way, gap measurement can be used to verify the gap as a second evaluation criterion or safety feature, in addition to recording the movement of the bracket or braking device, or in addition to impulse control. This improves the quality control of the screw connection. The in-process control of torque limitation can thus be further improved. In particular, the screwing of objects into the part can be further enhanced.

[0081] In a further embodiment, the method, after the step of detecting a movement of the bracket or the braking device, includes a further step of evaluating the screw connection.

[0082] The evaluation is based on the step of detecting the movement of the bracket or braking device and / or the step of impulse control and especially at the gap measurement stage. The evaluation provides an assessment of the quality of the screw connections of the objects screwed into the parts, or of the screwing-in process itself.

[0083] The evaluation step yields a negative rating if no movement was detected in the step of recording the movement of the bracket or the braking device, or if an insufficient number of impulses were determined in the impulse control step, and / or if a gap was detected in the gap measurement step.

[0084] The evaluation step yields a positive result if movement was detected in the step of recording the movement of the bracket or the braking device, and in particular if a sufficient number of impulses were determined in the impulse control step, and in particular if no gap was detected in the gap measurement step.

[0085] In a further embodiment, after the evaluation step, the evaluation of the screw connection is transmitted to the machine control or to a data acquisition system in a further step of transmission.

[0086] In a further embodiment, after the transmission step, in a further step of adjusting the torque limit, the torque limit is adjusted based on the evaluation of the screw connection, in particular where the torque limit is adjusted by the machine control.

[0087] Adjusting the torque limit can correct or improve a faulty process. For example, based on an assessment of the screw connection, the machine control can issue adjusted control commands to the holding device. Specifically, the torque limit can be adjusted to provide a higher braking torque and thus a higher tightening torque. Furthermore, the torque limit can be adjusted during the current tightening process to apply a higher tightening torque while still achieving a successful injection.

[0088] This improves the insertion of items into the part, especially during subsequent screw-in processes. This, in turn, reduces the number of defective syringes that are rejected.

[0089] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present invention.

[0090] Embodiments of the invention are illustrated in the drawing and explained in more detail in the following description. The drawing shows: Fig. 1 shows a schematic axial longitudinal section with partial side view of a holding device with torque limitation for objects to be screwed into parts and a control device for in-process control of the torque limitation; Fig. 2 shows a sectional view of the holding device from Fig. 1 along line AA; and Fig. 3 shows a schematic representation of an embodiment of a method.

[0091] Fig. 1 shows a schematic axial longitudinal section with partial side view of a holding device 10 with moment limitation for objects 11 to be screwed into parts 12.

[0092] Figure 1 shows only the essential elements of a holding device 10 for the present case. The holding device 10 enables torque limitation for objects 11 that are screwed into parts 12. In the illustrated embodiment, the holding device 10 is part of a system (not shown) used to fill and assemble syringes. The holding device 10 is one of, for example, twelve identical devices attached to a continuously operating piston rod insertion system. In this system, the objects 11 are... The syringes are provided with piston rods 13, which are to be screwed into pistons 14 as components contained within the syringe cylinder 15 and held against the inner wall of the syringe cylinder 15 by static friction. The piston rod 13 has a lower threaded shoulder 16 and, at the opposite end, a circular finger rest 17, which are integral parts of the piston rod 13. The piston 14, which is made of plastic, rubber, or the like, contains an internal threaded bore 18 into which the piston rod 13 with its threaded shoulder 16 is to be screwed.

[0093] In the illustrated embodiment, for this screwing-in process, part 12, in the form of the piston 14, is driven rotating in the direction corresponding to the thread of the threaded bore 18, as indicated by arrow 23, while the object 11, in the form of the piston rod 13, is held non-rotatable relative to it. The syringe cylinder 15, in the stage shown in the drawing, is held, for example, in a transport star or the like, with its outer surface resting, for example, against two rotatably mounted rollers (not shown), while on the other side of the syringe cylinder 15, a belt (not shown) runs, which is in frictional contact with the outer surface of the syringe cylinder 15 and is driven in a direction for the rotary drive of the syringe cylinder 15 in the direction of arrow 23.The piston 14, which is frictionally engaged with the inner surface of the syringe cylinder 15, is driven in the same direction by the syringe cylinder 15, so that, with the piston rod 13 held in place, it can screw its lower threaded shoulder 16 into the threaded bore 18 of the piston 14.

[0094] The syringe cylinder 15 has, in the usual way, a ridge 21 at its upper end, which serves as a finger rest during handling and with which the syringe cylinder 15 rests and is supported in a vertical direction on a holding part 22 which is only schematically indicated here.

[0095] The syringe cylinder 15 is filled inside with a predetermined quantity of, for example, a liquid product and is sealed at the bottom end with a removable cap 24, for example, made of rubber.

[0096] The holding device 10 has a holder 33 for the non-rotating object 11, in the illustrated embodiment for the non-rotating piston rod 13, and is further equipped with a braking device 30 that holds this holder 33 and, via the latter, the object 11 (i.e., in the illustrated embodiment, the piston rod 13) in a non-rotating position with a predetermined braking torque Mt1. In a particular configuration, this braking device 30 includes an electric brake 31 acting on the holder 33. This electric brake 31 can be designed in various ways, e.g., as a rotor held in a magnetic field of a predetermined size, as a hysteresis coupling, as an eddy current brake, or the like. An electric brake 31 in the form of an electric stepper motor 32 has proven to be particularly advantageous. Such stepper motors are commercially available and can be purchased as finished components.They are inexpensive, small, and lightweight, and can be highly effective as an electric brake 31. In the holding device 10 of the type described, these electric stepper motors 32 are not used for the rotary drive for which they are actually intended, but as an electric brake 31. Each stepper motor 32 is supplied with a quiescent current of a predetermined magnitude and is stationary. It merely limits the torque when screwing the respective piston rod 13 into the piston 14. In other words, the stepper motor 32, or rather the brake 31, acts in this way as an electronic clutch. If the braking torque Mt1, determined by the magnitude of the quiescent current, is exceeded, the stepper motor 32 is rotated by the holder 33 in the opposite direction to the actual drive direction. In other words, the electronic clutch is then triggered.

[0097] The generated braking torque Mt1 results in virtually no axial force directed towards the piston 14, which is exerted on the piston rod 13. When the threaded shoulder 16 engages the threaded bore 18 of the piston 14 and is screwed into it, no pressure is exerted on the piston 14, thus preventing the piston 14 from rotating or even being displaced within the syringe cylinder 15 during insertion. Furthermore, slippage of the piston 14's thread is prevented during insertion.

[0098] The holder 33 has a plunger 34 with a receiving head 35 for the objects 11 to be held, in particular for the piston rods 13. The plunger 34 is arranged essentially coaxially with the piston rod 13 and is typically The holding head 35 is slidably, but not rotatably, positioned. It is equipped with a conventional vacuum clamp 36 for an end part, in particular the finger rest 17, of the object 11 to be held. Details of the holding head 35 and the vacuum clamp 36 do not require further description. For example, reference should be made to DE 201 04435 U1.

[0099] The bracket 33 further comprises a transmission element 40, e.g., in the form of a sleeve 41, which is connected to the braking device 30 in a rotationally fixed and axially immovable manner. The transmission element 40 is connected to the plunger 34 in a non-rotatable but axially relative manner. It runs essentially coaxially with the plunger 34. The plunger 34 has a transverse pin 37 for this connection, the ends of which engage with corresponding vertical slots 42 in the sleeve 41 in a form-fitting manner, but with axial relative displacement. At the other end, the sleeve 41 is held centered on a drive pin 29 of the electric brake 31 and is connected to the drive pin 29 in a form-fitting manner in the circumferential direction by means of a transverse pin, in particular a threaded pin.In the axial area between the sleeve 41 and the plunger 34 a compression spring 46 is arranged, which is supported at its ends on the sleeve 41 on one side and on the plunger 34 on the other, and which compensates for the relative displacement of both parts of the holder 33.

[0100] The bracket 33, in particular its plunger 34 and transmission element 40, are arranged within a housing 51. At the upper end of the housing 51 shown in the drawing, the electric brake 31 is releasable and attached such that its drive pin 29 projects into the housing 51. The housing 51, with all parts held on or in it, is movable towards and away from the injection cylinder 15.

[0101] The holding torque Mt2 prevailing in the area of ​​the pickup head 35 between it and the finger rest 17 is greater than the braking torque Mt1 of the braking device 30, the magnitude of which is determined by the quiescent current supplying the stepper motor 32. Thus, the torque limitation of the electric stepper motor 32 is achieved by limiting its current. This design offers numerous advantages. An electric stepper motor 32 is readily available as such a component and is also inexpensive, small, and lightweight. Its braking torque Mt1 remains above the limit even during continuous operation. The braking torque remains constant for an extended period. A further advantage is that the braking torque for each station of a continuously operating piston rod insertion system can be centrally set by centrally specifying the quiescent current, particularly via the machine control system. Setting the braking torque once for all stations is quick and easy. If piston rods 13 of a different size are processed in the described system, the corresponding braking torque can still be centrally set for all stations. Furthermore, it is ensured that when the piston rod 13 is screwed into the piston 14, virtually no axial force acts on the piston rod 13 in the direction of the piston 14, and thus no pressure is exerted on the piston 14. This prevents the piston 14 from potentially being rotated or even axially displaced during insertion.On the contrary, this is counteracted in the opposite way by the fact that, due to the vacuum holder 36 in the receiving head 35, the piston rod 13 is pulled upwards in the piston 14 in the opposite axial direction.

[0102] As shown in Fig. 1, the holding device 10 further comprises a control device 60 for in-process control of the torque limitation. In the illustrated embodiment, the control device 60 comprises a first sensor arrangement 62, a second sensor arrangement 70, and a control unit 80.

[0103] The control device 60 serves for in-process control of the torque limitation. In other words, the control device 60 is designed to check whether the electronic clutch has been triggered during the screwing process. This occurs when the screwing torque overcomes the braking torque Mt1 and, as previously described, the holder 33 and thus also the object 11 (the piston rod 13) rotate with the syringe cylinder 15. This indicates that the screwing torque required for a secure connection of the object 11 to the part 12 has been applied. Based on the in-process control of the torque limitation, the control device 60 therefore recognizes a successful screwing process if the electronic clutch has been triggered and a failed screwing process if the electronic clutch has not been triggered.

[0104] In the illustrated embodiment, the control device 60 is configured to directly detect, or in other words, directly measure, the movement of the bracket 33 and thus also the movement of the drive pin 29 of the brake device 30. For this purpose, the control device 60 has the first sensor arrangement 62.

[0105] The first sensor arrangement 62 is configured to detect the movement of the bracket 33, or the movement of the drive pin 29 of the brake device 30. For this purpose, the first sensor arrangement 62 comprises a sensor 64 and a pulse generator 66. The sensor 64 and the pulse generator 66 together function as a rotary encoder. For example, the sensor 64 is a Hall effect sensor and the pulse generator 66 is a cam disc.

[0106] The pulse generator 66 is rotationally fixed to the bracket 33. As shown in Figures 1 and 2, the pulse generator 66 can also be rotationally fixed to the bracket 33 indirectly via the transmission element 40 or the drive pin 29. For this purpose, the pulse generator 66 is designed in an annular form and arranged circumferentially around the bracket 33. In other words, the pulse generator 66 is configured to rotate with the bracket 33 when the bracket 33 rotates upon release of the electronic clutch. The rotation of the pulse generator 66 thus corresponds to the rotation of the holder 33 and therefore also of the held piston rod 13. In Fig. 2, the rotation of the pulse generator 66, or of the holder 33, occurs about the dashed-dotted axis 20 and in the direction of arrow 23. The dashed-dotted axis 20 represents the cylinder axis, or axis of rotation, of the holder 33, or of the syringe cylinder 15.By enabling the sensor 64 to detect the rotation of the pulse generator 66, the first sensor arrangement 62 can detect the rotation of the bracket 33 and thus also the triggering of the electronic clutch.

[0107] The design of the pulse generator 66 is described in more detail below in Fig. 2.

[0108] In the illustrated embodiment, the control device 60 is further configured to detect a gap S between the object 11 to be screwed in and the part 12. In particular, the gap between the threaded shoulder 16 of the The piston rod 13 and the threaded bore 18 of the piston 14 are arranged. If the thread of the piston rod 13 is not fully screwed into the piston 14, the gap S is greater than zero. In other words, the gap S is then present. To detect the gap S, the control device 60 has the second sensor arrangement 70.

[0109] The second sensor arrangement 70 has an optical sensor 72 in the form of a camera for detecting the gap S. As shown in Fig. 1, the field of view 74 of the camera 72 detects an area in which at least the threaded shoulder 16 of the piston rod 13 and the threaded bore 18 of the piston 14 are located. For this purpose, the optical axis of the camera 72 points substantially radially inwards with respect to the cylinder axis 20 of the holder 33, or of the syringe cylinder 15. In the illustrated embodiment, the camera 72 can detect the gap S through an outer wall of the syringe cylinder 15. For this purpose, the syringe cylinder 15 is designed to be transparent. The camera 72 is thus configured to detect the gap S by means of image evaluation based on camera images. Preferably, the image evaluation can be carried out by the control unit 80.The second sensor arrangement 70 can further include a camera illumination (not shown) which can essentially illuminate the field of view 74 of the camera 72 and which is designed to improve contrast representation when imaging the column S.

[0110] In the illustrated embodiment, the control device 60 is further configured to perform a positive or negative evaluation of the screw connection of the piston rod 13 to the piston 14, based on sensor data from the first sensor arrangement 62 and / or the second sensor arrangement 70. For this purpose, the control device 60 also includes the control unit 80, which communicates with the first sensor arrangement 62 and the second sensor arrangement 70, as indicated by the dashed connecting lines, in particular via a wireless or wired data connection. The control unit 80 is also configured to transmit a corresponding evaluation signal, in particular to the machine control system or to a data acquisition system (neither of which are shown in Fig. 1). In particular, the control unit 80 can be integrated into the machine control system or be a part of the machine control system.Alternatively, it may be provided that the. The machine control system is configured to perform the evaluation. In other words, the evaluation then takes place directly within the machine control system. In this case, raw data or sensor data can be transmitted directly or indirectly to the machine control system instead of the evaluation signal. In particular, the first and / or second sensor array can be configured to transmit raw data or sensor data to the machine control system.

[0111] Fig. 2 shows a sectional view of the holding device 10 from Fig. 1 along line AA. In particular, the first sensor arrangement 62 from Fig. 1 can be seen. For example, the sensor 64 is a Hall effect sensor and the pulse generator 66 is a cam disk.

[0112] The sensor 64 is stationary and is located relative to the cylinder axis 20 of the bracket 33, respectively. The sensor 64 is arranged radially next to the holder 33 or next to the transmission element 40 of the syringe cylinder 15. As shown in Fig. 1, the sensor 64 is arranged at the level of the cam disk 66 with respect to the cylinder axis 20. The sensor 64 is directed radially towards the cylinder axis 20, or the axis of rotation of the holder 33.

[0113] The cam disk 66 is a disk that has four cams 68 around its circumference. Each cam 68 projects radially outwards. Each cam 68 has a radially outward-facing end face 69.

[0114] Each of the four cams 68 represents a detectable element of the cam disk 66, respectively. The pulse generator 66 is configured to be detected by the sensor 64. The detectable elements, or cams 68, are arranged at regular intervals around the circumference of the cam disk 66. In Fig. 2, the cams 68 divide the circumference of the cam disk 66 into quarters. In other words, the angular distance between the cams is 90°. It goes without saying that other numbers of cams can also be used. For example, if three cams are used, the cams can divide the circumference of the cam disk 66 into thirds.

[0115] The cam disc 66 is designed to rotate with the bracket 33 when the bracket 33 is no longer held by the brake 31. In other words, the movement of the cam disc 66 is directly related to the movement of the bracket 33. The rotation of the bracket 33 in the direction of arrow 23 thus also represents the rotation of the cam disc 66.

[0116] Each detectable element, or cam 68, is configured to generate a detectable pulse in the sensor 64's readings as it passes the sensor 64. In other words, the cam disk 66 in Fig. 2 generates four pulses per full rotation. In the illustrated embodiment, the sensor 64 is, for example, a magnetic sensor, in particular a Hall-effect sensor, and the cams 68 are magnetic. In this way, the sensor 64 can measure changes in a magnetic field caused by the cams 68 as they pass the sensor 46. These changes in the magnetic field are registered as an electrical voltage, indicating the rotational movement. Alternatively, the sensor 64 can be a distance sensor, and each cam 68 represents a radial projection on the holder 33.In this way, the distance sensor 64 can detect the front face 96 of each cam 68 as it passes, whereby each cam 68 causes a reduction in the measured distance and thus an impulse as it passes the distance sensor 64.

[0117] Fig. 3 shows a schematic representation of an embodiment of a method 100 for in-process control of torque limitation. The method 100 can be implemented, in particular, with the holding device 10 from Figs. 1 and 2.

[0118] In a first step 101 of the method 100, the object 11 to be screwed in (the piston rod 13) is screwed into the part 12 (the piston 14). For this purpose, the syringe cylinder 15 can be set into rotation (see also illustrated in Fig. 1 by the arrow 23) and the thread 16 of the piston rod can be brought into contact with the threaded bore 18 of the piston 14, so that the thread 16 is screwed into the threaded bore 18.

[0119] In a further step 102, the braking torque Mt1 is applied. For this purpose, the motor of the electric brake 31, or the stepper motor, can be energized to generate the braking torque Mt1 and hold the holder 33 in place. Steps 101 and 102 can, in particular, be performed simultaneously.

[0120] In a further step 104, the control device 60 detects a movement of the bracket 33 or the brake device 30. Step 104 can be used to check whether the electronic clutch has been released and thus whether the required tightening torque has been applied.

[0121] In a further step 106, if no movement of the bracket 33 or the brake device 30 was detected by the control device 60 in step 104, the screw connection can be assessed as faulty. In other words, it is then a "bad injection".

[0122] In a further step 108, if in step 104 a movement of the bracket 33 or the brake device 30 was detected by the control device 60, an impulse check can be carried out.

[0123] Step 106 can follow step 108 if the impulse control test is negative.

[0124] In a further step 110, if the impulse control in step 108 is positive, a gap measurement can be performed. In particular, step 110 can be performed instead of step 108 and especially before step 108.

[0125] Step 106 can follow step 110 if the gap measurement is positive. In other words, there is a gap and the piston rod is not flush against the piston. Therefore, this is also a "defective syringe".

[0126] Following step 104, 108, or 110, the screw connection can be assessed as good in a further step 112. For this, in the case of step 104, a The movement of the bracket 33 or the brake device 30 must be detected by the control device 60. For this to occur, the impulse control must be positive in step 108. For this to occur, the gap measurement must be negative in step 110. A negative gap measurement indicates that there is no gap and the piston rod is flush against the piston. In other words, these cases represent a "good injection".

[0127] In a further step 114, after step 106 or after step 112, the evaluation of the screw connection can be transmitted to the machine control or to a data acquisition system.

[0128] In a further step 116, following step 114, the torque limit can be adjusted based on the evaluation of the bolted connection. In particular, the torque limit can be adjusted by the machine control. The torque limit can be adjusted, for example, by changing the current supply to the motor of the brake device 30.

Claims

Patent claims 1. Holding device (10) with torque limiter for objects (11) to be screwed into parts (12), in particular for piston rods (13) that can be screwed into pistons (14) contained within syringe cylinders (15), comprising a holder (33) for the object (11, 13) and a braking device (30) which holds the holder (33) and, via it, the object (11, 13) in a non-rotatable position with a predetermined braking torque (Mt1), wherein the braking device (30) has an electric brake (31) acting on the holder (33), characterized in that the holding device (10) further comprises a control device (60) for monitoring, in particular for in-process control, the torque limiter.

2. Holding device according to claim 1, characterized in that the braking device (30) has an electric stepper motor (32).

3. Holding device according to claim 1 or 2, characterized in that the holder (33) has a plunger (34) with a receiving head (35) for the objects (11) to be held, in particular for the piston rods (13).

4. Holding device according to claim 3, characterized in that the receiving head (35) is provided with a vacuum holder (36) for an end part, in particular a finger rest (17), of the object (11) to be held, in particular the piston rod (13).

5. Holding device according to one of claims 1 to 4, characterized in that the holder (33) has a transmission element (40), e.g. a sleeve (41), which is connected to the braking device (30) in a rotationally fixed and axially non-displaceable manner and which is connected to the plunger (34) in a non-rotatable but axially relatively displaceable manner.

6. Holding device according to one of claims 1 to 5, characterized in that a compression spring (46) is arranged axially between the transmission element (40) and the plunger (34).

7. Holding device according to one of claims 1 to 6, characterized in that the holder (33), in particular its plunger (34) and transmission element (40), is arranged within a housing (51).

8. Holding device according to one of claims 1 to 7, characterized in that the braking device (30) is attached to the housing (51), in particular to its end facing away from the receiving head (35) of the holder (33).

9. Holding device according to one of claims 1 to 8, characterized in that the braking device (30) projects into the housing (51) with a drive pin (29).

10. Holding device according to one of claims 1 to 9, characterized in that the control device (60) has a first sensor arrangement (62) which is configured to detect a movement of the holder (33) or a movement of the braking device (30), in particular the electric brake (31), or the electric stepper motor (32), wherein the first sensor arrangement (62) has a sensor (64) for detecting the movement, in particular a rotary encoder or a distance sensor or a motion sensor, in particular a rotation detection sensor.

11. Holding device according to claim 10, characterized in that the first sensor arrangement (62) has a pulse generator (66) which is rotationally fixed to the holder (33), wherein the pulse generator (66) has at least one detectable element (68) which is configured to be detected by the sensor (64), in particular wherein each detectable element (68) is arranged radially outside the pulse generator (66), in particular wherein a plurality of detectable elements (68) are arranged at a uniform spacing around a circumference of the pulse generator (66).

12. Holding device according to claim 11, characterized in that the sensor (64) is a distance sensor, in particular an inductive proximity switch, or a magnetic sensor, in particular a Hall effect sensor, and the pulse generator (66) is a cam disk.

13. Holding device according to one of claims 10 to 12, characterized in that the control device (60) has a second sensor arrangement (70) which is configured to detect a gap between the object (11) to be screwed in and the part (12), in particular a gap arranged orthogonally to the cylinder axis (20) of the holder (33) or of the syringe cylinder (15) and between the piston rod (13) and the piston (14) or piston plug.

14. Holding device according to claim 13, characterized in that the second sensor arrangement (70) for detecting the gap comprises an optical sensor (72), in particular a camera.

15. Holding device according to one of claims 10 to 14, characterized in that the control device (60) further comprises a control unit (80) which communicates with the first sensor arrangement (62) and / or the second sensor arrangement (70), in particular via a wireless or wired data connection, and is configured to perform a positive or negative evaluation of the screw connection of the object (11) to be screwed in with the part (12) based on sensor data from the first sensor arrangement (62) and / or the second sensor arrangement (70), and to transmit a corresponding evaluation signal, in particular to the machine control or to a data acquisition system.

16. Method (100) for control, in particular for in-process control of the torque limitation of a holding device (10) for objects (11) to be screwed into parts (12), in particular for piston rods (13) that can be screwed into pistons (14) contained within syringe cylinders (15), comprising a holder (33) for the object (11, 13) and a braking device (30) which holds the holder (33) and, via it, the object (11, 13) in a non-rotatable position with a predetermined braking torque (Mt1), wherein the braking device (30) has an electric brake (31) acting on the support (33), the support device (10) further having a control device (60) for monitoring, in particular for in-process control, the torque limitation, the method (100) comprising the following steps: Screwing (101) the object (11) to be screwed into the part (12); - Applying (102) the braking torque (Mt1); and Detection (104) of a movement of the support (33) or the braking device (30).

17. Method (100) according to claim 16, characterized in that the method (100) further comprises a step of impulse control (108) after the step of detecting (104) a movement of the holder (33) or the braking device (30).

18. Method (100) according to claim 16 or 17, characterized in that the method (100) further comprises a gap measurement step (110) after the step of detecting (104) a movement of the holder (33) or the braking device (30).

19. Method (100) according to one of claims 16 to 18, characterized in that the method (100) after the step of detecting (104) a movement of the holder (33) or the braking device (30) further comprises a step of evaluating (106, 112) the screw connection.

20. Method (100) according to claim 19, characterized in that, after the evaluation step (106, 112), the evaluation of the screw connection is transmitted to the machine control or to a data acquisition system in a further transmission step (114).

21. Method (100) according to claim 20, characterized in that after the transmission step (114) in a further adaptation step (116) the The torque limit is adjusted based on the evaluation of the screw connection, in particular where the torque limit is adjusted by the machine control.

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