阅读说明：本技术 用于拧紧螺纹连接的方法和设备 (Method and apparatus for tightening threaded connection ) 是由 J·帕洛 I·穆本德 P·巴顿 于 2018-03-13 设计创作，主要内容包括：本发明涉及利用马达驱动的螺丝刀单元拧紧螺纹连接的一种方法以及一种设备,其中,在拧紧期间确定转动角度和转矩,以便在达到所期望的紧固压力时能够停止拧紧进程。根据本发明,由测定装置在第一紧固范围内确定转矩随转动角度的升高,并在接下来的第二紧固范围内确定转矩随转动角度的升高的变化,其中在达到或超过升高的最大允许变化和/或变化速度时,由控制装置停止螺丝刀单元,该升高的最大允许变化和/或变化速度根据在第一紧固范围内出现的升高来确定。(The screwdriver unit that the present invention relates to the use of motor driving tightens a kind of method and a kind of equipment of threaded connection, wherein determines rotational angle and torque, during tightening to stop the process of tightening when reaching desired fastening pressure.According to the present invention, determine torque with the raising of rotational angle in the first tightening range by measurement device, and determine torque with the raised variation of rotational angle in next second tightening range, wherein when meeting or exceeding raised maximum allowable variation and/or pace of change, screwdriver unit is stopped by control device, the raised maximum allowable variation and/or pace of change are determined according to the raising occurred in the first tightening range.)

1. a kind of method for tightening threaded connection (1) using the screwdriver unit (6) driven by motor, wherein during tightening Determine rotational angleWith torque (M), which is characterized in that tighten determining in range (11) turn first by measurement device (18) Raising of the square with rotational angle and/or the raised variation of the torque with rotational angle, and range is tightened next second (12) in determine torque with rotational angle raised variation and/or torque with rotational angle raised pace of change, wherein When meeting or exceeding maximum allowable variation and/or maximum allowable pace of change, stop the screwdriver by control device (14) Range (11) is interior to be determined according to tightening described first for unit, the maximum allowable variation and/or maximum allowable pace of change Raising and/or tighten in range (11) identified raising variation described first to determine.

2. the method according to preceding claims, wherein increased and/or according to torque value and/or torque with rotational angleTorque increase variation, determine that described first tightens range (11) as elasticity and tighten range, described threaded connection (1) In The elasticity tightens flexible deformation in range, and/or by the raised maximum allowable variation of torque and/or the raised pace of change of torque It is determined as, the threaded connection (1) is tightened to yield limit in advance.

3. the method according to any one of both of the aforesaid claim, wherein in order to determine that previous screw screws in process The raised maximum allowable variation of torque and/or pace of change, consider specific torque raising and/or torque increase variation and/ Or the maximum allowable raising variation thereby determined that and/or pace of change.

4. equipment of the one kind for tightening threaded connection (1), the screwdriver unit (6) with motor driving, and for twisting It is tight to be threadedly coupled (1) period determining torque (M) and rotational angleMeasurement device (9,10), which is characterized in that be configured with: Measurement device (8) determines torque (M) with rotational angle for tightening first in rangeRaising and/or increase variation And it determines with the raised variation of torque of rotational angle and/or pace of change；Analytical unit (13), for according to described the One tightens identified torque raising and/or the identified torque raising in first lifting range (11) in range (11) Pace of change determine the raised maximum allowable variation of torque and/or pace of change；And control device (14), for reaching Stop the screwdriver unit (6) to and/or more than the raised maximum allowable variation of torque and/or when pace of change.

5. the equipment according to preceding claims, wherein for determining torque (M) and rotational angleMeasurement device Electric power consumption with torque sensor (9) and rotation angle sensor (10), and/or for measuring screwdriver Power consumption measuring device and/or pressure sensor and pressure and volume flow for measuring hydraulic screwdriver Volume flowmeter.

6. the equipment according to any one of both of the aforesaid claim, wherein the measurement device (8) and/or described point Analysis unit (13) and/or the control device (14), which are integrated into the screwdriver unit (6) and/or constitute, to be arranged described The component of electronic control unit in screwdriver unit (6).

7. equipment according to claim 4 or 5, wherein the measurement device (8) and/or the analytical unit (13) are A part of external electrical computer installation, the screwdriver unit (6) are connectable to the external electrical computer installation.

8. the equipment according to any one of claim 4 to 6, wherein the measurement device (8) and/or the analysis are single First (13) are connectable to memory (15), are stored in the memory and tighten process and/or by its derivation derived from previous The raised maximum allowable torque-rotational angle curve for increasing variation and/or pace of change of torque out, wherein the analysis Unit (13) is configured as, and according to the torque being stored in the memory (15)-rotational angle curve and/or is stored most Allow greatly to increase variation and/or pace of change, determines the raised maximum allowable variation of torque and/or pace of change.

Technical field

The screwdriver unit that the present invention relates to the use of motor driving tightens a kind of method and a kind of equipment of threaded connection, Wherein, rotational angle and torque are determined during tightening, so as to can stop tightening when reaching desired fastening stress into Journey.

Background technique

Two components are usually connected through a screw thread and are connected to each other, wherein this threaded connection may include across multiple portions The bolt of part, is screwed with nut on bolt.Alternatively, this threaded connection can also realize that screw is screwed by screw To configuration in the screw thread in a component, no matter screw thread is in blind hole or in through-holes.In order to make two portions to be connected Part is connected to each other with necessary pretightning force and reliably avoids the loosening being threadedly coupled, and on the other hand also to avoid will lead to screw thread Damage is excessively tightened, and threaded connection should be tightened firmly as accurately as possible, is not more than institute so that being both not less than Desired pretightning force or the range of permission.

In this regard, in the prior art it has already been proposed that realizing threaded connection in such a way that direct torque or rotational angle control Tighten.Here, the torque applied by the screwdriver unit of motor driving is monitored using suitable sensor, so that reaching To the process of tightening can be stopped when scheduled torque.Alternatively, it also can use and turn in rotary encoder monitoring rundown process Dynamic angle, so as to it is a certain number of tighten circle number after stop.For example, patent document EP2067576A2 proposes a kind of screw Knife unit, wherein monitoring torque first is to determine reference value or initial position, for continuing thereafter with monitoring rotational angle.Such as Fruit reaches scheduled initial Tightening moment, then initializes rotational angle measured value or it may be said that zero setting, is then opened therefrom Beginning screws a scheduled another rotational angle, is then shut off.

However, this direct torque or the tightening method of rotational angle control need suitably to preset the boundary of torque The boundary value of value or rotational angle, this can change naturally with different threaded connection geometry and threaded connection material Become.In order to simplify the setting to the boundary value of torque or rotational angle, it has been suggested that the control of the screwdriver of motor driving into Row parametrization, so that must no longer preset torque value or angle of rotation angle value, but can input pending threaded connection Characteristic quantity, such as be threadedly coupled geometry, bolt strength, friction pairing coefficient or material pairing.It is then based on calculating mould Type determines two central processing characteristic values: rotational angle and torque according to corresponding parameter, they are then tightening threaded connection When be considered as control motor driving screwdriver boundary value.

But the computation model of this parameterisable cannot easily set up and always be easy error.On the one hand, usually Need to carry out various tests to physical unit, to screw caused by ensuring as a result, adjusting parameter or model algorithm so that The result that screws actually reached meets and desired screws result.On the other hand, it is screwed since mistake has input with pending Mistake may occur in screwing result in the parameter not being inconsistent.

Summary of the invention

It is improved for tightening the method and a kind of improved equipment of threaded connection that the purpose of the present invention is to provide one kind, The shortcomings which obviate the prior arts has simultaneously advantageously further developed the prior art.Especially can be achieved on it is simple, be not easy The operability of error, while can also realize: it is reported as precisely as possible with desired level for different threaded connection types Ground, which pre-tightens, to be threadedly coupled.

Purpose according to the present invention is realized by the method according to claim 1 and equipment according to claim 4. A preferred embodiment of the present invention is provided by dependent claims.

Therefore it proposes: synchronously analyzing the technological parameter torque occurred when tightening corresponding threaded connection with process and turn Dynamic angle, and conclude therefrom that the variation of the physical property of threaded connection, and determine therefrom that and shut down criterion, reach institute so as to screw Desired preload.This shut down will be according to true, shown technological parameter out can be described as during screwing accordingly It is controlled online or at work.According to the present invention, true in the first tightening range (Anzugsbereich) by measurement device Torque is determined with the raising of rotational angle, and determines torque with the raised of rotational angle in next second tightening range Variation, wherein meeting or exceeding the raised maximum allowable variation and/or tightening the raising occurred in range according to first When identified pace of change, keep screwdriver unit out of service by control device.

Introduction according to the present invention is based on the consideration: the torque-rotational angle curve occurred during tightening can With different because of threaded connection, but each follows specific mode.In particular, torque-rotational angle curve is in initial bullet Property within the scope of will show certain slope or certain raising, and there is no in raising variation or only faint change Change, and is tightened in range stronger, even bolt is close at this time or reaches more than its yield limit, torque-rotational angle Slope of a curve will show clearly more powerful variation.Now, it is shown if detected or determined in the elastic range The corresponding slope of torque-rotational angle curve can then be moved towards specific to further curve is threadably predicted, or Criterion is shut down specific to threadably deriving, then can accurately be interrupted when screwing has had desired pretightning force Tighten process.By synchronously analyzing the procedure parameter torque occurred when tightening and rotational angle with process, this shuts down criterion To automatically be adjusted according to the personal feature of threaded connection, to be increased according to the torque shown with rotational angle and its Change rate shuts down criterion to determine.

In expansion scheme of the invention, the first above-mentioned tightening range (can be determined in the range specific to spiral shell The torque of line connection with rotational angle raising) be selected as demonstrate flexibility deformation or strain so that being threadedly coupled, this for example may be used It is determined with being increased according to torque value and/or with the torque of rotational angle.For example, can since initial idle running, by with Determine that the torque specific to threaded connection increases afterwards, assessment one more stronger than elastic range first increases.Second tightening range (In Monitored within the scope of this and meet or exceed maximum value with the raised variation of torque of rotational angle) it can be with and then the first lifting range And/or it also overlaps.For example, determining that raised first tightening range of torque can monitor the raised variation of torque While observed by so-called flyback and for longer periods.

Particularly, it can determine the raised maximum allowable variation of torque with rotational angle, reach it so as to be threadedly coupled Yield limit is threadedly coupled is tightened to its yield limit in advance in other words.When reaching yield limit, with the torque liter of rotational angle Height, i.e. torque-rotational angle slope of a curve, would indicate that characteristic variation, therefore, by determining the raised maximum of torque Allow to change, can be accurately determined according to the corresponding raising shown in initial elastic range and reach yield limit. If torque raising reaches identified maximum allowable variation, the screwdriver of motor driving can be stopped, here, being threadedly coupled It is pre-tightened to yield limit.

But it not only can be according to each to the determination of torque-rotational angle slope of a curve gradient Limit Criteria Torque value that period generates, synchronously analyzing with process and angle of rotation angle value are tightened to determine, but also can examined The case where torque-of rundown process and threaded connection before considering screws angle curve is got off determination.It especially can will be It tightens the torque-rotational angle curve obtained when each threaded connection and/or that thus derives is used to stop rundown process The Limit Criteria of gradient be stored in memory and/or database, so as in view of stored data In the case of realize for shutting down the current Limit Criteria for tightening process to be performed.For example, tightened in process in be performed, until Few Limit Criteria when starting be can the average value or last boundary value for allowing to change raised by torque based on, Then, it shows when detecting the torque raising with rotational angle in process in current tightening relative to based on initial pole The data group of limit criterion has biggish deviation, can be modified or be adapted to.

In a kind of preferred expansion scheme of the invention, screwdriver unit can also be run according to a kind of operational mode, In the operational mode, threaded connection, which is not screwed to, reaches yield limit, interrupts tighten process in advance.For example, spiral shell Silk knife unit can be run according to one or more test process, and obtained turn is determined and recorded in these test process Square-rotational angle curve is simultaneously compared with yield limit is reached, and criterion is shut down with determination, so as to reach yield limit It interrupts before and tightens process.For example, analytical equipment can be according to torque-rotational angle CURVE STUDY obtained during test Where yield limit is reached, so as to it is later determined that a torque value and/or an angle of rotation angle value and/or torque-angle of rotation are write music Some gradient of line is used as and shuts down criterion, and/or will be determined as closing with some raised changing value of the torque of rotational angle Stop criterion, when reaching this and shutting down criterion, is shut down in next serial procedures.

Measurement device for the torque of analytic process parameter and rotational angle and its trend can be screwdriver unit and/or The integrated package of its control device.Alternatively or additionally, the measurement device and/or analysis positioned at device external can also be configured Unit, such as attachable PC or tablet computer, can analyze torque value and angle of rotation angle value.

The procedure parameter torque being previously mentioned and rotational angle can be sensed by suitable torque sensor and rotational angle Device directly detects on screwdriver unit.Alternatively or additionally, the procedure parameter being previously mentioned can also be determined indirectly, example Such as determined by detecting the power consumption of screwdriver.For example, motor electricity can be measured in electric screw driver motor Pressure and/or current of electric and as the measurement to torque.If can be measured hydraulic using hydraulic screwdriver The pressure and/or volume flow of driver, here, can for example determine torque-angle of rotation according to pressure versus volume flow gradients It writes music line.

Detailed description of the invention

The present invention is elaborated below according to preferred embodiment and affiliated attached drawing.Wherein:

Fig. 1 with schematical broken section show threaded connection and attachment thereon, for tighten the screw thread connect The screwdriver unit connect and the torque generated when tightening-rotational angle chart.

Specific embodiment

As shown in Figure 1, being threadedly coupled 1 may include screw 2, the first component 3 is fastened to second component 4 by the screw On, wherein screw 2 can be for example screwed into the screw thread 5 in second component 4, so that the head of screw 2 is by the first component 3 It tenses on second component 4.

The equipment that the screwdriver unit 6 of motor driving can be handheld device such as robot guidance, and wrap Screwdriver is included, which may include motor and/or pressure medium motor (such as hydraulic motor or gas Dynamic motor).

The screwdriver drives screwdriver tool 7, can rotatably tighten screw thread by the screwdriver tool and connect Connect 1.

Measurement device 8 is for determining in the torque M for tightening period appearance and the rotational angle generated accordinglyIt for example may be used To include torque sensor 9 and rotation angle sensor 10, wherein the procedure parameter can also be indirect as previously mentioned Acquisition.

Here, producing the torque M as shown in the chart of the right side Fig. 1 with rotational angle when tightening threaded connection 1 Torque curve.As shown in Figure 1, the process of tightening starts in which can be described as no torque, that is, screw 2 is without obvious when starting Resistance rotation, until the head of screw reaches component 3 and sticks on it on second component 4.

This initially more or less it is unresisted screw after, obtain the first elasticity and tighten range (Anziehbereich) 11, torque M is with rotational angle in the rangeIt is increased at least approximately constant slope.It is tightened in range 11 in the elasticity, The raising that torque-rotational angle curve shows the raising of approximately constant or only slightly changes, is shown in Fig. 1.

Tighten range 12 and then first second is tightened in range, at this time be threadedly coupled 11 reach its yield limit or Person shows increased change rate close to yield limit, the torque-rotational angle curve.As shown in Figure 1, curve becomes more flat And no longer sharply increase, that is, it is stronger to increase variation with the torque of rotational angle.

The measurement device 8 includes twisting inside the equipment or device external, attachable analytical unit 13 The torque value and angle of rotation angle value that detect are analyzed during tight process, and determine torque-rotational angle shown in Fig. 1 The raising of curve.

It is increased according to the torque with rotational angle occurred in range 11 is tightened the first of elasticity, analytical unit 13 can be with The raised maximum allowable variation of torque with rotational angle is determined, for example, Limit Criteria is determined as, when with rotational angle 10 Torque increase be only with rotational angle torque it is raised 75% when, screwdriver stops working.

Alternatively or other than raised absolute change, it is also contemplated that using pace of change as shutting down criterion.It is special It is not that can walk always to determine maximum allowable pace of change according to variation relatively slow in range 11 is tightened in the first elasticity, i.e., The torque of every rotational angle unit changes, and interrupts when meeting or exceeding the pace of change and tightens process.

Once the maximum allowable variation described in reaching and/or the raised pace of change of torque with rotational angle, control dress The screwdriver of screwdriver unit 6 can be stopped by setting 14.