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US 12,383,994 B2Granted
Screw driving device
AssigneeOMRON Corporation
InventorsMasayuki Sugioka, Masayoshi Tsukikawa, Kota Miyamoto, Kento Tsuchikawa, Yuki Sakamoto
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Abstract
According to the present invention, an axial force of a screw which is generated by screw driving is estimated. A control part applies a predetermined torque generated by a rotation axis servomotor to a screw in a rotation direction where a screw is driven, and thereafter releases the torque. The control part then estimates an axial force of the driven screw based on fluctuation of a rotation position of the rotation axis servomotor which occurs due to the release of the torque.
Claims20
A screw driving device comprising:
- driver bit, configured to rotate a screw;
- a first motor, configured to drive the driver bit to rotate;
- and
- controller, configured to control the first motor,
- wherein the controller is configured to:
- apply a predetermined torque generated by the first motor to the screw in a rotation direction where the screw is driven, then perform a step of releasing the torque, wherein
- at a start of the step of releasing the torque, the controller is configured to acquire a first rotation angle of a rotation axis of the first motor, and
- at an end of the step of releasing the torque, the controller is configured to acquire a second rotation angle of the rotation axis of the first motor;
- and
- determine an axial force of the driven screw based on a change of a rotation position of the first motor in the step of releasing the torque, wherein the axial force is along a direction of the rotation axis.
7 more elements
Dependencies are inferred from the claim text.