CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM

摘要

A control method according to an aspect of the invention includes a process for setting target fastening torque, a pulse interval of neighboring pulses, and an elevated value of torque per pulse, detecting last fastening torque at an Nth pulse (N is a natural number of 1 or more) after seating of a fastening member, setting pulse loading time at an N+1th pulse and pulse strength at the N+1th pulse based on the last fastening torque at the Nth pulse so that fastening torque at the N+1th pulse coincides with a multiple of the elevated value, controlling a fastening tool based on the pulse interval, the pulse loading time, and the pulse strength so that last fastening torque at an N+Mth pulse (M is a natural number of 1 or more) reaches target fastening torque.

主权项

1. A control method of a fastening tool that applies torque to a fastening member in a pulse-like fashion, comprising:
setting target fastening torque, a pulse interval of neighboring pulses, and an elevated value of torque per pulse; detecting last fastening torque at an Nth pulse (N is a natural number of 1 or more) after seating of the fastening member; setting time for fastening the fastening member at an N+1th pulse, and a value obtained by subtracting a product of the last fastening torque at the Nth pulse and the time for fastening the fastening member at the N+1th pulse, from an time integrated value of torque applied to the fastening member at the N+1th pulse, based on the last fastening torque at the Nth pulse so that last fastening torque at the N+1th pulse coincides with a value obtained by multiplying elevated value by N+1; and controlling the fastening tool based on the pulse interval, the time for fastening the fastening member at the N+1th pulse, the value obtained by subtracting the product of the last fastening torque at the Nth pulse and the time for fastening the fastening member at the N+1th pulse, from the time integrated value of torque applied to the fastening member at the N+1th pulse, so as to allow last fastening torque at an N+Mth pulse (M is a natural number of 1 or more) to the target fastening torque.