WO2015173239A1 - Poste de travail robotisé - Google Patents

Poste de travail robotisé Download PDF

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Publication number
WO2015173239A1
WO2015173239A1 PCT/EP2015/060470 EP2015060470W WO2015173239A1 WO 2015173239 A1 WO2015173239 A1 WO 2015173239A1 EP 2015060470 W EP2015060470 W EP 2015060470W WO 2015173239 A1 WO2015173239 A1 WO 2015173239A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
torque
screwing
robot arm
screw
Prior art date
Application number
PCT/EP2015/060470
Other languages
German (de)
English (en)
Inventor
Julian Stockschlaeder
Richard ZUNKE
Constantin BOEHM
Reinhard NEUREITER
Daniel Leiderer
Ralf Kuehnemann
Matthias Reichenbach
Original Assignee
Kuka Systems Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuka Systems Gmbh filed Critical Kuka Systems Gmbh
Publication of WO2015173239A1 publication Critical patent/WO2015173239A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39527—Workpiece detector, sensor mounted in, near hand, gripper
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39529—Force, torque sensor in wrist, end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40072—Exert a screwing motion

Definitions

  • the invention relates to a robot workstation comprising a robot with a robot controller and with a plurality of joints and joints connecting the joints ⁇ the robot arm, whose joints are to be adjusted automatically by the robot controller based on a robot program, a held by the robot arm tool by maintaining and / or moving the joints of the robotic arm in space.
  • WO 2013/007565 A2 describes a working device, in particular screwing device, for turning and / or rotating eyelets of turned parts, in particular screws or nuts, with a multi-unit robot with an aborting axis of rotation, wherein the robot at its end member ei ⁇ genstieri driven rotating device wearing with a turning tool.
  • the rotating device is provided and designed for the fast turning or turning out of a rotating part, wherein the robot, in particular its end link, is provided and designed for tightening or loosening the rotating part.
  • the object of the invention is to provide a fully automated robot workstation which is designed and / or adapted to be able to carry out a screwing operation otherwise manually performed by a worker by means of a manual screwing device temporarily or permanently automated by means of the manual screwing device.
  • a further aspect of the invention is to provide a robot workstation which enables a coexistence, a co-operation or a collaboration of humans, in particular workers with a robot, ie makes a human-robot collaboration (MRK) possible.
  • MMRK human-robot collaboration
  • a robot work station comprising a robot having a robot controller and having a plurality of joints and the joints verbin ⁇ Dende members having robot arm, the joints are to be adjusted to a held by the robot arm tool by adjusting the joints of the robot arm to hold in the room and / or to move, wherein the tool is designed as a screwing device having a detection means for detecting and / or display of a torque applied by the screwing on a nut or nut, rotation angle and / or a screw wherein the robot controller is configured and / or adapted in addition to detect a to fabricates by means of the robot arm Re ⁇ action moment, which by one from
  • Screwing on the screw or the nut applied torque is introduced into the robot arm.
  • the joints may generally be adjusted automatically by the robot controller automatically based on a robot program and / or in a hand-held mode and / or by manually moving the joints in a compliance control by the robot controller.
  • a connection member to be screwed as a screw or a nut by means of a manu ⁇ economic screwing. This can examples play, be a screw which is guided through a hole of a first component and is screwed into a thread of a second component to the first component is bolted to the second member and thereby the ge ⁇ Gurss required of each assembly operation connection between maraf ⁇ fen is the first component and the second component.
  • the second component may for example have a stud with an external thread, wherein the first component is attached to the stud, the nut on the outstanding unscrewing free end of the stud bolt is tightened to tighten the first component to the second component.
  • Such screwing operations can therefore be carried out fully automatically, for example by industrial robots, which carry a screwing tool specially designed for the assembly task.
  • the drives required for such fastening tools are then controlled by the robot controller and the programmed screwing respects ⁇ Lich the torque curve automatically monitored.
  • a mechanical control and me chanical ⁇ display to the manually handled screwing device may be, for example, by above the holding hand of the worker tactile and / or audible cracks which indicates the reaching or exceeding the predetermined tightening torque for screwing the worker.
  • the object of the invention now is concerned with the Prob ⁇ lem that it is desirable to automate such a screwing operation carried out manually by a worker without requiring a fully automated, customized Ro must be built boterzelle and without requiring a specially ⁇ les controllable by the robot Constructed screwing ⁇ who must. Rather, the screwing should be automated under a continuing use of the manual screwing. This is for example useful when the manual activity of the worker is to be automated only time vo ⁇ over continuously, for example in the manner of a so-called "Springer activity" when the operator temporarily fails and should be only temporary replaced by an automated system.
  • the spatial conditions of the Häplat ⁇ zes not allow the establishment of a safe robot cell, or want to start an automation in such spa zen time that a configuration of a tailored, secured robot cell does not allow.
  • the tool as a screwing device, in particular as a manual guiding by hand Screw device is formed, which has a detection means for detecting and / or displaying a torque applied by the screwing device to a screw or a nut, and thereby the robot controller is formed and / or arranged to additionally detect a supported by the Robo ⁇ terarms reaction torque, which is by a screw applied by the screw on the screw or the nut torque in the robot arm ⁇ leads, a sufficient quality requirements and / or safety requirements screwing can be performed automatically, with further use of one as such, ie in and of itself manually manageable
  • Is by the robot controller is designed and / or configured to detect a substitute Materials by means of the robot arm Mattersmo ⁇ ment, which is initiated by an applied by the screwing on the screw or the nut Drehmo ⁇ ment in the robot arm, a specific binding or coupling Needless the detection means of the screwing device to the robot controller.
  • Screwdriving detect the on the screw or the nut is ⁇ applied torque and / or display, but otherwise taking place through the handle improvement monitor the correct detection of the correct torque and / or the display means of the screwing device is replaced by an automatic control by the robot controller, in that the robot controller detects the said at least one reaction torque, evaluates it and can automatically trigger an assigned, predetermined action on the basis of a result obtained in this way.
  • the gripper when using a robotic workstation, is used to universally hold a wide variety of hand-held screwdrivers. is formed and the robot comprises at least one auto ⁇ matic actuator, whereby one or more manual actuation means of the respective held Handschraubvoriques are automatically actuated already existing Handschraubvortechniken can be used as roboterge ⁇ led screwing. This is particularly advantageous when the robot workstation is set up for human-robot cooperation.
  • Robot arms with associated robot controls are working machines that can be equipped for the automatic handling and / or machining of objects with tools and are programmable in several axes of motion, for example, in terms of orientation, position and workflow.
  • WEI industrial robot usually Sen on a robot arm with several joints associated members and programmable robot controllers (control means) that automatically control during the operation of the loading ⁇ motion sequences of the robotic arm and re ⁇ rules.
  • the links are drives, in particular elec- motorized actuators, which are controlled by the robot controller, in particular with respect to the movement axes of the industrial robot, which represent the degrees of motion of the joints Ge ⁇ moved.
  • a robotic arm having a plurality of links connected by joints may be configured as an articulated robot having a plurality of links and joints serially arranged, in particular, the redundant industrial robot may comprise a robotic arm having seven or more joints.
  • Robot arms with associated robot controllers as indus- rieroboter but may be especially so-calledchtbauro ⁇ boter
  • the first resort to conventional industrial robots differ in that they have a favorable for man-machine cooperation size and thereby have a relatively high load capacity to its own weight ⁇ .
  • lightweight robots can be operated in particular also force and / or torque-controlled instead of only positionally ⁇ regulated, which makes safer, for example, a human-robot collaboration.
  • such a safe human-machine collaboration can be achieved, for example, that unintentional collisions of the robot arm with persons such as mechanics in a flow production of motor vehicles either prevented or at least mitigated so that the persons or fitters no harm ,
  • the manual screwing tool is designed such that it is equipped at certain points with hedges, such as covers, upholstery and / or the largest possible radii at edges.
  • hedges such as covers, upholstery and / or the largest possible radii at edges.
  • Such a robot arm or such a lightweight robot usually has more than six degrees of freedom, so that in this respect an over-determined system is created, whereby the same point in space in the same orientation in several, especially even infinitely many different poses of the robot arm can be achieved.
  • the lightweight robot can respond to external forces in appropriate ways.
  • force sensors can be used which can measure forces and torques in all three spatial directions.
  • the external forces can be calculated at ⁇ play using the measured motor currents of the actuators at the joints of the lightweight robot also sensorless.
  • indirect force ⁇ control by modeling the lightweight robot as a mecha nical ⁇ resistance (impedance) or a direct force Rege ⁇ lung for example, can be used.
  • the robot can be a redundant robot, which is understood to mean a robotic arm which can be moved by means of a robot controller and has more manipulatory degrees of freedom than are necessary for the fulfillment of a task.
  • the degree of redundancy results from the difference in the number of degrees of freedom of the robot arm and the dimension of the event space in which the task is to be solved. These may be a kinemati ⁇ cal redundancy or a task-specific redundancy.
  • the number of kinematic degrees of freedom generally the number of joints of the robot arm, is greater than the event space, wel ⁇ cher in a real environment in a movement in space by the three translational and three rotational degrees of freedom, ie six Degrees of freedom is formed.
  • a redundant industrial robot may therefore be, for example, a lightweight robot with seven joints, in particular seven hinges.
  • the dimension of the task is smaller than the number of kinematic degrees of freedom of the robot arm. This is for example the case when the Robo ⁇ terarm carries a is rotatable about a tool axis driving tool, such as a screw device according to the invention at its hand flange and one of the rotary joints of the robot terarms is aligned along the tool drive shaft.
  • a tool axis driving tool such as a screw device according to the invention at its hand flange and one of the rotary joints of the robot terarms is aligned along the tool drive shaft.
  • the joints of the robot arm can be parameterized in terms of their rigidity. Furthermore, by clever assignments of axle stiffnesses, moments of particular axes can be derived. Preferably moments can be derived from the set for only small moments from ⁇ axes by assigning certain Achssteiftechniken in certain axes and in other higher Moments designed axes are initiated. As a result, screwing torques of more than 40 Nm are possible. Wei ⁇ direct result here even during the screwing benefits.
  • the robot can be switched soft during the screwing process, ie, each axis is in turn assigned specific stiffnesses, whereby the screwing process can be carried out without tilting or the like even with inaccurate component positioning.
  • the force- and / or torque-controlled driving of drives of the robot arm can take place by means of impedance regulation or admittance control.
  • the robot controller may be configured to generate a form suitable for safe human-robot cooperation flexibility of the robot arm, in particular by means of impedance control ⁇ sondere or admittance.
  • the screwing device according to the invention is designed as a hand ⁇ tool and generally has a handle ⁇ handle portion, so that according to the invention can be provided that the gripper of the robot arm has at least one adapted to the handle portion of the screw in its form holding body, which in a gripping state in which the gripper holds the screwing device, the handle portion of the screwing device positively on ⁇ takes.
  • the screwing tool is supported on other peripheral devices, whereby resulting moments can be derived at these peri ⁇ pherie wornen.
  • the screwing tool may preferably have a support.
  • the manual screwing device may be, for example, a hand-held impulse wrench or an EC screwdriver.
  • a screwdriving device referred to as an EC screwdriver
  • the manual screwing device in particular the EC screwdriver has a handle and is equipped with an integrated rotation angle and / or force or torque measuring device.
  • a nutrunner control and / or an electronic Auswer- be integrated.
  • an external nutrunner control and / or an external evaluation electronics can be connected, for example via a cable, to the screwing device, in particular to the EC screwdriver.
  • the robot controller may be configured and / or adapted to detect the reaction torque in a tool reference point of the robot arm and / or otherwise detected reaction moments, the resulting reaction moment at the factory ⁇ generating reference point of the robot arm to be determined to calculate particular.
  • the tool reference point can be generally referred to as tool center point is a beauge ⁇ starting freely selectable point in all poses of the robot arm a fixed distance and a fixed orientation bezüg ⁇ Lich of the tool, in the present Trap with respect to the screwing occupies.
  • the tool reference point can be, for example, in a hand flange of the robot arm or even within the screw device. Generally, the tool reference point can however also be a virtual point au ⁇ ßerraum the hand flange and / or the screwing.
  • the robot can have at least one force and / or moment sensor, which is designed to detect the reaction component .
  • the at least one force and / or moment sensor can detect the forces and / or moments, for example, directly on the hand flange of the robot arm ⁇ .
  • suitable strain gauges can be arranged on the hand flange.
  • the at least one force and / or torque sensor is connected to the robot controller. This means that a measurement and / or evaluation can take place in the robot controller.
  • Each joint of the robot arm can have at least one force and / or torque sensor, which is designed to detect the torque component of the reaction torque dropping at the respective joint.
  • Each joint of the robot ⁇ arms may have at least one force and / or torque sensor, which is designed to detect the falling at the respective joint torque component of the reaction torque and to calculate back to the tool reference point. This reverse calculation can preferably be taken over by the Robotersteue ⁇ tion.
  • certain search strategies eg Lissaj ous figures
  • the robot travels with force control and thus determines the position to be screwed.
  • the robot can measure by the force and / or torque sensors in the joints on a peripheral device or in the environment and thus determine its robot center, ie its base, in relation to the peripheral device and / or the environment.
  • the robot arm can have drive motors which are designed to move the joint of the robot arm controlled by the robot control and the robot controller can be designed and / or set up the reaction torque and / or the torque components of the robot arm falling off at the respective joints of the robot arm Reaction torque by detecting and ⁇ values of the motor currents of the drive motors to determine.
  • the robot controller can be designed and / or be mono- directed, during a screwing or Ausschrau ⁇ bens a bolt or nut by the screw device to detect the momentary reaction torque over a period of time in the time sequence, and storing, in particular with respect to time and / or angle of rotation based.
  • the robot control automatically detects the reaction moments.
  • the Robo ⁇ ters control can determine the tightening torque of bolt or nut also automatically, in particular to calculate and automatically store the screwing operation, that is, monitor and if appropriate environment at a incorrectly executed only fasten to trigger a predetermined action.
  • the robot controller or connected to the robot controller separate control device can be designed and / or arranged to the detected reaction ⁇ moment, in particular the terarms dropping at each joint of the robot torque components of the reaction torque, in particular its temporal profiles with a pre give ⁇ NEN reaction torque , predetermined torque shares
  • the robot controller or the separate control device connected to the robot controller can be designed and / or set up to initiate a demolition action when the result of the screwdriving operation is qualified as faulty.
  • a cancel action may be, for example, that the Robo ⁇ ters control settles a control signal, for example, to a überge ⁇ arranged factory control and optionally also sends a control signal to the nutrunner control to pointing means the incorrect screwing (NIO), for example, by lighting a LED on the check as defective indicate qualifi ⁇ ed result.
  • NEO incorrect screwing
  • the robot arm may have a gripper connected to one of the links of the robot arm, in particular to an end link of the robot arm, which is designed to hold the screw device.
  • the screwing device can in this respect have a handle portion and the gripper have at least one adapted to the handle portion of the screw holding body, which receives the handle portion of the screw positively locking in a gripping state in which the gripper holds the screw.
  • the screwing device may have a manual actuating means for triggering a screwing operation.
  • the screw ⁇ device may be known to the expert as such EC screwdriver.
  • the screwing device as such is a manually to be handled manually screwing.
  • the manual actuating means may accordingly be, on the one hand, a switch which can be manually operated by a user's finger to switch on and off a drive of the screwing device and / or, on the other hand, a slide which can be manually adjusted by the user's finger to drive a drive of the screwing, for example, to adjust the speed.
  • the gripper can be designed for universal holding a plurality of different screwing devices.
  • an actuating device can be integrated in the gripper.
  • the actuating devices may have an automatically controllable actuating means, which is designed to actuate the manual actuating means of the screwing device.
  • the automatically controllable actuating means can be for example an electromechanical chanisches actuating means, in particular an electric stroke magnet ⁇ , or a pneumatic actuating means, a pneumatic lifting cylinder re insbesonde ⁇ or hydraulic actuating means, in particular a hydraulic lifting cylinder be.
  • the adjusting means may be implemented in safe technology, for example as a two-channel valve, in order to meet the requirements of human-robot collaboration / cooperation.
  • the connecting means may be formed by the holding body of the
  • the connecting means may thus be detachable from the manual actuating means of the screwing device, so that the screwing device can be removed from the gripper and thus from the holding body.
  • the Actuator means may be connected to the robot controller through a control line, wherein the robot controller is adapted to operate automatically by automatic actuation of the actuating means, the actuating means ma ⁇ Nuelle held by the gripper screw ⁇ device.
  • the actuators may be separate from the gripper.
  • its connecting means can be formed by a fastening means, which can be, for example, a tension band, to which a holder is fastened, which carries the automatically controllable actuating means.
  • the separate adjustment means can be connected to the Ro ⁇ boter horrung by a control line then, the robot controller is adapted by automatic ⁇ ULTRASONIC actuation of the actuating means, the manual actuation of the screwing medium held by the gripper to operate automatically.
  • the screwing device may generally include a housing, a rotatably mounted in the housing screw means and a
  • the screwing device may be connected to a nutrunner control and / or have a nutrunner control, in particular be connected to a separate from the robot control nutrunner control and / or have a separate from the robot control screwdriver control, which nutrunner control is formed in these cases, the engine of the screw device to torque controlled zuzusteu ⁇ ern.
  • Fig. 1 is a schematic representation of an exemplary
  • Robot workstation with a robot and a screw device held by the robotic arm of the robot
  • FIG. 1 in isolation with an associated nutrunner control and a display device arranged on the screwing device, FIG.
  • FIG. 3a shows a graphical representation of a gradient of reac tion ⁇ moments about the cartesian axes X, Y and Z on a tool reference point of the robot arm up ⁇ wear over the duration of a proper screwing operation
  • FIG. 3b is a graphical representation of a gradient of reac tion ⁇ moments about the cartesian axes X, Y and Z on a tool reference point of the robot arm up ⁇ wear over the duration of a defective makeup.
  • Fig. 1 shows a robot workstation with a robot 1 in an exemplary embodiment as a so-called lightweight robot.
  • the robot 1 has a robot arm 2 and a robot controller 3.
  • the robot arm 2 comprises several, in the case of the present embodiment, eight successively arranged and by means of seven joints 4 nch ⁇ bar interconnected links 5 to 12th
  • the robot controller 3 of the robot 1 is designed or configured to execute a robot program, by means of which the joints 4 of the robot arm 2 are automated according to the robot program or can be automatically adjusted or rotated in a manual operation.
  • the robot ⁇ control 3 is provided with controllable electrical drives the connectedness, which are designed to adjust the joints 4 of the robot. 1
  • the gripper 13 is designed to hold a tool 14a in the form of a screw ⁇ device 14, such that the screwing device 14 by adjusting the links 5 to 12 of the robot arm 2 to hold in the room and / or to move.
  • the screw device 14 shown in Fig. 1 has a
  • the gripper 13 of the robot arm 2 is designed to receive the handle portion 15 of the ffervor ⁇ direction 14 positively in a gripping state and thereby hold.
  • the gripper 13 can do so at least one adapted to the handle portion 15 of the screw 14 holding body 16a, 16b, which in a gripping state in which the gripper 13 holds the screw 14, the handle portion 15 of the screw 14 receives form-fitting manner.
  • the screwing device 14 has a housing 17. On the housing 17, a screw 18 is rotatably mounted.
  • the screw 18 is a metric hex socket.
  • the hexagon-socket wrench can be positively mounted on a head ei ⁇ ner metric screw 20, so that the form-fitting environmentally summed screw can be screwed into a threaded bore of a beispielhaf- th workpiece 21 20 by turning the hex-socket nut.
  • the screw means 18 is driven by a motor 17 arranged in the housing 19, that is rotated.
  • the 2 is in the case of the present embodiment a so-called EC screwdriver having a detection means 22 for detecting and / or displaying one of the screwing device 14 on the screw 20 (FIG. 1) or a nut has brought ⁇ torque.
  • the detection means 22 may comprise, for example, a force and / or torque sensor known to the person skilled in the art.
  • the screwing device 14 is connected to its own separate from the robot controller 3 nutrunner control 23, which is designed to control the motor 19 of the screw 14 torque controlled.
  • the screwing device 14 is designed as a manually operated screwing device 14 and has, in addition to the handle portion 15, a manual actuating means 24 by virtue of whose activation the screwing means 18 by means of the screwdriver control 23 torque monitored is controllable.
  • Screwing device 14 has a display means 25 in the case of the present embodiment.
  • the adosmit ⁇ tel 25 is formed, controlled by the screwdriver controller 23 after each successful screwing a the
  • the display ⁇ medium 25 for example, at least two bulbs 26a and 26b have, which may be, for example, a green LED and a ne red LED.
  • the robot controller 3 (FIG. 1) is designed and / or arranged to additionally detect at least one reaction torque supported by the robot arm 2, which is applied by a screwing device 14 to the screw 20 or the nut Torque is introduced into the robot arm 2.
  • the robot controller 3 can be configured and / or equipped as to detect the reaction torque in a tool reference ⁇ point TCP of the robot arm 2 and / or to determine from the other ⁇ weitig detected reaction moments, the resulting Reakti ⁇ onsmoment in the tool reference point TCP of the robot arm 2, in particular to to calculate.
  • Each joint 4 of the robot arm 2, in the case of vorlie ⁇ ing embodiment of a force / torque-controlled lightweight robot at least one force and / or torque sensor 27, which is formed, the falling at the respec ⁇ gene joint 4 torque component of the Letsmo ⁇ to record this.
  • FIG. 3a shows a graphic representation of a course of reaction moments Mx, My, Mz about the Cartesian axes X, Y and Z at the tool reference point TCP of the robot arm 2 plotted over the period t of a proper
  • FIG. 3a This is also known as chatter and adjusts to ⁇ next is no reason not ord ⁇ voltage according to evaluate a screw as.
  • the screw or nut begins to grip, ie it begins to tighten the screw, ie to tive ⁇ nen.
  • the predetermined or desired torque of about -12 Newton meter Nm is reached and the screw device is turned off, causing the operating time measured torque to ⁇ back returns at about 2000 milliseconds to zero, ie the bolt or nut release of the screwing becomes.
  • the course of FIG. 3a thus corresponds to a proper screwing.
  • FIG. 3a thus corresponds to a proper screwing.
  • FIG. 3b shows a graphical representation of a course of reaction moments Mx, My, Mz about the Cartesian axes X, Y and Z at the tool reference point TCP of the robot arm 2 plotted over the time t of a faulty screwing operation.
  • the correct screwing process according to FIG. 3 a here too, in the incorrect operation shown in FIG. lerhaften screwing initially up to 1500 milliseconds an inconspicuous reaction moment course. After the time of about 1500 milliseconds, the torque does not increase with the expected high slope of FIG. 3a, but builds up quite slowly on us for a much longer time of about 1200 milliseconds duration (FIG. 3b: 2700 ms).
  • the robot controller 3 is now adapted and / or adapted to detect during a screwing or unscrewing of the screw 20 or a nut by the screw 14, the instantaneous reaction moments Mx, My, Mz in the tool reference point TCP over a period of time t in the time sequence, and save in particular time-related and / or angle of rotation.
  • the robot controller 3 or a separate control device connected to the robot controller 3, such as the screwdriving controller 23, may be configured and / or configured to detect the detected reaction torque Mx, My, Mz, ie their time profiles, for example according to FIG. 3b given reaction moment Mx, My, Mz, ie their temporal courses, for example, according to compare to Fig. 3a and from the comparison (Fig. 3a / 3b.) To generate a screwing qualifying result.
  • Nutrunner control 23 sends to display on the display means 25 the erroneous screwing (NIO) by lighting the LED 26b, as shown in Figure 2, as a qualifying result.
  • NEO erroneous screwing

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un poste de travail robotisé comprenant un robot (1) équipé d'une commande (3) et d'un bras de robot (2), pourvu une pluralité d'articulations (4) et d'éléments (5-12) reliant les articulations (4), dont les articulations (4) doivent être réglées automatiquement par la commande (3) sur la base d'un programme robotique pour maintenir et/ou déplacer dans l'espace un outil (14a) maintenu par le bras de robot (2) par réglage des articulations (4) du bras de robot (2). L'outil (14a) est conçu sous la forme d'un dispositif de vissage (14) qui comporte un moyen de détection (22) servant à détecter et/ou à afficher un couple appliqué par le dispositif de vissage (14) sur une vis (20) ou un écrou, la commande de robot (3) étant conçue et/ou adaptée pour détecter en outre un couple de réaction qui est supporté au moyen du bras de robot (2) et qui est introduit dans le bras de robot (2) par un couple appliqué par un dispositif de vissage (14) sur la vis (20) ou l'écrou.
PCT/EP2015/060470 2014-05-13 2015-05-12 Poste de travail robotisé WO2015173239A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014209041.5A DE102014209041A1 (de) 2014-05-13 2014-05-13 Roboterarbeitsplatz
DE102014209041.5 2014-05-13

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Cited By (4)

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CN106426175A (zh) * 2016-11-08 2017-02-22 北京中科万盛智能装备科技有限公司 高锁螺栓自动螺接机器人及其末端执行器
DE102016220177A1 (de) 2016-10-17 2018-04-19 MTU Aero Engines AG Verfahren zum Bearbeiten eines Bauteils und Bearbeitungsvorrichtung
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CN106426175A (zh) * 2016-11-08 2017-02-22 北京中科万盛智能装备科技有限公司 高锁螺栓自动螺接机器人及其末端执行器
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