EP2857146A2 - Dispositif de vissage piloté par écran et caméra - Google Patents

Dispositif de vissage piloté par écran et caméra Download PDF

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Publication number
EP2857146A2
EP2857146A2 EP20140001648 EP14001648A EP2857146A2 EP 2857146 A2 EP2857146 A2 EP 2857146A2 EP 20140001648 EP20140001648 EP 20140001648 EP 14001648 A EP14001648 A EP 14001648A EP 2857146 A2 EP2857146 A2 EP 2857146A2
Authority
EP
European Patent Office
Prior art keywords
screwing
holding mechanism
freedom
camera
screwing device
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
EP20140001648
Other languages
German (de)
English (en)
Other versions
EP2857146A3 (fr
EP2857146B1 (fr
Inventor
Michael Bernoteit
Dirk Schupmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MAN Truck and Bus SE
Original Assignee
MAN Truck and Bus SE
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 MAN Truck and Bus SE filed Critical MAN Truck and Bus SE
Publication of EP2857146A2 publication Critical patent/EP2857146A2/fr
Publication of EP2857146A3 publication Critical patent/EP2857146A3/fr
Application granted granted Critical
Publication of EP2857146B1 publication Critical patent/EP2857146B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/0021—Stands, supports or guiding devices for positioning portable tools or for securing them to the work
    • B25H1/0028—Tool balancers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B25B21/002—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose for special purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/0021—Stands, supports or guiding devices for positioning portable tools or for securing them to the work
    • B25H1/0078—Guiding devices for hand tools
    • B25H1/0092—Guiding devices for hand tools by optical means

Definitions

  • the invention relates to a screw device for motorized execution of a screwing operation and a holding mechanism for this purpose.
  • An object of the invention is to provide a way by means of the screwing operations on poorly accessible and / or poorly visible screw locations can be performed improved, especially in ergonomically relaxed postures.
  • the invention provides a screw device with preferably a drive motor for motorized execution of a screwing at a screw point.
  • the screwing device is characterized in particular in that it comprises a camera device for filming the screwing point and / or the screwing operation and for transmitting the filmed images to a display device (eg a display) for the operator of the screwing device.
  • the camera device expediently serves as a virtual eye for the operator of the screwing device.
  • the invention thus enables in particular a camera and display-guided screwing, which contributes to the fact that the operator can perform the screwing in an ergonomically favorable posture.
  • the feature "filming” is to be interpreted broadly. It is possible, but not necessarily required, for the filmed images to be saved (eg cached). be, for. For quality control. However, it is possible that the camera equipment is filming, although the image transmission is not saved.
  • the camera device is expediently directed in the direction of the screw spindle and / or screwing tool in order to film the same and / or the screwing point, preferably together with the immediate surroundings of the screwing point.
  • the camera device is expediently configured so that it transmits the filmed images virtually in real time to the display device and thus the operator of the screwing can thus track the screwing virtually in real time.
  • the camera device is configured for radio-based transmission of the filmed images to the display device.
  • the camera device is configured for wire-based transmission of the filmed images to the display device.
  • the camera device is preferably configured to mirror the filmed images to display filmed movements on the display in a manner conforming to reality and not mirrored. This can z. B. a suitable mirror software are used.
  • the camera device is integrated in the housing of the screwing device or separated from the housing of the screwing device and expediently spaced apart spatially.
  • the screwing device preferably comprises a connection device for mounting on a suitable as described herein holding mechanism.
  • the screwing can z. B. comprise a compressed air motor for compressed air-based driving or an electric motor for electric-based driving.
  • the screw device may be a pneumatic or electric screwdriver.
  • the invention further comprises a holding mechanism for a screw device for motorized execution of a screwing operation at a screw point.
  • the screwing device may be configured as described herein.
  • the holding mechanism expediently comprises at least one translatory degree of freedom and / or at least one rotational degree of freedom and is designed to guide the screwing device and to absorb and divert forces or torques caused by the screwing device.
  • the holding mechanism is characterized in particular by a camera device for filming the screw point and / or the screwing operation and for transmitting the filmed images to a display device for the operator of the holding mechanism and thus expedient of the screwing.
  • the holding mechanism preferably comprises a telescopic device which forms a translatory degree of freedom.
  • the telescopic device preferably comprises at least two expediently coaxially arranged tubular elements, of which a tubular element can be telescoped in and out in a telescopic manner.
  • the movable tube element can, for. B. on a steel wire and a retractor hand-in and out.
  • the holding mechanism comprises a rail system (eg a chassis) with at least one travel rail, which forms at least one translational degree of freedom.
  • the rail system preferably comprises at least two travel rails, which form at least two translational degrees of freedom.
  • the telescopic device is at least partially rotatable about its longitudinal axis to form a rotational degree of freedom.
  • the telescopic device z. B be mounted on a pivot joint, which forms a rotational degree of freedom.
  • the telescopic device is expedient pivotally circular or circular arc.
  • the holding mechanism is preferably provided with an arm construction on which an actuating device for manually moving the holding mechanism and / or for switching on and / or off the screwing device is arranged.
  • the display device prefferably in such a way that it is moved with the arm construction when the arm construction is moved by means of the actuating device in order to move the holding mechanism.
  • the arm construction is preferably coupled to the telescopic device and protrudes preferably cantilever from the telescopic device.
  • the telescopic device is preferably suspended from the rail system down, preferably via the pivot joint.
  • the swivel joint preferably connects the telescopic device with the rail system.
  • the screwing device and / or the camera device are preferably coupled to the telescope device, preferably to an end section of the telescope device.
  • the holding mechanism in particular the rail system (eg a chassis), can be provided with a brake device that can be triggered by the operator for braking wheels of the holding mechanism, in particular of the rail system.
  • the braking device serves to derive the reaction torque of the screwing device.
  • rotational degree of freedom comprises pivoting movements and / or rotational movements (eg smaller than 360 ° or greater than 360 °).
  • the screwing device and / or the holding mechanism can be used in particular in aircraft construction, rail vehicle construction, motor vehicle construction (eg automobile and / or commercial vehicle construction), in series or individual assembly.
  • the screwing device designed for mounting on the holding mechanism can preferably provide a torque of greater than 100 Nm, 150 Nm, 200 Nm, 250 Nm or even greater than 300 Nm.
  • motor vehicle reversing cameras can be used as a camera device.
  • Motor vehicle reversing cameras are usually already equipped with a suitable mirror software.
  • the display device may, for. B. be permanently installed or be a mobile display (eg, a display of a mobile phone, a tablet, etc.).
  • a mobile display eg, a display of a mobile phone, a tablet, etc.
  • FIG. 1 shows a schematic view of a screwing device 10 with a drive motor for motorized performing a screwing at a screw point according to an embodiment of the invention.
  • the screwing device 10 is designed as a motorized electric or pneumatic hand-held screwdriver with a handle 3 for manual movement.
  • the screwing device 10 comprises a camera device 1 for filming an in FIG. 1 not shown screwing and a screwing operation and for transmitting the filmed images to a display device 2 (eg., a display) for the operator of the screwing 10.
  • the camera device 1 serves as a virtual eye for the operator.
  • the transmission of the filmed images from the camera device 1 to the display device 2 is effected by radio (eg Bluetooth, etc.), but may alternatively be wire-based.
  • radio eg Bluetooth, etc.
  • it may be z. B. to a display of a mobile phone, a tablet, etc. act.
  • the camera device 1 is integrated in the housing of the screwing device 10. Alternatively, it is possible to separate the camera device 1 from the housing of the screw 10 and z. B. to connect via a coupling mechanism with the screw 10.
  • FIG. 2 shows a schematic view of a holding mechanism 30 with a screw 20 for motorized performing a screwing at a screw point according to an embodiment of the invention.
  • the holding mechanism 30 preferably has a plurality of translatory degrees of freedom F1, F2 and F3 and a plurality of rotational degrees of freedom F4 and F5.
  • the translatory degrees of freedom F1, F2, F3 allow translational movements, while the rotational Degrees of freedom F4, F5 Enable rotation and / or pivoting movements (eg with or without angle restriction).
  • the holding mechanism 30 is designed to guide the screwing device 20 and absorb and divert forces or torques caused by the screwing device 20.
  • the holding mechanism 30 and the screw 20 are used in particular in industrial series assembly, where forces and torques are required, which can not be picked up by the operator purely manually or manually without a holding mechanism.
  • the holding mechanism 30 comprises a camera device 1 for filming an in FIG. 2 not shown screwing and a screwing operation and for transmitting the filmed images to a display device 2 for the operator of the holding mechanism 30 and thus the screw 20.
  • the transmission of the filmed images from the camera device 1 to the display device 2 may be radio-based or wire-based .
  • the camera device 1 serves as a virtual eye for the operator.
  • screwing can be performed on poorly visible and / or poorly accessible screw locations without the operator must take ergonomically unfavorable postures.
  • the camera device 1 films, but the filmed images are not stored.
  • the filmed images z. B. for quality control stored (eg cached).
  • the viewing direction R1 of the camera device 1 is almost opposite to the line of sight R2 of the operator. Therefore, the camera device 1 is expediently configured by means of software so that filmed images are mirrored in order to display filmed movements on the display device 2 in a manner that conforms to reality and not in mirror image. In embodiments in which the operator and camera device 1 are facing in opposite directions R1 and R2, movements of the screwing device 20 would have to be performed without a mirror function. B. are displayed to the right on the display device 2 as movements to the left, which would lead to confusion of the operator.
  • the holding mechanism 30 comprises a telescopic device 31, which forms a translational degree of freedom F1 and to which the camera device 1 and the screwing device 20 are fastened in order to be carried and guided by the telescope device 31.
  • the telescopic device 31 comprises two co-rotating, coaxially arranged tubular elements.
  • the tubular elements are hand-guided telescopically movable via a steel cable and a roll-up mechanism (not shown), in particular upwardly and downwardly displaceable.
  • the holding mechanism 30 further comprises a rail system with two slide rails 32 and 33, the translational degrees of freedom F2 and F3 form.
  • the telescopic device 31 is rotatable with at least one tubular element about its longitudinal axis L to form a rotational degree of freedom F4.
  • the telescopic device 31 is connected via a pivot joint 34 with the rail system.
  • the pivot joint 34 forms another rotational degree of freedom F5.
  • an arm construction 35 is coupled to the telescope device 31.
  • An actuator 36 for manually moving the holding mechanism 30 and for turning on or off the screw device 20 is formed on the arm structure 35.
  • the display device 2 is coupled to the arm structure 35 so as to be moved with the arm structure 35 when the holding mechanism 30 is moved by means of the actuator 36 to move the screw device 20.
  • the telescopic device 31 is suspended from the rail system down over the pivot joint 35.
  • the holding mechanism 30 thus represents a ceiling-mounted holding mechanism.
  • the camera device 1 functions as a virtual eye for the visual accessibility of poorly visible and / or poorly accessible screw locations, without the operator having to assume unfavorable ergonomic postures for this purpose.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)
EP14001648.6A 2013-10-01 2014-05-09 Dispositif de vissage piloté par écran et caméra Active EP2857146B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201310016404 DE102013016404A1 (de) 2013-10-01 2013-10-01 Kamera- und displaygeführte Schraubvorrichtung

Publications (3)

Publication Number Publication Date
EP2857146A2 true EP2857146A2 (fr) 2015-04-08
EP2857146A3 EP2857146A3 (fr) 2015-06-03
EP2857146B1 EP2857146B1 (fr) 2016-09-28

Family

ID=50687244

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14001648.6A Active EP2857146B1 (fr) 2013-10-01 2014-05-09 Dispositif de vissage piloté par écran et caméra

Country Status (2)

Country Link
EP (1) EP2857146B1 (fr)
DE (1) DE102013016404A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3165332A1 (fr) * 2015-11-04 2017-05-10 Robert Bosch Gmbh Appareil de travail portatif industriel
CN109773473A (zh) * 2019-03-29 2019-05-21 广西玉柴机器股份有限公司 一种快速拆装螺母的拆装装置
CN112571357A (zh) * 2020-12-18 2021-03-30 江苏中车电机有限公司 螺栓紧固辅助装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2692511B1 (fr) * 1992-06-18 1994-08-19 Snecma Clef dépliante de serrage de boulons.
DE29720849U1 (de) * 1997-11-25 1998-01-29 Jäger, Rainer, 74429 Sulzbach-Laufen Haltevorrichtung für ein Werkzeug
US20080229589A1 (en) * 2007-03-23 2008-09-25 Danny Bone Power tool having improved visibility of the cutting area
GB0719749D0 (en) * 2007-10-10 2007-11-21 Gmca Pty Ltd Visual display means for tool
US20140259599A1 (en) * 2013-03-15 2014-09-18 Honda Motor Co., Ltd. Torque gun with vision system
KR101417886B1 (ko) * 2013-12-12 2014-07-14 (주)토방하우징 중공관의 외측판재 결합용 동력드라이버

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3165332A1 (fr) * 2015-11-04 2017-05-10 Robert Bosch Gmbh Appareil de travail portatif industriel
CN109773473A (zh) * 2019-03-29 2019-05-21 广西玉柴机器股份有限公司 一种快速拆装螺母的拆装装置
CN109773473B (zh) * 2019-03-29 2023-10-27 广西玉柴机器股份有限公司 一种快速拆装螺母的拆装装置
CN112571357A (zh) * 2020-12-18 2021-03-30 江苏中车电机有限公司 螺栓紧固辅助装置

Also Published As

Publication number Publication date
DE102013016404A1 (de) 2015-04-02
EP2857146A3 (fr) 2015-06-03
EP2857146B1 (fr) 2016-09-28

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