EP3713722A1 - Zentriereinrichtung für schrauber - Google Patents
Zentriereinrichtung für schrauberInfo
- Publication number
- EP3713722A1 EP3713722A1 EP19742188.6A EP19742188A EP3713722A1 EP 3713722 A1 EP3713722 A1 EP 3713722A1 EP 19742188 A EP19742188 A EP 19742188A EP 3713722 A1 EP3713722 A1 EP 3713722A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- screw
- screwdriver
- robot
- centering device
- centering
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- 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
- B25B23/02—Arrangements for handling screws or nuts
- B25B23/08—Arrangements for handling screws or nuts for holding or positioning screw or nut prior to or during its rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
Definitions
- the present invention relates to a centering device for a screwdriver.
- the screwdriver can be an electrical and / or hydraulic screwdriver.
- the present invention relates to a screwing system with a screwdriver and such a centering device, and to a system with a robot and such a screwing system.
- the robot can be a collaborative robot.
- Industrial robots are used in particular for mass production in workpiece production.
- the industrial robots include a manipulator that is controlled by a controller.
- Conventional industrial robots of this type pose a danger to humans, since a collision with the manipulator can have fatal consequences.
- the use of collaborative robots, also known as cobots means that such protective devices can be dispensed with.
- Cobots have sensors that can be used to prevent a collision with or at least an injury by humans. Such a cobot is known for example from DE 10 2013 212 887 A1.
- screwdrivers for the automated screwing in of screws are known. Such screwdrivers can be operated with electrical and / or hydraulic energy. If a screwing process with such a screwdriver is to be automated by a robot, then a fully automatic alignment of the screwdriver with the screw to be screwed by the robot is required. Such an alignment is described, for example, in DE 103 54 079 A1. Presentation of the invention
- the present invention relates to a centering device for a screwdriver with a screw blade.
- the screw blade of the screwdriver can be aligned with a screw to be screwed.
- the position of the screw head itself can also be corrected.
- a screwdriver is understood to mean a device by means of which a screw to be screwed can be screwed mechanically into or onto a component.
- a screw is understood to mean an element which can be connected to another component by means of a screw connection. This can be a screw with an external thread in the conventional sense.
- a screw is also understood to mean a screw nut with an internal thread, which can be screwed onto a threaded bolt, for example.
- a screw blade provides a mechanical interface for engaging the screw so that torque from the screwdriver can be transferred to the screw.
- the screw blade can be designed for a slot, Phillips, Pozidriv, Torx, Allen, square, Tri-Wing, Torq-Set, tensioner or any other screw head shape.
- the screw blade can be provided so that it can be exchanged for other screw blades.
- the screwdriver can be a screwdriver operated by means of electrical energy, the screwdriver being used for
- Power supply can have a battery and / or can be supplied with energy via a separate electrical line. It can also be a screwdriver that can be operated with hydraulic energy.
- the centering device comprises a mounting body for mounting the
- the mounting body can have a clamping device, via which the centering device can be clamped to the screwdriver.
- the mounting body can be detachably connected to the screwdriver.
- the centering device further comprises a centering sleeve for receiving and / or aligning the screw to be screwed therein.
- the centering sleeve has an inner diameter that is larger than the head diameter of the screw to be screwed.
- the inner diameter of the centering sleeve is adjustable and / or that the centering sleeve is provided interchangeably with centering sleeves with other inner diameters.
- the centering sleeve is attached to the mounting body by means of a bearing device.
- the storage device comprises a reset element, which is designed, for example, as a spring.
- the restoring element can be elastically deformed by overcoming a restoring force, the restoring force restoring the element to its initial position as soon as the element is no longer subjected to an external force.
- the spring can be, for example, a helical spring or any other spring.
- a rubber element can be provided as the restoring element
- the centering device is designed so that the centering sleeve, when the centering device is properly installed on the screwdriver, encloses or covers the screwing blade of the screwdriver if the centering device is not subjected to any external forces.
- the centering sleeve completely encloses the screw blade and thus shields it from the surroundings.
- the centering sleeve is attached to the mounting body via the bearing device in such a way that it can be displaced relative to the screw blade in the direction of the mounting body against the restoring force of the restoring element. If, for example, the screw blade moves towards a component during a screwing-in process, the centering sleeve can dodge by overcoming the restoring force of the restoring element and can be displaced relative to the screw blade.
- a screw blade and thus also a screwdriver can be easily aligned to the screw to be screwed. This is of particular value since the position of the screw to be screwed as well as the position of the screw blade are subject to inevitable tolerances which can be compensated for by the centering aid of the present invention.
- the centering device of the present invention thus enables an efficient and automated screwing of a screw by means of a robot.
- the robot can use the centering aid of the present invention to determine the real position of the screw head be tracked and / or the position of the screw head itself corrected to ensure proper screwing even in such situations.
- the centering aid of the present invention enables automated screwing by means of a collaborative robot using a screwdriver that has a pointed and hard screwing blade. The centering sleeve shields the screw blade, which is dangerous for humans, from the outside in order to avoid injury to people who work next to the collaborative robot.
- the centering sleeve can have a bearing surface for resting on a component into which the screw is to be screwed.
- the contact surface is in particular a flat surface, but can also have curvatures. Because the centering sleeve rests on the component, the screwing process can be carried out completely within the centering sleeve and thus shielded. This increases occupational safety.
- a guide profile for example a chamfer, running into the interior of the sleeve can be connected to the contact surface of the centering sleeve.
- a radius or other guidance is also conceivable here. If the centering sleeve is fed onto the screw to be screwed and the two parts are not in coaxiality, the centering sleeve and thus the centering device can be tracked to the screw head by means of the guide profile, so as to produce a coaxiality of the screw and screwing blade.
- the centering sleeve can have a sleeve section which forms the support surface and which has a ring segment shape in a plan view of the support surface.
- the bearing surface can be formed on an underside of the sleeve section.
- a top view of the support surface is understood to be a view in the direction of a normal vector onto the support surface.
- the ring segment section preferably extends over an angle between 200 ° and 330 °, further preferably over an angle between 250 ° and 300 °, in particular over an angle of approximately 270 °.
- Such a cutout in the centering sleeve in the circumferential direction enables the centering device to be brought closer to a component in addition to a screw to be screwed. In particular, is a closer Approach than possible with a completely circular symmetrical design of the centering sleeve. This increased the versatility of the centering device.
- the mounting body can be formed at least in sections as a hollow cone for receiving the screwdriver therein, the bearing device being attached to the mounting body in the region of the cone tip.
- the mounting body thus tapers towards the bearing device and the centering sleeve attached to it. This conical course in turn allows the centering device to be brought closer to components which are located next to the screw to be screwed.
- the bearing device has a plurality of lifting rods with compression springs provided thereon, which are arranged coaxially with the screw blade of the screwdriver when the centering device is mounted on the screwdriver as intended.
- a particularly compact centering device is thus provided.
- the suspension of the centering sleeve on several lifting rods also results in high stability with little maintenance.
- the centering device can have a robot interface, via which it can be attached to an end effector of a robot.
- the end effector is the last element in the robot's kinematic chain.
- it can be a standardized interface.
- the interface can enable a releasable replacement of the centering device.
- the robot interface is preferably an interface for attaching the centering device to a collaborative robot.
- the centering device can have a bearing section and a displacement section that can be displaced relative to it.
- the displacement section and the storage section can be arranged coaxially to one another.
- the displacement section and / or the storage section can be designed as a sleeve.
- the displacement section can be arranged radially within the bearing section.
- the centering sleeve can be firmly connected to the displacement section.
- the centering sleeve can be attached to the displacement section directly or via further components. in the Within the scope of one embodiment, the centering sleeve cannot be adjusted relative to the displacement section in the assembled state during the intended use of the centering device.
- the restoring element can be supported on the bearing section and the displacement section in order to provide translational displaceability of the displacement section relative to the bearing section against the restoring force of the restoring element.
- only a single restoring element for example a single compression spring, is provided. In this way, a centering device with low complexity and high reliability can be provided.
- the bearing section can form a guide surface and the displacement section can form a guide section abutting the guide surface.
- the guide surface can be an annular inner surface of a bearing sleeve and the guide section can be a lateral surface of a cylindrical guide section of the displacement section.
- the guide surface and the guide section can form a flat contact for guiding a translational relative movement of the two components.
- the present invention relates to a screw system with a screwdriver, which has a screw blade for screwing a screw in a component, and a centering device according to one of the previously described embodiments.
- the centering device is attached to the screwdriver by means of the mounting body so that the screw blade is arranged in the centering sleeve.
- the screwing system can also have a robot interface, which can be provided on the screwdriver.
- the robot interface can be designed in accordance with the above statements.
- the invention also relates to a robot for screwing a screw in a component.
- the robot is in particular a collaborative robot and includes an end effector.
- a collaborative robot is a robot that can work next to people and does not have to be separated from them with protective devices.
- the robot can, for example, have sensors for collision avoidance and / or only execute movements with limited dynamics and force.
- the robot further comprises a screw system according to one of the previously described embodiments, which has a robot interface via which the screw system can be attached to the end effector.
- the robot can have a robot controller which is set up to control the robot in such a way that the screwing blade is centered fully automatically on a screw to be screwed by means of the centering device if the screw head of the screw and / or the position of the end effector deviates from a desired position.
- the robot controller is preferably also set up to control a screwdriver controller, which is preferably provided separately from the robot controller, in such a way that the screw to be screwed is screwed in fully automatically by the screwdriver after the screwing blade and screw have been centered.
- the entire centering and screwing-in process can be carried out separately from a human by the robot.
- the centering device of the present invention also enables this screwing system to be used on a collaborative robot.
- FIG. 1 schematically shows a collaborative robot in a perspective view, to the end effector of which a screw system with a centering device according to an embodiment of the present invention is attached.
- FIG. 2 shows section A of the robot from FIG. 1 in a detailed view.
- FIG. 3 shows section B of the screwing system of the robot from FIG. 1 in a detailed view.
- FIG. 4 shows a plan view from below of the centering sleeve of the screw system from FIG. 3.
- FIG. 5 schematically shows the collaborative robot from FIG. 1 in a side view.
- FIG. 6 shows the screwing system of the collaborative robot in a sectional view along the section line C-C in FIG. 5.
- FIG. 7 shows the section F1 from FIG. 6 in a detailed view.
- Fig. 8 shows a screw system in a perspective view for mounting on the in Fig. 1 and 5 shown collaborative robots according to another embodiment of the present invention.
- FIG. 9 shows the screw system from FIG. 8 in a further perspective view.
- FIG 10 shows section J of the screw system from FIGS. 8 and 9 in a detailed view.
- FIG. 11 shows a sectional view through section J of the screw system from FIG. 10 along the section line K-K.
- the robot 1 shows a collaborative robot 1 with a screw system 2 in a perspective view.
- This collaborative robot 1 is shown in a side view in FIG. 5.
- the robot 1 is a 7-axis robot with serial kinematics.
- the 7-axis robot can be used to orient every point in the work area with any orientation to reach.
- robots with a smaller or higher number of axes and / or with parallel kinematics are also conceivable.
- the collaborative robot 1 comprises a robot base 3, via which the robot 1 can be mounted, for example, on a work table (not shown).
- a first arm member 4 is fixed on the robot base 3 and is not movable.
- a second arm member 5 is rotatably connected to the first arm member 4 via a joint 6.
- the second arm member 5 is connected via a second joint 7 to a third arm member 8, which in turn is connected to a fourth arm member 10 via a third joint 9.
- the fourth arm member 10 is connected to a fifth arm member 12 via a fourth joint 11.
- the fifth arm member 12 is connected to a sixth arm member 14 via a fifth joint 13.
- the sixth arm member 14 is connected via a sixth joint 15 to a seventh arm member 16, which in turn is connected to the end effector 18 via a seventh joint 17.
- the end effector 18 comprises an interface 19 for peripheral devices to be mounted on the robot 1.
- the interface 19 is a standardized robot interface.
- the joints 6, 9, 13 and 17 are each designed such that they cause a screw-like rotation of the arm members connected via the respective joint
- the joints 7, 11 and 15, on the other hand, are each designed as articulated joints in order to enable the links connected via the joint to be pivoted like a hinge.
- Each joint 6, 7, 9, 11, 13, 15 and 17 of the collaborative robot 1 has its own drive (not shown) for driving the relative movement between the arm members connected via the respective joint.
- the individual drives of the joints can each be controlled via a robot controller 20.
- each of the joints 6, 7, 9, 11, 13, 15 and 17 of the collaborative robot has a sensor device (not shown) which is also electrically connected to the robot controller 20.
- the sensor devices each detect a force exerted by the robot on an external object, for example a human.
- the collaborative robot in particular the robot Robot controller, set up to brake and / or switch off the robot as a whole or at least individual devices, for example one or more drives of the joints.
- other sensor devices can also be provided, for example contactless sensors, such as capacitive and / or inductive sensors, with which a dangerous collision of the robot 1 with an object and / or a person can be prevented.
- the collaborative robot 1 comprises a screw system 2, which can be exchangeably mounted on the interface for peripheral devices 19 of the collaborative robot 1.
- the screwing system 2 comprises a centering device 21 and a screwdriver 22.
- the screwdriver 22 is an electric screwdriver, a hydraulic or other screwdriver also being conceivable here.
- the screwdriver 22 can be used to automatically screw screws into a component.
- the screwdriver 22 comprises a screw blade 23, which is shown, for example, in Figs. 4 and 7 can be seen, for engaging in the screw head of a screw to be screwed.
- the screw blade 23 can be rotated by the screwdriver 22 and can be designed as an exchangeable bit.
- the screw blade 23 is designed as a hexagon for engaging in a screw head with an internal hexagon. Training to engage any other screw head is also conceivable here.
- the screwdriver 22 is essentially rotationally symmetrical with respect to the axis of rotation of the screwing blade 23 and has an elongated shape.
- the screwdriver 22 comprises its own screwdriver control 24, which is shown in Figs. 1 and 5 and is designed as a separate component.
- the screwdriver controller 24 can also be integrated into the robot controller 20, so that only a single control module is provided.
- the screwdriver control 24 can be used to detect, for example, whether there is an engagement between the screw blade 23 and the screw to be screwed.
- the torque applied to the screw to be screwed can also be monitored and controlled. It can also be detected whether a screw is completely screwed into a component.
- the screw control is set up to For example, to monitor and save the number of revolutions during screwing in for one or more screws to be screwed.
- the screwdriver controller 24 can also provide a screwing history of the screws screwed to the screwdriver 22, in which, for example, one, several or all of the parameters described above are documented in combination with the respective screw.
- the collaborative robot 1 of the present embodiment is set up to control the screwdriver 22, in particular the screwdriver controller 24, via the robot controller 20. Consequently, with the collaborative robot 1, the carrying out of screwing operations is possible in a fully automated manner without human intervention.
- the screwdriver controller 24 has a control interface 25, which is connected to a screwdriver interface 26 of the robot controller 20.
- the centering device 21 of the screw system 2 comprises a mounting body which has a connecting flange 27 and a trim piece 31, as can be seen in particular from FIG. 6.
- the connecting flange 27 comprises an annular screwdriver receptacle 28, from which a connecting arm 29 extends.
- the screwdriver receptacle 28 is designed to receive the screwdriver 22 therein.
- the receptacle 28 is set up to clamp the screwdriver 22 therein.
- the screwdriver receptacle 28 can be opened by means of screws in order to remove the centering device 21 from the screwdriver 22.
- the connection arm 29 has at its distal end a robot interface 30, via which the screw system 2 can be exchanged into the peripheral interface 19 of the robot 1.
- the mounting body of the centering device 21 comprises a trim piece 31 which is attached to the underside of the screwdriver receptacle 28 by means of a screw connection, that is to say on a side facing away from the robot interface 30.
- the trim piece 31 in the connection area to the screwdriver receptacle 28 has an essentially the same diameter as this, in order to implement a continuous transition from the screwdriver receptacle 28 to the trim piece 31.
- the trim piece 31 is designed in the form of a hollow cone, it tapers conically downward from the screwdriver receptacle 28. In the field of Cone tip, the trim piece 31 has an opening 32, as can be seen in the enlarged sectional view of FIG. 7.
- the screwdriver 22 is arranged within the hollow cone of the trim piece 31, so that the screw blade 2 protrudes from it through the opening 32.
- the centering device 21 comprises a centering sleeve 33, which can be produced, for example, from plastic and / or metal by means of additive manufacturing.
- the centering sleeve 33 of the present embodiment has a sleeve section 34, which is arranged concentrically to an opening in a plate-shaped base section 35 and extends away therefrom.
- the underside of the sleeve section 34 forms a flat bearing surface 36 for resting on a component.
- the sleeve section 34 has a chamfer 37 on the contact surface 36 on the inside thereof, as shown in FIGS. 3, by means of which the centering sleeve 33 and thus the robot 1 and a screw to be screwed can be centered.
- the sleeve section 34 has a ring segment shape in a plan view of the bearing surface 36, which in the present embodiment extends over an angle of 270 °. Consequently, the sleeve section 34 comprises a recess 38 in the circumferential direction, which extends in the height direction of the sleeve section 34 from the contact surface 36 to approximately half the extension height of the sleeve section 34.
- This cutout 38 enables the screwing system 2 to be brought closer to elevations and / or projections.
- the centering sleeve 33 is mounted in a translationally displaceable manner on the underside of the trim piece 31 by means of a bearing device.
- the bearing device comprises four lifting rods arranged in a circle and concentric to the opening 32 of the trim piece 31, by means of which the base section 35 of the centering sleeve 33 is mounted on the trim piece 31.
- a compression spring 39, 40, 41, 42 is arranged around each lifting rod, which presses the centering sleeve 33 away from the trim piece 31 in a non-energized state.
- the screwdriver 22 and the centering device 21 are matched to one another in such a way that the screwing blade 23 runs concentrically to the sleeve section 34, is in a state not subjected to external force, is arranged entirely within the sleeve section 34 and does not protrude beyond the contact surface 36.
- the centering sleeve 33 consequently serves as a protective device in order to protect a person from injuries caused by the screw blade 23.
- the centering sleeve 33 can be displaced against the spring forces in the direction of the mounting body, that is to say the trim piece 31 and the connecting flange 27, in order to enable, for example, the screwing blade 23 to approach a component during a screwing-in process.
- the springs 39, 40, 41, 42 are thus on the collaborative robot 1, in particular on the sensor devices in the individual drives of the joints 6, 7, 9, 11, 13, 15 and 17 and on the robot controller 20 adapted that an injury to a person can be prevented by the relatively pointed screw blade 23 without the need for specific adaptations in the sensitivity of the collaborative robot to the screw system 2 mounted on the end effector 18. If a screw is to be screwed into a component by means of the collaborative robot 1 of the present invention, the end effector with the screw system 2 attached to it is adjusted by the robot controller 20 such that the screw blade 23 is arranged at the desired position of the screw head.
- the centering device 21 is lowered onto the screw head by the robot controller 20, so that the chamfer 37 comes into engagement with the screw head if it deviates from the desired position.
- the chamfer 37 of the centering device 21 tracks the robot 1 in order to establish coaxiality between the screwing blade 23 and the screwing head.
- the robot controller 20 controls the screwdriver controller 24 such that the screw is screwed into the component within the centering sleeve 33 by means of the screwdriver 22.
- the robot 1 tracks the screw. This can be done by transmitting a corresponding tracking command from the screwdriver controller 24 to the robot controller 20.
- the centering sleeve 33 is translationally displaced towards the mounting body against the spring forces of the bearing device.
- Figs. 8 and 9 show a screw system 200 for mounting on the in Fig. 1 and 5 shown collaborative robot 1 according to a further embodiment of the present invention.
- the screwing system 200 is in accordance with the method described with reference to FIGS. 1 - 7 described screw system 2 is formed.
- the robot 1 can be designed and set up in order to be able to use the robot with reference to FIGS. 8 and 9 described screw system 200 to be operated as it is in connection with the with reference to Figs. 1 -7 described screw system 2 has been described.
- the screwing system 200 has a centering device 210 and a screwdriver 220.
- the screwdriver 220 has a substantially elongated shape with a fastening section 221 which protrudes laterally from the screwdriver 220.
- the fastening section 221 can be formed integrally with the other screwdriver 200.
- a connection arm 290 can be provided on a distal end face 222 of the fastening section 221.
- the connecting arm 290 can have a flange 291, which can in particular be detachably connected to the end face 222 of the fastening section 221 via a screw connection, for example by means of four screws.
- connection arm 290 has at its distal end, that is to say at an end facing away from the flange 291, a robot interface 300 which, according to the above in connection with FIGS. 1-7 described embodiment can be formed.
- the screwdriver 220 has at its distal end, ie the lower end in FIGS. 8 and 9, an interface 223 for changing over from the centering device 210 described below.
- the interface 223 can be designed such that the centering device 210 can be screwed into the interface 223 by means of a thread. In particular, the interface 223 can be used for this Provide external thread. Otherwise, the screwdriver 220 can be operated according to the method described with reference to FIGS. 1 -7 described embodiment may be formed.
- Fig. 10 shows the lower area J in Figs. 8 and 9 and thus the centering device 210 in detail.
- 11 shows a sectional view through the centering device 210 along the section line K-K.
- the centering device 210 has a mounting body
- the centering device 210 which is essentially sleeve-like and is provided at one end of the centering device 210.
- the mounting body 270 has an internal thread 279 (see FIG. 11), via which the centering device 210 can be screwed onto the external thread of the interface 223 of the screwdriver 220.
- the centering device 210 comprises a sleeve-shaped bearing section 271, which is provided on the mounting body 270 in a fixed and thus non-displaceable manner, for example is fastened.
- the bearing section 271 is provided coaxially with the mounting body 270 and radially inside the same.
- the sleeve-shaped bearing section 271 forms a guide surface 272 on its radial inner surface, which can be designed, for example, in the form of a ring.
- the guide surface 272 is formed at the end of the bearing section 271 which faces away from the mounting body 270.
- the guide surface 272 has a smaller diameter than the other radial inner surface of the bearing section
- the guide surface 272 can have a longitudinal extent, that is to say an extent in the direction of the axis of symmetry of the component, which can be less than 20%, in particular less than 15% but more than 10% of the total longitudinal extent of the bearing section 271.
- a displacement section in the present case a displacement sleeve 273, is arranged coaxially to and radially within the sleeve-shaped mounting section 271, and is provided so as to be translationally displaceable to the sleeve-shaped mounting section 271.
- the displacement sleeve 273 has a cylindrical guide section 274, the radial outer surface of which engages with the inner guide surface 272 of the bearing section 271 for guiding the translational relative movement of the two components 271, 273.
- the displacement sleeve 273 has one Head portion that has a larger outer diameter than the guide portion 274.
- the head section can be guided through the other radial inner surface of the bearing section 271 described above and can be limited in its axial displacement by the shoulder.
- the head section can have a longitudinal extent, that is to say an extent in the direction of the axis of symmetry of the component, which can be more than 10%, in particular more than 15%, of the total longitudinal extent of the displacement sleeve 273.
- the displacement sleeve 273 comprises a groove, not shown, which runs in the direction of the axis of symmetry of the centering device 210. In the groove, a bolt, which is provided on the bearing section 271 and is not shown, is provided in order to prevent a relative rotation of the two components.
- the centering device 210 has a bearing device with a reset element 390, which in the present case is designed as a spiral compression spring.
- the spring 390 is supported at one end on the bearing section 271 and at the other end on the displacement sleeve 273.
- the spring 390 has a diameter so that it lies essentially on the radial inner surface of the displacement sleeve 273 above the guide surface 272 and the screw blade of the screwdriver 220 (not shown) can thus be arranged radially inside the spring 390.
- the displacement sleeve 273 of the centering device 210 has an interface 275 at the end facing away from the mounting body 270, which interface is designed here as an internal thread, for example as a left-hand thread.
- the centering device 210 further comprises a centering sleeve 330 which, with the exception of the differences described below, is configured like the centering sleeve 33 of the previous embodiment.
- the centering sleeve 330 has an interface 331 at the end facing away from the support surface 36, which is designed here as an external thread, for changing the centering sleeve 330 into the interface 275 of the displacement sleeve 273.
- the centering sleeve 330 is not translationally displaceable relative to the displacement sleeve 273 in the assembled state.
- the individual components of the screwing system 200 are on top of each other and on the robot 1 in accordance with the explanations in connection with the in FIG. 1-7 described embodiment matched. Furthermore, by means of the robot 1 and the screw system 200, a screw according to the above statements in connection with the in FIG. 1 -7 described embodiment can be screwed into a component.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018117268.0A DE102018117268A1 (de) | 2018-07-17 | 2018-07-17 | Zentriereinrichtung für Schrauber |
PCT/EP2019/069236 WO2020016294A1 (de) | 2018-07-17 | 2019-07-17 | Zentriereinrichtung für schrauber |
Publications (1)
Publication Number | Publication Date |
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EP3713722A1 true EP3713722A1 (de) | 2020-09-30 |
Family
ID=67383772
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP19742188.6A Withdrawn EP3713722A1 (de) | 2018-07-17 | 2019-07-17 | Zentriereinrichtung für schrauber |
Country Status (3)
Country | Link |
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EP (1) | EP3713722A1 (de) |
DE (1) | DE102018117268A1 (de) |
WO (1) | WO2020016294A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4052868A1 (de) * | 2021-02-15 | 2022-09-07 | Stöger Automation GmbH | Automatisches schraubsystem zum verbinden von bauteilen |
DE102022206504A1 (de) | 2022-06-28 | 2023-12-28 | Volkswagen Aktiengesellschaft | Vorrichtung und Verfahren zur Aufnahme und zum Setzen einer Schraube |
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US4922436A (en) * | 1988-05-26 | 1990-05-01 | Gmf Robotics Corporation | Method and system for the automated driving of parts and device used therein |
DE10354079B4 (de) | 2003-11-19 | 2006-07-06 | Daimlerchrysler Ag | Verfahren zum automatisierten Festziehen einer Verschraubung an einem Bauteil und geeignetes Industrierobotersystem |
US8544369B2 (en) * | 2010-06-30 | 2013-10-01 | Simpson Strong-Tie Company, Inc. | Autofeed screwdriving tool |
DE102010048776A1 (de) * | 2010-10-18 | 2012-04-19 | Sfs Intec Holding Ag | Schraubenhalterung |
DE102013212887B4 (de) | 2012-10-08 | 2019-08-01 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zum Steuern einer Robotereinrichtung,Robotereinrichtung, Computerprogrammprodukt und Regler |
US9656391B2 (en) | 2014-08-20 | 2017-05-23 | Bayerische Motoren Werke Aktiengesellschaft | Robotic end effector for plug installation |
DE202015105516U1 (de) * | 2015-10-19 | 2015-11-09 | Mijy-Land Industrial Co., Ltd. | Magnetschwebeschraubengreifklaue für automatische Schraubendreher |
DE102016011252A1 (de) * | 2016-09-16 | 2018-03-22 | Hendrik Zimmer | Zubehörteil für ein Schraubwerkzeug |
DE102017118985B4 (de) | 2017-04-23 | 2019-10-02 | Franka Emika Gmbh | Schraubvorrichtung |
-
2018
- 2018-07-17 DE DE102018117268.0A patent/DE102018117268A1/de not_active Withdrawn
-
2019
- 2019-07-17 EP EP19742188.6A patent/EP3713722A1/de not_active Withdrawn
- 2019-07-17 WO PCT/EP2019/069236 patent/WO2020016294A1/de unknown
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WO2020016294A1 (de) | 2020-01-23 |
DE102018117268A1 (de) | 2020-01-23 |
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