Screwing device

Abstract

A screwing device including: a container for screws; a manipulator having an effector to pick up a screw; an isolating unit connected to the container to provide the screw from the container at an interface such that a head of the screw is accessible to the effector; and a control unit to control the manipulator in executing a control program to perform operations including: guiding the effector along a trajectory having an orientation to the screw head at the interface, wherein the orientation is defined for locations along the trajectory; and executing force-regulated, impedance-regulated, and/or admittance-regulated periodic and closed tilting movements of the effector in relation to its orientation until a condition for a torque, a force, or a time for carrying out the tilting movements is reached or exceeded, and/or a force/torque and/or a position/speed signature at the effector is reached or exceeded, indicating successful pick-up of the screw.

Claims

1. A screwing device comprising: a storage container for screws having a screw head, a screw head drive, and a threaded pin; a robot manipulator having an effector, the effector adapted to the screw head and the screw head drive, and embodied and configured to pick up and handle the screws; an isolating unit connected to the storage container, the isolating unit comprising an interface at a known position, wherein the screw head of a respective screw isolated from the storage container is accessible to the effector at the interface; and a control unit to control or regulate the robot manipulator to pick up the screw head of the respective screw in the effector, wherein the control unit is embodied and configured to execute a first control program to perform operations comprising: guiding the effector by the robot manipulator along a predetermined trajectory T1 having a target orientation O.sub.target,T1(R.sub.T1) to the screw head of the respective screw provided at the interface, wherein along the trajectory T1 for locations R.sub.T1 of the trajectory T1, the target orientation O.sub.target,T1(R.sub.T1) of the effector is defined; beginning at a predefined distance from the screw head of the respective screw, executing force-regulated and/or impedance-regulated and/or admittance-regulated periodic and closed tilting movements of the effector relative to the target orientation O.sub.target,T1(R.sub.T1) by the robot manipulator until a predetermined limiting value condition G1 of a torque acting on the effector and/or a predetermined limiting value condition G2 of a force acting on the effector and/or a limiting value condition G3 of a time for carrying out the tilting movements is reached or exceeded, and/or until a provided force/torque signature and/or a position/speed signature at the effector is reached or exceeded, indicating that picking up the respective screw by the screw head via the effector has been successfully completed within predefined tolerances.

2. The screwing device according to claim 1, wherein the control unit is embodied and configured to execute a second control program to perform operations comprising: guiding the respective screw picked up by the effector of the robot manipulator along a predetermined trajectory T2 having a target orientation O.sub.target,T2(R.sub.T2) of the threaded pin of the respective screw to a thread arranged at a position known down to a tolerance band, wherein the target orientation O.sub.target,T2(R.sub.T2) of the threaded pin of the respective screw is defined along the trajectory T2 for locations R.sub.T2 of the trajectory T2; and executing force-regulated and/or impedance-regulated and/or admittance-regulated rotational movements and/or tilting movements and/or translational movement patterns of the respective screw to introduce a free end of the threaded pin of the respective screw into the thread by the robot manipulator until a predetermined limiting value condition G4 for a torque acting on the effector and/or a predetermined limiting value condition G5 of a force acting on the effector is reached or exceeded, and/or until a provided force/torque signature and/or a position/speed signature on the effector is reached or exceeded, indicating that the free end of the threaded pin of the respective screw is successfully introduced into the thread.

3. The screwing device according to claim 2, wherein the control unit is embodied and configured to execute a third control program to perform operations comprising: after successful introduction of the free end of the threaded pin of the respective screw into the thread, performing force-regulated and/or impedance-regulated and/or admittance-regulated screwing of the respective screw into the thread until a predetermined limiting value condition G6 for a torque acting on the effector and/or a predetermined limiting value condition G7 for a force acting on the effector is reached or exceeded, and/or until a provided force/torque signature and/or a position/speed signature on the effector is reached or exceeded, indicating that the respective screw is successfully screwed into the thread.

4. The screwing device according to claim 3, wherein the screwing device comprises a data interface to a data network, and the screwing device is configured and embodied to load the first control program and/or the second control program and/or the third control program and/or further control programs from the data network.

5. The screwing device according to claim 4, wherein the screwing device is configured and embodied to load control and regulating parameters for the first control program and/or second control program and/or third control program and/or for further control programs from the data network.

6. The screwing device according to claim 4, wherein the screwing device is configured and embodied to load control and regulating parameters for the first control program and/or the second control program and/or the third control program and/or for further control programs via a manual input interface of the screwing device and/or via a teach-in procedure, during which the robot manipulator is manually guided.

7. The screwing device according to claim 4, wherein the screwing device is configured and embodied to control loading of the first control program and/or the second control program and/or the third control program and/or further control programs, and/or associated control and regulating parameters, from a remote station connected to the data network.

8. The screwing device according to claim 4, wherein the screwing device is configured and embodied to transmit control programs provided locally at the screwing device and/or associated control and regulating parameters upon request, or autonomously via the data network to other equivalent devices and/or other receivers.

9. The screwing device according to claim 6, wherein the screwing device is configured and embodied to start control programs loaded locally at the screwing device using associated control and regulating parameters from a remote station connected to the data network.

10. A method of operating a screwing device, wherein the screwing device comprises: a storage container for screws having a screw head, a screw head drive, and a threaded pin, a robot manipulator having an effector, which is adapted to the screw head and the screw head drive, and is embodied and configured to pick up and handle the screws, an isolating unit connected to the storage container, the isolating unit comprising an interface at a known position, wherein the screw head of a respective screw isolated from the container is accessible to the effector at the interface, and a control unit to control or regulate the robot manipulator to pick up the screw head of the respective screw in the effector, wherein the control unit executes a first control program to perform operations of the method comprising: guiding the effector by the robot manipulator along a predetermined trajectory T1 having a target orientation O.sub.target,T1(R.sub.T1) to the screw head of the respective screw provided at the interface, wherein along the trajectory T1 for locations R.sub.T1 of the trajectory T1, the target orientation O.sub.target,T1(R.sub.T1) of the effector is defined; and beginning at a predefined distance from the screw head of the respective screw, executing force-regulated and/or impedance-regulated and/or admittance-regulated period and closed tilting movements of the effector relative to the target orientation O.sub.target,T1(R.sub.T1) by the robot manipulator until a predetermined limiting value condition G1 for a torque acting on the effector and/or a predetermined limiting value condition G2 of a force acting on the effector and/or a limiting value condition G3 of a time for carrying out the tilting movements is reached or exceeded, and/or a provided force/torque signature and/or a position/speed/acceleration signature at the effector is reached or exceeded, indicating that picking up the respective screw by the head via the effector has been successfully completed within predefined tolerances.

11. The method according to claim 10, wherein the control unit is embodied and configured to execute a second control program to perform operations of the method comprising: guiding the screw picked up by the effector by the robot manipulator along a predetermined trajectory T2 having a target orientation O.sub.target,T2(R.sub.T2) of the threaded pin of the screw to a thread arranged at a position known down to a tolerance band, wherein the target orientation O.sub.target,T2(R.sub.T2) of the threaded pin of the screw is defined along the trajectory T2 for locations R.sub.T2 of the trajectory T2; and executing force-regulated and/or impedance-regulated and/or admittance-regulated rotational movements and/or tilting movements and/or translational movement patterns of the screw are executed to introduce a free end of the threaded pin of the screw into the thread by the robot manipulator until a predetermined limiting value condition G4 for a torque acting on the effector and/or a predetermined limiting value condition G5 of a force acting on the effector is reached or exceeded, and/or until a provided force/torque signature and/or a position/speed signature on the effector is reached or exceeded, indicating that the free end of the threaded pin of the screw is successfully introduced into the thread.

12. The method according to claim 11, wherein the control unit is embodied and configured to execute a third control program to perform operations of the method comprising: after successful introduction of the free end of the threaded pin of the screw into the thread, performing force-regulated and/or impedance-regulated and/or admittance-regulated screwing of the screw into the thread until a predetermined limiting value condition G6 for a torque acting on the effector and/or a predetermined limiting value condition G7 for a force acting on the detector is reached or exceeded, and/or until a provided force/torque signature and/or a position/speed signature on the effector is reached or exceeded, indicating that the screw is successfully screwed into the thread.

13. The method according to claim 12, wherein the screwing device comprises a data interface to a data network, further comprising loading by the screwing device the first control program and/or the second control program and/or the third control program and/or further control programs from the data network.

14. The method according to claim 13, further comprising loading by the screwing device control and regulating parameters for the first control program and/or second control program and/or third control program and/or for further control programs from the data network.

15. The method according to claim 13, further comprising loading by screwing device control and regulating parameters for the first control program and/or the second control program and/or the third control program and/or for further control programs via a manual input interface of the screwing device and/or via a teach-in procedure, during which the robot manipulator is manually guided.

16. The method according to claim 13, further comprising controlling loading by the screwing device of the first control program and/or the second control program and/or the third control program and/or further control programs, and/or associated control and regulating parameters, from a remote station connected to the data network.

17. The method according to claim 13, further comprising transmitting by the screwing device control programs provided locally at the screwing device and/or associated control and regulating parameters upon request, or autonomously via the data network to other equivalent devices and/or other receivers.

18. The method according to claim 15, further comprising starting by the screwing device control programs loaded locally at the screwing device using associated control and regulating parameters from a remote station connected to the data network.

19. The screw device according to claim 1, wherein the predefined distance of the effector from the screw head is 0.1 cm to 2 cm.

20. The method according to claim 10, wherein the predefined distance of the effector from the screw head is 0.1 cm to 2 cm.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) In the drawings:

(2) FIG. 1 shows a schematic illustration of a screwing device;

(3) FIG. 2 shows a schematic flowchart of a proposed method for operating the screwing device to pick up a screw;

(4) FIG. 3 shows a schematic flowchart of a proposed method for operating the screwing device to introduce a free end of a threaded pin of the screw into a thread; and

(5) FIG. 4 shows a schematic flowchart of a proposed method for operating the screwing device to screw in the screw into the thread.

DETAILED DESCRIPTION

(6) FIG. 1 shows a schematic illustration of the proposed screwing device 100. The screwing device 100 includes a storage container 101 for screws having a screw head, a screw head drive, and a threaded pin, a robot manipulator 103 having an effector 104 adapted to the screw head and embodied and configured to pick up and handle such a screw, an isolating unit 102 connected to the storage container 101, which provides screws from the storage container 102 isolated at an interface 106 at a known position in such a way that a respective screw head is accessible to the effector 104, and a control unit 108 to control/regulate the robot manipulator 103, wherein the control unit 104 is embodied and configured for executing the following first control program.

(7) According to the first control program, the effector 104 is guided by the robot manipulator 103 along a predetermined trajectory T1 having a target orientation O.sub.target,T1(R.sub.T1) to the screw head of a screw provided at the interface 106 of the isolating unit 102, wherein along the trajectory T1 for locations R.sub.T1 of the trajectory T1, the target orientation O.sub.target,T1(R.sub.T1) of the effector 104 is defined.

(8) To pick up the screw head in the effector 104, force-regulated and/or impedance-regulated and/or admittance-regulated periodic and closed tilting movements of the effector 104 in relation to its target orientation O.sub.target,T1(R.sub.T1) are executed by the robot manipulator 103 until a predetermined limiting value condition G1 for a torque acting on the effector 104 and/or a predetermined limiting value condition G2 of a force acting on the effector 104 and/or a limiting value condition G3 for a time for carrying out the tilting movements is reached or exceeded and/or a provided force/torque signature and/or a position/speed signature on the effector 104 is reached or exceeded, which indicates/indicate that the picking up of the screw by the effector 104 is successfully completed within predefined tolerances. The tilting movements of the effector 104 advantageously first begin at a predetermined distance 105 of the effector 104 from the screw head to be picked up at the interface 106 of the isolating unit 102. The predetermined distance 105 can be 0.1 cm to 2 cm, and in particular can be 0.5 cm.

(9) The control unit 108 is also embodied and configured to execute the following second control program. According to the second control program, the screw picked up by the effector 104 is guided along a predetermined trajectory T2 having a target orientation O.sub.target,T2(R.sub.T2) of the threaded pin of the screw to a thread 107 arranged at a position known, wherein the target orientation O.sub.target,T2(R.sub.T2) of the threaded pin of the screw is defined along the trajectory T2 for locations R.sub.T2 of the trajectory T2, wherein force-regulated and/or impedance-regulated and/or admittance-regulated rotational movements and/or tilting movements and/or translational movement patterns of the screw are executed by the robot manipulator 103 to introduce the free end of the threaded pin of the screw into the thread 107 until a predetermined limiting value condition G4 for a torque acting on the effector 104 and/or a predetermined limiting value condition G5 of a force acting on the effector 104 is reached or exceeded and/or a provided force/torque signature and/or a position/speed signature on the effector 104 is reached or exceeded, which indicates/indicate that the free end of the threaded pin is successfully introduced into the thread 107.

(10) The control unit 108 is further embodied and configured to execute the following third control program. According to the third control program, after the successful introduction of the free end of the threaded pin of the screw into the thread 107, a force-regulated and/or impedance-regulated and/or admittance-regulated screwing of the screw into the thread 107 takes place until a predetermined limiting value condition G6 for a torque acting on the effector 104 and/or a predetermined limiting value condition G7 for a force acting on the effector 104 is reached or exceeded and/or a provided force/torque signature and/or a position/speed signature on the effector 104 is reached or exceeded, which indicates/indicate that the screw is successfully screwed into the thread 107.

(11) The screwing device 100 includes a data interface 110 to a data network 111 (e.g., Internet, LAN), and the screwing device 100 is configured and embodied for the purpose of loading the first control program, and/or the second control program, and/or the third control program, and/or further control programs from the data network 111 for execution by the control unit 108. The foregoing control programs can be made available by a central provider 112 in the data network 111.

(12) The screwing device 100 is also configured and embodied for the purpose of loading control and regulating parameters for the first control program, and/or the second control program, and/or the third control program, and/or further control programs via a manual input interface 109 of the screwing device 100 (e.g., a human-machine interface) and/or via a “teach-in procedure”, during which the robot manipulator 103 is manually guided. Furthermore, both the manual input interface 109 and the “teach-in procedure” that are carried out using the robot manipulator 103 enable a correction and/or adaptation of the control and regulating parameters loaded from the data network 111.

(13) The screwing device 100 is configured and embodied so that the loading of the control programs and/or associated control and regulating parameters from the data network 111 is controlled from a remote station 113, which is also connected to the data network 111. The remote station 113 can be operated by the central provider 112. The remote station 112 and/or the manual input interface 109 on the screwing device 100 can include a human-machine interface, which is embodied and configured for the input of control programs and/or associated control and regulating parameters, and/or for the selection of control programs and/or associated control and regulating parameters from a plurality of available control programs and/or associated control and regulating parameters.

(14) FIG. 2 shows a schematic flowchart of a proposed method 200 for operating a screwing device 100 to pick up a screw. The screwing device includes: a storage container 101 for screws having a screw head, a screw head drive, and a threaded pin, a robot manipulator 103 having an effector 104 adapted to the screw head, which is embodied and configured to pick up and handle such a screw, an isolating unit 102 connected to the storage container 101, which provides screws from the storage container isolated at an interface 106 at a known position in such a way that a respective screw head is accessible to the effector 104 of the robot manipulator 103, and a control unit 108 for controlling/regulating the robot manipulator 103.

(15) The control unit 108 is configured and embodied to execute the first control program in order to perform the operations of the method 200. At operation 201, the effector is guided by the robot manipulator 103 along a predetermined trajectory T1 having a target orientation O.sub.target,T1(R.sub.T1) to the screw head of a screw provided at the interface 106 of the isolating unit 102, wherein along the trajectory T1 for locations R.sub.T1 of the trajectory T1, the target orientation O.sub.target,T1(R.sub.T1) of the effector 104 is defined. At operation 202, beginning at a predefined distance 105 from the screw head of the screw, force-regulated and/or impedance-regulated and/or admittance-regulated periodic and closed tilting movements of the effector 104 in relation to its target orientation O.sub.target,T1(R.sub.T1) are executed by the robot manipulator 103 until a predetermined limiting value condition G1 for a torque acting on the effector 104 and/or a predetermined limiting value condition G2 of a force acting on the effector 104 and/or a limiting value condition G3 for a time for carrying out the tilting movements is reached or exceeded and/or a provided force/torque signature and/or a position/speed signature at the effector 104 is reached or exceeded, which indicates/indicate that the picking up of the screw by the effector 104 has been successfully completed within predefined tolerances.

(16) FIG. 3 shows a schematic flowchart of a proposed method 300 for operating a screwing device 100 to introduce a free end of a threaded pin of the screw into a thread. The control unit 108 is configured and embodied to execute a second control program in order to perform the operations of the method 300.

(17) At operation 301, the screw picked up by the effector 104 is guided along a predetermined trajectory T2 having a target orientation O.sub.target,T2(R.sub.T2) to the thread 107 arranged at a known position, wherein the target orientation O.sub.target,T2(R.sub.T2) of the threaded pin of the screw is defined along the trajectory T2 for locations R.sub.T2 of the trajectory T2. At operation 302, force-regulated and/or impedance-regulated and/or admittance-regulated rotational movements and/or tilting movements and/or translational movement patterns of the screw are executed to introduce the free end of the threaded pin of the screw into the thread 107 by the robot manipulator 103 until a predetermined limiting value condition G4 for a torque acting on the effector 104 and/or a predetermined limiting value condition G5 of a force acting on the effector 104 is reached or exceeded and/or a provided force/torque signature and/or a position/speed signature on the effector 104 is reached or exceeded, which indicates/indicate that the free end of the threaded pin is successfully introduced into the thread 107.

(18) FIG. 4 shows a schematic flowchart of a proposed method 400 for operating a screwing device 100 to screw in the screw into the thread 107. The control unit 108 is configured and embodied to execute a third control program in order to perform the operations of the method 400.

(19) At operation 401, after the successful introduction of the free end of the threaded pin of the screw into the thread 107, a force-regulated and/or impedance-regulated and/or admittance-regulated screwing of the screw into the thread 107 takes place until a predetermined limiting value condition G6 for a torque acting on the effector 104 and/or a predetermined limiting value condition G7 for a force acting on the effector 104 is reached or exceeded and/or a provided force/torque signature and/or a position/speed signature on the effector 104 is reached or exceeded, which indicates/indicate that the screw is successfully screwed into the thread 107.

(20) In accordance with the methods, loading of the first control program, and/or the second control program, and/or the third control program, and/or further control programs can be performed by the screwing device 100 from the data network 111, e.g., from the central provider 112. Further in accordance with the methods, loading of control and regulating parameters for the first control program, and/or second control program, and/or third control program, and/or for further control programs can be performed by the screwing device 100 from the data network 111, e.g., the central provider 112.

(21) Further in accordance with the methods, loading of control and/or regulating parameters for the first control program, and/or the second control program, and/or the third control program, and/or for further control programs, by the screwing device 100 can be performed by the screwing device 100 via the local input interface 109 and/or via a “teach-in procedure”, during which the robot manipulator 103 is manually guided.

(22) Yet further in accordance with the methods, loading of the control programs and/or associated control and regulating parameters from the data network 111 by the screwing device 100 can be controlled from a remote station 113, which is also connected to the data network 111.

(23) Although the invention was illustrated and explained in greater detail by preferred example embodiments, the invention is not thus restricted by the disclosed examples and other variations can be derived therefrom by a person skilled in the art without leaving the scope of protection of the invention. It is therefore clear that a variety of possible variations exist. It is also clear that embodiments mentioned by way of example actually only represent examples which are not to be interpreted in any way as a delimitation of, for example, the scope of protection, the possible applications, or the configuration of the invention. Rather, the preceding description and the description of the figures make a person skilled in the art capable of concretely implementing the example embodiments, wherein a person skilled in the art aware of the disclosed concept of the invention can perform manifold modifications, for example, with respect to the function or the arrangement of individual elements mentioned in an example embodiment without leaving the scope of protection, which is defined by the claims and the legal correspondences thereof, such as more extensive explanation in the description.

LIST OF REFERENCE NUMERALS

(24) 101 storage container 102 isolating unit 103 robot manipulator 104 effector 105 predefined distance 106 interface 107 thread 108 control unit 109 input interface 110 data interface 111 data network 112 central provider 113 remote station 200, 300, 400 methods 201, 202 method steps of method 200 301, 302 method steps of method 300 401 method step of method 400