Device for automated establishment of threaded connections

Abstract

Subject of the invention is a device (100) for the automated establishment of a threaded connection, comprising an articulated-arm robot (1) and a screwing unit (2), which can be rotated about an effector axis (wE) by a driven element (11) of an end link (12) of the articulated-arm robot (1). According to the invention, the screwing unit (2) has a housing (21), wherein a screwing tool (22) is movably accommodated in the housing (21) along the effector axis (wE) between a supply position and at least one screwing position, and a mouthpiece (23) for providing a screw (S) is arranged on the housing (21).

Description

Technical Field

[0001] The present invention relates to a device for automating the establishment of threaded connections, the device comprising an articulated robot and a screwing unit, the screwing unit being rotatable about an effector axis by a driven element of the end effector of the articulated robot. Background Technology

[0002] To automate the establishment of threaded connections, articulated robotic arms are typically equipped with automated screwdrivers. Such automated screwdrivers include screwdrivers and an associated actuator, which has an electric motor. In some prior art solutions, the screwdriver is also driven, at least in part, by a driven element on the end effector of the articulated robotic arm.

[0003] For example, EP 2 729 281 B1 discloses a screw-tightening device for engaging and / or loosening screws, particularly screws, using a robot with a driven axis of rotation. The robot, acting as an effector, carries an independently driven rotating mechanism with a rotating tool. This rotating mechanism is configured to rapidly screw the screw in / out, and the robot's driven axis of rotation is set to tighten / loosen the screw. The entire rotating mechanism is housed on the robot's rotatable driven element and is thus placed in rotation by a robot-side rotating drive during its rotational manipulation. A switchable locking mechanism is responsible for transmitting torque to the rotating tool. Therefore, EP 2 729281 B1 proposes a hybrid approach where the robot causes the screw to loosen or tighten via rotation of its driven axis of rotation, while the remaining tightening process is accomplished by a separate drive of the flange-connected rotating mechanism. Here, the rotation angle of the robot-side driven element is disadvantageously greatly limited because tangling of the input lines to the rotating mechanism must be prevented.

[0004] DE 20 2014 100 334 U1 discloses a robotic tool having a support and an integrated drive system for rotating a driven part (particularly a screwdriver head) of a rotary tool, wherein the drive system for rotational manipulation is constructed of the robot and has a torque amplifier connected to the driven part for amplifying the driving torque of the robot. Optionally, an additional motor-driven drive system integrated into the robotic tool may also act on the driven part. It is specified that the robotic tool is housed on an externally fixed guide device, which is a significant limitation on the flexibility of the entire device. Summary of the Invention

[0005] The objective of this invention is to propose an improved device for automating the establishment of threaded connections, the device comprising an articulated robot and a screwing unit, the screwing unit being rotatable about an effector axis by a driven element of the end effector of the articulated robot.

[0006] This task is accomplished by a device according to the invention.

[0007] The present invention includes the following technical teachings: a screwing unit has a housing in which a screwing tool is movably housed along the axis of the effector between a supply position and at least one screwing position, and a nozzle for providing a screw is arranged on the housing.

[0008] Here, the present invention is based on the concept of using a driven element on the end effector of an articulated arm robot to enable the screwing unit, along with the screwing tool, to rotate infinitely, thereby eliminating the need for additional actuators as known from prior art automatic screwing machines. The driven element is an integrated component of the articulated arm robot, thus allowing the use of general-purpose articulated arm robots in the prior art without further modifications to the device according to the invention. The screwing tool is, for example, constructed as a screwdriver or a screwdriver bit holder.

[0009] Furthermore, according to the present invention, a screw-feeding nozzle is integrated into a screw-feeding unit rotatably housed on the driven element of an articulated arm robot. Here, a housing functions as the base of the screw-feeding unit, the nozzle is disposed on the housing, and a screw-feeding tool is axially movable within the housing. The housing is also configured, for example, to connect the screw-feeding unit to the driven element of the articulated arm robot in a rotationally resistant manner, for example, by means of a housing flange. According to the present invention, the entire screw-feeding unit, including the housing, the screw-feeding tool, and the nozzle, participates in the rotation of the driven element about the effector axis.

[0010] As will be described in detail below, the device according to the invention preferably includes a moving device for moving the screw-tightening tool within the housing. The method for automatically establishing a threaded connection, performed using the device according to the invention, begins by supplying a screw to the nozzle, wherein the screw-tightening tool is in a supply position in which the nozzle of the screw to be supplied is accessible. Subsequently, the screw-tightening tool advances forward along the effector axis and engages with the screw head driver. Torque is introduced into the screw by rotating the screw-tightening unit using the driven element of an articulated robot, and the screw-tightening tool further advances to a screw-tightening position to eject the screw from the nozzle.

[0011] By completely replacing the individual drive of the screwing tool used in existing automated screwing machines with a driven element on the robot side, it advantageously results in a reduction in the weight borne by the robot and a reduction in the cost of the operating components. Combined with the reception of the mouth piece at the end of the robot according to the invention, as will be described in more detail below, it provides the possibility of automated screw supply, so that this replacement does not affect the degree of automation in establishing threaded connections that can be performed using this device.

[0012] In an advantageous embodiment, the device according to the invention has a rotating through-hole for compressed air and / or electrical signals, wherein the stator of the rotating through-hole is arranged on the end element, and the rotor of the rotating through-hole is rotatably arranged together on the tightening unit and / or the driven element. The rotating through-hole enables a sealed transition between the stator, which is fixed during tightening, and the rotor, which rotates with the tightening unit, for compressed air and / or electrical signals. This allows for the use of compressed air to load the rotating tightening tool, thereby enabling active movement of the tightening tool between a supply position and a tightening position. Alternatively, electrical power signals and / or control signals can be transmitted to an adjustment device for moving the tightening tool, housed in the housing of the tightening unit.

[0013] Preferably, the turning tool is movably housed in a tool channel having at least one internal groove, and the turning tool having at least one guide pin housed in the groove, thereby enabling torque transmission to the turning tool via a form-locking connection formed by the groove and the guide pin. Torque transmission originates from the driven element of the articulated arm robot, proceeds to the rotating housing of the turning unit, and further to the turning tool housed therein. The groove has a generally axial orientation along the inner wall of the tool channel, thus eliminating significant motion resistance against the movement of the turning tool along the effector axis via the guide pin guided in the groove. For example, the groove orientation can reflect a segment of a stretched helix. The connection between the groove and the guide pin established for torque transmission must be form-locking in the rotational direction.

[0014] In an advantageous embodiment, the screw-tightening unit has a supply channel for supplying screws into the screw nozzle. As will be explained in more detail below, this enables the integration of automatic screw supply, thereby allowing a fully automated and efficient process to establish a threaded connection.

[0015] Particularly preferably, the turning tool can be loaded with compressed air through the rotating through-hole, allowing it to move between the turning position and the supply position by means of overpressure or negative pressure. The compressed air acts on the rear end of the turning tool, which must therefore be airtightly sealed against the inner wall of the tool channel to establish the pressure differential necessary for moving or maintaining the turning tool within the tool channel. This pneumatic adjustment method is a robust, lightweight, and cost-effective implementation.

[0016] Preferably, in an embodiment with a pneumatic adjustment method, the turning unit has at least one adjusting spring that preloads the turning tool into the supply position. When the turning tool is advanced into the turning position using compressed air, work must be done to overcome the adjusting spring, and the turning tool must return to the supply position with the adjusting spring relaxed, thus eliminating the need for additional negative pressure loading.

[0017] In an alternative embodiment, the screwing unit has an electric lifting magnet that can be controlled by an electrical signal via the rotating through member, wherein the screwing tool is housed on the lifting magnet, allowing the screwing tool to move between the supply position and the screwing position by means of the lifting magnet.

[0018] In another embodiment, the screw-tightening unit has a slider in which the tool channel and the supply channel extend, and the slider is movable radially to the effector axis by means of compressed air loaded through the rotating through member, thereby selectively aligning the tool channel or the supply channel with the effector axis. The radially movable slider allows the screw to be automatically supplied to the mouthpiece. The screw-tightening unit with the slider preferably has at least one slider return spring that preloads the slider to a radially end position.

[0019] In another embodiment, the device according to the invention has a connecting element disposed on the end segment of the articulated arm robot. This connecting element includes at least one supply opening for supplying screws into a supply channel and / or at least one compressed air connector for supplying compressed air to the stator side of the rotating through-piece and / or at least one electrical connector for operating the input end of the stator side of the rotating through-piece. The connecting element provides an interface for supplying the operating medium, which is disposed on the end segment of the articulated arm robot and therefore does not participate in the rotation of the tightening unit during tightening.

[0020] For example, an embodiment with a connecting element has a storage chamber arranged on the connecting element, the storage chamber including a roller for storing a plurality of screws, wherein the roller is rotatably arranged on a base plate, wherein the base plate has a discharge opening arranged to coincide with the supply opening of the connecting element. Here, the roller of the storage chamber can be rotated, for example by means of a stepper motor, so that the contained screws can be sequentially conveyed through the discharge opening to the supply opening and then through the supply channel to the nozzle.

[0021] The driven element of the articulated arm robot is preferably constructed as a hollow shaft. Such hollow shaft robots are commonly used in the prior art, for example, for painting or welding devices. In connection with this invention, the invention enables a particularly ingenious and robust structural integration of the turning unit and the rotating through-hole. Attached Figure Description

[0022] Preferred embodiments of the present invention

[0023] Other improvements to the invention are shown in more detail below with reference to the accompanying drawings and the description of preferred embodiments of the invention. Here, it is shown that:

[0024] Figure 1a A detailed view of a first embodiment of the device according to the invention is shown.

[0025] Figure 1b , 1c A cross-sectional view of the first embodiment is shown.

[0026] Figure 1d Detailed views of the first embodiment without an optional storage room are shown.

[0027] Figure 2a A detailed view of the second embodiment is shown.

[0028] Figure 2b , 2c A view showing the components of the second embodiment is provided.

[0029] Figure 2d A detailed view of the second embodiment with a slider return spring is shown.

[0030] Figure 2e , 2f A cross-sectional view of the second embodiment is shown.

[0031] Figure 2g A detailed cross-sectional view of the second embodiment with a tool return spring is shown.

[0032] Figure 3 A schematic cross-sectional view of the screwing unit of the third embodiment is shown.

[0033] Figure 4 A general diagram of a device with a hollow shaft robot according to the present invention is shown.

[0034] Figure 5a A general diagram of an apparatus according to the invention, including a desktop robot, is shown.

[0035] Figure 5b Show Figure 5a Detailed view. Detailed Implementation

[0036] Figures 1a to 1c A detailed view of a first embodiment of the device according to the invention is shown, wherein, Figure 1b and Figure 1c The cross-sectional views are respectively based on the Figure 1a The section lines BB' or CC' shown in the diagram are illustrated. The screwing unit 2, the connecting element 4, and the drum-shaped storage chamber 5 for storing multiple screws S are shown respectively. This embodiment is configured for use with an articulated arm robot having a driven element constructed as a hollow shaft, wherein the screwing unit 2 can be screwed onto the driven element via a housing flange 21a, and the connecting element 4 can also be accommodated in the end segment of the articulated arm robot via a threaded connection. Therefore, only the screwing unit 2 and the rotor 32 of the rotating through-piece 3, which is anti-rotationally connected to the screwing unit, participate in the rotation of the driven element.

[0037] The screwing unit 2, comprising a housing 21 having a housing flange 21a and a housing cover 21b, a screwing tool 22 housed within the housing 21, and a screwing nozzle 23 for providing screws S arranged on the front side of the housing 21, can rotate about the effector axis wE via the driven element of the articulated arm robot, thereby performing the screwing process. The screwing tool 22 moves along the effector axis wE in the tool channel 24. Figure 1b and Figure 1c The supply position and at least one screwing position shown are movably accommodated. In order to move the screwing tool 22 axially within the tool channel 24, the back side of the screwing tool 22 can be loaded with compressed air, that is, optionally, it can be loaded with overpressure or negative pressure.

[0038] Here, the rotary through-hole 3 is used to guide compressed air into the tool channel 24 within the rotatable housing 21. The rotor 32 of the rotary through-hole 3, located inside, passes through the tool channel 24 and is connected to the turning unit 2 in a way that resists relative rotation, while the stator 31 of the rotary through-hole 3 is housed in the connecting element 4. A compressed air opening 42 is formed through a horizontal hole in the connecting element 4, through which the rotary through-hole 3 can be connected to the compressed air supply unit.

[0039] By applying overpressure, the screw-tightening tool 22 can be advanced forward from the supply position shown here toward the nozzle 23 and engage with the screw head driver of the screw S, thereby occupying the screw-tightening position. Here, the diameter of the tool attachment 22a is adapted to the inner diameter of the tool channel 24 such that, on the one hand, a suitable pressure difference can be established between the sections of the tool channel 24 in front of and behind the tool attachment 22a, but on the other hand, low-friction axial mobility of the screw-tightening tool 22 is ensured. As the screw-tightening tool 22 moves axially along the effector axis wE extending centrally through the tool channel 24, the screw-tightening tool 22 undergoes rotation about its longitudinal axis, which is caused by the fact that two guide pins 26, which radially protrude from the tool attachment 22a of the screw-tightening tool 22, are received and guided in their respective helically wound grooves 25 in the wall of the tool channel 24 (only one groove 25 or one guide pin 26 can be seen in the cross-sectional view, and preferably the device also includes opposing samples). Thus, on the one hand, the turning tool 22 is reproducibly engaged with the screw S provided in the nozzle 23, and on the other hand, torque can be transmitted to the turning tool 22, especially through the form-locking connection formed in the direction of rotation by means of the groove 25 and the guide pin 26. According to the invention, the torque for the turning process is introduced into the turning unit 2, especially the housing 21, by the driven element on the robot side, and is finally transmitted to the screw S to be turned by the rotating turning tool 22.

[0040] A supply channel 27 extending within the housing 21 is used to supply screws S, and this supply channel leads into the tool channel 24 in the region directly above the nozzle 23. Screws S are clamped and held in the nozzle 23, which is flexible enough to overcome the clamping force under the force of the screwing tool 22 advancing to the screwing position. If the screwing tool 22 is in the withdrawn supply position as shown, then the nozzle 23 is accessible to the screw S to be supplied, and the inlet of the supply channel 27 into the tool channel 24 is blocked by the screwing tool 22 in the forward-advanced screwing position. The supply channel 27 can be accessed at the connecting element 4 via the supply opening 41, wherein, in operation of the device according to the invention, the rear opening of the supply channel 27 must be rotated to coincide with the supply opening 41 to facilitate the transition of screw S from the connecting element 4, which is fixedly arranged on the end element of the articulated arm robot, to the screwing unit 2, which is rotatably arranged on the driven element of the articulated arm robot.

[0041] A storage chamber 5 is arranged on the connecting element 4, the storage chamber comprising a roller 51 for storing a plurality of screws S, wherein the roller 51 is rotatably housed on a base plate 52. Here, the rotatability of the roller 51 can be based, for example, on a bearing not shown here, and in particular, can be configured to be actively controlled by means of an additional stepper motor. The base plate 52 has a discharge opening 53 arranged to coincide with the supply opening 41 of the connecting element 4, so that the screws S can be continuously introduced into the supply channel 27 as the roller 51 rotates, particularly under gravity or optionally by means of additional compressed air. In manufacturing practice, the storage chamber 5 can be replaced manually by an operator, for example, or the device can automatically replace the storage chamber.

[0042] Figure 1d A variation of the first embodiment, shown as a detailed view, lacks a storage chamber for storing screws. In this embodiment, screws can be directly inserted into the screwing unit 2 via a suitable supply conduit through a supply opening 41 on the connecting element 4. In automated operation, this further reduces cycle time compared to the aforementioned variation with a storage chamber, as the refilling of the storage chamber is eliminated. Except that the compressed air opening 42 is here differently and arranged on the end side of the connecting element 4 for better accessibility, Figure 1d The variant is similar to other aspects Figures 1a to 1c The first embodiment shown corresponds to this.

[0043] In the context of this invention, the sum of all components except the rotor 32 of the rotating through-piece 3 is referred to as the twisting unit 2. These components are rotatably housed together with the driven elements of the articulated arm robot, meaning that these components participate in rotation about the effector axis wE during twisting. The rotating through-piece 3 and the connecting element 4, which is fixedly housed on the end effector of the articulated arm robot, form a connecting unit for the twisting unit 2. This applies to all embodiments according to the invention.

[0044] Figure 2a A perspective detailed view of a second advantageous embodiment of the device according to the invention is shown. Figure 2b and Figure 2c The diagram shows a view of the separate components of this embodiment, and Figure 2d and Figure 2e Showing according to Figure 2a The cross-sectional view of the section line DD' or EE' shown is illustrated. The illustrated embodiment is also configured for use with an articulated robot having a driven element configured as a hollow shaft, wherein the screwing unit 2 is capable of screwing with the driven element of the articulated robot via the housing flange 21a, and the connecting element 4 is configured to be arranged on the end segment of the articulated robot.

[0045] Figures 2a to 2g The embodiment has a screwing unit 2 with a slider 29, which is housed inside the housing 21 in a slider receiving portion 21c, wherein a tool channel 24 and a supply channel 27 extend parallel to each other in the slider 29, and the slider 29 can be moved radially in a direction about the axis wE of the effector by means of compressed air loaded through the rotating through member 3, thereby optionally, the tool channel 24 or the supply channel 27 can be aligned with the bottom opening 21d and brought to the center of the mouthpiece 23.

[0046] Compressed air can be introduced into the screwing unit 2 through the compressed air opening 42 on the connecting element 4. The compressed air opening 42, arranged on the effector axis wE, acts on the screwing tool 22 via the rotating through-hole 3, and the screwing tool moves between the supply position and the screwing position. The stator 31 of the rotating through-hole is connected to the connecting element 4, and the rotor 32 of the rotating through-hole is connected to the screwing unit 2. The operation of the slider 29 by means of compressed air and the supply of screw S into the supply channel 27 are only provided when the screwing unit 2 is oriented relative to the connecting element 4 to a destination orientation, in which the two compressed air openings 42 and the supply opening 41 are respectively arranged to coincide with corresponding openings in the housing cover 21b and the compressed air inlet 21e in the body of the housing 21. To achieve this coincident arrangement, the screwing unit 2 must be rotated to a suitable angular position around the effector axis wE by means of the driven element of the articulated arm robot. Compressed air passage 21f branches off from compressed air inlet 21e, making slider housing 21c accessible to compressed air. The screw S is introduced into nozzle 23 by passing it through supply opening 41 into supply passage 27 of slider 29 and then radially moving slider 29 with compressed air, causing supply passage 27 to coincide with bottom opening 21d. The screw S then falls or is advanced into nozzle 23 under gravity and / or by compressed air impact. For subsequent tightening, slider 29 is radially pushed back with negative pressure, causing tool passage 24 to coincide with bottom opening 21d. Tightening tool 22 can then be advanced from its supply position to its tightening position and inserted into screw head driver of screw S through bottom opening 21b. (As already combined...) Figures 1a to 1c As illustrated in the embodiments, the rotationally locking connection between the groove 25 and the guide pin 26 formed on the turning tool 22 is also used to transmit torque to the turning tool.

[0047] like Figure 2dAs shown, alternatively, at least one slider return spring 29a can be integrated into the slider receiving portion 21c and preload the slider 29 to the radial end position shown, thereby eliminating the need for a negative pressure loading to move the slider 29 to that end position.

[0048] Figure 2g A cross-sectional detail view of a variant of the second embodiment is shown, featuring a tool return spring 22a that preloads the tightening tool 22 into the indicated supply position. The tool return spring 24a is configured as a compression spring and extends from a tab 24b inserted into the tool channel 24 to the tool attachment 22a. Work must be done against the tool return spring 24a when the tightening tool 22 is advanced to the tightening position, and after the tightening process, the tightening tool 22 returns to the supply position with the tool return spring 24a relaxed. Similar to... Figure 2g As shown in the diagram, such a tool's return spring can preferably also be integrated into... Figures 1a to 1d In the first embodiment.

[0049] Figure 3 A schematic cross-sectional view of a screwing unit 2 according to a third embodiment of the device according to the invention is shown, wherein the mobility of the screwing tool 22 between a supply position and a screwing position is based on the actuation of a lifting magnet 28. The rotor 32 of the rotating through-hole is shown only schematically, through which the power and control signals required to operate the lifting magnet 28 are introduced into the screwing unit 2 via electrical leads 28a. The screwing tool 22 is housed on the lifting magnet 28 in a manner not shown in more detail and can be moved by the lifting magnet along the effects unit axis wE. The lifting magnet 28 is rigidly housed in the housing 21 by means of a bracket 6.

[0050] Here, the lower section of the hollow tube or hose 8 forming the supply channel 27 is pre-tensioned by means of a tension spring 7 to a position suitable for supplying the screw S into the nozzle 23. The lower section of the hose 8 can be pressed out of this position by a screwing tool 22 that is pushed forward to a screwing position. Such a supply device is known in the prior art and can be integrated into the device according to the invention.

[0051] Figure 4 A general view of the device 100 according to the invention, featuring a six-axis articulated arm robot 1, is shown. The driven element 11 of the six-axis articulated arm robot is constructed as a hollow shaft. The hollow shaft-shaped driven element 11 is capable of rotating infinitely about the effector axis wE corresponding to the sixth robot axis w6. The end segment 12 of the articulated arm robot 1 serves as a support for the driven element 11 and is capable of rotating about the fifth robot axis w5. The section of the end segment 12 that accommodates the driven element 11 has a central empty space. The screwing unit 2, for example, corresponds to... Figures 2a to 2eIn this embodiment, the housing flange 21a is screwed onto the driven element 11. The connecting element 4 is fastened to the side of the end element 12 opposite to the connecting element, and the rotational through-piece extends through the gap in the end link 12 between the connecting element 4 and the screwing unit 2.

[0052] Therefore, according to the present invention, the rotatability of the screwing unit 2 is based solely on the robot-side actuator, which is configured to rotate the driven element 11; the additional motor-driven drive element used in existing automatic screwing machines is not necessary. The operating medium, such as compressed air, electrical signals, or screws, can be automatically supplied to the screwing unit 2 via the medium supply unit 13 through the connecting element 4.

[0053] By utilizing the device 100 according to the invention, the screwing unit 2 is positioned on the workpiece W by means of an articulated robot, and the screwing tool housed in the screwing unit 2 is moved to a suitable screwing position along the effector axis wE, while the screwing unit 2 is rotated by the driven element 11, thus automating the establishment of a threaded connection on the workpiece W. When the articulated robot is stationary, the forward advance of the screwing tool within the screwing unit 2 is suitably adapted to screwing a screw into the workpiece W according to the lead of the screw thread, so that the screwing tool remains engaged with the screw head driver throughout the screwing process. For process monitoring and control, the screwing tool can be equipped with force and / or torque sensors, particularly torque sensors that can already be integrated on the robot side.

[0054] Figure 5a and Figure 5b General or detailed views of the apparatus 100 with a six-axis desktop robot 1 according to the present invention are shown. The effector axis wE corresponds to the sixth robot axis w6, the driven element 11 and the screwing unit 2 housed thereon are rotatable about the sixth robot axis, and the end effector 12 of the articulated arm robot 1 is rotatable about the fifth robot axis w5.

[0055] Twisting unit 2, for example, is similar to Figures 1a to 1c An embodiment is shown here. In the device 100, a rotating through-member 3 is arranged between the driven element 11 and the turning unit 2, wherein the stator 31 is constructed as a hollow cylinder and the rotor 32 extends axially inside the stator 31. The stator 31 is stationary on the end link 12 via a stator retaining portion 34 bridging the driven element 11. The rear end of the rotor 32 is rotatably accommodated on the driven element 11 and its front end is connected to the turning unit 2, that is, in this embodiment, the torque of the driven element 11 is transmitted to the turning unit 2 only via the rotating through-member 3.

[0056] In order to load the screwing tool with compressed air inside the screwing unit 2, a compressed air connector 33 is arranged on the stator 31 of the rotating through member 3, and a media supply unit 13 is used to supply screws into the supply channel 27. For this purpose, the opening of the supply channel 27 on the housing 21 of the screwing unit 2 must coincide with the outlet of the media supply unit 13.

[0057] The present invention is not limited in its implementation to the preferred embodiments described above. Instead, various variations are conceivable, and the solution shown is used in principle in different types of embodiments. All features and / or advantages derived from the claims, description, or drawings, including structural details, spatial arrangements, and method steps, are important to the present invention not only in themselves but also in different combinations.

[0058] List of reference numerals

[0059] 100 devices

[0060] 1. Articulated Arm Robot

[0061] 11 Driven element

[0062] 12 End segments

[0063] 13. Media Supply Department

[0064] 2-Screwing Unit

[0065] 21. Shell

[0066] 21a Housing flange

[0067] 21b Housing cover

[0068] 21c Slider Receiving Section

[0069] 21d bottom opening

[0070] 21e Compressed air inlet

[0071] 21f Compressed air passage

[0072] 22 Turning tools

[0073] 22a Tool Accessories

[0074] 23 Mouth parts

[0075] 24 Tool Channels

[0076] 24a Tool return spring

[0077] 24b splicing

[0078] 25 slots

[0079] 26 Guide pins

[0080] 27 Supply Channels

[0081] 28 Lifting Magnets

[0082] 28A electrical lead

[0083] 29 Slider

[0084] 29a Slider return spring

[0085] 3 Rotating through-hole component

[0086] 31 Stator

[0087] 32 rotors

[0088] 33 Compressed air connector

[0089] 34 Stator holding section

[0090] 4 Connecting elements

[0091] 41 Supply Opening

[0092] 42 Compressed air inlet

[0093] 5 Storage Room

[0094] 51 rollers

[0095] 52 base plate

[0096] 53 Discharge opening

[0097] 6 supports

[0098] 7. Tension Spring

[0099] 8. Hose

[0100] wE effects axis

[0101] w5 Fifth axis of rotation

[0102] w6 Sixth axis of rotation

[0103] S screw

[0104] W workpiece

Claims

1. A device (100) for automated establishment of a threaded connection, the device comprising an articulated arm robot (1) and a screwing unit (2), the screwing unit being rotatable about an effector axis (wE) by a driven element (11) of an end link (12) of the articulated arm robot (1), characterized in that, The screwing unit (2) has a housing (21), a screwing tool (22) housed inside the housing (21), and a nozzle (23) arranged on the housing (21) for providing screws (S), wherein the screwing tool (22) is movably housed in the housing (21) between a supply position and at least one screwing position along the effector axis (wE), and the device (100) has a rotating through-hole (3) for compressing air and / or transmitting electrical signals to an adjustment device for moving the screwing tool (22) housed in the housing (21) of the screwing unit (2), wherein the stator (31) of the rotating through-hole (3) is arranged on the end element (12), and the rotor (32) of the rotating through-hole (3) is rotatably arranged together on the screwing unit (2) and / or the driven element (11).

2. The apparatus (100) according to claim 1, characterized in that, The turning tool (22) is movably accommodated in a tool channel (24), wherein the tool channel (24) has at least one internal groove (25), and the turning tool (22) has at least one guide pin (26) accommodated in the groove (25), thereby enabling torque to be transmitted to the turning tool (22) by means of the form-locking connection formed by the groove (25) and the guide pin (26).

3. The apparatus (100) according to claim 1 or 2, characterized in that, The screwing unit (2) has a supply channel (27) for supplying screws (S) into the nozzle (23).

4. The apparatus (100) according to claim 1 or 2, characterized in that, The screwing tool (22) can be loaded with compressed air by rotating the through-hole (3), so that the screwing tool (22) can move between the supply position and the screwing position by means of applying overpressure or negative pressure.

5. The apparatus (100) according to claim 4, characterized in that, The screwing unit (2) has at least one tool return spring (22a) that preloads the screwing tool (22) into the supply position.

6. The apparatus (100) according to claim 1 or 2, characterized in that, The turning unit (2) has an electric lifting magnet (28) that can be controlled by an electrical signal via a rotating through member (3). The turning tool (22) is housed on the lifting magnet (28), so that the turning tool (22) can move between a supply position and a turning position by means of the control of the lifting magnet (28).

7. The apparatus (100) according to claim 2, characterized in that, The screwing unit (2) has a supply channel (27) for supplying screws (S) into the mouthpiece (23), and the screwing unit (2) has a slider (29) in which the tool channel (24) and the supply channel (27) extend, and the slider (29) can be moved radially in the direction of the effector axis (wE) by means of compressed air loaded by rotating the through piece (3), thereby selectively aligning the tool channel (24) or the supply channel (27) with the effector axis (wE).

8. The apparatus (100) according to claim 7, characterized in that, The screwing unit (2) has at least one slider return spring (29a) that preloads the slider (29) to a radial end position.

9. The apparatus (100) according to claim 1 or 2, characterized in that, The screwing unit (2) has a supply channel (27) for supplying screws (S) into the mouthpiece (23), and the device (100) has a connecting element (4) arranged on the end segment (12) of the articulated arm robot (1), the connecting element including at least one supply opening (41) for supplying screws (S) into the supply channel (27), and / or including at least one compressed air connector (42) for supplying compressed air to the stator-side connector of the rotating through member (3), and / or including at least one electrical connector for manipulating the stator-side input end of the rotating through member (3).

10. The apparatus (100) according to claim 9, characterized in that, The device (100) has a storage chamber (5) arranged on a connecting element (4), the storage chamber including a roller (51) for storing a plurality of screws (S), wherein the roller (51) is rotatably arranged on a base plate (52), wherein the base plate (52) has a discharge opening (53) arranged to coincide with a supply opening (41) of the connecting element (4).

11. The apparatus (100) according to claim 1 or 2, characterized in that, The driven element (11) of the articulated arm robot (1) is constructed as a hollow shaft.

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