System for automatic tightening of threaded fasteners

Abstract

The invention relates to a system for automatic tightening of threaded fasteners, a system (1) for automatic tightening of threaded fasteners (F) comprising a tightening tool (10), a part feeder (20) arranged to deliver a fastener to a tool tip (11) of the tightening tool, and a robot arm (30) carrying the tightening tool and the part feeder, wherein the system further comprises an imaging system (40) configured to provide image information (100) of the fastener when the fastener is located at the tool tip, and a control device (50) configured to determine at least one state of the fastener and / or the tool tip based on the image information, wherein the imaging system is an on-board imaging system carried by the robot arm. The invention also relates to an imaging system for use in a system for automatic tightening of threaded fasteners carried by a robot arm.

Description

Technical Field

[0001] This specification generally relates to systems for automatic tightening, and more specifically, to systems for tightening threaded fasteners. Background Technology

[0002] Power tools for tightening threaded fasteners are known to be used in various industries. These power tools can be, for example, electric or pneumatic. To improve productivity, automated tightening systems have been developed. These systems combine power tools with feeding devices or mechanisms that supply threaded fasteners (such as screws) to the power tools, thereby enabling automated tightening in various industrial applications.

[0003] Various types of automated or semi-automated screw installation systems are available. Some applications involve robots equipped with tool and fastener sorting and / or feeding machines that orient the screws before they are picked up and installed by the robot. These feeders can operate on different principles. For example, some feeding systems use vibrating matrix plates where screws fall into designated openings to achieve proper orientation, allowing the tool or robot to pick them up. Other feeding systems include tracks for aligning and conveying screws, or rotating discs or drums that facilitate the feeding process. The robot can then move the tool to pick up the screw, and subsequently position the tool to install it.

[0004] These operations can be complex because precise information about the pick-up position and screw status must be provided to the robot. For example, if the screw is not properly oriented when delivered and / or picked up by the tool, the performance and efficiency of these systems can be severely hampered. Misaligned screws can cause delays and reduce the overall efficiency of automated or semi-automated screw installation processes, leading to potential downtime and increased operating costs.

[0005] In addition, other problems may arise, such as delivering the wrong type of screw or a damaged screw. These problems can further complicate the process, leading to additional delays and potential damage to the equipment or the final product.

[0006] Furthermore, some assembly applications use particularly small and short screws. Examples of such applications include assembly in the production of small electronic devices. Many sorting machines and / or feeders rely on screws that include relatively long rods to prevent mispositioning, but this operating principle does not work for small and short screws, especially those with a small ratio of rod length to head diameter, which cannot always be reliably fed. Therefore, the risk of delivering misoriented screws increases.

[0007] Therefore, there is a need for an improved automatic tightening system that can solve or at least alleviate the above problems. Summary of the Invention

[0008] Therefore, it is desirable to provide a system for automatically tightening screws (including small and short screws) that can handle them more efficiently. In particular, it is desirable to provide a system that can reliably determine the state of the screw, thereby ensuring smooth and efficient operation. To better address one or more of these problems, a system for automatic tightening and an imaging system as defined in the independent claim are provided. Preferred embodiments are defined in the dependent claims.

[0009] According to a first aspect, a system for automatically tightening threaded fasteners is provided, the system comprising a tightening tool, a part feeder arranged to deliver the fastener to the tool tip of the tightening tool, and a robotic arm carrying the tightening tool and the part feeder, wherein the system further comprises an imaging system and a control device, the imaging system being configured to provide image information (about) the fastener when it is located at the tool tip, and the control device being configured to determine at least one state of the fastener and / or the tool tip based on the image information, wherein the imaging system is an onboard imaging system carried by the robotic arm.

[0010] According to the first aspect, this system provides a creative solution to the aforementioned problem by combining an imaging system and a control device to determine the condition of fasteners based on imaging data. More specifically, the imaging system is an onboard imaging system carried (or mounted on) a robotic arm, thereby ensuring accurate imaging information of the screw located at the tool tip in a timely and efficient manner.

[0011] By being directly positioned or mounted on a robotic arm, the imaging system can capture precise and real-time data on the screw's condition, thereby reducing the likelihood of errors. Furthermore, the proximity of the imaging system to the tool tip allows for timely imaging information and / or status determination during or before assembly, minimizing downtime and accelerating the assembly process by eliminating the need for additional screw handling or relocation to a separate inspection station, for example, far from the installation location. Therefore, the airborne imaging system offers higher accuracy and efficiency, resulting in minimized production disruptions and increased overall throughput and productivity. Moreover, the robotic arm carrying the airborne imaging system enables a more compact design.

[0012] The system may further include a robot. The robot may include, for example, a robot base, and a robotic arm may be attached to the robot base for mobility relative to the robot base. The power tool may be, for example, an electric, hydraulic, or pneumatic power tool.

[0013] The parts feeder can be any type of parts feeder, such as a parts feeding system utilizing a vibrating matrix plate, a parts feeding system using a track for aligning and conveying screws, or a parts feeding system using a rotary disc or drum to facilitate the feeding process. The parts feeder can be arranged, for example, to supply fasteners one by one to the tool tip at the tool tip via an optional delivery device, which is arranged to deliver the fasteners to the tool.

[0014] According to one embodiment, image information is captured immediately after the tool tip picks up the screw from the parts feeder, for example, after the screw is lifted from the feeder's delivery mechanism. Therefore, it can be ensured that the screw is, for example, correctly positioned and / or oriented, before any further assembly steps are performed. This also allows for timely adjustments to be made, thereby minimizing downtime. Alternatively or additionally, the image information can be continuously captured and / or analyzed by a control device during assembly (i.e., at a predetermined frequency). In one embodiment, the imaging system is arranged adjacent to, or at least close to, the tool tip.

[0015] According to one embodiment, the image information includes first image information showing the fastener from a first direction and second image information showing the fastener from a second direction. This dual-view imaging method provides a comprehensive analysis of the fastener's orientation and condition, thereby ensuring timely detection of any discrepancies or misalignments.

[0016] By capturing images from multiple angles, the system can more accurately verify the correct orientation of fasteners, thereby enabling more reliable and consistent assembly operations.

[0017] In one implementation, the first and / or second direction is a lateral direction, i.e., a direction from which the screw is displayed from the side, for example, a side view of the screw viewed from the side head upwards. This is the viewing direction in which the longitudinal axis of the screw extends through the image plane, i.e., a perspective of observing the screw outline rather than along its axis, thus allowing the observer to perceive the side, thread profile, and vertical orientation of the screw, rather than a top-down perspective along the length of the screw. Therefore, a favorable view of the screw's vertical alignment, as well as a view of the threads, can be provided. This direction can also be described as a direction (substantially) perpendicular to the axial direction of the screw.

[0018] An implementation scheme is conceivable that includes additional image information showing the screw from other directions (e.g., third image information shown from a third direction).

[0019] In one embodiment, the first and second directions are substantially orthogonal. These two perpendicular directions allow for a complete view of the entire threaded fastener. In other embodiments, the first and second directions may be spaced less than 90° apart.

[0020] According to one embodiment, the imaging system includes at least one camera, wherein the image information is images captured by the camera. For example, the image information may be / comprise a video sequence of images captured by the camera, thereby allowing continuous real-time monitoring. Alternatively (or supplementarily), the image information may be / comprise a single (still) image. The camera may be arranged adjacent to, or at least close to, the tool tip.

[0021] According to one embodiment, the imaging system includes a single camera and a first and a second reflector, such that first image information is transmitted to the single camera via the first reflector and second image information is transmitted to the single camera via the second reflector. The use of reflectors ensures that the system can obtain comprehensive imaging data without requiring multiple cameras, thereby simplifying design and reducing maintenance requirements. This setup also allows for particularly compact solutions by utilizing a single camera to capture multiple perspectives. In some embodiments, the first and second image information are different portions of the same image captured by the camera, further improving the efficiency and accuracy of the imaging process.

[0022] According to one embodiment, the imaging system includes two cameras, such that first image information is captured by the first camera and second image information is captured by the second camera.

[0023] According to one embodiment, the image is a silhouette image. Silhouette images can provide a clear and precise outline of the fastener, making it easier to detect any misalignment and / or defects. Furthermore, silhouette imaging can be processed quickly, thus contributing to improved overall system efficiency and speed.

[0024] According to one embodiment, the system includes a light source for providing backlighting. The backlight can be provided to illuminate the screw from the rear (i.e., from the side opposite the camera). By illuminating the fastener from the rear, the backlight creates a high-contrast outline of the fastener / screw against a brighter background, thereby facilitating the imaging system to capture a clear and precise outline and thus accurately assess the screw's condition.

[0025] According to one embodiment, the system includes a single light source and one or more reflectors. Therefore, screws can be illuminated from multiple directions in a compact and efficient manner. The system can also achieve uniform illumination by using reflectors. In other embodiments, the system includes two or more light sources for illuminating fasteners from multiple directions.

[0026] In some implementations, the light source includes a masking element that creates two or more channels for the light, thereby preventing the light source from directly illuminating the fastener. This design ensures that only light reflected from the reflector reaches the fastener, resulting in an accurate silhouette image.

[0027] In some implementations, the system may include two (or more) light sources and one or more reflectors, thereby further increasing flexibility.

[0028] In some implementations, the light source is designed to emit light within a specific wavelength range, such as blue light. This configuration can be advantageous when ambient light needs to be filtered out during image processing.

[0029] In some implementations, the imaging system may include an elongated frame or housing structure in which a camera, a light source, and optional mirrors and reflectors may be arranged, for example, within an internal space such as a cavity of the frame structure.

[0030] The frame may further include an opening or slot through which a feeder of the parts feeder moves when a screw is delivered to a tool (tip). The feeder may, for example, move axially through the opening in a direction extending perpendicular to the axial direction of the frame structure.

[0031] The tool can be positioned above the frame or housing structure so that the tool tip can be positioned (lowered) into the cavity of the frame to pick up screws.

[0032] The light source can be located at the second end of the frame structure, thereby facilitating, for example, backlighting. In some implementations, the camera and the light source can be described as aligned.

[0033] The camera can be located at the second end of the frame structure, opposite the first end where the tool (tip) picks up the screw and / or where the delivery device is positioned. This facilitates capturing image information, such as when the tool tip (lifter) picks up the fastener F from the delivery device and / or at least immediately after the fastener has been picked up. Therefore, the camera can be described as being arranged to capture an image of the screw F from a lateral (i.e., from the direction in which the screw is displayed from the side) perspective. The light source can be located at end 50a.

[0034] A mirror and / or reflector may be arranged at an appropriate angle to provide or transmit image information to a camera, for example, in an opening at the end of a frame structure, where a tool tip picks up a screw and / or a delivery device is positioned. The opening may, for example, be generally rectangular, and the mirror and / or reflector may be located at a corner of the opening. The frame structure may, for example, include two opposing openings, with the mirror and reflector positioned at the corners of the openings. The opening may be further arranged to allow the delivery device to move to a position (below) the tool tip.

[0035] According to one embodiment, at least one state determined by the control device is at least one of the following: fastener position, fastener orientation, fastener tilt, fastener type, fastener size, fastener thread condition, fastener coating condition (examples of fastener coatings include threadlockers), tool tip size, tool tip type, tool tip condition, and tool tip wear.

[0036] In some implementations, the tool tip includes a drill bit, and at least one of the following states is determined by the control device: drill bit type, drill bit quality, and drill bit wear.

[0037] According to one embodiment, the control device is further configured to issue a notification based on a determined state. Examples include notifications or alarms for fastener misalignment, excessive tool tip wear, or detection of damaged fasteners. In some embodiments, the notification may be an instruction to the operator, such as a visual, auditory, or tactile indication like a light signal or an alarm sound.

[0038] In some implementations, the control device is configured to issue instructions based on a determined state. For example, such instructions may be sent to a central control system.

[0039] In some embodiments, the control device is further configured to communicate signals with the robotic arm, parts feeder, and / or tightening tool, and may be further configured to control their operation. In some embodiments, the control device is further configured to control the feeder and / or tool based on a determined state. The control device may, for example, be configured to control the feeder and / or tool to loosen and / or discard screws, deliver new screws, or adjust tool position.

[0040] In one embodiment, the control device is included in the imaging system. In other embodiments, the control device is a separate / remote control device and / or forms part of a central control system.

[0041] According to another aspect, an imaging system is provided for use in an automated tightening system for threaded fasteners carried by a robotic arm, wherein the system is configured to provide image information of the fasteners when located at the tool tip, and wherein the imaging system is an onboard system suitable for being carried by a robotic arm.

[0042] According to another aspect, a method is provided performed by an airborne imaging system in a system for automatic tightening of threaded fasteners, the method comprising: providing image information (about) a tool tip and / or a fastener located at the tool tip, and determining the state of the fastener and / or the tool tip based on the image information.

[0043] By referring to the above discussion of the first and second aspects of the invention, it will be readily understood that objects, advantages and features conceivable within the scope of other aspects of the invention.

[0044] Other objects, features, and advantages of the invention will become apparent upon reading the following detailed disclosure, drawings, and appended claims. Those skilled in the art will understand that different features of the invention can be combined to create embodiments other than those described below. Attached Figure Description

[0045] The invention will be described in the following illustrative and non-limiting detailed description of exemplary embodiments with reference to the accompanying drawings, in which... Figure 1 This is a schematic diagram of an exemplary system according to one implementation scheme.

[0046] Figure 2 This is a perspective view of a portion of an exemplary parts feeder according to one embodiment.

[0047] Figure 3 This is a schematic diagram of an imaging system according to one implementation scheme.

[0048] Figure 4 This is an illustration of exemplary imaging information according to one implementation scheme.

[0049] Figure 5 This is a schematic diagram of an imaging system according to one implementation scheme.

[0050] Figure 6a This is a side view of a portion of an imaging system according to one implementation scheme.

[0051] Figure 6b It is a stereoscopic view of a portion of an imaging system according to one implementation scheme.

[0052] All accompanying drawings are schematic, not necessarily drawn to scale, and generally only show components necessary to illustrate the invention, wherein other components may be omitted or only implied. Detailed Implementation

[0053] exist Figure 1 The image shows, schematically in a side view, a system 1 for automatically tightening threaded fasteners F (e.g., fasteners with a head and a shank, such as screws). The system can be adapted, for example, to supply screws smaller than M5, such as screws smaller than M3.

[0054] System 1 may include a tightening tool 10, such as a power tool 10; a parts feeder 20 arranged to deliver fasteners at or to the tool tip 11 of the tightening tool 10; and a robotic arm 30 carrying the tightening tool 10 and the parts feeder 20, the tool tip 11 optionally including a drill bit. In some embodiments, system 1 may further include a storage device and a supply device (not shown) arranged to supply parts from the storage device to the parts feeder, the supply device optionally also being carried by the robotic arm 30. System 1 may, for example, be configured to automatically install screws into an object WP using the tool 10.

[0055] System 1 may further include a robot 80. Robot 80 may include, for example, a robot base 81 and a robotic arm 30 that can be movably attached to the base 81.

[0056] The parts feeder 20 can be arranged to feed fasteners F one after another to the tool 10 at the tool tip 11, for example, via an optional delivery device 21, which is arranged to deliver the fasteners F to the tool 10. The parts feeder 20 can be any type of parts feeder 20, such as a parts feeding system utilizing a vibrating matrix plate, a parts feeding system using a track for aligning and conveying screws, or a parts feeding system using a rotary disk or drum that facilitates the feeding process.

[0057] Figure 2 An exemplary parts feeder is shown in the figure. Figure 2 The parts feeder 20 includes an input section 22, an output track 23 having an output track profile 23a, and a diversion section 24 disposed between the input section 22 and the output track 23. The diversion section 24 is arranged to divert the flow toward parts F that do not match the output track profile 23a, while allowing the flow toward parts F that match the output track profile 23a.

[0058] The diversion section 24 may include, for example, a wheel 25 arranged to be driven by a motor to rotate for conveying parts F. The wheel 25 may have one or more feed rails and covers, the feed rails being arranged to receive and convey parts F, and the covers being arranged to partially cover the feed rails and block parts F that do not match the output rail profile 23a and allow parts F that match the output rail profile 23a to enter.

[0059] The parts feeder 20 may further include a delivery device 21 disposed downstream of the output track 23. This delivery device may optionally include a transfer seat 21a, which is arranged to receive a single part F and can be moved from an input transfer position for receiving the single part F to an output transfer position, such as a position aligned with the tool axis of the tool 10, where the fastener F can be picked up by the tool tip 11. An example of such a feeder is described in detail in Swedish patent application 2430252-3.

[0060] System 1 may further include an imaging system 40 configured to provide image information 100 of the fastener F at least when it is located at the tool tip 11. Figure 4 (As shown in the image). Figure 1 As can be seen, the imaging system 40 is an onboard imaging system carried by the robotic arm 30. For example, image information 100 can be captured immediately after the tool tip 11 picks up the fastener F from the parts feeder 20, for example, just after the fastener F is lifted from the parts feeder 20 (the delivery unit 21). For this purpose, the imaging system 40 can be arranged adjacent to, or at least close to, the tool tip 11. Image information 100 can be further captured from the side of the screw F, which may be positioned, for example, head-up when picked up.

[0061] Figure 6a and Figure 6b Some components of the exemplary imaging system 40 are shown in a stereoscopic and side view.

[0062] Imaging system 40 may include an elongated frame or housing structure 50, in which a camera and a light source may be arranged. Figure 6a and Figure 6b (not shown in the image) and optional reflectors 42, 43 and reflectors 45, 46, for example, arranged in the cavity 51 of the frame structure 50.

[0063] The frame 50 may further include an opening or slot 52 that allows the deliverer 21 to move when the screw is delivered to the tool (tip) 11. As in the illustrated embodiment, the deliverer 21 may, for example, move axially through the opening in a direction perpendicular to the axial direction of the frame structure 50. The tool 10 may be positioned above the frame or housing structure 50 such that the tool tip 11 can be positioned (lowered) into the cavity 51 of the frame 50 to pick up the screw F.

[0064] Camera 41 can be located at the second end of frame structure 50, opposite end 50a where the screw is picked up and / or the delivery device is positioned. Therefore, image information 100 can be captured, for example, when the screw is lifted from delivery device 21 and / or at least immediately after the screw is lifted. Thus, the camera can be arranged to capture an image of the screw from a lateral (i.e., from the direction in which the screw is displayed laterally). A light source (not shown) can be located at end 50a.

[0065] Reflectors 42, 43 and reflectors 45, 46 may be arranged at appropriate angles to provide image information 100 to a camera 41 (as will be described in more detail below) located in an opening 52 at the end 50b of the frame 50, into which the delivery device 21 enters. The frame 50 may include, for example, two opposing openings 52, 53, such as two elongated and / or rectangular openings 52, 53. Reflectors 42, 43 and / or reflectors 45, 46 may be arranged, for example, at corners of openings 51, 52. At least one of the openings 51, 52 may be further arranged to allow the delivery device 21 to move to a position at (below) the tool tip 11.

[0066] In the illustrated embodiment, the delivery unit 21 is shown located at the aforementioned output delivery position, i.e., the screw seat 27 (and therefore the screw) is positioned below the tool tip 11. Then, for example, before, during, and / or after the screw is about to / is being / has been lifted from the delivery unit 21 by the tool tip 11, the imaging system can capture image information 100 of the screw F, such as one or more images 101, 102.

[0067] System 1 may further include a control device 60 configured to determine at least one state of fastener F and / or tool tip 11 based on image information 100.

[0068] Image information 100 (example of which is in) Figure 4 (As shown in the image) For example, it may include first image information 101 showing the fastener F and / or tool tip 11 from a first direction and second image information 102 showing the fastener and / or tool tip 11 from a second direction. The first and second directions may, for example, be substantially orthogonal directions. The first and / or second directions may further be lateral directions, i.e., the direction in which the screw is shown from the side, for example, as shown in the image. Figure 4 The example shows a side view of the screw with the head facing upwards.

[0069] Reference Figures 3 to 5 An exemplary imaging system will now be described in more detail. Imaging system 40 may include, for example, at least one camera 41, and image information 100 may be an image captured by camera 41. Imaging system may also include, for example, two cameras, such that first image information is captured by a first camera and second image information is captured by a second camera (not shown).

[0070] Alternatively, for example, such as Figure 3 and Figure 5As shown, system 40 may include a single camera 41 and a first reflector and second reflectors 42, 43, such that first image information 101 is transmitted / reflected to the single camera 41 via the first reflector 42, and second image information is transmitted / reflected to the single camera via the second reflector 43. Therefore, the first image information and the second image information 101, 102 can sometimes be described as different parts of the same image captured by the single camera 41.

[0071] The image can be a silhouette image. To provide a silhouette image, system 40 may include a light source 44 for providing backlighting, i.e., illuminating the screw F from behind.

[0072] Figure 5 An exemplary system including a single light source 44 and two reflectors 45, 46 is shown. (As shown by...) Figure 5 As illustrated by the schematic light rays, the first and second image information 101, 102 can be further transmitted to the camera 41 via two reflectors 42, 43 (via lens 47). The light source 44 may optionally include a masking element 48 that creates two or more channels for light, thereby preventing the light source from directly illuminating the screw.

[0073] Alternatively, the system may include two (or more) light sources 44 for illuminating the screw F from multiple directions, such as Figure 3 As shown. Here, as via Figure 3 As illustrated in the schematic diagram, the backlight is provided by two separate light sources 44a and 44b and transmitted / reflected to the camera 41 via two reflectors 42 and 43.

[0074] The control device 60, configured to determine at least one state of the fastener F and / or tool tip 11 based on image information 100, may be a control device included in an imaging system, or alternatively, a remote control device. The control device 60 may include a memory and a processing unit.

[0075] At least one state determined by control device 60 may be, for example, at least one of the following: fastener position, fastener orientation, fastener tilt, fastener type, fastener size, fastener thread condition, fastener coating condition, tool tip size, tool tip type, and tool tip condition / wear. Control device 60 may be further configured to issue a notification based on the determined state. Examples include notifications or alarms for fastener misalignment, excessive tool tip wear, or detection of damaged fasteners. In some embodiments, the notification may be an instruction to the operator, such as a visual or auditory instruction like a light signal or an alarm sound.

[0076] The control device 60 may be further configured to communicate with the robot, robotic arm 30, parts feeder 20, and / or tool 10, and may be further configured to control its operation, for example, based on a determined state. Examples include controlling the feeder 20 to deliver new screws and / or adjusting the position of the tool 10.

[0077] Although the invention has been shown and described in detail in the accompanying drawings and the foregoing description, such illustrations and descriptions should be considered illustrative or exemplary, not restrictive; the invention is not limited to the disclosed embodiments. Those skilled in the art will understand that many modifications, variations, and alterations will occur within the scope defined by the appended claims. Furthermore, by reading the drawings, the disclosure, and the appended claims, those skilled in the art can understand and implement variations of the disclosed embodiments in practicing the claimed invention. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude multiple. The fact that specific measures are recited in mutually different dependent claims does not mean that a combination of these measures cannot be advantageous. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A system (1) for automatically tightening threaded fasteners (F), comprising: Tightening tool (10). A parts feeder (20) is arranged to deliver fasteners to the tool tip (11) of a tightening tool, and The robotic arm (30) carries the tightening tool and the parts feeder. The system further includes an imaging system (40) configured to provide image information (100) of the fastener at least when the fastener is located at the tool tip, and A control device (60) configured to determine at least one state of a fastener and / or tool tip based on image information. The imaging system is an airborne imaging system carried by a robotic arm.

2. The system (1) for automatic tightening of threaded fasteners (F) according to claim 1, wherein, The image information includes first image information (101) showing the fastener and / or tool tip from a first direction and second image information (102) showing the fastener and / or tool tip from a second direction.

3. The system (1) for automatic tightening of threaded fasteners (F) according to claim 2, wherein, The first direction and the second direction are substantially orthogonal.

4. The automatic tightening system (1) for threaded fasteners (F) according to any one of the preceding claims, wherein, The imaging system includes at least one camera (41), and the image information is an image captured by the camera (41).

5. The system (1) for automatic tightening of threaded fasteners (F) according to claim 4, wherein, The imaging system includes a single camera (41) and a first reflector and a second reflector (42, 43), such that first image information is transmitted to the single camera via the first reflector (42) and second image information is transmitted to the single camera via the second reflector (43).

6. The system (1) for automatic tightening of threaded fasteners (F) according to claim 4, wherein, The imaging system includes two cameras, such that a first image is captured by the first camera and a second image is captured by the second camera.

7. The automatic tightening system (1) for threaded fasteners (F) according to any one of claims 4 to 6, wherein, The image is a silhouette image.

8. The system (1) for automatic tightening of threaded fasteners (F) according to claim 7, comprising a light source (44) for providing backlighting to illuminate the screw from the rear.

9. The system (1) for automatic tightening of threaded fasteners (F) according to claim 8, comprising a single light source (44) and one or more reflectors (45, 46).

10. The system (1) for automatic tightening of threaded fasteners (F) according to any one of the preceding claims, wherein, At least one of the following is determined by the control device: fastener position, fastener orientation, fastener tilt, fastener type, fastener size, fastener thread condition, fastener coating condition, tool tip size, tool tip type, and tool tip condition / wear.

11. The automatic tightening system (1) for threaded fasteners (F) according to any one of the preceding claims, wherein, The control device is further configured to issue a notification based on the determined state.

12. The automatic tightening system (1) for threaded fasteners (F) according to any one of the preceding claims, wherein, The control device (50) is included in the imaging system.

13. The automatic tightening system (1) for threaded fasteners (F) according to any one of the preceding claims, wherein, Image information is captured immediately after the tool tip picks up the screw from the parts feeder.

14. An imaging system for use in an automated tightening system for threaded fasteners carried by a robotic arm, the imaging system being configured to provide image information of the fastener when it is located at the tool tip. in, The imaging system is an airborne system suitable for being carried by a robotic arm.

Images