System for inserting a penetrating element and method for assembling a system for inserting a penetrating element

Abstract

The invention relates to a screwdriving system (10). The screwdriving system (10) comprises a screwdriving unit (18) having a housing (20), a tool holder (22) for receiving a screwdriving tool (24), a rotary drive (26) for rotating the tool holder (22), and a linear drive (28) for imparting a feed movement to the tool holder (22). The screwdriving system (10) also comprises a compensation module (32) which is separate from the screwdriving unit (18). The compensation module (32) has a first element (34) for mechanical coupling to the housing (20) of the screwdriving unit (18) and a second element (36) for mechanical coupling to an articulated-arm robot (16), such that the screwdriving unit (18) can be fastened to the articulated-arm robot (16) via the compensation module (32). The compensation module (32) comprises at least one bearing (38). The first element (34) and the second element (36) can be moved relative to one another via said at least one bearing (38) such that a deflection of a robot axis (16a) of the articulated-arm robot (16) due to pressing forces and a resultant change in position of the screwdriving unit (18) can be at least partially compensated. The invention also relates to a method for assembling a screwdriving system (10), in which method a compensation module (32) is arranged between an articulated-arm robot (16) and a screwdriving unit (18).

Description

[0001] System for introducing an ingress element and method for constructing a system for introducing an ingress element

[0002] The invention relates to a system for introducing an indenter, in particular a screw, a dome or a drill bit, into a component.

[0003] For example, the invention relates to a system for placing a connecting element, in particular a screw or a dome, into a component.

[0004] The invention also relates to a method for constructing, i.e., assembling, a system for introducing an intruder, in particular a screw, a dome or a drill bit, into a component.

[0005] For example, the invention relates to a method for constructing a system for placing a connecting element, in particular a screw or a dome, into a component.

[0006] A trend in the field of flow-drilling screws is the increasing use of high-strength M4 or M4.5 screws instead of the previously common M5 screws. Among other advantages, M4 or M4.5 screws are lighter, thus enabling weight savings.

[0007] However, it has been found that high-strength screws are more frequently damaged during installation than the established M5 screws. The applicant was able to analyze and determine that the damage to the high-strength screws is caused by bending and shear forces acting on the screws, with these bending and shear forces being generated by so-called "robot pushing".

[0008] "Robot slippage" refers to the yielding of a robot arm holding the screwing device during the screwing process. This yielding of the robot arm causes the screwing device to pivot, resulting in an undesired tilting of the screw relative to the component surface into which it is being screwed.

[0009] EP 4 052 868 A1 discloses a solution for preventing screw misalignment due to "robot pushing". However, the solution proposed in EP 4 052 868 A1 is relatively complex in design and therefore comparatively expensive to manufacture. Furthermore, the screw unit, i.e., the screwdriver, must be redesigned in the solutions proposed in EP 4 052 868 A1.

[0010] "Robot pushing" can also occur, for example, when inserting plastic domes into sandwich structures or during flow drilling. In these cases, plastic domes may be inserted at an angle into the sandwich structure, or irregular holes may be created during flow drilling.

[0011] It is an object of the present invention to provide a system for introducing an intruder element by means of which ‘robot pushing’ can be compensated in a structurally simpler and more cost-effective way.

[0012] Furthermore, it is an object of the present invention to provide a method for constructing a system for introducing an intruder element, by means of which the "robot pushing" can be compensated in a simpler and more cost-effective way.

[0013] The problem is solved by a system for introducing an intruder having the features of claim 1. The problem is further solved by a method according to the independent method claim. Preferred embodiments are described in the dependent claims, the description, and the drawings.

[0014] The system for inserting an penetrant, for example a screw, a dome or a drill bit, into a component comprises an insertion unit with

[0015] - a case,

[0016] - a tool holder for holding a tool,

[0017] - a rotary drive to set the tool holder into a rotary motion, and

[0018] - a linear drive to move the tool holder into a feed motion.

[0019] The system includes a compensation module separate from the insertion unit, wherein the compensation module comprises a first element for mechanical coupling with the housing of the insertion unit and a second element for mechanical coupling with an articulated robot arm, so that the insertion unit can be attached to the articulated robot arm via the compensation module, i.e., fixed in operation.

[0020] The compensating module has at least one bearing, e.g. a joint.

[0021] By means of at least one bearing, the first element and the second element can be moved relative to each other, so that a deflection of a robot axis of the articulated robot as a result of pressing forces and a resulting change in position, e.g. a pivoting and / or a translational change in position, of the insertion unit can be at least partially compensated.

[0022] Such a camp can be designed in many different ways. This application describes some of these camps as examples.

[0023] The invention is based on the general idea that, contrary to the teaching of EP 4 052 868 A1, where the screw unit must be structurally modified, it is not necessary to structurally modify the screw unit, or more generally an insertion unit, to compensate for "robot slippage." In other words, the invention is based on the general idea of ​​providing a separate compensation module for at least partially compensating for robot slippage, which can be connected on the one hand to a known insertion unit, for example, a known screw unit, and on the other hand to a robot arm of an articulated robot, for example, an industrial robot. Such a separate compensation module has the advantage that the insertion unit and the robot arm do not need to be structurally modified. This makes the compensation module suitable as a retrofit solution for existing systems.Furthermore, the modular design of the system makes it possible to sell the insertion unit with or without a compensation function.

[0024] Advantageous embodiments of the invention can be found in the dependent claims, the description and the drawings.

[0025] According to one embodiment, the system for inserting an intruder is a device for setting a connecting element. The connecting element can be designed, for example, as a screw or as a dome, in particular a plastic dome. The system can, for example, be designed as a screw system that includes a screw unit as the insertion unit. Alternatively, the device can be designed to create a hole.

[0026] Preferably, the first element is fixed, i.e., not movable relative to itself, and can be coupled to the housing of the insertion unit or is coupled during operation. This ensures that the insertion unit always occupies a defined position relative to the first element.

[0027] According to one embodiment, the second element is fixed, i.e., not movable relative to the other element, and can be coupled to the articulated robot arm, or is coupled during operation. If the first element is fixedly coupled to the housing of the insertion unit and the second element is fixedly coupled to the articulated robot arm, a compensating movement of the compensating unit is generated solely by the bearing of the compensating unit. This has the advantage that a defined compensating movement can be generated in a simple manner.

[0028] Preferably, the compensating movement is a parallel displacement. Alternatively, the compensating movement can be a superimposed movement consisting of a parallel displacement and a rotational movement. The compensating movement is preferably effected by exactly one type of bearing, and thus, for example, not by a combination of a bearing for generating a tilting movement of the insertion unit and a separate bearing for generating a translational movement of the insertion unit.

[0029] According to one embodiment, the rotary drive's axis of rotation is arranged parallel, and in particular concentrically, to the axis of rotation of the tool holder. Alternatively or additionally, the linear drive's direction of movement can be aligned parallel to the axis of rotation of the tool holder. Preferably, the rotary drive's axis of rotation is always parallel, and in particular concentrically, to the axis of rotation of the tool holder during operation. Alternatively or additionally, the linear drive's direction of movement can always be aligned parallel to the axis of rotation of the tool holder during operation. This optimizes the force transmission of the clamping force from the system to the component.

[0030] According to one embodiment, at least one bearing allows a rotational movement, i.e., a pivoting movement, between the first element and the second element. Rotational movement is defined as any movement that causes a change in the angle between the first element and the second element.

[0031] Preferably, the rotational movement between the first and second elements can at least partially compensate for any tilt of the insertion unit resulting from the deflection of the articulated robot's axis. Typically, a pivot axis around which the rotational movement between the first and second elements takes place is perpendicular to a rotational axis of the tool holder and perpendicular to a main extension direction of the robot arm.

[0032] For example, the bearing that allows rotational movement between the first and second elements can be designed as a pure rotary bearing. Alternatively, the bearing that allows rotational movement between the first and second elements can allow superimposed translational and rotational movement between the first and second elements. In principle, the bearing can allow any movement that enables the insertion unit to pivot relative to the articulated robot arm, so that the insertion unit is more perpendicular to a component surface into which the insertion element is inserted. According to one embodiment, at least one bearing allows translational movement between the first and second elements.Preferably, the translational movement between the first and second elements compensates for any translational position change of the insertion unit resulting from the deflection of the articulated robot's axis. This is typically the case when the translational movement causes the insertion unit to move towards the articulated robot or its usually stationary base. Preferably, the bearing is designed such that the distance between the first and second elements decreases when the compensating module is moved from a home position to a compensating position. The bearing that allows the translational movement between the first and second elements can be, for example, a linear bearing (e.g., linear roller bearings or linear sliding bearings), a cam guide, or a parallelogram guide.

[0033] According to one embodiment, the at least one bearing can allow a superimposed translational and rotational relative movement between the first element and the second element. For example, such a bearing can comprise at least two arms, each pivotally connected to the first and second elements. The two arms can be of different lengths to effect a superimposed rotational and translational movement of the first element relative to the second element by pivoting the arms. The arms can be arranged at an angle to each other, i.e., not parallel, in the home position and / or in the compensating position. Preferably, the bearing comprises four arms, two of which are of the same length.

[0034] Alternatively, the bearing can have at least two, and in particular four, arms of equal length, each rotatably coupled to the first and second elements. This provides a parallelogram linkage that allows purely translational movement between the first and second elements.

[0035] According to one embodiment, the bearing allows, during operation, a translational movement of the first element relative to the second element essentially perpendicular to an axis of rotation of the tool holder, i.e., generally in a horizontal direction, or in a direction oblique to the axis of rotation of the tool holder, i.e., generally oblique to the horizontal. Oblique to the horizontal means that the relative movement allowed by the bearing has a horizontal and a vertical component.

[0036] According to one embodiment, the bearing allows only translational movement of the first element relative to the second element. In other words, the bearing preferably does not allow any rotational relative movement between the first and second elements. It is a surprising finding of the applicant that a purely translational movement between the first and second elements can partially compensate for "robot pushing," thus eliminating the need to pivot the insertion unit to, for example, reduce a lateral force acting on a screw to prevent breakage. Furthermore, such a bearing has the advantage of being robust and cost-effective.

[0037] According to one embodiment, the compensating module includes a return element. The first element can be moved relative to the second element from its home position to its compensating position against a return force exerted by the return element. The first element assumes its home position when the insertion element is not yet in contact with the component. In other words, the return element can exert a return force on the first element to move it from a compensating position back to its home position. The first element assumes the compensating position when the insertion element exerts a contact force on the component, thus creating a counterforce on the insertion unit and the articulated robot arm. The return element enables the compensating module to move itself back from its compensating position to its home position.

[0038] According to one embodiment, the return element is arranged between the first element and the second element. This allows the compensation module to be designed in a particularly compact manner.

[0039] According to another embodiment, the return element is mechanically coupled to the first and second elements. In other words, the return element preferably acts between the first and second elements. According to one embodiment, the return element pushes the first element away from the second element. The return element is preferably mechanically connected to the first and second elements.

[0040] According to one embodiment, the return element is designed as a spring element. The spring element can comprise a coil spring, in particular a coil compression spring, a torsion spring, a gas spring, an elastomer compression spring, or another type of spring.

[0041] According to one embodiment, the height, in particular the maximum height, of the restoring force of the restoring element and / or the curve of the restoring force of the restoring element are adjustable. Alternatively or additionally, the restoring element can be interchangeable. This allows the compensating module to be adapted to different applications. For example, the compensating module can be used with insertion units of varying weights or adapted to different load cases (e.g., overhead mounting, horizontal joining direction, etc.). The compensating module preferably comprises an end stop with a first stop surface and a second stop surface. The first stop surface and the second stop surface can, for example, serve to define a home position, i.e., a relative position between the first element and the second element corresponding to the home position.The home position is defined as a position in which the system is attached to the robot arm, but no forces beyond gravity act on the system, i.e., the system is unloaded. The first and second stop surfaces preferably serve to limit the compensating movement of the compensating unit on one side.

[0042] The compensating module can alternatively or additionally include an end stop that defines a maximum compensating position, i.e., a maximum change in the relative position between the first element and the second element starting from the initial position. The end stops can be adjustable with respect to their position.

[0043] According to one embodiment, the first element and / or the second element is designed as a flat plate. This allows the first element and the second element to be easily and correctly positioned on the insertion unit and the articulated robot arm. The first element and / or the second element can have coupling means to connect the first element to the insertion unit and the second element to the articulated robot arm. The coupling means can, for example, include threaded holes for screwing in screws.

[0044] According to one embodiment, the system includes a feeding unit for automatically supplying an insertion element, in particular a screw, to the insertion unit. The feeding unit may, for example, include a feeding hose or other feeding device for supplying insertion elements to the insertion unit. The feeding unit may also include a brake for decelerating the insertion elements.

[0045] The invention also relates to the use of a system according to one of the embodiments mentioned above or below for processing screws, in particular flow-drilling screws, or domes, in particular plastic domes, or for drilling holes, in particular for flow drilling.

[0046] In particular, the system described above or below is especially well suited for processing high-strength flow-drilling screws, for example, high-strength M4 screws or M4.5 screws. Additionally or alternatively, the invention relates to the use of a system described above or below for processing domes, especially plastic domes, for example, in sandwich structures. Alternatively or additionally, the invention relates to the use of a system described above or below for drilling holes, especially flow drilling. Generally, the invention relates to the use of a system described above or below for any process in which the component is not pre-drilled at the point to be processed, e.g., flow-drilling screws, friction stir welding, and the insertion of plastic domes.

[0047] The invention further relates to a method for constructing a system for inserting a penetration element, in particular a screw, a dome, or a drill bit, into a component. The system can be configured as a screw system for processing screws, especially flow-drilling screws. Alternatively or additionally, the system can be configured as a system for processing domes, in particular plastic domes, for example in sandwich structures, for drilling holes, in particular for flow drilling, or generally for any processes in which the component is not pre-drilled at the point to be processed.

[0048] The process includes the following steps:

[0049] - Providing an insertion unit, an articulated robot arm and a separate compensation module,

[0050] Attaching the insertion unit to a first element of the compensation module, and

[0051] Attaching a second element of the compensation module to the articulated robot arm, so that the insertion unit is held on the articulated robot arm via the separate compensation module, and so that the compensation module at least partially compensates for a deflection of a robot axis of the articulated robot arm as a result of pressing forces and a resulting change in position of the insertion unit during operation.

[0052] The compensation module can be attached first to the insertion unit or first to the articulated robot arm.

[0053] According to one embodiment of the method, the system has one of the aforementioned or subsequent features. In particular, the insertion unit and / or the compensation module may have at least one of the aforementioned or subsequent features.

[0054] For example, the insertion unit can comprise a housing, a tool holder for receiving a tool, a rotary drive to rotate the tool holder, and / or a linear drive to feed the tool holder. According to one embodiment, the contact forces act between the end of the indenter facing the component and the component itself. In other words, the contact forces act when the end of the indenter facing the component is placed against the component.

[0055] According to one embodiment, the contact forces are axial forces acting along a rotational axis of the insertion unit. The axial force preferably causes a forced relative movement between the first element and the second element.

[0056] The invention is described below with reference to purely exemplary embodiments and the accompanying drawings. These show:

[0057] Fig. 1 A a sketch of an unloaded system for introducing an intruder;

[0058] Fig. 1 B shows a sketch of a system subjected to bending stress for the insertion of a penetration element;

[0059] Fig. 1 C a sketch of a system compensating for the shear forces caused by the bending load for the insertion of a penetrating element;

[0060] Fig. 2 shows a system for introducing an intruder element with a compensation module according to a first variant;

[0061] Fig. 3A shows a side view of the compensation module according to the first variant in a basic position;

[0062] Fig. 3B shows a side view of the compensation module according to the first variant in a compensation position;

[0063] Fig. 3C shows a side sectional view of the compensation module according to the first variant in the basic position; Fig. 3D shows a side sectional view of the compensation module according to the first variant in the compensation position;

[0064] Fig. 4 shows a top view of the compensation module according to the first variant;

[0065] Fig. 5 shows a system for introducing an intruder element with a compensation module according to a second variant;

[0066] Fig. 6A shows a side view of the compensation module according to the second variant in a basic position;

[0067] Fig. 6B shows a side view of the compensation module according to the second variant in a compensation position;

[0068] Fig. 6C shows a side sectional view of the compensation module according to the second variant in the basic position;

[0069] Fig. 6D shows a side sectional view of the compensation module according to the second variant in the compensation position;

[0070] Fig. 6E shows a side view of the compensating module according to the second variant in the compensating position, in which the slot-forming plates are hidden to show the interior of the compensating module;

[0071] Fig. 7A shows a top view of the compensation module according to the second variant in a basic position;

[0072] Fig. 7B shows a top view of the compensating module according to the second variant in a compensating position in which a lower slot-forming plate is hidden;

[0073] Fig. 8 shows a system for introducing an intruder element with a compensation module according to a third variant;

[0074] Fig. 9A shows a side view of the compensation module according to the third variant in a basic position;

[0075] Fig. 9B shows a side view of the compensation module according to the third variant in a compensation position;

[0076] Fig. 9C shows a side view, partially cut away, of the compensation module according to the third variant in the basic position; Fig. 9D shows a side view, partially cut away, of the compensation module according to the third variant in the compensation position;

[0077] Fig. 10 shows the lateral, partially cut-away view of the compensation module according to the third variant in the compensation position of Fig. 9D in an enlarged view;

[0078] Fig. 11 shows a top view of the compensation module according to the third variant in its basic position; and

[0079] Fig. 12 shows a perspective view of the compensation module according to the third variant.

[0080] Figures 1A to 1C show a sketch of a system 10 for inserting an insertion element 12, for example a screw, a dome or a drill bit, into a component 14. The system 10 comprises an insertion unit 18, for example a screw unit, which is attached to a free end of a robot arm 15 of an articulated robot 16, i.e. an industrial robot, in order to be moved by the articulated robot 16 to the respective place of use.

[0081] Figure 1A shows the system 10 in a home position. In this home position, the system 10 exerts no contact force on the component 14. Conversely, no corresponding reaction force, i.e., counterforce, acts on the system 10. The articulated robot arm 16 is thus only subjected to the weight of the insertion unit 18, so that a central axis of the insertion element 12 is oriented essentially perpendicular to a component surface 14a.

[0082] Figure 1B shows the system 10 in a working position. In this position, the indenter 12 rests on the component 14, thereby transmitting an axial force, i.e., a contact force, from the system 10 to the component 14 via the indenter 12. Conversely, a reaction force acts on the system 10, causing the articulated robot arm 16 to yield, i.e., deform, as illustrated by the curved representation of the robot arm 15. This results in the central axis of the indenter 12 aligning obliquely with the component surface 14a. Consequently, if the component 14 were not preventing the indenter 12 from moving, the end 12a of the indenter 12 facing the component 14 would move away from the robot arm 15 on the component 14, to the right in this image.The inclined orientation of the connecting element 12 causes unwanted shear and bending forces to act on the penetrating element 12, which can damage the penetrating element 12. The described effect is referred to as "robot pushing".

[0083] Figure 1C schematically shows a solution to this problem. The system 10 performs a compensatory movement, so that the shear and / or bending forces on the penetration element 12 are significantly reduced, for example by at least 40%. Consequently, lower shear and bending forces act on the penetration element 12, thus preventing damage to the penetration element 12. In other words, the compensatory movement of the system at least partially compensates for a deflection of a robot axis of the articulated robot due to pressing forces and the resulting change in position of the insertion unit 18.

[0084] Figures 2 to 4 show a first variant of a system 10 for inserting an indenter 12. For example, the system 10 could be a screw system for processing flow-drilling screws. The system comprises an insertion unit 18, which serves to insert the indenter 12, e.g., a screw, a dome, or a drill bit, into a component.

[0085] The insertion unit 18 comprises a housing 20, which in this case is designed to be open, so that some of the components of the insertion unit 18 are visible and accessible from the outside. The insertion unit 18 also includes a tool holder 22, which serves to be coupled with a tool 24, for example, a bit. If the insertion element is designed, for example, as a drill bit, the tool and the insertion element can be the same part, and the tool holder can be designed as a drill chuck.

[0086] The insertion unit 18 further comprises a rotary drive 26. The rotary drive 26 is advantageously designed as an electric motor. In this case, the rotary drive 26 is designed concentrically with respect to the tool holder 22. The rotary drive 26 serves to set the tool holder 22 into a rotary motion, i.e., a rotational movement, during operation.

[0087] The insertion unit 18 also includes a linear drive 28. The linear drive 28 can be designed, for example, as a pneumatic drive, e.g., as a pneumatic cylinder, or as an electric drive. The linear drive 28 serves to move the tool holder 22 forward during operation.

[0088] The insertion unit 18 has an interface 30 with coupling means 31, e.g., screws, to couple the insertion unit 18 directly or indirectly to the free end of the robot arm 15. In other words, the insertion unit 18 is designed to be attached to the robot arm 15 in such a way that the insertion unit 18 is supported by the robot arm 15 and can be moved by a movement of the robot arm 15.

[0089] System 10 further comprises a compensation module 32 to at least partially compensate for the "robot pushing" effect described above with reference to Figures 1A to 1C. The compensation module 32 is designed as a separate module and is arranged between the insertion unit 18 and the free end of the robot arm 15.

[0090] Figures 3A to 3D and 4 show the compensating modulus 32 according to the first variant in detail. Figures 3A and 3C show the compensating modulus 32 in a basic position, figures 3B and 3D show the compensating modulus 32 in a compensating position.

[0091] The compensation module 32 comprises a first element 34 and a second element 36. The first element 34 is used to connect to the insertion unit 18. The second element 36 is used to connect to the free end of the robot arm 15. The first element 34 and the second element 36 are mounted to allow movement relative to each other, enabling a compensatory movement to counteract robot slippage. For this purpose, a bearing 38 is provided, which in the first configuration allows a superimposed translational and rotational movement of the first element 34 relative to the second element 36.

[0092] In this case, the bearing 38 comprises four arms 44, each rotatably mounted with the first element 34 and the second element 36. The first arms, shown as upper arms 44a in the drawings, and the second arms, shown as lower arms 44b in the drawings, are arranged at an angle to each other, i.e., the first arms 44a do not extend exactly parallel to the second arms 44b. This applies to the basic position (see Fig. 3A) as well as to the compensating position (see Fig. 3B).

[0093] The first arms 44a, in this case the two upper arms 44a, are longer than the second arms 44b, in this case the lower arms 44b. This positions the first element 34 relative to the second element 36 in such a way that, when moving from its home position to the balancing position, the first element 34 moves towards the second element 36, simultaneously laterally (upwards in the figures) relative to the second element 36, and is also tilted relative to the second element 36. Thus, when the first element 34 moves from its home position to the balancing position, it performs a superimposed translational and rotational movement relative to the second element 36. Consequently, a translational offset and a pivoting of the insertion unit 18 due to "robot pushing" are compensated for.

[0094] Alternatively, the four arms could all be of the same length. In this case, the bearing would not generate a tilting motion, i.e., a rotational motion, between the first element 34 and the second element 36, but rather a purely translational motion between the first element 34 and the second element 36.

[0095] The compensating module 32 also includes a return element 40. The return element 40 is functionally and spatially located between the first element 34 and the second element 36. In this case, the return element 40 is designed as a spring element 40, specifically as a helical compression spring. When the first element 34 moves from its home position to the compensating position relative to the second element 36 due to the reaction force acting on the insertion unit 18 and thus on the first element 34 during the insertion of the indenter 12, the kinetic energy of the first element 34 is converted into potential energy, thereby pre-tensioning the return element 40. As soon as the reaction force of the component 14 on the system 10 decreases, the energy stored in the return element 40 ensures that the first element 34, and thus also the insertion unit 18, is automatically moved back towards its home position.

[0096] To adapt the restoring force and / or the spring characteristic of the restoring element 40 to different applications, e.g., insertion units 18 of varying weights, the preload of the restoring element 40 can be adjusted. For this purpose, a preloading device 46 is provided in the present embodiment to adjust the preload of the restoring element 40. The preloading device 46 comprises an adjusting element 48 with a first threaded section which engages with a second threaded section associated with the second element 36. By rotating the adjusting element 48 relative to the second element 36, the restoring element 40 can be tensioned or released, depending on the direction of rotation.

[0097] The compensating module 32 also includes a first end stop 50 (see Fig. 3D), which defines the basic position of the compensating module 32. The end stop 50 comprises a first stop surface 52, which is associated with the first element 34, and a second stop surface 54, which is associated with the second element 36. In the basic position, the return element 40 presses the first stop surface 52 against the second stop surface 54. The position of the first end stop 50, and thus the relative position of the first element 34 to the second element 36 in the basic position, is adjustable. In this case, a screw forms the second stop surface 54, which is adjustably coupled to the second element 36.

[0098] The compensating module 32 also includes a second end stop 56, which limits the movement of the first element 34 relative to the second element 36 in the direction of the compensating position. This second end stop 56 primarily serves as overload protection and thus prevents overloading of the return element 40 if a surprisingly large reaction force acts on the insertion unit 18.

[0099] Fig. 4 shows a top view of the compensation module 32. Fig. 4 shows that the return element 40 is arranged essentially centrally between the two first arms 44a.

[0100] Figures 5 to 7B show a second variant of a system 10' for inserting an indenter 12 into a component 14. The second variant of the system 10' differs from the first variant only in the design of the compensating module 32'. The compensating module 32' also serves to at least partially compensate for the "robot pushing" effect described above with reference to Figures 1A to 1C. The compensating module 32' is arranged between the insertion unit 18 and the free end of the robot arm 15.

[0101] Figures 6A to 6E, 7A and 7B show the modulus of 32' according to the second variant in detail. Figures 6A and 6C show the modulus of 32' in a basic position, while figures 6B, 6D and 6E show it in a modified position.

[0102] Analogous to the first variant, the compensation module 32' comprises a first element 34' and a second element 36'. Accordingly, the first element 34' is coupled to the insertion unit 18, and the second element 36' is coupled to the free end of the robot arm 15. The first element 34' and the second element 36' are also mounted to allow movement relative to each other in order to perform a compensating movement to counteract robot slippage. For this purpose, however, the second variant includes a bearing 38' which permits only translational movement between the first element 34' and the second element 36'. The bearing 38' comprises linear guides 58' in the form of elongated slots and guide elements 60' movable along the linear guides 58', which in this case are exemplified as rollers. The linear guides 58' extend obliquely to a rotary axis 22a of the tool holder 22.More precisely, the linear guides 58' extend along a straight line which extends obliquely to the axis of rotation 22a of the tool holder 22 and obliquely to a perpendicular to the axis of rotation 22a of the tool holder 22.

[0103] In the usual position of the insertion unit 18 shown in Fig. 5 during an insertion process, the linear guides 58' extend obliquely from bottom to top, so that the first element 34' performs a movement which has a vertical and a horizontal component when the first element 34' moves relative to the second element 36' from the home position (see Fig. 6A) to the compensation position (see Fig. 6B).

[0104] The compensating module 32' also includes a return element 40' (see Fig. 6C). The return element 40' is functionally and spatially arranged between the first element 34' and the second element 36'. In this case, the return element 40' is also designed as a spring element, specifically as a helical compression spring. The main extension direction of the return element 40', in this case the central axis of the spring element, is aligned parallel to the linear guide 58', so that the return element 40' only has to absorb small bending forces during relative movement between the first element 34' and the second element 36'. When the first element 34' moves relative to the second element 36' from the home position to the compensating position, the kinetic energy of the first element 34' is converted into potential energy, thus pre-tensioning the return element 40'.As soon as the reaction force of component 14 on system 10 decreases, the energy stored in the return element 40' ensures that the first element 34' and thus also the insertion unit 18 is automatically moved back towards its home position.

[0105] To adapt the restoring force and / or the spring characteristic of the restoring element 40' to different applications, e.g., insertion units 18 of varying weights or different positions of the insertion unit 18 in space, the preload of the restoring element 40' can be adjusted. For this purpose, a preloading device 46' is also provided in the present variant to adjust the preload of the restoring element 40'. The preloading device 46' comprises an adjusting element 48' with a first threaded section 48a' which engages with a second threaded section associated with the second element 36'. By rotating the adjusting element 48' relative to the second element 36', the restoring element 40' can be tensioned or released, depending on the direction of rotation.

[0106] The compensating module 32' also includes a first end stop 50' (see Fig. 6C), which defines the basic position of the compensating module 32'. The end stop 50' comprises a first stop surface 52', which is associated with the first element 34', and a second stop surface 54', which is associated with the second element 36'. In the basic position, the return element 40' presses the first stop surface 52' against the second stop surface 54'. In the second variant, the position of the first stop surface 52' relative to the first element 34' is adjustable. This allows the relative position of the first element 34' to the second element 36' to be changed in the basic position. In this case, a screw forms the first stop surface 54' and a sleeve forms the second stop surface 54'.

[0107] As with the first variant, the second variant of the compensating module 32' also includes a second end stop 56' (see Fig. 6E), which limits the movement of the first element 34' relative to the second element 36' in the direction of the compensating position. In this case, the end stop 56' has two corresponding stop surfaces, which are arranged perpendicular to the direction of movement of the first element 34'. This second end stop 56' primarily serves as overload protection and thus prevents overloading of the return element 40' if a surprisingly large reaction force acts on the insertion unit 18.

[0108] Fig. 7A shows a top view of the compensating module 32' in its home position, and Fig. 7B shows a top view of the compensating module 32' in its working position. In Fig. 7B, a plate 59 defining the linear guide 58' is hidden to better show the guide element 60 guided relative to the plate 59. A comparison of Figs. 7A and 7B shows, among other things, that the distance A between the first element 34' and the second element 36' in the home position is greater than the distance B between the first element 34' and the second element 36' in the compensating position. It can also be seen that the return element 40' is arranged essentially centrally between two plates 59 forming linear guides 58'.

[0109] Figures 8 to 12 show a third variant of a system 10" for introducing an intruder element 12. The system 10" differs from the previously described systems 10 and 10' by the design of the compensating module 32".

[0110] The compensating module 32" also serves to at least partially compensate for the "robot pushing" effect described above with reference to Figures 1A to 1C. In this case, the compensating module 32" is also designed as a separate compensating module 32" and is arranged between the insertion unit 18 and the free end of the robot arm 15.

[0111] Figures 9A to 9D, 10, 11, and 12 show the 32" compensatory modulus according to the third variant in detail. Figures 9A and 9C show the 32" compensatory modulus in a basic position, while figures 9C and 9D show it in a compensatory position.

[0112] Analogous to the first and second variants, the compensation module 32" comprises a first element 34" and a second element 36". Accordingly, the first element 34" is designed to be coupled to the insertion unit 18, and the second element 36" is designed to be coupled to the free end of the robot arm 15. The first element 34" and the second element 36" are also mounted to allow movement relative to each other in order to perform a compensating movement to counteract robot slippage. For this purpose, however, the third variant provides a bearing 38" which permits only translational movement between the first element 34" and the second element 36" perpendicular to the axis of rotation of the tool holder 22 and / or perpendicular to the axis of rotation of the rotary drive 26. The bearing 38" comprises linear guides 58" in the form of sleeves and guide elements 60" movable along the linear guides 58" (see Fig.9C), which in the present case are designed as rods sliding in the sleeves.

[0113] As can be seen by comparing Figures 9A and 9B, the first element 34" and the second element 36" are further apart in the home position (see Fig. 9A) than in the compensating position (see Fig. 9B). The first element 34" and the second element 36" thus move towards each other when the compensating module 32" is moved from the home position to a compensating position.

[0114] The compensating module 32" also includes a return element 40" (see Fig. 10). The return element 40" is functionally and spatially arranged between the first element 34" and the second element 36". In this case, the return element 40" is also designed as a spring element, specifically as a helical compression spring. The effective axis of the return element 40", in this case the central axis of the spring element, is aligned parallel to the possible direction of movement of the linear guide 58". This means that the return element 40" only has to absorb minimal bending forces during relative movement between the first element 34" and the second element 36". When the first element 34" moves relative to the second element 36" from its home position to the compensating position, the kinetic energy of the first element 34" is converted into potential energy, thus pre-tensioning the return element 40".As soon as the reaction force of component 14 on system 10 decreases, the energy stored in the return element 40" ensures that the first element 34', and thus also the insertion unit 18, is automatically moved back towards its initial position. In the third variant, unlike the first two variants, the preload of the return element 40" is not adjustable. Alternatively, it could be designed to be adjustable.

[0115] The compensating module 32" comprises a first end stop 50" (see Fig. 10), which defines the basic position of the compensating module 32". The end stop 50" comprises a first stop surface 52", which is assigned to the first element 34", and a second stop surface 54", which is assigned to the second element 36". In the basic position, the return element 40" presses the first stop surface 52" against the second stop surface 54". In the third variant, neither the position of the first stop surface 52" relative to the first element 34" nor the position of the second stop surface 54" relative to the second element 36" is adjustable. Alternatively, however, it would also be conceivable to design the position of the first stop surface 52" relative to the first element 34" and / or the position of the second stop surface 54" relative to the second element 36" to be adjustable.

[0116] As with the first and second variants, the third variant of the compensating module 32" also includes a second end stop 56" (see Fig. 10), which limits the movement of the first element 34" relative to the second element 36" in the direction of the compensating position. In the third variant, this second end stop 56" is formed by stop surfaces on the first element 34" and the second element 36". Here, too, the second end stop 56" primarily serves as overload protection and thus prevents overloading of the return element 40" when a surprisingly large reaction force acts on the insertion unit 18.

[0117] Fig. 11 shows a top view of the compensating module 32" in its initial position. As can be seen in Fig. 11, the compensating module 32" comprises four linear guides 58", two first linear guides 58a" (top in the figures) and two second linear guides 58b" (bottom in the figures). The compensating module 32" also includes two return elements 40". Each return element 40" is arranged centrally between a first linear guide 58a" and a second linear guide 58b".

[0118] Fig. 12 shows a perspective view of the compensation module 32". In Fig. 12 it can be seen, among other things, that the two first linear guides 58a" are further apart than the two second linear guides 58b".

[0119] Surprisingly, it has been found that even such a compensation module 32' or 32", which only allows offset compensation at an angle or parallel to the component surface 14a, but does not allow any pivoting of the insertion unit 18, is sufficient to reliably insert, for example, high-strength M4 or M4.5 screws into a component and thus reliably compensate for robot sliding.

[0120] The three variants of the compensation module 32, 32' and 32" have in common, among other things, that they can be mounted between a known insertion unit and a known articulated robot arm, and are therefore suitable as a retrofit solution for existing systems. Consequently, existing systems can be retrofitted efficiently and cost-effectively so that they can at least partially compensate for robot slippage.

[0121] Reference symbol list

[0122] 10 System

[0123] 12 Penetrating element

[0124] 12a End facing component

[0125] 14 Component

[0126] 14a Component surface

[0127] 15 robot arm

[0128] 16 articulated arm robots

[0129] 16a Robot axis

[0130] 18 insertion units

[0131] 20 cases

[0132] 22 Tool holder

[0133] 22a Rotary axis

[0134] 24 tools

[0135] 26 Rotary drive

[0136] 28 Linear actuator

[0137] 30 interface

[0138] 31 Coupling devices

[0139] 32 Compensation module

[0140] 34 first element

[0141] 36 second element

[0142] 38 bearings

[0143] 40 Reset element

[0144] 42 Feed unit

[0145] 44 Arm

[0146] 44a first arm

[0147] 44b second arm

[0148] 46 Pre-tensioning device

[0149] 48 Adjustment element

[0150] 48a Thread section

[0151] 50 first end stop

[0152] 52 first stop surface

[0153] 54 second stop surface

[0154] 56 second end stop

[0155] 58 Linear guide

[0156] 59 plate

[0157] 60 guide element

Claims

Claims 1. System (10) for inserting an insertion element (12), in particular a screw, a dome or a drill bit, into a component (14), comprising an insertion unit (18) with a housing (20), a tool holder (22) for receiving a tool (24), a rotary drive (26) for rotating the tool holder (22), and a linear drive (28) for moving the tool holder (22) forward, characterized in that the system (10) comprises a compensating module (32) separate from the insertion unit (18), wherein the compensating module (32) comprises a first element (34) for mechanical coupling with the housing (20) of the insertion unit (18) and a second element (36) for mechanical coupling with an articulated robot arm (16), such that the insertion unit (18) is connected to the articulated robot arm (16) via the compensating module (32). It is possible to ensure that the compensation module (32) has at least one bearing (38),and that the first element (34) and the second element (36) are movable relative to each other via at least one bearing (38), so that a deflection of a robot axis (16a) of the articulated robot arm (16) due to contact forces and a resulting change in position of the insertion unit (18) can be at least partially compensated.

2. System according to claim 1, characterized in that the at least one bearing (38) allows a rotational movement between the first element (34) and the second element (36), so that an inclination of the insertion unit (18) resulting from the deflection of the robot axis (16a) of the articulated arm robot (16) can be compensated.

3. System according to claim 1 or 2, characterized in that the at least one bearing (38) allows translational movement between the first element (34) and the second element (36) so that a translational position change of the insertion unit (18) resulting from the deflection of the robot axis (16a) of the articulated arm robot (16) can be compensated.

4. System according to at least one of the preceding claims, characterized in that the bearing (38) allows in operation a translational movement of the first element (34) relative to the second element (36) substantially perpendicular to an axis of rotation (22a) of the tool holder (22) or in a direction oblique to the axis of rotation (22a) of the tool holder (22).

5. System according to claim 3 or 4, characterized in that the translational movement allowed by the bearing (38) is an exclusively translational movement of the first element (34) relative to the second element (36).

6. System according to at least one of the preceding claims, characterized in that the bearing (38) comprises at least two arms (44a, 44b) which are each pivotally coupled to the first element (34) and the second element (36), in particular wherein the at least two arms (44a, 44b) are of different lengths in order to effect a superimposed rotational and translational movement of the first element (34) relative to the second element (36) by means of a pivoting movement of the arms (44a, 44b).

7. System according to one of the preceding claims, characterized in that the compensation module (32) comprises a restoring element (40), and that the first element (34) is movable relative to the second element (36) from a basic position to a compensating position against a restoring force of the restoring element (40).

8. System according to claim 7, characterized in that the return element (40) is arranged between the first element (34) and the second element (36) and / or that the return element (40) is mechanically coupled to the first element (34) and the second element (40).

9. System according to claim 7 or 8, characterized in that the return element (40) is designed as a spring element.

10. System according to at least one of claims 7 to 9, characterized in that, that the level of the restoring force of the restoring element (40) and / or the course of the restoring force of the restoring element (40) is adjustable. 1 1 . System according to at least one of the preceding claims, characterized in that the first element (34) and / or the second element (36) is designed as a flat plate.

12. System according to at least one of the preceding claims, characterized in that the system (10) comprises a feed unit (42) to automatically feed an insertion element (12), in particular a screw, to the insertion unit (18).

13. Use of a system (10) according to at least one of the preceding claims, for processing screws, in particular flow-drilling screws.

14. Method for constructing a system (10) for introducing an indenter (12), in particular a screw, a dome or a drill bit, into a component (14), in particular a screw system for processing flow-drilling screws, comprising the steps: Providing an insertion unit (18), an articulated arm robot (16) and a separate compensation module (32), Attaching the insertion unit (18) to a first element (34) of the compensation module (32), and Attaching a second element (36) of the compensation module (32) to the articulated arm robot (16), so that the insertion unit (18) is held on the articulated robot arm (16) via the separate compensation module (32), and so that the compensation module (32) at least partially compensates for a deflection of a robot axis of the articulated robot arm (16) as a result of contact forces and a resulting change in position of the insertion unit (18) during operation.

15. Method according to claim 14, characterized in that the system (10), in particular the insertion unit (18) and / or the compensation module (32), has at least one of the features of claims 1 to 13, in particular wherein the insertion unit (18) comprises a housing (20), a tool holder (22) for receiving a tool (24), a rotary drive (26) to set the tool holder (22) into a rotary motion, and / or a linear drive (28) to set the tool holder (22) into a feed motion.

Images