Screwing device and method for screwing a screw into a wall

Patent metadata

Field	Value
Publication number	US-11559904-B2
Application number	US-201615776194-A
Country	US
Kind code	B2
Filing date	Nov 18, 2016
Priority date	Nov 19, 2015
Publication date	Jan 24, 2023
Grant date	Jan 24, 2023

Abstract

A screwing device includes a screwdriver and a connection element for coupling the screwdriver to a robot arm. The connection element has a first robot-side transmission element, a second tool-side transmission element, a restoring element arranged between the first and second transmission elements, and a distance measuring element. The two transmission elements can be moved towards each other against a restoring force of the restoring element in an actuation direction. The distance measuring element measures a distance that represents the spacing between the transmission elements in the actuation direction and is used to control the actuating force acting on the screwdriver.

First claim

The invention claimed is:

1. A screwing device including a screwdriver and a connection element for coupling the screwdriver to a robot arm, wherein the connection element comprises:
a first, robot-side transmission element;
a second, tool-side transmission element;
a restoring element arranged between the first transmission element and the second transmission element;
a distance measuring element, wherein the first and second transmission elements are moveable towards each other against a restoring force of the restoring element in an actuation direction and the distance measuring element measures a distance representing a spacing between the first and second transmission elements in the actuation direction; and
a guide coupling the first transmission element and the second transmission element, the guide limiting displacement of the first and second transmission elements relative to one another only in the actuation direction.

2. The screwing device according to claim 1 wherein the restoring element is at least one spring.

3. The screwing device according to claim 2 wherein the at least one spring is a helical spring arranged around a fastening element that connects the first transmission element to the second transmission element and sets a predetermined spacing between the first and second transmission elements.

4. The screwing device according to claim 1 wherein the distance measuring element includes a distance sensor fixed relative to the first transmission element, and the distance measuring element measures a spacing of the distance sensor from the second transmission element.

5. The screwing device according to claim 4 wherein the distance sensor is an optical distance sensor.

6. The screwing device according to claim 1 wherein the guide includes at least one ball retainer arranged between the first transmission element and the second transmission element and extending parallel to the actuation direction.

7. The screwing device according to claim 1 including a damper attached to the second transmission element.

8. The screwing device according to claim 7 wherein, when the screwdriver is coupled to the robot arm by the connection element, the damper is arranged between the screwdriver and a connector making a connection to the robot arm.

9. The screwing device according to claim 7 wherein the damper includes a guide that prevents a deformation of the damper transversely to the actuation direction.

10. The screwing device according to claim 7 wherein the damper is arranged on a side of the second transmission element opposite to the first transmission element.

11. The screwing device according to claim 1 including a quick-change connector adapted for coupling to the robot arm without manual intervention.

12. A method for screwing a screw into a wall using the screwing device according to claim 1 coupled to a robot arm comprising the steps of:
guiding the screwing device towards the wall to apply an actuating force in the actuation direction;
sensing a variable characteristic of the actuating force while the screwing device is guided towards the wall; and
actuating the screwing device to maintain the variable within a specifiable range.

13. The method according to claim 12 including setting the variable to a constant value.

Assignees

• Inventio Ag

Inventors

• Cambruzzi Andrea
• Zimmerli Philipp
• Bitzi Raphael
• Butler Erich

Classifications

• B23P19/06

  Screw or nut setting or loosening machines · CPC title

• B25J19/0091 Primary

  Shock absorbers (in general F16F) · CPC title

• B25J17/0225

  with axial compliance, i.e. parallel to the longitudinal wrist axis · CPC title

• B25B21/00

  Portable power-driven screw or nut setting or loosening tools; (details or components, e.g. casings, bodies, of portable power-driven tools not particularly related to the operation performed B25F5/00; {for mounting or dismounting wheels B60B29/006}); Attachments for drilling apparatus serving the same purpose (machines B23P19/06) · CPC title

• B25J15/04 Primary

  with provision for the remote detachment or exchange of the head or parts thereof · CPC title