Patent ID: 9457438
Filing Date: 2016-10-04
CPC Classification: B23P,B25B,B25J,G05B,Y10S,Y10T

Claim Text:
1. A method for threading a tube-nut onto a threaded connector, said method comprising: providing a robot including a force sensor and a robot controller, said robot controller receiving a force signal from the force sensor; providing a tube-nut runner tool coupled to the robot, said tube-nut runner tool including a tool controller and a tool head having a socket rotatable therein; engaging the socket to the tube-nut under force control provided by the robot controller using the force signal from the force sensor; rotating the tube-nut using the socket under control by the tool controller, said tool controller controlling the torque on the socket and/or an angle position of the socket to tighten the tube-nut on the threaded connector; and disengaging the tool head from the tube-nut after the tube-nut is properly tightened onto the threaded connector under force control or force monitoring provided by the robot controller to ensure that the tool head is properly disengaged from the tube-nut.