Patent ID: 12202087

DETAILED DESCRIPTION OF THE INVENTION

FIG.1shows a schematic cross-section view of a planetary gear3for use in an inventive device along whose effector axis wE the drive link3aand the output link3bof the planetary gear3are arranged in alignment. The planetary gear3comprises the ring gear31, the sun gear32as well as the planetary carrier33with the planetary wheels34. In the present case, only one of the planetary wheels34can be seen in the cross-section shown, where for example two further planetary wheels are accommodated on the planetary carrier33at a distances of 120° each. Alternatively, a planetary gear with two, four or further planetary wheels can be used. The planetary wheels34engage with both the ring gear31and the sun gear32. In an inventive device, the ring gear31is held in place, i.e. connected in a torque-proof manner to the end link of the articulated robot, for example via a gearbox. The drive link3ais formed by the planetary carrier33and the output link3bby the sun gear32. In an inventive device, the output element of the articulated robot is connected in a driving, i.e. in a torque-proof manner, to the drive link3aand the output link3bis connected in a driving manner to the screwdriver tool.

FIGS.2and3show schematic partial views of various sample embodiment of the inventive device100, where of the associated articulated robot only the end link12and the output element11on the same that can be rotated around the effector axis wE are shown in each case. Screwdriver tool2, screw S and the suction pipe6are each shown in cross-section.

FIG.2shows a first sample embodiment of an inventive device100with a planetary gear3which has a direct operative connection to the output element11and the screwdriver tool2and is set up for transmission of a rotary seed between the output element11and the screwdriver tool2. The housing35of the planetary gear3is connected in a torque-proof manner and rigidly to the end link12by means of the retaining device37. This means that the housing35is not included in the rotation of the output element11. In the drive and output links of the planetary gear3hidden inside the housing35are connected in a torque-proof manner to the output element11or, as the case may be, the screwdriver tool2.

The housing35is designed to be essentially airtight and so that negative pressure can be applied to it via the suction connection36. The torque-proof connection of the planetary gear3with the output element11is designed to be airtight in a manner that is not shown, such as by means of a sealing ring on the housing35. The suction pipe6is accommodated on the housing35and negative pressure can be applied to it via the interior of the housing35by means of the suction connection36. The screwdriver tool2connected in a torque-proof manner to the output link of the planetary gear3extends axially inside the suction pipe6along the effector axis wE. The screw S engaged by the screwdriver tool2is dimensioned such that the diameter of its head matches the inner diameter of the suction pipe6such that the screw makes contact to the wall of the suction pipe6in the area of the opening61in an essentially airtight manner and due to the negative pressure prevailing in the suction pipe6is subject to a pronounced holding effect.

The torque sensor71and the force sensor72act to further monitor the screwing process with the device100; as an example, these are integrated here into the output element11of the articulated robot1.

FIG.3shows a second sample embodiment of an inventive device100with a plurality of planetary gears4and5arranged in series, where the drive link of the first planetary gear4is connected in a torque-proof manner to the output element11of the articulated robot1and where the output link of the last planetary gear5is connected in a torque-proof manner to the screwdriver tool2. In this respect, the two planetary gears4and5each comprise a ring gear, a sun gear and a planetary carrier with planetary wheels in accordance withFIG.1, where the ring gears are directly connected in a torque-proof manner to the end link12and where the output link of the first planetary gear4is formed by its planetary carrier and the output link of the last planetary gear5by its sun gear.

The first planetary gear4is accommodated rigidly on the end link12of the articulated robot1via the housing45by means of the retaining device37and the housing45and55of the two planetary gears4and5are likewise connected in a torque-proof manner to each other such that neither of the housings45and55are included in a rotation of the output element11. The series arrangement of the two planetary gears4and5facilitates a two-stage and thus an especially small transmission ratio of the rotary speed between the output element11and the screwdriver tool2, which makes it possible to realize extremely high rotary speeds at the screwdriver tool2. It would also be conceivable to use an even larger number of planetary gears arranged in series.

At least the housing55of the last planetary gear5is designed to be essentially airtight and can be subjected to negative pressure via the suction connection56. The screwdriver tool2connected in a torque-proof manner to the last planetary gear5(not shown here) features the suction channel20extending axially along the full length, to which negative pressure can be applied via the interior of the housing55. This embodiment gives rise to a suction-based holding effect on the screw head drive of screw S that is engaged with the screwdriver tool2.

FIG.4shows a schematic overview of an inventive device100with an articulated robot1featuring six rotary axes, where the effector axis wE is formed by the sixth rotary axis w6and where the end link12can be rotated around the fifth rotary axis w5. The planetary gear3is accommodated at the end link12by means of the retaining device37has a direct operative connection with the drive element11and the screwdriver tool2for transmission of the rotary speed. The inventive100exploits the torque at the output element11of the articulated robot1to perform an efficient process working with a high rotary speed at the screwdriver tool2for the automated production of a screw connection with screw S.

The design of the invention is not limited to the preferred sample embodiment specified above. Rather, a number of variants are conceivable, which make use of the present solution even in designs of a fundamentally different type. All of the features and/or advantages arising from the Claims, the description or the drawings, including design details and physical layouts, may be vital to the invention both by themselves and in a wide variety of combinations.

LIST OF REFERENCE NUMBERS

100Device1Articulated robot11Output element12End link2Screwdriver tool20Suction channel3,4,5Planetary gear3aDrive link3bOutput link31Ring gear32Sun gear33Planetary carrier34Planetary wheel35,45,55Housing36,56Suction connection37Retaining device6Suction pipe61Opening71Torque sensor72Force sensorwE Effector axisw5Fifth axis of rotationw6Sixth axis of rotationS Screw