Patent ID: 7963017

Claim:
A method for automated tightening of a screwed joint ( 16 ), which is fitted to a component ( 10 ) in advance and includes a screw ( 12 ) and a nut ( 14 ), using a programmable industrial robot system ( 18 ), wherein the industrial robot system ( 18 ) has a first robot ( 20 ) with a screw driving head ( 22 ) and a second robot ( 24 ) with a mating holding head ( 26 ), with the following method steps being carried out in order to tighten the screwed joint ( 16 ) on the component ( 10 ): positioning of the screw driving head ( 22 ) in a defined screw driving position and of the mating holding head ( 26 ) in a defined mating holding position for forming a form-fitting connection between the mating holding head ( 26 ) and the nut ( 14 ) and between the screw driving head ( 22 ) and the screw ( 12 ) during the tightening of the screwed joint ( 16 ); tightening of the screwed joint ( 16 ) on the component ( 10 ) with a predeterminable fixing torque; disconnecting the interlocking connections by means of a respective relative movement of the screw driving head ( 22 ) and of the mating holding head ( 26 ) away from the tightened screwed joint ( 16 ), wherein the screw driving head ( 22 ) is provided with a corresponding floating bearing, which can be activated at times, on at least two main coordinate axes (X, Y), and wherein during its positioning in the defined screw driving position on the main coordinate axes X, Y, the screw driving head 22 is fixed inflexibly relative to the first robot 20 , while it is also offset in the direction of the main coordinate axes X, Y in a floating bearing relative to the first robot 20 , once the interlocking connection with the screw 12 has been produced.