阅读说明：本技术 拧接装置 (Twist-on device ) 是由 托拜厄斯·恩德 迈克尔·哈斯 萨斯基亚·格尔泽 斯文·帕鲁泽尔 西蒙·哈达丁 于 2018-04-18 设计创作，主要内容包括：本发明涉及一种拧接装置,包括：用于螺栓的储存容器(101)；具有与螺栓相协调的效应器的机器人操纵器(103),效应器被实施和设置用于接收和处理这种螺栓；与储存容器连接的分离单元(102),分离单元将来自储存容器(102)的螺栓在接口上以如下方式分离地提供在已知的位置上,使得对应的螺栓头对于效应器是可接近的；用于控制/调节机器人操纵器的控制单元(104),其中,控制单元被实施和设置用于实施以下第一控制程序：效应器通过机器人操纵器沿着预设轨迹T1以期望定向O<Sub>soll,T1</Sub>(R<Sub>T1</Sub>)被引导至在所述接口上提供的螺栓的螺栓头,其中,沿着轨迹T1针对轨迹T1的地点R<Sub>T1</Sub>限定效应器的期望定向O<Sub>soll,T1</Sub>(R<Sub>T1</Sub>),其中,为了将螺栓头接收到效应器中,通过机器人操纵器实施效应器的力调节和/或阻抗调节和/或导纳调节的转动运动和/或倾翻运动和/或平移运动模式,直至达到或超过针对作用在效应器上的力矩的预设边界值条件G1和/或作用在效应器上的力的预设边界值条件G2和/或针对用于执行转动运动和/或倾翻运动的时间的边界值条件G3和/或达到或超过效应器上的所提供的力/力矩标志和/或位置/速度/加速度标志,它/它们指示通过所述效应器在预先限定的允差之内成功完成螺栓接收。(The present invention relates to a kind of twist-on devices, comprising: the storage container (101) for bolt；Robotic manipulator (103) with the effector mutually coordinated with bolt, effector are carried out and are arranged for receiving and handling this bolt；The separative unit (102) being connect with storage container, bolt from storage container (102) is provided separately from known position by separative unit as follows on interface, so that corresponding bolt head is come-at-able for effector；For controlling/adjusting the control unit (104) of robotic manipulator, wherein control unit is carried out and is arranged for implementing following first control program: effector is by robotic manipulator along desired guiding trajectory T1 with expectation set O Soll, T1 (R T1 ) bolt head of the bolt provided on the interface is provided, wherein the place R of track T1 is directed to along track T1 T1 Limit the expectation set O of effector Soll, T1 (R T1 ), wherein, in order to which bolt head is received in effector, implement rotational motion and/or overturning movement and/or the translational motion mode of power adjusting and/or impedance adjusting and/or the admittance adjusting of effector by robotic manipulator, until meet or exceed for the preset limit value condition G1 of torque that acts on the effector and/or preset limit value condition G2 of the power acted on effector and/or for the time for executing rotational motion and/or overturning movement Boundary Conditions G3 and/or meet or exceed provided power/torque mark and/or location/velocity/acceleration mark on effector, it/they indicate successfully completed within the franchise limited in advance by the effector bolt receive.)

1. a kind of twist-on device comprising:

It is used for the storage container (101) of bolt, the bolt to have bolt head, bolt head driving portion and threaded；

Robotic manipulator (103) has the effector mutually coordinated with the bolt head and the bolt head driving portion, institute Effector is stated to be carried out and be arranged for receiving and handling this bolt；

The separative unit (102) connecting with the storage container, the separative unit (102) will come from the storage container (102) the bolt is provided separately from known position on interface, so that the corresponding bolt head is for described Effector is can be close；

For controlling/adjusting the control unit (104) of the robotic manipulator (103), wherein described control unit (104) It is carried out and is arranged for implementing following first control program:

The effector is by the robotic manipulator along desired guiding trajectory T1 with expectation set O_{Soll, T1}(R_T1) be guided To the bolt head of the bolt provided on the interface, wherein along the track T1 for the track T1's Place R_T1Limit the expectation set O of the effector_{Soll, T1}(R_T1), wherein in order to which the bolt head is received the effect In device, adjusted by that the power that the robotic manipulator implements the effector is adjusted and/or that impedance is adjusted and/or admittance Rotational motion and/or overturning movement and/or translational motion mode and/or wrench of a force system mode, until meeting or exceeding for making With the preset limit value condition G1 of the torque on the effector and/or act on the preset boundary of the power on the effector Value condition G2 and/or Boundary Conditions G3 for the time for executing the rotational motion and/or overturning movement, and/or Until meeting or exceeding provided power/torque mark and/or location/velocity mark on the effector, the power/torque Mark and/or location/velocity mark indicate to successfully complete the bolt within the franchise limited in advance by the effector Reception.

2. twist-on device according to claim 1,

Wherein, described control unit (104) is carried out and is set as to implement following second control program:

By the received bolt of the effector by the robotic manipulator (103) along desired guiding trajectory T2 with expectation set O_{Soll, T2}(R_T2) guide to the screw thread in the known location being arranged in other than franchise band, wherein institute is directed to along the track T2 State the place R of track T2_T2Define the expectation set O of the threaded of the bolt_{Soll, T2}(R_T2), wherein in order to by the spiral shell The free end of the threaded of bolt is placed in the screw thread, implements the spiral shell of the bolt by the robotic manipulator (103) Rotational motion and/or overturning movement that the power of line pin is adjusted and/or impedance is adjusted and/or that admittance is adjusted and/or translation fortune Dynamic model formula, until meeting or exceeding preset limit value condition G4 and/or the effect of the torque for acting on the effector The preset limit value condition G5 of power on the effector, and/or until meeting or exceeding being provided on the effector Power/torque mark and/or location/velocity/acceleration mark, the power/torque mark and/or location/velocity/acceleration scale Will indicates that the free end of the threaded is successfully placed in the screw thread.

3. twist-on device according to claim 2,

Wherein, described control unit (104) is carried out and is set as, and implements following third control program:

After the free end of the threaded is successfully placed in the screw thread, the bolt power is made to adjust and/or hinder Anti- adjusting and/or admittance are adjustably transferred in the screw thread, are acted on the effector until meeting or exceeding and being directed to The preset limit value condition G6 of the torque and/or preset limit value condition G7 for acting on the power on the effector, and/or until Meet or exceed the provided power/torque mark and/or location/velocity/acceleration mark on the effector, the power/ Torque mark and/or location/velocity/acceleration mark indicate that the bolt is successfully transferred in the screw thread.

4. twist-on device according to any one of claim 1 to 3,

Wherein, the twist-on device has the data-interface of data network, and the twist-on device is set and implementation is used for, Loaded from the data network it is described first control program and/or second control program and/or third control program and/or its He controls program.

5. twist-on device according to any one of claim 1 to 4,

Wherein, the twist-on device is set and is embodied as, from data network load about the first control program and/or the Two control programs and/or third control program and/or control and adjustment parameter that programs are controlled about other.

6. twist-on device according to any one of claim 4 or 5,

Wherein, the twist-on device is set and is embodied as, by the manual input interface of the twist-on device and/or by showing Journey is taught to load control and the tune about the first control program and/or the second control program and/or third control program Save parameter and/or control and adjustment parameter about other control programs, during the teaching, the robotic manipulator By manual guidance.

7. the twist-on device according to any one of claim 4 to 6,

Wherein, the twist-on device is set and is embodied as, by distant station control from the control program of the data network and/or The load of affiliated control and adjustment parameter, wherein the distant station equally with the data network connection.

8. twist-on device according to any one of claims 4 to 7,

Wherein, the twist-on device is set and is embodied as, same to other according to requiring or automatically passing through the data network Class device and/or other receivers send the control program being already locally present on the twist-on device and/or affiliated control with Adjustment parameter.

9. the twist-on device according to any one of claim 6 to 8,

Wherein, the twist-on device is set and implementation is used for, and control program of the local load on the twist-on device is with institute The control of category and adjustment parameter are started by the same distant station with the data network connection.

10. a kind of method for running twist-on device, wherein the twist-on device includes:

It is used for the storage container of bolt, the bolt to have bolt head, bolt head driving portion and threaded；

Robotic manipulator has the effector mutually coordinated with the bolt head and the bolt head driving portion, the effect Device is carried out and is arranged for receiving and handling this bolt；

The separative unit connecting with the storage container, the separative unit exist the bolt from the storage container It is provided separately from interface on known position, so that corresponding bolt head is can be close for the effector；

For controlling/adjusting the control unit of the robotic manipulator, wherein described control unit implements following first control Processing procedure sequence:

The effector is by the robotic manipulator along desired guiding trajectory T1 with expectation set O_{Soll, T1}(R_T1) be guided (201) to the bolt head of the bolt provided on the interface, wherein be directed to the place of the track T1 along the track T1 R_T1Limit the expectation set O of the effector_{Soll, T1}(R_T1), wherein the effect is arrived in order to which the bolt head is received (202) In device, adjusted by that the power that the robotic manipulator implements the effector is adjusted and/or that impedance is adjusted and/or admittance Rotational motion and/or overturning movement and/or translational motion mode, until meeting or exceeding for acting on the effector Torque preset limit value condition G1 and/or act on the preset limit value condition G2 and/or needle of the power on the effector To the Boundary Conditions G3 of the time for executing the rotational motion and/or overturning movement, and/or until meeting or exceeding State the provided power/torque mark and/or location/velocity/acceleration mark on effector, the power/torque mark and/or Location/velocity/acceleration mark instruction successfully completes the bolt by the effector within the franchise limited in advance It receives.

Technical field

The present invention relates to a kind of twist-on devices, wherein the bolt from storage container is transferred automatically to twist-on device Twist-on tool on.

Summary of the invention

The task of the present invention is, automatic twist-on process is improved, automatically takes over bolt especially by twist-on tool, and Improve the reliability of back to back twist-on process.

The present invention is obtained by the feature of independent claims.It is advantageously improved scheme and design scheme is dependent claims Theme.Other features, application possibility and advantage of the invention is shown in the accompanying drawings from following description and to of the invention It is obtained in the elaboration of embodiment out.

The first aspect of the present invention is related to a kind of twist-on device.The twist-on device proposed includes the storage appearance for bolt Device and robotic manipulator, the bolt have bolt head, bolt head driving portion and threaded, the robotic manipulator have with The effector that bolt head is mutually coordinated with bolt head driving portion, the effector are carried out and are arranged for receiving, handling and discharge this Kind bolt.Term " coordination " is current it is meant that effector is implemented for receiving or grip bolt and for rotating bolt, That is for transmitting torque in bolt.

In addition, the twist-on device includes the separative unit connecting with the storage container, the separative unit is with such as lower section Formula discretely provides the bolt from the storage container on known position on (mechanical) interface, thus corresponding Bolt head can approach for the effector.In this regard bolt head advantageously can be approached freely, so that effector can be with Bolt is clamped or received on bolt head.Advantageously, the effector has clamping device and/or magnet apparatus for receiving Or the clamping bolt head.

In addition, the device includes the control unit for controlling and/or regulating robotic manipulator, wherein the control list Member is carried out and is arranged for implementing following first control program.Implementation Manipulation of the machine people's executor of first control program, makes It obtains effector and passes through robotic manipulator along desired trajectory T1 with expectation set O_{Soll, T1}(R_T1) be directed in the interface The bolt head of the bolt of upper offer, wherein the place RT of the track T1 is directed to along the track T1₁Limit the effector Expectation set O_{Soll, T1}(R_T1), wherein in order to receive the bolt head in effector, pass through the robotic manipulator The rotational motion and/or overturning movement and/or translation that the power for implementing effector is adjusted and/or impedance adjusting and/or admittance are adjusted Motor pattern, until meeting or exceeding the preset limit value condition G1 and/or work for the torque acted on the effector With the preset limit value condition G2 of the power on the effector and/or for for executing the rotational motion and/or tumbling The Boundary Conditions G3 of the time of movement and/or meet or exceed provided power/torque mark on the effector and/or Location/velocity mark, it/they indicate by the effector to successfully complete the bolt within the franchise limited in advance It receives.

Term " track " is currently interpreted as orbital curve, especially three-dimensional orbital curve.

Term " mark " currently describes preset supplemental characteristic group, being attached with preset supplemental characteristic group Value and/or interval border and/or preset time behavior (such as passing through time-derivative) pass through effector with bolt for identification It is received to successfully complete.Therefore, " mark " describes combination and/or its time behavior of parameter.Thus, for example preset power- Time behavior, which can limit, receives successfully completing for bolt.

Advantageously, the rotational motion of effector and overturning movement are from the pre-determined distance of effector and bolt head to be received Just start.The distance is advantageously 0.1 to 2cm.The distance is advantageously dependent on the size of bolt head.Advantageously, work as bolt head When with biggish size, otherwise rotational motion that the power of effector is adjusted and overturning movement are when apart from larger, and also So.Advantageously, expectation set O of the overturning movement relative to effector_{Soll, T1}(R_T1) around one, two or three tipping line into Row, wherein angle of tumbling accordingly is advantageously in relative to expectation set O_{Soll, T1}(R_T1) until ± 1 °, ± 2 °, ± 5 °, ± 7 °, ± 10 °, ± 12 °, in ± 15 ° of angular range.Rotational motion is advantageously periodically carried out around a pivot center, and Advantageously carried out in ± 1 °, ± 2 °, ± 5 °, ± 7 °, ± 10 °, ± 12 °, ± 15 ° of rotational angle range.Overturning movement and Or rotational motion advantageously cycle movement.Depending on applicable cases, rotational motion and/or overturning movement and translational motion It is also possible to aperiodic motion or aperiodic and periodic motion combination.Overturning movement and/or translational motion are advantageously closed fortune It is dynamic.Currently, the overturning movement of closure is understood to, applicable for the orientation O (t) of effector: O (t₀)=O (t₁), wherein t₀< t₁.Currently, the translational motion of closure is understood to, at least one projection of orbital curve or orbital curve provides closure Curve.Overturning movement/rotational motion/translational motion is advantageously continuously implemented.

In an advantageous modification of the twist-on device proposed, the power for implementing effector is adjusted and/or impedance is adjusted And/or the rotational motion that adjusts of admittance and/or overturning movement and/or translational motion mode during receiving bolt head preferably continuously Ground carries out, that is to say, that the corresponding sports of effector are not disrupted herein.Preferably, translational motion mode is closing motion mould Formula, wherein the tracks of effector or at least its projection provide closed orbit.Overturning movement is preferably again closing motion, Wherein, effector is in time t₀It is assigned from the first orientation O (t), in which: O (t₁)=O (t₀), wherein t₁> t₀。

In an advantageous modification of the twist-on device proposed, the power of effector is adjusted and/or impedance is adjusted and/or Admittance adjust rotational motion and/or overturning movement and/or translational motion mode implementation during receiving bolt head preferably with Beat mode carries out, that is to say, that the corresponding sports of effector carry out (movement-stopping-movement-stopping etc.) step by step.Movement Stage and stop phase are equal length in time in a favourable improvement scheme, in another favourable improvement scheme when Between on be different length.

The twist-on device proposed can be realized from interface preferably favorable reception bolt.

The translational movement mode implemented in the present invention is advantageously continuously to move or gradually implement to moving periodicity.

One favourable improvement scheme of the twist-on device proposed is characterized in that control unit is carried out and is arranged for real Impose down the second control program.According to the second control program, the Robotic Manipulator is passed through by the received bolt of the effector Device is along desired guiding trajectory T2 with the expectation set O of bolt thread pin_{Soll, T2}(R_T2) guidance it is known other than franchise band to being arranged in Screw thread on position, wherein the place R of track T2 is directed to along track T2_T2Define the expectation of the bolt thread pin Orient O_{Soll, T2}(R_T2), wherein in order to which the free end of the bolt thread pin to be placed in screw thread, grasped by the robot The power that vertical device implements the bolt is adjusted and/or impedance adjusting and/or admittance are adjusted rotational motion and/or overturning movement and/ Or translational motion mode, until meeting or exceeding the preset limit value condition G4 for the torque acted on the effector And/or the power acted on the effector preset limit value condition G5 and/or meet or exceed institute on the effector The power of offer/torque mark and/or location/velocity mark, it/they indicate that the free end of the threaded is successfully placed in Into the screw thread.

In an advantageous modification of the twist-on device proposed, threaded is relative to its expectation set O_{Soll, T2}(R_T2) Overturning movement advantageously continuously implement, that is to say, that not corresponding sports of break-up effects device herein.

In an advantageous modification of the twist-on device proposed, the rotational motion of threaded and/or translational motion mould Formula is continuously implemented, that is to say, that not corresponding sports of break-up effects device herein.

In an advantageous modification of the twist-on device proposed, the rotational motion of threaded and/or overturning movement and/ Or translational motion mode is preferably implemented in a manner of beat, that is to say, that the corresponding sports of effector carry out (moving-stopping step by step Only-movement-stopping etc.).Motion stage and stop phase are equal length in time in a favourable improvement scheme, another It is different length in time in one favourable improvement scheme.

According to a favourable improvement scheme of twist-on device, control unit is carried out and is arranged for implementing following third control Program.According to the control program, after the free end of the threaded is successfully placed in the screw thread, make the spiral shell The adjusting of bolt power and/or impedance adjusting and/or admittance are adjustably transferred in the screw thread, are acted on until meeting or exceeding and being directed to The preset limit value condition G6 of torque on the effector and/or the preset limit value item for acting on the power on the effector Part G7, and/or provided power/torque mark and/or location/velocity mark on the effector are met or exceeded, it/it Indicate that the bolt is successfully transferred in screw thread.

In a favourable improvement scheme of the twist-on device proposed, control unit is implemented and is arranged, so that adjusting In view of impedance, the pre-control wrench of a force system and/or desired locations are when the movement mentioned above of section effector or robotic manipulator It can be changed at any time.

One favourable improvement scheme of the twist-on device is characterized in that (multiple) bolts are ferromagnetic and described Effector is magnetic, wherein the magnetic attraction based on bolt and effector and cause reception and guarantor of the bolt in effector It holds.

One favourable improvement scheme of twist-on device is characterized in that, based on low pressure cause reception of the bolt in effector and It keeps.For this purpose, twist-on device has corresponding low-lift pump, which is correspondingly controlled or regulated by control unit.

One favourable improvement scheme of twist-on device is characterized in that, twist-on device have with data network (such as internet, LAN, local area network) data-interface, and twist-on device is set and implementation is used for, and first is loaded from data network And/or second and/or third control program and/or other control programs.Advantageously, twist-on device have thus data interface with And corresponding program storage.Advantageously, control program can be provided in corresponding data network by center fed quotient.Favorably Ground, data network are the data network of wired connection, radio data network or combinations thereof.

Advantageously, twist-on device is set and is embodied as, so that load is about first and/or second from data network And/or third controls program and/or control and adjustment parameter about other control programs.Control and adjustment parameter define phase The concrete application of program should be controlled.Control and adjustment parameter are especially adapted with task to be solved.Advantageously, twist-on device There is corresponding data storage thus.

Advantageously, twist-on device is set and is embodied as, and (such as is filled in twist-on by the manual input interface of twist-on device Set available man-machine interface in region) and/or pass through " teaching process " load about first and/or second and/or third control Program and/or the control and adjustment parameter that programs are controlled about other, wherein robotic manipulator is passed through by manual guidance User's applied force and move.In addition, not only manual input interface, but also " teaching process " energy executed using robotic manipulator Enough amendments or adaptation realized to the control and adjustment parameter that are loaded from data network.

Advantageously, the twist-on device is set and implementation is used for, control program from data network and/or affiliated Control and the load of adjustment parameter are by equally controlling with the distant station of data network connection.This kind of distant station for example can be flat Plate PC, smart phone, laptop, PC etc..Distant station is advantageously run by center fed quotient.

Advantageously, the twist-on device is set and implementation is used for, according to the requirement of the participant in data network and/or Automatically, other participants for example when there are preset condition into data network send and are already locally present on twist-on device Control program and/or affiliated control and adjustment parameter.This " participant " can be each for the data exchange in principle And the computer unit and/or memory cell being arranged.

Advantageously, twist-on device is set and is embodied as, and the control program locally loaded on twist-on device utilizes affiliated Control and adjustment parameter with the distant station of data network connection by equally starting.This kind of distant station for example can be tablet PC, intelligence Energy mobile phone, laptop, PC etc..Distant station is advantageously run by center fed quotient.

Advantageously, the manual input interface on distant station and/or twist-on device has man-machine interface, is carried out and is arranged For input control program and/or affiliated control and adjustment parameter；And/or it is carried out and is arranged for from multiple available controls Control program and/or affiliated control and adjustment parameter are selected in processing procedure sequence and/or affiliated control and adjustment parameter.

Man-machine interface be advantageously able to realize inputted by " drag and drop " on the touchscreen, the input dialogue frame that is guided, Keyboard, haptic input interface, virtual reality glasses, acoustics input interface, body tracking, is based on electromyogram number at computer mouse According to, based on EEG data, via to operator's brain neural interface or their combination realize input.

Advantageously, man-machine interface be carried out and be arranged for export audiovisual, tactile, smell, sense of touch, it is electrical Feedback or combinations thereof.

Another aspect of the present invention relates to a kind of methods for running twist-on device, wherein the twist-on device includes: For the storage container of bolt, the bolt has bolt head, bolt head driving portion and threaded；Robotic manipulator, tool There is the effector mutually coordinated with bolt head, which is carried out and is arranged for receiving and handling this bolt；Hold with storage The separative unit of device connection, the bolt from storage container is provided separately from as follows on interface in known position It sets, so that corresponding bolt head is close to effector；And control unit, be used to control/adjust Robotic Manipulator Device, wherein control unit implements following first control program.

According to the first control program, effector is by robotic manipulator along desired guiding trajectory T1 with expectation set O_{Soll, T1} (R_T1) bolt head of the bolt provided on interface is provided, wherein the place R of track T1 is directed to along track T1_T1It limits The expectation set O of effector_{Soll, T1}(R_T1), wherein in order to receive bolt head in effector, pass through robotic manipulator reality The rotational motion and/or overturning movement and/or translation fortune that the power for applying effector is adjusted and/or impedance adjusting and/or admittance are adjusted Dynamic model formula, until meeting or exceeding the preset limit value condition G1 for the torque acted on effector and/or acting on effect Answer the preset limit value condition G2 of the power on device and/or the side for the time for executing rotational motion and/or overturning movement Dividing value condition G3 and/or provided power/torque mark and/or location/velocity mark on effector are met or exceeded, it/ They indicate the reception for successfully completing bolt within the franchise limited in advance by effector.

In an advantageous modification of the method proposed, preferably continuously implement effector during receiving bolt head Power adjust and/or rotational motion and/or overturning movement that impedance adjusting and/or admittance are adjusted and/or translational motion mode, That is the corresponding sports of effector do not interrupt herein.

In an advantageous modification of the method proposed, preferably implement to imitate in a manner of beat during receiving bolt head Answer the rotational motion and/or overturning movement and/or translational motion mould that the power of device is adjusted and/or impedance adjusting and/or admittance are adjusted Formula, that is to say, that the corresponding sports of effector carry out (movement-stopping-movement-stopping etc.) step by step.Motion stage and stopping Stage is equal length in time in a favourable improvement scheme, is different in time in another favourable improvement scheme Length.

Term " mark " is currently used in the personalized value combination and/or value sequence of power and torque detected.Described Rotation and/or overturning movement advantageously periodically and/or the movement of closure itself, the movement continuously or step by step into Row.Alternatively, rotation and/or overturning movement can be aperiodicity movement.Aperiodicity and periodically movement can also hand over It replaces.The translational movement mode implemented in the present invention is advantageously carried out periodically with moving continuously or gradually.

The one favourable improvement scheme of this method is characterized in that control unit implements following second control program.According to Two control programs pass through robotic manipulator along desired guiding trajectory T2 with expectation set O by the received bolt of effector_{Soll, T2} (R_T2) guide to the screw thread being arranged in known location, wherein the place R of track T2 is directed to along track T2_T2It defines The expectation set O of the threaded of bolt_{Soll, T2}(R_T2), wherein in order to which the free end of the threaded of bolt is placed in screw thread, It is adjusted and/or rotational motion that impedance adjusting and/or admittance are adjusted and/or is tumbled by the power that robotic manipulator implements bolt Movement and/or translational motion mode, until meeting or exceeding the preset limit value condition for the torque acted on effector It the preset limit value condition G5 of G4 and/or the power acted on effector and/or meets or exceeds provided on effector Power/torque mark and/or location/velocity mark, it/their instructions, the free end of the threaded is successfully placed to described In screw thread.

According to an improvement project of the method proposed, control unit implements following third and controls program.According to third control Processing procedure sequence, after the free end of threaded is successfully placed in screw thread, make bolt power adjust and/or impedance adjust and/ Or admittance is adjustably transferred in screw thread, until meeting or exceeding the preset limit value item for the torque acted on effector The part G6 and/or preset limit value condition G7 for acting on the power on effector, and/or being provided on effector is provided Power/torque mark and/or location/velocity mark, it/they indicate that described bolts are successfully transferred in screw thread.

Currently, the free end of threaded " success " is placed in screw thread and is understood to, bolt is placed in screw thread, So that bolt " clamped " enables bolt to be further transferred in screw thread in screw thread.

The one favourable improvement scheme of this method is characterized in that twist-on device has the data-interface with data network, and And first and/or second is loaded from data network for twist-on device and/or third controls program and/or other control programs.

The one favourable improvement scheme of this method is characterized in that, twist-on device loaded from data network about first and/ Or second and/or third control program and/or other control programs control and adjustment parameter.

The one favourable improvement scheme of this method is characterized in that, twist-on device is via local input interface and/or via " showing It teaches journey and " loads control and the tune for controlling programs about first and/or second and/or third control program and/or about other Parameter is saved, in " the teaching process ", robotic manipulator is by manual guidance.

One favourable improvement method is characterized in that, controls program and/or affiliated control and adjustment parameter from data network To the load in twist-on device by equally being controlled with the distant station of data network connection.

The one favourable improvement scheme of this method is characterized in that, will in twist-on device local existing control program and/or Affiliated control and adjustment parameter is according to the requirement of the participant in data network or automatically, for example there are preset items Other participants being sent to when part in data network.

The one favourable improvement scheme of this method is characterized in that, locally loaded on twist-on device/existing control journey Sequence is individually started with affiliated control and adjustment parameter by the distant station equally with data network connection.

The one favourable improvement scheme of this method is characterized in that distant station and/or local input interface have man-machine interface, It is carried out into the man-machine interface about control program and/or affiliated control and the input of adjustment parameter and/or arrives the man-machine boundary Carried out in face for selected from multiple available control programs and/or affiliated control and adjustment parameter control program and/or The input of affiliated control and adjustment parameter.

The one favourable improvement scheme of this method is characterized in that, man-machine interface via on the touchscreen " drag and drop " input, Input dialogue frame, keyboard, computer mouse, haptic input interface, virtual reality glasses, the acoustics input interface, body being guided Volume tracing, based on electromyographic data, based on EEG data, via to brain neural interface or their combination carry out it is defeated Enter.

Another aspect of the present invention relates to a kind of digital storage medias with electronically readable control signal, wherein control Signal can cooperate with programmable computer system, so that implementing method as described above.

Another aspect of the present invention relates to a kind of computer program products, have the journey being stored in machine-readable carrier Sequence code, for executing method as described above when program code is implemented on data processing equipment.

Another aspect of the present invention relates to a kind of computer programs with program code, when the program is filled in data processing When setting operation, the program code is for executing method as described above.For this purpose, data processing equipment may be constructed such that it is existing Known any computer system in technology.

Detailed description of the invention

Other advantages, features, and details (refer to attached drawing) in detail wherein by obtaining in the following description when necessary At least one embodiment is described.The identical component of identical, similar and/or function is equipped with identical appended drawing reference.

Wherein:

Fig. 1 shows the height schematic view of twist-on device；And

Fig. 2 shows the high-level schematic flow charts of the method proposed.

Specific embodiment

Fig. 1 shows the height schematic view of proposed twist-on device.The twist-on device includes: for bolt The storage container 101 of the bolt of head, bolt head driver and threaded；Robot with the effector mutually coordinated with bolt head Executor 103, effector are carried out and are arranged for receiving and handling this bolt；The separation list being connect with storage container 101 Member 102, the bolt from storage container 102 is provided separately from as follows in known position by separative unit on interface On, so that corresponding bolt head is come-at-able for effector；With the control unit for controlling/adjusting robotic manipulator 104, wherein control unit 104 is carried out and is arranged for implementing following first control program.

According to the first control program, effector is by robotic manipulator along desired guiding trajectory T1 with expectation set O_{Soll, T1} (R_T1) bolt head of the bolt provided on interface is provided, wherein the place R of track T1 is directed to along track T1_T1It defines Effector expectation set O_{Soll, T1}(R_T1)。

In order to receive bolt head in effector, effector is adjustably implemented relative to it by robotic manipulator power Expectation set O_{Soll, T1}(R_T1) rotation and overturning movement, act on the pre- of torque on effector until meeting or exceeding to be directed to If the preset limit value condition G2 of Boundary Conditions G1 and/or the power acted on the effector and/or for for executing The Boundary Conditions G3 of the time of the rotational motion and/or overturning movement and/or meet or exceed institute on the effector The power of offer/torque mark and/or location/velocity mark, it/they indicate by the effector in the franchise limited in advance Within successfully complete the reception of the bolt.Advantageously, the power of effector is adjusted rotational motion and overturning movement are from effector It rises with the pre-determined distance of the 0.5cm of bolt head to be received and just starts.

Fig. 2 shows the high-level schematic flow charts of the method proposed for running twist-on device, wherein twist-on device It include: the storage container for bolt, which has bolt head, bolt head driver and threaded；Robotic manipulator, tool There is the effector mutually coordinated with bolt head, which is carried out and is arranged for receiving and handling this bolt；Hold with storage Bolt from storage container is provided separately from by the separative unit of device connection, the separative unit as follows on interface On known position, so that corresponding bolt head is come-at-able for effector；And control unit, for controlling/adjusting Robotic manipulator.

Control unit is set and implements for implementing following first control program.According to the first control program, the effect Device is answered to pass through robotic manipulator along desired guiding trajectory T1 with expectation set O_{Soll, T1}(R_T1) be guided 201 and provided on interface Bolt bolt head, wherein along track T1 be directed to track T1 place R_T1Limit the expectation set O of effector_{Soll, T1} (R_T1), wherein in order to which bolt head is received 202 into effector, effector is implemented relative to its phase by robotic manipulator Hope orientation O_{Soll, T1}(R_T1) power adjust and/or rotational motion that impedance is adjusted and/or overturning movement and/or translational motion mould Formula, until meeting or exceeding the preset limit value condition G1 for the torque acted on effector and/or acting on effector On power preset limit value condition G2 and/or boundary value for the time for executing rotational motion and/or overturning movement Condition G3 and/or provided power/torque mark and/or location/velocity mark on effector are met or exceeded, it/they Indicate the reception for successfully completing bolt within the franchise limited in advance by effector.

Although passing through preferred embodiment detailed illustration and illustrating the present invention, the present invention is not by disclosed exemplary It limits and those skilled in the art can therefrom derive other deformation schemes, without departing from protection scope of the present invention.Cause This is it is clear that there is a possibility that a large amount of modifications.It is also clear that the embodiment illustratively mentioned actually only is shown Example, these examples are not interpreted as example in any way to protection scope of the present invention, application possibility or the limit of configuration System.Exactly, above description and Detailed description of the invention enable the embodiment of the specific translation example of those skilled in the art, Wherein, those skilled in the art, such as can be each in exemplary implementation in the case where understanding disclosed invention design The function or arrangement aspect for the element mentioned in mode carry out various change, and without departing from protection scope, which passes through Claim and its illustrate such equivalent program largely for example in the description for example legally to limit.

Reference signs list

101 storage containers

102 separative units

103 robotic manipulators

104 control units

201,202 method and steps