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DK3615275T3 - Skrueindretning - Google Patents

Skrueindretning Download PDF

Info

Publication number
DK3615275T3
DK3615275T3 DK18718449.4T DK18718449T DK3615275T3 DK 3615275 T3 DK3615275 T3 DK 3615275T3 DK 18718449 T DK18718449 T DK 18718449T DK 3615275 T3 DK3615275 T3 DK 3615275T3
Authority
DK
Denmark
Prior art keywords
screw device
screw
Prior art date
Application number
DK18718449.4T
Other languages
English (en)
Inventor
Tobias Ende
Michael Haas
Saskia Golz
Simon Haddadin
Sven Parusel
Original Assignee
Franka Emika Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Franka Emika Gmbh filed Critical Franka Emika Gmbh
Application granted granted Critical
Publication of DK3615275T3 publication Critical patent/DK3615275T3/da

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40072—Exert a screwing motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40087—Align hand on workpiece to pick up workpiece, peg and hole
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45091—Screwing robot, tighten or loose bolt
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45203—Screwing

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
DK18718449.4T 2017-04-23 2018-04-18 Skrueindretning DK3615275T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017003912 2017-04-23
PCT/EP2018/059832 WO2018197284A1 (de) 2017-04-23 2018-04-18 Schraubvorrichtung

Publications (1)

Publication Number Publication Date
DK3615275T3 true DK3615275T3 (da) 2022-03-07

Family

ID=62002662

Family Applications (1)

Application Number Title Priority Date Filing Date
DK18718449.4T DK3615275T3 (da) 2017-04-23 2018-04-18 Skrueindretning

Country Status (9)

Country Link
US (1) US11524405B2 (da)
EP (1) EP3615275B1 (da)
JP (1) JP7148152B2 (da)
KR (1) KR102305719B1 (da)
CN (1) CN110536780B (da)
DE (1) DE102017118985B4 (da)
DK (1) DK3615275T3 (da)
SG (1) SG11201909832RA (da)
WO (1) WO2018197284A1 (da)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017118985B4 (de) * 2017-04-23 2019-10-02 Franka Emika Gmbh Schraubvorrichtung
DE102018117268A1 (de) 2018-07-17 2020-01-23 Tq-Systems Gmbh Zentriereinrichtung für Schrauber
DE102019107854B3 (de) * 2019-03-27 2020-09-10 Franka Emika Gmbh Robotergreifer

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2706767B2 (ja) * 1985-03-14 1998-01-28 富士通株式会社 作業用ロボット
US4663726A (en) * 1985-04-15 1987-05-05 General Electric Co. Robot control utilizing cubic spline interpolation
JP3115147B2 (ja) * 1993-03-12 2000-12-04 富士通株式会社 ロボット制御装置及びコントローラ
JPH09136279A (ja) * 1995-11-15 1997-05-27 Fanuc Ltd 力制御ロボットを用いた位相合わせ嵌合方法
DE19900267A1 (de) * 1999-01-07 2000-07-13 Hella Kg Hueck & Co Vorrichtung zum Befestigen eines ersten Teils an einem feststehenden zweiten Teil
JP4739556B2 (ja) 2001-03-27 2011-08-03 株式会社安川電機 制御対象の遠隔調整及び異常判断装置
US7920124B2 (en) * 2006-08-29 2011-04-05 Canon Kabushiki Kaisha Force sense presentation device, mixed reality system, information processing method, and information processing apparatus
DE102006061752A1 (de) * 2006-12-28 2008-07-03 Kuka Roboter Gmbh Roboter und Verfahren zum Programmieren eines Roboters
JP2008290228A (ja) * 2007-04-24 2008-12-04 Fanuc Ltd 嵌合装置
JP4768086B2 (ja) 2009-07-02 2011-09-07 パナソニック株式会社 ロボット、ロボットアームの制御装置、及びロボットアームの制御プログラム
DE102010012598A1 (de) * 2010-02-26 2011-09-01 Kuka Laboratories Gmbh Prozessmodulbibliothek und Programmierumgebung zur Programmierung eines Manipulatorprozesses
JP4837113B2 (ja) * 2010-03-18 2011-12-14 ファナック株式会社 ロボットを用いた嵌合装置
DE102010032884A1 (de) * 2010-07-30 2012-02-02 Daimler Ag Verfahren zum Herstellen einer Schraubverbindung
JP5895346B2 (ja) 2011-02-04 2016-03-30 セイコーエプソン株式会社 ロボット、ロボット制御装置、ロボット制御方法、およびロボット制御プログラム
JP5817144B2 (ja) * 2011-02-23 2015-11-18 セイコーエプソン株式会社 ロボット制御装置、ロボットシステム、及びロボット制御方法
JP5733122B2 (ja) 2011-09-12 2015-06-10 株式会社デンソーウェーブ 螺子締め装置および螺子浮き判定方法
US9360148B2 (en) * 2013-02-25 2016-06-07 Roddie, Inc. Bursting head device
JP2015000455A (ja) * 2013-06-17 2015-01-05 キヤノン株式会社 ロボット装置及びロボット装置の制御方法
JP6322959B2 (ja) 2013-11-05 2018-05-16 セイコーエプソン株式会社 ロボット、ロボットシステム、及びロボット制御装置
DE102014202145A1 (de) * 2014-02-06 2015-08-06 Kuka Roboter Gmbh Verfahren zum Programmieren eines Industrieroboters und zugehörigerIndustrieroboter
JP5845311B2 (ja) 2014-04-30 2016-01-20 ファナック株式会社 ロボットの柔軟制御を行う制御装置
JP5905549B1 (ja) 2014-09-16 2016-04-20 ファナック株式会社 バラ積みされた物品を取出す物品取出装置
KR20180015774A (ko) * 2015-09-25 2018-02-14 두산로보틱스 주식회사 로봇 제어 방법 및 장치
DE102017118985B4 (de) * 2017-04-23 2019-10-02 Franka Emika Gmbh Schraubvorrichtung
US10953548B2 (en) * 2018-07-19 2021-03-23 International Business Machines Corporation Perform peg-in-hole task with unknown tilt

Also Published As

Publication number Publication date
EP3615275B1 (de) 2021-12-29
WO2018197284A1 (de) 2018-11-01
DE102017118985B4 (de) 2019-10-02
US11524405B2 (en) 2022-12-13
US20200391387A1 (en) 2020-12-17
KR20200002972A (ko) 2020-01-08
DE102017118985A1 (de) 2018-10-25
SG11201909832RA (en) 2019-11-28
JP7148152B2 (ja) 2022-10-05
CN110536780B (zh) 2022-09-13
JP2020517473A (ja) 2020-06-18
EP3615275A1 (de) 2020-03-04
KR102305719B1 (ko) 2021-09-29
CN110536780A (zh) 2019-12-03

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