Working device and method
A screwing device ( 1 ) and a screwing method use a multi-member ( 12, 13, 14, 15 ) robot ( 6 ) having a driven rotational axis. The robot ( 6 ), on its last member ( 12 ), carries a rotational device ( 7 ) with a rotational tool ( 8 ). The rotational device is driven independently and is provided and designed for rapidly screwing a rotating part ( 3 ) on or off. The screwing tightening or untightening of the rotating part ( 3 ) is performed by the robot ( 6 ) and in particular by the robot end member ( 12 ).
1. A working device for the rotational joining and/or loosening of rotary parts, the working device comprising:
a multi-member robot with an end member having a driven axis of rotation;
a tool; and
an independently driven rotating device, the tool being connected to the independently driven rotating device for rotating the tool, wherein the end member of the robot carries the independently driven rotating device with the tool, wherein the independently driven rotating device defines means for rapidly screwing in or unscrewing rotary parts and wherein the robot end member defines means for tightening or untightening the rotary parts, wherein:
the means for rapidly screwing in or unscrewing rotary parts of the rotating device and the means for tightening or untightening the rotary parts of the robot end member differ from each other in terms of speed of rotation and torque;
the means for tightening or untightening the rotary parts of the robot end member provides a lower speed of rotation and a higher torque than the means for rapidly screwing in or unscrewing rotary parts of the rotating device; and
the means for rapidly screwing in or unscrewing rotary parts of the rotating device provides a higher speed of rotation and a lower torque than the means for tightening or untightening the rotary parts.
2. A working device in accordance with claim 1 , wherein the end member of the robot performs a rotary motion that is independent of a rotary motion of the rotating tool provided by the means for tightening or untightening the rotary parts.
3. A working device in accordance with claim 1 , wherein the rotating drive comprises an electric d.c. motor and a gear mechanism.
4. A working device in accordance with claim 1 , wherein:
a rotary mobility of the rotating device can be blocked, wherein the rotary motion and a tightening or untightening torque of the robot are transmitted to the rotary part for tightening or untightening; and
the rotating device has a controllable blocking device for blocking the rotary mobility of the rotating device.
5. A working device in accordance with claim 4 , wherein the rotating device has a controllable blocking device for blocking the rotary mobility of the rotating device.
6. A working device in accordance with claim 5 , wherein:
the end member comprises a driven element rotatable about the driven axis and a controllable rotating drive connected with the driven element;
the blocking device comprises a coupling controllable by the robot between the driven element and the rotating tool.
7. A working device in accordance with claim 6 , wherein the coupling is closed or in a coupled state and opened or in a decoupled state by a feed motion of the robot.
8. A working device in accordance with claim 7 , wherein:
the rotating device further comprises a frame;
the rotating tool is guided axially movably in the frame of the rotating device; and
the coupling includes a resetting element opening the coupling.
9. A working device in accordance with claim 8 , wherein:
the frame is connected to the driven element; and
the coupling includes a coupling element arranged at the frame and a coupling element arranged at the rotating tool.
10. A working device in accordance with claim 1 , wherein the rotating tool comprises a shaft connected to the rotating drive of the rotating device in a rotationally engaged manner as well as axially displaceably.
11. A working device in accordance with claim 10 , further comprising a sensor system detecting an end of a screwing in or unscrewing operation.
12. A working device in accordance with claim 11 , further comprising a sensor system detecting at least one of a load, a torque, a rotary motion and a rotary position.
13. A working device in accordance with claim 1 , wherein the robot has one or more force-controlled or force-regulated axes.
14. A working device in accordance with claim 1 , wherein the robot has at least one resilient axis with resiliency regulation including at least one of a pure force regulation and a combination of position and force regulation.
15. A working device in accordance with claim 14 , wherein the rotating device is held and guided by means of the at least one resilient axis such that the rotating device is able to perform evading motions in an elastic manner.