A method for automated rotary joining and / or drehlösenvon components, as well as the associated industrial robot and automated assembly work space

摘要

The invention relates to a method for automated joining and / or rotation direction of rotation of the release of components (12), in particular machine elements, such as screws (12a) or nuts, on a workpiece (13) by means of a tool (10), in particular of a screwing tool (10a), which is obtained from a plurality of successive members (7.1 – 7.8) and joints (6.1) – 6.7 the invention, in which the manipulator arm (3) of an industrial robot (5) is handled, in which a supporting a as a result of the applied torque in the manipulator arm (3) reaction torque introduced, by means of force - and / or torque is controlled driving of the joints (6.1 – 6.7) of the manipulator arm (3), by means of a control device (4) of the industrial robot (5) is effected in such a way that at least one joint (6.1 – 6.7), which, in comparison to at least one of the other joints (6.1 – 6.7) by virtue of the construction can be loaded with a smaller maximum torque, is parameterized with a lower stiffness than the at least one other joint (6.1 – 6.7) in its stiffness is parametrized. The present invention also relates to an associated industrial robot (5) and an automated assembly workplace (1) with such an industrial robot (5).