Method for producing screw connection by robot, involves screwing one component with another component in operative connection by thread, and holding former component in manipulator arranged in terminal axle of robot

摘要

The method involves screwing one component with another component in operative connection by a thread. The former component is held in a manipulator (36) arranged in a terminal axle (24) of the robot (10) and is screwed with the latter component by the robot by a rotary screwing motion. The driving torque is measured by a sensor assigned to the terminal axle and the control variable is determined by another sensor corresponding to the driving torque. The sensor is a torque sensor assigned in another axle (12,14,16,18,20,22) of the robot.