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Etienne_SamsonEtienne_Samson Posts: 376 Handy
edited June 2016 in Applications
We have a customer looking to screw with a UR.

Is there any screwing gun that can be easily interfaced with the robot?

Electric screwdriver vs infinite rotation of the last joint, what to do and what not to do?
Etienne Samson
Technical Support Director
+01 418-380-2788 ext. 207
esamson@robotiq.com

Best Answers

  • Ryan_WeaverRyan_Weaver Posts: 42Founding Pro, Partner, Beta Tester VIsion 1.1 Program Handy
    Accepted Answer
    Certainly @Samuel_Bouchard  - 

    While using the infinite rotation on the UR3 Wrist 3 sounds appealing, it isn't very practical as a screwdriver.  The torque resolution is very coarse and speed can be slow.

    We decided to work with Kolver because they are a local company who offers a variety of screwdrivers, feeders and torque controllers at a very competitive price when compared to alternatives we had looked at.  The speed/torque clutch out routines are stored in the controller, then called via I/O from the robot.  That means you can handle multiple different screws without changing out tools as long as the bit is compatible.  The pluto screwdriver is small, lightweight and was easy to design an interface plate for.

    The actual application programming was pretty simple - standard UR force control takes care of the "screwing" action very well.  The most challenging part was getting the screw feeder to present the screws in a repeatable position.  The version we have in the video isn't truly a "robotic" feeder, it's meant for manual feeding by a person.  In order for the screws to vibrate down the track, it has to be free standing, which means it can vibrate around on the table.  The video gets the concept across, but in reality, we would probably use a feeder specialized for robots.

    Ryan Weaver   |   Automation Engineer   |   Axis New England
    rweaver@axisne.com
    https://www.youtube.com/user/AxisNewEngland
    https://twitter.com/axis_newengland

Comments

  • Samuel_BouchardSamuel_Bouchard Posts: 142 Handy
    @Ryan_Weaver can you share your experience with this integration?



    CEO & Co-Founder @ Robotiq

    samuel@robotiq.com
  • Samuel_BouchardSamuel_Bouchard Posts: 142 Handy
    @gerenga what was your approach in the following integration?



    CEO & Co-Founder @ Robotiq

    samuel@robotiq.com
  • matthewd92matthewd92 Posts: 521Founding Pro, Tactile Sensor Beta Testers Handy
    edited June 2016
    We have not done screwdriving yet....coming in the very near future but we do a lot of work with hand tools.  We have developed a holder that allows us to use tools that are designed to work with human hands with a Model 85 2 finger gripper, this approach allows us to have work cells with several tools in it and use them all with the same gripper.

    In this application we have 2 pneumatic drills, a soldering station and a silicone dispensing syringe (orange tool gripper).  All of these tools are driven over simple I/O with the robot.  The Loctite dispenser actually has a robot I/O port which made it easy and actually gives feedback that the unit is running.  You can do manual operation or timed dispense, we use it in manual mode as it's just easier for what we are doing.
  • gerengagerenga Posts: 13Partner Apprentice
    Certainly @Samuel_Bouchard  - 

    While using the infinite rotation on the UR3 Wrist 3 sounds appealing, it isn't very practical as a screwdriver.  The torque resolution is very coarse and speed can be slow.

    We decided to work with Kolver because they are a local company who offers a variety of screwdrivers, feeders and torque controllers at a very competitive price when compared to alternatives we had looked at.  The speed/torque clutch out routines are stored in the controller, then called via I/O from the robot.  That means you can handle multiple different screws without changing out tools as long as the bit is compatible.  The pluto screwdriver is small, lightweight and was easy to design an interface plate for.

    The actual application programming was pretty simple - standard UR force control takes care of the "screwing" action very well.  The most challenging part was getting the screw feeder to present the screws in a repeatable position.  The version we have in the video isn't truly a "robotic" feeder, it's meant for manual feeding by a person.  In order for the screws to vibrate down the track, it has to be free standing, which means it can vibrate around on the table.  The video gets the concept across, but in reality, we would probably use a feeder specialized for robots.
    Any issues regarding the kolver system? I'm looking into an affordable system for my customers regarding proper torque control. However I find it rather difficult to find a system which allows to do proper tracking of the process regarding feedback to a quality control system. We use the robot absolute position to confirm full fastening as well but can you at the kolver system actually get a value or log to handle? Present programs are a good thing but I still look for a system to send actual parameters to the fastening unit. I'm nearly on a point to design our own system but don't want to reinvent the wheel if someone already has a solution which is doing the job.

    Thanks for the feedback.
  • Ryan_WeaverRyan_Weaver Posts: 42Founding Pro, Partner, Beta Tester VIsion 1.1 Program Handy
    @gerenga - I don't have much to complain about with the Kolver system, but we're certainly still learning.  There is a serial interface to capture torque reporting for QC systems, so with a little development you could have a solid log interface on a PC.  

    The torque/speed profiles are saved in the screw controller in 8 different programs.  We call them via IO, but there may be a way to change them over TCP.  I would recommend you give them a call, they've been very accommodating with us.

    Ryan Weaver   |   Automation Engineer   |   Axis New England
    rweaver@axisne.com
    https://www.youtube.com/user/AxisNewEngland
    https://twitter.com/axis_newengland

  • gerengagerenga Posts: 13Partner Apprentice
    @Ryan_Weaver , Thanks I'll have a look
  • Samuel_BouchardSamuel_Bouchard Posts: 142 Handy
    @yuvarajoo what are you using on your side?






    CEO & Co-Founder @ Robotiq

    samuel@robotiq.com
  • Samuel_BouchardSamuel_Bouchard Posts: 142 Handy
    edited August 2016
    Here is another example from @MKarabin. Matt, which screwdriver are you using? How did it integrate?




    CEO & Co-Founder @ Robotiq

    samuel@robotiq.com
  • SebastienSebastien Posts: 220 Handy
    @MKarabin this is really nice I am curious to know what feeder did you use for the screws. It seems to work well!


  • matthewd92matthewd92 Posts: 521Founding Pro, Tactile Sensor Beta Testers Handy
    Sebastien said:
    @MKarabin this is really nice I am curious to know what feeder did you use for the screws. It seems to work well!

    Looks like a system made by Kolver USA.   http://www.kolverusa.com/products-list/12-Automatic-screw-supplier

    @MKarabin how is the cost on this system?  We have a couple opportunities that could benefit from a system like this  

  • MKarabinMKarabin Posts: 2Partner Recruit
    edited September 2016
    The first video we did was for a customer application. They currently use a Delta Regis screw presenter and a pneumatic Deprag Minimat driver (both seen in the video) for their non-automated screwdriving. We went with that so they can easily add in the UR and keep all of their existing equipment. The screw presenter seemed to work fairly well, but it was possible to double up on screws presented or have it hang up to where no screws were there which is why we had the Cognex sensor checking for screws. This was fairly rare though.

    The second video is indeed a Kolver as @matthewd92 mentioned. I did not personally work with that unit. One of my coworkers was using it. His initial thoughts were very positive though. You can control speed, direction, and torque and have up to 8 different programs. He also said it is very quiet. I don't think he is a member here, so I'll see if I can get more information from him. 

    Edit: Found out he is already a user. @acmonteith Andy can you provide any info on the driver you were looking at?
  • acmonteithacmonteith Posts: 1Partner Recruit
    Yes, this was a Kolver screwdriver, controller, screw presenter as well as the mounting plate and control cable for the screwdriver. Total kit price is about $6K. Let either Matt or I know if we can provide you with a quote or other information.
  • SebastienSebastien Posts: 220 Handy
    @Ryan_Weaver in this screwing application you mentioned using the UR force mode. What kind of setup in the force mode are you using. Only applying in Z or do you also have compliance in x-y?
  • yuvarajooyuvarajoo Posts: 2 Recruit
    edited September 14
    @Samuel_Bouchard noticed this topic. Basically we are using Kovler multitorque screw driver unit with its controller. It has IO points at it's controller and gives signal when defined torque achieved. We even use force and position feedback for depth control.
  • Etienne_SamsonEtienne_Samson Posts: 376 Handy
    @yuvarajoo can you tell me which model you have been using? I would like to get that screwdriver to do some demo in our lab. thanks !
    Etienne Samson
    Technical Support Director
    +01 418-380-2788 ext. 207
    esamson@robotiq.com
  • Ryan_WeaverRyan_Weaver Posts: 42Founding Pro, Partner, Beta Tester VIsion 1.1 Program Handy
    @Sebastien yes, it was just force in Z, no compliance in X-Y.  As long as we got the screw tip nice and perpendicular to the tapped hole, it worked smoothly.  Also it was really helpful to have a lead-in chamfer to make sure the scew gets into the hole before spinning

    Ryan Weaver   |   Automation Engineer   |   Axis New England
    rweaver@axisne.com
    https://www.youtube.com/user/AxisNewEngland
    https://twitter.com/axis_newengland

  • yuvarajooyuvarajoo Posts: 2 Recruit
    edited September 15
    @Etienne_Samsonwe we are using Kolver Controller EDU series with CA series electric screwdriver. The model need to select according to torque required and also the functionality of the controller. Best if your side can contact local Kolver supplier for recommendation.
  • Etienne_SamsonEtienne_Samson Posts: 376 Handy
    @yuvarajoo thanks!
    Etienne Samson
    Technical Support Director
    +01 418-380-2788 ext. 207
    esamson@robotiq.com
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