JP2005342778A - Robot for installing nut - Google Patents

Robot for installing nut Download PDF

Info

Publication number
JP2005342778A
JP2005342778A JP2004167944A JP2004167944A JP2005342778A JP 2005342778 A JP2005342778 A JP 2005342778A JP 2004167944 A JP2004167944 A JP 2004167944A JP 2004167944 A JP2004167944 A JP 2004167944A JP 2005342778 A JP2005342778 A JP 2005342778A
Authority
JP
Japan
Prior art keywords
caulking
mounting
mold
arm
nut
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
JP2004167944A
Other languages
Japanese (ja)
Other versions
JP4578152B2 (en
Inventor
Tadashi Takamaru
正 高丸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TAKAMARU KOGYO KK
Original Assignee
TAKAMARU KOGYO KK
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 TAKAMARU KOGYO KK filed Critical TAKAMARU KOGYO KK
Priority to JP2004167944A priority Critical patent/JP4578152B2/en
Publication of JP2005342778A publication Critical patent/JP2005342778A/en
Application granted granted Critical
Publication of JP4578152B2 publication Critical patent/JP4578152B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Landscapes

  • Automatic Assembly (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot system which can install an attachment such as a nut by caulking it on a sheet material such as a steel sheet. <P>SOLUTION: A U shaped member 9 is attached on a robot arm 8 of the last step of the robot system. In both arms 10a and 10b of the U shaped member 9 facing each other, one arm 10b supports a metal die 12 for caulking the attachment such as the nut, while the other arm 10a is attached with an attachment pressing rod 13 which is connected in linkage to a pressing means 18 movable in a reciprocating manner in approaching to or separating from the caulking metal die 12. The robot for installing the nut or the like, which fastens the attachment by caulking it on the sheet with the caulking metal die 12 and the attachment pressing rod 13, is structured to have an relative movement allowance part 26 to allow a deviation of a posture of the caulking metal die 12 lie between the caulking metal die 12 and the arm 10b to support the metal die. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、薄鉄板などの板材にナットなどの取付部品をカシメにより取り付けることができるようにしたナットなどの取付用ロボットに関するものである。   The present invention relates to a mounting robot such as a nut that can attach a mounting part such as a nut to a plate material such as a thin iron plate by caulking.

穴あけ金型を兼用するピアスナットと呼称されるナットを利用することにより、薄鉄板などの板材に穴あけと同時にナットをカシメにより取り付けるピアスナットシステムが開発されている。このようなピアスナットシステムをロボットシステムにおける最終段ロボットアームに取り付け、ワークのナット取付位置に対してピアスナットシステムを順次自動的に移動させるように構成すれば、数多くのナットの取り付けを伴う製品の生産性と品質を大幅に向上させることができる。   A pierce nut system has been developed in which a nut called a pierce nut that also serves as a drilling die is used to attach a nut to a plate material such as a thin iron plate by caulking. If such a pierce nut system is attached to the last stage robot arm in the robot system and the pierce nut system is configured to automatically move sequentially relative to the workpiece nut attachment position, Productivity and quality can be greatly improved.

而して、上記のピアスナットシステムでは、ピアスナットの取付面側に形成された凹窪部内に板材をカシメるためのカシメ用金型と当該カシメ用金型へピアスナットを押圧する取付部品加圧用ロッドとが使用され、この両者間で板材とピアスナットとを挟み付けるものであるから、ロボットシステムにおける最終段ロボットアームに取り付けられたコ形部材の対向両アーム部にスポット溶接機の一対の電極を振り分け配置した従来周知の自動溶接ロボットと同様に、最終段ロボットアームに取り付けられたコ形部材の対向両アーム部に前記カシメ用金型と取付部品加圧用ロッドとを振り分け配置すれば良いことがわかる。   Thus, in the above pierce nut system, a caulking die for caulking the plate material in a recessed portion formed on the attachment surface side of the pierce nut and an attachment part for pressing the pierce nut against the caulking die are added. Since a pressure rod is used and a plate material and a pierce nut are sandwiched between them, a pair of spot welders is attached to both opposing arm portions of the U-shaped member attached to the last stage robot arm in the robot system. Similar to the conventionally known automatic welding robot in which the electrodes are distributed and arranged, the caulking die and the attachment part pressurizing rod may be arranged and arranged on both opposing arm portions of the U-shaped member attached to the final stage robot arm. I understand that.

しかしながら、カシメ用金型と取付部品加圧用ロッドとの間に作用する加圧力は、上記の自動溶接ロボットにおける一対の電極間に作用する加圧力と比較して大きく、ピアスナット取付動作時に前記コ形部材の対向両アーム部を押し開く方向に作用する反力で当該対向両アーム部間に微小量ではあるが相対的な姿勢の変化が生じる。このように、コ形部材の対向両アーム部間の相対的な姿勢の変化が僅かでも生じると、一対の電極間での相対的な姿勢の変化につながる自動溶接ロボットでは殆どその影響がないのに対し、カシメ用金型と取付部品加圧用ロッドとの相対的な姿勢の変化につながるピアスナットシステムでは、ピアスナットの取付面側に形成された凹窪部の全域に均等に板材をカシメることができなくなり、ナットの取付強度の低下、延いては製品の品質低下につながることになる。   However, the pressure applied between the caulking mold and the mounting part pressurizing rod is larger than the pressure applied between the pair of electrodes in the above automatic welding robot, and the above-mentioned pressure is applied during the pierce nut mounting operation. A reaction force acting in a direction to push open both opposing arm portions of the shape member causes a relative change in the posture between the opposing arm portions, though a minute amount. Thus, even if a slight change in the relative posture between the opposing arms of the U-shaped member occurs, the automatic welding robot that leads to a change in the relative posture between the pair of electrodes has almost no effect. On the other hand, in the pierce nut system that leads to a change in the relative posture between the caulking die and the mounting part pressurizing rod, the plate material is caulked uniformly over the entire recessed portion formed on the mounting surface side of the pierce nut. As a result, the mounting strength of the nut is reduced, which in turn leads to a reduction in product quality.

本発明は上記のような従来の問題点を解消し得るナットなどの取付用ロボットを提供することを目的とするものであって、その手段を後述する実施形態の参照符号を付して示すと、ロボットシステムの最終段ロボットアーム８にコ形部材９が取り付けられ、このコ形部材９の対向両アーム部１０ａ，１０ｂの内、一方のアーム部１０ｂには、ナットなど取付部品のカシメ用金型１２が支持され、他方のアーム部１０ａには、前記カシメ用金型１２に対して遠近方向に往復移動自在で加圧手段１８に連動連結された取付部品加圧用ロッド１３が取り付けられ、前記カシメ用金型１２と取付部品加圧用ロッド１３とで板材Ｐに取付部品（ピアスナットＮ）をカシメにより固着するようにしたナットなどの取付用ロボットであって、前記カシメ用金型１２とこれを支持する前記一方のアーム部１０ｂとの間に、当該カシメ用金型１２の姿勢の変動を許容する相対運動許容部２６を介在させた構成となっている。   An object of the present invention is to provide a mounting robot such as a nut that can solve the conventional problems as described above, and means thereof is shown with reference numerals of embodiments described later. The U-shaped member 9 is attached to the last stage robot arm 8 of the robot system, and one of the opposing arm portions 10a, 10b of the U-shaped member 9 has a caulking metal for a mounting part such as a nut. The mold 12 is supported, and the other arm portion 10a is attached with a mounting part pressurizing rod 13 which is reciprocally movable in the perspective direction with respect to the caulking mold 12 and interlocked with the pressurizing means 18. A mounting robot such as a nut in which a mounting part (pierce nut N) is fixed to a plate material P by caulking with a caulking die 12 and a mounting part pressurizing rod 13, the caulking metal Between said one arm portion 10b for supporting the 12, has a configuration in which is interposed a relative movement permitting portion 26 which allows the variation of the posture of the caulking mold 12.

上記構成の本発明を実施するについて、具体的には請求項２に記載のように、前記カシメ用金型１２は、取付用ブロック２２に設けられた金型嵌合孔２７に固定手段３１を介して着脱自在に嵌合固定し、前記取付用ブロック２２を前記コ形部材９のアーム部１０ｂに弾性材２５を介してボルト止めすることができる。この場合、当該弾性材２５によって前記相対運動許容部２６が構成されることになる。   In carrying out the present invention having the above-described configuration, specifically, as described in claim 2, the caulking mold 12 has a fixing means 31 in a mold fitting hole 27 provided in the mounting block 22. The mounting block 22 can be bolted to the arm portion 10b of the U-shaped member 9 via an elastic member 25. In this case, the elastic material 25 constitutes the relative motion allowing portion 26.

上記の請求項２に記載の構成を採用する場合は、請求項３に記載のように、前記取付用ブロック２２をコ形部材９のアーム部１０ｂに取り付けるボルト２４を、前記カシメ用金型１２に対してコ形部材９のアーム部１０ｂの遊端側に配置するかまたは、請求項４に記載のように、前記カシメ用金型１２に対してコ形部材９のアーム部１０ｂの長さ方向に対して直交する左右両側に配置することができる。   In the case of adopting the configuration described in claim 2, as described in claim 3, the bolt 24 for attaching the mounting block 22 to the arm portion 10 b of the U-shaped member 9 is used as the caulking die 12. The arm portion 10b of the U-shaped member 9 is arranged on the free end side of the arm portion 10b of the U-shaped member 9 or the length of the arm portion 10b of the U-shaped member 9 with respect to the caulking die 12 as described in claim 4. It can be arranged on both the left and right sides orthogonal to the direction.

更に、請求項５に記載のように、前記カシメ用金型１２は、取付用ブロック２２に設けられた金型嵌合孔３５に固定手段３８を介して着脱自在に嵌合固定し、当該取付用ブロック２２の金型嵌合孔３５とこれに嵌合したカシメ用金型１２との間には弾性材３６，３７を介装することができる。この場合、当該弾性材３６，３７によって前記相対運動許容部２６が構成されることになる。   Furthermore, as described in claim 5, the caulking mold 12 is detachably fitted and fixed to a mold fitting hole 35 provided in the mounting block 22 via a fixing means 38. Elastic members 36 and 37 can be interposed between the mold fitting hole 35 of the block 22 and the crimping mold 12 fitted thereto. In this case, the relative motion allowing portion 26 is constituted by the elastic members 36 and 37.

上記構成の本発明に係るナットなどの取付用ロボットによれば、取付部品の取付動作時の反力で前記コ形部材の対向両アーム部間に、その遊端側の間隔が広くなるように相対的な姿勢の変化が生じても、カシメ用金型とこれを支持する前記一方のアーム部との間に相対運動許容部が存在することによって、カシメ用金型は、取付部品加圧用ロッドによって当該カシメ用金型側に取付部品及び板材が押圧されたとき、その表面がこれら取付部品の取付面及び板材と平行になる姿勢、換言すれば、カシメ用金型の軸線と取付部品加圧用ロッドの軸線とが合致する姿勢に自動的に矯正され、係る状態で板材が前記カシメ用金型により取付部品側にカシメられるので、取付部品側のカシメ穴全域に板材を均等にカシメて所期通りの取付強度が確保でき、取付部品の取付品質を向上させることができる。   According to the mounting robot, such as a nut, according to the present invention having the above-described configuration, the free end side interval between the opposing arm portions of the U-shaped member is widened by the reaction force during the mounting operation of the mounting component. Even if a change in relative posture occurs, the caulking mold is a rod for pressurizing the mounting component by the presence of a relative movement allowing portion between the caulking mold and the one arm part supporting the caulking mold. When the mounting parts and the plate material are pressed against the caulking mold side by the position, the surface thereof is parallel to the mounting surface and the plate material of these mounting parts, in other words, the caulking mold axis and the mounting part pressurization The posture is automatically corrected to match the axis of the rod, and in this state, the plate material is crimped to the mounting component side by the caulking mold, so that the plate material is crimped evenly over the entire crimping hole on the mounting component side. The installation strength of the street can be secured It is possible to improve the mounting quality of the fitting.

尚、請求項２に記載の構成によれば、カシメ用金型の着脱構造に関係なく、板状の弾性材を取付用ブロックとコ形部材のアーム部との間に介在させるだけの簡単な構成により前記相対運動許容部を構成することができ、本発明の実用化が促進される。この場合、請求項３に記載の構成によれば、コ形部材のアーム部の長さは長くなるが、カシメ用金型の姿勢の矯正を容易且つ確実に行わせることができる。また、請求項４に記載の構成によれば、コ形部材のアーム部の長さを長くすることなく、カシメ用金型の姿勢の矯正を容易且つ確実に行わせることができる。   In addition, according to the structure of Claim 2, irrespective of the attachment or detachment structure of the crimping metal mold | die, a plate-shaped elastic material can be simply interposed between the mounting block and the arm portion of the U-shaped member. The relative motion allowing portion can be configured by the configuration, and the practical use of the present invention is promoted. In this case, according to the structure of Claim 3, although the length of the arm part of a U-shaped member becomes long, correction | amendment of the attitude | position of a crimping metal mold | die can be performed easily and reliably. Moreover, according to the structure of Claim 4, the attitude | position of the crimping metal mold | die can be corrected easily and reliably, without lengthening the length of the arm part of a U-shaped member.

更に、請求項５に記載の構成によれば、カシメ用金型の姿勢矯正許容範囲を大きくすることができ、所期の目的を確実に達成できる。   Furthermore, according to the structure of Claim 5, the attitude correction | amendment tolerance of a crimping metal mold | die can be enlarged, and the intended objective can be achieved reliably.

以下に本発明の具体的実施例を添付図に基づいて説明すると、図１において、１は６軸の多関節汎用ロボットであって、基台２に対して垂直軸心２ａの周りに回転可能に搭載された第一回転台３、この第一回転台３に対して水平軸心３ａの周りに扇動自在に支持された第一ロボットアーム４、この第一ロボットアーム４の先端部に前記水平軸心３ａと平行な水平軸心４ａの周りに扇動自在に連結された関節アーム５、この関節アーム５の先端に前記水平軸心４ａに対し直角向きの軸心５ａの周りに自転可能に連結された第二ロボットアーム６、この第二ロボットアーム６の先端に前記軸心５ａに対し直角向きの軸心６ａの周りに扇動自在に連結された第三ロボットアーム７、及び当該第三ロボットアーム７の先端に前記軸心６ａに対し直角向きの軸心７ａの周りに自転可能に連結された最終段ロボットアーム８から構成されている。   A specific embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, reference numeral 1 denotes a multi-joint general-purpose robot that can rotate around a vertical axis 2a with respect to a base 2. The first rotary table 3 mounted on the first rotary arm 3, the first robot arm 4 supported by the first rotary table 3 around the horizontal axis 3 a so as to be freely slidable, and the horizontal axis at the tip of the first robot arm 4. A joint arm 5 slidably connected around a horizontal axis 4a parallel to the axis 3a, and connected to the tip of the joint arm 5 so as to be rotatable around an axis 5a perpendicular to the horizontal axis 4a. The second robot arm 6, the third robot arm 7 connected to the tip of the second robot arm 6 around the axis 6a perpendicular to the axis 5a so as to be insulatively movable, and the third robot arm 7 at a right angle to the axis 6a And a final stage the robot arm 8 which is rotating coupled around the axis 7a.

前記最終段ロボットアーム８の先端には、コ形部材９の上下対向両アーム部１０ａ，１０ｂが最終段ロボットアーム８のある側とは正反対向きに延出するように、当該コ形部材９の垂直柱部９ａが前記軸心７ａに対し直角向きに結合され、このコ形部材９にピアスナットシステム１１が取り付けられている。   At the tip of the final stage robot arm 8, the upper and lower opposing arm portions 10a, 10b of the U-shaped member 9 extend in the direction opposite to the side where the final stage robot arm 8 is located. A vertical column portion 9 a is coupled to the shaft center 7 a at a right angle, and a pierce nut system 11 is attached to the U-shaped member 9.

ピアスナットシステム１１は、カシメ用金型１２、取付部品加圧用ロッド１３、ピアスナット供給手段１４、及びピアスナット送給用配管１５などを備えている。コ形部材９の上下対向両アーム部１０ａ，１０ｂを便宜上、図１を基準にして上側アーム１０ａ、下側アーム１０ｂと呼称すると、カシメ用金型１２は、下側アーム１０ｂの内側に支持され、上側アーム１０ａの内側には、前記カシメ用金型１２に対して遠近方向往復移動自在な可動台１６がガイドロッド１７を介して配設されると共に、当該可動台１６を駆動する流体圧シリンダーユニットなどの加圧手段１８が併設され、前記取付部品加圧用ロッド１３の上端が前記可動台１６に結合されている。ピアスナット供給手段１４は、取付部品加圧用ロッド１３に対し一定範囲内相対昇降自在に先端部が外嵌すると共に、ガイドロッド１９及びスプリング２０を介して取付部品加圧用ロッド１３の下端部に外嵌する下降限位置に保持され、図外のピアスナットフィーダーからピアスナット送給用配管１５を経由して送給されてくるピアスナットを１個ずつ取付部品加圧用ロッド１３の先端下側定位置に供給して保持させるもので、先端部下側に板材押さえ用爪２１を備えている。   The pierce nut system 11 includes a caulking die 12, a mounting part pressurizing rod 13, a pierce nut supply means 14, and a pierce nut feed pipe 15. When the upper and lower opposing arm portions 10a and 10b of the U-shaped member 9 are referred to as an upper arm 10a and a lower arm 10b with reference to FIG. 1, the caulking mold 12 is supported inside the lower arm 10b. Inside the upper arm 10a, a movable base 16 that is reciprocally movable relative to the caulking die 12 is disposed via a guide rod 17, and a fluid pressure cylinder that drives the movable base 16 is provided. A pressing means 18 such as a unit is provided side by side, and the upper end of the attachment component pressing rod 13 is coupled to the movable table 16. The pierce nut supply means 14 is fitted to the attachment part pressurizing rod 13 so that the tip part can be moved up and down within a certain range, and is attached to the lower end part of the attachment part pressurizing rod 13 via the guide rod 19 and the spring 20. The pierce nuts that are held at the lower limit position where they are fitted and fed from the pierce nut feeder (not shown) through the pierce nut feed pipe 15 one by one, the lower fixed position at the tip of the attachment part pressurizing rod 13 A plate material pressing claw 21 is provided on the lower side of the tip portion.

図２及び図３に示すように、カシメ用金型１２は、取付用ブロック２２に取り付けられ、この取付用ブロック２２がコ形部材９の下側アーム部１０ｂの上に設けられた基台部２３上に、複数本の取付用ボルト２４を介して取り付けられているが、当該基台部２３と取付用ブロック２２との間には、硬質ウレタン樹脂などから形成された適当厚さの板状弾性材２５が介在され、この板状弾性材２５によってカシメ用金型１２の姿勢の変動を許容する相対運動許容部２６が構成されている。   As shown in FIGS. 2 and 3, the caulking die 12 is attached to a mounting block 22, and the mounting block 22 is provided on the lower arm portion 10 b of the U-shaped member 9. A plurality of mounting bolts 24 are mounted on the base plate 23, and a plate-like plate made of hard urethane resin or the like is formed between the base portion 23 and the mounting block 22. An elastic material 25 is interposed, and the plate-like elastic material 25 constitutes a relative motion allowing portion 26 that allows the posture of the caulking mold 12 to change.

取付用ブロック２２は、その長さ方向がコ形部材９の下側アーム部１０ｂの長さ方向（延出方向）と平行になるように当該コ形部材９の下側アーム部１０ｂ上（基台部２３上）に取り付けられるもので、その長さ方向でコ形部材９の垂直柱部９ａから遠い側の端部に有底円柱状の金型嵌合孔２７が設けられ、この金型嵌合孔２７よりコ形部材９の垂直柱部９ａに近い側の位置に前記取付用ボルト２４が挿通される３本の取付用孔２８が厚さ方向に貫通するように設けられている。金型嵌合孔２７の底部中央には抜き板排出孔２９が設けられ、板状弾性材２５、基台部２３、及びこれらを支持する下側アーム部１０ｂには、当該抜き板排出孔２９に連通する抜き板排出通路３０が設けられている。３１はカシメ用金型１２の固定手段であって、金型嵌合孔２７に連通するように取付用ブロック２２に設けられ且つ金型嵌合孔２７とは反対側を下窄まりの傾斜面としたカム孔３２に嵌合すると共に締結ボルト３３でカム孔３２内に締結されるカムブロック３４を備えている。   The mounting block 22 has a length direction on the lower arm portion 10b (base) of the U-shaped member 9 so that its length direction is parallel to the length direction (extending direction) of the lower arm portion 10b of the U-shaped member 9. A bottomed cylindrical mold fitting hole 27 is provided at the end of the U-shaped member 9 on the side far from the vertical column portion 9a in the length direction. Three mounting holes 28 through which the mounting bolts 24 are inserted are provided at positions closer to the vertical column portion 9a of the U-shaped member 9 than the fitting holes 27 so as to penetrate in the thickness direction. A punching plate discharge hole 29 is provided at the center of the bottom of the mold fitting hole 27. The punching plate discharge hole 29 is provided in the plate-like elastic member 25, the base portion 23, and the lower arm portion 10b that supports them. A punching plate discharge passage 30 is provided in communication therewith. Reference numeral 31 denotes a fixing means for the caulking mold 12, which is provided in the mounting block 22 so as to communicate with the mold fitting hole 27 and has an inclined surface that is constricted on the opposite side to the mold fitting hole 27. The cam block 34 is fitted into the cam hole 32 and fastened in the cam hole 32 with a fastening bolt 33.

而して、カシメ用金型１２は、その周面一箇所に形成された回り止め用垂直面部１２ａをカム孔３２側に位置させた状態で取付用ブロック２２の金型嵌合孔２７に内嵌すると共に、カムブロック３４をカム孔３２内に内嵌させ、当該カムブロック３４を締結ボルト３３でカム孔３２内に押し込むように締め付けることにより、カムブロック３４側の一側辺垂直面とカシメ用金型１２側の回り止め用垂直面部１２ａとを圧接させて、金型嵌合孔２７内に所定向きで固定させることができる。   Thus, the caulking mold 12 is inserted into the mold fitting hole 27 of the mounting block 22 with the anti-rotation vertical surface portion 12a formed at one place on the peripheral surface thereof positioned on the cam hole 32 side. The cam block 34 is fitted in the cam hole 32 and tightened so that the cam block 34 is pushed into the cam hole 32 with the fastening bolt 33, so that the one side vertical surface and the caulking The anti-rotation vertical surface portion 12a on the mold 12 side can be brought into pressure contact and fixed in the mold fitting hole 27 in a predetermined direction.

上記のようにカシメ用金型１２をセットしたならば、そのコ形部材９の対向両アーム部１０ａ，１０ｂ間にワークを構成する薄鉄板などの板材Ｐ上のピアスナット取付位置が入り込むように多関節汎用ロボット１を稼働させ、図２に示すように、当該板材Ｐ上のピアスナット取付位置をカシメ用金型１２の真上に位置させる。このとき板材Ｐは、カシメ用金型１２の軸線ＣＬに対し直交する。係る状態でピアスナットシステム１１を稼働させて、ピアスナットＮを板材Ｐのピアスナット取付位置にカシメにより取り付ける。   When the caulking die 12 is set as described above, the pierce nut mounting position on the plate material P such as a thin iron plate constituting the workpiece is inserted between the opposing arm portions 10a and 10b of the U-shaped member 9. The multi-joint general-purpose robot 1 is operated, and as shown in FIG. 2, the pierce nut mounting position on the plate material P is positioned directly above the caulking die 12. At this time, the plate material P is orthogonal to the axis CL of the caulking mold 12. In this state, the pierce nut system 11 is operated, and the pierce nut N is attached to the pierce nut attachment position of the plate member P by caulking.

即ち、ピアスナットフィーダーからピアスナット送給用配管１５を経由して送給されたピアスナットＮは、ピアスナット供給手段１４によって取付部品加圧用ロッド１３の先端下側定位置に保持されるので、係る状態の取付部品加圧用ロッド１３を加圧手段１８によってカシメ用金型１２の方に移動させる。このときピアスナット送給用配管１５とピアスナット供給手段１４、及び板材押さえ用爪２１が取付部品加圧用ロッド１３に連動してカシメ用金型１２側に向かって移動する。而して、当該板材押さえ用爪２１の先端がカシメ用金型１２の周辺部との間で板材Ｐを押圧固定させたならば、その後は取付部品加圧用ロッド１３のみをスプリング２０に抗してカシメ用金型１２に向けて移動させ、図４Ａに示すように、その先端下側に保持されているピアスナットＮとカシメ用金型１２との間で板材Ｐを所定圧力で挟む付ける。   That is, since the pierce nut N fed from the pierce nut feeder via the pierce nut feed pipe 15 is held by the pierce nut supply means 14 at the fixed position below the tip of the attachment component pressurizing rod 13. The mounting part pressurizing rod 13 in this state is moved toward the caulking mold 12 by the pressurizing means 18. At this time, the pierce nut feeding pipe 15, the pierce nut supply means 14, and the plate material pressing claw 21 move toward the caulking die 12 side in conjunction with the attachment part pressurizing rod 13. Thus, if the plate material P is pressed and fixed between the front end of the plate material pressing claw 21 and the peripheral portion of the caulking die 12, then only the attachment component pressing rod 13 is resisted against the spring 20. As shown in FIG. 4A, the plate material P is sandwiched between the pierce nut N held below the tip and the caulking die 12 with a predetermined pressure.

ピアスナットＮの取付面側には、中央ねじ孔と同心状に突出する穴あけ用リング状金型部ｎ１と、この穴あけ用リング状金型部ｎ１を取り囲むように形成された内広がり断面形状のカシメ用凹窪部ｎ２（全体の平面形状は非真円形（例えば各角をカットした正方形）とが設けられている。一方、カシメ用金型１２には、ピアスナットＮの穴あけ用リング状金型部ｎ１が内嵌して板材Ｐに中央ねじ孔より若干大径の貫通孔を剪断形成させるための上端開口部を備えた貫通孔１２ｂと、この貫通孔１２ｂの上端開口部の周囲に突設されてピアスナットＮのカシメ用凹窪部ｎ２内に嵌合するカシメ用突出段部１２ｃとが設けられている。   On the attachment surface side of the pierce nut N, there is a ring-shaped mold part n1 for drilling projecting concentrically with the central screw hole, and an inwardly extending cross-sectional shape formed so as to surround the ring-shaped mold part n1 for drilling. A caulking recess n2 (the entire planar shape is a non-true circle (for example, a square with each corner cut)), while the caulking die 12 is provided with a ring-shaped die for drilling a pierce nut N. A through hole 12b provided with an upper end opening for fitting the mold part n1 into the plate member P to form a through hole having a diameter slightly larger than the central screw hole in the plate member P, and projecting around the upper end opening of the through hole 12b A caulking protruding step portion 12c that is provided and fits into the caulking recessed portion n2 of the piercing nut N is provided.

而して、上記のようにピアスナットＮとカシメ用金型１２との間で板材Ｐを所定圧力で挟む付けることにより、図４Ｂに示すように、ピアスナットＮの穴あけ用リング状金型部ｎ１がカシメ用金型１２の貫通孔１２ｂの上端開口部に内嵌し、板材Ｐに中央ねじ孔より若干大径の貫通孔が剪断形成される。それと同時に、カシメ用金型１２のカシメ用突出段部１２ｃがピアスナットＮの穴あけ用リング状金型部ｎ１の周囲の板材ＰをピアスナットＮのカシメ用凹窪部ｎ２内に加圧変形させて押し込み、板材ＰとピアスナットＮとが板材Ｐのカシメにより結合される。ピアスナットＮの穴あけ用リング状金型部ｎ１によって剪断された板材Ｐの円形抜き板Ｐａは、カシメ用金型１２の貫通孔１２ｂから取付用ブロック２２の抜き板排出孔２９及びこの抜き板排出孔２９に連通する抜き板排出通路３０を経由して所定箇所へ排出される。ピアスナットシステム１１による板材Ｐへの１つのピアスナットＮの取り付けが完了すれば、加圧手段１８を逆動作させ、取付部品加圧用ロッド１３を後退限位置まで後退させると共に、これに連動させて、ピアスナット供給手段１４、ピアスナット送給用配管１５、及び板材押さえ用爪２１を元位置に後退復帰させることにより、次のピアスナット取付位置に対するピアスナットＮの取り付けを開始させることができる。図４Ｃは、上記のようにして板材Ｐに取り付けられたピアスナットＮを示している。   Thus, as shown in FIG. 4B, the plate material P is sandwiched between the pierce nut N and the caulking die 12 with a predetermined pressure as described above, and as shown in FIG. n1 is fitted into the upper end opening of the through hole 12b of the caulking die 12, and a through hole having a diameter slightly larger than the central screw hole is formed in the plate P by shearing. At the same time, the caulking protrusion 12c of the caulking die 12 presses and deforms the plate material P around the ring-shaped die portion n1 for drilling the piercing nut N into the caulking concave portion n2 of the piercing nut N. The plate material P and the pierce nut N are joined together by caulking of the plate material P. The circular punching plate Pa of the plate material P sheared by the ring-shaped mold part n1 for drilling the piercing nut N is discharged from the through hole 12b of the caulking mold 12 to the punching plate discharge hole 29 of the mounting block 22 and this punching plate discharge. It is discharged to a predetermined location via a punch plate discharge passage 30 communicating with the hole 29. When the attachment of one pierce nut N to the plate material P by the pierce nut system 11 is completed, the pressurizing means 18 is reversely operated, and the attachment part pressurizing rod 13 is retracted to the retreat limit position, and in conjunction therewith, The pierce nut supply means 14, the pierce nut feed pipe 15, and the plate material pressing claws 21 are retracted and returned to their original positions, whereby attachment of the pierce nut N to the next pierce nut attachment position can be started. FIG. 4C shows the pierce nut N attached to the plate member P as described above.

以上のようにしてピアスナットＮが板材Ｐにカシメにより取り付けられるのであるが、取付部品加圧用ロッド１３がピアスナットＮをカシメ用金型１２上の板材Ｐに対して所定の加圧力で加圧したとき、そのときの反力はコ形部材９の対向両アーム部１０ａ，１０ｂを押し開くように作用する。従って、図４Ｂに示す側面視では、カシメ用金型１２を支持する下側アーム部１０ｂは、カシメ用金型１２の軸線ＣＬに対し先端下がりに傾くように反時計方向Ｒの曲げ変形を受けることになる。このため、カシメ用金型１２が下側アーム部１０ｂに剛構造で取り付けられているときは、取付部品加圧用ロッド１３とカシメ用金型１２との間でピアスナットＮと板材Ｐとを所定の加圧力で挟み付けたとき、ピアスナットＮのコ形部材９の垂直柱部９ａに近い側（アーム部１０ｂの基部側）の位置ａの加圧力Ｆａに対し、反対側（アーム部１０ｂの先端側）の位置ｂでの加圧力Ｆｂが小さくなる。即ち、ピアスナットＮのカシメ用凹窪部ｎ２に対する板材Ｐのカシメ量が、当該カシメ用凹窪部ｎ２の周方向に関して深い箇所と浅い箇所とが発生し、カシメ用凹窪部ｎ２の全域に対して均等に板材Ｐをカシメることができなくなる。   As described above, the pierce nut N is attached to the plate material P by caulking, but the attachment part pressurizing rod 13 presses the pierce nut N against the plate material P on the caulking die 12 with a predetermined pressure. Then, the reaction force at that time acts to push open both opposing arm portions 10a and 10b of the U-shaped member 9. Therefore, in the side view shown in FIG. 4B, the lower arm portion 10b that supports the caulking die 12 is subjected to bending deformation in the counterclockwise direction R so as to be inclined downward with respect to the axis CL of the caulking die 12. It will be. For this reason, when the caulking die 12 is attached to the lower arm portion 10b with a rigid structure, the pierce nut N and the plate material P are set between the attachment component pressurizing rod 13 and the caulking die 12 in a predetermined manner. Of the pierce nut N with respect to the pressure Fa on the position a on the side close to the vertical column portion 9a of the U-shaped member 9 (base side of the arm portion 10b) (on the side of the arm portion 10b). The applied pressure Fb at the position b on the front end side becomes small. That is, the caulking amount of the plate material P with respect to the caulking concave portion n2 of the piercing nut N is generated in a deep portion and a shallow portion with respect to the circumferential direction of the caulking concave portion n2, and the entire area of the caulking concave portion n2 is generated. On the other hand, the plate material P cannot be caulked evenly.

しかしながら、上記構成の実施形態によれば、取付部品加圧用ロッド１３とカシメ用金型１２との間でピアスナットＮと板材Ｐとを所定の加圧力で挟み付けたとき、カシメ用金型１２を支持する下側アーム部１０ｂが、仮に図４Ｂに示す側面視において反時計方向Ｒに曲げ変形を受けて、カシメ用金型１２の軸線ＣＬに対し先端下がりに傾くように変形することになっても、カシメ用金型１２と下側アーム部１０ｂとの間には、板状弾性材２５で構成された相対運動許容部２６が存在するので、上記位置ａ，ｂにおける加圧力Ｆａ，Ｆｂの差を板状弾性材２５の圧縮変形量の差で吸収することになり、下側アーム部１０ｂに対してカシメ用金型１２（取付用ブロック２２）が、板状弾性材２５を圧縮変形させることにより上記の反時計方向Ｒの曲げ変形を打ち消すように逆方向（時計方向）に傾動して、当該カシメ用金型１２、板材Ｐ、ピアスナットＮ、及び取付部品加圧用ロッド１３の各表面（端面）が互いに平行な状態でカシメ動作が行われる。従って、ピアスナットＮのカシメ用凹窪部ｎ２に対する板材Ｐのカシメ量が、当該カシメ用凹窪部ｎ２の全域においてほぼ均等にすることができる。   However, according to the embodiment having the above-described configuration, when the pierce nut N and the plate material P are sandwiched between the mounting part pressurizing rod 13 and the caulking die 12 with a predetermined pressure, the caulking die 12 is provided. 4b is bent in the counterclockwise direction R in the side view shown in FIG. 4B, and is deformed so as to be inclined downward with respect to the axis CL of the caulking die 12. However, since there is a relative motion allowing portion 26 formed of the plate-like elastic material 25 between the caulking die 12 and the lower arm portion 10b, the applied pressures Fa and Fb at the positions a and b are as follows. The caulking die 12 (mounting block 22) compresses and deforms the plate-like elastic member 25 against the lower arm portion 10b. Counterclockwise direction R Tilt in the opposite direction (clockwise) so as to cancel the bending deformation, and the respective surfaces (end faces) of the caulking die 12, the plate material P, the pierce nut N, and the mounting component pressurizing rod 13 are parallel to each other. A caulking operation is performed. Therefore, the caulking amount of the plate material P with respect to the caulking concave portion n2 of the piercing nut N can be made substantially uniform over the entire area of the caulking concave portion n2.

尚、上記の実施形態では、カシメ用金型１２を支持する取付用ブロック２２は、図３に示すように、金型１２よりコ形部材９の垂直柱部９ａに近い側で３本の取付用ボルト２４で取り付けられている。従って、カシメ動作時に下側アーム部１０ｂに対してカシメ用金型１２が図４Ｂにおいて時計方向に板状弾性材２５を圧縮変形させて傾動するとき、当該板状弾性材２５の圧縮される領域の長さ（金型１２からコ形部材９の垂直柱部９ａに近い側の端部までの領域の長さ）が長く、抵抗が非常に大きい。このような問題点を解消するため、図５に示すように、カシメ用金型１２を支持する取付用ブロック２２を、金型１２に対してコ形部材９の垂直柱部９ａのある側とは反対側（下側アーム部１０ｂの遊端側）で所要本数の取付用ボルト２４で取り付けることができる。また、図６に示すように、カシメ用金型１２を支持する取付用ブロック２２を、金型１２に対してコ形部材９の長さ方向（延出方向）に対し直交する左右両側位置でそれぞれ取付用ボルト２４で取り付けることもできる。   In the above embodiment, the mounting block 22 for supporting the caulking mold 12 has three mounting blocks closer to the vertical column portion 9a of the U-shaped member 9 than the mold 12, as shown in FIG. It is attached with a bolt 24 for use. Accordingly, when the caulking die 12 is tilted by compressing and deforming the plate-like elastic member 25 in the clockwise direction in FIG. 4B during the caulking operation, the region where the plate-like elastic member 25 is compressed. (The length of the region from the mold 12 to the end of the U-shaped member 9 on the side close to the vertical column portion 9a) is long, and the resistance is very large. In order to solve such a problem, as shown in FIG. 5, the mounting block 22 that supports the caulking die 12 is placed on the side where the vertical column portion 9 a of the U-shaped member 9 is located with respect to the die 12. Can be attached with the required number of mounting bolts 24 on the opposite side (the free end side of the lower arm portion 10b). Further, as shown in FIG. 6, the mounting blocks 22 that support the caulking mold 12 are positioned at both left and right positions perpendicular to the length direction (extending direction) of the U-shaped member 9 with respect to the mold 12. Each of them can be mounted with mounting bolts 24.

更に、上記の実施形態では、カシメ用金型１２を支持する取付用ブロック２２とコ形部材９の下側アーム部１０ｂとの間に敷設した板状弾性材２５からカシメ用金型１２の相対運動許容部２６を構成したが、カシメ用金型１２とこれを支持する取付用ブロック２２との間に弾性材を介在させてカシメ用金型１２の相対運動許容部２６を構成することもできる。例えば図７及び図８に示すように、前記貫通孔１２ｂとカシメ用突出段部１２ｃとを備えたカシメ用金型１２の円柱状本体１２ｄが同心状に内嵌する金型嵌合孔３５を取付用ブロック２２に設け、この金型嵌合孔３５の底面とカシメ用金型１２の円柱状本体１２ｄの底面との間、及び金型嵌合孔３５の内周面とカシメ用金型１２の円柱状本体１２ｄの外周面との間にそれぞれ硬質ウレタン樹脂などから成る適当厚さの板状弾性材３６，３７を介装することができる。この場合のカシメ用金型１２の固定手段３８は、カシメ用金型１２の円柱状本体１２ｄから突出する小径で且つ周方向の一箇所に切欠部１２ｅを備えた軸部１２ｆに対し相対回転不能に嵌合する押さえ板３９をボルト４０により取付用ブロック２２の上に着脱自在に取り付けることによって構成できる。尚、図示のように、前記押さえ板３９の内周面とカシメ用金型１２の切欠部１２ｅを含む軸部１２ｆとの間にも、弾性材４１を介在させることができる。   Further, in the above embodiment, the caulking mold 12 is relatively moved from the plate-like elastic member 25 laid between the mounting block 22 for supporting the caulking mold 12 and the lower arm portion 10b of the U-shaped member 9. Although the motion allowing portion 26 is configured, the relative motion allowing portion 26 of the caulking die 12 may be configured by interposing an elastic material between the caulking die 12 and the mounting block 22 that supports the caulking die 12. . For example, as shown in FIGS. 7 and 8, there is provided a mold fitting hole 35 in which the cylindrical body 12d of the caulking mold 12 having the through hole 12b and the caulking projection step 12c is concentrically fitted. Provided in the mounting block 22, between the bottom surface of the mold fitting hole 35 and the bottom surface of the cylindrical body 12 d of the crimping mold 12, and the inner peripheral surface of the mold fitting hole 35 and the crimping mold 12. Between the outer peripheral surface of the cylindrical main body 12d, plate-like elastic members 36 and 37 having an appropriate thickness each made of a hard urethane resin or the like can be interposed. In this case, the fixing means 38 of the caulking mold 12 is not rotatable relative to the shaft part 12f having a small diameter protruding from the cylindrical main body 12d of the caulking mold 12 and having a notch 12e at one place in the circumferential direction. The pressing plate 39 fitted to the mounting block 22 can be configured to be detachably mounted on the mounting block 22 with bolts 40. As shown in the figure, an elastic material 41 can be interposed between the inner peripheral surface of the pressing plate 39 and the shaft portion 12 f including the notch portion 12 e of the caulking die 12.

Ａ図はナットなどの取付用ロボット全体を示す側面図、Ｂ図は同要部の拡大側面図である。Fig. A is a side view showing the whole mounting robot such as a nut, and Fig. B is an enlarged side view of the main part. カシメ用金型の取付構造と、板材、ピアスナット、及び取付部品加圧用ロッドを示す要部の縦断側面図である。It is a vertical side view of the principal part which shows the attachment structure of a crimping metal mold | die, a board | plate material, a pierce nut, and the attachment component pressurization rod. カシメ用金型の取付部を示す平面図である。It is a top view which shows the attaching part of the metal mold | die for crimping. Ａ図は板材とピアスナットとを付部品加圧用ロッドとカシメ用金型とで挟んだカシメ直前の状態を示す一部切り欠き側面図、Ｂ図は同カシメ動作時を示す一部切り欠き側面図、Ｃ図はピアスナットが取り付けられた板材を示す縦断側面図である。Fig. A is a partially cutaway side view showing a state immediately before caulking, in which a plate material and a pierce nut are sandwiched between an attached part pressurizing rod and a caulking die, and Fig. B is a partially notched side view showing the caulking operation. FIGS. C and C are longitudinal side views showing a plate member to which a pierce nut is attached. 第二の実施形態を示す要部の平面図である。It is a top view of the important section showing a second embodiment. 第三の実施形態を示す要部の平面図である。It is a top view of the principal part which shows 3rd embodiment. 第四の実施形態を示す要部の縦断側面図である。It is a vertical side view of the principal part which shows 4th embodiment. 第四の実施形態を示す要部の平面図である。It is a top view of the principal part which shows 4th embodiment.

符号の説明Explanation of symbols

１ ６軸の多関節汎用ロボット
８ 最終段ロボットアーム
９ コ形部材
１０ａ，１０ｂ コ形部材の上下対向両アーム部
１１ ピアスナットシステム
１２ カシメ用金型
１２ａ 回り止め用垂直面部
１２ｂ 貫通孔
１２ｃ カシメ用突出段部
１３ 取付部品加圧用ロッド
１４ ピアスナット供給手段
１５ ピアスナット送給用配管
１６ 可動台
１７ ガイドロッド
１８ 流体圧シリンダーユニットなどの加圧手段
１９ ガイドロッド
２０ スプリング
２１ 板材押さえ用爪
２２ 取付用ブロック
２３ 下側アーム部上の基台部
２４ 取付用ボルト
２５，３６，３７，４１ 硬質ウレタン樹脂などの板状弾性材
２６ 相対運動許容部
２７，３５ 金型嵌合孔
２９ 抜き板排出孔
３０ 抜き板排出通路
３１，３８ カシメ用金型固定手段
３２ カム孔
３３ カムブロック
３９ 押さえ板
Ｎ ピアスナット
ｎ１ 穴あけ用リング状金型部
ｎ２ カシメ用凹窪部
Ｐ 板材
1 6-axis multi-joint general-purpose robot 8 Last stage robot arm 9 U-shaped members 10a, 10b Upper and lower opposing arm parts 11 Piercing nut system 12 Caulking die 12a Non-rotating vertical surface 12b Through hole 12c For caulking Protruding step 13 Mounting part pressure rod 14 Pierce nut supply means 15 Pierce nut feed pipe 16 Movable base 17 Guide rod 18 Pressure means such as a fluid pressure cylinder unit 19 Guide rod 20 Spring 21 Plate material pressing claw 22 For mounting Block 23 Base portion 24 on lower arm portion Mounting bolts 25, 36, 37, 41 Plate-like elastic material such as hard urethane resin 26 Relative motion allowing portion 27, 35 Mold fitting hole 29 Drain plate discharge hole 30 Extraction plate discharge passages 31 and 38 Clamping die fixing means 32 Cam hole 33 Cam block 39 Holding plate N Asnut n1 Ring-shaped die part for drilling n2 Recessed caulking P P Plate material

Claims (5)

ロボットシステムの最終段ロボットアームにコ形部材が取り付けられ、このコ形部材の対向両アーム部の内、一方のアーム部には、ナットなど取付部品のカシメ用金型が支持され、他方のアーム部には、前記カシメ用金型に対して遠近方向に往復移動自在で加圧手段に連動連結された取付部品加圧用ロッドが取り付けられ、前記カシメ用金型と取付部品加圧用ロッドとで板材に取付部品をカシメにより固着するようにしたナットなどの取付用ロボットであって、前記カシメ用金型とこれを支持する前記一方のアーム部との間に、当該カシメ用金型の姿勢の変動を許容する相対運動許容部を介在させて成る、ナットなどの取付用ロボット。   A U-shaped member is attached to the last stage robot arm of the robot system, and one of the opposing arm portions of the U-shaped member supports a caulking die for a mounting part such as a nut, and the other arm. The mounting part pressurizing rod that is reciprocally movable in the near and far direction with respect to the caulking mold and interlocked with the pressurizing means is attached to the portion, and the caulking mold and the mounting part pressurizing rod are used as a plate material. A mounting robot, such as a nut, in which a mounting part is fixed by caulking, between the caulking mold and the one arm part supporting the caulking mold, and a change in posture of the caulking mold A mounting robot, such as a nut, with a relative motion permitting part that allows 前記カシメ用金型は、取付用ブロックに設けられた孔に固定手段を介して着脱自在に嵌合固定され、前記取付用ブロックは、前記コ形部材のアーム部に弾性材を介してボルト止めされ、当該弾性材によって前記相対運動許容部が構成された、請求項１に記載のナットなどの取付用ロボット。   The caulking mold is detachably fitted and fixed to a hole provided in the mounting block via a fixing means, and the mounting block is bolted to the arm portion of the U-shaped member via an elastic material. The mounting robot such as a nut according to claim 1, wherein the relative motion allowing portion is configured by the elastic material. 前記取付用ブロックをコ形部材のアーム部に取り付けるボルトが、前記カシメ用金型に対してコ形部材のアーム部の遊端側に配置されている、請求項２に記載のナットなどの取付用ロボット。   The attachment of a nut or the like according to claim 2, wherein a bolt for attaching the attachment block to the arm portion of the U-shaped member is arranged on the free end side of the arm portion of the U-shaped member with respect to the caulking die. Robot. 前記取付用ブロックをコ形部材のアーム部に取り付けるボルトが、前記カシメ用金型に対してコ形部材のアーム部の長さ方向に対して直交する左右両側に配置されている、請求項２に記載のナットなどの取付用ロボット。   The bolt which attaches the said attachment block to the arm part of a U-shaped member is arrange | positioned with respect to the said crimping metal mold | die at the right-and-left both sides orthogonal to the length direction of the arm part of a U-shaped member. Mounting robots such as nuts described in 1. 前記カシメ用金型は、取付用ブロックに設けられた金型嵌合孔に固定手段を介して着脱自在に嵌合固定され、当該取付用ブロックの金型嵌合孔とこれに嵌合したカシメ用金型との間には弾性材が介装され、当該弾性材によって前記相対運動許容部が構成された、請求項１に記載のナットなどの取付用ロボット。
The caulking mold is detachably fitted and fixed to a mold fitting hole provided in the mounting block via a fixing means, and the fitting fitting hole of the mounting block and the caulking fitted thereto are fitted. The mounting robot such as a nut according to claim 1, wherein an elastic material is interposed between the metal mold and the relative motion allowing portion is configured by the elastic material.
JP2004167944A 2004-06-07 2004-06-07 Nuts and other mounting robots Expired - Fee Related JP4578152B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2004167944A JP4578152B2 (en) 2004-06-07 2004-06-07 Nuts and other mounting robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2004167944A JP4578152B2 (en) 2004-06-07 2004-06-07 Nuts and other mounting robots

Publications (2)

Publication Number Publication Date
JP2005342778A true JP2005342778A (en) 2005-12-15
JP4578152B2 JP4578152B2 (en) 2010-11-10

Family

ID=35495618

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2004167944A Expired - Fee Related JP4578152B2 (en) 2004-06-07 2004-06-07 Nuts and other mounting robots

Country Status (1)

Country Link
JP (1) JP4578152B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112275920A (en) * 2020-11-05 2021-01-29 苏州施米特机械有限公司 Automatic feeding and riveting mechanism for robot-moving type riveting nut

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4820072B1 (en) * 1969-10-27 1973-06-18
JPS5231488Y2 (en) * 1971-08-07 1977-07-18
JPS56126330U (en) * 1980-02-26 1981-09-25
JPS63180332A (en) * 1987-01-23 1988-07-25 Shoji Miyagawa Metallic die for press machine
JPH02145936U (en) * 1989-05-16 1990-12-11
JPH06114644A (en) * 1992-10-09 1994-04-26 Tokyo Multi Fastener Kk C-type press gun device for robot
JPH0747429A (en) * 1993-08-09 1995-02-21 Taiho Seiki Co Ltd Hemming device
JPH0839474A (en) * 1994-07-28 1996-02-13 Mazda Motor Corp Clamping device
JPH0871848A (en) * 1994-02-02 1996-03-19 Amada Metrecs Co Ltd Device for converting linear motion into rotary motion and press rotating tool device using this device
JPH09323172A (en) * 1996-06-06 1997-12-16 Nissan Motor Co Ltd Gun for spot welding

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4820072B1 (en) * 1969-10-27 1973-06-18
JPS5231488Y2 (en) * 1971-08-07 1977-07-18
JPS56126330U (en) * 1980-02-26 1981-09-25
JPS63180332A (en) * 1987-01-23 1988-07-25 Shoji Miyagawa Metallic die for press machine
JPH02145936U (en) * 1989-05-16 1990-12-11
JPH06114644A (en) * 1992-10-09 1994-04-26 Tokyo Multi Fastener Kk C-type press gun device for robot
JPH0747429A (en) * 1993-08-09 1995-02-21 Taiho Seiki Co Ltd Hemming device
JPH0871848A (en) * 1994-02-02 1996-03-19 Amada Metrecs Co Ltd Device for converting linear motion into rotary motion and press rotating tool device using this device
JPH0839474A (en) * 1994-07-28 1996-02-13 Mazda Motor Corp Clamping device
JPH09323172A (en) * 1996-06-06 1997-12-16 Nissan Motor Co Ltd Gun for spot welding

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112275920A (en) * 2020-11-05 2021-01-29 苏州施米特机械有限公司 Automatic feeding and riveting mechanism for robot-moving type riveting nut

Also Published As

Publication number Publication date
JP4578152B2 (en) 2010-11-10

Similar Documents

Publication Publication Date Title
US8087333B2 (en) Method for press punching a hole in sheet metal and press die
JP5913435B2 (en) Fastening method and fastening device
US6684479B2 (en) Method and apparatus for clinching metal sheets
EP0523134B1 (en) Clinching tool for sheet metal joining
KR20110131826A (en) Self-piercing rivet system
JP5209898B2 (en) Method and apparatus for connecting several cables to a member, and rivet bush therefor
US20030192862A1 (en) Method and apparatus for welding a metal fastener to a metal member
KR101392965B1 (en) Self piercing rivet device and anvil unit thereof
JP4578152B2 (en) Nuts and other mounting robots
WO2005056444A3 (en) Short-flanged sheet material forming and joining
KR101505910B1 (en) Self piercing rivet device
KR100775810B1 (en) A jig unit of spot welding machine
JP4944835B2 (en) Stud-like member fixing structure and method for manufacturing stud-like member fixing structure
JP3121114U (en) Steel with fixed nuts
JPH0649393Y2 (en) Positioning and fixing device for punches and dies
US11565302B2 (en) Press working apparatus, and setting method and maintenance method thereof
KR101749491B1 (en) Self piercing rivet device and anvil unit thereof
JP2009125840A (en) Self-piercing and clinching nut driving device and self-piercing and clinching nut driving robot system
KR20080110362A (en) Anvil unit in self-piercing rivet system
KR101667260B1 (en) Joint device for rivet type nut and joint structure with the same
JP2008161889A (en) Caulking device, caulking method for caulking device, and method of manufacturing brush holder using caulking device
US20220412400A1 (en) Ball joint, method of manufacturing a ball joint, and tool for manufacturing a ball joint
AU643992B2 (en) Clinching tool for sheet metal joining
KR102081737B1 (en) hybrid jointing apparatus and method for manufacturing joint structure using the same
CN221388537U (en) Pressure rising riveting device

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20070607

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20100226

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20100305

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20100428

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20100730

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20100824

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130903

Year of fee payment: 3

R150 Certificate of patent or registration of utility model

Ref document number: 4578152

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees