JP2014168833A - Screw fastening device and screw fastening method - Google Patents

Screw fastening device and screw fastening method Download PDF

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JP2014168833A
JP2014168833A JP2013042576A JP2013042576A JP2014168833A JP 2014168833 A JP2014168833 A JP 2014168833A JP 2013042576 A JP2013042576 A JP 2013042576A JP 2013042576 A JP2013042576 A JP 2013042576A JP 2014168833 A JP2014168833 A JP 2014168833A
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screw
tightening
driver device
screw tightening
cradle
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JP2014168833A5 (en
JP6039467B2 (en
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masato Yanagisawa
正人 柳澤
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Canon Inc
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Abstract

PROBLEM TO BE SOLVED: To provide a screw fastening device, which fastens a screw at a predetermined screw fastening position by taking up the screw, which is supplied with a screw supplying mechanism, with a screw fastening driver device 4 capable of holding and releasing the screw, being capable of shortening tact time by shortening a distance between a screw fastening position and a screw feeding position by the screw feeding mechanism and of easily supplying the screw.SOLUTION: A screw supplying mechanism includes a screw supplying machine 1 sending out a screw, and a screw reserving table 20 having a screw supporting part capable of supporting multiple screws. In a screw fastening device, it is possible to perform a screw fastening operation in which the screw supported by the screw reserving table 20 is taken up by a screw fastening driver device 4 and is fastened at a screw fastening portion, and preform a transfer operation in which the screw sent out from the screw supplying machine 1 is taken up by the screw fastening driver device 4 and is transferred to the screw supporting part of the screw reserving table 20. The screw fastening driver device 4 and the screw reserving table 20 are capable of being transferred between a screw fastening position at which the screw fastening operation is performed and a transfer position at which the transfer operation is performed.

Description

本発明は、ネジ供給機構によって供給されたネジを所定のネジ締め箇所にネジ締めするネジ締め装置及びネジ締め方法に関する。   The present invention relates to a screw fastening device and a screw fastening method for fastening a screw supplied by a screw supply mechanism to a predetermined screw fastening location.

ネジ締め装置において、ネジ締めのタクトタイムを短縮することが求められている。ネジ締めのタクトタイムの短縮手段として、ネジ締め箇所と、ネジ供給機構によるネジ供給位置との間の距離を短縮することが、特許文献１に提案されている。   In a screw tightening device, it is required to shorten the tact time of screw tightening. As a means for shortening the screw tightening tact time, Patent Document 1 proposes shortening the distance between the screw tightening point and the screw supply position by the screw supply mechanism.

特許文献１に提案されているネジ締め装置について説明する。図１２（ａ）は特許文献１に提案されているネジ締め装置の構成を示す図である。予めネジ５０をテープ上に連ねて設置したネジ部品テーピング連５２を形成しておき、このネジ部品テーピング連５２を用いたネジ供給機構を、ネジ締めドライバ装置５３に接近した位置に設けている。ネジ締めドライバ装置５３は、ネジ部品テーピング連５２の先端のネジ５０を吸着する真空吸着パイプ５８と、真空吸着パイプ５８内に設けられたビット５７〔図１２（ｂ），（ｃ）参照〕とを備えている。ビット５７は、真空吸着パイプ５８で保持されたネジ５０のネジ頭部と係合するものとなっている。また、ネジ部品テーピング連５２を含むネジ供給機構とネジ締めドライバ装置５３は、ＸＹテーブル５４によって、一体的に、直交するＸ，Ｙ二方向に平面移動が可能になっている。図１２（ｂ）はネジ供給時の図であり、ネジ締めドライバ装置５３がＺ駆動軸５６に沿って下降し、真空吸着パイプ５８でネジ部品テーピング連５２の先端のネジ５０を吸着して上昇する。図１２（ｃ）はネジ締め時の図であり、ネジ部品テーピング連５２を備えたネジ供給機構全体が、スライダ５５によって、ネジ締めドライバ５３と干渉しない位置まで後退する。ネジ供給機構が後退した状態で、ビット５７が回転し、ネジ締めドライバ装置５３が下降して、ワーク５１の所定のネジ締め箇所にネジ締めを行う。   The screw fastening device proposed in Patent Document 1 will be described. FIG. 12A is a diagram showing the configuration of the screw fastening device proposed in Patent Document 1. FIG. A screw part taping series 52 in which the screws 50 are arranged in advance on the tape is formed in advance, and a screw supply mechanism using the screw part taping series 52 is provided at a position close to the screw tightening driver device 53. The screw tightening driver 53 includes a vacuum suction pipe 58 that sucks the screw 50 at the tip of the screw component taping series 52, and a bit 57 (see FIGS. 12B and 12C) provided in the vacuum suction pipe 58. It has. The bit 57 is engaged with the screw head of the screw 50 held by the vacuum suction pipe 58. Further, the screw supply mechanism including the screw component taping series 52 and the screw tightening driver device 53 can be moved in a plane in two orthogonal X and Y directions integrally by an XY table 54. FIG. 12B is a view at the time of screw supply, and the screw tightening driver device 53 descends along the Z drive shaft 56 and ascends by sucking the screw 50 at the tip of the screw component taping station 52 with the vacuum suction pipe 58. To do. FIG. 12C is a diagram at the time of screw tightening, and the entire screw supply mechanism including the screw component taping station 52 is retracted by the slider 55 to a position where it does not interfere with the screw tightening driver 53. With the screw supply mechanism retracted, the bit 57 rotates and the screw tightening driver device 53 descends to perform screw tightening on a predetermined screw tightening portion of the work 51.

特開平１−１４６６６９号公報JP-A-1-146669

しかしながら、特許文献１のネジ締め装置は、ネジ部品テーピング連を用いたネジ供給機構を用いていることから、ネジがネジ部品テーピング連になくなった場合の補給は、新たなネジテーピング連をセットし直さなければならない。このため、ネジの補給に手間がかかる問題がある。また、異なるネジへの交換も同様である。   However, since the screw tightening device of Patent Document 1 uses a screw supply mechanism using a screw component taping series, replenishment when a screw is no longer in the screw part taping series sets a new screw taping series. I have to fix it. For this reason, there is a problem that it takes time to supply screws. The same applies to replacement with a different screw.

本発明は、上記従来の問題点に鑑みてなされたもので、ネジ締め箇所と、ネジ供給機構によるネジ供給位置との間の距離が短いことでタクトタイムを短縮できると同時に、ネジの補給が容易なネジ締め装置及びネジ締め方法を提供することを第１の目的とする。また、本発明は、異なるネジへの交換も容易とすることを第２の目的とする。   The present invention has been made in view of the above-mentioned conventional problems, and the tact time can be shortened by reducing the distance between the screw tightening point and the screw supply position by the screw supply mechanism, and at the same time, the screw can be replenished. A first object is to provide an easy screw fastening device and a screw fastening method. A second object of the present invention is to facilitate replacement with a different screw.

上記課題を解決するために、本発明の第１は、ネジ供給機構により供給されたネジを、ネジの保持とその解除が可能なネジ締めドライバ装置で取り上げて所定のネジ締め箇所にネジ締めするネジ締め装置において、
前記ネジ供給機構が、ネジを送り出すネジ供給機と、複数のネジを支持可能なネジ支持部を有するネジ取り置き台とを備えていると共に、
前記ネジ取り置き台に支持されたネジを前記ネジ締めドライバ装置で取り上げて前記所定のネジ締め箇所にネジ込むネジ締め動作と、前記ネジ供給機から送り出されたネジを前記ネジ締めドライバ装置で取り上げて前記ネジ取り置き台のネジ支持部へ移載する移載動作とが可能で、しかも前記ネジ締めドライバ装置と前記ネジ取り置き台とが、前記ネジ締め動作を行うネジ締め位置と、前記移載動作を行う移載位置との間で移動可能であることを特徴とするネジ締め装置を提供するものである。 In order to solve the above-described problem, the first aspect of the present invention is to pick up a screw supplied by a screw supply mechanism with a screw tightening driver device capable of holding and releasing the screw and tighten the screw at a predetermined screw tightening position. In the screw tightening device,
The screw supply mechanism includes a screw supply machine that sends out a screw, and a screw storage base having a screw support portion that can support a plurality of screws.
A screw tightening operation for picking up a screw supported by the screw stand with the screw tightening driver device and screwing it into the predetermined screw tightening location, and a screw sent out from the screw feeder with the screw tightening driver device The transfer operation of transferring to the screw support portion of the screw storage table is possible, and the screw tightening driver device and the screw storage table perform the screw tightening position and the transfer operation. The present invention provides a screw fastening device which is movable between a transfer position to be performed.

また、本発明の第２は、上記本発明の第１に係るネジ締め装置を用いたネジ締め方法において、
前記前記ネジ締めドライバ装置と前記ネジ取り置き台を前記移載位置へ移動させる移載位置移動工程と、
前記移載位置において、前記ネジ供給機から送り出されたネジを前記ネジ締めドライバ装置で取り上げて前記ネジ取り置き台の前記ネジ支持部へ移載するネジ移載工程と、
前記ネジ締めドライバ装置と前記ネジ取り置き台を前記ネジ締め位置へ移動させるネジ締め位置移動工程と、
前記ネジ締め位置において、前記ネジ取り置き台のネジ支持部に移載されたネジを前記ネジ締めドライバ装置で取り上げ、前記所定のネジ締め箇所にネジ締めするネジ締め工程と
を有することを特徴とするネジ締め方法を提供するものである。 The second aspect of the present invention is a screw tightening method using the screw tightening apparatus according to the first aspect of the present invention.
A transfer position moving step of moving the screw tightening driver device and the screw cradle to the transfer position;
In the transfer position, a screw transfer step of picking up the screw fed from the screw supply machine with the screw tightening driver device and transferring it to the screw support portion of the screw retaining table;
A screw tightening position moving step of moving the screw tightening driver device and the screw cradle to the screw tightening position;
A screw tightening step of picking up the screw transferred to the screw support portion of the screw retaining stand at the screw tightening position with the screw tightening driver device and tightening the screw at the predetermined screw tightening position; A screw tightening method is provided.

本発明のネジ締め装置においては、ネジ供給機構がネジ供給機とネジ取り置き台とを備えており、ネジ締め位置におけるネジ締めドライバ装置へのネジの供給がネジ取り置き台によって行われるものとなっている。また、ネジ取り置き台には、移載位置において、ネジ供給機からネジ締めドライバ装置でネジが移載されるものとなっている。   In the screw tightening device of the present invention, the screw supply mechanism includes a screw feeder and a screw cradle, and the screw is supplied to the screw tightening driver device at the screw tightening position by the screw cradle. Yes. In addition, the screws are transferred from the screw feeder to the screw cradle by a screw tightening driver device at the transfer position.

本発明のネジ締め装置及び方法において、ネジ取り置き台をネジ締めドライバ装置と接近した位置に配置しておくことで、ドライバ装置でネジを取り上げてネジ締めするネジ締め動作時のタクトタイムを短縮することができる。   In the screw tightening apparatus and method of the present invention, the tact time at the time of the screw tightening operation in which the screw is picked up and tightened by the driver device is shortened by arranging the screw cradle in a position close to the screw tightening driver device. be able to.

ネジ締めドライバ装置とネジ取り置き台は、ネジ締め位置と移載位置との間で移動させることができるので、移載位置へ移動出せることでネジ取り置き台へのネジの移載を行うことができる。特にそれぞれ異なるネジを送り出す複数のネジ供給機を設けておくと、ネジ締めドライバ装置とネジ取り置き台を移動させるネジ供給機を選択することで、ネジ取り置き台に移載するネジの種類を選択することができる。従って、異なるネジへの交換に際し、ネジ供給機構の構成部材を交換する必要がなく、容易に対応することができる。   Since the screw tightening driver device and the screw cradle can be moved between the screw tightening position and the transfer position, the screw can be transferred to the screw cradle by moving to the transfer position. . In particular, if a plurality of screw feeders that send out different screws are provided, the screw tightening driver device and the screw feeder that moves the screw cradle are selected to select the type of screw to be transferred to the screw cradle. be able to. Therefore, when replacing with a different screw, it is not necessary to replace the constituent members of the screw supply mechanism, and this can be easily handled.

また、ネジ締めドライバ装置とネジ取り置き台を一体として移動させることができると、両者を前記接近した位置関係のまま、ネジ締め位置から移載位置へと移動させることができる。従って、移載位置への移動後、直ちに、タクトタイムを短縮可能な接近した位置関係で移載動作に入ることができ、移載完了後も接近した配置関係のままネジ締め位置へ移動し、直ちにネジ締め動作に入ることができる。   Moreover, if the screw tightening driver device and the screw cradle can be moved together, they can be moved from the screw tightening position to the transfer position with the close positional relationship. Therefore, immediately after moving to the transfer position, the transfer operation can be started in the close positional relationship that can shorten the tact time, and after the transfer is completed, the transfer operation is moved to the screw tightening position with the close positional relationship. The screw tightening operation can be started immediately.

本発明のネジ締め装置の一例を示す全体構成図である。It is a whole lineblock diagram showing an example of a screw fastening device of the present invention. 図１に示されるネジ締め装置の主要部を模式的に示す図である。It is a figure which shows typically the principal part of the screw fastening apparatus shown by FIG. ネジ締めドライバ装置の先端部の部分拡大断面図で、（ａ）はネジの保持前の状態を示す図、（ｂ）はネジを保持した状態を示す図である。It is the elements on larger scale of the front-end | tip part of a screw fastening driver apparatus, (a) is a figure which shows the state before holding | maintenance of a screw, (b) is a figure which shows the state holding the screw. ネジ取り置きプレートの第１の例を示す図で、（ａ）は平面図、（ｂ）は（ａ）のＡ−Ａ’断面図である。It is a figure which shows the 1st example of a screw reservation plate, (a) is a top view, (b) is A-A 'sectional drawing of (a). （ａ）、（ｂ）は本発明のネジ締め装置の動作説明図である。(A), (b) is operation | movement explanatory drawing of the screw fastening apparatus of this invention. （ｃ）、（ｄ）は本発明のネジ締め装置の動作説明図である。(C), (d) is operation | movement explanatory drawing of the screw fastening apparatus of this invention. （ｅ）、（ｆ）は本発明のネジ締め装置の動作説明図である。(E), (f) is operation | movement explanatory drawing of the screw fastening apparatus of this invention. （ｇ）、（ｈ）は本発明のネジ締め装置の動作説明図である。(G), (h) is operation | movement explanatory drawing of the screw fastening apparatus of this invention. （ｉ）、（ｊ）は本発明のネジ締め装置の動作説明図である。(I), (j) is operation | movement explanatory drawing of the screw fastening apparatus of this invention. （ｋ）、（ｌ）は本発明のネジ締め装置の動作説明図である。(K), (l) is operation | movement explanatory drawing of the screw fastening apparatus of this invention. ネジ取り置きプレート第２の例を示す図で、（ａ）は平面図、（ｂ）は（ａ）のＡ−Ａ’断面図である。It is a figure which shows the screw retention plate 2nd example, (a) is a top view, (b) is A-A 'sectional drawing of (a). ネジ取り置きプレートの第３の例を示す図で、（ａ）は平面図、（ｂ）は（ａ）のＡ−Ａ’断面図である。It is a figure which shows the 3rd example of a screw reservation plate, (a) is a top view, (b) is A-A 'sectional drawing of (a). ネジ取り置きプレートの第４の例を示す図で、（ａ）は平面図、（ｂ）は（ａ）のＡ−Ａ’断面図、（ｃ）はネジ締め時の（ａ）のＡ−Ａ’に対応する断面図である。It is a figure which shows the 4th example of a screw reservation plate, (a) is a top view, (b) is AA 'sectional drawing of (a), (c) is AA of (a) at the time of screw fastening It is sectional drawing corresponding to '. ネジ取り置きプレートの第５の例を示す平面図である。It is a top view which shows the 5th example of a screw reserve plate. ネジ取り置きプレートの第６の例を示す平面図である。It is a top view which shows the 6th example of a screw reserve plate. （ａ）〜（ｄ）は第５の例に係るネジ取り置きプレートを備えた本発明のネジ締め装置の動作説明図である。(A)-(d) is operation | movement explanatory drawing of the screw fastening apparatus of this invention provided with the screw reservation plate which concerns on a 5th example. 特許文献１のネジ締め方法の説明図であり、（ａ）は構成図であり、（ｂ）はネジ供給時の説明図であり、（ｃ）はネジ締め時の説明図である。It is explanatory drawing of the screw fastening method of patent document 1, (a) is a block diagram, (b) is explanatory drawing at the time of screw supply, (c) is explanatory drawing at the time of screw fastening.

以下、図面を用いて本発明の実施形態を説明する。なお、以下に参照する図面において、同じ符号は同様の構成要素を示す。   Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings referred to below, the same reference numerals indicate the same components.

図１及び図２に示すように、本発明のネジ締め装置１００は、ネジ締めドライバ装置４と、ネジ取り置き台２０と、ネジ供給機１とを備えている。このネジ締めドライバ装置４と、ネジ取り置き台２０と、ネジ供給機１とは、後述するように、ネジ供給機構の一部を構成するものでもある。また、この実施形態では３台のネジ供給機１を備えているが、これは１台でもよく、複数台設ける場合でも４台以上とすることもできる。   As shown in FIGS. 1 and 2, the screw tightening device 100 of the present invention includes a screw tightening driver device 4, a screw retaining table 20, and a screw feeder 1. As will be described later, the screw tightening driver device 4, the screw retaining table 20, and the screw feeder 1 constitute a part of a screw supply mechanism. In this embodiment, three screw feeders 1 are provided. However, this may be one, or four or more even when a plurality of screws are provided.

ネジ供給機１は、多数のネジ５を蓄えており、このネジ５を１本ずつ送り出すネジ５の供給源である。ネジ供給機１は、同種のネジ５を蓄えたものでも、それぞれ異なる種類のネジ５を蓄えたものでもよいが、ネジ供給機１の台数は使用するネジ５の種類数に応じた台数とするのが通常である。   The screw feeder 1 stores a large number of screws 5 and is a supply source of the screws 5 that sends out the screws 5 one by one. The screw feeder 1 may store the same type of screws 5 or may store different types of screws 5, but the number of screw feeders 1 depends on the number of types of screws 5 to be used. It is normal.

この実施形態のネジ締めドライバ装置４は、図３に示すように、ネジ５の頭部を吸着して保持する真空吸着用パイプ１０を備えており、真空吸着用パイプ１０の内部にはビット１２が昇降移動及び回転可能に内蔵されている。ネジ締めドライバ装置４は、真空吸着用パイプ１０で吸着して取り上げたネジ５をビット１２でワーク７の所定のネジ締め箇所にネジ込むネジ締め動作が可能となっている。また、ネジ締めドライバ装置４は、真空吸着用パイプ１０で吸着して取り上げたネジ５をネジ取り置き台２０のネジ支持部へ移載する移載動作も可能となっている。   As shown in FIG. 3, the screw tightening driver device 4 of this embodiment includes a vacuum suction pipe 10 that sucks and holds the head of the screw 5, and a bit 12 is provided inside the vacuum suction pipe 10. Is built in so that it can be moved up and down and rotated. The screw tightening driver device 4 can perform a screw tightening operation in which the screw 5 picked up by the vacuum suction pipe 10 is screwed into a predetermined screw tightening portion of the work 7 by the bit 12. Further, the screw tightening driver device 4 can also perform a transfer operation in which the screw 5 picked up by being picked up by the vacuum suction pipe 10 is transferred to the screw support portion of the screw storage table 20.

ネジ締めドライバ装置４は、平面上の一方向であるＸ方向と、上下方向であるＺ方向に移動可能となるように、Ｚ駆動軸３を介してＸ駆動軸２に設置されている。ネジ締めドライバ装置４は、Ｘ駆動軸２に沿ったＸ方向にＺ駆動軸３と共に移動することにより、前記ネジ締め動作を行うネジ締め位置と、前記移載動作を行う移載位置との間を移動可能となっている。このＸ駆動軸２に沿ったＸ方向の移動は、第一の移動手段による移動である。図２に示されるように、ネジ取り置き台２０はスライダ９を介してＺ駆動軸３に取り付けられていることから、第一の移動手段は、ネジ締めドライバ装置４と、スライダ９及びネジ取り置き台２０とを一体的に移動させるものとなっている。また、ネジ締めドライバ装置４がＺ駆動軸３に沿ったＺ方向へ移動する際には、ネジ取り置き台２０は移動することなくＺ駆動軸３への取り付け位置を維持するものとなっている。   The screw tightening driver device 4 is installed on the X drive shaft 2 via the Z drive shaft 3 so as to be movable in the X direction which is one direction on the plane and the Z direction which is the vertical direction. The screw tightening driver device 4 moves together with the Z drive shaft 3 in the X direction along the X drive shaft 2 to thereby move between the screw tightening position where the screw tightening operation is performed and the transfer position where the transfer operation is performed. Can be moved. The movement in the X direction along the X drive shaft 2 is movement by the first moving means. As shown in FIG. 2, since the screw retaining table 20 is attached to the Z drive shaft 3 via the slider 9, the first moving means includes the screw tightening driver device 4, the slider 9, and the screw retaining table. 20 are moved together. Further, when the screw tightening driver device 4 moves in the Z direction along the Z drive shaft 3, the screw cradle 20 does not move and maintains the mounting position on the Z drive shaft 3.

真空吸着用パイプ１０は、図２乃至図４に示すように、ネジ５の頭部を吸着して保持し、さらに、ネジ５の保持を解除できるように、真空状態の形成及び真空破壊が可能な機能を持つポンプにチューブ４０を介して接続されている。ネジ５を取り上げる際には、真空吸着用パイプ１０の内部を真空状態となるようにしてネジ５に近づけることにより、ネジ５を簡単に吸着して取り上げることができる。また、真空吸着用パイプ１０の先端の内壁に設けた凸部１４により、多種多様などのような形態のネジ頭でも、ネジ頭部が凸部１４に密着して真空状態を維持できるようになっている。ネジ５を後述するネジ取り置き台２０に移載する際には、ポンプによりエアーを噴出させて真空破壊を行い、ネジ５を真空吸着用パイプ１０から離すことで、ネジ取り置き台２０に移載することができる。   As shown in FIGS. 2 to 4, the vacuum suction pipe 10 can absorb and hold the head of the screw 5, and can form a vacuum state and break the vacuum so that the holding of the screw 5 can be released. It is connected via a tube 40 to a pump having various functions. When picking up the screw 5, the screw 5 can be picked up and picked up easily by bringing the inside of the vacuum suction pipe 10 into a vacuum state and bringing it close to the screw 5. Further, the convex portion 14 provided on the inner wall at the tip of the vacuum suction pipe 10 allows the screw head to be in close contact with the convex portion 14 and maintain a vacuum state even in various types of screw heads. ing. When transferring the screw 5 to the screw holding table 20 described later, air is blown out by a pump to break the vacuum, and the screw 5 is moved away from the vacuum suction pipe 10 to be transferred to the screw holding table 20. be able to.

なお、この実施形態では真空吸着してネジ５を取り上げる方式のネジ締めドライバ装置４となっているが、ネジ５の保持とその解除ができるのであれば、電磁石方式等の別の方式を用いることもできる。   In this embodiment, the screw tightening driver device 4 is a method of picking up the screw 5 by vacuum suction. However, if the screw 5 can be held and released, another method such as an electromagnet method may be used. You can also.

ビット１２は、ネジ５を回転させて所望のネジ締め箇所にネジ込む工具であり、真空吸着用パイプ１０の内部に移動及び回転可能に装着されている。ビット１２は、ネジ締め時に、真空吸着用パイプ１０の内部から外部へと回転しながら移動しつつ、ネジ５の頭部の溝と嵌合することにより、ネジ５を回転させてネジ締めを行う。なお、ネジ頭部の溝形状として、すりわり形状、十字穴形状、プラスマイナス穴形状、六角穴形状等、多種類のものが存在するため、ビット１２を交換できるように着脱可能としておくことが好ましい。   The bit 12 is a tool that rotates the screw 5 to be screwed into a desired screw tightening position, and is mounted inside the vacuum suction pipe 10 so as to be movable and rotatable. At the time of screw tightening, the bit 12 rotates while moving from the inside of the vacuum suction pipe 10 to the outside, and engages with the groove on the head of the screw 5 to rotate the screw 5 and tighten the screw. . Since there are many types of groove shapes on the screw head, such as a slot shape, a cross hole shape, a plus / minus hole shape, a hexagonal hole shape, etc., the bit 12 can be made detachable so that it can be replaced. preferable.

ネジ取り置き台２０は、複数のネジ５を支持可能なネジ支持部を有し、ネジ締めドライバ装置４へ供給するネジ５を保持して蓄えておく部材である。また、このネジ取り置き台２０へのネジ５の補充はネジ供給機１から行われる。前記のように、このネジ取り置き台２０は、第一の移動手段によるＸ方向への移動の際は、ネジ締めドライバ装置４と一体的に移動するものとなっている。また、ネジ取り置き台２０は、Ｚ駆動軸３に対してスライダ９を介して取り付けられており、第二の移動手段によりネジ締めドライバ装置４に対して移動可能となっている。本実施形態の第二の移動手段は、ネジ取り置き台２０をネジ締めドライバ装置４に対してＸ方向に移動させるものとなっているが、ネジ取り置き台２０とネジ締めドライバ装置４が相対的に移動すれば、いずれを移動させるものであってもよい。第二の移動手段による、ネジ取り置き台２０とネジ締めドライバ装置４の相対的に移動は、ネジ締め動作時に、ネジ取り置き台２０がネジ締めドライバ装置４の動作に干渉しない両者の位置関係とするためのものである。また、移載動作時に、ネジ締めドライバ装置４からネジ取り置き台２０へネジ５を移載させやすい両者の位置関係とするためのものでもある。   The screw retaining table 20 is a member that has a screw support portion capable of supporting a plurality of screws 5 and holds and stores the screws 5 supplied to the screw tightening driver device 4. In addition, the screw replenishment table 20 is replenished with the screw 5 from the screw feeder 1. As described above, the screw retaining table 20 moves integrally with the screw tightening driver device 4 when moving in the X direction by the first moving means. Further, the screw retaining table 20 is attached to the Z drive shaft 3 via a slider 9 and is movable with respect to the screw tightening driver device 4 by the second moving means. The second moving means of the present embodiment moves the screw cradle 20 in the X direction with respect to the screw tightening driver device 4, but the screw cradle 20 and the screw tightening driver device 4 are relatively relative to each other. Any one may be moved as long as it moves. The relative movement of the screw cradle 20 and the screw tightening driver device 4 by the second moving means is the positional relationship between the screws cradle 20 and the screw tightening driver device 4 so that they do not interfere with the operation of the screw tightening driver device 4 during the screw tightening operation. Is for. Moreover, it is also for making it the positional relationship of both that it is easy to transfer the screw 5 from the screw fastening driver apparatus 4 to the screw storage stand 20 at the time of transfer operation | movement.

各ネジ供給機１は、Ｘ駆動軸２と平行なＸ方向に並んでおり、各ネジ供給機１が送り出すネジ５の位置（ネジ供給位置）もＸ方向に並んでいる。そして、移載動作を行う移載位置とネジ締め動作を行うネジ締め位置も、ネジ供給位置と共にＸ方向に直列に並んでいる。従って、ネジ締めドライバ装置４をＸ方向に移動させるだけで、同一平面においてＸ方向に直交するＹ方向に移動させることなく、移載位置とネジ締め位置間を往復させることができる。   The screw feeders 1 are arranged in the X direction parallel to the X drive shaft 2, and the positions (screw supply positions) of the screws 5 sent out by the screw feeders 1 are also arranged in the X direction. The transfer position for performing the transfer operation and the screw tightening position for performing the screw tightening operation are also arranged in series in the X direction together with the screw supply position. Therefore, only by moving the screw tightening driver device 4 in the X direction, the transfer position and the screw tightening position can be reciprocated without moving in the Y direction orthogonal to the X direction on the same plane.

図４に示すように、本実施形態におけるネジ取り置き台２０は、上面中央部に連続した溝２２が形成された角形の柱状体で、この溝２２がネジ支持部を構成している。溝２２は、ネジ５の軸部の径よりも大きく、ネジ５の頭部の径よりも小さい幅で、Ｘ方向に伸びており、ネジ５を、軸部を溝２２の内側に挿入し、頭部を溝２２の両側の表面に掛けて保持可能となっている。なお、Ｃ型チャンネル部材を用いることでも、図４に示す本実施形態のものと同様の機能を有するネジ取り置き台２０とすることが可能である。   As shown in FIG. 4, the screw retaining table 20 in the present embodiment is a rectangular columnar body in which a continuous groove 22 is formed at the center of the upper surface, and the groove 22 constitutes a screw support portion. The groove 22 has a width larger than the diameter of the shaft portion of the screw 5 and smaller than the diameter of the head portion of the screw 5 and extends in the X direction. The screw 5 is inserted into the groove 22 inside the shaft portion, The head can be held by being hung on the surface on both sides of the groove 22. It should be noted that the use of the C-type channel member can also provide the screw retaining table 20 having the same function as that of the present embodiment shown in FIG.

次に、本発明のネジ締め装置１００の動作を図５（図５Ａ〜図５Ｆ）で説明する。なお、図５においては、説明の便宜上、２台のネジ供給機１ａ，１ｂとし、各ネジ供給機１ａ，１ｂからそれぞれネジ５ａ，５ｂを送り出すものとする。   Next, operation | movement of the screw fastening apparatus 100 of this invention is demonstrated with FIG. 5 (FIG. 5A-FIG. 5F). In FIG. 5, for convenience of explanation, it is assumed that there are two screw feeders 1a and 1b, and the screws 5a and 5b are sent out from the screw feeders 1a and 1b, respectively.

まず、図５（ａ）に示すように、ネジ締めドライバ装置４をＸ駆動軸２に沿って、一のネジ供給機１ｂのネジ送り出し位置の上部（移載位置）に移動させる（移載位置移動工程）。位置制御は、本ネジ締め装置１００の駆動を制御する制御部に位置情報を蓄積しておくことで行うことができる。また、ネジ締めドライバ装置４に、所定の位置まで移動したことを検知するセンサを設けておき、このセンサの検知に基づいて移動を停止させることでも行うことができる。   First, as shown in FIG. 5A, the screw tightening driver device 4 is moved along the X drive shaft 2 to the upper part (transfer position) of the screw feed position of one screw feeder 1b (transfer position). Moving process). The position control can be performed by accumulating position information in a control unit that controls the driving of the screw fastening device 100. Alternatively, the screw tightening driver device 4 may be provided with a sensor for detecting that the screw tightening driver device 4 has moved to a predetermined position, and the movement may be stopped based on the detection of the sensor.

図５（ｂ）に示すように、ネジ供給機１ｂで送り出されるネジ５ｂの上部に到達したネジ締めドライバ装置４を、Ｚ駆動軸３に沿って下方向に移動させる。この時、ネジ取り置き台２０は、スライダ９によって、ネジ締めドライバ装置４に干渉しない位置に移動した状態にある。ネジ締めドライバ装置４が下降し、ネジ供給機１から送り出されたネジ５ｂを、真空吸着用パイプ１０で吸着して保持した後、ネジ締めドライバ装置４を元の位置まで上昇させてネジ５ｂを取り上げる。   As shown in FIG. 5B, the screw tightening driver device 4 that has reached the upper part of the screw 5 b sent out by the screw feeder 1 b is moved downward along the Z drive shaft 3. At this time, the screw cradle 20 has been moved to a position where it does not interfere with the screw tightening driver device 4 by the slider 9. After the screw tightening driver device 4 is lowered and the screw 5b fed from the screw feeder 1 is sucked and held by the vacuum suction pipe 10, the screw tightening driver device 4 is raised to the original position and the screw 5b is tightened. take up.

次に、図５（ｃ）に示すように、ネジ取り置き台２０をスライダ９によりネジ５ｂの移載位置まで移動させて停止させる。停止したネジ取り置き台２０に向かってネジ締めドライバ装置４を下降させ、チューブ４０を介して接続されたポンプにより吸着用パイプ１０の真空破壊を行い、ネジ５ｂの保持を解除する。真空吸着用パイプ１０による保持が解除されたネジ５ｂは、ネジ取り置き第２０のネジ支持部である溝２２の内側へ軸部を挿入して移載される（ネジ移載工程）。   Next, as shown in FIG. 5C, the screw retaining table 20 is moved to the transfer position of the screw 5b by the slider 9 and stopped. The screw tightening driver device 4 is lowered toward the stopped screw cradle 20 and the suction pipe 10 is broken by a pump connected via the tube 40 to release the holding of the screw 5b. The screw 5b released from being held by the vacuum suction pipe 10 is transferred by inserting a shaft portion into the inside of the groove 22 which is a twentieth screw support portion (screw transfer step).

次に、図５（ｄ）に示すように、ネジ取り置き台２０を、ネジ締めドライバ装置４の下降に干渉しない位置に移動させる。この状態で、上記と同様にして再びネジ締めドライバ装置４を下降させて移載を行えば、同じネジ供給機１ｂから送り出される同じネジ５ｂをネジ取り置き台２０に蓄えさせることができる。   Next, as shown in FIG. 5D, the screw retaining table 20 is moved to a position that does not interfere with the lowering of the screw tightening driver device 4. In this state, if the screw tightening driver device 4 is again lowered and transferred in the same manner as described above, the same screw 5b fed from the same screw feeder 1b can be stored in the screw retaining table 20.

例えば、１つのワーク７に異なる複数のネジ５ａ，５ｂを用いてネジ締めする場合、必要数のネジ５ｂを移載した後、更に異なるネジ供給機１ａからネジ５ａを移載することになる。この場合、一のネジ供給機１ｂからネジ５ｂを移載した後、図５（ｅ）に示すように、ネジ締めドライバ装置４を別のネジ供給機１ａの上方の移載位置へと移動させる。図５（ｄ）で説明したネジ取り置き台２０の移動は、このネジ締めドライバ装置４の移動の前、移動と同時、移動の後のいずれのタイミングで行ってもよいが、移動と同時とすると作業時間を短縮できる。   For example, in the case where a plurality of different screws 5a and 5b are tightened on one workpiece 7, after transferring a necessary number of screws 5b, the screws 5a are further transferred from different screw feeders 1a. In this case, after the screw 5b is transferred from one screw supply machine 1b, the screw tightening driver device 4 is moved to a transfer position above another screw supply machine 1a as shown in FIG. 5 (e). . The movement of the screw retaining table 20 described with reference to FIG. 5D may be performed before, simultaneously with, or after the movement of the screw tightening driver device 4. Work time can be shortened.

次に、図５（ｆ）に示すように、Ｚ駆動軸３に沿ってネジ締めドライバ装置４を下方に移動させ、前記と同様にして真空吸着用パイプ１０でネジ５ａを吸着保持させる。ネジ５ａの保持後、図５（ｇ）に示すように、ネジ締めドライバ装置４を元の位置まで上昇させ、ネジ５ｂの場合と同様にして、必要数のネジ５ａをネジ取り置き台２０に移載する（ネジ移載工程）。   Next, as shown in FIG. 5F, the screw tightening driver device 4 is moved downward along the Z drive shaft 3 and the screws 5a are sucked and held by the vacuum suction pipe 10 in the same manner as described above. After holding the screw 5a, as shown in FIG. 5 (g), the screw tightening driver device 4 is raised to the original position, and the necessary number of screws 5a are transferred to the screw retaining table 20 in the same manner as the case of the screw 5b. Place (screw transfer process).

所定数のネジ５ａをネジ取り置き台２０に移載した後、図５（ｈ）に示すように、ネジ５ａを保持したネジ締めドライバ装置４を、Ｘ駆動軸２に沿って、ワーク７の上方であるネジ締め位置へ移動させる（ネジ締め位置移動工程）。   After the predetermined number of screws 5a are transferred to the screw retaining table 20, the screw tightening driver device 4 holding the screws 5a is moved above the workpiece 7 along the X drive shaft 2 as shown in FIG. To the screw tightening position (screw tightening position moving step).

次に、図５（ｉ）に示すように、真空吸着用パイプ１０に内蔵されているビット１２を回転させながら、ネジ締めドライバ装置４を下降させ、ネジ５ａによるワーク７へのネジ締めを行う。この時、ネジ取り置き台２０は、ネジ締めドライバ装置４の下降に干渉しない位置に移動させられている。このネジ取り置き台２０の移動は、図５（ｈ）に示す、ネジ締めドライバ装置４のネジ締め位置への移動の前、移動と同時、移動の後のいずれのタイミングで行ってもよいが、この移動と同時とすると作業時間を短縮できる。ネジ締め完了後に、真空吸着用パイプ１０の吸着を停止させ、さらにビット１２の回転を停止させて、ネジ取り置き台２０と干渉しない高さまで、ネジ締めドライバ装置４を上昇させる。   Next, as shown in FIG. 5 (i), the screw tightening driver device 4 is lowered while rotating the bit 12 built in the vacuum suction pipe 10, and the work 7 is tightened with the screw 5a. . At this time, the screw cradle 20 is moved to a position that does not interfere with the lowering of the screw tightening driver device 4. The movement of the screw retaining table 20 may be performed at any timing before, simultaneously with, or after the movement of the screw tightening driver device 4 to the screw tightening position shown in FIG. Working time can be shortened at the same time as this movement. After completion of the screw tightening, the suction of the vacuum suction pipe 10 is stopped, and further, the rotation of the bit 12 is stopped, and the screw tightening driver device 4 is raised to a height that does not interfere with the screw retaining table 20.

１本目のネジ締めが完了したら、図５（ｊ）に示すように、次のネジ締め位置にネジ締めドライバ装置４を移動させる。その時、ネジ取り置き台２０をスライダ９によりネジ締めドライバ装置４がネジ５ｂを取り上げることができる位置まで移動させる。そして、ネジ締めドライバ装置４を下降させ、ネジ取り置き台２０のネジ支持部に保持されているネジ５ｂを真空吸着用パイプ１０により吸着させた後、ネジ締めドライバ装置４を元の位置まで上昇させる。その後、図５（ｋ）に示すように、ネジ取り置き台２０をネジ締めドライバ装置４と干渉しない位置まで移動させる。そして、図５（ｌ）に示すように、真空吸着用パイプ１０に内蔵されているビット１２を回転させながら、ネジ締めドライバ装置４を下降させてワーク７にネジ締めを行う（ネジ締め工程）。ネジ５ｂによるネジ締め工程によりワーク７へのネジ締めが完了する場合、ワーク７が入れ換えられる。それと共に、ネジ締めドライバ装置４は上昇して、ネジ取り置き台２０からネジ５ａと５ｂを順次取り上げて、新たなワーク７に対するネジ締めを繰り返す。   When the first screw tightening is completed, the screw tightening driver device 4 is moved to the next screw tightening position as shown in FIG. At that time, the screw stand 20 is moved by the slider 9 to a position where the screw tightening driver device 4 can pick up the screw 5b. Then, the screw tightening driver device 4 is lowered, and the screw 5b held on the screw support portion of the screw stand 20 is sucked by the vacuum suction pipe 10, and then the screw tightening driver device 4 is lifted to the original position. . After that, as shown in FIG. 5 (k), the screw cradle 20 is moved to a position where it does not interfere with the screw tightening driver device 4. Then, as shown in FIG. 5 (l), the screw tightening driver device 4 is lowered and the work 7 is screwed while rotating the bit 12 built in the vacuum suction pipe 10 (screw tightening step). . When the screw tightening to the work 7 is completed by the screw tightening process using the screw 5b, the work 7 is replaced. At the same time, the screw tightening driver device 4 rises, picks up the screws 5 a and 5 b sequentially from the screw retaining table 20, and repeats screw tightening on the new workpiece 7.

なお、ネジ５ａ，５ｂをネジ取り置き台２０に移載する動作は、ワーク７の入れ換え移動中の時間など、全体のラインタクトに影響が出にくいタイミングで行うことができる。   The operation of transferring the screws 5a and 5b to the screw retaining table 20 can be performed at a timing at which the entire line tact is hardly affected, such as the time during which the workpiece 7 is moved.

このような構成でビス締めドライバ４に接近した位置にビス取り置き台２０を設けることによって装置構成がシンプルになり、且つ、ネジ５ａ，５ｂの補充時に手間をかけることないタクト短縮したネジ締めが可能となる。また、ビス取り置き台２０のネジ支持部である溝２２の幅や深さを調節することで、ネジ５ａ，５ｂの軸部の径や長さが異なる場合にも対応することができる。   By providing the screw retaining stand 20 at a position close to the screw tightening driver 4 with such a configuration, the device configuration becomes simple, and screw tightening with reduced tact time is possible without taking time when replenishing the screws 5a and 5b. It becomes. Further, by adjusting the width and depth of the groove 22 which is the screw support portion of the screw retaining table 20, it is possible to cope with the case where the diameters and lengths of the shaft portions of the screws 5a and 5b are different.

ネジ取り置き台２０は、図６に示すような構造とすることもできる。図５に示すネジ取り置き台２０のネジ支持部は、溝２２と、その底部に設けられた孔２４を備えている。溝２２は、ネジ５の軸部の径よりも大きく、ネジ５の頭部の径よりも小さい幅で形成されており、孔２４の径も、ネジ５の軸部の径よりも大きく、ネジ５の頭部の径よりも小さいものとなっている。このような構成とすると、ネジ５の軸部が孔２４に挿入され、ネジ取り置き台２０が高速で移動してもネジ５の移動を制限することができる。   The screw cradle 20 may be structured as shown in FIG. 5 includes a groove 22 and a hole 24 provided at the bottom thereof. The groove 22 is formed with a width larger than the diameter of the shaft portion of the screw 5 and smaller than the diameter of the head portion of the screw 5, and the diameter of the hole 24 is also larger than the diameter of the shaft portion of the screw 5. 5 is smaller than the diameter of the head. With such a configuration, even if the shaft portion of the screw 5 is inserted into the hole 24 and the screw retaining table 20 moves at a high speed, the movement of the screw 5 can be restricted.

図７に示すように、図６の孔２４に代えて、ネジ取り置き台２０の表面に、ネジ５の移動を制限するネジ保持凹部２６又はネジ保持凸部を設けたネジ支持部としても良い。ネジ保持凹部２６の場合は、溝２２の幅方向にネジ５の頭部の周縁が挿入される程度の径の凹部として形成することができる。これにより、ネジ５の頭部がネジ保持凹部２６に挿入されることにより、ネジ５の移動が制限される。従って、ネジ取り置き台２０が高速で移動しても、ネジ５がネジ取り置き台２０から落下することがなく、一体的に移動するネジ締めドライバ装置４の移動速度を上げることができる。また、ネジ５の頭部の周縁を係止するネジ保持凸部によっても同様の効果を得ることができる。   As shown in FIG. 7, instead of the hole 24 of FIG. 6, a screw support portion provided with a screw holding recess 26 or a screw holding projection for restricting the movement of the screw 5 on the surface of the screw retaining table 20 may be used. In the case of the screw holding recess 26, it can be formed as a recess having a diameter enough to insert the periphery of the head of the screw 5 in the width direction of the groove 22. Thereby, the movement of the screw 5 is restricted by inserting the head of the screw 5 into the screw holding recess 26. Therefore, even if the screw cradle 20 moves at a high speed, the screw 5 does not fall from the screw cradle 20 and the moving speed of the screw tightening driver device 4 that moves integrally can be increased. The same effect can be obtained by a screw holding convex portion that locks the periphery of the head of the screw 5.

ネジ取り置き台２０のネジ支持部は、図８（ａ）〜（ｃ）に示すように、ネジ５の頭部より大きい径の貫通孔３０が穿孔された構造とすることもできる。このような貫通孔３０を設けておくと、図８（ｂ）に示されるようにネジ５を真空吸着用パイプ１０で保持した後、図８（ｃ）に示されるように、貫通孔３０を介して、貫通孔３０の下方に位置するワーク７へネジ５をねじ込むことが可能となる。従って、真空吸着用パイプ１０でネジ５を保持した後、ネジ取り置き台２０を大きく移動させることなくネジ締めが可能となる。これにより、ネジ締め動作におけるネジ取り置き台２０の移動量及び再度ネジ５を取得するための真空吸着用パイプ１０（ネジ締めドライバ装置４）の移動量を小さくすることができ、タクトタイムの更なる短縮が可能となる。   As shown in FIGS. 8A to 8C, the screw support portion of the screw cradle 20 may have a structure in which a through hole 30 having a diameter larger than the head of the screw 5 is drilled. When such a through hole 30 is provided, the screw 5 is held by the vacuum suction pipe 10 as shown in FIG. 8B, and then the through hole 30 is formed as shown in FIG. 8C. Thus, the screw 5 can be screwed into the workpiece 7 positioned below the through hole 30. Therefore, after the screws 5 are held by the vacuum suction pipe 10, the screws can be tightened without largely moving the screw retaining table 20. As a result, the amount of movement of the screw stand 20 during the screw tightening operation and the amount of movement of the vacuum suction pipe 10 (screw tightening driver device 4) for acquiring the screw 5 again can be reduced, and the tact time can be further increased. Shortening is possible.

上記貫通孔３０は、その中心位置が溝２２の幅方向中央となるように穿孔されていることが好ましい。このような位置に穿孔することで、真空吸着用パイプ１０（ネジ締めドライバ装置４）をＸ方向に移動させるだけで、貫通孔３０を介してのネジ締めと、その後のネジ５の再取得とが可能となる。なお、図８に示す貫通孔３０は１つであるが、複数設けることもできる。   The through hole 30 is preferably perforated so that the center position thereof is the center in the width direction of the groove 22. By drilling at such a position, just by moving the vacuum suction pipe 10 (screw tightening driver device 4) in the X direction, screw tightening through the through hole 30 and subsequent reacquisition of the screw 5 Is possible. Although there is one through hole 30 shown in FIG. 8, a plurality of through holes 30 may be provided.

次に、回転移動されるネジ取り置き台２０を図９及び図１０で説明する。   Next, the screw stand 20 that is rotated and moved will be described with reference to FIGS.

上述したネジ取り置き台２０は、第二の移動手段により、Ｘ駆動軸２と平行な方向に移移動可能な柱状体であるが、図９及示すように、円盤形状とし、第二の移動手段により回転移動可能な回転式のネジ取り置き台２０とすることもできる。図９に示すネジ取り置き台２０は、回転中心の同心円上に形成された複数の孔２４としてネジ支持部が設けられている。孔２４の径は、ネジ５の軸部の径よりも大きく、ネジ５の頭部の径よりも小さくなっており、ネジ５は、その軸部を孔２４内に落とし込み、頭部を孔２４の周縁に引っ掛けて支持されるものとなっている。また、ネジ５の頭部より大きい径の貫通孔３０が、ネジ支持部である孔２４の配置と同じ同心円上に形成されている。図１０に示すネジ取り置き台２０は、上記貫通孔３０に代えて、ネジ支持部である孔２４の配置と同じ同心円上に、ネジ５の頭部が通過可能な切欠３１を形成したものとなっている。図９のネジ取り置き台２０と図１０のネジ取り置き台２０は、孔２４に代えて、回転中心の同心円上に溝２２を形成してネジ支持部とすることもできる。   The above-described screw storage base 20 is a columnar body that can be moved in the direction parallel to the X drive shaft 2 by the second moving means. However, as shown in FIG. Therefore, the rotary screw retaining table 20 can be rotated. 9 is provided with screw support portions as a plurality of holes 24 formed on a concentric circle at the center of rotation. The diameter of the hole 24 is larger than the diameter of the shaft portion of the screw 5 and smaller than the diameter of the head portion of the screw 5. The screw 5 drops the shaft portion into the hole 24, and It is to be supported by being hooked on the periphery. Further, a through hole 30 having a diameter larger than the head of the screw 5 is formed on the same concentric circle as the arrangement of the holes 24 serving as screw support portions. A screw retaining table 20 shown in FIG. 10 is formed by forming a notch 31 through which the head of the screw 5 can pass on the same concentric circle as the arrangement of the hole 24 which is a screw support portion, instead of the through hole 30. ing. The screw storage table 20 of FIG. 9 and the screw storage table 20 of FIG. 10 can be replaced with the hole 24 and can be formed as a screw support portion by forming a groove 22 on a concentric circle at the center of rotation.

次に、図９のネジ取り置き台２０を例に、回転式のネジ取り置き台２０を用いた場合の動作を説明する。   Next, the operation in the case of using the rotary screw storage table 20 will be described taking the screw storage table 20 of FIG. 9 as an example.

ネジ締め動作時においては、図１１（ａ），（ｂ）に示すように、ネジ取り置き台２０に支持されているネジ５が、ネジ締めドライバ装置４の真空吸着用パイプ１０の直下に来るようにネジ取り置き台２０を回転させる。この回転は、ネジ締めドライバ装置４及びネジ取り置き台２０の移動のタイミングに応じて、その移動の前、移動と同時、移動の後のいずれの時期でも行える。しかし、ここでは、説明の便宜上、ネジ締めドライバ装置４及びネジ取り置き台２０は既にネジ締め位置に移動済みとする。また、ネジ取り置き台２０の回転は、回転式のスライダ９を用いることで得ることができる。この状態でネジ締めドライバ装置４をＺ駆動軸３に沿って下降させれば、真空吸着用パイプ１０でネジ５を吸着保持することができる。その後、ネジ締めドライバ装置４を元の位置まで上昇させ、ネジ取り置き台２０を回転させて、図１１（ｃ），（ｄ）に示すように、ネジ５を保持した真空吸着用パイプ１０の直下に貫通孔３０（図１０の例では切欠３１）を位置させる。そして、ネジ締めドライバ装置４を下降させれば、貫通孔３０を介してワーク７へネジ５をねじ込むことができる。その後はネジ締めドライバ装置４を元の位置へ上昇させて、ネジ５の再取得とネジ締めを繰り返すことになる。また、移載動作時には、図１１（ｃ），（ｄ）に示す状態でネジ供給機１からのネジの取得を行い、図１１（ａ）,（ｂ）に示す状態でネジ５の移載を行うことになる。図９の例も図１０の例も、ネジ取り置き台２０を直線的に移動させる時のストローク分の余剰空間不要となるので、省スペース化を図ることができる。   At the time of the screw tightening operation, as shown in FIGS. 11A and 11B, the screw 5 supported by the screw retaining base 20 is placed directly below the vacuum suction pipe 10 of the screw tightening driver device 4. The screw storage table 20 is rotated. This rotation can be performed at any time before, simultaneously with, or after the movement of the screw tightening driver device 4 and the screw cradle 20 according to the timing of the movement. However, here, for convenience of explanation, it is assumed that the screw tightening driver device 4 and the screw retaining table 20 have already been moved to the screw tightening position. Further, the rotation of the screw cradle 20 can be obtained by using the rotary slider 9. If the screw tightening driver device 4 is lowered along the Z drive shaft 3 in this state, the screw 5 can be sucked and held by the vacuum suction pipe 10. Thereafter, the screw tightening driver device 4 is raised to the original position, and the screw retaining table 20 is rotated, and as shown in FIGS. 11 (c) and 11 (d), immediately below the vacuum suction pipe 10 holding the screws 5. The through-hole 30 (notch 31 in the example of FIG. 10) is positioned in If the screw tightening driver device 4 is lowered, the screw 5 can be screwed into the workpiece 7 through the through hole 30. Thereafter, the screw tightening driver device 4 is raised to the original position, and the reacquisition of the screw 5 and the screw tightening are repeated. Further, during the transfer operation, the screws are acquired from the screw feeder 1 in the state shown in FIGS. 11C and 11D, and the screws 5 are transferred in the state shown in FIGS. 11A and 11B. Will do. In both the example of FIG. 9 and the example of FIG. 10, an extra space corresponding to a stroke when the screw retaining table 20 is moved linearly becomes unnecessary, and thus space saving can be achieved.

１，１ａ，１ｂ，１ｃ：ネジ供給機、２：Ｘ駆動軸、３：Ｚ駆動軸、４：ネジ締めドライバ装置、５，５ａ，５ｂ：ネジ、７：ワーク、９：スライダ、１０：真空吸着用パイプ、１２：ビット、１４：凸部、２０：ネジ取り置き台、２２：溝、２４：孔、２６：ネジ保持凹部、２８：ネジ支持部、３０：貫通孔、３１：切欠、４０：チューブ、１００：ネジ締め装置   1, 1a, 1b, 1c: Screw feeder, 2: X drive shaft, 3: Z drive shaft, 4: Screw tightening driver device, 5, 5a, 5b: Screw, 7: Workpiece, 9: Slider, 10: Vacuum Suction pipe, 12: bit, 14: convex part, 20: screw retaining table, 22: groove, 24: hole, 26: screw holding concave part, 28: screw support part, 30: through hole, 31: notch, 40: Tube, 100: Screw fastening device

Claims (12)

ネジ供給機構により供給されたネジを、ネジの保持とその解除が可能なネジ締めドライバ装置で取り上げて所定のネジ締め箇所にネジ締めするネジ締め装置において、
前記ネジ供給機構が、ネジを送り出すネジ供給機と、複数のネジを支持可能なネジ支持部を有するネジ取り置き台とを備えていると共に、
前記ネジ取り置き台に支持されたネジを前記ネジ締めドライバ装置で取り上げて前記所定のネジ締め箇所にネジ込むネジ締め動作と、前記ネジ供給機から送り出されたネジを前記ネジ締めドライバ装置で取り上げて前記ネジ取り置き台のネジ支持部へ移載する移載動作とが可能で、しかも前記ネジ締めドライバ装置と前記ネジ取り置き台とが、前記ネジ締め動作を行うネジ締め位置と、前記移載動作を行う移載位置との間で移動可能であることを特徴とするネジ締め装置。 In a screw tightening device that picks up a screw supplied by a screw supply mechanism with a screw tightening driver device capable of holding and releasing the screw and tightens it to a predetermined screw tightening location.
The screw supply mechanism includes a screw supply machine that sends out a screw, and a screw storage base having a screw support portion that can support a plurality of screws.
A screw tightening operation for picking up a screw supported by the screw stand with the screw tightening driver device and screwing it into the predetermined screw tightening location, and a screw sent out from the screw feeder with the screw tightening driver device The transfer operation of transferring to the screw support portion of the screw storage table is possible, and the screw tightening driver device and the screw storage table perform the screw tightening position and the transfer operation. A screw fastening device which is movable between a transfer position to be performed. 前記ネジ締めドライバ装置と前記ネジ取り置き台とを一体的に移動させる第一の移動手段と、前記ネジ締めドライバ装置と前記ネジ取り置き台とを相対的に移動させる第二の移動手段とを備えていることを特徴とする請求項１に記載のネジ締め装置。   A first moving means for integrally moving the screw tightening driver device and the screw cradle; and a second moving means for relatively moving the screw tightening driver device and the screw cradle. The screw fastening device according to claim 1, wherein 前記ネジ締めドライバ装置と前記ネジ取り置き台とが平面上の一方向であるＸ方向に移動可能で、前記ネジ締め位置と前記移載位置とがＸ方向に並んでいることを特徴とする請求項１又は２に記載のネジ締め装置。   The screw tightening driver device and the screw retaining table are movable in an X direction which is one direction on a plane, and the screw tightening position and the transfer position are aligned in the X direction. The screw fastening apparatus of 1 or 2. 前記ネジ供給機が複数台設けられており、各ネジ供給機について前記移載動作が可能であることを特徴とする請求項１乃至３のいずれか一項に記載のネジ締め装置。   4. The screw tightening device according to claim 1, wherein a plurality of the screw feeders are provided, and the transfer operation is possible for each screw feeder. 5. 前記複数のネジ供給機から送り出されるネジが各ネジ供給機によって異なることを特徴とする請求項４に記載のネジ締装置。   The screw tightening device according to claim 4, wherein the screw fed from the plurality of screw feeders is different depending on each screw feeder. 前記ネジ支持部は、前記ネジの軸部の径よりも大きく、前記ネジの頭部の径よりも小さい幅の連続した溝で、前記ネジを、前記軸部を前記溝の内側に挿入し、前記頭部を前記溝の両側の表面に掛けて保持可能であることを特徴とする請求項１乃至５のいずれか一項に記載のネジ締め装置。   The screw support portion is a continuous groove having a width larger than the diameter of the shaft portion of the screw and smaller than the diameter of the head portion of the screw, the screw is inserted into the groove, and the shaft portion is inserted inside the groove. The screw tightening device according to any one of claims 1 to 5, wherein the head can be held by being hung on a surface on both sides of the groove. 前記ネジ取り置き台は、前記ネジの頭部より大きい径で穿孔された貫通孔を備えていることを特徴とする請求項６に記載のネジ締め装置。   The screw tightening device according to claim 6, wherein the screw cradle includes a through-hole drilled with a diameter larger than a head of the screw. 前記貫通孔は、中心位置が前記溝の幅方向中央となるように穿孔されていることを特徴とする請求項７に記載のネジ締め装置。   The screw tightening device according to claim 7, wherein the through hole is drilled so that a center position thereof is a center in the width direction of the groove. 前記貫通孔が複数設けられていることを特徴とする請求項７又は８に記載のネジ締め装置。   The screw tightening device according to claim 7 or 8, wherein a plurality of the through holes are provided. 前記ネジ取り置き台の表面に、前記ネジの移動を制限するネジ保持凹部又はネジ保持凸部が設けられていることを特徴とする請求項６乃至９のいずれか一項に記載のネジ締め装置。   The screw fastening device according to any one of claims 6 to 9, wherein a screw holding concave portion or a screw holding convex portion that restricts the movement of the screw is provided on a surface of the screw retaining table. 前記ネジ取り置き台が第二の移動手段により回転移動可能であり、前記ネジ支持部が前記ネジ取り置き台の回転中心の同心円上に設けられていると共に、前記ネジの頭部より大きい径の貫通孔又は前記ネジの頭部が通過可能な切欠が、前記ネジ支持部と同じ同心円上に形成されていることを特徴とする請求項２に記載のネジ締め装置。   The screw cradle is rotationally movable by a second moving means, the screw support is provided on a concentric circle at the center of rotation of the screw cradle, and a through hole having a diameter larger than that of the screw head. The screw tightening device according to claim 2, wherein a notch through which the head of the screw can pass is formed on the same concentric circle as the screw support portion. 請求項１乃至１１のいずれか一項に記載のネジ締め装置を用いたネジ締め方法において、
前記ネジ締めドライバ装置と前記ネジ取り置き台を前記移載位置へ移動させる移載位置移動工程と、
前記移載位置において、前記ネジ供給機から送り出されたネジを前記ネジ締めドライバ装置で取り上げて前記ネジ取り置き台の前記ネジ支持部へ移載するネジ移載工程と、
前記ネジ締めドライバ装置と前記ネジ取り置き台を前記ネジ締め位置へ移動させるネジ締め位置移動工程と、
前記ネジ締め位置において、前記ネジ取り置き台のネジ支持部に移載されたネジを前記ネジ締めドライバ装置で取り上げ、前記所定のネジ締め箇所にネジ締めするネジ締め工程と
を有することを特徴とするネジ締め方法。 In the screw fastening method using the screw fastening device according to any one of claims 1 to 11,
A transfer position moving step of moving the screw tightening driver device and the screw cradle to the transfer position;
In the transfer position, a screw transfer step of picking up the screw fed from the screw supply machine with the screw tightening driver device and transferring it to the screw support portion of the screw retaining table;
A screw tightening position moving step of moving the screw tightening driver device and the screw cradle to the screw tightening position;
A screw tightening step of picking up the screw transferred to the screw support portion of the screw retaining stand at the screw tightening position with the screw tightening driver device and tightening the screw at the predetermined screw tightening position; Screw tightening method.
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