JP2019188503A5 - - Google Patents
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- JP2019188503A5 JP2019188503A5 JP2018081920A JP2018081920A JP2019188503A5 JP 2019188503 A5 JP2019188503 A5 JP 2019188503A5 JP 2018081920 A JP2018081920 A JP 2018081920A JP 2018081920 A JP2018081920 A JP 2018081920A JP 2019188503 A5 JP2019188503 A5 JP 2019188503A5
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- JP
- Japan
- Prior art keywords
- screw
- bit
- articulated arm
- target
- fastening
- 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.)
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- 238000003780 insertion Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 1
Description
なお、前記緩衝部材は、前記ビットを常時引き出す方向へ付勢するクッションばねを備えて成ることが好ましい。また、前記クッションばねは、前記ビットを引き込む方向へ摺動し始める時に前記ねじの締結完了直前に必要とされるカムアウトを生じない押付力を発揮して当該ビットとねじとの密着を保つよう寸法設定されていることが好ましい。さらに、前記制御手段は、前記緩衝部材がビットを付勢する力より低く設定された目標押付力と、螺入するねじのリードおよびビットの回転数によって決定される目標移動速度と、ねじを所定の目標締付けトルクにより締結し終える目標位置とを予め記憶して成り、前記目標押付力は、ねじの先端がワークに当接してから締結完了まで多関節アームを力制御する設定値であり、前記目標移動速度は、ねじの先端がワークに当接してから締結完了まで多関節アームを螺入する方向へ移動させる基準値であり、前記多関節アームは、前記目標位置へ向かい前記目標押付力を発揮するよう制御されて成ることが好ましい。また、前記制御手段は、ワークへ締結するねじの首下長さを予め記憶する記憶部と、締結後のねじの浮き状態を判定する判定部とを備え、前記判定部は、前記力センサの検出荷重が前記目標押付力へ到達した時点の多関節アームの螺入開始位置と、締結完了時点の多関節アームの締結完了位置とを読み込み、これら読み込んだ螺入開始位置および締結完了位置の差と、前記首下長さとに基づきねじ浮きの有無を判定処理することが好ましい。 The cushioning member preferably includes a cushion spring that urges the bit in a direction of constantly pulling it out. Further, the cushion spring is sized so as to exert a pressing force that does not cause a come-out required immediately before the completion of tightening the screw when the bit starts to slide in the pulling direction, and to maintain the close contact between the bit and the screw. It is preferable that it is set. Further, the control means determines a target pressing force set lower than the force by which the cushioning member urges the bit, a target moving speed determined by the lead of the screw to be screwed and the rotation speed of the bit, and the screw. The target pressing force is a set value for controlling the force of the articulated arm from the time when the tip of the screw comes into contact with the work until the completion of fastening. The target moving speed is a reference value for moving the articulated arm in the direction of screwing in from the time when the tip of the screw abuts on the work until the fastening is completed, and the articulated arm exerts the target pressing force toward the target position. It is preferably controlled to exert. Further, the control means includes a storage unit that stores in advance the length under the neck of the screw to be fastened to the work, and a determination unit that determines the floating state of the screw after fastening, and the determination unit is the force sensor of the force sensor. The screwing start position of the articulated arm when the detected load reaches the target pressing force and the fastening completion position of the articulated arm at the time of completing the fastening are read, and the difference between the read screwing start position and the fastening completion position. It is preferable to perform a determination process for determining the presence or absence of screw floating based on the length below the neck.
Claims (5)
前記ドライバユニットは、前記ビットを軸方向へ摺動自在に支持して成り、引き込む方向へ摺動した時には当該ビットに加わる衝撃を低減する緩衝部材を備えて成ることを特徴とするねじ締めロボット。 A driver unit that has a bit that can be engaged with a screw that is screwed into a work and drives the bit to rotate, a force sensor that detects an axial load applied to the bit, and a force sensor that supports the driver unit and moves it to a predetermined position. In a screw tightening robot including a flexible articulated arm and a control means for controlling the drive of the articulated arm based on the detected load of the force sensor.
The driver unit is a screw tightening robot characterized in that the bit is slidably supported in the axial direction and is provided with a cushioning member that reduces the impact applied to the bit when the bit is slid in the retracting direction.
前記目標押付力は、ねじの先端がワークに当接してから締結完了まで多関節アームを力制御する設定値であり、
前記目標移動速度は、ねじの先端がワークに当接してから締結完了まで多関節アームを螺入する方向へ移動させる基準値であり、
前記多関節アームは、前記目標位置へ向かい前記目標押付力を発揮するよう制御されて成ることを特徴とする請求項1ないし請求項3の何れかに記載のねじ締めロボット。 The control means sets a target pressing force set lower than the force by which the cushioning member urges the bit, a target moving speed determined by the lead of the screw to be screwed and the rotation speed of the bit, and a predetermined target of the screw. It is made by memorizing in advance the target position to finish tightening by the tightening torque.
The target pressing force is a set value that controls the force of the articulated arm from the time when the tip of the screw comes into contact with the work until the completion of fastening.
The target moving speed is a reference value for moving the articulated arm in the screwing direction from the time when the tip of the screw comes into contact with the work until the fastening is completed.
The screw tightening robot according to any one of claims 1 to 3, wherein the articulated arm is controlled so as to move toward the target position and exert the target pressing force.
前記判定部は、前記力センサの検出荷重が前記目標押付力へ到達した時点の多関節アームの螺入開始位置と、締結完了時点の多関節アームの締結完了位置とを読み込み、これら読み込んだ螺入開始位置および締結完了位置の差と、前記首下長さとに基づきねじ浮きの有無を判定処理することを特徴とする請求項1ないし請求項4の何れかに記載のねじ締めロボット。
The control means includes a storage unit that stores in advance the length of the screw to be fastened to the work under the neck, and a determination unit that determines the floating state of the screw after fastening.
The determination unit reads the screwing start position of the articulated arm when the detected load of the force sensor reaches the target pressing force and the fastening complete position of the articulated arm when the fastening is completed, and these read screws. The screw tightening robot according to any one of claims 1 to 4, wherein the presence or absence of screw floating is determined based on the difference between the insertion start position and the fastening completion position and the length under the neck.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018081920A JP7157548B2 (en) | 2018-04-21 | 2018-04-21 | Screw tightening robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018081920A JP7157548B2 (en) | 2018-04-21 | 2018-04-21 | Screw tightening robot |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2019188503A JP2019188503A (en) | 2019-10-31 |
JP2019188503A5 true JP2019188503A5 (en) | 2021-05-06 |
JP7157548B2 JP7157548B2 (en) | 2022-10-20 |
Family
ID=68391531
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018081920A Active JP7157548B2 (en) | 2018-04-21 | 2018-04-21 | Screw tightening robot |
Country Status (1)
Country | Link |
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JP (1) | JP7157548B2 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7425614B2 (en) | 2020-01-31 | 2024-01-31 | 日東精工株式会社 | Automatic screw tightening device |
CN112548550A (en) * | 2020-11-30 | 2021-03-26 | 珠海格力智能装备有限公司 | Device for screwing and control method |
CN115156895A (en) * | 2022-08-17 | 2022-10-11 | 江苏理工学院 | Novel automatic screw tightening device for production line |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2894198B2 (en) * | 1993-01-13 | 1999-05-24 | 株式会社デンソー | Screw fastening device |
JPH09183027A (en) * | 1996-01-08 | 1997-07-15 | Toshiba Corp | Screw fastening device |
JP5565550B2 (en) | 2009-05-12 | 2014-08-06 | 株式会社Ihi | Automatic screw tightening device and control method thereof |
JP2012143842A (en) | 2011-01-13 | 2012-08-02 | Sharp Corp | Locating device, automatic assembling device, locating method, and program |
JP5711550B2 (en) | 2011-01-28 | 2015-05-07 | 日東精工株式会社 | Automatic screwing machine |
JP5837769B2 (en) | 2011-07-08 | 2015-12-24 | 日東精工株式会社 | Automatic screw tightening device |
JP5797967B2 (en) | 2011-07-30 | 2015-10-21 | 日東精工株式会社 | Automatic screw tightening device |
JP5886921B1 (en) | 2014-09-16 | 2016-03-16 | 日東精工株式会社 | Screw tightening device |
SE538301C2 (en) | 2014-12-10 | 2016-05-03 | Atlas Copco Ind Tech Ab | Power tool with position control |
WO2016103298A1 (en) | 2014-12-25 | 2016-06-30 | 川崎重工業株式会社 | Robot system |
US10780535B2 (en) | 2016-07-21 | 2020-09-22 | Delta Electronics, Inc. | Automatic screw tightening module and robot manipulator employing same |
JP2018024075A (en) | 2016-07-27 | 2018-02-15 | セイコーエプソン株式会社 | Control device, robot and robot system |
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2018
- 2018-04-21 JP JP2018081920A patent/JP7157548B2/en active Active
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