JPH0428493B2 - - Google Patents
Info
- Publication number
- JPH0428493B2 JPH0428493B2 JP58150839A JP15083983A JPH0428493B2 JP H0428493 B2 JPH0428493 B2 JP H0428493B2 JP 58150839 A JP58150839 A JP 58150839A JP 15083983 A JP15083983 A JP 15083983A JP H0428493 B2 JPH0428493 B2 JP H0428493B2
- Authority
- JP
- Japan
- Prior art keywords
- bolt
- cylinder
- drive
- parts
- screw
- 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.)
- Expired - Lifetime
Links
- 239000000758 substrate Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241001272720 Medialuna californiensis Species 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Turning (AREA)
- Automatic Assembly (AREA)
Description
【発明の詳細な説明】
＜産業上の利用分野＞
本発明は、ボルト、ナツト等のねじ部品の自動
的に仮締めもしくは本締めする装置に関するもの
である。DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to an apparatus for automatically temporarily tightening or permanently tightening threaded parts such as bolts and nuts.
＜従来技術＞
ボルト等のねじ部品を被組付体に螺装する場合
ねじ部品をパーツフイーダ等の部品供給位置から
１本づつ作業位置へ移送して螺装作業を行うよう
にすると、ねじ部品の移送のために時間がかか
り、複数のねじ部品の螺装作業を効率的に行うこ
とができない。<Prior art> When threading threaded parts such as bolts onto an assembly object, if the threaded parts are transferred one by one from a parts supply position such as a parts feeder to a work position and the threaded work is performed, the threaded parts It takes time to transport, and it is not possible to efficiently thread a plurality of threaded parts.
このため、従来では、パーツフイーダとねじ締
めヘツドとの間を可撓性のボルト移送用パイプで
連結し、パーツフイーダから供給されるボルトを
空気力によつてねじ締めヘツド側へ連結的に供給
するようにしているが、このような移送装置を用
いることができるのはボルトが小形で重量が小さ
い場合のみで、直径が１cmにも及ぶ大形のボルト
を連続的に移送することはできなかつた。 For this reason, in the past, the parts feeder and the screw tightening head were connected using a flexible bolt transfer pipe, and the bolts supplied from the parts feeder were connected and supplied to the screw tightening head side using air force. However, such a transfer device could only be used when the bolt was small and light in weight, and it was not possible to continuously transfer large bolts with a diameter of up to 1 cm.
したがつて、大形ボルトの螺装ステーシヨンで
は複数のボルトのねじ締め位置への供給とねじ締
めを連続的に行うことができず、作業能率を向上
できない要因となつていた。 Therefore, in the threading station for large bolts, it is not possible to continuously supply a plurality of bolts to the screw tightening positions and tighten the screws, which is a factor that makes it impossible to improve work efficiency.
＜発明の目的＞
そこで本発明は、部品供給位置においてねじ部
品を作業ヘツド上に複数受取り、この受取つた複
数のねじ部品を作業位置において連続的に仮締め
もしくは本締めできるようにして、大形ボルトの
連続的な螺装を可能にすることを目的とするもの
である。<Purpose of the Invention> Therefore, the present invention is designed to receive a plurality of threaded parts onto a work head at a parts supply position, and to enable continuous temporary tightening or final tightening of the received plurality of threaded parts at the work position. The purpose is to enable continuous threading of bolts.
＜発明の構成＞
本発明は、ねじ部品を補給する部品供給位置と
ねじ部品を被組付体に螺装する作業位置との間で
移動しかつ鉛直軸線回りに回転する支持軸の下端
に基板を連結し、この基板に駆動筒を上下貫通し
て鉛直軸線回りに回転可能に軸承し、駆動筒の基
板より下方へ突出した部分にプーリを同軸に連結
し、駆動筒の内周に下端にねじ部品に係合する係
合凹部を形成した駆動軸を上下方向のみ軸動可能
に嵌合し、前記部品供給位置へ移動した時に複数
のねじ部品を上下重ねて収納するねじ部品保持筒
を駆動軸と前記支持軸を結ぶ線上で前記基板に上
下貫通して固定し、前記基板の下方にねじ部品移
送部材を駆動軸と支持軸を結ぶ線上を移動可能に
案内支持し、ねじ部品移送部材にねじ部品支持筒
から落下したねじ部品をキヤツチするキヤツチ部
を設け、このキヤツチ部をねじ部品保持筒と駆動
軸の下方でねじ部品保持筒と駆動軸との間で移動
させるシリンダを基板の下方に取付け、支持軸を
挟んでねじ部品支持筒と反対側で基板に駆動モー
タを取付け、この駆動モータの基板より下方へ突
出し鉛直軸線回りに回転する出力軸にプーリを同
軸に連結し、駆動モータのプーリと駆動筒のプー
リとの間でベルトを掛け渡したことを特徴とする
ものである。<Structure of the Invention> The present invention provides a substrate at the lower end of a support shaft that moves between a component supply position for replenishing screw components and a work position for screwing screw components onto an assembly object and rotates around a vertical axis. A drive tube is connected to this base plate through the upper and lower sides and rotatably supported around the vertical axis. A pulley is coaxially connected to the part of the drive tube that protrudes downward from the base plate, and a pulley is attached to the inner circumference of the drive tube at the lower end. A drive shaft formed with an engagement recess that engages with a threaded part is fitted so as to be able to pivot only in the vertical direction, and when moved to the parts supply position, drives a threaded part holding cylinder that stores multiple threaded parts stacked one on top of the other. A threaded component transfer member is fixed to the substrate by vertically penetrating the shaft on a line connecting the drive shaft and the support shaft, and a screw component transfer member is guided and supported below the substrate so as to be movable on the line connecting the drive shaft and the support shaft. A catch part is provided to catch the screw parts that have fallen from the screw part support cylinder, and a cylinder is placed below the board to move the catch part between the screw part holding cylinder and the drive shaft below the screw part holding cylinder and the drive shaft. Mount the drive motor on the board on the opposite side of the screw component support cylinder across the support shaft, connect the pulley coaxially to the output shaft of the drive motor that protrudes downward from the board and rotates around the vertical axis, and It is characterized by a belt running between the pulley and the pulley of the drive cylinder.
＜実施例＞
以下本発明の実施例を図面に基づいて説明す
る。第１図において、Ｗは作業台１上に載置され
た被組付体、２は作業ヘツド、３は振動形のパー
ツフイーダであり、作業ヘツド２は、水平多関節
形のロボツト４の先端部に取付けられ、パーツフ
イーダ（部品供給位置）３に対応する部品供給位
置とボルトを被組付体に螺装する作業位置との間
で移動されるようになつている。<Examples> Examples of the present invention will be described below based on the drawings. In FIG. 1, W is an assembly object placed on a workbench 1, 2 is a work head, 3 is a vibrating parts feeder, and work head 2 is the tip of a horizontally articulated robot 4. The bolt is attached to the parts feeder (components supply position) 3 and is moved between a parts supply position corresponding to the parts feeder (components supply position) 3 and a work position for threading the bolt into the object to be assembled.
前記ロボツト４は、作業ヘツド２の位置決めを
行うとともに、ねじ締めのための上下運動を付与
するもので、基部１０に対して上下動可能な胴部
１１、この胴部１１に一端が枢支され水平面内で
回動可能な第１アーム１２、およびこの第１アー
ム１２の先端部に枢支され水平面内で回動可能な
第２アーム１３を備えており、この第２アーム１
３の先端に鉛直軸線回りで回転可能に軸承された
支持軸１４を介して作業ヘツド２の基板２０が取
付けられている。 The robot 4 positions the work head 2 and provides vertical movement for tightening screws, and includes a body 11 that can move up and down with respect to a base 10, and one end of which is pivoted to the body 11. It includes a first arm 12 that is rotatable in a horizontal plane, and a second arm 13 that is pivotally supported at the tip of the first arm 12 and is rotatable in a horizontal plane.
A base plate 20 of the work head 2 is attached to the tip of the work head 2 via a support shaft 14 rotatably supported around a vertical axis.
この基板２０の支持軸１４から離間した端部に
は、第２図に示されるように、支持軸１４と平行
な鉛直軸線回りで回転可能な駆動筒２１が基板２
０を上下方向に貫通した状態で軸承され、この駆
動筒２１の基板２０より下方へ突出した下端に一
体的にプーリ２２が形成されている。一方、支持
軸１４を挾んで駆動筒２１と対向する側には駆動
モータ２５がブラケツト２３を介して取付けら
れ、この駆動モータ２５の基板２０より下方へ突
出した出力軸に取付けられたプーリ２６と前記プ
ーリ２２との間にベルト２７が掛け渡されてい
る。 As shown in FIG. 2, a driving cylinder 21 that is rotatable around a vertical axis parallel to the support shaft 14 is attached to an end of the substrate 20 that is spaced apart from the support shaft 14.
0 in the vertical direction, and a pulley 22 is integrally formed at the lower end of the drive cylinder 21 that protrudes downward from the base plate 20. On the other hand, a drive motor 25 is attached via a bracket 23 to the side facing the drive cylinder 21 across the support shaft 14, and a pulley 26 is attached to an output shaft of the drive motor 25 that protrudes downward from the base plate 20. A belt 27 is stretched between the pulley 22 and the pulley 22.
駆動筒２１の内部には、下端面にボルトＢの頭
部と係合可能な係合凹部２８ａを形成した駆動軸
２８が同軸的に軸動可能に配設され、スプライン
２９により回転動力が伝達されるようになつてい
る。この駆動軸２８はスプリング３０により下方
に向く押圧力が付与されるとともに、駆動軸２８
の上端から上方に突出する軸部２８ａには円板形
状のストツパ３１が固着され、このストツパ３１
が駆動筒２１の上端面に係合して駆動軸２８を第
１図に示す下降端に位置決めしている。なお、３
２は駆動軸２８の軸方向位置を検出する近接スイ
ツチで、ストツパ３１の外周に形成された環状突
起３１ａと対向して配設され、駆動軸２８が下降
端に位置する状態では、環状突起３１ａが近接ス
イツチ３２より所定量だけ下方に位置している。 Inside the drive cylinder 21, a drive shaft 28 having an engagement recess 28a formed on the lower end surface that can engage with the head of the bolt B is disposed coaxially and movably, and rotational power is transmitted through a spline 29. It is becoming more and more common. This drive shaft 28 is given a downward pressing force by a spring 30, and the drive shaft 28
A disk-shaped stopper 31 is fixed to the shaft portion 28a that projects upward from the upper end.
engages with the upper end surface of the drive cylinder 21 to position the drive shaft 28 at the lower end shown in FIG. In addition, 3
Reference numeral 2 designates a proximity switch for detecting the axial position of the drive shaft 28, which is disposed facing the annular projection 31a formed on the outer periphery of the stopper 31. When the drive shaft 28 is located at the lower end, the annular projection 31a is located below the proximity switch 32 by a predetermined amount.
また、３５は、複数のボルトＢを上下方向に積
層保持するボルト保持筒（ねじ部品保持筒）であ
り、駆動軸２８に対し一定距離だけ支持軸１４側
へ偏寄した位置において鉛直状態で基板２０上に
取付けられ、その下端部は基板２０の下面から突
出している。また、基板２０の下方には、板状の
ボルト移送部材（ねじ部品移送部材）３６が、案
内ブロツク３７により案内支持され、ボルト保持
筒３５の中心と駆動軸２８の軸心を結ぶ線分と平
行な水平方向に移動できるようになつている。そ
して、このボルト移送部材３６は、ブラケツト３
９を介して基板２０に取付けられた移送用シリン
ダ３８によつて移動されるようになつている。 Further, 35 is a bolt holding cylinder (screw parts holding cylinder) that holds a plurality of bolts B stacked in the vertical direction, and holds the board in a vertical state at a position biased toward the support shaft 14 by a certain distance with respect to the drive shaft 28. 20 , and its lower end protrudes from the lower surface of the substrate 20 . Further, below the board 20, a plate-shaped bolt transfer member (screw part transfer member) 36 is guided and supported by a guide block 37, and is connected to a line connecting the center of the bolt holding cylinder 35 and the axis of the drive shaft 28. It is designed to be able to move in parallel horizontal directions. This bolt transfer member 36 is connected to the bracket 3
9 is adapted to be moved by a transfer cylinder 38 attached to the substrate 20.
ボルト移送部材３６の先端中央には、第３図に
示されるように水平断面が半月状のボルト侵入用
凹部３６ａが形成されるとともに、先端部がこの
凹部３６ａの開口部まで延在し、凹部３６ａ内の
ボルトＢを保持する一対の板ばね体４１ａ，４１
ｂが取付けられている。前記凹部３６ａと一対の
板ばね体４１ａ，４１ｂによつて、ボルトＢを保
持するキヤツチ部が構成される。 At the center of the tip of the bolt transfer member 36, a bolt entry recess 36a having a half-moon horizontal cross section is formed as shown in FIG. A pair of leaf spring bodies 41a, 41 that hold the bolt B in 36a
b is installed. A catch portion for holding the bolt B is constituted by the recess 36a and the pair of leaf spring bodies 41a and 41b.
そして、ボルト移送部材３６が第３図に示す後
退端まで後退されると、ボルト移送部材３６がボ
ルト保持筒３５の下方に位置し、ボルト保持筒３
５内の最も下部に位置するボルトＢが凹部３６ａ
内に落下するようになつている。 When the bolt transfer member 36 is retreated to the retreat end shown in FIG. 3, the bolt transfer member 36 is located below the bolt holding cylinder 35, and the bolt holding cylinder
5, the bolt B located at the lowest position is in the recess 36a.
It's starting to fall inwards.
さらに、前記ボルト移送部材３６の上面の幅方
向の中央には、先端に向かつて幅が除々に狭くな
るように案内面４３が形成されるとともに、ボル
ト保持筒３５の下端部には突出部３５ａが形成さ
れ、ボルト移送部材３６の後退時にボルトＢの傾
きを直してボルトＢの軸部が凹部３６ａに確実に
侵入するように作用する。なお、４５はボルト落
下確認用の近接スイツチ、４６はボルトＢを凹部
３６ａ内に確実に挿入させるためのガイドであ
る。 Furthermore, a guide surface 43 is formed at the center of the upper surface of the bolt transfer member 36 in the width direction so that the width becomes gradually narrower toward the tip, and a protrusion 35a is formed at the lower end of the bolt holding cylinder 35. is formed, and acts to correct the inclination of the bolt B when the bolt transfer member 36 retreats, so that the shaft portion of the bolt B reliably enters the recess 36a. Note that 45 is a proximity switch for confirming that the bolt has dropped, and 46 is a guide for ensuring that the bolt B is inserted into the recess 36a.
一方、前記パーツフイーダ３の部品供給管３ａ
の先端には第５図に示されるようにシヤツタ装置
５０の本体５１が取付けられており、この本体５
１には部品供給管３ａの内孔３ｂと連通する連通
孔５２が上下方向に穿設され、その下端部は、作
業ヘツド２のボルト保持筒３５の上端が侵入する
嵌合孔５３と連通している。そして、連通孔５２
を挾んだ両側には、先端部が嵌合孔５３の上端面
から嵌合孔５３内に突出する一対のストツパ軸５
４ａ，５４ｂが嵌合孔５３の軸線に対して斜交す
る状態で軸動可能に案内され、常時はスプリング
５５ａ，５５ｂの撥力により、ボルトＢの頭部と
係合して連通孔５２からのボルトＢの落下を阻止
できる前進端に位置決めされ、嵌合孔５３にボル
ト保持筒３５の上端が係入すると、ストツパ軸５
４ａ，５４ｂがスプリング５５ａ，５５ｂの撥力
に抗して後退され、連通孔５２および内孔３ｂ内
のボルトＢがボルト保持筒３５内に落下すること
を許容するようになつている。 On the other hand, the parts supply pipe 3a of the parts feeder 3
As shown in FIG. 5, a main body 51 of a shutter device 50 is attached to the tip of the shutter device 50.
1 is vertically bored with a communication hole 52 that communicates with the inner hole 3b of the component supply pipe 3a, and its lower end communicates with a fitting hole 53 into which the upper end of the bolt holding cylinder 35 of the work head 2 enters. ing. And the communication hole 52
A pair of stopper shafts 5 whose tips protrude into the fitting hole 53 from the upper end surface of the fitting hole 53 are provided on both sides of the fitting hole 53.
4a and 54b are guided so as to be able to pivot in a state oblique to the axis of the fitting hole 53, and are normally engaged with the head of the bolt B by the repulsive force of the springs 55a and 55b and are removed from the communication hole 52. When the bolt B is positioned at the forward end that can prevent the bolt B from falling, and the upper end of the bolt holding cylinder 35 engages in the fitting hole 53, the stopper shaft 5
4a and 54b are retracted against the repulsive force of springs 55a and 55b, allowing the bolt B in the communication hole 52 and the inner hole 3b to fall into the bolt holding cylinder 35.
次に上記構成から成る装置によつてボルトＢの
仮締めを行う場合の動作について説明する。 Next, the operation of temporarily tightening the bolt B using the apparatus having the above configuration will be described.
運転開始時においてはボルト保持筒３５にボル
トＢが装填されていないため、まず最初に作業ヘ
ツド２をパーツフイーダ３側へ移動させ、ボルト
保持筒３５にボルトＢを装填する。この場合、第
５図に示されるようにボルト移送部材３６を前進
端まで移動させた後、ロボツト４の位置制御によ
りボルト保持筒３５をシヤツタ装置５０の嵌合孔
５３の下方に位置決めし、この後、胴部１１の上
昇により作業ヘツド２を一定量上昇させ、ボルト
保持筒３５の上端を嵌合孔５３内に挿入する。こ
れにより、シヤツタ装置５０のストツパ軸５４
ａ，５４ｂは、スプリング５５ａ，５５ｂの撥力
に抗して後退され、内孔３ｂおよび連通孔５２内
のボルトＢが所定の本数だけボルト保持筒３５内
に順次落下する。そして、この後、胴部１１の下
降によりボルト保持筒３５を嵌合孔５３から離脱
させると、ストツパ軸５４ａ，５４ｂはスプリン
グ５５ａ，５５ｂの撥力により前進し、連通孔５
２内のボルトＢの落下を阻止する。前記嵌合孔５
３にボルト保持筒３５を嵌合する際に、駆動モー
タ２５は支持軸１４を挟んでボルト保持筒３５と
は反対側に設けられているため、シヤツタ装置５
０と駆動モータ２５とが干渉する恐れがない。 Since the bolt B is not loaded into the bolt holding cylinder 35 at the start of operation, first the work head 2 is moved to the parts feeder 3 side and the bolt B is loaded into the bolt holding cylinder 35. In this case, after moving the bolt transfer member 36 to the forward end as shown in FIG. 5, the bolt holding cylinder 35 is positioned below the fitting hole 53 of the shutter device 50 by position control of the robot 4, and Thereafter, the work head 2 is raised by a certain amount by raising the body 11, and the upper end of the bolt holding cylinder 35 is inserted into the fitting hole 53. As a result, the stopper shaft 54 of the shutter device 50
a and 54b are retreated against the repulsive force of springs 55a and 55b, and a predetermined number of bolts B in the inner hole 3b and the communication hole 52 fall into the bolt holding cylinder 35 one after another. Thereafter, when the bolt holding cylinder 35 is removed from the fitting hole 53 by lowering the body 11, the stopper shafts 54a, 54b move forward due to the repulsive force of the springs 55a, 55b, and the communicating hole 53 moves forward.
Prevent bolt B inside 2 from falling. The fitting hole 5
When fitting the bolt holding cylinder 35 to the shutter device 5, since the drive motor 25 is provided on the opposite side of the bolt holding cylinder 35 with the support shaft 14 in between, the shutter device 5
There is no risk of interference between the drive motor 25 and the drive motor 25.
上記のようにしてボルトＢの装填が完了する
と、ロボツト４の位置決め動作により、作業ヘツ
ド２の駆動軸２８を被組付体Ｗ上の最初のねじ締
め位置の上方に位置決めする。そして、この後移
送用シリンダ３８の作動により、ボルト移送部材
３６を後退端まで後退させ、近接スイツチ４５の
作動によりボルトＢが凹部３６ａ内に落下したこ
とを検出すると、ボルト移送部材３６を再び前進
させる。これによりボルトＢは、第１図に示され
るように駆動軸２８の下端に形成された係合凹部
２８ａと対向する位置まで移動される。 When the loading of the bolt B is completed as described above, the drive shaft 28 of the work head 2 is positioned above the first screw tightening position on the object W to be assembled by the positioning operation of the robot 4. Thereafter, the bolt transfer member 36 is moved back to the retreat end by the operation of the transfer cylinder 38, and when it is detected that the bolt B has fallen into the recess 36a by the operation of the proximity switch 45, the bolt transfer member 36 is moved forward again. let As a result, the bolt B is moved to a position where it faces the engagement recess 28a formed at the lower end of the drive shaft 28, as shown in FIG.
そして、この後、胴部１１の下降により作業ヘ
ツド２を下降させると、その過程で移送されたボ
ルトＢの下端が被組付体Ｗのねじ孔Waと係合し
てボルトＢの下降が停止され、ボルトＢの頭部が
駆動軸２８の係合凹部２８ａに係入する。この
後、近接スイツチ３２が一度オンになつて再びオ
フになるまで作業ヘツド２を下降こせることによ
り、駆動軸２８は駆動筒２１に対して仮締め量に
応じた一定量後退される。 After this, when the work head 2 is lowered by lowering the body 11, the lower end of the bolt B transferred in the process engages with the screw hole Wa of the object W to be assembled, and the lowering of the bolt B is stopped. Then, the head of the bolt B engages in the engagement recess 28a of the drive shaft 28. Thereafter, by lowering the work head 2 until the proximity switch 32 is turned on and then turned off again, the drive shaft 28 is retracted from the drive cylinder 21 by a fixed amount corresponding to the amount of temporary tightening.
この後、第４図に示されるようにボルト移送部
材３６を後退端まで後退させると、ボルトＢは板
ばね体４１ａ，４１ｂの先端部を押し広げて凹部
３６ａより離脱し、ボルト移送部材３６が後退端
に位置するとボルト保持筒３５内の異なるボルト
Ｂが凹部３６ａ内に落下し、引続くボルトＢの移
送作業の準備が行われる。 Thereafter, when the bolt transfer member 36 is retreated to the rearward end as shown in FIG. When located at the retreating end, different bolts B in the bolt holding cylinder 35 fall into the recesses 36a, and preparations are made for the subsequent transfer operation of the bolts B.
ボルト移送部材３６が後退端に後退したことが
確認されると、駆動モータ２５が付勢され、プー
リ２６、ベルト２７、プーリ２２を介して駆動筒
２１が回転される。これにより、駆動軸２８が所
定の速度で回転され、ボルトＢの先端がねじ孔
Waに螺合される。このボルトＢの螺合にしたが
つて、ストツパ３１も下降し、このストツパ３１
が一定量下降するとストツパ３１の環状突起３１
ａが近接スイツチ３２と対向し、ねじ締めの完了
が近接スイツチ３２にて確認される。これによ
り、駆動モータ２５が無勢されるボルトＢの締め
付けが停止される。 When it is confirmed that the bolt transfer member 36 has retreated to the rearward end, the drive motor 25 is energized and the drive cylinder 21 is rotated via the pulley 26, belt 27, and pulley 22. As a result, the drive shaft 28 is rotated at a predetermined speed, and the tip of the bolt B is inserted into the screw hole.
Screwed into Wa. As this bolt B is screwed, the stopper 31 also lowers, and this stopper 31
When lowered by a certain amount, the annular projection 31 of the stopper 31
a faces the proximity switch 32, and completion of screw tightening is confirmed by the proximity switch 32. As a result, the tightening of the bolt B, which deenergizes the drive motor 25, is stopped.
このようにして、最初のねじ締め位置における
ねじ締め作業が完了すると、ロボツト４の作動に
より、作業ヘツド２を第２図に示す位置まで上昇
させてボルトＢから駆動軸２８を離脱させ、駆動
軸２８が次のねじ締め位置と対応するよう作業ヘ
ツド２を位置決めする。そして、この後、前記し
たように、ボルト移送部材３６を前進させて異な
るボルトＢを駆動軸２８の下方まで移送した後、
作業ヘツド２の一定量の下降、ボルト移送部材３
６の後退、駆動モータ２５の付勢の動作を行うこ
とにより、ボルトＢが次のねじ締め位置に仮締め
され、この後、作業ヘツド２を第２図に示す位置
まで上昇させて次のねじ締め位置に移動する。 In this way, when the screw tightening work at the first screw tightening position is completed, the robot 4 operates to raise the work head 2 to the position shown in FIG. 2, detach the drive shaft 28 from the bolt B, and remove the drive shaft Position the working head 2 so that 28 corresponds to the next screw tightening position. After that, as described above, after moving the bolt transfer member 36 forward to transfer a different bolt B to the lower part of the drive shaft 28,
Lowering the working head 2 by a certain amount, bolt transfer member 3
By retracting step 6 and energizing the drive motor 25, the bolt B is temporarily tightened to the next screw tightening position, and then the working head 2 is raised to the position shown in Fig. 2 to tighten the next screw. Move to the tightening position.
以下同様の動作を行うことにより、ボルト保持
筒３５内のボルトＢが被組付体Ｗの各ねじ孔Wa
に順次仮締めされ、ボルトＢがなくなると、再び
作業ヘツド２をパーツフイーダ３側へ移動させ、
ボルト保持筒３５をシヤツタ装置５０と係合さ
せ、ボルト保持筒３５内にボルトＢを補給し、再
びボルトＢの仮締め作業を行う。 By performing the same operation thereafter, the bolt B in the bolt holding cylinder 35 is inserted into each screw hole Wa of the assembly W.
are temporarily tightened one after another, and when the bolt B is gone, move the work head 2 to the parts feeder 3 side again.
The bolt holding cylinder 35 is engaged with the shutter device 50, the bolt B is replenished into the bolt holding cylinder 35, and the temporary tightening of the bolt B is performed again.
ボルト保持筒３５内におけるボルトＢの収納本
数は、被組付体Ｗ上におけるねじ孔Waの数と一
致させておくことが好ましく、このようにする
と、一つの被組付体ＷについてはボルトＢの補給
動作を行うことなしに全てのねじ孔Waにボルト
Ｂを螺装できる。 It is preferable that the number of bolts B stored in the bolt holding cylinder 35 corresponds to the number of screw holes Wa on the object W to be assembled. Bolts B can be screwed into all screw holes Wa without having to perform replenishment operations.
なお、上記実施例は被組付体ＷにボルトＢを仮
締めするようにしたものであつたが、本発明はボ
ルトの本締めを行うものにも適用できるだけでな
く、ナツト等、他のねじ部品の締め付けにも適用
できるものである。 In addition, although the above embodiment was designed to temporarily tighten the bolt B to the object to be assembled W, the present invention is not only applicable to the final tightening of the bolt, but also can be applied to other screws such as nuts. It can also be applied to tightening parts.
＜発明の効果＞
以上述べたように本発明においては、部品供給
位置と作業位置とに位置決め可能な基板上に複数
のねじ部品をストツクし、このストツクしたねじ
部品を順次ねじ締用の回転軸と対応する位置に移
送できるように構成したので、空気力による部品
移送位置を用いることなく、複数のねじ部品を連
続してねじ締め位置に供給して螺装することが可
能となり、重量の大きなねじ部品の連続的なねじ
締め作業を短時間で行なえる利点がある。また本
発明は、鉛直軸線回りに回転する支持軸の下端に
基板を連結し、この基板に駆動筒を上下貫通して
鉛直軸線回りに回転可能に軸承し、駆動筒の基板
より下方へ突出した部分にプーリを同軸に連結
し、駆動筒の内周に下端にねじ部品に係合する係
合凹部を形成した駆動軸を上下方向のみ軸動可能
に嵌合し、前記部品供給位置へ移動した時に複数
のねじ部品を上下重ねて収納するねじ部品保持筒
を駆動軸と前記支持軸を結ぶ線上で前記基板に上
下貫通して固定し、前記基板の下方にねじ部品移
送部材を駆動軸と支持軸を結ぶ線上を移動可能に
案内支持し、ねじ部品移送部材にねじ部品保持筒
から落下したねじ部品をキヤツチするキヤツチ部
を設け、このキヤツチ部をねじ部品保持筒と駆動
軸の下方でねじ部品保持筒と駆動軸との間で移動
させるシリンダを基板の下方に取付け、支持軸を
挟んでねじ部品保持筒と反対側で基板に駆動モー
タを取付け、この駆動モータの基板より下方へ突
出し鉛直軸線回りに回転する出力軸にプーリを同
軸に連結し、駆動モータのプーリと駆動筒のプー
リとの間でベルトを掛け渡した構成であるので、
ねじ部品保持筒にねじ部品を供給する際に、駆動
モータに部品供給位置が干渉する恐れがない。ま
た、支持軸を挟んで一方にねじ部品保持筒並びに
駆動筒が配置され、他方に駆動モータが配置され
ているため、支持軸に対する重量バランスが良く
なり、支持軸を滑らかに回転させることができる
効果が得られる。<Effects of the Invention> As described above, in the present invention, a plurality of threaded parts are stocked on a board that can be positioned at a parts supply position and a work position, and the stocked threaded parts are sequentially moved to a rotating shaft for screw tightening. Because it is configured so that it can be transferred to a position corresponding to It has the advantage of being able to perform continuous screw tightening work on threaded parts in a short time. In addition, the present invention connects a base plate to the lower end of a support shaft that rotates around a vertical axis, and supports the drive cylinder vertically through the base plate so as to be rotatable around the vertical axis, and protrudes downward from the base of the drive cylinder. A pulley was coaxially connected to the part, and a drive shaft having an engagement recess formed at the lower end on the inner periphery of the drive cylinder to be engaged with a screw component was fitted so as to be able to move only in the vertical direction, and moved to the component supply position. A screw component holding cylinder, which stores multiple screw components stacked one on top of the other, is fixed through the board vertically on a line connecting the drive shaft and the support shaft, and a screw component transfer member is attached below the board to support the drive shaft and the support shaft. The threaded parts transfer member is movably guided and supported on a line connecting the shafts, and the screwed parts transfer member is provided with a catch part that catches the threaded parts that have fallen from the threaded parts holding cylinder. A cylinder that moves between the holding cylinder and the drive shaft is installed below the board, a drive motor is installed on the board on the opposite side of the screw component holding cylinder across the support shaft, and the vertical axis of this drive motor protrudes downward from the board. The pulley is coaxially connected to the rotating output shaft, and a belt is passed between the drive motor pulley and the drive tube pulley.
There is no fear that the component supply position will interfere with the drive motor when supplying the screw component to the screw component holding cylinder. In addition, the screw component holding tube and drive tube are placed on one side of the support shaft, and the drive motor is placed on the other side, which improves the weight balance with respect to the support shaft, allowing the support shaft to rotate smoothly. Effects can be obtained.
図面は本発明の実施例を示すもので、第１図は
ねじ部品の自動螺装装置の全体構成を示す側面
図、第２図は第１図における作業ヘツド２の構成
を示す部分断面拡大図、第３図は第２図における
−線矢視図、第４図はねじ締め時における作
動状態を示す図、第５図はねじ部品補給時におけ
る作動状態を示す図である。
２……作業ヘツド、３……パーツフイーダ、４
……ロボツト、２０……基板、２１……駆動筒、
２５……駆動モータ、２８……駆動軸、２８ａ…
…係合凹部、３５……ボルト保持筒、３６……ボ
ルト移送部材、３６ａ……凹部、３８……移送用
シリンダ、４１ａ，４１ｂ……板ばね体、５０…
…シヤツタ装置、Ｂ……ボルト、Ｗ……被組付
体、Wa……ねじ孔。
The drawings show an embodiment of the present invention, and FIG. 1 is a side view showing the overall configuration of an automatic screw threading device for screw parts, and FIG. 2 is an enlarged partial sectional view showing the configuration of the work head 2 in FIG. 1. , FIG. 3 is a view taken along the - line arrow in FIG. 2, FIG. 4 is a diagram showing the operating state during screw tightening, and FIG. 5 is a diagram showing the operating state during replenishment of screw parts. 2...Work head, 3...Parts feeder, 4
...Robot, 20... Board, 21... Drive tube,
25... Drive motor, 28... Drive shaft, 28a...
...Engagement recess, 35...Bolt holding cylinder, 36...Bolt transfer member, 36a...Recess, 38...Transfer cylinder, 41a, 41b...Plate spring body, 50...
...Shutter device, B...bolt, W...body to be assembled, Wa...screw hole.
Claims (1)
を被組付体に螺装する作業位置との間で移動しか
つ鉛直軸線回りに回転する支持軸の下端に基板を
連結し、この基板に駆動筒を上下貫通して鉛直軸
線回りに回転可能に軸承し、駆動筒の基板より下
方へ突出した部分にプーリを同軸に連結し、駆動
筒の内周に下端にねじ部品に係合する係合凹部を
形成した駆動軸を上下方向のみ軸動可能に嵌合
し、前記部品供給位置へ移動した時に複数のねじ
部品を上下重ねて収納するねじ部品保持筒を駆動
軸と前記支持軸を結ぶ線上で前記基板に上下貫通
して固定し、前記基板の下方にねじ部品移送部材
を駆動軸と支持軸を結ぶ線上を移動可能に案内支
持し、ねじ部品移送部材にねじ部品保持筒から落
下したねじ部品をキヤツチするキヤツチ部を設
け、このキヤツチ部をねじ部品保持筒と駆動軸の
下方でねじ部品保持筒と駆動軸との間で移動させ
るシリンダを基板の下方に取付け、支持軸を挟ん
でねじ部品保持筒と反対側で基板に駆動モータを
取付け、この駆動モータの基板より下方へ突出し
鉛直軸線回りに回転する出力軸にプーリを同軸に
連結し、駆動モータのプーリと駆動筒のプーリと
の間でベルトを掛け渡したことを特徴とするねじ
部品の自動螺装装置。1. A board is connected to the lower end of a support shaft that moves between a parts supply position where screwed parts are supplied and a work position where screwed parts are screwed onto the object to be assembled, and which rotates around a vertical axis. An engagement mechanism that penetrates the cylinder up and down and is rotatably supported around the vertical axis, a pulley is coaxially connected to the part of the drive cylinder that protrudes downward from the base plate, and the lower end of the inner periphery of the drive cylinder engages with a threaded part. A screw component holding cylinder that fits a drive shaft with a recess so that it can pivot only in the vertical direction and stores a plurality of screw components stacked vertically when moved to the component supply position is placed on a line connecting the drive shaft and the support shaft. A threaded parts transfer member is guided and supported below the board so as to be movable on a line connecting the drive shaft and the support shaft. A catch part for catching the parts is provided, and a cylinder for moving the catch part between the screw part holding cylinder and the drive shaft is installed below the board, and the catch part is attached below the screw part holding cylinder and the drive shaft. A drive motor is attached to the board on the opposite side of the component holding cylinder, and a pulley is coaxially connected to the output shaft of this drive motor that protrudes downward from the board and rotates around the vertical axis, and the pulley of the drive motor and the pulley of the drive cylinder are connected coaxially. An automatic threading device for threaded parts, characterized by a belt running between the parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15083983A JPS6044237A (en) | 1983-08-17 | 1983-08-17 | Automatic thread cutting device for screwed parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15083983A JPS6044237A (en) | 1983-08-17 | 1983-08-17 | Automatic thread cutting device for screwed parts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6044237A JPS6044237A (en) | 1985-03-09 |
| JPH0428493B2 true JPH0428493B2 (en) | 1992-05-14 |
Family
ID=15505498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15083983A Granted JPS6044237A (en) | 1983-08-17 | 1983-08-17 | Automatic thread cutting device for screwed parts |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6044237A (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63161632U (en) * | 1987-04-08 | 1988-10-21 | ||
| US5169089A (en) * | 1989-04-13 | 1992-12-08 | Hiroyuki Miyamoto | Reel base drive apparatus for tape recorder |
| JPH03178741A (en) * | 1989-12-01 | 1991-08-02 | Yoshitaka Aoyama | Method and device for supplying and fastening bolt or unit, etc. |
| EP0541290B1 (en) * | 1991-11-02 | 1998-09-16 | Yoshitaka Aoyama | Apparatus for feeding and tightening threaded parts |
| EP0587916B1 (en) * | 1992-04-04 | 1997-09-17 | Yoshitaka Aoyama | Parts supply method and apparatus |
| US5890405A (en) * | 1996-09-11 | 1999-04-06 | Becker; Burkhard | Automated screw driving device |
| CN104999266A (en) * | 2015-08-05 | 2015-10-28 | 安徽巨一自动化装备有限公司 | Loading bolt automatic distribution mechanism |
| JP2017104942A (en) * | 2015-12-10 | 2017-06-15 | 富士電機株式会社 | Screw fastening device |
| CN109128741B (en) * | 2018-09-06 | 2020-06-02 | 浙江御匠箱包股份有限公司 | Automatic assembling device for luggage connecting piece |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59152073A (en) * | 1983-02-15 | 1984-08-30 | 松下電器産業株式会社 | Automatic screw clamping machine |
-
1983
- 1983-08-17 JP JP15083983A patent/JPS6044237A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59152073A (en) * | 1983-02-15 | 1984-08-30 | 松下電器産業株式会社 | Automatic screw clamping machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6044237A (en) | 1985-03-09 |
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