JPS6048227A - Combined work unit - Google Patents
Combined work unitInfo
- Publication number
- JPS6048227A JPS6048227A JP15644883A JP15644883A JPS6048227A JP S6048227 A JPS6048227 A JP S6048227A JP 15644883 A JP15644883 A JP 15644883A JP 15644883 A JP15644883 A JP 15644883A JP S6048227 A JPS6048227 A JP S6048227A
- Authority
- JP
- Japan
- Prior art keywords
- input shaft
- servo motor
- shaft
- tool
- work
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
- B23Q39/02—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
-
- 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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/045—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers using a tool holder as a work-transporting gripper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2220/00—Machine tool components
- B23Q2220/002—Tool turrets
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
Description
【発明の詳細な説明】
く技術分野〉
本発明は部品乞自動的に組付ける複合作業装置に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a complex work device that automatically assembles parts.
〈従来技術〉
部品の把持移載、ねじ締め等複数種類の組付作業を行う
場合、従来では、それぞれ異なる作業ステーションで専
用の作業工具により行っている。この場合、作業装置全
体として大形化し、大きな設置スペースを必要とするだ
けでなく、各作業ステーション間での被組付部品の移送
に時間がかかり、組付作業の能率向上に影Ｖ’＆及ぼし
ていた。また、設備費用も高価となっている問題があっ
た。<Prior Art> When performing multiple types of assembly operations such as gripping and transferring parts and tightening screws, conventionally, each operation is performed at different work stations using dedicated power tools. In this case, not only does the work equipment become larger and require a large installation space, but it also takes time to transfer the parts to be assembled between each work station, which has a negative impact on improving the efficiency of the assembly work. It was affecting me. Additionally, there was a problem in that the equipment cost was high.
〈発明の目的〉
本発明は、単一の作業ステーションにて複数種類の組付
作業乞可能とし、作業装置の小形化、設備費用の低減化
と作業時間の短縮を図り、前記従来の問題点を解消した
ものである。<Object of the Invention> The present invention enables multiple types of assembly operations to be performed at a single work station, reduces the size of work equipment, reduces equipment costs, and shortens work time, and solves the problems of the conventional art. .
〈発明の構成〉
本発明は、上記目的を達成するために、複数種類の作業
工具を備えた可動ヘッドＺ固定ヘッドに前記作業工具の
１つが作業位置に割出し可能に設け、前記固定ヘッドに
作業工具駆動用のサーボモータを設置し、作業位置に割
出された作業工具の入力軸と前記サーボモータとが選択
的に結合する連結手段を備え、前記サーボモータ側の回
転動力伝達径路に連係させて変位検出器とトルク検出機
構を設け、前記作業工具の位置制御機能とトルク制御機
能とを備えた制御装置を有して成る複合作業装置を提供
するものであるＯ
〈実施例〉
以下本発明の実施例について図面に基き説明スル。第１
図において、１は固定ヘッドでア’）、支持軸２端に固
定されている。この固定ヘッド１は前記支持軸２によっ
て回路のサーボモータで３次元方向に移動位置決め可能
である。<Structure of the Invention> In order to achieve the above object, the present invention provides a movable head Z fixed head equipped with a plurality of types of working tools so that one of the working tools can be indexed to a working position, A servo motor for driving a work tool is installed, and a coupling means is provided for selectively coupling the input shaft of the work tool indexed to the working position with the servo motor, and is linked to a rotational power transmission path on the side of the servo motor. The present invention provides a composite working device comprising a control device which is provided with a displacement detector and a torque detection mechanism, and has a position control function and a torque control function for the working tool. Embodiments of the invention will be explained based on the drawings. 1st
In the figure, reference numeral 1 denotes a fixed head A'), which is fixed to the end of the support shaft 2. This fixed head 1 can be moved and positioned in three dimensions by means of the support shaft 2 using a servo motor of a circuit.
３に前記固定ヘッド１に回動可動に取付けられた可動ヘ
ッドである。この可動ヘッド３＆よ、その外周円にウオ
ームホイール４が固設されており、固定ヘッド１側に設
けられているウオーム５と噛合し、回路のモータによっ
て回転するウオーム５により後述する複数油類の作業工
具の１つを割出し位置Ａに割出し可能として（・る。3 is a movable head rotatably attached to the fixed head 1. A worm wheel 4 is fixedly installed on the outer circumference of the movable head 3, and meshes with a worm 5 provided on the fixed head 1 side, and the worm 5, which is rotated by the motor of the circuit, can handle multiple oils as described later. One of the work tools is made indexable to index position A.
前記可動ヘッド３に設けられる複数種類の作業工具は、
例えばその１つは部品の把持工具６であり、他の１つは
ねじ締め工具７である。この両工具６．７の共通した構
成としては、第２図で示すように可動ヘッド３に回転自
在に軸承された入力軸１９と、この入力軸１９の後端に
一体形成された係合部２０ｙａｌ−有し、さらに係合部
加の外周にスプライン係合等により軸方向に摺動可能に
嵌挿され、かつスプリングｎによって係合部加の端面方
向に押圧した軸動リング２１と、この軸動リング２１に
係合して入力軸１９０回転方向の位相を拘束する回り止
め部材羽とＺ有している。そして把持工具６においては
、入力軸１９によって回転する歯車冴が設けられ、この
歯車冴によって回転する複数本の作動軸５と、この作動
軸５によって旋回動するアームかと、アームあの旋回動
によって互いに収縮、拡開する把持爪ｎとを有している
。また、ねじ締め工具７においては、入力軸１９と一体
のスリーブ鼻内にスピンドｆｉＶ２ＢｂＹスプライン嵌
合し、スリーブ洲に内装したスプリングにより前記スピ
ンド／Ｉ／２Ｂｂヲスリーブ列αより突出する伸張方向
に押圧させ、スピンドル２８ｈの先端には部品の六角穴
に嵌合する六角突起四が突設された構造である。The plurality of types of working tools provided on the movable head 3 are:
For example, one of them is a part gripping tool 6, and the other one is a screw tightening tool 7. As shown in FIG. 2, these two tools 6.7 have a common configuration: an input shaft 19 rotatably supported on the movable head 3, and an engaging portion integrally formed at the rear end of the input shaft 19. 20yal-, and is further fitted into the outer periphery of the engaging portion by spline engagement etc. so as to be slidable in the axial direction, and is pressed in the direction of the end face of the engaging portion by a spring n; It has a rotation stopper member Z that engages with the shaft ring 21 and restricts the phase of the rotation direction of the input shaft 190. The gripping tool 6 is provided with a gear wheel rotated by an input shaft 19, and has a plurality of actuating shafts 5 rotated by the gear wheel, an arm that pivots by the actuating shaft 5, and an arm that rotates with respect to each other by the pivoting motion. It has gripping claws n that contract and expand. In addition, in the screw tightening tool 7, the spindle fiV2BbY spline is fitted into the nose of the sleeve integrated with the input shaft 19, and a spring installed in the sleeve presses the spindle/I/2Bb in the extending direction protruding from the sleeve row α. The spindle 28h has a structure in which four hexagonal protrusions that fit into the hexagonal holes of the parts protrude from the tip.
前記割出し位置Ａに割出された把持工具６又はねじ締め
工具７の駆動機構は次の通りである。The drive mechanism for the gripping tool 6 or screw tightening tool 7 indexed to the indexed position A is as follows.
固定ヘッド１にサーボモータ８を設置する。このサーボ
モータ８の設置部位にブロック９が固設され、このブロ
ック９にサーボモータ８と結合する駆動軸１０が軸承さ
れている。またブロック９には前記駆動軸１０と°平行
な軸線であり、かつ前記割出し位置Ａに割出された把持
工具６又はねじ締め工具７０入力軸１９と同心線上に出
力軸１１が回転並びに軸線方向に進退可能に軸承されて
いる。この出力軸１１は外周にスプライン１２が設けら
れており、このスプライン１２に被動歯車１詞が嵌合し
ている。そして、前記駆動軸１０上に設ゆられた駆動歯
車１３ｈと中間歯車１３ｃＥｌび被動歯車１３αχ介し
て駆動軸１００回転が出力軸１１に伝達される。出力軸
１１の先端には入力軸１９の後端の係合部加と係脱する
駆動腕１４が設けられてお５−
リ、その外周には係合部加の外周に設けられている軸動
リング２１と当接する押動リング１６’４有している。A servo motor 8 is installed on the fixed head 1. A block 9 is fixedly installed at the location where the servo motor 8 is installed, and a drive shaft 10 coupled to the servo motor 8 is supported on the block 9. The block 9 also has an output shaft 11 whose axis is parallel to the drive shaft 10 and which is concentric with the input shaft 19 of the gripping tool 6 or screw tightening tool 70 indexed at the index position A. It is supported on a shaft so that it can move forward and backward in the direction. This output shaft 11 is provided with a spline 12 on its outer periphery, and a driven gear is fitted into this spline 12. Then, 100 rotations of the drive shaft are transmitted to the output shaft 11 through the drive gear 13h, intermediate gear 13cEl, and driven gear 13αχ provided on the drive shaft 10. A driving arm 14 is provided at the tip of the output shaft 11 to engage and disengage from the engaging portion at the rear end of the input shaft 19, and a shaft provided on the outer periphery of the engaging portion is provided on the outer periphery of the driving arm 14. It has a push ring 16'4 that comes into contact with the moving ring 21.
また、出力軸１１はスプリング１５によって駆動腕１４
が係合部頒に係合する方向に常に押圧されており、この
スプリング１５の押圧力に抗して駆動腕１４を係合部加
より解脱する手段として、出力軸１１の後端部のブロッ
ク９にソレノイド１７が設けられ、その作動軸１８が出
力軸１１の後端と連結した係合解脱装置χ具備している
。Further, the output shaft 11 is connected to the drive arm 14 by the spring 15.
is always pressed in the direction of engagement with the engagement portion, and as a means for releasing the drive arm 14 from the engagement portion against the pressing force of the spring 15, a block at the rear end of the output shaft 11 is used. 9 is provided with a solenoid 17, and its operating shaft 18 is provided with an engagement/disengagement device χ connected to the rear end of the output shaft 11.
さらに、サーボモータ８側の回転動力伝達径路、丁なわ
ち、駆動軸１０上に変位検出器間とトルク検出機構３１
が設げられている。トルク検出機構３１は第２図に示す
ように、駆動＋１ｉｌｔｌｌＯ上に起歪筒３２を取付け
、との起歪筒３２に歪みゲージ３３を貼着し、歪ゲージ
３３による検出信号をスリップリング機構讃によって外
部に取出すように構成されたものである。Further, the rotational power transmission path on the servo motor 8 side, that is, on the drive shaft 10, is provided between a displacement detector and a torque detection mechanism 31.
is provided. As shown in FIG. 2, the torque detection mechanism 31 includes a strain tube 32 mounted on the drive +1iltllO, a strain gauge 33 attached to the strain tube 32, and a detection signal from the strain gauge 33 sent to the slip ring mechanism. It is configured so that it can be taken out to the outside.
前記変位検出器間による変位検出信号とトルク検出機構
３１によるトルク検出信号により、把持工具６において
は把持爪Ｍの移動量と把持確 ６−
認を行う制御乞、またねじ締め工具７においては締付力
の確認を行う制御を行う制御装＃を有している。この制
御装置は第１図に示す数値制御装置４１内に第３図に示
す制御回路構成が内蔵されたものである。すなわち、第
３図において制御装置本体５、この制御装置本体あにト
ルク検出信号Ｓｌヶ人カ丁かの変換器３６、制御装置本
体あからの指令パルスとパルス化された変位検出信号Ｓ
２とを入力しこれらのパルス数の偏差を演算する偏差カ
ウンタ３７、偏差カウンタ３７の出力Ｙｌｌ’に変換す
るＤＡ変換器あ、前記トルク検出信号Ｓ１の一部ン入力
すると共に、制御装置本体おからのトルク設定データ及
び起動信号を入力し、所定のトルクパターンに応じた回
転指令信号を出力するねじ締め制御回路３９、前記ＤＡ
変換器あ、及びねじ締め制御回路３９のそれぞれからの
信号７入力し、制御装置本体あからの指令によりいずれ
か一方からの出力信号を駆動信号Ｓ３として出力するゲ
ート回路４０から構成されている。Based on the displacement detection signal from the displacement detector and the torque detection signal from the torque detection mechanism 31, the gripping tool 6 controls the amount of movement and gripping of the gripping claw M, and the screw tightening tool 7 performs tightening control. It has a control device # that performs control to check the applied force. This control device has a control circuit configuration shown in FIG. 3 built into the numerical control device 41 shown in FIG. That is, in FIG. 3, the control device main body 5, the torque detection signal S1 from the control device main body, the converter 36, the command pulse and the pulsed displacement detection signal S from the control device main body.
A deviation counter 37 inputs 2 and calculates the deviation of these pulse numbers, a DA converter A converts it into the output Yll' of the deviation counter 37, inputs a part of the torque detection signal S1, and also a screw tightening control circuit 39 that inputs torque setting data and a start signal from the DA and outputs a rotation command signal according to a predetermined torque pattern;
It is comprised of a gate circuit 40 that receives signals 7 from each of the converter A and the screw tightening control circuit 39, and outputs an output signal from either one as a drive signal S3 according to a command from the control device main body A.
前記制御装置本体あは、ねじ締めモードと把持モードＺ
有しており、ねじ締めモードにおいてはねじ締めモード
に応じたトルクデータを出力し、起動を掛ける。また、
ねじ締め制御回路３９は指令された所定のトルクになる
まで所定のパターンで指定電圧ケ出力するものである。The control device body A, screw tightening mode and gripping mode Z
In the screw tightening mode, it outputs torque data according to the screw tightening mode and activates it. Also,
The screw tightening control circuit 39 outputs a designated voltage in a predetermined pattern until the commanded predetermined torque is reached.
さらに、把持モードにおいては、把持爪ｎの移動量（収
縮、拡開）に応じたパルス分配７行うと共に、トルクに
より把持確認を行ってノくルス分配を中断するものであ
る。尚第１図において４２は駆動信号Ｓ３に基きサーボ
モータ８乞作動するドライブユニットである。Furthermore, in the gripping mode, pulse distribution 7 is carried out according to the amount of movement (contraction, expansion) of the gripping claws n, and the gripping is confirmed by torque and the pulse distribution is interrupted. In FIG. 1, 42 is a drive unit that operates the servo motor 8 based on the drive signal S3.
次に上記本発明装置の作動について説明する。Next, the operation of the apparatus of the present invention will be explained.
第１図において、Ａは前述の通り把持工具６又はねじ締
め工具７の割出し位置であり、Ｂは回避位置である。令
弟１図における割出し位置Ａには把持工具６が割出され
ている。この割出し位置Ａに割出されている把持工具６
は出力軸】９の後端の係合部頷に出力軸１１の先端の駆
動腕１４がスプリング１５の押圧力によって係合し、同
時に押動リング１６が軸動リング２１ｙａｌ−スプリン
グｎの押圧力に抗して押動し、回り止め部材乙との係合
を解除して入力軸１９の回転を許容状態としている。従
って、サーボモータ８の正逆回転により駆動軸１０、出
力軸１１ヲ介して入力軸１９に伝達され、把持爪２７’
に部品把持のための収縮あるいは把持解放のための拡開
動作を行５ものであ゛ る。ここにおいて、部品把持の
ための収縮時には、制御装置本体あは早送り速度で指令
パルスを偏差カウンタ３７に分配し、これにより拡開状
態から把持爪ｎは早送りで収縮移動され、その移動変位
量が変位検出器（資）で検出されて偏差カウンタ３７に
フィードバックされる。これにより把持爪ｎは所望の早
送り速度で移動され、部品を把持する直前で指令パルス
の分配速度が低減されて運送りに制御される。これは、
早送りで部品を把持させると把持爪苔が部品に対し急激
に当接し、打ｙｆＩを発生するおそれがあるためである
。前記運送りに変換した把持爪ｎか部品な。In FIG. 1, A is the indexing position of the gripping tool 6 or screw tightening tool 7 as described above, and B is the avoidance position. A gripping tool 6 is indexed at index position A in the younger brother 1 diagram. The gripping tool 6 indexed at this index position A
The driving arm 14 at the tip of the output shaft 11 is engaged with the engagement portion at the rear end of the output shaft 9 by the pressing force of the spring 15, and at the same time the pushing ring 16 is engaged by the pressing force of the axial drive ring 21yal-spring n. The input shaft 19 is pushed against the rotation stopper B to release the engagement with the rotation prevention member B, thereby allowing the rotation of the input shaft 19. Therefore, the forward and reverse rotation of the servo motor 8 is transmitted to the input shaft 19 via the drive shaft 10 and the output shaft 11, and the gripping claw 27'
In this case, a contraction operation is performed to grasp the component or an expansion operation is performed to release the grip. Here, when contracting for gripping a component, the control device body distributes a command pulse at a rapid traverse speed to the deviation counter 37, whereby the gripping claws n are contracted at a rapid traverse from the expanded state, and the amount of displacement is It is detected by a displacement detector (equipment) and fed back to the deviation counter 37. As a result, the gripping claws n are moved at a desired rapid forwarding speed, and just before gripping the part, the distribution speed of the command pulse is reduced to control the part to be transported. this is,
This is because if the part is gripped in rapid forward motion, the gripping claw moss may come into sudden contact with the part, which may cause a strike yfI. The gripping claws or parts that were converted into the transporter.
把持すると駆動軸１０にトルク変動が生じ、これｔトル
ク検出機構３１によって検出して把持確認を行って指令
パルスの分配を終了することによりサーボモータ８を停
止する。しかる後に、支持軸２を介して固定ヘッド１を
可動ヘッド３と共に移動して作業ステーションに部品を
移載する。この部品の移載後の把持解放の確認も変位検
出器（９）にて検出される。When gripped, a torque fluctuation occurs in the drive shaft 10, which is detected by the torque detection mechanism 31, gripping is confirmed, and the servo motor 8 is stopped by completing the distribution of command pulses. Thereafter, the fixed head 1 is moved together with the movable head 3 via the support shaft 2 to transfer the parts to the work station. The displacement detector (9) also detects whether the grip is released after the component is transferred.
次いで前記移載部品のねじ締め作業を行５場合には、回
避位置Ｂにあるねじ締め工具７を割出し位置Ａに割出し
する。この割出し動作に先立って、把持工具６０入力軸
１１と固定ヘッド１側の出力軸１１との結合を解脱する
必要がある。Next, when performing a screw tightening operation for the transferred component 5, the screw tightening tool 7 located at the avoidance position B is indexed to the index position A. Prior to this indexing operation, it is necessary to disconnect the input shaft 11 of the gripping tool 60 and the output shaft 11 on the fixed head 1 side.
そのために、ソレノイド１７が作動し、作動軸１８によ
り出力軸１１’＆スプリング１５の押圧力に抗して後退
軸移動させる。これによって駆動腕１４は係合部Ｉとの
係合を解脱すると同時に、押動リング１６は軸動リング
２１の押動を解除し、軸動リング４はスプリング乙によ
って原位置に復帰して回り止め部材ｎと係合し、回転を
停止した位相状態で入力軸１９ヲ拘束するのである。For this purpose, the solenoid 17 is activated, and the operating shaft 18 moves the retracting shaft against the pressing force of the output shaft 11' and the spring 15. As a result, the driving arm 14 disengages from the engaging portion I, and at the same time, the pushing ring 16 releases the pushing of the axial ring 21, and the axial ring 4 returns to its original position by the spring B and rotates. The input shaft 19 is engaged with the stop member n, and the input shaft 19 is restrained in a phase state in which rotation is stopped.
上記駆動腕１４と係合部加との係合解脱で可動ヘッド３
は割出し回転可能となり、ウオーム５及びウオームホイ
ール４によって可動ヘッド３を回転させねじ締め工具７
を割出し位置Ａに割出しする。その後、ソレノイド１７
の作動乞解除すると、スプリング］５の押圧力によって
出力軸１１が前進軸移動し、駆動腕１４がねじ締め工具
７０入力軸１９の係合部加に係合すると同時に押動リン
グ】６が軸動リング２１ヒスブリング四の押圧力に抗し
て押動させ回り止め部材３との係合を解除する。そして
、スピンドル２８ｂの先端の六角突起２９？：作業ステ
ーションの部品の六角穴に嵌合すべく固定ヘッド１を作
動し、サーボモータ８の起動によってスピンドル２８ｈ
Ｙ回転してねじ締め作業を行うのである。この場合は、
前記把持工具６のように把持爪泣の収縮移動の変位量乞
検出して制御する必要がな（、所定のねじ締めトルクに
達したときにトルク検出機構３１にて検出してサーボモ
ータ８の停止制御を行うものである。When the drive arm 14 and the engagement portion are disengaged from each other, the movable head 3
The screw tightening tool 7 can be indexed and rotated, and the movable head 3 is rotated by the worm 5 and the worm wheel 4.
is indexed to index position A. After that, solenoid 17
When the operation of is released, the output shaft 11 moves forward by the pressing force of the spring 5, and the drive arm 14 engages with the engagement part of the input shaft 19 of the screw tightening tool 70, and at the same time the push ring 6 moves forward. The movable ring 21 is pushed against the pressing force of the hissing ring 4 to release the engagement with the rotation prevention member 3. And the hexagonal protrusion 29 at the tip of the spindle 28b? : The fixed head 1 is operated to fit into the hexagonal hole of the part of the work station, and the spindle 28h is activated by starting the servo motor 8.
Screw tightening work is performed by rotating Y. in this case,
Unlike the gripping tool 6, it is not necessary to detect and control the displacement of the contraction movement of the gripper (when a predetermined screw tightening torque is reached, the torque detection mechanism 31 detects and controls the servo motor 8). It performs stop control.
尚図例の可動ヘッドはターレット形式の旋回割出し構造
であるが、固定ヘッドに対し、Ｔσ接的な運動によって
出力軸線上に複数種類の作業工具の１つが割出し位置さ
れる構造でも本発明は適用される。Although the movable head in the illustrated example has a turret-type rotating indexing structure, the present invention may also be applied to a structure in which one of a plurality of types of work tools is indexed and positioned on the output axis by a movement tangential to the fixed head. is applicable.
〈効果〉
以上のように本発明装置によると、単一の作業ステーシ
ョンにて多種類の部品組付作業が所要の作業工具で行う
ことができ、従来のように異なる作業ステーション間で
の被組付部品の移送作業７不要とし、組付作業時間が著
しく短縮され、作業能率の向上が祠られる。<Effects> As described above, according to the device of the present invention, various types of parts assembly work can be performed at a single work station using the required work tools, and unlike conventional work, assembly work between different work stations can be performed. The transfer work 7 of attached parts is not required, the assembly work time is significantly shortened, and work efficiency is improved.
また、複数種類の作業工具の駆動用サーボモータ、トル
ク検出機構及び変位検出機構は全て共通化されているた
め、構造の大幅な簡素化と小形化ができ、設置スペース
の縮少並びに設備費用の低減が図られる利点を有してい
る。In addition, since the drive servo motor, torque detection mechanism, and displacement detection mechanism for multiple types of work tools are all common, the structure can be significantly simplified and downsized, reducing installation space and equipment costs. This has the advantage of reducing the amount of water used.
第１図は本発明装置の断面図、第２図は出力軸と入力軸
の結合部分の詳細断面図、第３図は制御回路構成のブロ
ック図である。
１０・・固定ヘッド、３・・・可動ヘッド、６φ・・把
持工具、７・・・ねじ締め工具、８・・・サーボモータ
、１０・・僧駆動軸、１１・・・出力軸、１４・・・駆
動腕、１７・・・ソレノイド、１９・・・入力軸、加・
・・係合部、谷・・拳把持爪、２Ｂｈ、・−スピンドル
、四・壷・六角突起、（資）・・・変位検出器、３１・
・・トルク検出機構、３５・・・制御装置本体、４１・
・・数値制御装置。FIG. 1 is a sectional view of the device of the present invention, FIG. 2 is a detailed sectional view of a connecting portion between an output shaft and an input shaft, and FIG. 3 is a block diagram of a control circuit configuration. 10...Fixed head, 3...Movable head, 6φ...Gripping tool, 7...Screw tightening tool, 8...Servo motor, 10...Motor drive shaft, 11...Output shaft, 14... ... Drive arm, 17... Solenoid, 19... Input shaft, addition...
・・Engagement part, valley ・・Fist grasping claw, 2Bh, ・−Spindle, 4・Curn・Hexagonal protrusion, (capital) ・・Displacement detector, 31・
...Torque detection mechanism, 35...Control device main body, 41.
...Numerical control device.
Claims (1)
前記作業工具の１つが作業位置に割出し可能に設け、前
記固定ヘッドに作業工具駆動用のザーボモータ乞設置し
、作業位置に割出された作業工具の入力軸と前記サーボ
モータとが選択的に結合する連結手段を備え、前記サー
ボモータ側の回転動力伝達径路に連係させて変位検出器
とトルク検出機構を設け、前記作業工具の位置制御機能
とトルク制御機能と乞備えた制御装置を有して成る複合
作業装置。A movable head equipped with a plurality of types of work tools is installed on a fixed head so that one of the work tools can be indexed to a working position, and a servo motor for driving the work tool is installed on the fixed head so that one of the work tools can be indexed to a working position. A coupling means is provided for selectively coupling the input shaft of the work tool to the servo motor, and a displacement detector and a torque detection mechanism are provided in conjunction with a rotational power transmission path on the servo motor side to control the position of the work tool. A complex work device that has a control device with functions and torque control functions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15644883A JPS6048227A (en) | 1983-08-29 | 1983-08-29 | Combined work unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15644883A JPS6048227A (en) | 1983-08-29 | 1983-08-29 | Combined work unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6048227A true JPS6048227A (en) | 1985-03-15 |
| JPH042375B2 JPH042375B2 (en) | 1992-01-17 |
Family
ID=15627966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15644883A Granted JPS6048227A (en) | 1983-08-29 | 1983-08-29 | Combined work unit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6048227A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS624535A (en) * | 1985-06-29 | 1987-01-10 | Toyota Motor Corp | Turret type screw tightening device |
| JPH0679402A (en) * | 1992-06-08 | 1994-03-22 | Kurimoto Ltd | Method for casting hollow spherical body |
| WO2012035819A1 (en) | 2010-09-13 | 2012-03-22 | 株式会社豊田自動織機 | Assembly apparatus |
| KR101157326B1 (en) | 2009-12-18 | 2012-06-15 | 한화테크엠주식회사 | Cross tool holder to adjust angle |
| EP2703119A1 (en) * | 2012-08-31 | 2014-03-05 | Reichenbacher Hamuel GmbH | Machining unit |
| CN110640550A (en) * | 2019-10-25 | 2020-01-03 | 沈耀强 | Numerical control machining center, machining island and machining method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5845838A (en) * | 1981-09-14 | 1983-03-17 | Fanuc Ltd | Automatic tool interchanging device for machine tool |
-
1983
- 1983-08-29 JP JP15644883A patent/JPS6048227A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5845838A (en) * | 1981-09-14 | 1983-03-17 | Fanuc Ltd | Automatic tool interchanging device for machine tool |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS624535A (en) * | 1985-06-29 | 1987-01-10 | Toyota Motor Corp | Turret type screw tightening device |
| JPH0679402A (en) * | 1992-06-08 | 1994-03-22 | Kurimoto Ltd | Method for casting hollow spherical body |
| KR101157326B1 (en) | 2009-12-18 | 2012-06-15 | 한화테크엠주식회사 | Cross tool holder to adjust angle |
| WO2012035819A1 (en) | 2010-09-13 | 2012-03-22 | 株式会社豊田自動織機 | Assembly apparatus |
| US9248529B2 (en) | 2010-09-13 | 2016-02-02 | Kabushiki Kaisha Toyota Jidoshokki | Assembling apparatus |
| EP2703119A1 (en) * | 2012-08-31 | 2014-03-05 | Reichenbacher Hamuel GmbH | Machining unit |
| CN110640550A (en) * | 2019-10-25 | 2020-01-03 | 沈耀强 | Numerical control machining center, machining island and machining method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH042375B2 (en) | 1992-01-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0890411B1 (en) | Indexing apparatus and method for driving the same for indexing the same | |
| EP3689548A1 (en) | A blind nut fastening apparatus | |
| EP0149469B1 (en) | A machine tool transfer drive | |
| ES8505275A1 (en) | Fast-release power-chuck assembly for a lathe | |
| US6016729A (en) | Turret device | |
| JPS6389280A (en) | Manipulator system | |
| JPS6048227A (en) | Combined work unit | |
| JPS6258859B2 (en) | ||
| GB1380075A (en) | Machine tools having tool changers | |
| EP0456269B1 (en) | Riveter | |
| US4561506A (en) | Pivoting driver with changeable bits | |
| GB2068061A (en) | A torque limiting clutch for a power tool | |
| JPH0217282B2 (en) | ||
| JPH0141447B2 (en) | ||
| SU1288047A1 (en) | Device for butt-joining manipulator changeable tool | |
| JP4179431B2 (en) | Work gripping device | |
| JPH0688220B2 (en) | Tool changer | |
| JPS6338968Y2 (en) | ||
| JP3552291B2 (en) | Transfer equipment | |
| JPH0276644A (en) | Phase aligning device for threaded hole position | |
| JP2631416B2 (en) | Automatic lathe headstock | |
| JPS6338967Y2 (en) | ||
| JP3068620B1 (en) | Centering pin removal tool | |
| JP3818695B2 (en) | Spindle device | |
| JPH032606B2 (en) |