JPS61197132A - Hexagon head bolt tightening apparatus - Google Patents

Hexagon head bolt tightening apparatus

Info

Publication number
JPS61197132A
JPS61197132A JP3752885A JP3752885A JPS61197132A JP S61197132 A JPS61197132 A JP S61197132A JP 3752885 A JP3752885 A JP 3752885A JP 3752885 A JP3752885 A JP 3752885A JP S61197132 A JPS61197132 A JP S61197132A
Authority
JP
Japan
Prior art keywords
shaft
base
fixed
driven
pawl
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.)
Pending
Application number
JP3752885A
Other languages
Japanese (ja)
Inventor
Kazumitsu Takai
一光 高井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pentel Co Ltd
Original Assignee
Pentel Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pentel Co Ltd filed Critical Pentel Co Ltd
Priority to JP3752885A priority Critical patent/JPS61197132A/en
Publication of JPS61197132A publication Critical patent/JPS61197132A/en
Pending legal-status Critical Current

Links

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
    • B23P19/04—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/02—Arrangements for handling screws or nuts
    • B25B23/08—Arrangements for handling screws or nuts for holding or positioning screw or nut prior to or during its rotation
    • B25B23/10—Arrangements for handling screws or nuts for holding or positioning screw or nut prior to or during its rotation using mechanical gripping means

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)

Abstract

PURPOSE:To clamp a hexagon head bolt of different size to be tightened being left as it is by the same apparatus, by pivotally mounting three driven gears, engaging with a driving gear fixed to a shaft, to a base and fixing a pawl to each driven gear. CONSTITUTION:A driving gear 11 is fixed to the point end of a shaft 5, and the driving gear 11 engages with driven gears fixed to three driven shafts 14 rotatably supported by three bearings 12a, arranged in a 120 deg. peripherally equally divided position about the shaft 5 serving as the center in a flange part 7a of a base 7, and by three bearings 12b similarly arranged in a cap 13 fixed to the base 7. The driven shaft 14 fixes to its part, protruding downward from the cap 13, a pawl 16 opposing neighboring side surfaces so as to mutually form an angle 60 deg.. An electromagnetic clutch 17, fixing a rotor 17a to the shaft 5 while connecting a stator 17b with a slider 18 of a sleeve 10, can be slided in the axial direction.

Description

【発明の詳細な説明】 （技術分野） 本発明はサイズの異なる六角ボルトを把持し、そのまま
ねじ穴にねじ込むことができる六角ボルト締め装置に関
するものである。DETAILED DESCRIPTION OF THE INVENTION (Technical Field) The present invention relates to a hexagonal bolt tightening device that can hold hexagonal bolts of different sizes and screw them into screw holes as they are.

（従来技術） 従来、ロボット等が行う自動組立作業において六角ボル
トを用いて部品を締結するには、パーツフィーダ等で整
列された六角ボルトを把持装置にて把持してねじ締めを
行う場所に持っていき、六角ボルトをバカ穴に落下させ
たのち、ボルトランナーのソケットを六角の頭に嵌合さ
せてボルト締め作業を行うかもしくは人手によってあら
かじめ、仮締めされたボルトをボルトランナーにて自動
的に締結する方法がとられていた。(Prior art) Conventionally, in order to fasten parts using hexagonal bolts in automatic assembly work performed by robots, etc., the hexagonal bolts are aligned in a parts feeder, etc., are grasped by a gripping device, and brought to the place where the screws are to be tightened. After dropping the hexagonal bolt into the hole, fit the socket of the bolt runner into the hexagonal head and tighten the bolt, or tighten the bolt temporarily by hand with the bolt runner automatically. A method was used to conclude the agreement.

しかしながら、上記の方法では、六角ボルドを締めるべ
き穴にセットするのと締結するので異なる作業工具を用
いているので、ロボットを複数台使用せねばならず高価
になり、タクトタイムも長くなるし、又、六角ボルトを
バカ穴に落下させているので締め付は方向が上方のみに
限られ横からの作業は不可能であるという問題を有して
いた。However, in the above method, different work tools are used for setting the hexagonal bolt in the hole to be tightened and for tightening, so multiple robots must be used, which increases the cost and takt time. In addition, since the hexagonal bolt is dropped into a hole, tightening is limited to the upward direction, making it impossible to work from the side.

そのうえソケットをボルトの頭に嵌合させて締結させて
いるためサイズの異なる六角ボルトには対応できないと
いう問題があった。Furthermore, since the socket is fitted onto the head of the bolt for fastening, there is a problem in that it cannot be used with hexagonal bolts of different sizes.

（目的） 本発明はサイズの異なる六角ボルトを同一装置で把持し
そのままねじ穴にねじ込みロボット等による自動組立作
業のタクトタイムを短くし、いかなる方向にでも締めつ
けられる装置を安価に提供することを目的としている。(Purpose) The purpose of the present invention is to provide an inexpensive device that can hold hexagonal bolts of different sizes with the same device and screw them into screw holes, thereby shortening the takt time of automatic assembly work by robots, etc., and that can be tightened in any direction. It is said that

（構成） 本発明は上記目的を達成するためナツトランナー出力軸
とシャフトを一体回転でき且つ軸方向に摺動自在に連結
し、該シャフトにベースを回転自在に設は該ベースをナ
ツトランナーに固定したスリーブにスプリングで圧接し
、ベースにはシャフトに固定した駆動歯車に噛合する３
個の従動歯車を枢着して各従動歯車につめを固定しシャ
フトとベースとの間にクラッチを設けて、シャフトとベ
ースとを一体にしたり分離する如くしたことを特徴とす
るものである。(Structure) In order to achieve the above object, the present invention connects a nut runner output shaft and a shaft so that they can rotate together and slide freely in the axial direction, and a base is rotatably installed on the shaft, and the base is fixed to the nut runner. The base is pressed against the sleeve with a spring, and the base meshes with the drive gear fixed to the shaft.
The invention is characterized in that several driven gears are pivotally connected, a pawl is fixed to each driven gear, and a clutch is provided between the shaft and the base so that the shaft and the base can be integrated or separated.

以下実施例に基づいて具体的に説明する。１はロボット
のアーム２に固定されたナツトランナーで、その出力軸
３に固定したジヨイント４とによってシャフト５を一体
回転でき且つ軸方向に摺動自在に連結し、スプリング６
でシャフト５を下方に付勢している。７はシャフト５に
ベアリング８α、Ｂｂを介して回転自在に取り付けたベ
ースで、該ベース７に固定したカラー９のテーパー面９
αがナツトランナー１先端に固定した筒状のスリーブ１
０先端のテーパー面１０αに前記スプリング６で圧接さ
れている。シャフト５先端には駆動歯車１１が固定され
、該駆動歯車１１には、ベース７のフランジ部７αにシ
ャフト５を中心として１２０°円周等分位置に配設され
た３個のベアリング１２αと、ベース７に固定されたキ
ャップ１３に同様にして配設された３個のベアリング１
２ｂとで軸支される３個の従動軸１４に固定された従動
歯車１５が噛合している。従動軸１４のキャップ１３か
ら下方へ突出する部分にはつめ１６がとなり合う側面を
互いに６０°をなすように対向して固定されている。１
７は電磁クラッチで、ローター１７αをシャフト５に固
定し、ステーター１７ｈはスリーブ１０のスライダー１
８に連結され軸方向に摺動し得るようになっている。１
９はカラー９に固定されたアダプタープレートで電磁ク
ラッチ１７をオンにするとローター１７αとアダプター
プレート１９とが電磁結合してシャフト５とベース７を
一体にする。電磁クラッチ１７をオフにするとシャフト
５とベース７とはフリーになる。Hereinafter, a detailed explanation will be given based on an example. Reference numeral 1 denotes a nut runner fixed to the arm 2 of the robot, which is connected to a joint 4 fixed to the output shaft 3 so that the shaft 5 can be rotated integrally and slidably in the axial direction, and a spring 6
The shaft 5 is urged downward. Reference numeral 7 denotes a base rotatably attached to the shaft 5 via bearings 8α and Bb, and a tapered surface 9 of a collar 9 fixed to the base 7.
A cylindrical sleeve 1 fixed to the tip of nut runner 1
The spring 6 is pressed against the tapered surface 10α at the tip of the spring 6. A drive gear 11 is fixed to the tip of the shaft 5, and the drive gear 11 has three bearings 12α disposed on the flange portion 7α of the base 7 at equal intervals of 120° around the shaft 5. Three bearings 1 similarly arranged on a cap 13 fixed to a base 7
A driven gear 15 fixed to three driven shafts 14 pivotally supported by 2b is engaged with the driven gear 15. A pawl 16 is fixed to a portion of the driven shaft 14 that projects downward from the cap 13, with adjacent sides facing each other at 60°. 1
7 is an electromagnetic clutch that fixes the rotor 17α to the shaft 5, and the stator 17h is an electromagnetic clutch that fixes the rotor 17α to the shaft 5,
8 so that it can slide in the axial direction. 1
Reference numeral 9 denotes an adapter plate fixed to the collar 9. When the electromagnetic clutch 17 is turned on, the rotor 17α and the adapter plate 19 are electromagnetically coupled to unite the shaft 5 and the base 7. When the electromagnetic clutch 17 is turned off, the shaft 5 and base 7 become free.

次に作用について説明する。電磁クラッチ１７をオフに
してシャフト５をボルトを締める方向に回転する。ベー
ス９はスプリング６によってスリーブ１０に圧接してい
るのでベース９は制動され、シャフト５のみがベース９
に対シて回転してつめ１６が閉じボルトの頭をチャック
する。Next, the effect will be explained. The electromagnetic clutch 17 is turned off and the shaft 5 is rotated in the direction of tightening the bolt. Since the base 9 is pressed against the sleeve 10 by the spring 6, the base 9 is braked, and only the shaft 5 is pressed against the sleeve 10.
The pawl 16 closes and chucks the head of the bolt.

チャック后はナツトランナーをオフにして電磁クラッチ
１７をオンにする。そしてロボットのアーム２を移動し
、締結すべき部材の上にツールをもってゆく。次いでシ
ャフト５をボルトをねじ込む方向に回転させ乍らボルト
を締結すべき穴へ押しつける。ボルトが穴と当接すると
ベース９が押されカラー９がスリーブ１０から離れるこ
とになるが、電磁クラッチ１７がオンになっているので
ローター１７αとアダプタプレート１９とが電磁結合し
シャフト５とベース９は一体に結合回転し、つめ１６は
ボルトを把持したま＼保持され、ボルトを穴にねじ込む
。この時電磁クラッチ１７のステーター１７ｂは回転せ
ずスリーブ１０の軸方向を摺動する。ボルト締結后ナツ
トランナー１を締結部品から離脱させ、電磁クラッチを
オフにしてシャフト５を逆回転するとカラー９がスリー
ブ１０に圧接してベース７が回転を停止するのでつめ１
６は開く。After Chuck turns off the nut runner and turns on the electromagnetic clutch 17. Then, the robot's arm 2 is moved to bring the tool onto the members to be fastened. Next, the shaft 5 is rotated in the direction in which the bolt is screwed in while pressing the bolt into the hole to be fastened. When the bolt comes into contact with the hole, the base 9 is pushed and the collar 9 separates from the sleeve 10, but since the electromagnetic clutch 17 is on, the rotor 17α and the adapter plate 19 are electromagnetically coupled, and the shaft 5 and the base 9 are connected. are coupled and rotated together, and the pawl 16 is held while gripping the bolt, screwing the bolt into the hole. At this time, the stator 17b of the electromagnetic clutch 17 does not rotate but slides in the axial direction of the sleeve 10. After the bolts are fastened, the nut runner 1 is separated from the fastened parts, the electromagnetic clutch is turned off, and the shaft 5 is rotated in the reverse direction.The collar 9 is pressed against the sleeve 10 and the base 7 stops rotating, so that the pawl 1
6 opens.

なおりラッチは流体クラッチを用いてもよいがクラッチ
自体が回転するのでロータリージヨイント、スリップリ
ング等が必要である。A fluid clutch may be used as the latch, but since the clutch itself rotates, a rotary joint, slip ring, etc. are required.

（効果） 本発明によるとナツトランナーの出力軸とシヤフトを一
体回転でき、且つ軸方向Ｋｍ動自在に連結し、該・／ヤ
フトにベースを回転自在に設は該ベースをナツトランナ
ーに固定したスリーブにスプリングで圧接し、ベースに
はンヤフトに固定した駆動歯車に噛合する３個の従動歯
車を枢着して各従動歯車につめを固定し、シャフトとベ
ースとの間にクラッチを設けて、シャフトとベースとを
一体にしたり分離する如くなっているので、同一の装置
で六角ボルトの把持と締結を行うことができ、ロボット
等による自動組立作業では一台のロボットでボルトの搬
送ト組み立てを可能となし、作業速度を高速にして装置
の低コスト化を図ることができる。(Effects) According to the present invention, the output shaft and the shaft of the nut runner can be integrally rotated and are connected to each other so as to be movable in the axial direction, and the base is rotatably installed on the shaft, and the sleeve is fixed to the nut runner. Three driven gears that mesh with the drive gear fixed to the shaft are pivoted to the base, and a pawl is fixed to each driven gear. A clutch is provided between the shaft and the base, and the shaft Since the hex bolt and the base can be integrated or separated, the hex bolt can be gripped and fastened with the same device, and in automatic assembly work using robots, it is possible to transport and assemble the bolt with one robot. Therefore, the work speed can be increased and the cost of the equipment can be reduced.

まだ六角ボルトを把持し、その！ま締結できるのでいか
なる方向でもボルト締め作業を行うことができるし、し
かもサイズの異なる六角ボルトにも対応できるので、Ａ
ＴＣ装置などによってソケット等を換える必要がなく、
更には六角ボルトとナツトランナーの中心が常に一致す
るのでロボットのライーチングが簡単になシ、よりフレ
キノプルな組立システムを構成することができる。Still grasping the hex bolt, its! Since it can be tightened in any direction, bolt tightening work can be done in any direction, and it can also be used with hexagonal bolts of different sizes.
There is no need to change sockets etc. due to TC device etc.
Furthermore, since the centers of the hexagonal bolt and nut runner are always aligned, the robot can be easily lit and a more flexible assembly system can be constructed.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図はロボットにセットした時の概略正面図、第２図
は要部を切断した一実施例正面図、第３図は第２図の下
面図である。 １・・・ナツトランナー、３・・・出力軸、５・・・シ
ャフト、６・・・スプリング、７・・・ベース、１０・
・・スリーブ、１１・・・駆動歯車、１４・・・従動軸
、１５・・・従動歯車、１６・・・つめ、１７・・・ク
ラッチ。FIG. 1 is a schematic front view when set on a robot, FIG. 2 is a front view of an embodiment with main parts cut away, and FIG. 3 is a bottom view of FIG. 2. DESCRIPTION OF SYMBOLS 1... Nut runner, 3... Output shaft, 5... Shaft, 6... Spring, 7... Base, 10...
... Sleeve, 11... Drive gear, 14... Driven shaft, 15... Driven gear, 16... Pawl, 17... Clutch.

Claims (1)

【特許請求の範囲】[Claims] ナットランナーの出力軸とシャフトを一体回転出来、且
つ軸方向に摺動自在に連結し、該シャフトにベースを回
転自在に設け、該ベースをナットランナーに固定したス
リーブにスプリングで圧接し、ベースにはシャフトに固
定した駆動歯車に噛合する３個の従動歯車を枢着して各
従動歯車につめを固定しシャフトとベースとの間にクラ
ッチを設けて、シャフトとベースとを一体にしたり分離
する如くなした六角ボルト締め装置。The output shaft of the nut runner and the shaft are connected to each other so that they can rotate together and can slide freely in the axial direction, and a base is rotatably provided on the shaft, and the base is pressed by a spring to a sleeve fixed to the nut runner, and the base is attached to the base. The system pivots three driven gears that mesh with a driving gear fixed to the shaft, fixes a pawl to each driven gear, and provides a clutch between the shaft and base to integrate or separate the shaft and base. A hexagonal bolt tightening device.
JP3752885A 1985-02-28 1985-02-28 Hexagon head bolt tightening apparatus Pending JPS61197132A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP3752885A JPS61197132A (en) 1985-02-28 1985-02-28 Hexagon head bolt tightening apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP3752885A JPS61197132A (en) 1985-02-28 1985-02-28 Hexagon head bolt tightening apparatus

Publications (1)

Publication Number Publication Date
JPS61197132A true JPS61197132A (en) 1986-09-01

Family

ID=12500038

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3752885A Pending JPS61197132A (en) 1985-02-28 1985-02-28 Hexagon head bolt tightening apparatus

Country Status (1)

Country Link
JP (1) JPS61197132A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11285985A (en) * 1998-04-01 1999-10-19 Katsuyuki Totsu Torque fix type driver
KR100571681B1 (en) * 1997-05-13 2006-12-07 히라따기꼬오 가부시키가이샤 Insertion and attachment device of workpiece

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100571681B1 (en) * 1997-05-13 2006-12-07 히라따기꼬오 가부시키가이샤 Insertion and attachment device of workpiece
JPH11285985A (en) * 1998-04-01 1999-10-19 Katsuyuki Totsu Torque fix type driver

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