WO2016020973A1 - Robot system - Google Patents

Robot system Download PDF

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Publication number
WO2016020973A1
WO2016020973A1 PCT/JP2014/070494 JP2014070494W WO2016020973A1 WO 2016020973 A1 WO2016020973 A1 WO 2016020973A1 JP 2014070494 W JP2014070494 W JP 2014070494W WO 2016020973 A1 WO2016020973 A1 WO 2016020973A1
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WO
WIPO (PCT)
Prior art keywords
screw
robot
robot system
interval
screw tightening
Prior art date
Application number
PCT/JP2014/070494
Other languages
French (fr)
Japanese (ja)
Inventor
健一 元永
健 大川
健司 松藤
亮介 堤
Original Assignee
株式会社安川電機
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 株式会社安川電機 filed Critical 株式会社安川電機
Priority to JP2016539708A priority Critical patent/JP6288277B2/en
Priority to PCT/JP2014/070494 priority patent/WO2016020973A1/en
Publication of WO2016020973A1 publication Critical patent/WO2016020973A1/en

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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
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors

Definitions

  • the disclosed embodiment relates to a robot system.
  • screw tightening devices such as nutrunners that automatically tighten screws.
  • screw tightening device that has a plurality of rotating shafts that rotate a screw and tightens the plurality of screws simultaneously.
  • One aspect of the embodiment has been made in view of the above, and an object thereof is to provide a robot system capable of efficiently performing a screw tightening operation.
  • a robot system includes a robot, a plurality of screw tightening devices, an interval changing unit, and a controller.
  • the robot has a multi-joint.
  • the plurality of screw tightening devices are attached to the robot and rotate screws by a servo motor.
  • the said interval change part changes the space
  • the controller controls a servo motor of each of the robot and the plurality of screw fastening devices and a servo motor that drives the interval changing unit.
  • the screw tightening operation can be performed efficiently.
  • FIG. 1 is an explanatory diagram illustrating an overview of a robot system according to an embodiment.
  • FIG. 2 is a schematic perspective view of the robot.
  • FIG. 3A is a schematic perspective view of a screw fastening unit.
  • FIG. 3B is an operation explanatory diagram of the screw tightening unit.
  • FIG. 4A is an explanatory diagram (part 1) of the bit part attaching / detaching mechanism.
  • FIG. 4B is an explanatory diagram (part 2) of the bit part attaching / detaching mechanism.
  • FIG. 5A is an explanatory diagram (part 1) of the jig.
  • FIG. 5B is an explanatory diagram (part 2) of the jig.
  • FIG. 6 is a system configuration diagram of the robot system.
  • FIG. 7 is an explanatory diagram (part 1) of the screw tightening operation.
  • FIG. 8 is an explanatory diagram (part 2) of the screw tightening operation.
  • FIG. 1 is an explanatory diagram illustrating an overview of a robot system according to an embodiment.
  • an operation of tightening or loosening a screw is performed.
  • screws that are tightened and loosened by such a robot system include bolts and the like.
  • screw is used as a general term for a fastening member provided with a spiral groove such as a bolt.
  • the robot system 1 includes a robot 10, a plurality of screw tightening devices 21, 21, an interval changing unit 24, and a controller 50.
  • the robot 10 has a multi-joint.
  • the robot 10 is, for example, a single arm type.
  • the distal end portion (A portion) of the robot 10 is shown enlarged in the central portion and the lower portion in the drawing.
  • the plurality of screw fastening devices 21 and 21 are attached to the tip of the robot 10.
  • the plurality of screw tightening devices 21 and 21 rotate the bits attached to the front end side by the respective servo motors 221 and 221 and rotate the screws connected to the front end side of the bits, respectively.
  • the interval changing unit 24 is provided so as to connect the plurality of screw fastening devices 21, 21, and changes the interval D between the plurality of screw fastening devices 21, 21 by the servo motor 26.
  • the distance D between the plurality of screw fastening devices 21 and 21 is defined as the distance between the bits.
  • the controller 50 controls the operation of the robot 10.
  • the controller 50 drives and controls the servo motors 221 and 221 of the plurality of screw fastening devices 21 and 21 and the servo motor 26 of the interval changing unit 24.
  • the robot system 1 uses a plurality of screw tightening devices 21 and 21, a plurality of screws can be tightened simultaneously, and the time required for the screw tightening operation can be shortened. Moreover, various intervals between the screws can be accommodated by appropriately changing the interval D between the plurality of screw fastening devices 21, 21. With these two advantages, the screw tightening operation can be performed efficiently.
  • the controller 50 controls the servo motors 221 and 221 of the plurality of screw tightening devices 21 and 21 and the servo motor 26 of the interval changing unit 24, so that the screw tightening devices 21 and 21 and the interval changing unit are controlled.
  • the plurality of screw fastening devices 21 and 21 are arranged so that the rotation axis of the screw is perpendicular to the tip axis of the robot 10. Further, the center of gravity of the screw tightening devices 21 and 21 and the interval changing unit 24 is arranged so as to be near the extension line of the tip axis of the robot 10. Further, one of the plurality of screw fastening devices 21 and 21 is fixed, and the other is movable. Such a configuration will be described later with reference to FIGS. 3A and 3B.
  • the robot system 1 further includes a jig that rotatably holds a plurality of screws.
  • the configuration of the jig will be described later with reference to FIGS. 5A and 5B.
  • FIG. 2 is a schematic perspective view of the robot.
  • the robot 10 is a single-armed articulated robot.
  • the robot 10 includes a first arm unit 101, a second arm unit 102, a third arm unit 103, a fourth arm unit 104, a fifth arm unit 105, and a base unit 106. .
  • the first arm portion 101 is supported by a base portion 106 having a base end portion fixed to a floor surface or the like, and supports the second arm portion 102 at the tip end portion.
  • the second arm portion 102 is supported at the base end portion by the first arm portion 101 and supports the third arm portion 103 at the distal end portion.
  • the third arm portion 103 is supported at the base end portion by the second arm portion 102 and supports the fourth arm portion 104 at the tip end portion.
  • the fourth arm portion 104 is supported at the base end portion by the third arm portion 103 and supports the fifth arm portion 105 at the distal end portion.
  • the fifth arm portion 105 is supported at the base end portion by the fourth arm portion 104.
  • an actuator (not shown) is mounted on each joint portion, which is each connecting portion of the first arm portion 101 to the fifth arm portion 105.
  • the robot 10 can perform a multi-axis operation by driving the actuator.
  • the joint actuator that connects the first arm portion 101 and the second arm portion 102 rotates the second arm portion 102 about the axis S.
  • the joint actuator that connects the second arm portion 102 and the third arm portion 103 rotates the third arm portion 103 about the axis L.
  • the joint actuator that connects the third arm portion 103 and the fourth arm portion 104 rotates the fourth arm portion 104 about the axis U. Further, the joint actuator that connects the fourth arm unit 104 and the fifth arm unit 105 rotates the fifth arm unit 105 about the axis B.
  • the robot 10 includes individual actuators that rotate the third arm portion 103 around the axis E, the fourth arm portion 104 around the axis R, and the fifth arm portion 105 around the axis T, respectively.
  • the robot 10 has seven axes.
  • the robot 10 can perform various multi-axis operations combining these seven axes based on an operation instruction from the controller 50 (see FIG. 1).
  • the operation instruction from the controller 50 is output as, for example, a pulse signal for driving each actuator described above.
  • the distal end portion of the fifth arm portion 105 is a terminal movable portion of the robot 10.
  • a screw fastening unit is attached to the terminal movable part.
  • the screw tightening unit will be described with reference to FIGS. 3A and 3B.
  • FIG. 3A is a schematic perspective view of a screw tightening unit.
  • FIG. 3B is an operation explanatory diagram of the screw tightening unit.
  • the screw tightening unit 20 includes a plurality of screw tightening devices 21, 21 and an interval changing unit 24.
  • the screw fastening unit 20 includes, for example, two screw fastening devices 21 and 21.
  • the two screw fastening devices 21 and 21 have the same configuration. Accordingly, one of the two screw fastening devices 21 will be described.
  • the screw tightening device 21 is a so-called nutrunner that automatically tightens a screw (or loosens and removes the screw).
  • the screw tightening device 21 includes a drive unit 22 and a bit unit 23.
  • this screw fastening apparatus 21 can be used for any operation
  • the drive unit 22 includes a servo motor 221 serving as a rotational drive source that rotates a bit 231 described later, and a speed reducer 222.
  • Servo motor 221 and reduction gear 222 are arranged in series along the axis AX direction.
  • the drive unit 22 may further include a torque detector. By providing the torque detector, more accurate torque control is possible.
  • the bit portion 23 holds a bit 231 engaged with a screw to be tightened or loosened on the tip side.
  • the bit part 23 is attached to the drive part 22 at the end side.
  • the bit unit 23 when the rotational driving force output from the driving unit 22 is input, the bit 231 rotates around the axis AX by the input rotational driving force.
  • the interval changing unit 24 includes a base unit 25, a servo motor 26, and a ball screw 27.
  • the base portion 25 is formed in a substantially rectangular plate shape extending in a direction orthogonal to the axis AX of the screw fastening device 21.
  • the screw tightening unit 20 is attached to the tip of the robot 10 so that the axis AX of the screw tightening device 21, that is, the rotation axis of the screw of the screw tightening device 21 is perpendicular to the axis T.
  • the rotation point of the screw of the screw tightening device 21 is perpendicular to the axis T, so that the work point of the screw tightening device 21 can be brought close to the control point of the robot 10. This increases the screw tightening accuracy. Further, since the control point of the robot 10 and the work point of the screw tightening device 21 are close to each other, it is possible to suppress the blur on the tip side of the bit 231 and increase the rigidity.
  • Servo motor 26 is provided on the back side of base portion 25.
  • the servo motor 26 outputs a rotational driving force.
  • the rotational driving force output from the servo motor 26 is transmitted to a ball screw 27 described later via the power transmission unit 261.
  • the power transmission unit 261 includes a pair of pulleys arranged on the back side and the front side of the base unit 25, and a belt wound around the pulleys. With this configuration, the rotational driving force from the back side of the base portion 25 can be transmitted to the front side of the base portion 25.
  • the ball screw 27 is disposed on the front side of the base portion 25 along the longitudinal direction of the base portion 25. That is, the ball screw 27 is disposed so as to be perpendicular to the axis AX direction of the screw fastening device 21.
  • the two screw fastening devices 21 and 21 and the interval changing unit 24 are attached so that the center of gravity of the two screw fastening devices 21 and 21 and the distance changing unit 24 is near the extension line of the axis T.
  • the positioning accuracy of the screw tightening device 21 by the robot 10 can be increased, and the load of inertia (rotational moment of inertia) on the axis T can be reduced.
  • the ball screw 27 moves at least one of the two screw fastening devices 21 and 21 in the axial direction of itself (ball screw 27).
  • one of the two screw tightening devices 21 and 21 is fixed on the front side of the base portion 25 as a fixed side.
  • the other one moves along the axial direction of the ball screw 27 as a movable side.
  • the screw fastening device 21 on the right side in the drawing is the fixed side
  • the screw fastening device 21 on the left side in the drawing is the movable side
  • the initial position before the movement of the screw fastening device 21 on the movable side is indicated by a two-dot broken line.
  • the movable-side screw fastening device 21 is connected to the ball screw 27 on the front side of the base portion 25.
  • the ball screw 27 rotates around the axis by the rotational driving force output from the servomotor 26, so that the movable-side screw tightening device 21 is brought into and out of contact with the fixed-side screw tightening device 21. Move to do. Thereby, the space
  • the bit portion 23 is detachably attached to the drive portion 22.
  • the bit 231 can be appropriately replaced according to the size and type of the screw to be tightened or loosened.
  • the robot 10 (see FIG. 2) replaces the bit 231 by itself.
  • FIGS. 4A and 4B are explanatory views (cross-sectional views) of the bit portion attaching / detaching mechanism.
  • 4A shows the state before the bit portion 23 is attached
  • FIG. 4B shows the state after the bit portion 23 is attached.
  • the screw fastening device 21 includes an attachment / detachment unit 30.
  • the detachable part 30 includes a pair of air cylinders 301 and 301.
  • the pair of air cylinders 301 and 301 are disposed with a phase difference of 180 degrees on a concentric circle of the axis AX on the upper surface of the base 302 on the drive unit 22 side.
  • the telescopic rods 301a and 301a of each of the pair of air cylinders 301 and 301 pass through the base 302 and the tip side is disposed on the bit part 23 side.
  • the telescopic rods 301a and 301a are connected to the floating joints 303 and 303 on the bit part 23 side.
  • Floating joints 303 and 303 are connected to a flange portion 305 provided on the outer peripheral surface of a short cylindrical circular receiving portion 304.
  • the circular receiving portion 304 is provided so as to be expandable / contractable in the axis AX direction, and expands / contracts in the axis AX direction following the expansion / contraction of the expansion / contraction rods 301a, 301a.
  • the cylindrical portion 309 is inserted into the communication hole 308.
  • the cylindrical portion 309 is inserted with the output shaft 310 of the driving portion 22 in a state where the bit portion 23 is attached.
  • a tapered surface 311 is provided on the inner peripheral edge on the distal end side of the cylindrical portion 309 so as to increase the diameter.
  • a through hole 312 penetrating in the thickness direction is provided on the inner peripheral surface of the cylindrical portion 309.
  • a steel ball 313 is disposed in the through hole 312.
  • the opening diameter on the inner peripheral surface side of the through hole 312 is formed to be smaller than the diameter of the steel ball 313.
  • the steel ball 313 is in a state of being retracted into the space formed by the tapered surface 311 when the telescopic rods 301a and 301a are contracted.
  • a flange portion 314 is provided on the end surface of the bit portion 23 on the bit portion 23 side.
  • a circular convex portion 315 that can be fitted into the circular concave portion 306 on the drive unit 22 side is provided on the end side end surface of the flange portion 314.
  • a cylindrical portion 316 that can be fitted into the cylindrical portion 309 on the drive unit 22 side is provided on the end face of the circular convex portion 315.
  • a V-shaped groove 317 is provided on the outer peripheral surface of the cylindrical portion 316 on the end side.
  • a tapered surface 318 is provided on the side peripheral surface of the circular convex portion 315 so as to be inclined toward the terminal end surface.
  • the cylindrical portion 316 on the bit portion 23 side is fitted into the cylindrical portion 309 on the driving portion 22 side.
  • the output shaft 310 is inserted through the tube portion 316.
  • the output shaft 310 enters the inside of the housing 319 of the bit portion 23 through the inner peripheral surface of the cylindrical portion 316, and the distal end side is connected to the distal end side of the torque transmission shaft 320 that transmits the rotational driving force to the bit 231.
  • the steel ball 313 disposed in the through hole 312 is pushed out to the inner peripheral surface side of the cylindrical portion 309 by a predetermined dimension by the inner peripheral surface of the communication hole 308.
  • the steel ball 313 is restricted from protruding more than a predetermined dimension.
  • the steel ball 313 protruding by a predetermined dimension is fitted into a V-shaped groove 317 provided in the cylinder part 316 on the bit part 23 side.
  • the tapered surface 311 of the driving portion 22 side cylindrical portion 309 comes into contact with the tapered surface 318 of the bit portion 23 side cylindrical portion 316.
  • the bit part 23 is driven by the force by which the steel ball 313 pushes the V-shaped groove 317 and the force by which the tapered surface 311 of the driving part 22 side cylindrical part 309 presses the tapered surface 318 of the bit part 23 side cylindrical part 316. Locked to the part 22.
  • the bit part 23 is detachably attached to the drive part 22 by such a so-called coupler structure attaching / detaching mechanism. Further, it can be easily attached and detached by a simple operation.
  • the bit unit 23 can be attached and detached by the robot 10 (see FIG. 2).
  • the robot system 1 further includes a jig that holds a screw to be tightened in the screw hole.
  • a configuration example of the jig will be described with reference to FIGS. 5A and 5B.
  • 5A and 5B are explanatory diagrams of the jig. Specifically, FIG. 5A is a schematic perspective view of a jig, and FIG. 5B is a schematic cross-sectional view showing a screw mounting operation.
  • the jig 40 includes a first insertion hole 401, a second insertion hole 402, and a holding portion 403.
  • the 1st insertion hole 401 is provided in the surface corresponding to the workpiece
  • the screw 41 is inserted into the first insertion hole 401 from the head 41a.
  • the second insertion hole 402 is provided on the surface opposite to the surface corresponding to the workpiece W side. Further, the second insertion hole 402 is provided so as to penetrate through the first insertion hole 401. The distal end side of the screw tightening device 21 (see FIG. 3A) is inserted into the second insertion hole 402.
  • the first insertion hole 401 and the second insertion hole 402 are provided at positions corresponding to the screw holes 42 provided in the workpiece W. Therefore, the jig 40 is attached to the workpiece W, and holds the screw 41 while restricting the posture of the screw 41 at a position corresponding to the screw hole 42.
  • the jig 40 can hold the screw 41 in the first insertion hole 401 by the holding portion 403.
  • the holding portion 403 includes a communication hole 404, a protruding member 405, a biasing member 406, and a retaining member 407.
  • the communication hole 404 communicates from the outer peripheral surface of the jig 40 to the back side of the first insertion hole 401, that is, the inner peripheral surface on the second insertion hole 402 side.
  • the protruding member 405 is provided in the communication hole 404 so as to protrude by a predetermined dimension from the inner peripheral surface of the first insertion hole 401.
  • the protruding member 405 is urged toward the inner peripheral surface side of the first insertion hole 401 by the urging member 406. Further, a retaining member 407 that prevents the biasing member 406 from coming off is provided on the outer peripheral surface side of the jig 40 in the communication hole 404.
  • the screw 41 when the screw 41 is inserted into the first insertion hole 401, the head 41 a of the screw 41 is inserted into the protruding member 405 of the holding portion 403 on the back side of the first insertion hole 401. Is pressed. Thereby, the screw 41 can be easily attached to the jig 40. Further, the screw 41 can be accessed from the surface opposite to the surface corresponding to the workpiece W side of the jig 40. Furthermore, the screw 41 can be rotatably held. As a result, the screw 41 can move in the axial direction of itself (the screw 41) with respect to the jig 40.
  • FIG. 6 is a system configuration diagram of the robot system.
  • the controller 50 controls the robot 10 and the screw tightening unit 20.
  • the controller 50 is a so-called robot controller used for robot control, and drives and controls the actuators of the joints including the arms 101 to 105 (see FIG. 2) of the robot 10.
  • the controller 50 and the robot 10 are connected by a cable 51 or the like.
  • controller 50 and the screw fastening unit 20 are connected by a cable 51 or the like. Specifically, the controller 50 is connected to each of the servo motors 221 and 221 of the plurality (two) of screw fastening devices 21 and 21 and the servo motor 26 of the interval changing unit 24. The controller 50 drives and controls the servo motors 221 and 221 and the servo motor 26 as external axes of the robot 10.
  • a controller for screw tightening devices such as a nutrunner controller may be interposed between the controller 50 and the screw tightening devices 21 and 21.
  • the servo motor 26 of the interval changing unit 24 is driven to adjust the intervals between the plurality of screw tightening devices 21 and 21 to the intervals between the plurality of screw holes provided in the workpiece. Then, the robot 10 moves the plurality of screw tightening devices 21 and 21 to the positions of the screw holes, and performs the screw tightening operation.
  • the robot 10 can replace the bit unit 23 according to the size and type of screw to be tightened.
  • the attachment and detachment of the bit part 23 is performed by the controller 50 driving and controlling the pair of air cylinders 301 and 301 (see FIGS. 4A and 4B).
  • FIG. 7 only a plurality (two) of screw fastening devices 21 and 21 are shown for convenience of explanation.
  • the jig 40 (see FIGS. 5A and 5B) is omitted.
  • a distance D1 is set between the two screw fastening devices 21 and 21 according to the distance between the screw holes 42a and 42f arranged on one diagonal line of the workpiece W.
  • the screws 41 and 41 are simultaneously tightened into the screw holes 42a and 42f.
  • the screws 41 and 41 are simultaneously tightened into the screw holes 42 b and 42 e arranged on the other diagonal line of the workpiece W.
  • the interval between the screw holes 42a and 42f is equal to the interval between the screw holes 42b and 42e, the operation is performed with the two screw tightening devices 21 and 21 being set at the interval D1.
  • the screws 41 and 41 are simultaneously tightened into the screw holes 42 c and 42 d arranged in the midway position in the longitudinal direction of the workpiece W.
  • the operation is performed by changing the distance between the two screw fastening devices 21 and 21 to the distance D2 according to the distance between the screw holes 42c and 42d.
  • the time required for the screw tightening operation can be shortened. Further, by changing the interval between the two screw tightening devices 21 and 21 from the interval D1 corresponding to the screw holes 42a and 42f (42b and 42e) to the interval D2 corresponding to the screw holes 42c and 42d, other than equal arrangement It can also correspond to the screw holes.
  • FIG. 8 shows another example of screw tightening work.
  • a plurality (six) of screw holes 42g to 42l are non-uniformly arranged on a concentric circle.
  • a distance D3 is set between the two screw fastening devices 21 and 21 according to the distance between the screw holes 42g and 42j. Tighten the screws at the same time.
  • the screws are simultaneously tightened into the screw holes 42h and 42k.
  • the distance between the two screw fastening devices 21 and 21 is changed to a distance D4 according to the distance between the screw holes 42h and 42k.
  • the plurality of screws 41 and 41 can be tightened simultaneously, and the time required for the screw tightening operation can be shortened.
  • various intervals between the screws 41 and 41 can be dealt with.
  • controller 50 controls the servo motors 221 and 221 of the plurality of screw tightening devices 21 and 21 and the servo motor 26 of the interval changing unit 24, thereby individually controlling the screw tightening devices 21 and 21 and the interval changing unit 24. No control device is required. Further, the robot 10 can be controlled while changing the interval D between the plurality of screw fastening devices 21 and 21.
  • one of the plurality of screw fastening devices 21 and 21 is fixed and the other is movable.
  • all the plurality of screw fastening devices 21 and 21 are movable. , Each may be relatively moved.
  • the two screw tightening devices 21 and 21 are provided in the screw tightening unit 20, three or more screw tightening devices 21 may be provided.
  • the configuration in which the three screw tightening devices 21 are arranged in a triangular shape is effective when the screws 41 are tightened into a plurality of screw holes 42 arranged concentrically.

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  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

According to one embodiment of the present invention, a robot system is provided with a robot (10), a plurality of screw tightening devices (21), an interval changing section (24), and a controller (50). The robot (10) has multiple joints. The screw tightening devices (21) are attached to the robot (10), and rotate screws by means of respective servo motors (221). The interval changing section (24) changes intervals among the screw tightening devices by means of a servo motor (26). The controller (50) controls the robot (10), respective servo motors (221) of the screw tightening devices, and the servo motor (26) that drives the interval changing section.

Description

ロボットシステムRobot system
　開示の実施形態は、ロボットシステムに関する。 The disclosed embodiment relates to a robot system.
　従来、ネジを自動で締め付けるナットランナなどのネジ締め装置がある。また、ネジを回転させる回転軸を複数有しており、複数のネジを同時に締め付けるネジ締め装置も知られている。 Conventionally, there are screw tightening devices such as nutrunners that automatically tighten screws. There is also known a screw tightening device that has a plurality of rotating shafts that rotate a screw and tightens the plurality of screws simultaneously.
　そして、複数の回転軸の軸間距離を調整する機構を操作することで、軸間距離を所望の距離で固定するネジ締め装置も提案されている（たとえば、特許文献１参照）。 Also, a screw tightening device that fixes the inter-axis distance at a desired distance by operating a mechanism that adjusts the inter-axis distance of a plurality of rotating shafts has been proposed (for example, see Patent Document 1).
特開２００８－１４９３９７号公報JP 2008-149397 A
　しかしながら、軸間距離を所望の距離で固定するネジ締め装置を多関節ロボットに取り付け、ネジ締め作業を自動化しようとする場合、かかる軸間距離を調整する操作などの作業が必要となる。このため、従来のネジ締め装置を用いてネジ締め作業を自動化しようとしても、ネジ締め作業を効率良く行いにくいという問題がある。 However, when a screw tightening device that fixes the distance between the axes at a desired distance is attached to the articulated robot and the screw tightening operation is to be automated, such operations as adjusting the distance between the axes are required. For this reason, even if it is going to automate a screw fastening operation | work using the conventional screw fastening apparatus, there exists a problem that it is difficult to perform a screw fastening operation | work efficiently.
　実施形態の一態様は、上記に鑑みてなされたものであって、ネジ締め作業を効率良く行うことができるロボットシステムを提供することを目的とする。 One aspect of the embodiment has been made in view of the above, and an object thereof is to provide a robot system capable of efficiently performing a screw tightening operation.
　実施形態の一態様に係るロボットシステムは、ロボットと、複数のネジ締め装置と、間隔変更部と、コントローラとを備える。前記ロボットは、多関節を有する。前記複数のネジ締め装置は、前記ロボットに取り付けられ、サーボモータによってネジを回転させる。前記間隔変更部は、前記複数のネジ締め装置の間隔をサーボモータによって変更する。前記コントローラは、前記ロボットと前記複数のネジ締め装置の各々のサーボモータと前記間隔変更部を駆動するサーボモータとを制御する。 A robot system according to an aspect of the embodiment includes a robot, a plurality of screw tightening devices, an interval changing unit, and a controller. The robot has a multi-joint. The plurality of screw tightening devices are attached to the robot and rotate screws by a servo motor. The said interval change part changes the space | interval of these screw fastening apparatuses with a servomotor. The controller controls a servo motor of each of the robot and the plurality of screw fastening devices and a servo motor that drives the interval changing unit.
　実施形態の一態様によれば、ネジ締め作業を効率良く行うことができる。 According to one aspect of the embodiment, the screw tightening operation can be performed efficiently.
図１は、実施形態に係るロボットシステムの概要を示す説明図である。FIG. 1 is an explanatory diagram illustrating an overview of a robot system according to an embodiment. 図２は、ロボットの模式斜視図である。FIG. 2 is a schematic perspective view of the robot. 図３Ａは、ネジ締めユニットの模式斜視図である。FIG. 3A is a schematic perspective view of a screw fastening unit. 図３Ｂは、ネジ締めユニットの動作説明図である。FIG. 3B is an operation explanatory diagram of the screw tightening unit. 図４Ａは、ビット部着脱機構の説明図（その１）である。FIG. 4A is an explanatory diagram (part 1) of the bit part attaching / detaching mechanism. 図４Ｂは、ビット部着脱機構の説明図（その２）である。FIG. 4B is an explanatory diagram (part 2) of the bit part attaching / detaching mechanism. 図５Ａは、治具の説明図（その１）である。FIG. 5A is an explanatory diagram (part 1) of the jig. 図５Ｂは、治具の説明図（その２）である。FIG. 5B is an explanatory diagram (part 2) of the jig. 図６は、ロボットシステムのシステム構成図である。FIG. 6 is a system configuration diagram of the robot system. 図７は、ネジ締め作業の説明図（その１）である。FIG. 7 is an explanatory diagram (part 1) of the screw tightening operation. 図８は、ネジ締め作業の説明図（その２）である。FIG. 8 is an explanatory diagram (part 2) of the screw tightening operation.
　以下、添付図面を参照して、本願の開示するロボットシステムの実施形態を詳細に説明する。なお、以下に示す実施形態によりこの発明が限定されるものではない。 Hereinafter, embodiments of a robot system disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.
　まず、図１を参照して実施形態に係るロボットシステムの概要について説明する。図１は、実施形態に係るロボットシステムの概要を示す説明図である。なお、以下で説明するロボットシステムでは、ネジを締めるまたは緩める作業を行う。 First, the outline of the robot system according to the embodiment will be described with reference to FIG. FIG. 1 is an explanatory diagram illustrating an overview of a robot system according to an embodiment. In the robot system described below, an operation of tightening or loosening a screw is performed.
　また、かかるロボットシステムによって締緩されるネジにはボルトなどを含む。以下では、「ネジ」という呼称をボルトなどのようならせん状の溝が設けられた締結部材の総称として用いる。 Also, screws that are tightened and loosened by such a robot system include bolts and the like. Hereinafter, the term “screw” is used as a general term for a fastening member provided with a spiral groove such as a bolt.
　図１に示すように、ロボットシステム１は、ロボット１０と、複数のネジ締め装置２１，２１と、間隔変更部２４と、コントローラ５０とを備える。ロボット１０は、多関節を有する。ロボット１０は、たとえば、単腕型である。なお、図１では、ロボット１０の先端部（Ａ部）を図中の中央部および下部に拡大して示している。 As shown in FIG. 1, the robot system 1 includes a robot 10, a plurality of screw tightening devices 21, 21, an interval changing unit 24, and a controller 50. The robot 10 has a multi-joint. The robot 10 is, for example, a single arm type. In FIG. 1, the distal end portion (A portion) of the robot 10 is shown enlarged in the central portion and the lower portion in the drawing.
　複数のネジ締め装置２１，２１は、ロボット１０の先端部に取り付けられる。複数のネジ締め装置２１，２１は、各々のサーボモータ２２１，２２１によって先端側に取り付けられたビットを回転させ、それぞれビットの先端側に接続されたネジを回転させる。 The plurality of screw fastening devices 21 and 21 are attached to the tip of the robot 10. The plurality of screw tightening devices 21 and 21 rotate the bits attached to the front end side by the respective servo motors 221 and 221 and rotate the screws connected to the front end side of the bits, respectively.
　間隔変更部２４は、複数のネジ締め装置２１，２１を連結するように設けられ、サーボモータ２６によって複数のネジ締め装置２１，２１の間隔Ｄを変更する。なお、以下では、複数のネジ締め装置２１，２１の間隔Ｄを、ビット間の距離と規定する。 The interval changing unit 24 is provided so as to connect the plurality of screw fastening devices 21, 21, and changes the interval D between the plurality of screw fastening devices 21, 21 by the servo motor 26. In the following, the distance D between the plurality of screw fastening devices 21 and 21 is defined as the distance between the bits.
　コントローラ５０は、ロボット１０の動作を制御する。また、コントローラ５０は、複数のネジ締め装置２１，２１の各々のサーボモータ２２１，２２１および間隔変更部２４のサーボモータ２６を駆動制御する。 The controller 50 controls the operation of the robot 10. In addition, the controller 50 drives and controls the servo motors 221 and 221 of the plurality of screw fastening devices 21 and 21 and the servo motor 26 of the interval changing unit 24.
　ここで、従来のネジ締め装置を用いてネジ締め作業を自動で行う場合、ネジを受け取る工程、受け取ったネジを所定位置へと移動する工程、ネジを締める工程の少なくとも３つの工程が必要となる。このため、締め付けるネジの数が多い場合にはネジ締め作業に時間がかかるという問題があった。 Here, when the screw tightening operation is automatically performed using the conventional screw tightening device, at least three steps of receiving the screw, moving the received screw to a predetermined position, and tightening the screw are required. . For this reason, when there are many screws to fasten, there was a problem that it took time to tighten the screws.
　図１に示すように、ロボットシステム１では、複数のネジ締め装置２１，２１を用いるため、複数のネジを同時に締め付けることができ、ネジ締め作業にかかる時間を短縮することができる。また、複数のネジ締め装置２１，２１の間隔Ｄを適宜変更することで、ネジ間の様々な間隔にも対応することができる。かかる２つの利点によってネジ締め作業を効率良く行うことができる。 As shown in FIG. 1, since the robot system 1 uses a plurality of screw tightening devices 21 and 21, a plurality of screws can be tightened simultaneously, and the time required for the screw tightening operation can be shortened. Moreover, various intervals between the screws can be accommodated by appropriately changing the interval D between the plurality of screw fastening devices 21, 21. With these two advantages, the screw tightening operation can be performed efficiently.
　また、ロボットシステム１では、複数のネジ締め装置２１，２１のサーボモータ２２１，２２１および間隔変更部２４のサーボモータ２６の制御をコントローラ５０が行うことで、ネジ締め装置２１，２１や間隔変更部２４を個別に制御する制御装置が不要となる。また、複数のネジ締め装置２１，２１の間隔Ｄを変更しながらロボット１０の制御が可能となる。 In the robot system 1, the controller 50 controls the servo motors 221 and 221 of the plurality of screw tightening devices 21 and 21 and the servo motor 26 of the interval changing unit 24, so that the screw tightening devices 21 and 21 and the interval changing unit are controlled. The control apparatus which controls 24 individually becomes unnecessary. Further, the robot 10 can be controlled while changing the interval D between the plurality of screw fastening devices 21 and 21.
　なお、実施形態に係るロボットシステム１では、複数のネジ締め装置２１，２１を、ネジの回転軸がロボット１０の先端軸と垂直となるように配置した。また、ネジ締め装置２１，２１と間隔変更部２４とをあわせた重心がロボット１０の先端軸の延長線付近となるように配置した。さらに、複数のネジ締め装置２１，２１のうち１つを固定とし、その他を可動とすることとした。かかる構成については、図３Ａおよび図３Ｂを用いて後述する。 In the robot system 1 according to the embodiment, the plurality of screw fastening devices 21 and 21 are arranged so that the rotation axis of the screw is perpendicular to the tip axis of the robot 10. Further, the center of gravity of the screw tightening devices 21 and 21 and the interval changing unit 24 is arranged so as to be near the extension line of the tip axis of the robot 10. Further, one of the plurality of screw fastening devices 21 and 21 is fixed, and the other is movable. Such a configuration will be described later with reference to FIGS. 3A and 3B.
　また、実施形態に係るロボットシステム１では、複数のネジを回転可能に保持する治具をさらに備えることとした。かかる治具の構成については、図５Ａおよび図５Ｂを用いて後述する。 Moreover, the robot system 1 according to the embodiment further includes a jig that rotatably holds a plurality of screws. The configuration of the jig will be described later with reference to FIGS. 5A and 5B.
　次に、図２を参照してロボットの構成例について説明する。図２は、ロボットの模式斜視図である。図２に示すように、ロボット１０は、単腕型の多関節ロボットである。具体的には、ロボット１０は、第１アーム部１０１と、第２アーム部１０２と、第３アーム部１０３と、第４アーム部１０４と、第５アーム部１０５と、基台部１０６を備える。 Next, a configuration example of the robot will be described with reference to FIG. FIG. 2 is a schematic perspective view of the robot. As shown in FIG. 2, the robot 10 is a single-armed articulated robot. Specifically, the robot 10 includes a first arm unit 101, a second arm unit 102, a third arm unit 103, a fourth arm unit 104, a fifth arm unit 105, and a base unit 106. .
　図２に示すように、第１アーム部１０１は、基端部を床面などに固定された基台部１０６によって支持され、先端部において第２アーム部１０２を支持する。第２アーム部１０２は、基端部を第１アーム部１０１によって支持され、先端部において第３アーム部１０３を支持する。 As shown in FIG. 2, the first arm portion 101 is supported by a base portion 106 having a base end portion fixed to a floor surface or the like, and supports the second arm portion 102 at the tip end portion. The second arm portion 102 is supported at the base end portion by the first arm portion 101 and supports the third arm portion 103 at the distal end portion.
　第３アーム部１０３は、基端部を第２アーム部１０２によって支持され、先端部において第４アーム部１０４を支持する。第４アーム部１０４は、基端部を第３アーム部１０３によって支持され、先端部において第５アーム部１０５を支持する。 The third arm portion 103 is supported at the base end portion by the second arm portion 102 and supports the fourth arm portion 104 at the tip end portion. The fourth arm portion 104 is supported at the base end portion by the third arm portion 103 and supports the fifth arm portion 105 at the distal end portion.
　第５アーム部１０５は、基端部を第４アーム部１０４によって支持される。また、第１アーム部１０１～第５アーム部１０５の各連結部分である各関節部にはアクチュエータ（図示せず）が搭載される。ロボット１０は、かかるアクチュエータの駆動によって多軸動作を行うことができる。 The fifth arm portion 105 is supported at the base end portion by the fourth arm portion 104. In addition, an actuator (not shown) is mounted on each joint portion, which is each connecting portion of the first arm portion 101 to the fifth arm portion 105. The robot 10 can perform a multi-axis operation by driving the actuator.
　具体的には、第１アーム部１０１と第２アーム部１０２とを連結する関節部のアクチュエータは、第２アーム部１０２を軸Ｓまわりに回転させる。また、第２アーム部１０２と第３アーム部１０３とを連結する関節部のアクチュエータは、第３アーム部１０３を軸Ｌまわりに回転させる。 Specifically, the joint actuator that connects the first arm portion 101 and the second arm portion 102 rotates the second arm portion 102 about the axis S. In addition, the joint actuator that connects the second arm portion 102 and the third arm portion 103 rotates the third arm portion 103 about the axis L.
　また、第３アーム部１０３と第４アーム部１０４とを連結する関節部のアクチュエータは、第４アーム部１０４を軸Ｕまわりに回転させる。また、第４アーム部１０４と第５アーム部１０５とを連結する関節部のアクチュエータは、第５アーム部１０５を軸Ｂまわりに回転させる。 Also, the joint actuator that connects the third arm portion 103 and the fourth arm portion 104 rotates the fourth arm portion 104 about the axis U. Further, the joint actuator that connects the fourth arm unit 104 and the fifth arm unit 105 rotates the fifth arm unit 105 about the axis B.
　さらに、ロボット１０は、第３アーム部１０３を軸Ｅまわり、第４アーム部１０４を軸Ｒまわり、第５アーム部１０５を軸Ｔまわりにそれぞれ回転させる個別のアクチュエータを備える。 Furthermore, the robot 10 includes individual actuators that rotate the third arm portion 103 around the axis E, the fourth arm portion 104 around the axis R, and the fifth arm portion 105 around the axis T, respectively.
　すなわち、ロボット１０は、７軸を有する。ロボット１０は、コントローラ５０（図１参照）からの動作指示に基づき、かかる７軸を組み合わせた多様な多軸動作を行うことができる。なお、コントローラ５０からの動作指示は、たとえば、上述した各アクチュエータを駆動するパルス信号として出力される。 That is, the robot 10 has seven axes. The robot 10 can perform various multi-axis operations combining these seven axes based on an operation instruction from the controller 50 (see FIG. 1). The operation instruction from the controller 50 is output as, for example, a pulse signal for driving each actuator described above.
　また、第５アーム部１０５の先端部は、ロボット１０の終端可動部である。かかる終端可動部には、ネジ締めユニットが取り付けられる。次に、図３Ａおよび図３Ｂを参照してネジ締めユニットについて説明する。 Further, the distal end portion of the fifth arm portion 105 is a terminal movable portion of the robot 10. A screw fastening unit is attached to the terminal movable part. Next, the screw tightening unit will be described with reference to FIGS. 3A and 3B.
　図３Ａは、ネジ締めユニットの模式斜視図である。図３Ｂは、ネジ締めユニットの動作説明図である。図３Ａに示すように、ネジ締めユニット２０は、複数のネジ締め装置２１，２１と、間隔変更部２４とを備える。 FIG. 3A is a schematic perspective view of a screw tightening unit. FIG. 3B is an operation explanatory diagram of the screw tightening unit. As shown in FIG. 3A, the screw tightening unit 20 includes a plurality of screw tightening devices 21, 21 and an interval changing unit 24.
　図３Ａに示すように、ネジ締めユニット２０は、たとえば、２つのネジ締め装置２１，２１を備える。なお、２つのネジ締め装置２１，２１は、いずれも同様の構成である。したがって、ネジ締め装置２１については、２つのうち１つを説明する。また、ネジ締め装置２１は、自動でネジを締め付ける（またはネジを緩めて取り外す）、いわゆるナットランナである。 As shown in FIG. 3A, the screw fastening unit 20 includes, for example, two screw fastening devices 21 and 21. The two screw fastening devices 21 and 21 have the same configuration. Accordingly, one of the two screw fastening devices 21 will be described. The screw tightening device 21 is a so-called nutrunner that automatically tightens a screw (or loosens and removes the screw).
　ネジ締め装置２１は、駆動部２２と、ビット部２３とを備える。なお、かかるネジ締め装置２１は、ネジを締めるまたは緩める作業のいずれにも用いることができる。駆動部２２は、後述するビット２３１を回転させる回転駆動源となるサーボモータ２２１と、減速機２２２とを備える。 The screw tightening device 21 includes a drive unit 22 and a bit unit 23. In addition, this screw fastening apparatus 21 can be used for any operation | work which tightens or loosens a screw. The drive unit 22 includes a servo motor 221 serving as a rotational drive source that rotates a bit 231 described later, and a speed reducer 222.
　サーボモータ２２１および減速機２２２は、軸ＡＸ方向に沿って直列配置される。なお、駆動部２２がトルク検出器をさらに備える構成としてもよい。トルク検出器を備えることで、より精度の高いトルク制御が可能となる。 Servo motor 221 and reduction gear 222 are arranged in series along the axis AX direction. The drive unit 22 may further include a torque detector. By providing the torque detector, more accurate torque control is possible.
　ビット部２３は、締緩させるネジに係合されるビット２３１を先端側に保持する。また、ビット部２３は、末端側が駆動部２２に取り付けられる。ビット部２３では、駆動部２２から出力された回転駆動力が入力されると、入力された回転駆動力によってビット２３１が軸ＡＸまわりに回転する。 The bit portion 23 holds a bit 231 engaged with a screw to be tightened or loosened on the tip side. The bit part 23 is attached to the drive part 22 at the end side. In the bit unit 23, when the rotational driving force output from the driving unit 22 is input, the bit 231 rotates around the axis AX by the input rotational driving force.
　図３Ａに示すように、間隔変更部２４は、ベース部２５と、サーボモータ２６と、ボールネジ２７とを備える。ベース部２５は、ネジ締め装置２１の軸ＡＸと直交する方向に延びた略矩形板状に形成される。 As shown in FIG. 3A, the interval changing unit 24 includes a base unit 25, a servo motor 26, and a ball screw 27. The base portion 25 is formed in a substantially rectangular plate shape extending in a direction orthogonal to the axis AX of the screw fastening device 21.
　ベース部２５の正面側には、２つのネジ締め装置２１，２１を保持する保持部２５１，２５１が設けられる。また、ベース部２５の背面側には、ネジ締めユニット２０をロボット１０（図２参照）の終端可動部、すなわち、第５アーム部１０５（図２参照）の先端部へと取り付ける取付部２５２が設けられる。 On the front side of the base portion 25, holding portions 251 and 251 for holding the two screw fastening devices 21 and 21 are provided. Further, on the back side of the base portion 25, there is an attachment portion 252 for attaching the screw fastening unit 20 to the terminal movable portion of the robot 10 (see FIG. 2), that is, the distal end portion of the fifth arm portion 105 (see FIG. 2). Provided.
　そして、ネジ締めユニット２０は、ネジ締め装置２１の軸ＡＸ、すなわち、ネジ締め装置２１のネジの回転軸が軸Ｔに対して垂直となるようにロボット１０の先端部に取り付けられる。 The screw tightening unit 20 is attached to the tip of the robot 10 so that the axis AX of the screw tightening device 21, that is, the rotation axis of the screw of the screw tightening device 21 is perpendicular to the axis T.
　ネジ締め装置２１のネジの回転軸が軸Ｔに対して垂直となることで、ネジ締め装置２１の作業点をロボット１０の制御点へと近づけることができる。これにより、ネジ締め精度が高まる。また、ロボット１０の制御点とネジ締め装置２１の作業点とが近づくことで、ビット２３１先端側のブレを抑えることができ、剛性が高まる。 The rotation point of the screw of the screw tightening device 21 is perpendicular to the axis T, so that the work point of the screw tightening device 21 can be brought close to the control point of the robot 10. This increases the screw tightening accuracy. Further, since the control point of the robot 10 and the work point of the screw tightening device 21 are close to each other, it is possible to suppress the blur on the tip side of the bit 231 and increase the rigidity.
　サーボモータ２６は、ベース部２５の背面側に設けられる。サーボモータ２６は、回転駆動力を出力する。サーボモータ２６から出力された回転駆動力は、動力伝達部２６１を介して後述するボールネジ２７へと伝達される。 Servo motor 26 is provided on the back side of base portion 25. The servo motor 26 outputs a rotational driving force. The rotational driving force output from the servo motor 26 is transmitted to a ball screw 27 described later via the power transmission unit 261.
　なお、図示しないが、動力伝達部２６１は、ベース部２５の背面側および正面側に配置された一対のプーリと、プーリ間に掛け回されたベルトとを備える。かかる構成とすることで、ベース部２５の背面側からの回転駆動力をベース部２５の正面側へと伝達することができる。 Although not shown, the power transmission unit 261 includes a pair of pulleys arranged on the back side and the front side of the base unit 25, and a belt wound around the pulleys. With this configuration, the rotational driving force from the back side of the base portion 25 can be transmitted to the front side of the base portion 25.
　ボールネジ２７は、ベース部２５の正面側にベース部２５の長手方向に沿って配置される。すなわち、ボールネジ２７は、ネジ締め装置２１の軸ＡＸ方向に対して垂直となるように配置される。 The ball screw 27 is disposed on the front side of the base portion 25 along the longitudinal direction of the base portion 25. That is, the ball screw 27 is disposed so as to be perpendicular to the axis AX direction of the screw fastening device 21.
　２つのネジ締め装置２１，２１および間隔変更部２４は、各々をあわせた重心が軸Ｔの延長線付近となるように取り付けられる。これにより、ロボット１０によるネジ締め装置２１の位置決めの精度が高まるとともに、軸Ｔに対するイナーシャ（回転系慣性モーメント）の負荷を小さくすることができる。 The two screw fastening devices 21 and 21 and the interval changing unit 24 are attached so that the center of gravity of the two screw fastening devices 21 and 21 and the distance changing unit 24 is near the extension line of the axis T. As a result, the positioning accuracy of the screw tightening device 21 by the robot 10 can be increased, and the load of inertia (rotational moment of inertia) on the axis T can be reduced.
　また、ボールネジ２７は、２つのネジ締め装置２１，２１の少なくともいずれかを自身（ボールネジ２７）の軸方向へと移動させる。 Also, the ball screw 27 moves at least one of the two screw fastening devices 21 and 21 in the axial direction of itself (ball screw 27).
　図３Ｂに示すように、ネジ締めユニット２０では、２つのネジ締め装置２１，２１のうち１つが固定側としてベース部２５正面側にて位置固定される。また、他の１つは、可動側としてボールネジ２７の軸方向に沿って移動する。 As shown in FIG. 3B, in the screw tightening unit 20, one of the two screw tightening devices 21 and 21 is fixed on the front side of the base portion 25 as a fixed side. The other one moves along the axial direction of the ball screw 27 as a movable side.
　このように、２つのネジ締め装置２１，２１のうち１つを固定側とし、他を可動側とすることで、２つのネジ締め装置２１，２１の双方にサーボモータ２６のような駆動源を設ける必要がなくなり、間隔変更部２４の簡素化および軽量化を図ることができる。これにより、ロボット１０の可搬質量を小さくすることができる。 In this way, by setting one of the two screw tightening devices 21 and 21 as the fixed side and the other as the movable side, a drive source such as the servo motor 26 is provided to both of the two screw tightening devices 21 and 21. There is no need to provide it, and the interval changing unit 24 can be simplified and reduced in weight. Thereby, the loadable mass of the robot 10 can be reduced.
　なお、図３Ｂの例では、図中右側のネジ締め装置２１を固定側とし、図中左側のネジ締め装置２１を可動側としている。また、図３Ｂでは、可動側のネジ締め装置２１の移動前の初期位置を二点破線で示している。 In the example of FIG. 3B, the screw fastening device 21 on the right side in the drawing is the fixed side, and the screw fastening device 21 on the left side in the drawing is the movable side. Moreover, in FIG. 3B, the initial position before the movement of the screw fastening device 21 on the movable side is indicated by a two-dot broken line.
　図３Ｂに示すように、可動側のネジ締め装置２１は、ベース部２５の正面側においてボールネジ２７に連結される。そして、間隔変更部２４では、ボールネジ２７がサーボモータ２６から出力された回転駆動力によって軸まわりに回転することで、可動側のネジ締め装置２１を固定側のネジ締め装置２１に対して接離するように移動させる。これにより、２つのネジ締め装置２１，２１の間隔Ｄを自由に変更することができる。 As shown in FIG. 3B, the movable-side screw fastening device 21 is connected to the ball screw 27 on the front side of the base portion 25. In the interval changing unit 24, the ball screw 27 rotates around the axis by the rotational driving force output from the servomotor 26, so that the movable-side screw tightening device 21 is brought into and out of contact with the fixed-side screw tightening device 21. Move to do. Thereby, the space | interval D of the two screw fastening apparatuses 21 and 21 can be changed freely.
　ここで、ネジ締め装置２１では、駆動部２２に対してビット部２３が着脱自在に取り付けられる。着脱式のビット部２３とすることで、ビット２３１を、締緩させるネジのサイズや種類などに応じて適宜交換することができる。また、この場合、ロボット１０（図２参照）自らによってビット２３１を交換する。 Here, in the screw fastening device 21, the bit portion 23 is detachably attached to the drive portion 22. By using the detachable bit portion 23, the bit 231 can be appropriately replaced according to the size and type of the screw to be tightened or loosened. In this case, the robot 10 (see FIG. 2) replaces the bit 231 by itself.
　以下では、図４Ａおよび図４Ｂを参照してビット部着脱機構について説明する。図４Ａおよび図４Ｂは、ビット部着脱機構の説明図（断面図）である。なお、図４Ａにはビット部２３の装着前を示し、図４Ｂにはビット部２３の装着後を示している。 Hereinafter, the bit part attaching / detaching mechanism will be described with reference to FIGS. 4A and 4B. 4A and 4B are explanatory views (cross-sectional views) of the bit portion attaching / detaching mechanism. 4A shows the state before the bit portion 23 is attached, and FIG. 4B shows the state after the bit portion 23 is attached.
　図４Ａに示すように、ネジ締め装置２１は、着脱部３０を備える。着脱部３０は、一対のエアシリンダ３０１，３０１を備える。一対のエアシリンダ３０１，３０１は、駆動部２２側となるベース３０２上面において軸ＡＸの同心円上に１８０度の位相差で配設される。 As shown in FIG. 4A, the screw fastening device 21 includes an attachment / detachment unit 30. The detachable part 30 includes a pair of air cylinders 301 and 301. The pair of air cylinders 301 and 301 are disposed with a phase difference of 180 degrees on a concentric circle of the axis AX on the upper surface of the base 302 on the drive unit 22 side.
　一対のエアシリンダ３０１，３０１の各々の伸縮ロッド３０１ａ，３０１ａは、ベース３０２を貫通して先端側がビット部２３側に配置される。伸縮ロッド３０１ａ，３０１ａは、ビット部２３側でフローティングジョイント３０３，３０３に連結される。 The telescopic rods 301a and 301a of each of the pair of air cylinders 301 and 301 pass through the base 302 and the tip side is disposed on the bit part 23 side. The telescopic rods 301a and 301a are connected to the floating joints 303 and 303 on the bit part 23 side.
　フローティングジョイント３０３，３０３は、短筒状の円形受部３０４の外周面に設けられたフランジ部３０５に連結される。円形受部３０４は、軸ＡＸ方向に伸縮可能に設けられ、伸縮ロッド３０１ａ，３０１ａの伸縮に追従して軸ＡＸ方向に伸縮する。 Floating joints 303 and 303 are connected to a flange portion 305 provided on the outer peripheral surface of a short cylindrical circular receiving portion 304. The circular receiving portion 304 is provided so as to be expandable / contractable in the axis AX direction, and expands / contracts in the axis AX direction following the expansion / contraction of the expansion / contraction rods 301a, 301a.
　円形受部３０４には、先端側端面に円形凹部３０６が設けられる。円形凹部３０６の内周面は、拡径するように傾斜して設けられたテーパ面３０７を有する。また、円形受部３０４には、駆動部２２側からビット部２３側まで連通する連通穴３０８が設けられる。 The circular receiving part 304 is provided with a circular concave part 306 on the end face side end face. The inner peripheral surface of the circular recess 306 has a tapered surface 307 provided so as to be inclined so as to increase the diameter. Further, the circular receiving portion 304 is provided with a communication hole 308 that communicates from the drive portion 22 side to the bit portion 23 side.
　連通穴３０８には、筒部３０９が嵌入される。筒部３０９には、ビット部２３の装着状態において駆動部２２の出力軸３１０が挿通される。また、筒部３０９の先端側内周縁には、拡径するようにテーパ面３１１が設けられる。 The cylindrical portion 309 is inserted into the communication hole 308. The cylindrical portion 309 is inserted with the output shaft 310 of the driving portion 22 in a state where the bit portion 23 is attached. Further, a tapered surface 311 is provided on the inner peripheral edge on the distal end side of the cylindrical portion 309 so as to increase the diameter.
　筒部３０９の内周面には、厚さ方向に貫通する貫通穴３１２が設けられる。貫通穴３１２には、鋼球３１３が配設される。貫通穴３１２の内周面側の開口径は、鋼球３１３の径よりも小径に形成される。鋼球３１３は、伸縮ロッド３０１ａ，３０１ａが縮んだ状態では、テーパ面３１１によって形成される空間に退避した状態にある。 A through hole 312 penetrating in the thickness direction is provided on the inner peripheral surface of the cylindrical portion 309. A steel ball 313 is disposed in the through hole 312. The opening diameter on the inner peripheral surface side of the through hole 312 is formed to be smaller than the diameter of the steel ball 313. The steel ball 313 is in a state of being retracted into the space formed by the tapered surface 311 when the telescopic rods 301a and 301a are contracted.
　一方、ビット部２３側には、ビット部２３の末端側端面にフランジ部３１４が設けられる。フランジ部３１４の末端側端面には、駆動部２２側の円形凹部３０６に嵌入可能な円形凸部３１５が設けられる。 On the other hand, a flange portion 314 is provided on the end surface of the bit portion 23 on the bit portion 23 side. A circular convex portion 315 that can be fitted into the circular concave portion 306 on the drive unit 22 side is provided on the end side end surface of the flange portion 314.
　円形凸部３１５の末端側端面には、駆動部２２側の筒部３０９に嵌入可能な筒部３１６が設けられる。筒部３１６の外周面には、末端側にＶ字溝３１７が設けられる。円形凸部３１５の側周面には、末端側端面に向けて縮径するように傾斜したテーパ面３１８が設けられる。 A cylindrical portion 316 that can be fitted into the cylindrical portion 309 on the drive unit 22 side is provided on the end face of the circular convex portion 315. A V-shaped groove 317 is provided on the outer peripheral surface of the cylindrical portion 316 on the end side. A tapered surface 318 is provided on the side peripheral surface of the circular convex portion 315 so as to be inclined toward the terminal end surface.
　ここで、図４Ｂに示すように、駆動部２２にビット部２３が取り付けられると、駆動部２２側の筒部３０９にビット部２３側の筒部３１６が嵌入された状態となる。筒部３１６には、出力軸３１０が挿通される。出力軸３１０は、筒部３１６の内周面を経て、ビット部２３のハウジング３１９の内部に進入し、先端側がビット２３１に回転駆動力を伝達するトルク伝達軸３２０の末端側と連結される。 Here, as shown in FIG. 4B, when the bit portion 23 is attached to the driving portion 22, the cylindrical portion 316 on the bit portion 23 side is fitted into the cylindrical portion 309 on the driving portion 22 side. The output shaft 310 is inserted through the tube portion 316. The output shaft 310 enters the inside of the housing 319 of the bit portion 23 through the inner peripheral surface of the cylindrical portion 316, and the distal end side is connected to the distal end side of the torque transmission shaft 320 that transmits the rotational driving force to the bit 231.
　このとき、ビット部２３側の筒部３１６が鋼球３１３の位置まで到達すると、エアシリンダ３０１，３０１の駆動によって伸縮ロッド３０１ａ，３０１ａがビット部２３側へと伸張する。 At this time, when the cylinder part 316 on the bit part 23 side reaches the position of the steel ball 313, the telescopic rods 301a and 301a extend to the bit part 23 side by driving the air cylinders 301 and 301.
　伸縮ロッド３０１ａ，３０１ａが伸びた状態では、貫通穴３１２に配設される鋼球３１３が連通穴３０８の内周面によって筒部３０９の内周面側に所定寸法押し出される。なお、鋼球３１３は、貫通穴３１２の内周面側の径が鋼球３１３の径よりも小径であることから、所定寸法以上の突出が規制される。 In a state where the telescopic rods 301 a and 301 a are extended, the steel ball 313 disposed in the through hole 312 is pushed out to the inner peripheral surface side of the cylindrical portion 309 by a predetermined dimension by the inner peripheral surface of the communication hole 308. In addition, since the diameter of the inner peripheral surface side of the through hole 312 is smaller than the diameter of the steel ball 313, the steel ball 313 is restricted from protruding more than a predetermined dimension.
　所定寸法突出した鋼球３１３は、ビット部２３側の筒部３１６に設けられたＶ字溝３１７に嵌り込む。鋼球３１３がＶ字溝３１７に嵌り込むと、駆動部２２側筒部３０９のテーパ面３１１とビット部２３側筒部３１６のテーパ面３１８とが当接する。 The steel ball 313 protruding by a predetermined dimension is fitted into a V-shaped groove 317 provided in the cylinder part 316 on the bit part 23 side. When the steel ball 313 is fitted into the V-shaped groove 317, the tapered surface 311 of the driving portion 22 side cylindrical portion 309 comes into contact with the tapered surface 318 of the bit portion 23 side cylindrical portion 316.
　これにより、鋼球３１３がＶ字溝３１７を押す力と、駆動部２２側筒部３０９のテーパ面３１１がビット部２３側筒部３１６のテーパ面３１８を押す力とで、ビット部２３が駆動部２２にロックされる。このようないわゆるカプラ構造の着脱機構によって、駆動部２２に対してビット部２３は着脱自在に取り付けられる。また、単純な動作によって容易に着脱が可能となる。そして、ロボット１０（図２参照）自らによるビット部２３の着脱が可能となる。 Thereby, the bit part 23 is driven by the force by which the steel ball 313 pushes the V-shaped groove 317 and the force by which the tapered surface 311 of the driving part 22 side cylindrical part 309 presses the tapered surface 318 of the bit part 23 side cylindrical part 316. Locked to the part 22. The bit part 23 is detachably attached to the drive part 22 by such a so-called coupler structure attaching / detaching mechanism. Further, it can be easily attached and detached by a simple operation. The bit unit 23 can be attached and detached by the robot 10 (see FIG. 2).
　また、ロボットシステム１は、ネジ孔に締め付けるネジを保持する治具をさらに備える。ここでは、図５Ａおよび図５Ｂを参照して治具の構成例について説明する。図５Ａおよび図５Ｂは、治具の説明図である。詳しくは、図５Ａは、治具の模式斜視図であり、図５Ｂは、ネジ取付け動作を示す模式断面図である。 The robot system 1 further includes a jig that holds a screw to be tightened in the screw hole. Here, a configuration example of the jig will be described with reference to FIGS. 5A and 5B. 5A and 5B are explanatory diagrams of the jig. Specifically, FIG. 5A is a schematic perspective view of a jig, and FIG. 5B is a schematic cross-sectional view showing a screw mounting operation.
　図５Ａに示すように、治具４０は、第１の挿入孔４０１と、第２の挿入孔４０２と、保持部４０３とを備える。第１の挿入孔４０１は、ネジ締めの対象となるワークＷ側に対応する面に設けられる。第１の挿入孔４０１には、ネジ４１が頭４１ａから挿入される。 As shown in FIG. 5A, the jig 40 includes a first insertion hole 401, a second insertion hole 402, and a holding portion 403. The 1st insertion hole 401 is provided in the surface corresponding to the workpiece | work W side used as the object of screw fastening. The screw 41 is inserted into the first insertion hole 401 from the head 41a.
　第２の挿入孔４０２は、ワークＷ側に対応する面とは反対側の面に設けられる。また、第２の挿入孔４０２は、第１の挿入孔４０１へ貫通するように設けられる。第２の挿入孔４０２には、ネジ締め装置２１（図３Ａ参照）の先端側が挿入される。 The second insertion hole 402 is provided on the surface opposite to the surface corresponding to the workpiece W side. Further, the second insertion hole 402 is provided so as to penetrate through the first insertion hole 401. The distal end side of the screw tightening device 21 (see FIG. 3A) is inserted into the second insertion hole 402.
　かかる治具４０では、第１の挿入孔４０１および第２の挿入孔４０２がワークＷに設けられたネジ孔４２に対応する位置に設けられる。したがって、治具４０は、ワークＷに取り付けられることで、ネジ孔４２に対応する位置でネジ４１の姿勢を規制しつつネジ４１を保持する。 In the jig 40, the first insertion hole 401 and the second insertion hole 402 are provided at positions corresponding to the screw holes 42 provided in the workpiece W. Therefore, the jig 40 is attached to the workpiece W, and holds the screw 41 while restricting the posture of the screw 41 at a position corresponding to the screw hole 42.
　すなわち、治具４０では、複数のネジ４１であってもネジ孔４２に対して正しい姿勢でセットされる。これにより、ネジ締め作業におけるネジ締めエラーが少なくなり、作業速度を向上させることができる。 That is, in the jig 40, even a plurality of screws 41 are set in a correct posture with respect to the screw holes 42. Thereby, the screw tightening error in the screw tightening operation is reduced, and the work speed can be improved.
　また、治具４０は、保持部４０３によって第１の挿入孔４０１にネジ４１を保持することができる。図５Ｂに示すように、保持部４０３は、連通孔４０４と、突出部材４０５と、付勢部材４０６と、抜止部材４０７とを備える。 Also, the jig 40 can hold the screw 41 in the first insertion hole 401 by the holding portion 403. As shown in FIG. 5B, the holding portion 403 includes a communication hole 404, a protruding member 405, a biasing member 406, and a retaining member 407.
　図５Ｂに示すように、連通孔４０４は、治具４０の外周面から第１の挿入孔４０１の奥側、すなわち、第２の挿入孔４０２側の内周面へと連通する。突出部材４０５は、第１の挿入孔４０１の内周面から所定寸法突出するように連通孔４０４に設けられる。 As shown in FIG. 5B, the communication hole 404 communicates from the outer peripheral surface of the jig 40 to the back side of the first insertion hole 401, that is, the inner peripheral surface on the second insertion hole 402 side. The protruding member 405 is provided in the communication hole 404 so as to protrude by a predetermined dimension from the inner peripheral surface of the first insertion hole 401.
　また、突出部材４０５は、付勢部材４０６によって第１の挿入孔４０１の内周面側に向けて付勢される。さらに、連通孔４０４における治具４０の外周面側には、付勢部材４０６を抜け止めする抜止部材４０７が設けられる。 Further, the protruding member 405 is urged toward the inner peripheral surface side of the first insertion hole 401 by the urging member 406. Further, a retaining member 407 that prevents the biasing member 406 from coming off is provided on the outer peripheral surface side of the jig 40 in the communication hole 404.
　図５Ｂに示すように、治具４０では、第１の挿入孔４０１にネジ４１が挿入されると、第１の挿入孔４０１の奥側において保持部４０３の突出部材４０５にネジ４１の頭４１ａが押圧される。これにより、治具４０に対してネジ４１を簡単に装着することができる。また、治具４０のワークＷ側に対応する面とは反対側の面からネジ４１へのアクセスが可能となる。さらに、ネジ４１を回転可能に保持することができる。これにより、ネジ４１は、治具４０に対して自身（ネジ４１）の軸方向に移動可能となる。 As shown in FIG. 5B, in the jig 40, when the screw 41 is inserted into the first insertion hole 401, the head 41 a of the screw 41 is inserted into the protruding member 405 of the holding portion 403 on the back side of the first insertion hole 401. Is pressed. Thereby, the screw 41 can be easily attached to the jig 40. Further, the screw 41 can be accessed from the surface opposite to the surface corresponding to the workpiece W side of the jig 40. Furthermore, the screw 41 can be rotatably held. As a result, the screw 41 can move in the axial direction of itself (the screw 41) with respect to the jig 40.
　次に、図６を参照してロボットシステムのシステム構成について説明する。図６は、ロボットシステムのシステム構成図である。図６に示すように、ロボットシステム１では、コントローラ５０が、ロボット１０を制御するとともにネジ締めユニット２０を制御する。 Next, the system configuration of the robot system will be described with reference to FIG. FIG. 6 is a system configuration diagram of the robot system. As shown in FIG. 6, in the robot system 1, the controller 50 controls the robot 10 and the screw tightening unit 20.
　図６に示すように、コントローラ５０は、ロボット制御に用いる、いわゆるロボットコントローラであり、ロボット１０の各アーム部１０１～１０５（図２参照）を含む各関節部のアクチュエータを駆動制御する。コントローラ５０とロボット１０とは、ケーブル５１などによって接続される。 As shown in FIG. 6, the controller 50 is a so-called robot controller used for robot control, and drives and controls the actuators of the joints including the arms 101 to 105 (see FIG. 2) of the robot 10. The controller 50 and the robot 10 are connected by a cable 51 or the like.
　また、コントローラ５０とネジ締めユニット２０とは、ケーブル５１などによって接続される。具体的には、コントローラ５０は、複数（２つ）のネジ締め装置２１，２１の各々のサーボモータ２２１，２２１および間隔変更部２４のサーボモータ２６と接続される。そして、コントローラ５０は、サーボモータ２２１，２２１およびサーボモータ２６をロボット１０の外部軸として駆動制御する。 Further, the controller 50 and the screw fastening unit 20 are connected by a cable 51 or the like. Specifically, the controller 50 is connected to each of the servo motors 221 and 221 of the plurality (two) of screw fastening devices 21 and 21 and the servo motor 26 of the interval changing unit 24. The controller 50 drives and controls the servo motors 221 and 221 and the servo motor 26 as external axes of the robot 10.
　なお、ネジ締め装置２１，２１がトルク検出器を備える場合には、コントローラ５０とネジ締め装置２１，２１との間にナットランナコントローラなどのネジ締め装置専用コントローラを介在させた構成としてもよい。コントローラ５０の制御系統にネジ締め装置専用コントローラをさらに備えることで、高トルクが必要なネジ締め作業終期の精密制御が可能となる。 When the screw tightening devices 21 and 21 are provided with a torque detector, a controller for screw tightening devices such as a nutrunner controller may be interposed between the controller 50 and the screw tightening devices 21 and 21. By further providing a controller for the screw tightening device in the control system of the controller 50, it becomes possible to perform precise control at the end of the screw tightening operation requiring high torque.
　かかるロボットシステム１では、ネジ締め作業において、間隔変更部２４のサーボモータ２６を駆動し、複数のネジ締め装置２１，２１の間隔をワークに設けられた複数のネジ孔の間隔にあわせる。そして、ロボット１０が複数のネジ締め装置２１，２１をそれぞれネジ孔の位置へと移動させ、ネジ締め作業を行う。 In the robot system 1, in the screw tightening operation, the servo motor 26 of the interval changing unit 24 is driven to adjust the intervals between the plurality of screw tightening devices 21 and 21 to the intervals between the plurality of screw holes provided in the workpiece. Then, the robot 10 moves the plurality of screw tightening devices 21 and 21 to the positions of the screw holes, and performs the screw tightening operation.
　なお、ロボットシステム１では、ロボット１０が、締め付けるネジのサイズや種類などに応じてビット部２３を交換することができる。ビット部２３の着脱は、コントローラ５０が一対のエアシリンダ３０１，３０１（図４Ａおよび図４Ｂ参照）を駆動制御して行う。 In the robot system 1, the robot 10 can replace the bit unit 23 according to the size and type of screw to be tightened. The attachment and detachment of the bit part 23 is performed by the controller 50 driving and controlling the pair of air cylinders 301 and 301 (see FIGS. 4A and 4B).
　次に、図７および図８を参照してロボットシステムにおけるネジ締め作業例を説明する。図７および図８は、ネジ締め作業の説明図である。図７の例では、略矩形のワークＷに６つのネジ孔４２ａ～４２ｆが設けられている。なお、このうち４つ（ネジ孔４２ａ，４２ｂ，４２ｅ，４２ｆ）はワークの四隅近傍に配置され、残りの２つ（ネジ孔４２ｃ，４２ｄ）はワークＷの長手方向の中途位置に配置されている。 Next, an example of screw tightening work in the robot system will be described with reference to FIG. 7 and FIG. 7 and 8 are explanatory diagrams of the screw tightening operation. In the example of FIG. 7, six screw holes 42a to 42f are provided in a substantially rectangular workpiece W. Of these, four (screw holes 42a, 42b, 42e, 42f) are arranged in the vicinity of the four corners of the workpiece, and the remaining two (screw holes 42c, 42d) are arranged at midway positions in the longitudinal direction of the workpiece W. Yes.
　また、図７では、説明の便宜上、複数（２つ）のネジ締め装置２１，２１のみを示している。また、図７では、治具４０（図５Ａおよび図５Ｂ参照）を省略している。 In FIG. 7, only a plurality (two) of screw fastening devices 21 and 21 are shown for convenience of explanation. In FIG. 7, the jig 40 (see FIGS. 5A and 5B) is omitted.
　この作業例では、まず、図７の上部に示すように、ワークＷの一方の対角線上に配置されたネジ孔４２ａ，４２ｆの間隔に応じて２つのネジ締め装置２１，２１の間を間隔Ｄ１に設定し、ネジ孔４２ａ，４２ｆに対してネジ４１，４１を同時に締め付ける。 In this working example, first, as shown in the upper part of FIG. 7, a distance D1 is set between the two screw fastening devices 21 and 21 according to the distance between the screw holes 42a and 42f arranged on one diagonal line of the workpiece W. The screws 41 and 41 are simultaneously tightened into the screw holes 42a and 42f.
　次に、図７の中央に示すように、ワークＷの他方の対角線上に配置されたネジ孔４２ｂ，４２ｅに対してネジ４１，４１を同時に締め付ける。このとき、ネジ孔４２ａ，４２ｆの間隔とネジ孔４２ｂ，４２ｅの間隔とは等しいため、２つのネジ締め装置２１，２１を間隔Ｄ１としたまま作業を行う。 Next, as shown in the center of FIG. 7, the screws 41 and 41 are simultaneously tightened into the screw holes 42 b and 42 e arranged on the other diagonal line of the workpiece W. At this time, since the interval between the screw holes 42a and 42f is equal to the interval between the screw holes 42b and 42e, the operation is performed with the two screw tightening devices 21 and 21 being set at the interval D1.
　最後に、図７の下部に示すように、ワークＷの長手方向の中途位置に配置されたネジ孔４２ｃ，４２ｄに対してネジ４１，４１を同時に締め付ける。このとき、ネジ孔４２ｃ，４２ｄの間隔に応じて２つのネジ締め装置２１，２１の間を間隔Ｄ２に変更して作業を行う。 Finally, as shown in the lower part of FIG. 7, the screws 41 and 41 are simultaneously tightened into the screw holes 42 c and 42 d arranged in the midway position in the longitudinal direction of the workpiece W. At this time, the operation is performed by changing the distance between the two screw fastening devices 21 and 21 to the distance D2 according to the distance between the screw holes 42c and 42d.
　このように、複数のネジ孔４２ａ～４２ｆに対して複数のネジ４１を同時に締め付けることで、ネジ締め作業にかかる時間を短縮することができる。また、２つのネジ締め装置２１，２１の間を、ネジ孔４２ａ，４２ｆ（４２ｂ，４２ｅ）に応じた間隔Ｄ１からネジ孔４２ｃ，４２ｄに応じた間隔Ｄ２へと変更することで、均等配置以外のネジ孔にも対応することができる。 Thus, by simultaneously tightening the plurality of screws 41 in the plurality of screw holes 42a to 42f, the time required for the screw tightening operation can be shortened. Further, by changing the interval between the two screw tightening devices 21 and 21 from the interval D1 corresponding to the screw holes 42a and 42f (42b and 42e) to the interval D2 corresponding to the screw holes 42c and 42d, other than equal arrangement It can also correspond to the screw holes.
　なお、図７の例では、対角線上に配置されたネジ孔４２ａ，４２ｆ（４２ｂ，４２ｅ）から順にネジ４１を締め付ける作業例を説明したが、たとえば、ネジ孔４２ａ，４２ｂ、ネジ孔４２ｃ，４２ｄ、ネジ孔４２ｅ，４２ｆの順にネジ４１を締め付けてもよい。この場合のネジ締め作業は、２つのネジ締め装置２１，２１の間隔を間隔Ｄ２としたまま行うことができる。 In the example of FIG. 7, the example of the operation of tightening the screw 41 in order from the screw holes 42a and 42f (42b and 42e) arranged on the diagonal line has been described, but for example, the screw holes 42a and 42b and the screw holes 42c and 42d. The screw 41 may be tightened in the order of the screw holes 42e and 42f. The screw tightening operation in this case can be performed while keeping the distance between the two screw tightening devices 21 and 21 as the distance D2.
　また、図８には他のネジ締め作業例を示している。図８の例では、同心円上に複数（６つ）のネジ孔４２ｇ～４２ｌが不均等配置されている。この作業例では、まず、図８の上部に示すように、ネジ孔４２ｇ，４２ｊの間隔に応じて２つのネジ締め装置２１，２１の間を間隔Ｄ３に設定し、ネジ孔４２ｇ，４２ｊに対して同時にネジを締め付ける。 FIG. 8 shows another example of screw tightening work. In the example of FIG. 8, a plurality (six) of screw holes 42g to 42l are non-uniformly arranged on a concentric circle. In this working example, first, as shown in the upper part of FIG. 8, a distance D3 is set between the two screw fastening devices 21 and 21 according to the distance between the screw holes 42g and 42j. Tighten the screws at the same time.
　次に、図８の中央に示すように、ネジ孔４２ｈ，４２ｋに対してネジを同時に締め付ける。このとき、ネジ孔４２ｈ，４２ｋの間隔に応じて２つのネジ締め装置２１，２１の間を間隔Ｄ４に変更する。 Next, as shown in the center of FIG. 8, the screws are simultaneously tightened into the screw holes 42h and 42k. At this time, the distance between the two screw fastening devices 21 and 21 is changed to a distance D4 according to the distance between the screw holes 42h and 42k.
　最後に、図８の下部に示すように、ネジ孔４２ｉ，４２ｌに対してネジを同時に締め付ける。このとき、ネジ孔４２ｉ，４２ｌの間隔に応じて２つのネジ締め装置２１，２１の間を間隔Ｄ５に変更する。このように、不均等配置されたネジ孔４２ｇ～４２ｌであっても、ネジ締め装置２１，２１の間隔を適宜変更することで対応可能となる。 Finally, as shown in the lower part of FIG. 8, the screws are simultaneously tightened into the screw holes 42i and 42l. At this time, the interval between the two screw fastening devices 21 and 21 is changed to the interval D5 according to the interval between the screw holes 42i and 42l. Thus, even if the screw holes 42g to 42l are unevenly arranged, it can be dealt with by appropriately changing the interval between the screw fastening devices 21 and 21.
　実施形態に係るロボットシステム１によれば、複数のネジ締め装置２１，２１を用いることで、複数のネジ４１，４１を同時に締め付けることができ、ネジ締め作業にかかる時間を短縮することができる。また、複数のネジ締め装置２１，２１の間隔Ｄを適宜変更することで、ネジ４１，４１間の様々な間隔にも対応することができる。かかる２つの利点によってネジ締め作業を効率良く行うことができる。 According to the robot system 1 according to the embodiment, by using the plurality of screw tightening devices 21 and 21, the plurality of screws 41 and 41 can be tightened simultaneously, and the time required for the screw tightening operation can be shortened. In addition, by appropriately changing the interval D between the plurality of screw fastening devices 21 and 21, various intervals between the screws 41 and 41 can be dealt with. With these two advantages, the screw tightening operation can be performed efficiently.
　また、複数のネジ締め装置２１，２１のサーボモータ２２１，２２１および間隔変更部２４のサーボモータ２６の制御をコントローラ５０が行うことで、ネジ締め装置２１，２１や間隔変更部２４を個別に制御する制御装置が不要となる。また、複数のネジ締め装置２１，２１の間隔Ｄを変更しながらロボット１０を制御することができる。 Further, the controller 50 controls the servo motors 221 and 221 of the plurality of screw tightening devices 21 and 21 and the servo motor 26 of the interval changing unit 24, thereby individually controlling the screw tightening devices 21 and 21 and the interval changing unit 24. No control device is required. Further, the robot 10 can be controlled while changing the interval D between the plurality of screw fastening devices 21 and 21.
　なお、上述した実施形態に係るロボットシステム１では、複数のネジ締め装置２１，２１のうち１つを固定とし、他を可動としたが、たとえば、複数のネジ締め装置２１，２１をすべて可動とし、各々を相対移動させる構成としてもよい。 In the robot system 1 according to the above-described embodiment, one of the plurality of screw fastening devices 21 and 21 is fixed and the other is movable. For example, all the plurality of screw fastening devices 21 and 21 are movable. , Each may be relatively moved.
　また、ネジ締めユニット２０に２つのネジ締め装置２１，２１を設けたが、３つ以上のネジ締め装置２１を設ける構成としてもよい。たとえば、３つのネジ締め装置２１を三角配置した構成とすることで、同心円上に複数配置されたネジ孔４２にネジ４１を締め付ける場合などに有効なものとなる。 In addition, although the two screw tightening devices 21 and 21 are provided in the screw tightening unit 20, three or more screw tightening devices 21 may be provided. For example, the configuration in which the three screw tightening devices 21 are arranged in a triangular shape is effective when the screws 41 are tightened into a plurality of screw holes 42 arranged concentrically.
　さらなる効果や変形例は、当業者によって容易に導き出すことができる。このため、本発明のより広範な態様は、以上のように表しかつ記述した特定の詳細および代表的な実施形態に限定されるものではない。したがって、添付の特許請求の範囲およびその均等物によって定義される総括的な発明の概念の精神または範囲から逸脱することなく、様々な変更が可能である。 Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.
　　　１　　ロボットシステム
　　１０　　ロボット
　　２０　　ネジ締めユニット
　　２１　　ネジ締め装置
　　２２　　駆動部
　　２３　　ビット部
　　２４　　間隔変更部
　　２６　　（間隔変更部の）サーボモータ
　　２７　　ボールネジ
　　４０　　治具
　　４１　　ネジ
　　４２　　ネジ孔
　　５０　　コントローラ
　２２１　　（ネジ締め装置の）サーボモータ
　２３１　　ビット
　４０１　　第１の挿入孔
　４０２　　第２の挿入孔
　４０３　　保持部
　　　Ｗ　　ワーク DESCRIPTION OF SYMBOLS 1 Robot system 10 Robot 20 Screw tightening unit 21 Screw tightening device 22 Drive part 23 Bit part 24 Space | interval change part 26 (Spacing change part) Servo motor 27 Ball screw 40 Jig 41 Screw 42 Screw hole 50 Controller 221 (Screw tightening apparatus ) Servo motor 231 Bit 401 First insertion hole 402 Second insertion hole 403 Holding part W Workpiece

Claims (10)

  1. 　多関節のロボットと、
    　前記ロボットに取り付けられ、サーボモータによってネジを回転させる複数のネジ締め装置と、
    　前記複数のネジ締め装置の間隔をサーボモータによって変更する間隔変更部と、
    　前記ロボットと前記複数のネジ締め装置の各々のサーボモータと前記間隔変更部を駆動するサーボモータとを制御するコントローラと
    　を備えることを特徴とするロボットシステム。     With articulated robots,
    A plurality of screw tightening devices attached to the robot and rotating screws by a servo motor;
    An interval changing unit for changing an interval between the plurality of screw fastening devices by a servo motor;
    A robot system comprising: a controller for controlling the servo motor of each of the robot and the plurality of screw tightening devices and a servo motor for driving the interval changing unit.
  2. 　前記ネジ締め装置は、
    　前記複数のネジ締め装置のネジの回転軸が前記ロボットの先端軸と垂直となるように前記ロボットの先端部に取り付けられること
    　を特徴とする請求項１に記載のロボットシステム。     The screw tightening device is:
    The robot system according to claim 1, wherein the robot is attached to a distal end portion of the robot such that a rotation axis of a screw of the plurality of screw tightening devices is perpendicular to a distal end axis of the robot.
  3. 　前記ネジ締め装置および前記間隔変更部は、
    　前記ネジ締め装置と前記間隔変更部とをあわせた重心が前記ロボットの先端軸の延長線付近となるように前記ロボットに取り付けられること
    　を特徴とする請求項１または２に記載のロボットシステム。     The screw tightening device and the interval changing unit are:
    3. The robot system according to claim 1, wherein the robot system is attached to the robot such that a center of gravity of the screw tightening device and the interval changing unit is in the vicinity of an extension line of a tip axis of the robot.
  4. 　前記複数のネジ締め装置は、
    　そのうちの一つが前記間隔変更部に固定され、その他が前記間隔の向きに直動すること
    　を特徴とする請求項１、２または３に記載のロボットシステム。     The plurality of screw fastening devices include:
    4. The robot system according to claim 1, wherein one of them is fixed to the interval changing unit, and the other is linearly moved in the direction of the interval.
  5. 　ネジ締めの対象となるワークに対して着脱可能であり、前記ワークに設けられたネジ孔に対応する位置で前記ネジの姿勢を規制しつつ該ネジを保持する治具
    　をさらに備えることを特徴とする請求項１～４のいずれか一つに記載のロボットシステム。     A jig that can be attached to and detached from a workpiece to be screwed, and that holds the screw while restricting the posture of the screw at a position corresponding to a screw hole provided in the workpiece; The robot system according to any one of claims 1 to 4.
  6. 　前記治具は、
    　前記ワーク側に対応する面に設けられ、前記ネジを頭から挿入する第１の挿入孔と、
    　前記第１の挿入孔から挿入された前記ネジを保持する保持部と、
    　前記ワーク側に対応する面とは反対側の面に前記第１の挿入孔へ貫通するように設けられ、前記ネジ締め装置の先端が挿入される第２の挿入孔と
    　を備えることを特徴とする請求項５に記載のロボットシステム。     The jig is
    A first insertion hole provided on a surface corresponding to the workpiece side, and inserting the screw from the head;
    A holding portion for holding the screw inserted from the first insertion hole;
    A second insertion hole, which is provided on a surface opposite to the surface corresponding to the workpiece side so as to penetrate the first insertion hole, and into which a tip of the screw tightening device is inserted. The robot system according to claim 5.
  7. 　前記保持部は、
    　前記第１の挿入孔の奥側における周面に設けられ、前記ネジの頭を側方から押圧することによって前記ネジを保持すること
    　を特徴とする請求項６に記載のロボットシステム。     The holding part is
    The robot system according to claim 6, wherein the robot system is provided on a peripheral surface on the back side of the first insertion hole, and holds the screw by pressing the head of the screw from the side.
  8. 　前記ネジ締め装置の各々は、
    　着脱式のビット部を備え、
    　前記コントローラは、
    　予め記憶された作業手順に基づき、前記ビット部の交換を前記ロボットに行わせること
    　を特徴とする請求項１～７のいずれか一つに記載のロボットシステム。     Each of the screw fastening devices
    With a detachable bit part,
    The controller is
    The robot system according to any one of claims 1 to 7, wherein the robot is configured to exchange the bit unit based on a work procedure stored in advance.
  9. 　前記コントローラは、
    　予め記憶された作業手順に基づき、前記複数のネジ締め装置のネジの回転軸の間隔を適宜変更し、ネジ締めの対象となるワークに対して２つのネジを同時に締め付ける動作を前記ロボットおよび前記ネジ締め装置に行わせること
    　を特徴とする請求項１～８のいずれか一つに記載のロボットシステム。     The controller is
    Based on the work procedure stored in advance, the robot and the screw are operated by simultaneously changing the interval between the rotation axes of the screws of the plurality of screw tightening devices and simultaneously tightening the two screws to the workpiece to be screwed. The robot system according to any one of claims 1 to 8, wherein the robot system is caused to perform the tightening device.
  10. 　ネジ締めを行うワークと、
    　前記ワークに着脱可能に装着され、予め複数のネジを回転可能に保持する治具と、
    　前記複数のネジを各々回転させる複数のネジ締め装置と、
    　前記治具に保持されて姿勢が規制されている前記複数のネジに対応する間隔に応じて前記複数のネジ締め装置の間隔を変更する間隔変更部と、
    　前記ネジ締め装置と前記間隔変更部とを保持するロボットと、
    　前記ネジ締め装置と前記間隔変更部と前記ロボットとを制御するコントローラと
    　を備えることを特徴とするロボットシステム。     The workpiece to be tightened,
    A jig that is detachably attached to the workpiece, and holds a plurality of screws rotatably in advance;
    A plurality of screw fastening devices for respectively rotating the plurality of screws;
    An interval changing unit that changes an interval between the plurality of screw fastening devices according to an interval corresponding to the plurality of screws that are held by the jig and whose posture is regulated;
    A robot that holds the screw tightening device and the interval changing unit;
    A robot system comprising: a controller for controlling the screw tightening device, the interval changing unit, and the robot.
PCT/JP2014/070494 2014-08-04 2014-08-04 Robot system WO2016020973A1 (en)

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CN106003086A (en) * 2016-06-30 2016-10-12 苏州塞默机械有限公司 Working method for joint robot for assembly
TWI629135B (en) * 2016-07-21 2018-07-11 台達電子工業股份有限公司 Automatic screw tightening module and robot manipulator employing same
CN108817932A (en) * 2018-09-03 2018-11-16 苏州福斯特万电子科技有限公司 A kind of more material path automatic locking screw machines
JP2019005879A (en) * 2017-06-28 2019-01-17 ファナック株式会社 Tool switching and holding device, and robot system
CN109352682A (en) * 2018-12-11 2019-02-19 广西玉柴机器股份有限公司 One kind can quickly connect robot and variable bit tightens shaft device
CN112218742A (en) * 2018-07-05 2021-01-12 株式会社富士 Vertical articulated robot and working device
CN112792551A (en) * 2021-01-05 2021-05-14 宁波照澜新材料科技有限公司 Intelligent assembly robot for valve manufacturing
CN115446584A (en) * 2022-09-28 2022-12-09 国网天津市电力公司建设分公司 Bolt connection integrated tool based on robot and connection method

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KR102394421B1 (en) * 2021-09-01 2022-05-06 주식회사 시스템알앤디 Two-point automatic fastening system using automatic variable axis

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Publication number Priority date Publication date Assignee Title
CN106003086A (en) * 2016-06-30 2016-10-12 苏州塞默机械有限公司 Working method for joint robot for assembly
TWI629135B (en) * 2016-07-21 2018-07-11 台達電子工業股份有限公司 Automatic screw tightening module and robot manipulator employing same
JP2019005879A (en) * 2017-06-28 2019-01-17 ファナック株式会社 Tool switching and holding device, and robot system
US10562141B2 (en) 2017-06-28 2020-02-18 Fanuc Corporation Tool switching/holding device and robot system
CN112218742A (en) * 2018-07-05 2021-01-12 株式会社富士 Vertical articulated robot and working device
CN108817932A (en) * 2018-09-03 2018-11-16 苏州福斯特万电子科技有限公司 A kind of more material path automatic locking screw machines
CN109352682A (en) * 2018-12-11 2019-02-19 广西玉柴机器股份有限公司 One kind can quickly connect robot and variable bit tightens shaft device
CN112792551A (en) * 2021-01-05 2021-05-14 宁波照澜新材料科技有限公司 Intelligent assembly robot for valve manufacturing
CN115446584A (en) * 2022-09-28 2022-12-09 国网天津市电力公司建设分公司 Bolt connection integrated tool based on robot and connection method
CN115446584B (en) * 2022-09-28 2024-02-20 国网天津市电力公司建设分公司 Robot-based bolt connection integrated tool and connection method

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