WO2016181629A1 - ナットランナシステム - Google Patents
ナットランナシステム Download PDFInfo
- Publication number
- WO2016181629A1 WO2016181629A1 PCT/JP2016/002209 JP2016002209W WO2016181629A1 WO 2016181629 A1 WO2016181629 A1 WO 2016181629A1 JP 2016002209 W JP2016002209 W JP 2016002209W WO 2016181629 A1 WO2016181629 A1 WO 2016181629A1
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- WO
- WIPO (PCT)
- Prior art keywords
- shaft
- bit
- bits
- engagement
- actuator
- Prior art date
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/24—Chucks characterised by features relating primarily to remote control of the gripping means
- B23B31/26—Chucks characterised by features relating primarily to remote control of the gripping means using mechanical transmission through the working-spindle
- B23B31/261—Chucks characterised by features relating primarily to remote control of the gripping means using mechanical transmission through the working-spindle clamping the end of the toolholder shank
- B23B31/263—Chucks characterised by features relating primarily to remote control of the gripping means using mechanical transmission through the working-spindle clamping the end of the toolholder shank by means of balls
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- 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
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- 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
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- 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
- B25B23/0007—Connections or joints between tool parts
- B25B23/0035—Connection means between socket or screwdriver bit and tool
Definitions
- the present invention relates to a nutrunner system for tightening screws.
- Patent Literature 1 discloses a nutrunner system that can mechanically equip a nutrunner body attached to a wrist portion of a robot arm with one of a plurality of bits.
- the nutrunner main body 100 is mounted with one of a plurality of bits 160 held on a holding base 170 (see FIG. 11).
- the bit changer 110 is included.
- the bit changer 110 includes a hollow shaft 120, an inner sliding member 130 disposed inside the hollow shaft 120, and an outer sliding member 140 disposed outside the hollow shaft 120.
- the hollow shaft 120 is provided with a plurality of notches 121 at appropriate positions, and balls 150 are arranged in these notches 121.
- the outer sliding member 140 is provided with a recess 141 into which the ball 150 is fitted.
- each bit 160 On the other hand, at the upper part of each bit 160, a recess 161 that opens radially outward is provided.
- the inner sliding member 130 is pushed by the bit 160 and moves upward.
- the ball 150 is fitted into the recess 161, and the outer sliding member 140 moves downward.
- the bit 160 is attached to the bit changer 110.
- the outer sliding member 140 is moved upward.
- the ball 150 is fitted into the recess 141 of the outer sliding member 140, and the bit 160 can be pulled out from the hollow shaft 120.
- the holding base 170 is provided with a protrusion 171 for moving the outer sliding member 140 upward.
- the position where the protrusion 171 of the holding base 170 is not located is the mounting position P1 of the bit 160
- the position where the protrusion 171 is located is the removal position of the bit 160. P2. Therefore, in order to repeatedly use the same bit 160, when removing the bit 160 from the bit changer 110, the robot keeps the bit 160 in a state where it can be pulled out into the hollow shaft 120 from the removal position P2 to the mounting position P1. Need to move up.
- an object of the present invention is to provide a nutrunner system in which a bit can be mounted and removed at the same position on a holding table.
- a nutrunner system includes a holding base for holding a plurality of bits each having a tightening shaft at one end and a coupling portion at the other end, and a support connected to the wrist of the robot arm.
- a nut runner body including a rotation shaft supported by the support and a bit changer connected to the rotation shaft and mounted with one of the plurality of bits.
- Each of the coupling portions has an engagement hole coaxially with the fastening shaft, and an annular protrusion that is continuous in the circumferential direction is provided on the inner peripheral surface of the engagement hole.
- An engagement shaft to be inserted into the engagement hole, and an operating piece provided on the engagement shaft, the engagement position projecting radially outward from the inner peripheral edge of the annular protrusion, and the inside of the annular protrusion Radially inward from the periphery It includes an actuator having an actuating piece, which moves between a retracted position retracted, characterized in that.
- the bit can be attached to the bit changer by moving the operating piece radially outward in a state where the engagement shaft of the actuator included in the bit changer is inserted into the engagement hole of the bit. it can. On the other hand, if the operating piece is moved radially inward, the bit can be removed from the bit changer. Therefore, the bit can be mounted and removed at the same position on the holding table.
- the actuator may be driven by fluid pressure
- the rotating shaft may be tubular
- a tube that supplies fluid pressure to the actuator may be routed in the rotating shaft. According to this configuration, the tube for the actuator driven by the fluid pressure can be hidden in the tubular rotating shaft in the vicinity of the bit changer.
- the actuator maintains the operating piece in the engagement position when fluid pressure is not supplied to the actuator through the tube, and moves the operating piece to the retracted position when fluid pressure is supplied to the actuator through the tube. It may be configured to move to. According to this configuration, even if fluid pressure is no longer supplied to the actuator due to a power failure or the like, it is possible to prevent the bit from dropping from the bit changer.
- the nut runner body is non-rotatably fitted to the rotary shaft and supports the rotary shaft so as to be slidable in the axial direction, a driven gear fixed to the guide, and a drive meshing with the driven gear A gear and a spring that urges the rotating shaft toward the bit changer may be included. According to this configuration, it is possible to prevent the tightening shaft of the bit from being pressed against the tightening target screw with an excessively strong force.
- a stopper member is fixed to the end of the rotating shaft opposite to the bit changer, the nut runner body is fixed to the support, and a sleeve is inserted through the rotating shaft;
- a collar that is rotatably supported by the sleeve via a bearing and that contacts the stopper member may be included.
- the coupling portion of each of the plurality of bits may have a detent hole parallel to the engagement hole, and the bit changer may have a detent pin inserted into the detent hole. According to this configuration, the bit changer and the coupling portion of the bit can be formed into a simple shape in contact with each other on a flat surface.
- the holding table has a holding hole into which the plurality of bits are inserted, and is configured such that the coupling portion of the plurality of bits is placed thereon, and the coupling portion of the plurality of bits is a disk. And at least two positioning grooves are provided at positions different from each other on the outer peripheral surface of each of the coupling portions, and the holding table has at least the at least one for each of the plurality of bits. At least two positioning pins that fit into the two positioning grooves may be provided. According to this configuration, it is possible to prevent an operator from inserting a bit into the holding hole.
- the bit can be mounted and removed at the same position on the holding table.
- FIG. 3 is a sectional view taken along line III-III in FIG. 2. It is sectional drawing of the upper part vicinity of a rotating shaft. It is sectional drawing of a bit changer. It is a bottom view of a bit changer.
- FIG. 7 is a cross-sectional view taken along line VII-VII in FIG. 6. It is a top view of a holding stand.
- FIG. 9 is a cross-sectional view taken along line IX-IX in FIG. It is a one part enlarged view of the conventional nutrunner system. It is a side view of the holding stand in the conventional nutrunner system.
- FIG. 1 shows a nutrunner system 1 according to an embodiment of the present invention.
- This nut runner system 1 is for fastening screws (for example, hexagon socket head cap bolts), and includes a holding base 6 that holds a plurality of bits 5 and a nut runner body 11.
- the holding table 6 is drawn directly below the wrist 10 of the robot arm, but the exact position of the holding table 6 is below the bit changer 4 described later.
- the nutrunner main body 11 includes a support 2 connected to the wrist 10 of the robot arm, a rotary shaft 3 supported in the vertical direction, and a bit changer 4 connected to the rotary shaft 3.
- One of a plurality of bits 5 is attached to the bit changer 4.
- the support 2 is fixed to the top surface of a substantially rectangular shape parallel to the horizontal plane, and the upper surface of one end side (right side in FIGS. 1 and 2) of the top plate 21.
- a pedestal 22 for connection with the wrist 10 of the robot arm and a housing 23 fixed to the lower surface of the other end of the top plate 21 are included.
- the rotating shaft 3 passes through the housing 23 and the top plate 21.
- a motor 12 that rotates the rotary shaft 3 is attached to the top plate 21 via a speed reducer 13.
- An output shaft 14 of the speed reducer 13 is located in the housing 23, and a drive gear 15 is fixed to the output shaft 14.
- the rotary shaft 3 is configured to be movable in the axial direction with respect to the support 2.
- a guide 31 that is fitted in the housing 23 so as to be non-rotatable and supports the rotary shaft 3 so as to be slidable in the axial direction is disposed in the housing 23.
- the rotating shaft 3 and the guide 31 are ball splines, for example.
- a driven gear 16 that meshes with the drive gear 15 described above is disposed above the guide 31.
- the driven gear 16 is fixed to the guide 31 by sandwiching the guide 31 together with a cylindrical fixing member 32 that accommodates the guide 31.
- the fixing member 32 is rotatably supported by the housing 23 via a pair of bearings 33.
- the rotating shaft 3 is urged toward the bit changer 4 by a spring 85 disposed on the side of the motor 12.
- a stopper member 75 is fixed to the end of the rotating shaft 3 on the side opposite to the bit changer 4.
- the upper portion of the stopper member 75 is rotatably supported by the cylindrical member 82 via a pair of bearings 81.
- a spring receiving plate 83 is fixed to the upper end portion of the cylindrical member 82, and a projection 84 for guiding the spring 85 is provided on the spring receiving plate 83.
- a spring receiving plate 86 is disposed above the spring 85.
- the spring receiving plate 86 is fixed to the top plate 21 by four support columns 87.
- the spring receiving plate 86 is also provided with a projection for guiding the spring 85.
- the stopper member 75 normally comes into contact with the collar 74 whose relative position with respect to the top plate 21 of the support 2 is unchanged by the biasing force of the spring 85.
- a sleeve 71 inserted through the rotary shaft 3 is fixed to the top plate 21.
- a cylindrical member 72 extending upward from the outer peripheral edge of the sleeve is fixed to the sleeve 71.
- a bearing 73 is disposed between the cylindrical member 72 and the collar 74. In other words, the collar 74 is rotatably supported by the sleeve 71 via the bearing 73 and the cylindrical member 72.
- the bit changer 4 described above includes a columnar bit changer main body 41 extending in the vertical direction and an actuator 9 attached to the lower surface of the bit changer main body 41.
- a recess 46 into which the lower part of the rotary shaft 3 is inserted is provided on the upper surface of the bit changer body 41.
- the actuator 9 includes a main body 91 embedded in the bit changer main body 41, an engagement shaft 92 projecting downward from the main body 91, and a plurality of (three in the illustrated example, 2 One or four or more actuating pieces 93.
- the actuator 9 is driven by fluid pressure (may be pneumatic or hydraulic).
- the rotating shaft 3 is tubular, and a tube 35 for supplying fluid pressure to the actuator 9 is routed in the rotating shaft 3.
- a flow path 42 for the working fluid having the above-described fluid pressure is formed from the actuator 9 to the bottom surface of the recess 46, and a joint 43 is provided at the upper end of the flow path 42. ing. The lower end of the tube 35 is connected to the joint 43.
- the stopper member 75 also has a working fluid channel 76 formed on the center line of the stopper member 75, and joints 77 and 78 are provided at the lower and upper ends of the channel 76, respectively. It has been.
- the upper end of the tube 35 is connected to the lower joint 77, and the upper joint 78 is connected to an unillustrated tube that penetrates the cylindrical member 82.
- the operating piece 93 is a ball.
- the actuator 9 may have only one ring-shaped operating piece.
- the operating piece 93 moves in the radial direction between a retracted position that fits within the engaging shaft 92 and an engaging position that protrudes from the engaging shaft 92.
- the actuator 9 maintains the operating piece 93 in the engaged position when the fluid pressure is not supplied to the actuator 9 through the tube 35, and operates when the fluid pressure is supplied to the actuator 9 through the tube 35.
- the piece 93 is configured to move to the retracted position.
- the main body 91 and the engagement shaft 92 are hollow, and a pressure receiving member 94 is disposed inside the main body 91 and the engagement shaft 92.
- the pressure receiving member 94 has a tip end portion 94a for maintaining the operating piece 93 in the engaged position, and a concave portion 94b for moving the operating piece 93 to the retracted position.
- the pressure receiving member 94 is normally pressed against the bit changer main body 41 by a spring 95, whereby the tip end portion 94 a comes into contact with the operating piece 93.
- the pressure receiving member 94 rises and the operating piece 93 is fitted into the recess 94b.
- each bit 5 described above has a fastening shaft 51 at one end (lower end), a coupling portion 52 at the other end (upper end), and a main body portion 58 at the center.
- the coupling portion 52 has a disk shape with a larger diameter than the main body portion 58.
- the holding table 6 described above is provided with a holding hole 61 into which a plurality of bits 5 are inserted.
- the diameter of the holding hole 61 is smaller than the diameter of the coupling portion 52. For this reason, a plurality of coupling parts 52 of the bits 5 are placed on the holding table 6.
- At least two (three in the illustrated example) positioning grooves 56 are provided at different positions on the outer peripheral surface of the coupling portion 52 of the plurality of bits 5.
- the holding base 6 is provided with at least two (three in the illustrated example) positioning pins 62 that fit into the positioning grooves 56 for each bit 5. For this reason, it is possible to prevent the operator from mistakenly inserting the bit 5 into the holding hole 61.
- the total number of positioning pins 62 is seven instead of nine.
- an engagement hole 53 is provided coaxially with the fastening shaft 51.
- An annular protrusion 54 that is continuous in the circumferential direction is provided on the inner peripheral surface of the engagement hole 53.
- the engagement shaft 92 of the actuator 9 described above is inserted into the engagement hole 53.
- the above-described engagement position relating to the operating piece 93 is a position where the operating piece 93 projects radially outward from the inner peripheral edge of the annular protrusion 54, and the above-described retracted position refers to the above-described retracted position. It is a position which retreats to the inner side in the radial direction from the inner peripheral edge.
- each bit 5 is provided with two detent holes 55 parallel to the engagement holes 53.
- only one anti-rotation hole 55 may be provided.
- two detent pins 45 inserted into the detent holes 55 are provided on the lower surface of the bit changer body 41.
- a screw shaft 57 is integrally formed in the coupling portion 52 of each bit 5, and the main body portion 58 is screwed to the screw shaft 57. Further, a fixing nut 59 for fixing the main body portion 58 is screwed onto the screw shaft 57.
- the bit 5 can be attached to the bit changer 4.
- the bit 5 can be removed from the bit changer 4 by moving the operating piece 93 radially inward. Accordingly, the bit 5 can be mounted and removed at the same position on the holding table 6.
- the operating piece 93 moves from the engagement position to the retracted position when the fluid pressure is supplied to the actuator 9, even if the fluid pressure is not supplied to the actuator 9 due to a power failure or the like, the bit The fall of the bit 5 from the changer 4 can be prevented.
- the rotary shaft 3 is not necessarily configured to be movable in the axial direction with respect to the support 2, and the relative position between the rotary shaft 3 and the support 2 in the axial direction of the rotary shaft 3 is fixed. May be.
- the detent structure of the bit 5 with respect to the bit changer 4 does not necessarily need to be the detent hole 55 and the detent pin 45.
- the upper surface of the coupling portion 52 of the bit 5 and the lower surface of the bit changer body 41 may be shaped so as to be non-rotatably engaged with each other.
- the anti-rotation hole 55 and the anti-rotation pin 45 are used like the said embodiment, the bit changer main body 41 and the coupling
- the actuator 9 is not necessarily driven by fluid pressure, and may be driven by a solenoid, for example.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
Description
本発明は上述した実施形態に限定されるものではなく、本発明の要旨を逸脱しない範囲で種々の変形が可能である。
10 ロボットアームの手首部
11 ナットランナ本体
12 モータ
15 駆動ギア
16 従動ギア
2 支持体
3 回転軸
31 ガイド
35 チューブ
4 ビットチェンジャ
45 回り止めピン
5 ビット
51 締め付け軸
52 結合部
53 係合穴
54 環状突起
55 回り止め穴
56 位置決め溝
6 保持台
61 保持穴
62 位置決めピン
71 スリーブ
73 軸受
74 カラー
75 ストッパ部材
87 スプリング
9 アクチュエータ
92 係合軸
93 作動片
Claims (7)
- 一端に締め付け軸を有し他端に結合部を有する複数のビットを保持する保持台と、
ロボットアームの手首部に連結される支持体、前記支持体に支持された回転軸、および前記回転軸に連結された、前記複数のビットのうちの1つが装着されるビットチェンジャ、を含む、ナットランナ本体と、を備え、
前記複数のビットのそれぞれの前記結合部は、前記締め付け軸と同軸上に係合穴を有し、前記係合穴の内周面には、周方向に連続する環状突起が設けられており、
前記ビットチェンジャは、前記係合穴に挿入される係合軸、および前記係合軸に設けられた作動片であって、前記環状突起の内周縁よりも径方向外側に張り出す係合位置と前記環状突起の内周縁よりも径方向内側に後退する後退位置との間で移動する作動片、を有するアクチュエータを含む、
ナットランナシステム。 - 前記アクチュエータは、流体圧によって駆動されるものであり、
前記回転軸は、管状であり、前記回転軸内に、前記アクチュエータへ流体圧を供給するチューブが配索されている、請求項1に記載のナットランナシステム。 - 前記アクチュエータは、前記チューブを通じて前記アクチュエータへ流体圧が供給されないときは前記作動片を前記係合位置に維持し、前記チューブを通じて前記アクチュエータへ流体圧が供給されたときに前記作動片を前記後退位置に移動するように構成されている、請求項2に記載のナットランナシステム。
- 前記ナットランナ本体は、前記回転軸と回転不能に嵌合し、かつ、前記回転軸を軸方向に摺動可能に支持するガイドと、前記ガイドに固定された従動ギアと、前記従動ギアと噛み合う駆動ギアと、前記回転軸を前記ビットチェンジャに向かって付勢するスプリングを含む、請求項1~3のいずれか一項に記載のナットランナシステム。
- 前記回転軸の前記ビットチェンジャと反対側の端部には、ストッパ部材が固定されており、
前記ナットランナ本体は、前記支持体に固定され、かつ、前記回転軸に挿通されたスリーブと、前記スリーブに軸受を介して回転可能に支持された、前記ストッパ部材と当接するカラーを含む、請求項4に記載のナットランナシステム。 - 前記複数のビットのそれぞれの前記結合部は、前記係合穴と平行な回り止め穴を有し、
前記ビットチェンジャは、前記回り止め穴に挿入される回り止めピンを有する、請求項1~5のいずれか一項に記載のナットランナシステム。 - 前記保持台は、前記複数のビットが挿入される保持穴を有していて、前記複数のビットの前記結合部が載置されるように構成されており、
前記複数のビットの結合部は円盤状をなしており、これらの結合部の外周面には、互いに異なる位置に少なくとも2つの位置決め溝がそれぞれ設けられており、
前記保持台には、前記複数のビットのそれぞれに対して、前記少なくとも2つの位置決め溝に嵌り合う少なくとも2つの位置決めピンが設けられている、請求項1~6のいずれか一項に記載のナットランナシステム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/573,496 US10449642B2 (en) | 2015-05-11 | 2016-04-27 | Nut runner system |
CN201680025628.4A CN107530845B (zh) | 2015-05-11 | 2016-04-27 | 螺帽锁紧*** |
KR1020177035480A KR102055844B1 (ko) | 2015-05-11 | 2016-04-27 | 너트 런너 시스템 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2015096180A JP6568394B2 (ja) | 2015-05-11 | 2015-05-11 | ナットランナシステム |
JP2015-096180 | 2015-05-11 |
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WO2016181629A1 true WO2016181629A1 (ja) | 2016-11-17 |
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PCT/JP2016/002209 WO2016181629A1 (ja) | 2015-05-11 | 2016-04-27 | ナットランナシステム |
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US (1) | US10449642B2 (ja) |
JP (1) | JP6568394B2 (ja) |
KR (1) | KR102055844B1 (ja) |
CN (1) | CN107530845B (ja) |
TW (1) | TWI595978B (ja) |
WO (1) | WO2016181629A1 (ja) |
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JP6479248B1 (ja) | 2018-12-11 | 2019-03-06 | 株式会社東日製作所 | 締付装置 |
FR3117392B1 (fr) * | 2020-12-11 | 2023-02-24 | Renault Georges Ets | système de fixation d’un embout d’outillage à un outil |
FR3130670B1 (fr) | 2021-12-22 | 2024-01-12 | Renault Georges Ets | Système de fixation d’un embout d’outillage à un outil. Procédé de fixation correspondant |
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- 2016-04-27 WO PCT/JP2016/002209 patent/WO2016181629A1/ja active Application Filing
- 2016-04-27 US US15/573,496 patent/US10449642B2/en active Active
- 2016-04-27 KR KR1020177035480A patent/KR102055844B1/ko active IP Right Grant
- 2016-05-03 TW TW105113687A patent/TWI595978B/zh active
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Also Published As
Publication number | Publication date |
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JP6568394B2 (ja) | 2019-08-28 |
KR20180004259A (ko) | 2018-01-10 |
JP2016209960A (ja) | 2016-12-15 |
TW201700226A (zh) | 2017-01-01 |
TWI595978B (zh) | 2017-08-21 |
CN107530845A (zh) | 2018-01-02 |
US10449642B2 (en) | 2019-10-22 |
KR102055844B1 (ko) | 2019-12-13 |
CN107530845B (zh) | 2019-09-24 |
US20180141172A1 (en) | 2018-05-24 |
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