CN1754650B - Fastener device - Google Patents
Fastener device Download PDFInfo
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- CN1754650B CN1754650B CN 200510105873 CN200510105873A CN1754650B CN 1754650 B CN1754650 B CN 1754650B CN 200510105873 CN200510105873 CN 200510105873 CN 200510105873 A CN200510105873 A CN 200510105873A CN 1754650 B CN1754650 B CN 1754650B
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Abstract
To provide a screw fastening device including a chuck for holding a hexagon socket head cap screw, engaged with a socket according to the size of the screw to be removable, and widening the work range by combination with an industrial robot. In this fastening device, a fastening means of a fastening part is attached and detached so that two or more fastening parts of different types are fastened by a single nut runner 201. The fastening device includes: a first driving means for linearly moving the fastening means in the axial direction of rotation of the fastening means: a chuck holding the fastening part; and a second driving means for driving the chuck.
Description
Technical field
The present invention relates to a kind of fastener that tightens secure component, the particularly a kind of fastener that can change fastening unit.
Background technology
On the assembling line of industrial machinery, in order to make the shape various screw threads for fastening operation automations different that the workpiece that is transferred is successively carried out with Tightening moment, proposed a kind ofly to utilize single nut spanner just can carry out fastening threaded fastening device (for example, with reference to patent documentation 1).
In Fig. 4, threaded fastening device 10 has pedestal 12, bight at this pedestal 12, be provided with long upper rall 14a and side rail 14b in direction with the drawing quadrature, and between this upper rall 14a and side rail 14b, be provided with long tooth bar (rack) parts 16 at the arrow directions X.
X-axis workbench 18 at upper rall 14a and side rail 14b upper support,, be fixed with servomotor grade in an imperial examination 1 rotary driving source 20 in the lower side of this X-axis workbench 18.On the rotating shaft (not shown) of the 1st rotary driving source 20, connecting pinion 24 by gear train 22, this pinion 24 is engaged on the rack member 16.On the top of X-axis workbench 18, fixing a pair ofly between this guide rail 26a, 26b, being provided with the 2nd rotary driving source 28 at the upwardly extending guide rail 26a in arrow Y side, the 26b that intersect with the arrow directions X, on the 2nd rotary driving source 28, connecting ball-screw 30.
On guide rail 26a, 26b, placing Y-axis workbench 32,, be provided with the not shown nut part that screws on ball-screw 30 in the bottom of this Y-axis workbench 32.On this Y-axis workbench 32, be provided with long pair of guide rails 34a, 34b and ball-screw 36 at above-below direction (arrow Z direction), this ball-screw 36 connects the 3rd rotary driving source 38.Z axle workbench 40 in this guiding rail 34a, 34b upper support, this Z axle workbench 40 free lifting under the turning effort of ball-screw 36.
On Z axle workbench 40, be provided with more changing device 46 of nut spanner portion 42 and sleeve part.Above-mentioned more changing device 46 be used for selectively and automatically in this nut spanner portion 42 loading and unloading fastening with sleeve part 44a or be accommodated in 44b, the 44c (not shown) of assigned position.
Workpiece is installed on support frame pushes anchor clamps 120 and workpiece positioning confirmation sensor 122, this workpiece push anchor clamps 120 and workpiece positioning confirmation sensor 122 below be equipped with Work transfer device 124.Workpiece W is to be placed on the state on the pallet 126 and to be transferred successively by this Work transfer device 124.
Below, relevant action is described.Workpiece W is transferred by Work transfer device 124 to be set up the state of a plurality of screws in preceding working procedure, and stops at the screw threads for fastening position of regulation.And, push anchor clamps 120 and workpiece positioning confirmation sensor 122 by workpiece, workpiece W location is remained on after the assigned position, drive the 1st～the 3rd rotary driving source 20,28 and 38 that constitutes threaded fastening device 10 selectively.
When the 1st rotary driving source 20 was driven, pinion 24 rotated by gear train 22, and under the effect of this pinion 24 and rack member 16, X-axis workbench 18 moves.And, when the 2nd rotary driving source 28 is driven, ball-screw 30 rotations, Y-axis workbench 32 moves on arrow Y direction.In addition, when the 3rd rotary driving source 38 was driven, Z axle workbench 40 moved on arrow Z direction by ball-screw 36.Thus, the screw that is located on the workpiece W is fitted in the connecting hole of being located at sleeve part 44a, above-mentioned sleeve part 44a is installed in the nut spanner portion 42.
Thereby, be driven and when making rotating shaft 56 rotation of nut spanner portion 42 sleeve part 44a rotation at rotary driving source 55.So the screw of workpiece W is fastened, reach setting when above at its Tightening moment, by moment detector (not shown) etc. the driving of rotary driving source 55 is stopped.
[patent documentation 1] No. the 2588677th, Japan Patent (2-5 page or leaf, Fig. 3)
Because existing threaded fastening device does not have the handle sturcture of screw, therefore need in advance screw to be arranged on the workpiece W.In addition because the sleeve part scope that can arrive is narrow and small, so a side that can only fastening workpiece W, for fastening opposite side and above, need to utilize change someway workpiece W towards, therefore existing threaded fastening device operating efficiency is not good.
Summary of the invention
The present invention proposes in view of these problems, and its purpose is, a kind of threaded fastening device is provided, and this threaded fastening device has following feature: have the function of controlling screw, and can freely load and unload the fastening unit corresponding with the bolt size; By with state at an arbitrary position under carry out robot maniputator's combination of fastening action, make job area wider.
In order to address the above problem, structure of the present invention is as follows.
A first aspect of the present invention, fastener has nut spanner, power transmission shaft and fastening unit, above-mentioned power transmission shaft is connected on the output shaft of nut spanner, above-mentioned fastening unit drives rotation and fastening secure component by above-mentioned nut spanner, and above-mentioned fastening unit can load and unload, can utilize the fastening a plurality of different types of secure components of single above-mentioned nut spanner, it is characterized in that, have: sleeve, it engages with described power transmission shaft, come turning moment from the power transmission shaft transmission, can move as straight line in the rotating shaft direction with respect to power transmission shaft; The 1st driver element that above-mentioned sleeve is moved as straight line in above-mentioned rotating shaft direction; The 2nd driver element; And the 3rd driver element that loads and unloads above-mentioned fastening unit, above-mentioned fastening unit has: anchor clamps are controlled this anchor clamps on-off action and are discharged above-mentioned secure component by above-mentioned the 2nd driver element; Joint, it engages with sleeve; And fastener head, the rotation of above-mentioned sleeve and straight line move through above-mentioned joint and pass to this fastener head.
A second aspect of the present invention is characterised in that above-mentioned anchor clamps utilize two movable pawls to constitute, and by the on-off action of above-mentioned movable pawl, control secure component.
A third aspect of the present invention is characterised in that the 1st driver element is a cylinder.
A fourth aspect of the present invention is characterised in that the 2nd driver element is a cylinder.
A fifth aspect of the present invention is characterised in that above-mentioned secure component is a hexagon socket head cap screw.
A sixth aspect of the present invention is characterised in that, industrial robot aspect the arm front end is equipped with the 1st to 5 in each described fastener.
First～the 5th aspect of the present invention can provide a kind of fastener, and it has anchor clamps and can load and unload fastening unit, therefore goes for being difficult to keep all kinds such as hexagon socket head cap screw of locating, the bolt of size.
In addition, the 6th aspect can provide a kind of industrial robot, and above-mentioned each fastener is installed in the arm front end of industrial robot, therefore can make the terminal operation automation in wider job area, and only by revising the taught point of restraint location, can be corresponding flexibly.
Description of drawings
Fig. 1 is the drawing in side sectional elevation and the profilograph of the fastener of expression the 1st embodiment of the present invention.
Fig. 2 is the key diagram of the engagement state of expression the 2nd carriage 221 and the 2nd cylinder 220.
Fig. 3 is the profile of the front end tool of expression separation.
Fig. 4 is the side view of existing fastener.
Label declaration
201 nut spanners; 202 pedestals; 203 are responsible for;
204 power transmission shafts; 205 sleeves; 206 joints;
207 fastener heads (bit); 208 anchor clamps; 220 the 2nd cylinders;
221 the 2nd carriages; 230 the 1st cylinders; 232 the 1st carriages;
233 sliders; 235 bearings; 236 the 2nd sleeve pipes;
237 steel balls; 238 the 1st sleeve pipes; 239 steel balls;
304 tube connectors; 305 fixture brackets; 306 rotating shafts;
307 connecting rods; 330 the 3rd cylinders; 331 the 3rd carriages;
335 front end tool seats; 336 clearance grooves
The specific embodiment
Below, with reference to the description of drawings embodiments of the present invention.
(embodiment 1)
Fig. 1 (a) is the drawing in side sectional elevation of fastener, and expression drives 230 elongations of the 1st cylinder, and fastener head 207 (fastening unit) is moved to the device front, and expression anchor clamps 208 open states.Fig. 1 (b) is the profilograph of fastener, and expression drives the 1st cylinder 230 and shrinks, so that fastener head 207 retreats, and makes the state of anchor clamps 208 closures.
This fastener has: the rotation, the straight line driving mechanism that are used for the fastener head 207 of trip bolt; Be used to control the switching mechanism of the anchor clamps 208 of nut; Charging crane with the device leading section.Below, each structure is described.
At first, the rotation of fastener head 207, the structure of straight line driving mechanism are described.In the drawings, 201 expression nut spanners, it utilizes not shown bolt to be fixed on the pedestal 202, and pedestal 202 is installed in the arm front end (not shown) of the industrial robot with multiple free degree.203 expressions are responsible for, and are fixed on the pedestal 202.204 expression power transmission shafts, it is connected on the output shaft of nut spanner 201, and runs through the person in charge 203 coaxially.Power transmission shaft 204 is bonded on the sleeve 205 and transmits turning moment, and sleeve 205 is made of polygon post or spline, so as can endwisely slip and straight line move.
Sleeve 205 is bonded on the slider 233 by bearing 235, and slider 233 is fixed on the 1st carriage 232, and above-mentioned the 1st carriage 232 runs through the grooving that is set on the person in charge's 203 peripheries.The 1st carriage 232 fixes with the piston rod that extends from the 1st cylinder 230 (the 1st driver element) that is fixed on the pedestal 202, carries out expanding-contracting action by making the 1st cylinder 230, can make sleeve 205 in rotary course also vertically straight line move.In addition, sleeve 205 forms the internal diameter of an end and power transmission shaft 204 chimeric polygon section or spline, and the other end forms the barrel bore chimeric with joint 206.With the excircle of the sleeve 205 of joint 206 telescoping parts on, have the through hole that is used to keep steel ball 239.The wall thickness of cylinder of through hole portion is less than the external diameter of steel ball 239.Therefore, being configured in steel ball 239 1 in the through hole, to fix on the inwall or the outer wall side of cylinder outstanding.On the cylinder periphery of joint 206 and fitting portion sleeve 205, be provided with the curvature circular groove identical with the external diameter of steel ball 239, it is consistent with the above-mentioned through hole of sleeve 205 that the position configuration of this circular groove becomes.The degree of depth of circular groove forms with the outstanding size of above-mentioned steel ball 239 and equates.In addition, the thrust of extreme direction before rotating shaft that the 1st sleeve pipe 238 is compressed that helical spring (not shown) applies, it is side-prominent to periphery to retrain steel ball 239 usually.That is, be incorporated in this circular groove of sleeve 205, thereby joint 206 is engaged with sleeve 205 to the side-prominent steel ball 239 of internal diameter.207 expressions are used for the fastener head of fastening bolt (not shown), and it is engaged with on the sleeve 205.
Below, the structure of the switching mechanism of anchor clamps 208 is described.In the drawings, 335 expression front end tool seats, its effect by steel ball 237 and the 2nd sleeve pipe 236 is bonded on to be responsible on 203 and uses.In addition, be fixed with fixture bracket 305 at front end.The 208th, by the anchor clamps that two movable pawls constitute, each movable pawl can be the center rotation with the rotating shaft 306 that is arranged on the fixture bracket 305.The inboard of movable pawl forms cylinder (bag) shape, so that do not interfere with the head of hexagon socket head cap screw when closed anchor clamps 208.220 is the 2nd cylinder (the 2nd driver elements), and it is fixed on is responsible on 203.221 is the 2nd carriages, and the piston rod of the 2nd cylinder 220 engages and can load and unload with the state that is stuck in the notch of being located on the 2nd carriage 221.Fig. 2 is the vertical view of the engagement state of expression the 2nd carriage 221 and the 2nd cylinder 220.As shown in the figure, rotate around rotating shaft, can remove the joint of the 2nd carriage 221 and the 2nd cylinder 220 by making piston rod.The 304th, tube connector, it is fixed on the 2nd carriage 221.Tube connector 304 constitutes and can slide in the axial direction and can move as straight line with respect to being responsible for 203.In addition, at the front end of tube connector 304, engaging has rotatable one group of connecting rod 307 respectively, and the other end of connecting rod 307 can be bonded on the end of movable pawl rotatably.
The structure of the charging crane of front end tool is described at last.The device leading section of this fastener (hereinafter referred to as " front end tool ") can separate.Front end tool after Fig. 3 represents to separate.
In Fig. 1,330 is the 3rd cylinder (the 3rd driver elements), and piston rod is bonded on the 3rd carriage 331.236 is the 2nd sleeve pipes, and it is bonded on the piston rod of the 3rd cylinder 330 by the 3rd carriage 331.That is, the 2nd sleeve pipe is axially moving as straight line by the driving of the 3rd cylinder.The 237th, steel ball, it is incorporated in is located in the retaining hole of being responsible on 203.By the 2nd sleeve pipe 236 moving vertically, limit the steel ball that kept 237 and fly out to outer circumferential side.That is, when the 2nd sleeve pipe 236 was pressed, steel ball 237 suffered restraints and is side-prominent to internal diameter.On the other hand, when the 2nd sleeve pipe 236 was raised, steel ball 237 became free state, and is not side-prominent to internal diameter.When carrying out the screw threads for fastening operation, make the elongation of the 3rd cylinder, form the state that the 2nd sleeve pipe 236 is pressed, so steel ball 237 becomes to the side-prominent state of internal diameter.Thereby steel ball 237 is entrenched in the circular groove of being located at front end tool seat 335, and front end tool seat 335 is bonded on to be responsible on 203.
The present invention and patent documentation 1 maximum distinctive points are to have the anchor clamps 208 that are used to control screw.
Below, the action of the fastener of the present invention with said structure is described.At first, the rotation of fastener head 207, the action of straight line driving mechanism are described.
When the 1st cylinder piston rod was flexible, expanding-contracting action passed to sleeve 205 by the 1st carriage 232, slider 233.Then, pass to the expanding-contracting action of sleeve 205, pass to fastener head 207 by joint 206 again.On the other hand, when the output shaft rotation of nut spanner 201, rotation is delivered to power transmission shaft 204, passes to fastener head 207 by sleeve 205, joint 206 again, makes the screw that is held on the anchor clamps 208 is rotated.That is, cooperate the expanding-contracting action of the 1st cylinder piston rod, fastener head carries out expanding-contracting action, and can be with desired moment trip bolt by nut spanner 201.
Below, the action of anchor clamps 208 switching mechanisms is described.
At first, when the 2nd cylinder 220 piston rods stretched, expanding-contracting action passed to tube connector 304 by the 2nd carriage 221.Then, the expanding-contracting action that passes to tube connector 304 passes to movable pawl by connecting rod 307 again, so movable pawl is the center rotation with rotating shaft 306, and the result, anchor clamps 208 open and close.That is, cooperate the expanding-contracting action of the 2nd cylinder 220, anchor clamps 208 carry out on-off action, can control and release screw.
Below, illustrate that the terminal operation that moves is made up in the switching of rotation, linear drives and anchor clamps 208 based on above-mentioned fastener head 207.
Terminal operation carries out in the following order.
(1) by making the piston rod elongation of the 2nd cylinder 220, anchor clamps 208 are opened.
(2) piston rod of the 2nd cylinder 220 is shunk, make anchor clamps 208 closures, control the screw that passes through the feed appliance proper alignment in advance.
(3) screw of being controlled is moved to the screw insertion section of workpiece.Fastener of the present invention is the arm front end that is installed in robot, so can carry out the terminal operation wider than existing scope.
(4) piston rod of the 1st cylinder 230 is extended, make fastener head 207 be stretched over the screw place of being controlled.
(5) by making the piston rod elongation of the 2nd cylinder 220, anchor clamps 208 are opened.
The extending force of (6) the 1st cylinders 230 acts on fastener head 207, thus above-mentioned fastener head 207 when pushing screw, advance, till the screw front end arrives screw tap (tap) portion.
(7) the drive nut spanner 201, with desired moment trip bolt.
The separating action of front end tool is described at last.
The separating action of front end tool is pressed order and is carried out.
The thrust that (1) the 1st sleeve pipe 238 is subjected to that not shown compression helical spring (not shown) applies to the preceding extreme direction of rotating shaft, if the leading section of the 1st sleeve pipe 238 is pushed to bracing frame (not shown) in the mode opposite with the pressing force of coil compression springs, then steel ball just moves back in the clearance groove 336 of sleeve pipe 238, and the joint of joint 206 is disengaged.
(2) the 3rd cylinder 330 is shunk, mention the 2nd sleeve pipe 236, steel ball 237 cease to binds thus, the joint of front end tool seat 335 is disengaged.
(3) by the action of robot, make fastener (nut spanner side) around rotating shaft (direction of arrow of Fig. 2) rotation, then the 2nd cylinder piston rod is deviate from from the 2nd carriage 221, and front end tool is separated fully.
In addition, about the installation of front end tool, be to carry out according to the step opposite with said sequence.
As mentioned above, be difficult to keep the hexagon socket head cap screw of locating, and can change fastener head, therefore can provide and type, the irrelevant fastener of size of bolt by the loading and unloading front end tool owing to can control.In addition, threaded fastening device can be installed in the arm front end of robot, so can make the wider terminal operation automation of job area.
Handle part shape and fastener head 207 by change anchor clamps 208 can be suitable under the situation of all secure components such as fastening bolt.
Claims (6)
1. fastener, have nut spanner, power transmission shaft and fastening unit, above-mentioned power transmission shaft is connected on the output shaft of nut spanner, above-mentioned fastening unit drives rotation and fastening secure component by above-mentioned nut spanner, and above-mentioned fastening unit can load and unload, can utilize the fastening a plurality of different types of secure components of single above-mentioned nut spanner, it is characterized in that having:
Sleeve, it engages with described power transmission shaft, comes turning moment from the power transmission shaft transmission, can move as straight line in the rotating shaft direction with respect to power transmission shaft;
The 1st driver element that above-mentioned sleeve is moved as straight line in above-mentioned rotating shaft direction;
The 2nd driver element; And
Load and unload the 3rd driver element of above-mentioned fastening unit,
Above-mentioned fastening unit has:
Anchor clamps are controlled this anchor clamps on-off action and are discharged above-mentioned secure component by above-mentioned the 2nd driver element;
Joint, it engages with above-mentioned sleeve; And
Fastener head, the rotation of above-mentioned sleeve and straight line move through above-mentioned joint and pass to this fastener head.
2. fastener according to claim 1 is characterized in that, above-mentioned anchor clamps are made of two movable pawls, and control secure component by the on-off action of above-mentioned movable pawl.
3. fastener according to claim 1 is characterized in that the 1st driver element is a cylinder.
4. fastener according to claim 1 is characterized in that the 2nd driver element is a cylinder.
5. fastener according to claim 1 is characterized in that described secure component is a hexagon socket head cap screw.
6. an industrial robot is characterized in that,
This industrial robot is equipped with each described fastener in the claim 1 to 5 at the arm front end.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004-283044 | 2004-09-29 | ||
| JP2004283044 | 2004-09-29 | ||
| JP2004283044A JP4557146B2 (en) | 2004-09-29 | 2004-09-29 | Fastening device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1754650A CN1754650A (en) | 2006-04-05 |
| CN1754650B true CN1754650B (en) | 2010-10-06 |
Family
ID=36235927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510105873 Expired - Fee Related CN1754650B (en) | 2004-09-29 | 2005-09-29 | Fastener device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4557146B2 (en) |
| CN (1) | CN1754650B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP4557146B2 (en) | 2010-10-06 |
| JP2006095624A (en) | 2006-04-13 |
| CN1754650A (en) | 2006-04-05 |
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