JP2003094261A - Unscrewing machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unscrewing machine by which a plurality of removed screws can be collected in bulk, unscrewing Takt (cycle) time becomes faster to improve working efficiency, deterioration of working environment by noise of compressed air can be prevented, and better cost effectiveness is achieved. SOLUTION: The unscrewing machine has an unscrewing unit 2 having a screw suction pipe 71 mounted on an orthogonal robot 3 to automatically remove a screw fastened on a product or the like by a bit built into the screw suction pipe 71. A screw receiving device 8 capable of accommodating a plurality of screws removed by the bit is provided on the unit 2. The screw receiving device 8 is equipped with a bucket 83 freely movably provided under the screw suction pipe 71 retaining removed screws, wherein the bottom of the bucket 83 can be freely opened and closed. The unscrewing unit 2 is provided with a guide means which guides the movement of the screw suction pipe 71 in the longitudinal direction and supports the screw suction pipe 71 so as to be movable by a predetermined distance in the direction orthogonal to the longitudinal direction of the screw suction pipe 71.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a screw removing machine for removing a screw of a product, and more particularly, to a screw removing machine which can be effectively used for removing a product having a large number of screws.

[0002]

2. Description of the Related Art FIGS. 12 to 15 are partial sectional views showing a mechanism for discharging a screw removed by a conventional screw removing machine.

In the drawing, a is a screw suction pipe, and this screw suction pipe a is a product A placed on a table by a preprogrammed orthogonal robot (not shown) (FIG. 1).
3)) to the position corresponding to each screw B. At this position, the screw suction pipe a descends as shown in FIG. 13, and stops at the descending position where the screw head B1 is inserted into the tip end a1 thereof,
The screw B is loosened and removed by a bit (not shown) provided in the screw suction pipe a. At this time, since the suction pipe a sucks air from its tip portion a1, the removed screw B is held in a state of being drawn into the tip portion a1 of the suction pipe a.

Next, when the suction pipe a holds the screw B and rises to the raised position as shown in FIG. 14, the driver that has rotated the bit stops and the screw receiving pipe b shows in FIG. As described above, the extension operation of the cylinder c moves the suction pipe a to a position facing the lower end of the suction pipe a. In this state, contrary to the above, air is discharged from the screw suction pipe a and the held screw B is dropped into the screw receiving pipe b, and the screw receiving pipe b is returned to the original position again. Thereafter, the compressed air is discharged from the upper pressure feed pipe d into the screw receiving pipe b, so that the screw B is recovered through a discharge hose e into a screw recovery box (not shown).

The series of operations described above are sequentially repeated to remove the screws B of the product A, thereby completing the screw removing operation.

[0006]

However, in the above-described conventional screw removing machine for removing the screw, it is necessary to send compressed air from the pressure feeding pipe d to recover the screw B every time one screw B is removed. Therefore, there is a problem that the screw removal tact becomes slower and a large discharge noise is generated every time the compressed air is discharged, which deteriorates the working environment.

Further, since the discharge hose e is installed above the product, it is necessary to secure a long vertical stroke of the screw suction pipe a in order to avoid the interference between the discharge hose e and the product A. However, there is a problem in that the screw unfastening tact is further delayed and the efficiency is further reduced.

[0008]

According to a first aspect of the present invention, there is provided a screw removing machine according to a first aspect of the present invention, in which an orthogonal robot is equipped with a screw removing unit equipped with a screw suction pipe, and a bit incorporated in the screw suction pipe is used for products or the like. A screw remover configured to automatically remove a screw that is fastened is provided with a screw receiving device capable of accommodating a plurality of screws removed by the bit.

In the screw removing machine of the invention according to claim 2, the screw receiving device comprises a bucket movably provided below the screw suction pipe holding the removed screw, and the bottom of the bucket is openable and closable. It was done by.

According to a third aspect of the present invention, there is provided a screw removing machine in which a screw removing unit having a screw suction pipe is mounted on an orthogonal robot, and a screw which is fastened to a product or the like by a bit built in the screw suction pipe. In a screw removing machine configured to be automatically removed, the screw removing unit guides the movement of the screw suction pipe in the longitudinal direction, and a predetermined amount in a direction orthogonal to the longitudinal direction of the screw suction pipe. A guide means for movably supporting is provided.

According to a fourth aspect of the present invention, there is provided a screw removing machine, wherein the guide means includes a center flange having a shaft core portion having an insertion hole through which an intermediate portion of the screw suction pipe is inserted.
The center flange is provided so as to be movable by a predetermined amount in a direction orthogonal to the longitudinal direction of the screw suction pipe by elastic deformation of the elastic body.

According to a fifth aspect of the present invention, there is provided a screw removing machine in which a screw removing unit having a screw suction pipe is mounted on an orthogonal robot, and a screw which is fastened to a product or the like by a bit built in the screw suction pipe. In a screw unscrew configured to automatically unscrew, the screw unscrew unit applies the maximum load to the tip of the bit when the maximum torque for screw unscrewing is required, and then the torque required for screw unscrewing to the tip of the screw. Is provided with a load applying mechanism for removing the screw while applying a load enough to transmit the load.

In the screw removing machine of the invention according to claim 6, the load applying mechanism holds the screw removing unit by extending a rod end portion of a cylinder for moving the screw removing unit toward the screw. By pressing a part of the holding member, the force of pushing the screw head with the tip of the bit is maximized.After that, when the rod end is retracted to separate a predetermined distance from the holding member, the torque required for screw return to the tip of the bit is A load that can be transmitted is applied, and when the screw is removed, the moving portion of the screw removing unit is returned to the original position by the contraction of the rod end.

In the screw removing machine of the invention according to claim 7, the tip end portion of the screw suction pipe is formed so that the entire removed screw can be inserted therein.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

1 to 3 show the entire structure of the screw removing machine of the present invention.

In the figure, reference numeral 1 denotes a pedestal having a stepped upper surface, and an unscrewing unit 2 is provided on an upper stage on the pedestal 1 so as to be movable on a horizontal plane by an orthogonal robot 3, and a lower stage on the pedestal 1 is provided. A turntable 4 is provided. In the present embodiment, for convenience of description, the depth direction in FIG. 2 will be referred to as the front-back direction and the left and right sides in FIG. 2 will be referred to as the left-right direction with reference to the front view shown in FIG.

The turntable 4 is configured to rotate 180 ° by driving the rotary cylinder 4a by simultaneously pressing a pair of left and right start switches 41 (see FIG. 2) provided on both left and right sides of the turntable 4. There is. On the turntable 4, two product positioning jigs 42, 42 for holding the product A (see FIG. 1) are placed in a state of being arranged in the front-rear direction.

In the product positioning jigs 42, 42, for example, the product positioning jig 42 arranged on the outer side by the rotation of the turntable 4 is on the product mounting / removing side.

A screw recovery box 5 is provided between the turntable 4 and the orthogonal robot 3 in the lower stage where the turntable 4 is provided, and the screw recovery box 5 is provided above the screw recovery box 5. A shooter 51 that guides the screw is arranged.

4 and 5 show the structure of the screw removing unit 2.

The screw removing unit 2 is a unit main body portion 6 fixed to the orthogonal robot 3 via a mounting member 6a.
And a driver 7 that is provided on the unit main body 6 so as to be able to move up and down and has a screw suction pipe 71 at the lower end.

More specifically, an elevating cylinder 61 is vertically arranged above the unit main body 6 with its rod end 62 facing downward. The rod end portion 62 is arranged so as to penetrate through the joint 63, and the flange portion 62a formed at the tip of the rod end portion 62 abuts the inner upper surface of the joint 63 from below to support the joint 63. There is.

The joint 63 is connected to the driver 7 via a holding member 64. The holding member 64 includes a lower holding piece 64a and an upper holding piece 64b that extend opposite to each other.
And the joint 63 on the lower holding piece 64a.
The lower end of is fixed, and the driver 7 is fixed to the upper holding piece 64b.

Therefore, the driver 7 moves up and down while the holding member 64 moves up and down while being guided by the LM guide 65 through the joint 63 by the expansion and contraction operation of the elevating cylinder 61. Further, the rod end portion arranged in the joint 63 is also moved. 62
Is movable by a distance between the inner upper surface of the joint 63 and the lower holding piece 64a, and the holding member 6 is erected on the lower end of the unit main body 6 as shown in FIG. When contacting the stopper 66, the lower holding piece 64a is pressed by the rod end portion 62 from above with a predetermined pressing force.

On the other hand, the driver 7 is a screw suction pipe 7
1 is configured so as to rotate a bit (not shown), and the tip of the bit is engaged with a screw head to rotate the screw so that the screw B is fastened to the product A as shown in FIG. I am trying to remove it.

A vacuum pipe 72 communicating with the screw suction pipe 71 is provided at the lower end of the driver 7, and the tip end of the screw suction pipe 71 is connected to the vacuum pipe 72 by a suction / blowing device (not shown). The air is sucked in from the air and blown out.

The screw suction pipe 71 is arranged with its middle part inserted in a center flange 73 as a guide means. The center flange 73 guides the vertical movement of the screw suction pipe 71, which is the longitudinal direction of the screw suction pipe 71, and allows a predetermined amount of movement in the horizontal direction. The positional deviation between the tip portion 71a of the screw suction pipe 71 and the screw B fastened to the product A is absorbed.

Specifically, as shown in FIG. 7, the center flange 73 is a shaft portion 73a inserted and arranged in a support hole 68 of a center flange support plate 67 extending from the lower end portion of the unit main body portion 6. And a flange portion 73b formed on the upper end of the shaft portion 73a.
And the screw suction pipe 71 on the shaft center of the flange portion 73b.
An insertion hole 73c is formed so as to pass through and guide vertically.

The shaft portion 73a is formed such that its shaft diameter is smaller than the hole diameter of the support hole 68, and a groove 73d is formed on the outer peripheral surface in the circumferential direction. An O-ring 74 made of an elastic material such as rubber is fitted in the groove 73b. The O-ring 74 has an outer diameter that is substantially the same as the diameter of the support hole 68, and the O-ring 74 causes the axis of the support hole 68 and the axis of the insertion hole 73c to coincide with each other.

Therefore, as shown in FIG. 8, the clearance O formed between the shaft portion 73a and the support hole 68 is O.
The elastic deformation of the ring 74 allows the axial center of the shaft portion 73a to move in the horizontal direction with respect to the axial center of the support hole 68, and allows the screw suction pipe 71 to move in the horizontal direction accordingly. You can The center flange 73
Is connected to the center flange support plate 67 by a screw member 75 so as to allow the horizontal movement as described above.

The tip portion 71a of the screw suction pipe 71
Has a diameter slightly smaller than the upper part, and the screw B
The length is such that the entire screw B can be inserted into the tip even when the length is long.

Further, a screw receiving device 8 is provided on the lower surface of the center flange support plate 67. The screw receiving device 8 is arranged on the unit body 6 side so as not to interfere with the lifting operation of the screw suction pipe 71, and as shown in FIG. The bucket 83 is provided at the tip of the portion 81.

The bucket 83 primarily accommodates the screws B removed from the product through the upper surface opening, and is formed to have a size capable of accommodating a plurality of screws B removed from one product, for example. In this bucket 83, an opening / closing cylinder 84 provided on the lower surface of the telescopic cylinder movable portion 81 is connected via a bracket 83a.
By rotating the rotary shaft 85 as a center by the extension operation, the bottom surface is opened and the accommodated screw is dropped downward (see FIG. 11).

In the bucket 83, the bucket 8
A spring 86 is provided for urging the bottom surface of the bucket 3 in a direction of closing the bottom surface of the bucket 83. The urging force holds the bottom surface of the bucket 83 in a closed state so that the accommodated screw B does not drop unnecessarily.

In FIGS. 1 and 2, reference numeral 11 is provided at the bottom of the gantry 1, support legs for horizontally adjusting and supporting the gantry 1, and 12 for movement are provided at the bottom of the gantry 1. The casters 13, 14 are provided in the middle stage of the gantry 1, and are control devices for controlling the operations of the orthogonal robot 3, the screw removing unit 2, the screw receiving device 8, and the turntable 4, and 15 is an emergency stop switch.

Next, the operation of removing the screw fastened to the product by the screw removing machine configured as described above will be described.

First, the orthogonal robot 3 is taught in advance the screw position of each screw B for removing the product A held by the product positioning jig 42 on the screw removal side on the turntable 4, and the orthogonal robot is operated according to the program. The tip end portion 71a of the screw suction pipe 71 is moved by 3 in a predetermined order to an upper position that matches each screw B, and the following series of screw removing operations are performed.

More specifically, the tip portion 7 of the screw suction pipe 71
1a is moved to a position matching the screw B and stopped. Then, the elevating cylinder 61 is extended so that the lower holding piece 64a of the holding member 64 holds the driver 7 supported via the joint 63 and the holding member 64.
6 to the position where it abuts 6. As a result, the screw head of the screw B is inserted into the tip portion 71a of the suction pipe 71, and the bit in the suction pipe 71 matches the screw head.

Then, by further extending the elevating cylinder 61, its rod end 62 descends in the joint 63 and presses the lower holding piece 64a of the holding member 64 from above with a predetermined pressing force (see FIG. 6). ). This pressing force gives a load that does not come out when the bit tip returns the screw head to transmit the maximum torque.

At this time, the screw suction pipe 71 sucks air from its tip through the vacuum pipe 72 by the suction / blowing device.

In this state, by rotating the bit in the direction of loosening the screw B, the bit engages with the cross hole of the screw head to rotate the screw and remove the screw B from the product A.

While the screw B is being removed, while the rod end 62 is retracting and moving upward from the holding member 64 in the joint 63, the load for pressing the screw B by the tip of the bit is returned to the screw. It is designed to transmit torque, and the tip of the bit rises as the screw B comes off the product A. In this way, by applying a load to the screw such that the return torque can be transmitted and removing the screw, it is possible to prevent the internal thread of the product A from being destroyed by the rotation of the screw.

That is, a load applying mechanism for adjusting the load applied to the tip of the bit by the operation of the rod end portion 62 of the elevating cylinder 61 is constructed.

Then, when the screw B is removed, the flange portion 62a of the rod end portion 62 abuts on the inner upper surface of the joint 63, and the bit tip is lifted, and then the rod end portion 62 of the lifting cylinder 61 is lifted with a certain delay. By retracting, the screw suction pipe 71 is raised to the original rising position. At this time, since air is sucked from the tip portion 71a of the screw suction pipe 71, the removed screw B is attached to the tip portion 71 of the screw suction pipe 71.
The whole is inserted and stably held in a, and in this state, the screw suction pipe 71 is arranged at the raised position as shown in FIG.

Subsequently, in the screw receiving device 8, the telescopic cylinder 82 is extended to move the bucket 83 together with the telescopic cylinder moving part 81 forward, and the bucket 83 is moved to the front end portion of the screw suction pipe 71 as shown in FIG. It is arranged below 71a. Next, air is blown into the screw suction pipe 71 through the vacuum pipe 72 by the suction / blowing device, the screw B held at the tip portion 71a of the screw suction pipe 71 is discharged together with the air from the tip portion 71a, and the inside of the bucket 83 To house. After that, the retractable cylinder 82 is retracted to return the retractable cylinder movable portion 81 and the bucket 83 to their original positions, thereby completing the operation of removing one screw B.

By repeating such an operation for each screw B fastened to the product A, each screw B of the product A is
Can be removed and the removed screws B are
It is housed in 3.

Here, the tip portion 71 of the screw suction pipe 71
When arranging a at the screw position taught in advance by the orthogonal robot 3, the screw suction pipe taught to the orthogonal robot 3 due to the clearance between the product positioning jig 42 and the product A and the dimensional variation of the product A. 71 of 71
The screw position may deviate from the position a.

However, in the present invention, the screw suction pipe 71 is used.
Since the center flange 73 for holding is movable in the horizontal direction by elastic deformation of the O-ring 74,
By this movement, the above deviation can be absorbed, and even in such a case, the screw B can be reliably removed.

When all the screws of the product A have been removed and all the screws have been accommodated in the bucket 83, or a predetermined number of the screws have been accommodated in the bucket 83, the orthogonal robot 3 moves the bucket 83 to the shooter 51. , The open cylinder 84 is extended to open the bottom surface of the bucket 83, as shown in FIG. As a result, each screw B accommodated in the bucket 83 falls on the shooter 51 and is collected in the screw collection box 5 through the shooter 51.

Since the plurality of screws B thus removed can be temporarily housed in the bucket 83 and collected in the screw collection box 5 in a lump, the screw B is collected every time one screw is removed as in the conventional case. Compared with, tightening screw becomes tight and work efficiency improves. In addition, since the compressed air is not used for screw recovery by dropping it from the bucket and collecting the screw, it is possible to prevent the work environment from being deteriorated by the noise of the compressed air and it is economical. By doing so, it can be reliably recovered.

Further, the bucket 83 has only to have a depth capable of accommodating a plurality of screws B, so that the screw suction pipe 7 is different from the conventional one in which the discharge hose is installed above the product.
The distance between 1 and the product A can be set to be as short as possible, whereby the lifting stroke of the screw suction pipe 71 can be shortened, so that the screw removal tight becomes faster and the working efficiency can be improved.

[0053]

As described above, according to the screw removing machine of the present invention, by providing the screw receiving device capable of accommodating a plurality of screws removed by the bit, the plurality of removed screws can be collectively collected. It is possible to recover by tightening the screw and tightening tightly to improve work efficiency.

Further, since the compressed air is not used for screw recovery by dropping the screw to recover the screw, it is possible to prevent the working environment from being deteriorated due to the noise of the compressed air, and it is economical. It can be reliably recovered because it is dropped.

Further, by providing a bucket,
The distance between the screw suction pipe and the product can be set as short as possible compared to the conventional one in which the discharge hose is installed above the product. The tightness can be removed quickly and work efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a partially cutaway side view showing an overall configuration of a screw removing machine.

FIG. 2 is a front view showing the overall configuration of a screw removing machine.

FIG. 3 is a plan view showing an overall configuration of a screw removing machine.

FIG. 4 is a partially cutaway side view showing a configuration of a screw removing unit.

FIG. 5 is a front view showing a configuration of a screw removing unit.

FIG. 6 is a partially cutaway side view for explaining a descending operation of the screw removing unit.

FIG. 7 is a partially cutaway front view showing a mounting structure of a center flange that is a guide means.

FIG. 8 is a partially cutaway front view for explaining the function of the center flange.

FIG. 9 is an enlarged side view showing the configuration of the screw receiver.

FIG. 10 is an enlarged side view showing a screw receiving operation of the screw receiving device.

FIG. 11 is an enlarged side view showing a screw discharging operation of the screw receiving device.

FIG. 12 is a side view showing a screw discharging mechanism portion of a conventional screw removing machine.

FIG. 13 is a side view for explaining an operation of discharging a screw by the screw discharging mechanism of the conventional screw removing machine.

FIG. 14 is a side view for explaining the operation of discharging a screw by the screw discharging mechanism of the conventional screw removing machine.

FIG. 15 is a side view for explaining the operation of discharging a screw by the screw discharging mechanism of the conventional screw removing machine.

[Explanation of symbols]

1 stand 2 Screw removal unit 3 Cartesian robot 4 turntable 6 unit body 61 Lifting cylinder 62 Rod end 63 joint 64 holding member 7 driver 71 Screw suction pipe 71a tip 73 Center flange 74 O-ring 8 Screw receiving device 83 buckets

Claims (7)

[Claims] 1. A screw removing unit having a screw suction pipe mounted on an orthogonal robot, and a screw configured to automatically remove a screw fastened to a product or the like by a bit built in the screw suction pipe. The screw removing machine is provided with a screw receiving device capable of accommodating a plurality of screws removed by the bit. 2. The screw receiving device comprises a bucket that is movably provided below a screw suction pipe that holds the removed screw, and the bottom of the bucket is openable and closable. The screw remover described in 1. 3. A screw removing unit having a screw suction pipe mounted on an orthogonal robot, and a screw configured to automatically remove a screw fastened to a product or the like by a bit built in the screw suction pipe. In the removing machine, the screw removing unit is provided with guide means for guiding the movement of the screw suction pipe in the longitudinal direction and supporting the screw suction pipe so as to be movable by a predetermined amount in a direction orthogonal to the longitudinal direction of the screw suction pipe. A screw remover characterized by that. 4. The guide means is provided with a center flange having an insertion hole formed in a shaft core through which an intermediate portion of the screw suction pipe is inserted, and the center flange is provided with a longitudinal direction of the screw suction pipe by elastic deformation of an elastic body. The screw removing machine according to claim 3, wherein the screw removing machine is provided so as to be movable by a predetermined amount in a direction orthogonal to the direction. 5. A screw removing unit equipped with a screw suction pipe is mounted on an orthogonal robot, and a screw configured to automatically remove a screw fastened to a product or the like by a bit built in the screw suction pipe. In the unscrewing machine, the screw unscrewing unit applies a maximum load to the tip of the bit at the time when the maximum torque for screw unscrewing is required, and then, while applying a load to the tip of the bit to the extent that the torque required for screw unsending can be transmitted. A screw removing machine characterized in that a load applying mechanism for removing the screw is provided. 6. The load applying mechanism extends a rod end of a cylinder for moving the screw removing unit toward a screw to press a part of a holding member for holding the screw removing unit. Maximize the force that pushes the screw head with the tip of the bit, and then apply a load to the tip of the bit to transmit the torque required for screw return when retracting the rod end to separate it from the holding member by a predetermined distance. 6. The screw removing machine according to claim 5, wherein when the screw is removed, the moving portion of the screw removing unit is returned to its original position by retracting the end of the rod. 7. The tip portion of the screw suction pipe is formed so that the entire screw removed can be inserted therein. The listed screw remover.