JP2010058201A - Screw fastening machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a simplified and downsized screw fastening machine since it is equipped with a plurality of screw suction sleeves which correspond to various screws having different screw diameters, and are independently attached to and detached from a front portion of a screw driver. <P>SOLUTION: The screw fastening machine 91 moves in a three dimensional space, and takes out a screw from a pallet to move it to a screw fastening portion and to fasten the screw fastening portion. It comprises: a rod-shaped driver bit 11 commonly used for fastening a plural; the screw driver 21 rotation-driving the driver bit to fasten the screws; and the plurality of the screw suction sleeves 31 corresponding to various screws having different screw diameters, wherein a tip end portion of the driver bit is inserted till a part near a tip end, independently attached to and detached from the front portion of the screw driver at a rear portion, and sucking the screw at the tip end portion to engage it with the tip end portion of the driver bit. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a screw tightening machine that is movable in a three-dimensional space, takes out a plurality of types of screws having different screw diameters from a pallet, moves them to respective screw tightening portions, and fastens the screw tightening portions. .

  Conventionally, a rotary shaft member rotated by a rotary drive means, an adjustment means comprising an adjustment bit, an elastic means comprising a coil spring provided between the rotary shaft member and the adjustment means, a joint comprising a universal joint, etc. In addition, in an adjustment driver constituted by a base with guide, the adjustment means has a replaceable structure, and a centering mechanism is provided between the elastic means and the adjustment means (for example, Patent Document 1). reference).

  In addition, in a screw tightening machine that uses a suction pipe that surrounds the tip of the bit to suck the screw and tightens the sucked screw to the tap hole with the bit, the bit for tightening the screw and the bit are held rotatably. A driver for applying a rotational force for tightening the screw to the bit, a stepped suction pipe having a plurality of inner peripheral surfaces having diameters corresponding to the head diameters of the plurality of types of screws, and the inner portion formed on the suction pipe. Positioning means for relatively positioning the peripheral surface and the tip of the bit according to the head diameter of the screw to be sucked, and movement for driving the driver to the screw tightening position after positioning by the positioning means (For example, refer to Patent Document 1).

JP 2001-179644 A JP 07-009281 A

  However, the conventional screw tightening machine for tightening screws of different diameters uses a dedicated screw tightening screwdriver that matches the screw diameter, or a screwdriver bit that matches the screw diameter except for the rotational drive mechanism of the screw tightening driver. And the tool part including the suction pipe was replaced. Therefore, there is a problem that the screw tightening machine is large and the screw tightening driver mechanism is complicated.

  The present invention has been made in view of the above, and an object thereof is to obtain a screw tightening machine that is simplified and miniaturized.

  In order to solve the above-described problems and achieve the object, the present invention is a screw tightening machine that is movable in a three-dimensional space, takes out a screw from a pallet, moves to a screw tightening portion, and fastens the screw tightening portion. In this case, a rod-shaped driver bit that is commonly used for tightening a plurality of screws having different screw diameters, a screw tightening driver that rotates the driver bit to perform screw tightening, and each screw having a different screw diameter A plurality of driver bits, the tip of the driver bit is inserted to the vicinity of the tip, the rear part is detachably attached to the front part of the screw tightening driver, and the screw is attracted to the tip part to be attached to the tip part of the driver bit. And a screw suction sleeve to be engaged.

  According to this invention, a plurality of screw screws having different screw diameters are provided, and the screw tightening screwdriver is provided with a detachable screw suction sleeve at the front of the screw tightening driver. The effect is obtained. Further, since the mechanism is simplified, durability is improved.

  Embodiments of a screw tightening machine according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment FIG. 1 is a front sectional view showing a state in which a plurality of screw suction sleeves of an embodiment of a screw tightening machine according to the present invention are held by a stand, and FIG. 2 is an embodiment in which the screw holding sleeve is held by the stand. FIG. 3 is a side cross-sectional view showing a state in which a bit of a screw tightening driver is inserted from above into the screw suction sleeve of the embodiment, and FIG. FIG. 4 is a side sectional view showing a state in which the screw suction sleeve is mounted on the screw tightening driver of the embodiment, and FIG. 5 shows a method for detecting the size of the screw suction sleeve with respect to the applied screw diameter. FIG. 6A to FIG. 6D are diagrams illustrating a screw suction sleeve mounting process of the screw tightening machine of the embodiment, and FIGS. 7-1 to 7-4 are views of the embodiment. Screw fastening three of screw tightening machine It is a figure which shows a bush removal process.

  As shown in FIGS. 1 to 4, the screw tightening machine 91 according to the embodiment is attached to a robot hand (not shown), can move in a three-dimensional space, takes out screws from a pallet (not shown), and controls them. It moves to the screw fastening part of electronic devices, such as a mounting board of an apparatus, and a screw fastening part is fastened with a screw.

  The screw tightening machine 91 rotates, for example, a rod-like driver bit 11 shared by a plurality of screws 15 (see FIGS. 3 and 4) having different screw diameters, such as M4 and M5, and the driver bit 11. A plurality of (for example, two) screw tightening drivers 21 for driving and screw tightening are provided corresponding to respective screws having different screw diameters, and the tip end portion 11a of the driver bit 11 is inserted to the vicinity of the tip end 31a, and the rear portion 31b Includes a screw suction sleeve 31 that is detachably attached to the front portion 21a of the screw tightening driver 21 and that sucks the screw 15 into the tip portion 31a by vacuum suction and engages the tip portion 11a of the driver bit 11. Yes.

  Further, the screw tightening machine 91 includes a fixing device 41 that fixes and releases the screw tightening driver 21 and the screw suction sleeve 31. The fixing device 41 holds the screw suction sleeve 31 to the screw tightening driver 21 by gripping the front portion 21a of the screw tightening driver 21 and the rear portion 31b of the screw suction sleeve 31, and unscrews the screw suction sleeve 31. Can be removed.

  Furthermore, the screw tightening machine 91 includes a stand 51 that holds the screw suction sleeves 31 and 32 that are not attached to the screw tightening driver 21 vertically. When the stand 51 removes the screw suction sleeves 31 and 32 from the screw tightening driver 21, the stand 51 engages (holds) the screw suction sleeves 31 and 32 and assists the removal of the screw suction sleeves 31 and 32. I have.

  Further, the engagement device 61 installed on the stand 51 detects whether the engaged screw suction sleeve is the screw suction sleeve 31 with the applicable screw diameter M5 or the screw suction sleeve 32 with the applicable screw diameter M4. The below-described sensor 71 is incorporated. This sensor may be separately installed on the stand 51 without being incorporated in the engagement device 61.

  Next, the detail of each part of the screw fastening machine 91 is demonstrated. As shown in FIGS. 3 and 4, the driver bit 11 is formed in a rod shape as a whole, and the tip portion 11 a is formed with a cross-shaped convex portion that engages with a cross-hole formed in the head of the screw 15. ing. For example, the cross-shaped convex portions can be screwed by engaging with the cross holes of the screws having the screw diameters M4 and M5, and can be shared by the screws having the screw diameters M4 and M5. The shape of the cross-shaped convex portion is not a special shape and is a generally used shape.

  The rear portion 11 b of the driver bit 11 is fitted to the rotating shaft 22 of the screw tightening driver 21, and the driver bit 11 is integrated with the rotating shaft 22 so as not to come out of the rotating shaft 22. The front portion 21a of the casing of the screw tightening driver 21 is formed with a fitting hole 21b (see FIGS. 4 and 7-4) for removably fitting the rear portion 31b of the screw suction sleeve 31 therein. Further, a thick conical surface 21 c to be gripped by the gripping hand 41 a of the fixing device 41 is formed at the tip of the casing of the screw tightening driver 21.

  As shown in FIG. 1, the screw adsorbing sleeve 31 that adsorbs the M5 screw to the tip portion 31a is formed in a stepped cylindrical shape as a whole, and includes a tip portion 31a and a front portion 31c having the same outer diameter as the tip portion 31a. The intermediate portion 31d is larger in diameter than the front portion 31c, and the rear portion 31b is formed of a sleeve case 31e.

  The tip 31a has a thin inner wall with an increased inner diameter so that the head of the M5 screw is inserted and locked. A guide sleeve 31f for guiding the insertion of the driver bit 11 is mounted in the intermediate portion 31d.

  The front end 31g of the sleeve case 31e is inserted into the sleeve insertion hole 51a of the stand 51, and the screw suction sleeve 31 is positioned at the center of the sleeve insertion hole 51a. The collar 31h holds the screw suction sleeve 31 on the stand 51. The tapered conical surface 31i is gripped by the gripping hand 41a of the fixing device 41 together with the thick conical surface 21c at the tip of the casing of the screw tightening driver 21. The rear part of the sleeve case 31e is formed in a cylindrical shape and is detachably fitted into a fitting hole 21b (see FIGS. 4 and 7-4) formed in the front part 21a of the casing of the screw tightening driver 21.

  A coil spring 31j is incorporated in the rear cylinder of the sleeve case 31e, and the coil spring 31j presses the guide sleeve 31f into the intermediate portion 31d of the screw suction sleeve 31.

  The screw adsorption sleeve 32 that adsorbs the M4 screw to the distal end portion 32a is formed to be narrower than the front portion 31c of the screw adsorption sleeve 31 so that the front portion 32c including the distal end portion 32a can be inserted into the head of the M4 screw. ing. Except for the front portion 32c, the screw suction sleeve 31 has the same shape.

  The fixing device 41 is attached to a robot hand (not shown) via a stay 41b. An air cylinder 41c is incorporated in the fixing device 41, and the gripping hand 41a is opened and closed by the expansion and contraction of the air cylinder 41c, and the screw tightening driver 21 and the screw suction sleeve 31 are fixed and opened.

  An arcuate V-shaped groove is formed inside the gripping hand 41a, and the tapered cone of the screw driver sleeves 31 and 32 and the tapered cone surface 21c of the screw tightening driver 21 are formed in the V-shaped groove. When the surface 31i is gripped, the screw tightening driver 21 and the screw suction sleeves 31 and 32 are firmly fixed by the wedge action of the V-shaped groove and the conical surfaces 21c and 31i.

  The stand 51 includes a bottom plate 51c, support columns 51b erected on both sides of the bottom plate 51c, a top plate 51d supported by the support columns 51b, and a small stand 51e installed on the bottom plate 51c. The top plate 51d is provided with two sleeve insertion holes 51a, and screw suction sleeves 31 and 32 are inserted into the two sleeve insertion holes 51a, respectively, and are held vertically.

  Two engagement devices 61 are installed on the small stand 51e. An air cylinder 61a is incorporated in the engagement device 61, and the gripping hand 61b is opened and closed by the expansion and contraction of the air cylinder 61a, and the tip portions 31a and 32a of the screw suction sleeves 31 and 32 are gripped / released (engaged / non-engaged). )

  As shown in FIG. 5, the engagement device 61 detects whether the engaged screw suction sleeve is the screw suction sleeve 31 having the applicable screw diameter M5 or the screw suction sleeve 32 having the applicable screw diameter M4. A sensor 71 is incorporated. The sensor 71 detects and grasps a stroke (corresponding to the gaps A and B) from the maximum opening position of the gripping hand 61b of the engagement device 61 to gripping the front portions 31c and 32c of the screw suction sleeves 31 and 32. It is detected whether the screw adsorption sleeve is the screw adsorption sleeve 31 having the applicable screw diameter M5 or the screw adsorption sleeve 32 having the applicable screw diameter M4.

  Next, with reference to FIGS. 6-1 to 6-4, a mounting process of the screw suction sleeve 31 of the screw tightening machine 91 of the embodiment will be described. As shown in FIG. 6A, in the first mounting step, the screw tightening driver 21 is moved directly above the screw suction sleeve 31 held by the top plate 51d of the stand 51 by a robot hand (not shown) to fix the fixing device. The screwing screwdriver 21 is lowered with the gripping hand 41a of 41 open, and the tip end portion 11a of the driver bit 11 is guided by the guide sleeve 31f. A gap is provided between the sleeve insertion hole 51a and the front end 31g of the sleeve case 31e. Even if the center of the driver bit 11 and the center of the screw suction sleeve 31 are slightly displaced, the screw suction sleeve 31 is Since it follows the driver bit 11, the driver bit 11 does not interfere with the guide sleeve 31f.

  Next, as shown in FIG. 6B, in the second mounting step, the driver bit 11 is inserted into the screw suction sleeve 31 while being guided by the guide sleeve 31f. As shown in FIG. 6C, in the third mounting step, the front portion 21a of the screw tightening driver 21 is fitted to the rear portion 31b of the screw suction sleeve 31. Since the center of the driver bit 11 and the center of the screw suction sleeve 31 coincide with each other, it can be smoothly fitted. The fitting completion position is managed by the vertical movement servo shaft of the screw tightening driver 21.

  As shown in FIG. 6-4, in the fourth mounting step, the front part 21a of the screw tightening driver and the rear part 31b of the screw suction sleeve 31 are gripped by the gripping hand 41a of the fixing device 41, and both are fixed. Thereafter, the screw tightening driver 21 is raised and moved to a pallet (not shown), the M5 screw is attracted to the tip 31a of the screw suction sleeve 31, moved to the screw tightening portion, and the screw tightening portion is fastened by the M5 screw. Thus, the mounting process (and the screw tightening process) of the screw suction sleeve 31 is completed.

  Next, with reference to FIGS. 7-1 to 7-4, the process of removing the screw suction sleeve 31 of the screw tightening machine 91 of the embodiment will be described. As shown in FIG. 7A, in the first removal step, the screw tightening driver 21 and the screw suction sleeve 31 are moved directly above the sleeve insertion hole 51a of the stand 51 by a robot hand (not shown). 21 and the screw suction sleeve 31 are lowered, the screw suction sleeve 31 is inserted into the sleeve insertion hole 51a, the collar 31h is brought into contact with the top plate 51d, and the tip of the screw suction sleeve 31 is held by the gripping hand 61b of the engagement device 61. Hold 31a.

  Next, as illustrated in FIG. 7B, in the second removal step, the gripping hand 41a of the fixing device 41 is opened. Next, as shown in FIG. 7C, in the third removal step, the screw tightening driver 21 is raised by the robot hand, and the screw suction sleeve 31 is removed from the screw tightening driver 21. As shown in FIG. 7-4, in the fourth removal step, the screw tightening driver 21 is further raised, and the driver bit 11 is extracted from the screw suction sleeve 31. Thus, the process of removing the screw suction sleeve 31 is completed.

  As described above, in the screw tightening machine 91 of the embodiment, the screw adsorbing sleeve that can be attached and detached independently (with the driver bit 11 left) is attached to the front portion 21a of the screw tightening driver 21 with different screw diameters. Since a plurality of screws are provided corresponding to the screws, the attaching / detaching mechanism can be simplified and the entire apparatus can be reduced in size. Further, since the mechanism is simplified, the durability of the screw tightening machine is improved.

  As described above, the screw tightening machine according to the present invention is useful as a screw tightening machine for electronic devices such as a mounting board of a control device.

It is a front sectional view showing the state where a plurality of screw adsorption sleeves of an embodiment of a screw fastening machine concerning the present invention were held by a stand. It is side surface sectional drawing which shows the state in which the bit of the screw tightening driver was inserted from the top into the screw adsorption | suction sleeve of embodiment hold | maintained at the stand. It is a front sectional view showing the state where the screw adsorption sleeve was attached to the screw tightening driver of an embodiment. It is side surface sectional drawing which shows the state with which the screw adsorption sleeve was mounted | worn with the screw fastening driver of embodiment. It is a figure which shows the detection method of the magnitude | size regarding the applied screw diameter of a screw adsorption sleeve. It is a figure which shows the screw | thread adsorption | suction sleeve mounting process of the screw fastening machine of embodiment. It is a figure which shows the screw | thread adsorption | suction sleeve mounting process of the screw fastening machine of embodiment. It is a figure which shows the screw | thread adsorption | suction sleeve mounting process of the screw fastening machine of embodiment. It is a figure which shows the screw | thread adsorption | suction sleeve mounting process of the screw fastening machine of embodiment. It is a figure which shows the screw adsorption sleeve removal process of the screw fastening machine of embodiment. It is a figure which shows the screw adsorption sleeve removal process of the screw fastening machine of embodiment. It is a figure which shows the screw adsorption sleeve removal process of the screw fastening machine of embodiment. It is a figure which shows the screw adsorption sleeve removal process of the screw fastening machine of embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Driver bit 15 Screw 21 Screw tightening driver 31 Screw adsorption sleeve 41 Fixing device 51 Stand 61 Engagement device 71 Sensor 91 Screw tightening machine

Claims (6)

In a screw tightening machine that is movable in a three-dimensional space, takes a screw from a pallet, moves to a screw tightening portion, and fastens the screw tightening portion.
A rod-shaped driver bit shared for tightening multiple screws with different screw diameters;
A screw tightening driver for rotationally driving the driver bit to tighten the screw;
A plurality of screws having different screw diameters are provided, the tip of the driver bit is inserted to the vicinity of the tip, the rear is detachably attached to the front of the screw tightening driver, and the screw is attached to the tip. A screw adsorbing sleeve that adsorbs and engages the tip of the driver bit;
A screw tightening machine comprising:   The screw tightening machine according to claim 1, further comprising a fixing device that fixes and releases the screw tightening driver and the screw suction sleeve.   The fixing device fixes the screw suction sleeve to the screw tightening driver by holding the front part of the screw tightening driver and the rear part of the screw suction sleeve, and opens the screw suction sleeve by releasing the gripping. The screw tightening machine according to claim 2, wherein the screw tightening machine can be removed.   The screw tightening machine according to any one of claims 1 to 3, further comprising a stand that holds a screw suction sleeve that is not attached to the screw tightening driver.   5. The stand according to claim 4, further comprising an engagement device that engages with the screw suction sleeve to assist in removing the screw suction sleeve when the screw suction sleeve is removed from the screw tightening driver. The described screw tightening machine.   The screw tightening machine according to claim 5, wherein the stand or the engagement device includes a sensor that detects a size related to an applied screw diameter of the held screw adsorption sleeve.

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