JP2010240758A - Member attaching/detaching device and member attaching/detaching method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a member attaching/detaching device having high flexibility of movement while holding a member. <P>SOLUTION: A tightening device 1 includes a tightening part 30 from which a screw S is detachable, an advancing/retreating mechanism 20 for advancing and retreating the tightening part 30, an end flange part 12 of an arm 10 which is moved onto the predetermined axis X of the tightening part 30 when the advancing and retreating mechanism 20 is rotated, a push-out part 40 which is rotatably provided to the arm 10 and connectable to the tightening part 30, and a lock mechanism 50 capable of fixing the push-out part 40 to the arm 10 while the push-out part 40 is positioned on the predetermined axis X. The push-out part 40 is fixed to the arm 10 by the lock mechanism 50, and the tightening part 30 is disposed on the predetermined axis X by the end flange part 12. Next, the tightening part 30 is retreated along the predetermined axis X by the advancing and retreating mechanism 20, and connected to the push-out part 40. Then, the lock mechanism 50 is released, the tightening part 30 is further retreated by the advancing and retreating mechanism 20, and the tightening part 30 is pushed out by the push-out part 40. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a member attaching / detaching device and a member attaching / detaching method. Specifically, the present invention relates to a member attaching / detaching device and a member attaching / detaching method for attaching a member to a predetermined location.

2. Description of the Related Art Conventionally, in a manufacturing process of an automobile, a part is fixed to a work with a screw at a plurality of locations using a screw tightening device. For example, the screw tightening device can tighten up to six screws in a series of operations, has six tightening sockets, and selectively selects one of these tightening sockets. A socket switching mechanism positioned at a position; a tightening nut runner that is rotationally driven; and a feed mechanism that moves the tightening nut runner forward and backward relative to the tightening socket positioned at a predetermined position. Each clamping socket holds one screw.
According to this screw tightening device, first, the socket switching mechanism is driven to position one selected from the six tightening sockets at a predetermined position. Next, the feed mechanism is driven to connect the tightening nut runner to the selected tightening socket. Next, the tightening nut runner is driven to rotate the tightening socket, and the screw held in the tightening socket is tightened. This operation is sequentially performed for each of the six screws.

JP 2008-142824 A

However, in the above screw tightening device, the tightening nut runner only moves forward and backward, and therefore, when the tightening nut runner is connected to the tightening socket, the tightening socket cannot be rotated.
Therefore, when the screw is inserted into the tightening portion, the movement in a state where the screw is held is limited, so that the relative position of the screw with respect to the tightening portion cannot be finely adjusted, and accurate positioning may not be performed.

  An object of the present invention is to provide a member attaching / detaching device and a member attaching / detaching method having a high degree of freedom of movement in a state where the member is held.

  The member attaching / detaching device (for example, a tightening device 1 described later) of the present invention includes a member attaching / detaching unit (for example, a tightening portion 30 described later) to which a member (for example, a screw S described later) can be attached and detached, and the member attaching / detaching unit. And advancing / retreating means (for example, advancing / retreating mechanism 20 described later) for rotating the member in a direction along a predetermined axis (for example, a predetermined axis X described later), and rotating the advancing / retreating means to move the member attaching / detaching means on the predetermined axis. Switching means (for example, a distal end flange portion 12 of an arm 10 to be described later), moving means (for example, an arm 10 to be described later) for moving the switching means, and the moving means are provided rotatably. An extruding means (for example, an extruding portion 40 described later) connectable to the attaching / detaching means, and a locking means (for example, described later) capable of fixing the extruding means to the moving means in a state where the extruding means is positioned on the predetermined axis. Locking mechanism 0), the pushing means is fixed to the moving means by the locking means, the member attaching / detaching means is disposed on the predetermined axis by the switching means, and then the member attaching / detaching is performed by the advance / retreat means. Retreating the means along the predetermined axis, connecting the member attaching / detaching means to the pushing means, then releasing the locking means and further retracting the member attaching / detaching means by the advance / retreat means, The member attaching / detaching means is pushed out by an extruding means.

According to this invention, after connecting the member attaching / detaching means to the pushing means, the locking means is released. Then, since the pushing means can be rotated, when the advance / retreat means is rotated by the switching means, the member attaching / detaching means and the pushing means are also rotated.
Therefore, when the member is attached to the attachment location, by rotating the member attaching / detaching means and the extrusion means by the switching means, the degree of freedom of movement in the state where the member is held is increased, so that the position of the member relative to the attachment location is fine. It is possible to adjust the position of the member accurately.

  In this case, it is preferable that a plurality of the member attaching / detaching means are provided, and the plurality of member attaching / detaching means are arranged on a circumference of a circle passing through the predetermined axis.

  According to this invention, the plurality of member attaching / detaching means are arranged on the circumference of a circle passing through the predetermined axis. Therefore, only by rotating the advance / retreat means by the switching means, the selected one of the plurality of member attaching / detaching means can be easily positioned on the predetermined axis, and the member held by the selected member attaching / detaching means can be attached. .

  In this case, the member has a screw structure, the member attaching / detaching means has a rotating means (for example, a rotating portion 32 described later) that can rotate while holding the member, and the pushing means is the rotating It is preferable to have a rotation drive means (for example, a rotation drive unit 42 described later) for tightening the member by rotating the means.

  According to this invention, the member attaching / detaching means is provided with the rotating means, the pushing means is provided with the rotation driving means, and the rotating means is rotated by the rotation driving means, thereby tightening the member. Therefore, the screw can be tightened by the member attaching / detaching device.

  The member attaching / detaching method of the present invention comprises: a member attaching / detaching means capable of attaching / detaching a member; an advancing / retracting means for moving the member attaching / detaching means in a direction along a predetermined axis; A switching means that moves on the predetermined axis, a moving means that moves the switching means, an extrusion means that is rotatably provided on the movement means and that can be connected to the member attaching / detaching means, and the extrusion means is connected to the predetermined axis Locking means capable of fixing the pushing means to the moving means in a state of being positioned above, the pushing means is fixed to the moving means by the locking means, and the member attaching / detaching means is fixed by the switching means. Placing on the predetermined axis; retreating the member attaching / detaching means along the predetermined axis by the advance / retreat means; and connecting the member attaching / detaching means to the pushing means; Further retracting the member detachable unit by stage, and having a step of extruding said member detachable unit by the pushing means, and a step of releasing the locking means.

  In this case, the member has a screw structure, the member attaching / detaching means has a rotating means capable of holding and rotating the member, and the pushing means rotates the rotating means, whereby the member In the step of extruding the member attaching / detaching means by the pushing means, the rotation driving means drives the rotation driving means after the step of pushing out the rotating means and releasing the locking means. It is preferable that the method further includes a step of rotating the rotating means to tighten the member.

  According to the present invention, after the member attaching / detaching means is connected to the pushing means, the locking means is released. Then, since the pushing means can be rotated, when the advance / retreat means is rotated by the switching means, the member attaching / detaching means and the pushing means are also rotated. Therefore, when the member is attached to the attachment location, the position of the member relative to the attachment location can be finely adjusted by rotating the member attaching / detaching means and the pushing means by the switching means, so that the member can be attached in a short time.

It is a perspective view which shows the outline of the member attachment / detachment apparatus which concerns on one Embodiment of this invention. It is sectional drawing of the locking means of the member attachment / detachment apparatus which concerns on the said embodiment. It is a perspective view (the 1) for demonstrating operation | movement of the member attachment / detachment apparatus which concerns on the said embodiment. It is a perspective view (the 2) for demonstrating operation | movement of the member attachment / detachment apparatus which concerns on the said embodiment. It is a perspective view (the 3) for demonstrating operation | movement of the member attachment / detachment apparatus which concerns on the said embodiment. It is a perspective view (the 4) for demonstrating operation | movement of the member attachment / detachment apparatus which concerns on the said embodiment.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view schematically showing a tightening device 1 as a member attaching / detaching device according to an embodiment of the present invention. FIG. 2 is a cross-sectional view of the tightening device 1.
The tightening device 1 is a device for tightening a screw S as a member having a screw structure.

  The fastening device 1 includes a fastening part 30 as five member attaching / detaching means to which the screw S can be attached and detached, an advancing / retracting mechanism 20 as an advancing / retracting means for advancing and retracting the fastening part 30 along a predetermined axis X, By rotating the advancing / retracting mechanism 20, the arm 10 as a switching means for moving the tightening portion 30 on the predetermined axis X and the foremost arm portion 11 of the arm 10 are rotatably provided. An extruding part 40 as an extruding means connectable to the arm, a locking mechanism 50 as a locking means capable of fixing the extruding part 40 to the most advanced arm part 11 of the arm 10, and a control device 60 for controlling them. I have.

The arm 10 is a multi-axis arm, and includes a plurality of arm portions connected to each other by joints, and is controlled by the control device 60.
The most advanced arm portion 11 of the arm 10 has a distal end flange portion 12, and the distal end flange portion 12 is rotated about the rotation axis Y. The predetermined axis X is parallel to the rotation axis Y. Furthermore, this arm 10 moves the front-end | tip flange part 12 to the arbitrary positions on three-dimensional space by controlling a joint.

The advancing / retracting mechanism 20 is provided at the distal end flange portion 12 of the arm 10 and is controlled by the control device 60.
The advance / retreat mechanism 20 includes a cylindrical holder 21, a cylinder mechanism 22 that advances and retracts the holder 21 along a predetermined axis X, and a pair of slide guides 23 that guide the advance / retreat movement of the holder 21.

The center axis of the holder 21 coincides with the rotation axis Y. The above-described five tightening portions 30 are arranged along the outer peripheral surface of the holder 21 at predetermined intervals. That is, they are arranged on the circumference of a circle passing through the predetermined axis X with the rotation axis Y as the center.
Therefore, when the distal end flange portion 12 of the arm 10 is rotated about the rotation axis Y, the holder 21 is rotated, and five fastenings are performed along the circumference of a circle centering on the rotation axis Y and passing on the predetermined axis X. The appendage 30 moves. Thereby, one of the five fastening portions 30 can be selectively moved on the predetermined axis X.

  The cylinder mechanism 22 includes a piston rod 221 attached to the holder 21, and a cylinder 222 that is provided on the distal end flange portion 12 of the arm 10 and moves the piston rod 221 back and forth.

The pair of slide guides 23 includes a slide beam 231 attached to the holder 21 and a slide guide 232 provided in the cylinder 222 of the cylinder mechanism 22 and storing the slide beam 231.
The pair of slide guides 23 guide the advance / retreat movement of the holder 21 as the slide beam 231 slides in the slide guide 232.

  According to the advance / retreat mechanism 20, the holder 21 can be advanced and retracted in the direction along the predetermined axis X by driving the cylinder mechanism 22.

  Each of the five tightening portions 30 extends substantially parallel to the predetermined axis X and is rotatably supported by the holder 21. The tightening portion 30 includes a holding portion 31 fixed to the holder 21, a rod-like rotating portion 32 that is rotatably held by the holding portion 31 and holds the screw S, and the holding portion 31 and the rotating portion 32. And a spring 33 interposed therebetween.

The holding portion 31 has a cylindrical shape, and a ball spline is provided inside the holding portion 31. The rotating part 32 is inserted through the holding part 31 and supported by a ball spline so that the rotating part 32 can rotate and advance and retract.
The spring 33 is interposed between the proximal end surface of the holding portion 31 and the proximal end side of the rotating portion 32, and the rotating portion 32 is urged in the backward direction by the spring 33.

The rotating part 32 includes a shaft part 34, a guide part 35, a bit part 36, and a spring 37.
The above-described pushing portion 40 can be connected to the proximal end side of the shaft portion 34.

  The guide portion 35 has a cylindrical shape, and the distal end side of the shaft portion 34 is connected to the proximal end side of the guide portion 35. Thereby, the rotational force of the shaft portion 34 is transmitted to the guide portion 35.

  The proximal end side of the bit part 36 is connected to the distal end side of the guide part 35 in a loosely fitted state and can float. The bit portion 36 rotates in accordance with the rotation of the guide portion 35.

A concave portion is formed on the distal end side of the bit portion 36, and this concave portion serves as a socket 361 for holding the screw S. A magnet is provided on the bottom surface of the socket 361.
The screw S is fitted into the socket 361 and is held by the magnetic force of the magnet. As a result, the screw S is detachable from the socket 361.

  The spring 37 is provided on the outer peripheral surface of the guide portion 35 and biases the bit portion 36 in the forward direction with respect to the guide portion 35.

  In the rotating portion 32, even if an axial pressing force acts on the socket 361, the bit portion 36 moves backward while resisting the urging force of the spring 37, thereby reducing the pressing force. When the pressing force is released, the bit portion 36 returns to the original position by the restoring force of the spring 37.

The extruding unit 40 is arranged behind the holder 21 (lower in FIG. 1), and is provided with an extruding unit main body 41 that is rotatably provided on the arm unit 11, a rotation driving unit 42 provided on the extruding unit main body 41, and It has.
The extruding portion main body 41 is rotatable about the rotation axis Y, whereby the rotation driving portion 42 moves along the circumference of a circle that passes through the predetermined axis X with the rotation axis Y as the center.
The rotation drive unit 42 has a shape that can be connected to the proximal end side of the rotation unit 32 of the tightening unit 30. The rotation axis of the rotation drive unit 42 is substantially parallel to the rotation axis Y that is the rotation axis of the holder 21. The rotation drive unit 42 is driven while being connected to the rotation unit 32 of the tightening unit 30, thereby rotating the rotation unit 32 and tightening the screw S.

FIG. 2 is a cross-sectional view of the lock mechanism 50.
The locking mechanism 50 can fix the pushing portion 40 to the most distal arm portion 11 of the arm 10. The lock mechanism 50 includes a cylinder mechanism 52 that is provided in the pushing portion main body 41 of the pushing portion 40 and moves the piston 51 forward and backward, and a fitting portion 53 that is provided on the arm portion 11 and into which the tip of the piston 51 is fitted. Prepare.
According to the lock mechanism 50, when the piston 51 is advanced by driving the cylinder mechanism 52 in a state where the rotation drive unit 42 of the push-out unit 40 is positioned on the predetermined axis X, the tip of the piston 51 is fitted to the fitting unit 53. Thus, the pushing portion main body 41 of the pushing portion 40 can be fixed to the arm portion 11.

The above fastening device 1 operates as follows.
In the initial state, as shown in FIG. 1, one of the five tightening portions 30, here, the tightening operation of the screw S held by the tightening portion 30 </ b> A is completed.
In this state, the rotation drive part 42 of the pushing part 40 is located on the predetermined axis X, and the pushing part 40 is fixed to the arm part 11 by the lock mechanism 50.
Further, when the tightening portion 30A is positioned on the predetermined axis X, the holder 21 is moved backward by the advance / retreat mechanism 20, and the rotation drive portion 42 of the push-out portion 40 is connected to the rotation portion 32 of the tightening portion 30A. The part 30A is pushed out by the rotation drive part 42.

  First, as shown in FIG. 3, the cylinder mechanism 22 of the advance / retreat mechanism 20 is driven to advance the holder 21. Then, due to the restoring force of the spring 33, the rotating part 32 moves backward and returns to the original position. Then, the holder 21 is further advanced. Then, the connection between the rotation drive unit 42 and the rotation unit 32 of the extrusion unit 40 is released.

  Next, as shown in FIG. 4, the distal end flange portion 12 of the arm 10 is rotated to rotate the holder 21 around the rotation axis Y, and as shown in FIG. 5, the fastening adjacent to the fastening portion 30A. The part 30B is positioned on the predetermined axis X.

  Next, as shown in FIG. 6, the advancing / retracting mechanism 20 is driven to retract the holder 21, thereby retracting the tightening portion 30 </ b> B along the predetermined axis X, and the rotating portion 32 of the tightening portion 30 </ b> B to the extrusion portion. It connects to 40 rotation drive parts 42. Then, the holder 21 is further retracted. Then, the rotation unit 32 is pushed out by the rotation drive unit 42 of the push-out unit 40, and the rotation unit 32 moves forward while resisting the urging force of the spring 33.

  Next, the fixing of the pushing portion 40 to the arm portion 11 by the lock mechanism 50 is released. Then, the rotational drive part 42 of the extrusion part 40 becomes movable along the circumference of the circle centering on the rotating shaft Y with the fastening part 30B.

Next, the arm 10 is controlled to bring the tightening portion 30B closer to the tightening portion, the screw S held by the tightening portion 30B is applied to the tightening portion, and the rotation driving portion 42 is rotationally driven to tighten. The rotating part 32 of the part 30B is rotated and the screw S is tightened.
At this time, the distal end flange portion 12 of the arm 10 is slightly rotated, and the position of the tightening portion 30B is slightly moved as shown by the white arrow in FIG. Adjust.

Thus, in the state where the screw S held by the tightening portion 30B is tightened, the rotation drive portion 42 and the tightening portion 30B may be off the predetermined axis X in some cases.
Then, next, the rotation drive part 42 of the extrusion part 40 is rotationally driven, the rotation part 32 of the fastening part 30B is rotated, and the rotation drive part 42 and the fastening part 30B are again arranged on the predetermined axis X. .
Then, the pushing portion 40 is fixed to the arm portion 11 by the lock mechanism 50.

  By repeating the above operation, all the screws S held by the five tightening portions 30 are tightened at the tightening points.

According to this embodiment, there are the following effects.
(1) After connecting the fastening part 30 to the pushing part 40, the lock mechanism 50 was released. Then, since the extrusion part 40 becomes rotatable, when the advance / retreat mechanism 20 is rotated by the tip flange part 12 of the arm 10, the tightening part 30 and the extrusion part 40 are also rotated along with this rotation.
Therefore, when the screw S is tightened at the tightening location, the tightening portion 30 and the pushing portion 40 are rotated by the tip flange portion 12 of the arm 10 to increase the degree of freedom of movement in the state where the screw S is held. Therefore, the position of the screw S with respect to the tightening location can be finely adjusted, and the screw S can be accurately aligned. Therefore, reliable tightening can be performed.

  (2) The plurality of tightening portions 30 are arranged on the circumference of a circle passing through the predetermined axis X. Therefore, only by rotating the advance / retreat mechanism 20 by the distal end flange portion 12 of the arm 10, the selected one of the plurality of tightening portions 30 can be easily positioned on the predetermined axis X, and the selected tightening can be performed. The screw S held by the portion 30 can be tightened.

  (3) The rotating portion 32 is provided in the tightening portion 30, the rotation driving portion 42 is provided in the extruding portion 40, and the rotating portion 32 is rotated by the rotation driving portion 42, whereby the screw S is tightened. Therefore, the screw S can be tightened by the tightening device 1.

  It should be noted that the present invention is not limited to the above-described embodiment, and modifications, improvements, etc. within a scope that can achieve the object of the present invention are included in the present invention.

S Screw (member)
X Predetermined shaft 1 Tightening device (member attaching / detaching device)
10 Arm (moving means)
12 Tip flange (switching means)
20 Advancement / retraction mechanism (advance / retreat means)
30, 30A, 30B Tightening part (member attaching / detaching means)
32 Rotating part (Rotating means)
40 Extrusion part (extrusion part)
42 Rotation drive unit (rotation drive means)
50 Locking mechanism (locking means)

Claims (5)

A member attaching / detaching means capable of attaching / detaching the member;
Advancing and retracting means for advancing and retracting the member attaching / detaching means in a direction along a predetermined axis;
A switching means for moving the member attaching / detaching means on the predetermined axis by rotating the advance / retreat means;
Moving means for moving the switching means;
Extruding means provided rotatably on the moving means and connectable to the member attaching / detaching means;
A locking means capable of fixing the pushing means to the moving means in a state where the pushing means is located on the predetermined axis;
The pushing means is fixed to the moving means by the locking means, the member attaching / detaching means is arranged on the predetermined axis by the switching means, and then the member attaching / detaching means is moved along the predetermined axis by the advance / retreat means. The member attaching / detaching means is connected to the pushing means, then the locking means is released, and the member attaching / detaching means is further moved backward by the advance / retreat means, and the pushing means removes the member attaching / detaching means. And a member attaching / detaching device characterized by extruding. The member attaching / detaching device according to claim 1,
A plurality of the member attaching / detaching means are provided,
The plurality of member attaching / detaching means are arranged on a circumference of a circle passing through the predetermined axis. The member attaching / detaching device according to claim 2,
The member has a screw structure;
The member attaching / detaching means has a rotating means capable of holding and rotating the member,
2. The member attaching / detaching device according to claim 1, wherein the pushing means has a rotation driving means for fastening the member by rotating the rotating means. A member attaching / detaching means capable of attaching / detaching the member;
Advancing and retracting means for advancing and retracting the member attaching / detaching means in a direction along a predetermined axis;
A switching means for moving the member attaching / detaching means on the predetermined axis by rotating the advance / retreat means;
Moving means for moving the switching means;
Extruding means provided rotatably on the moving means and connectable to the member attaching / detaching means;
A locking means capable of fixing the pushing means to the moving means in a state where the pushing means is located on the predetermined axis;
Fixing the pushing means to the moving means by the locking means, and arranging the member attaching / detaching means on the predetermined axis by the switching means;
Retreating the member attaching / detaching means along the predetermined axis by the advance / retreat means, and connecting the member attaching / detaching means to the pushing means;
A step of further retreating the member attaching / detaching means by the advance / retreat means and pushing the member attaching / detaching means by the pushing means;
And a step of releasing the locking means. The member attaching / detaching method according to claim 4,
The member has a screw structure;
The member attaching / detaching means has a rotating means capable of holding and rotating the member,
The pushing means has a rotation driving means for fastening the member by rotating the rotating means,
In the step of extruding the member attaching / detaching means by the pushing means, the rotating means is pushed out by the rotation driving means,
A member attaching / detaching method, further comprising: after the step of releasing the locking unit, driving the rotation driving unit to rotate the rotating unit to tighten the member.

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