JP2017077604A - Screw maglev catcher of automatic driver - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a screw maglev catcher of an automatic driver which can reduce a production cost of surrounding equipment for performing screw fastening according to a design thereof, simply permits binding to application of robot (robot arm) and can complete a screw fastening operation of convenient and consistent automation.SOLUTION: In a screw maglev catcher of an automatic driver, the maglev catcher is provided on a tip of the automatic driver and, in a structure form and a principle thereof, (1) the pinching of a screw is controlled by a pneumatic pressure, the loosening of the screw is controlled upon exhaustion by an electromagnet, at the same time, the fastening movement is directly performed by an automatic driver, in addition, electricity is conducted by utilizing the electromagnet and a sucking action of the screw is provided, (2) the magnet is pushed by a relative displacement of the automatic driver and is displaced by a repulsive force of the same polarity of magnets, the screw is pinched and, thereafter, screw fastening operation is directly performed, and (3) a switch is moved by a relative displacement of the automatic driver, an electromagnetic chuck is controlled, the screw is sucked and, thereafter, the screw fastening movement can be performed.SELECTED DRAWING: Figure 1

Description

The present invention relates to a screw maglev catcher for an automatic driver, and more particularly, to a technology for tightening a screw in accordance with a robot (or a robot arm). It relates to the screw maglev catcher of the driver.

In order to perform screw tightening work by connecting a known automatic driver to a robot or a robot arm, the screw driver is taken out from a screw aligner (or a screw storage groove) matched to the robot or robot arm at the front end of the automatic driver. Tighten the screws and perform fixing work, and perform automatic tightening work.

For each type of tightening work, manufacturers continue to develop products that meet their needs. For example, a screw supply device combined with an automatic screwdriver as shown in the “screw supply device” preceding case of Japanese Patent Publication No. M343563 is presented, and includes a screw supply groove and an arm, and the arm is magnetic once from the screw supply groove. By sucking one screw and swinging it to the point just below the tip of the automatic driver, the tip and the screw are joined when the automatic driver is pressed, and the tightening effect is achieved.

In addition, as in the case of the previous case of "Improvement of Grip Structure of Automatic Driver" in Japanese Patent Publication No. 187918, a grip structure that is coupled with the tip of the automatic driver is provided, including a grip lever, a resilient unit, and a sleeve that can be replaced. Provide a sleeve on the front end screw lever of the lever, and provide an elastic unit between the sleeve and the grip lever. Hang and fix the nut of the screw that is to be picked up on the inner diameter of the sleeve, and place the screw lever in contact with the rotating groove on the nut. By fitting, the screws can be pinched in the primary direction reliably and firmly in the vertical direction.

In the above type, the screw is pinched by a method such as blowing, suction or elastic pinching, and for ordinary users, it is regarded as the standard of use of automatic tools with medium to low twist, and the maximum error value is rarely obtained with the maximum twist. Since the use of the value will shorten the tool life, this design will not fit the actual use situation, the actual error value will be larger than the reference error value in the catalog, A screw that is tightened by an automobile or other parts may be screwed up or not tightly tightened, resulting in an accident. In addition, the chuck size for sandwiching the screw in this type is usually large, and the convenience of use is limited by the size of the screw tightening space.

In addition to the robots currently used in the market and the application forms of modules for screw tightening with an automatic driver, the operating modules and peripheral equipment include robots, adapter shafts, tools, external control pipes, screws. It includes a buffer mechanism, a screw aligner (screw removal), a screw fixing mechanism (screw clamping), and the like. Such well-known robots and automatic drivers can handle the operation of a traditional three-axis or less automated device, and since there is no dedicated pneumatic driver for robots so far, before performing screw tightening work, If the combination of at least seven types of mechanical equipment is not passed, the screw tightening operation cannot be completed, and there are too many equipment modules used as a whole, leading to a significant increase in production costs.

In addition, it is necessary to use a screw fixing mechanism that matches the size for the screw tightening work of different sizes, but there are too many screw standards, so you must replace the corresponding screw feeder every time you replace the screw size. It was necessary to increase costs intangibly.

  In addition, for general and precision industries, a maximum error value may be generated during integration regardless of whether a large screw (6 mm or more) or a small screw (5 mm or less) is tightened. Especially for precision 3C products, it is often tightened with screws of 1mm or less, and this part must be done by analog work, which increases labor costs and cannot be mass-produced. There is.

National patent notice No. M343563 Home Patent Publication No. 187918

One of the objectives of the present invention is to develop a peripheral module (fastening) for a low-cost automatic driver for robots in order to meet the demand for high-precision assembly, thereby reducing the production cost of peripheral equipment for tightening screws. The aim is to provide an automatic driver screw maglev catcher that can be lowered and that completes the robot's consistently automated screw tightening operation quickly and easily, greatly reducing costs.

Another object of the present invention is to perform a pinching operation by a magnetic attraction action by air pressure control, or a method of performing both magnetic attraction and pinching actions by air pressure control, providing a sufficient screw diameter pinching range and different. It is possible to pinch the screw of the size without changing the pinching tool, achieving a more convenient implementation effect, and using the interaction of air pressure and magnetic suction when pinching, damage to the appearance when screwing It is an object of the present invention to provide a screw maglev catcher for an automatic driver that can be effectively applied to a small space by reducing the size of the chuck and by designing a special chuck size.

In order to achieve the above object, the means 1 employed in the screw maglev catcher of the automatic driver according to the present invention is provided with a maglev catcher at the tip of the automatic driver, and the maglev catcher sucks high pressure gas from a source of external atmospheric pressure. There is an intake control point that provides an exhaust control point that penetrates the intake control point and provides high pressure gas discharge, and the pneumatic cylinder has a telescopic action that limits the exhaust action of the exhaust control point. The first magnet is displaced in the abutting direction by the pressure action of the high-pressure gas sucked from the intake control point, and is returned by the spring action of the spring when the high-pressure gas is discharged from the exhaust control point; Is adjacent to the first magnet, and is attracted by the magnetism of the first magnet, and simultaneously displaced in the same direction as the first magnet, the catcher is connected to the second magnet, One fixed displaceable in the track, and said pawl is bonded to the catcher, and performs leaving or catch the screw at tightening or loosening when gets close or away from the tip than the displacement of the catcher.

The exhaust control point includes an electromagnet and controls the exhaust action.

The optimal number of claws is four.

In order to achieve the effect of attracting the screw to the claw, the electromagnet performs a magnetic action by electric input.

When the screwdriver is tightened by connecting the robot driver to the robot arm, a maglev catcher is connected to the tip of the screwdriver, providing the robot arm with a screw pinching function. In this way, it is possible to complete the tightening and tightening operations with consistent automation, and to increase productivity under such precise screw tightening work.

The automatic driver screw maglev catcher according to the present invention includes a maglev catcher at the tip of the automatic driver, and the maglev catcher is provided with a first magnet around the tip. And the displacement is interlocked by the pushing displacement action of the grip, providing the repulsive force of the magnetic pole, returning after releasing the grip, and the second magnet is provided between the first magnet and the tip, and does not contact each other The second magnet is pushed to the tip by the repulsive force generated by the repulsion of the same polarity due to the close displacement of the first magnet, returns when the screw is tightened at the tip, and is connected to the second magnet and has a magnetic attractive force. There is a chuck that provides for catching or leaving the magnetic screw in the tightened or loosened state by the displacement of the second magnet.

The second magnet and the chuck may be integrally formed.

The automatic driver screw maglev catcher according to the present invention includes a maglev catcher at the tip of the automatic driver, the maglev catcher has a switch around the tip, and a grip After receiving a pressing force, the displacement action is applied and then contact is turned on, and the grip is restored and then turned off. In addition, while there is a battery that is electrically connected to the switch, it provides a power signal, and an electromagnetic chuck is provided between the switch, the battery, and the tip, and the tip is passed through. In addition, a coil is wound around the electromagnetic chuck, and a coil, a switch, and a battery are electrically connected to each other. It is controlled by opening and closing the switch, and the catching effect of the screw is achieved by magnetism.

The present invention has developed a special module specifically applied to the robot (robot arm), and when the screw is tightened with pneumatic and electric control system, the built-in signal is transmitted to the server to control the robot, and to the central server for data storage In addition to stable signal transmission, the quality can be maintained at a certain level, and the following merits are achieved.
1. The number of peripheral modules dedicated to automatic drivers that match the robot has been reduced from the original several (at least seven) to three, making it easy to complete the screw tightening work on the robot, and the cost has been significantly more than tripled. Can be reduced.
2. In order to cope with each conventional screw size, the chuck changing method can be changed, and the maglev catcher includes a pinch range of a part of the screw diameter, and the damage of the screw appearance on the pinch can be avoided.

It is an image figure of the maglev catcher structure of an Example better than this invention 1st. It is an image figure of the maglev catcher operation | movement of an Example better than this invention 1st. FIG. 3 is a locally enlarged view seen from the side of FIG. 2. It is an image figure of the Maghreb catcher structure of the 2nd example better than this invention. It is an image figure of the maglev catcher operation | movement of a 2nd better example of this invention. It is an image figure of the maglev catcher structure of the 3rd example better than this invention. It is an image figure of the maglev catcher operation | movement of an Example better than this invention 3.

The present invention relates to a screw maglev catcher of an automatic driver, and a maglev catcher 20 structure is mainly installed at a tip portion 10 of the automatic driver 1.

As shown in FIG. 1, it is a first preferred embodiment of the maglev catcher structure of the present invention. The maglev catcher 20 is installed at the tip of the tip portion 10 of the automatic driver 1, and a robot is attached to the terminal of the automatic driver 1. In order to proceed with the screw tightening operation as shown in the drawing, the maglev catcher 20 is coupled to the front end portion 10 of the automatic driver 1 using a grip 21 as shown in the drawing. The maglev catcher 20 has an intake control point 221 that provides suction of high-pressure gas from a source of external atmospheric pressure, and has an exhaust control point 222 that penetrates the intake control point 221 and provides discharge of high-pressure gas. The exhaust control point 222 further includes an electromagnet 224, and the pneumatic cylinder 22 operates to exhaust the exhaust control point 222. The first magnet 23 is displaced in the abutting direction by the pressure action of the high-pressure gas sucked from the intake control point 221 and the elasticity of the spring when the high-pressure gas is discharged from the exhaust control point 222 The second magnet 24 is provided next to the first magnet 23, is attracted by the magnetism of the first magnet 23, is simultaneously displaced in the same direction as the first magnet 23, and the first magnet 23 is in the opposite direction. At the same time, the catcher 25 is connected to the second magnet 24 and can be displaced to the fixed track 251, and the claw 26 is coupled to the catcher 25 and installed at an angle. It is provided that the screw can be caught or separated by tightening or loosening when approaching or moving away from the tip portion 10 rather than displacement.

As shown in FIG. 2 (A), the number of the claws 26 is an even number or a multiple thereof. In this embodiment, the pinch state between the four claws 26 is the most stable.

With respect to the operation of the maglev catcher structure, as shown in FIG. 2, a high pressure gas is provided to the maglev catcher 20 at the intake control point 221 which mainly provides suction of high pressure gas from an external atmospheric pressure source. In order to prevent leakage, the pneumatic cylinder 22 provides an expansion / contraction operation that restricts the exhaust action of the exhaust control point 222. At this time, the gas pressure of the high-pressure gas displaces the first magnet 23 in the same direction. At the same time, the second magnet 24 located adjacent to the magnet is attracted and simultaneously displaced in the same direction, the second magnet 24 and the catcher 25 are connected, and the catcher 25 is placed on the fixed track 251. , Moved in the direction of the tip 10, and after moving to the final position, at this time all the tips of the claw 26 are in a catch state, It is possible to take scissors di.

When the screw is actually pinched by the above operation, the maglev catcher 20 can be moved by the pressure of the high-pressure gas sucked from the outside in order to perform the operation of pinching the screw 5. The situation of breaking the appearance of the screw is eliminated.

After pinching the screw 5, the tip of the tip 10 is pushed out with a preset fixed pushing force until it fits the head of the screw, and tightening operation is performed. At the same time, the exhaust control point 222 is exhausted by the electromagnet 224. At this time, since the first magnet 23 has no air pressure action, it is displaced in the opposite direction from the elastic action of the spring 223, and the first magnet 23 is the same as the second magnet 24 adjacent to the movement at the same time. The displacement in the opposite direction is attracted, and at the same time, the second magnet 24 interlocks the catcher 25, moves away from the distal end portion 10 from the fixed track 251, and relaxes to the claw 26 to restore the state (standby).

In this way, the automatic driver 1 cooperates with the robot arm, and when tightening the screw, the maglev catcher 20 is coupled to the tip of the tip 10 of the automatic driver 1, and the screw 5 is quickly and smoothly attached to the robot arm. The clamping operation is performed directly after the clamping and the screw 5 are clamped, and the screwing and clamping operation of the integrated automation is completed, thereby providing the effect of increasing the productivity under the precise screwing operation.

As shown in FIG. 3, this is a second better embodiment of the maglev catcher structure of the present invention, in which the maglev catcher 30 is coupled to the tip portion 10 of the automatic driver 1, and the first magnet 31 is installed around the tip portion 10. And the displacement is interlocked by the push displacement action of the grip, and the repulsive force of the magnetic pole is provided, and the grip is released and then returned.
The second magnet 32 is provided between the first magnet 31 and the tip 10, and the second magnets 32 that do not contact each other are pushed against the tip 10 by the repulsive force generated by the repulsion of the same polarity due to the close displacement of the first magnet 31. There is a chuck 33 which is restored when the screw is tightened at the tip 10 and is connected to the second magnet 32 and takes on magnetic attraction force. The magnet 5 is tightened or loosened by the displacement of the second magnet 32. Provide catch or separation and perform screw tightening work.

In this way, when the automatic driver 1 cooperates with the robot (robot arm) and performs the screw tightening operation, the operating principle is as shown in FIG. 4, when the maglev catcher 30 is displaced by pushing the grip. During the process, the first magnet 31 of the maglev catcher 30 is simultaneously displaced to a position adjacent to the second magnet 32, and the second magnet 32 pushes the chuck 5 to attract and pinch the chuck 5 so that the tip 10 is When the screw 5 is displaced downward and the screw 5 is tightened, the second magnet 32 is pulled and released, and at the same time, the grip is restored, and the first magnet 31 of the maglev catcher 30 is also restored. Stretch and complete the tightening operation.

As shown in FIG. 5, this is a third preferred embodiment of the maglev catcher structure of the present invention. The maglev catcher 40 includes a switch 41 having a printed circuit board that can receive and transmit an external control circuit around the tip portion 10. The grip is displaced under force, and is turned on by contact, and is turned off after the grip is restored, and there is a battery 42 that is electrically connected to the switch 41, Providing a power signal and providing an electromagnetic chuck 43 between the switch 41, the battery 42, and the tip 10 to provide a hollow state for the tip 10 to pass through, and providing a pinch of the screw 5 to the exposed portion, In addition, a coil 44 is wound around the electromagnetic chuck 43, and the coil 44, the switch 41, and the battery 42 are electrically connected to each other. Magnetic with or demagnetizing condition is formed at 43 controlled by the opening and closing of the switch 41 is reaching the catching effect of the screw 5.

In this way, when the automatic driver 1 cooperates with the robot (robot arm) and performs the screw tightening operation, the operating principle is that when the maglev catcher 30 is displaced by pushing with an external force as shown in FIG. During this process, the first magnet 31 of the maglev catcher 30 is simultaneously displaced closer to the second magnet 32, the screw 5 attracted to the chuck 33 is released, and the first magnet 31 is moved from the second magnet 32. If it continues to displace, the chuck 33 is tightly clamped and the screw 5 is clamped, and the maglev catcher 30 is loosened to return, and then the tip 10 of the automatic driver 1 extends to the screw 5 and tightens. I do.

Summarizing the above, the present invention has developed an automatic driver peripheral module dedicated to robots (robot arms) for assembly factories that mainly require high precision, and the maglev catcher in it is pneumatically aspirated Controls the magnetic attraction or repulsive action of the pushing operation at the time, performs the pinching action of the screw or the double action of suction and pinching, and controls the loosening of the screw when exhausting with an electromagnet, and the automatic driver pinches the screw This method differs from traditional or sub-axis automated equipment, in combination with the direct tightening action after removal, and significantly reduces the cost by reducing the number of peripheral modules and implements a single unit The machine can handle various types of screw tightening operations, and it will meet the demands of the industrial 4.0 era that will come soon.

Although an example of the embodiment of the present invention has been described above, the present invention is not limited to the embodiment and it is needless to say that the present invention can be implemented in various forms without departing from the gist of the present invention. .

1 Automatic Driver 10 Tip 20 Magreb Catcher 21 Grip 22 Pneumatic Cylinder 221 Intake Control Point 222 Exhaust Control Point 23 First Magnet 24 Second Magnet 25 Catcher 251 Track 26 Claw

Claims (7)

  A maglev catcher is provided at the tip of the automatic driver. The maglev catcher includes an intake control point, an exhaust control point, a pneumatic cylinder, a first magnet, a second magnet, a catcher, and a claw, and the intake control point is a source of external atmospheric pressure. From which the exhaust control point penetrates the intake control point and provides high pressure gas discharge, and the pneumatic cylinder has a telescopic action that limits the exhaust action of the exhaust control point. The first magnet is displaced in the abutting direction by the pressure action of the high-pressure gas sucked from the intake control point, and is returned by the spring action of the spring when the high-pressure gas is discharged from the exhaust control point; Is located next to the first magnet and is attracted by the magnetism of the first magnet and is simultaneously displaced in the same direction as the first magnet. The catcher is connected to the second magnet and is fixed. And it was displaced in the track, and said pawl is bonded to the catcher, and performs leaving or catch the screw at tightening or loosening when gets close or away from the tip than the displacement of the catcher of the automatic driver screw Maghreb catcher.   The screw driver of the automatic driver according to claim 1, wherein an electromagnet is included in the exhaust control point.   The screw maglev catcher for an automatic driver according to claim 1, wherein the optimum number of the claws is four. The screw driver of the automatic driver according to claim 2, wherein the electromagnet performs a magnetic action by an electric input in order to draw the screw to the claw.   The automatic driver screw maglev catcher is provided with a maglev catcher at the tip of the automatic driver, the maglev catcher is provided with a first magnet around the tip, and the displacement is interlocked by the pushing displacement action of the grip, and the repulsive force of the magnetic pole is Provided, released after the grip is released, and the second magnet is provided between the first magnet and the tip, and the second magnet that does not contact each other is repelled by the same polarity due to the near displacement of the first magnet. There is a chuck that pushes against the tip by the repulsive force that is generated, returns when the screw is tightened at the tip, and is connected to the second magnet, and has a magnetic attraction force. Automatic screwdriver Maggreb catcher characterized by catching or leaving the screw.   6. The screw driver of the automatic driver according to claim 5, wherein the second magnet and the chuck can be integrally formed. The automatic driver screw maglev catcher is provided with a maglev catcher at the tip of the automatic driver, and the maglev catcher is provided with a switch with a printed circuit board that can receive and transmit an external control circuit around the tip, and the grip is powerful. Receiving and displacing and touching to turn on, and turning off after the grip returns, and providing a power signal while having a battery in electrical connection with the switch; An electromagnetic chuck is provided between the battery and the tip portion, and the tip portion passes therethrough, so that a hollow state is provided, and a screw pin is provided in the exposed portion, and a coil is wound around the electromagnetic chuck, and a coil, The switch and the battery are electrically connected, so that the magnetic or non-magnetic state formed by the electromagnetic chuck is magnetized. Controlled by the opening and closing of the switches, automatic screwdriver screws maglev catcher, characterized in that to reach a catching effect of the screw in the magnetic.