JP2519303B2 - Bolt supply device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bolt supply device characterized by means for receiving a bolt from a parts supply device and delivering it to a tightening socket.

(Prior Art) Conventionally, when a plurality of bolts are simultaneously tightened from the lower side of a vehicle body such as when mounting a lower part such as a front or rear suspension of a vehicle, a plurality of tightening sockets are required. A method using an implanted tightening pallet is known. That is, a plurality of vertical holes are provided at predetermined positions of this tightening pallet, and a tightening socket is rotatably attached to this vertical hole, and a bolt with its head facing downward is supplied to this tightening socket. And the tightening pallet are put under the assembly parts, and the tightening socket is rotated from below the tightening pallet to the lower part of the tightening pallet by rotating the tightening socket for simultaneous tightening. However, in the tightening pallet method in which the tightening socket and the nut runner are separated, when supplying the bolt to the tightening socket, the tightening socket side that has been generally used until then is rotated and the phase with the bolt head is changed. In order to solve this problem, the applicant has previously disclosed a bolt supply device as disclosed in Japanese Patent Application No. 62-119003. This device is equipped with a bolt set hand at the operating end of the robot, which holds a plurality of bolts with this bolt set hand and rotates the bolt side when supplying bolts to a tightening socket for phase alignment. It was to try.

(Problem to be Solved by the Invention) However, in the bolt supply device of Japanese Patent Application No. 62-119003, although there is an advantage that a large number of bolts can be simultaneously held and sequentially supplied to the tightening socket, the device Since the whole structure is large and complicated, the operation at the time of supply is slow and the bottom surface of the bolt set hand is spread, so that there is a problem that it easily interferes with other tightening sockets when supplying the bolt.

(Means for Solving the Problems) In order to solve the above problems, the present invention provides a pair of bolt setting parts symmetrically with respect to the rotary shaft of the tip of the robot hand, and the bolt setting parts grip and release the bolt shaft. It consists of a grip release mechanism and a phase matching mechanism that rotates the bolt shaft around the axis.

Further, a coupling mechanism is provided in the middle of the carrying path of the bolt and the washer from the parts supplying apparatus to the bolt setting section through the respective conveying paths so as to be integrated with the bolt supplying apparatus.

(Operation) The bolt set part that grips the bolt shaft conveyed from the parts supply device changes its direction by the rotation shaft and moves to the desired tightening socket, and the bolt head faces the tightening socket hole and is attached to the socket. Push it in. At the time of this pushing, the bolt is rotated around the axis so that the head of the bolt and the tightening socket hole are phase-matched. Releases grip when fitted. Meanwhile, the other bolt setting section receives the transported bolt and completes one cycle. On the other hand, the coupling mechanism provided in the transport path from the parts supply device couples the bolt and the washer sent in different transport paths, respectively, and provides this to the bolt setting section.

(Example) The Example of the bolt supply apparatus of this invention is described based on attached drawing.

FIG. 1 is an overall view of an assembly facility for undercarriage parts of a vehicle, FIG. 2 is a partially enlarged sectional view of a tightening socket mounting portion of a tightening pallet, and FIG. 3 is a part of a bolt supply device of the present invention. FIG. 4 is a side view in which a part of the device is shown in section.

As shown in Fig. 1, the assembly equipment for the lower parts of the vehicle is
An elevating platform 2 is provided below the vehicle body 1, and a tightening pallet 4 that supports a lower component 3 is loaded and placed on the elevating platform 2. A tightening socket 5 is preliminarily planted at a predetermined position of the tightening pallet 4 and is rotatably attached to the tightening pallet 4. Moreover, this tightening socket 5
Is positioned so as to correspond to the lower mounting hole of the vehicle body 1 when the tightening pallet 4 is in the raised position. The tightening socket 5 is provided with a bolt 6 as shown in FIG. The head is inserted into 5a and it is set upward. The nut runner 7 is configured separately from the tightening socket 5,
It stands by below the tightening socket 5, and rises when the bolt 6 is tightened to fit into the coupling hole 5b and rotate the tightening socket 5.

The bolt supply device of the present invention is used when supplying the bolt 6 to the tightening socket 5, and as shown in FIGS. 3 and 4, is symmetrical about the rotary shaft 11 at the tip of the wrist 10 of the robot hand. (Fig. 3) has a pair of bolt setting parts 12, 12, the main body 13 of the bolt setting part 12 and the housing 14 are slidably connected by a sliding shaft 15, and a spring 16 is provided between them.
The tubular member 18 as a part of the grip release mechanism 17 is rotatably supported by the insertion hole 14a of the housing 14 in a rotatable manner.

The tubular member 18 extends in the axial direction coinciding with the sliding shaft 15 direction of the main body 13, and an opening at the extending tip end on the side separated from the rotary shaft 11 is formed as a bolt receiving portion 18a. Further, a grip claw 19 that runs along the axial direction is provided on the outer periphery of the distal end side of the tubular member 18, and a bracket 20 that is convexly provided on the tubular member in the vicinity of its center is pivotally attached by a pin 21, and both ends thereof Protrusions 19a and 19b protruding toward the tubular member 18 are formed. Further, the tubular member 1 corresponding to these protruding portions 19a and 19b.
Notch holes 22 and 22 are provided in the facing portion of 8
19a and 19b are configured so as to project inward from the inner hole surface of the tubular member 18 through the notch holes 22 and 22, and the rear end side of the gripping claw 19 is covered with an elastic band 23 from the upper surface, and the gripping claw 19 is formed. It is urged to open the tip side. On the contrary, this gripping claw 19
When the rear end side is expanded, it is possible to grip the shaft portion of the bolt into which the projection portion 19a at the front end is inserted.

On the other hand, on the inner rear end side of the tubular member 18, a release rod 24 having a tapered portion 24a having a large tip is incorporated, and the release rod 24 is supported by a spring 25 biased rearward. Therefore, in the normal state, the tapered portion 24a engages with the rear end protrusion 19b of the grip claw 19 to apply pressure, and the rear end of the grip claw 19 is expanded against the tension of the elastic band 23, The tip is squeezed.

In this way, at a place slightly separated from the base end of the tubular member 18 in order to release the state in which the distal end of the gripping claw 19 is contracted, a cylinder rod that can be retracted toward the rear end opening of the tubular member 18. A release cylinder unit 27 having 26 is arranged so that when the cylinder rod 26 extends, the rear end of the release rod 24 incorporated in the inner hole is pushed down.

The structure of the grip release mechanism is as described above. Next, the phase matching mechanism 28 is the phase matching motor 29 fixed to the main body 13.
A gear 32 fitted to a drive shaft 30 extending from the motor 29 and a gear 32 fitted to the base end of the tubular member 18.
Meshes with. Therefore, when the motor 29 rotates, the tubular member 18 also rotates.

On the other hand, FIGS. 5 and 6 show a coupling mechanism of a bolt and a washer, FIG. 5 is a front view of the coupling mechanism, and FIG. 6 is a sectional view of the same.

The bolt and washer coupling mechanism 40 includes a driving portion 41 fixed to a fixed portion of the robot hand wrist 10 and a pair of opening / closing members 4 provided immediately above the bolt receiving portion 18a of the bolt set 12.
2a and 42b are provided, and a bolt transfer path 43 and a washer transfer path 44 that are transferred from a tightening part supply device (not shown) are connected to the opening / closing member 42. The open / close members 42 have their upper ends pivotally supported by pins 45a, 45b so that their respective lower parts can swing and expand, and can open and close each other in synchronization with the gears 46a, 46b on the upper contact surface. In addition to the above structure, a handle 47 is attached to the upper end of one opening / closing member 42a and is connected to the opening / closing cylinder unit 48 of the drive unit 41. This opening / closing member
Reference numeral 42 designates a bolt guide hole 49 and a washer conveying path communicating with the bolt conveying path 43 as shown in the enlarged views of FIGS. 7 and 8.
The washer guide hole 50 communicating with 44 is provided, and the washer is initially pressure-fed and is held horizontally by the opening / closing member 42, and then the bolt is pressure-fed, and the shaft portion thereof is inserted into the washer hole and held.

In the bolt supply device configured as described above, when the bolt and the washer are combined, the opening / closing cylinder unit
48 operates and opens the lower part of the opening / closing member 42 to
The bolts are supplied to the 12 bolt receiving portions 18a. On the other hand, the release cylinder unit 27 of the bolt setting part 12 that receives the bolt
Extends the cylinder rod 26, and when the bolt shaft is received from the opening of the bolt receiving portion 18a, the cylinder rod 26 contracts and grips the shaft portion. Next, the robot hand wrist 10 rotates 180 degrees about the rotation axis 11 so that the bolt head faces directly above the socket hole 5a, and the phase matching motor
Drive 29 and descend. The fall of the robot hand wrist 10 until the bolt head and the socket hole 5a are in phase is supported and protected by compression of the spring 16.
When the phases match, the bolt head fits into the socket 5a.
During this time, the other bolt setting section receives the bolt, and this operation is repeated. It goes without saying that the bolt and washer coupling mechanism can also be used for tightening work that does not require a washer.

(Effects of the Invention) Since the present invention is configured such that a pair of bolt set portions that are symmetrical with respect to the rotation axis can simultaneously receive and deliver, the time for supplying bolts can be shortened as compared with the prior art. Since there is no expansion of the bottom surface that holds the bolt, problems such as interference were solved. Further, the present invention is an improvement of the previous invention in which the bolt setting can be automatically performed even if the tightening pallet method is adopted. The effect of the tightening pallet method, that is, the easiness of dealing with the change of the shape of the bolt, etc. Also, it has advantages such as easiness of simultaneous tightening work.

Further, the bolt and washer coupling mechanism can be used to separately configure the transport path for the bolt and washer. For example, a tightening operation that does not require a washer and an operation that requires both can be easily achieved. It is a thing.

[Brief description of drawings]

FIG. 1 is an overall view of an assembly facility for undercarriage parts of a vehicle, FIG. 2 is a partially enlarged sectional view of a tightening socket mounting portion of a tightening pallet, and FIGS. 3 and 4 show a bolt supply device of the present invention. FIG. 3 is an overall view showing an embodiment, FIG. 3 is a front view showing a part of the device in section, and FIG. 4 is a side view showing a part of the device in section.
5 and 6 show a coupling mechanism of a bolt and a washer, FIG. 5 is a front view of the coupling mechanism, FIG. 6 is a side view of the coupling mechanism, and FIGS. 7 and 8 are enlarged views of an opening / closing member of the coupling mechanism. In the figure, the seventh
The figure is a front view and FIG. 8 is a side view. In the drawings, 1 is a vehicle body, 2 is a lifting platform, 3 is a lower part, 4 is a fastening pallet, 5 is a fastening socket, 5a is a socket hole, 5b is a coupling hole, 6 is a bolt, 7 is a nut runner,
10 is a robot hand wrist, 11 is a rotation axis, 12 is a bot set portion, 13 is a main body, 14 is a housing, 14a is an insertion hole, 15 is a sliding axis, 16 is a spring, 17 is a grip release mechanism, 18 is a tubular member, 18a is a bolt receiving portion, 19 is a grip claw, 19a and 19b are protrusions,
20 is a bracket, 21 is a pin, 22 is a notch hole, 23 is an elastic band, 24 is a release rod, 24a is a tapered portion, 25 is a spring, 26 is a cylinder rod, 27 is a release cylinder unit, 28 is a phase matching mechanism, 29 is a motor, 30 is a drive shaft,
31 and 32 are gears, 40 is a coupling mechanism, 41 is a drive unit, 42a and 42b are opening / closing members, 43 is a bolt conveyance path, 44 is a washer conveyance path, and 45 is a
a and 45b are pins, 46a and 46b are gears, 47 is a handle, 48 is an opening / closing cylinder unit, 49 is a bolt guide hole, and 50 is a washer guide hole.

Claims (2)

(57) [Claims] 1. A bolt supply device for receiving a bolt conveyed from a parts supply device and delivering it to a tightening socket, wherein the bolt supply device has a pair of bolt setting parts rotatable by a rotating shaft. The bolt supply unit is characterized in that the bolt setting unit includes a gripping and releasing mechanism for grasping and releasing the bolt and a phase matching mechanism for aligning the bolt head with the socket hole. 2. The bolt supply device according to claim 1, wherein the bolt supply device is integrally provided with a coupling mechanism of a bolt and a washer that are conveyed via respective conveyance paths.