JP2542655Y2 - Nut runner floating support - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a nut runner floating support device for screwing a nut to a bolt.
In particular, the present invention relates to a floating support device for a nut runner suitable for reducing the length of the device in the screwing direction of the nut.

[0002]

2. Description of the Related Art Conventionally, an apparatus of this type is disclosed in
There is a nut runner device as proposed in JP-A-130141. The proposed device is to screw a nut onto an implanted bolt, and has a socket portion into which the nut is inserted and a drive shaft for rotating the socket portion, and the socket portion and the drive shaft. Are connected by a universal joint, the socket part is swingable around the drive shaft, and the universal joint is spline-connected to the drive shaft so as to be slidable along the axial direction. is there. With such a configuration, even when the nut fitted into the socket is slightly displaced from the axis of the bolt and abuts on the tip of the bolt, the socket retreats along the drive shaft and swings around the drive shaft. By moving, the axis of the bolt and the axis of the socket part can be aligned, thereby preventing damage to the thread due to twisting when tightening the nut to the bolt.

[0003]

However, in the nut runner device having the above-described structure, the socket in which the nut is inserted, the universal joint for connecting the socket to the drive shaft, and the universal joint are spline-fitted. Drive shaft
Since the nut is arranged almost along the axis of the stud to which the nut is screwed, the length of the device in the nut screwing direction becomes longer, and there is not enough space in the direction of the tip of the stud. For example, there is a problem that the nut runner device cannot be used.

The present invention has been made in view of such a problem, and its object is to reduce the external dimensions in the nut screwing direction and to easily center the nut and the planting bolt. It is an object of the present invention to provide a nutrunner floating support device which can be used.

[0005]

In order to achieve the above-mentioned object, the present invention provides a method in which a nut runner is floatingly supported from a support member and a nut fitted in a socket portion of the nut runner is brought into contact with a bolt. In a floating support device for a nut runner that automatically adjusts the axis of the nut so that the axis of the bolt coincides with the axis of the bolt, a four-joint link mechanism in which four link members are sequentially connected to each other by a rotating support shaft is provided. Two link members fixedly provided on the support member and connected to each other by a pivot shaft which is located at a diagonal of the fixed pivot shaft and which can move in parallel in two axial directions. The nut runner is mounted on any one of the sockets so that the axis of the socket is oriented in parallel with the rotation support shaft, and the socket is allowed to move in the two axial directions. A first biasing means for positioning and holding the door unit in a reference position, characterized in that provided by interlocking between the support member and the four bar linkage.

Here, the link member to which the nut runner is attached is provided so as to be movable along two rotation supporting shafts supporting the nut runner, and is attached in the screwing direction of the nut by the second urging means. It is desirable to be energized.

Further, it is desirable that the second urging means for urging the link member to which the nut runner is attached in the nut screwing direction be provided with a buffer member for buffering the urging force.

[0008]

The operation of the present invention will be described. The rotation support shaft including one support shaft fixedly provided on the support member is used.
Of the four link members of the four-joint link mechanism in which the two link members are connected, the four link members are connected to each other by a rotation support shaft which is positioned at a diagonal of a fixed rotation support shaft and is capable of being parallelly moved in two axial directions. A nut runner is attached to one of the two link members so that the axis of the socket portion is directed parallel to the rotation support shaft, and the socket is allowed while allowing the socket portion to move in the two axial directions. The first urging means for positioning and holding the portion at the reference position is provided so as to be linked between the four-link mechanism and the support member. Therefore, the socket portion of the nut runner includes the four-link mechanism. It is freely movable in a plane and is appropriately fixed to the support member by the first urging means.

Here, the link member to which the nut runner is attached is provided movably along two rotation supporting shafts supporting the nut runner, and is attached in the screwing direction of the nut by the second urging means. Since it is urged, it can be moved in parallel in a direction perpendicular to a plane including the four-bar linkage.

Further, since the second urging means for urging the link member to which the nut runner is attached in the screwing direction of the nut is provided with a buffer member for buffering the urging force, the nut runner is provided. The translational movement of the attached link member in a direction perpendicular to the plane including the four-bar linkage is performed with a relatively small operating force.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a partially cutaway plan view of a nutrunner floating support device according to the present invention, FIG.
FIG. 3 is a partially cutaway side sectional view thereof.

Floating support device 10 includes support member 1
The support member 12 is fixed to the working arm of a robot (not shown), and is configured to be capable of performing a movement that draws a desired trajectory.

The support member 12 has a base 14 fixedly extended downward in FIG. As shown in FIG. 3, the base 14 has a concave portion having a substantially U-shaped cross section at an end thereof. A fixing pin 18 is provided. The fixing pin 18 is a rotation support shaft to which a four-link mechanism described later is fixed.

The first link 20 is a member having a substantially U-shaped cross section. The first link 20 is disposed so as to be substantially fitted into the U-shaped concave portion at the end of the base 14. It is pivotally supported around it.

As shown in FIGS. 1 to 3, the second link 24 is a member having a substantially U-shape when viewed in a cross-section passing through the center axis of the fixing pin 18. And is fixed by a cap 26 so as to be rotatable together with the fixing pin 18 around the central axis of the fixing pin 18.

A second movable pin 28 serving as a rotation support shaft is inserted through one end of one of the parallel plate-like members constituting the first link 20, and is fixed by a cap 30. ing. An end of a substantially long plate-shaped third link 34 is rotatably provided on the second movable pin 28 via a ball bearing 32.

On the other hand, a bar-shaped arm 36 extends from the support member 12 side downward in FIG. As shown in FIG. 2, a hollow member is employed for the arm 36 for weight reduction. The arm 36 has sliders 38, 38 at two locations spaced apart in the longitudinal direction.
a is inserted and fixed. These sliders 38, 38
a is a hollow cylindrical rotation, as shown in FIG.
A linear bush 40, which is a sliding bearing member, and a cylindrical body 42 disposed so as to surround the outer periphery thereof, and substantially annular end plates 45, 4 provided at both ends of the cylindrical body 42.
And 7. The first movable pin 44 is inserted through the slider 38 close to the support member 12, and the third movable pin 46 is inserted through the slider 38 a separated from the support member 12. The first movable pin 44 is fixed to each of the plate-like members of the second link 24 extending in parallel with each other by caps 48 at both ends.
The third movable pin 46 is fixed to the third link 34 and a third link assisting member 50 extending in parallel with the third link 34 at an interval by a cap 52.

A spring receiver 54 having a substantially L-shaped cross section is provided around the outer peripheral surfaces of the sliders 38 and 38a on the side where the third link auxiliary member 50 is disposed with respect to the arm 36. Further, a spring receiver 5 provided around the slider 38 is provided.
A spring receiver 56 is fixed to the second link 24 so as to surround the first movable pin 44 so as to face the slider 4.
A spring receiver 56a is fixed to the third link assisting member 50 so as to surround the third movable pin 46 in opposition to the spring receiver 54a provided around 8a. A coil spring 58 is provided between the spring receiver 54 and the spring receiver 56.
A coil spring 58a is arranged and locked between the slider a and the spring receiver 56a so as to surround the slider 38 and the first movable pin 44 and the slider 38a and the third movable pin 46, respectively. These coil springs 58, 58a constitute the second biasing means.

An air cylinder 60 as a buffer member is interposed between the arm 36 and the plate-like member of the second link 24 extending toward the third link 34 with respect to the arm 36. The air cylinder 60 is fixed to the second link 24 and has a shaft 6 extending from the cylinder body.
2 is screwed to the arm 36 via a spacer 64.

A nut runner 68 is fixedly mounted at a distal end of the arm 36 opposite to the support member 12 via a fixing member 66. The screwing direction of the nut by the nut runner 68 is, as shown in FIG. 1, a front direction orthogonal to the paper surface.

On the other hand, a floating member 70 is integrally fixed to an end of the arm 36 opposite to the side on which the nut runner 68 is fixed. On both side surfaces of the floating member 70, a pair of V grooves 72, 72 extending in a direction perpendicular to the paper surface of FIG.

The guide members 74, 74 provided integrally with the support member 12 are formed with long grooves 76, 76 having a rectangular cross section extending in a direction perpendicular to the plane of FIG.
It is communicated with air pressure feeding means (not shown) through passages 80 and 80 provided at the bottom. Therefore, passage 80,
At 80, compressed air can be freely introduced and discharged. The long grooves 7 formed in the guide members 74
6 and 76 are floating lock members 82 and 82 which are first urging means having a substantially wedge-shaped cross section and having a slope formed at an angle to be closely fitted to the V grooves 72 and 72 formed in the floating member 70. Is inserted. These floating lock members 82, 82 have bolts 84, 8 attached thereto.
Pistons 86, 86 are screwed through the piston 4, and the pistons 86, 86 are fitted in the passages 80, 80. The arm 36 is sandwiched by a pair of opposing floating lock members 82 via a floating member 70 integrally connected to the arm 36.

Next, the operation of the present embodiment having the above configuration will be described. A pneumatic feeding means (not shown) feeds passages (80, 80) formed in guide members (74, 74) integrally fixed to the support member (12) of the floating support device (10) connected to the working arm of the robot (not shown). In a state in which the compressed air is introduced and the floating lock members 82 are urged in the directions approaching each other via the pistons 86, the arm 36 and the nut runner 68 fixed integrally to the arm 36 are attached. , Support member 1 for arm 36
Since the floating lock members 82, 82 are sandwiched and fixed by the urging force of the compressed air acting on the floating lock members 82, 82 via the floating member 70 provided at the two side ends,
The nut runner 68 is fixed to the support member 12, and when the support member 12 is moved by a robot (not shown) (for example, when a nut arranged at a predetermined position is obtained), the arm 36 And the nut runner 68 does not swing unnecessarily.

Next, the case where the floating support device 10 of this embodiment grips a nut arranged at a predetermined position will be described. The nut is placed on a horizontal surface, and when the nut runner 68 grips the nut, the arm 36 is translated in a forward direction orthogonal to the paper surface in FIG. 1 and to the left in FIG. 2 in FIG. Will be.

The air cylinder 60 is filled with compressed air from an air pressure feeding means (not shown).
6 and the shaft 62 of the air cylinder 60 and the spacer 6 against the urging force of the coil springs 58 and 58a urging the arm 36 leftward (actually vertically downward) in FIG.
4 is urged toward the right direction (actually vertically upward) in FIG. 2 and suspended while maintaining a balance, the arm 36 is moved and the socket portion of the nut runner 68 is placed. The impact when abutting against the nuts that are present is buffered.

The floating lock members 82, 8
The air pressure in the long grooves 76, 76 in which
The floating lock members 82 and 82 are urged by air springs in a direction approaching each other, and the fixed pin 18, the first movable pin 44, and the second movable pin 28 are reduced. , The third movable pin 46, the first link 20, the second link 24, the third link 34, and the arm 36, so that a four-node link mechanism is formed. When the axis is displaced from the axis, the arm 36 slides the slopes of the V-grooves 72, 72 formed in the floating member 70 at one end thereof and the slopes of the floating lock members 82, 82 while sliding the arms. The translation can be performed in a plane including the mechanism, and the nut can be gripped without the displacement of the axis.

Next, a state in which a nut is screwed into a stud or the like by the floating support device 10 of this embodiment will be described. As shown in FIG. 1, the screwing direction of the nut is a front direction orthogonal to the paper surface in FIG. 1 and a left direction in FIG. 2. Even in this case, the arm 36 on which the nut runner 68 is fixed by the four-bar linkage mechanism.
Can move in parallel in the plane including the four-bar linkage, so that even if the axes of the nuts are misaligned when the tips of the studs and the like are in contact, the misalignment is eliminated. It is possible to prevent the thread from being damaged due to nut twisting or the like.

After the nut is properly fitted into the studs or the like, the socket of the nut runner 68 is driven to rotate, and the coil springs 58 and 58a urge the arm 36 in the nut screwing direction. , The nut is smoothly screwed into the bolt.

Further, the nut runner 68 and the arm 3
Since a mechanism such as 6 for supporting the nut is disposed in a direction orthogonal to the screwing direction of the nut, a small working space is required on the tip side of the bolt, and the screwing operation of the nut can be performed even in a narrow place. be able to.

[0030]

[Effect of the Invention] As described in detail above, according to the present invention,
A pair of a fixed rotation support shaft among four link members of a four-node link mechanism in which four link members are coupled by a rotation support shaft including one support shaft fixedly provided to the support member. A nut runner is attached to one of two link members which are connected to each other by a rotation support shaft which is located at a corner and which can move in parallel in two axial directions. The first urging means for mounting the socket part in the reference position while allowing the socket part to move in the two axial directions while holding the socket part in the reference position between the four-bar linkage mechanism and the support member. Since the nut runner is provided so as to be linked, the nut runner is free to translate in a plane including the four-bar linkage, and the shaft of the bolt to be screwed with the shaft center of the nut inserted into the socket portion of the nut runner. Easy to meet with the mind It is possible, it can be fixed to a reference position of the nut runner with respect to the support member as necessary.

At this time, the link member to which the nut runner is attached is provided so as to be movable along two rotation supporting shafts supporting the nut runner, and is attached in the screwing direction of the nut by the second urging means. The nut runner is parallelly moved in the screwing direction of the nut when aligning the axis of the nut and the bolt inserted into the socket portion of the nut runner, so that the axis alignment is easier and the nut is The nut is smoothly screwed into the bolt while being urged in the screwing direction by the socket portion of the nut runner.

Further, the second urging means for urging the link member to which the nut runner is attached in the screwing direction of the nut is provided with a buffer member for buffering the urging force. The translational movement of the attached link member in a direction perpendicular to the plane including the four-bar linkage is performed with a relatively small operating force,
An excellent effect is obtained in that the socket and the nut of the nut runner and the nut and the bolt fitted into the socket of the nut runner do not damage each other when they come into contact with each other.

[Brief description of the drawings]

FIG. 1 is a plan view showing an embodiment of a floating support device for a nut runner according to the present invention.

FIG. 2 is a sectional view taken along line II-II of FIG.

FIG. 3 is a sectional view taken along line III-III of FIG. 1;

[Explanation of symbols]

Reference Signs List 10 floating support device 12 support member 14 base 18 fixing pin 20 first link 24 second link 28 second movable pin 34 third link 36 arm 38, 38a
Slider 44 First movable pin 46 Third movable pin 58, 58a Coil spring 60 Air cylinder 68 Nut runner 70 Floating member 74 Guide member 82 Floating lock member

Claims (3)

(57) [Scope of request for utility model registration] 1. A nut runner is floatingly supported by a support member, and when a nut fitted in a socket portion of the nut runner is brought into contact with a bolt, the axis of the nut is made to coincide with the axis of the nut. In the floating support device for a nut runner which automatically adjusts as described above, a four-node link mechanism in which four link members are sequentially connected in a ring shape by a rotation support shaft is provided by fixing one of the support shafts to the support member. The nut runner is attached to one of two link members which are connected to each other by a rotating support shaft which is located at a diagonal of a fixed rotating support shaft and which can move in parallel in two axial directions. A first biasing means for mounting the head so that the center is oriented parallel to the rotation support shaft, and positioning and holding the socket at a reference position while allowing movement of the socket in the two axial directions; A floating means for a nut runner, characterized in that means are provided in communication with the four-bar linkage and the supporting member. 2. A link member to which the nut runner is attached is movably provided along two pivots for supporting the nut runner, and is urged in a screwing direction of the nut by a second urging means. 2. The method according to claim 1, wherein
4. The floating support device for a nut runner according to claim 1. 3. A second urging means for urging a link member to which said nut runner is attached in a screwing direction of a nut is provided with a buffer member for buffering the urging force. The floating support device for a nut runner according to claim 2.