JP2941615B2 - Automatic bolt attachment / detachment device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic bolt attaching / detaching apparatus for automating bolt loosening or tightening (hereinafter referred to as "loosening / tightening") in disassembling and assembling various machines.

[0002]

2. Description of the Related Art Generally, when fastening various mechanical parts,
Bolts are often used as the fastening elements, and when inspecting, maintaining, and repairing the mechanical equipment assembled with these bolts, the equipment must be disassembled and assembled. At the time of the disassembly and assembly work, the work of loosening or tightening the bolt naturally occurs.

The work of loosening and tightening these bolts requires a great deal of time and labor. Further, when loosening or tightening a large-sized bolt, it is a heavy work and a dangerous work, such as placing a spanner on the head of the bolt and hitting the spanner with a hammer. From the past, these bolt loosening / tightening operations have long been demanded for mechanization and automation. However, the target equipment is wide-ranging,
Since each equipment varies, and even within a single equipment, there are several types of bolt sizes, and in fact, it is necessary to rely on manual labor.

In an assembly line of some automobile parts, various automatic bolt assembling apparatuses have been proposed. However, these bolts are prepared in such a manner that the bolt sizes are adjusted to be almost the same and the fastening positions are adjusted in advance. It only applies to simple repetitive tasks that are being performed.

As an automatic assembling apparatus having recognition means,
An automatic assembling apparatus and method disclosed in JP-A-2-256430 is known. This device automates the operation of mounting tires on a vehicle body drum in a vehicle assembly line. That is, the bolt holes of the tires and the bolts of the vehicle body drum are recognized by a vision camera, and the posture of the tire to be gripped by the robot is corrected based on the position information, and then attached to the drum.

[0006]

Problems to be Solved by the Invention
The means disclosed in Japanese Patent Publication No. 0 is to repeat the work of attaching a tire to a drum of an automobile body by a robot, and the dimensions of the tire and the size of the bolt are predetermined. In addition, the recognition means only recognizes only the position information.

[0007] However, as described above, with respect to general mechanical equipment in which the target equipment is diversified and the positions and sizes of the bolts are randomly set, automation is considered from the viewpoint of compatibility and versatility. Extremely difficult. In addition, there is no disclosure of an effective means or method for automatically performing a work of loosening a bolt without manual intervention.

[0008]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems of the prior art in a practical and advantageous manner. The gist of the present invention is to provide a bolt (2) and a target equipment into which the bolt (2) is screwed. In the automatic bolt attachment / detachment device that is loosened and removed from (1) or fastened to the target equipment (1),
(2) has a socket (37) at the tip thereof, and a bolt loosening / tightening means (13) provided so that the socket (37) can be rotated in both forward and reverse directions, and the position of the bolt (2) and Bolt recognition means (14,41) for recognizing the size, and bolt loosening / tightening means
(13) and the moving means (11, 21, 22, 12, 24, 25) for moving and positioning the bolt recognizing means (14), and the bolt recognized by the bolt posture and the bolt recognizing means (14, 41). Control means (42, 43) for determining and positioning the posture of the bolt loosening / tightening means (13) with respect to the bolt based on the position information of (2);
And is equipped with. In addition, in the parentheses, for easy understanding, symbols attached to corresponding elements in the drawings of the embodiments described below are added for reference.

In a preferred embodiment of the present invention, the bolt loosening / tightening means (13) has a bolt loosening / tightening tool (14) corresponding to the size of the bolt (2) recognized by the bolt recognition means (14, 41). A mechanism (31, 38) for attaching and detaching a socket (37) corresponding to the size of the bolt (2).
including.

[0010]

The moving means (11, 21, 22, 12, 24, 25) moves the bolt recognizing means (14), and the bolt recognizing means (14, 41) moves the bolt (2).
Recognize the position and size of. When the socket (37) corresponding to the recognized size is present in the bolt loosening / tightening means (13), the control means (42, 43) sets the bolt loosening / tightening means (13) to the posture of the bolt (2). And the bolt loosening / tightening means (13) is positioned with respect to the bolt based on the position information of the bolt (2). This connects the socket (37) of the bolt loosening / tightening means (13) to the bolt (2). And the bolt loosening / tightening means (13)
(37) is driven forward, for example, when the bolt is loosened, and driven reversely, when it is tightened. This loosens or tightens the bolt (2). In this way, the work of loosening and tightening the bolt (2) can be performed without human intervention, so that it is not necessary to force the worker to perform dangerous work under heavy muscles. The work of loosening and removing the bolt (2), which had to rely on manual work, can be performed automatically, which has a remarkable effect also in terms of safety.

[0011]

FIG. 1 shows the appearance of a mechanism according to an embodiment of the present invention.
FIG. 2 shows the system outline of the electric system. FIG. 3 is an enlarged cross-sectional view of a connecting portion between the tool body 30 and the rotating mechanism 22 shown in FIG. 1, and FIG. 4 is an output shaft 31 protruding from the tool body 30.
2 shows an enlarged cross section of a connection portion between a socket and a socket 37.

Referring to FIG. 1, a target facility 1 which requires loosening / tightening of a bolt 2 in a disassembly and assembling operation is mounted on a carry-in truck 3 moving in the horizontal Y direction, and carried into a substantially central portion of a frame 10. You. The frame 10 has a rail extending in the Y direction, on which a tool moving trolley 11 and a camera moving trolley 12 are mounted.

The tool moving trolley 11 has a Y traveling mechanism 11y for driving the base of the trolley 11 in the Y direction. The Y moving mechanism 11y supports the positioning bar 11a on the base and is driven in the vertical Z direction. There is an X moving mechanism 11x that supports the Z moving mechanism 11z and drives it in a horizontal X direction orthogonal to the Y direction. These mechanisms 11
The positioning bar 11a is determined by x, 11y and 11z.
Are driven in the X, Y and Z directions on the base of the cart 11. However, the positioning bar 11a maintains the vertical posture shown in FIG. A rotating mechanism 21 is provided at the lower end of the positioning bar 11a.
The tool unit 13 is connected via a rotation mechanism 22. The rotation mechanism 21 drives the rotation mechanism 22 to rotate about a center axis extending in the Z direction of the positioning bar 11a,
The rotation mechanism 22 drives the tool unit 13 to rotate about an axis extending in the horizontal direction. By the rotation mechanism 21 and the rotation mechanism 22, the tool unit 13 is connected to the bar 11a.
, And around a horizontal axis. That is, the mechanism 11 on the tool moving carriage 11
The tool unit 13 is determined by x, 11y and 11z.
The X, Y, and Z positions of the lower end of the bar 11a (to be exact) are determined, and the rotation and rotation mechanisms 21 and 22 of the lower end of the bar 11a are used to position the tool unit 13 (to be precise with respect to the bar 11a). Attitude) is determined.

Referring to FIG. 3, the tool unit 13 comprises
On the lower surface of the connection flange 34 of the rotating mechanism 22 (unit 1
(3) Tool flanges 32 are joined together. The connection flange 3 is attached to the tool flange 32.
The connecting flange 34 has a groove 33 for receiving the protrusion and a connecting cylinder 36. By switching the connection relationship between the pair of fluid ports of the cylinder 36 and the pair of pressures (high pressure / low pressure), the piston rod of the cylinder 36 retreats and the fixing pin 35 projects from the tool flange 32. 3 from the side hole
3, the tool unit 13 comes off the connection flange of the rotating mechanism 22. By switching the pressure, the fixing pin 35 moves from the retracted position to the coupling position (shown in FIG. 3) and vice versa, whereby the tool unit 13 can be replaced.

In the tool body 30 of the tool unit 13, there is a rotating mechanism for loosening / tightening the bolt, and this rotating mechanism is of a hydraulic type. The connection flange 34 and the tool flange 32 are provided with a detachable connector for connecting the hydraulic pipeline in the positioning bar 11a and the hydraulic pipeline in the tool body 30. Tool body 30
The two hydraulic pipelines are automatically connected together with the fixing operation, but the illustration of this detachable connector is omitted. In addition,
The robot body 30 includes a pair of robot fingers (a pair of fingers and a hydraulic mechanism for opening and closing the pair of fingers) and a socket 37 that support the lower surface of the bolt head in the socket 37 to prevent the bolt from being removed from the socket 37. A socket pushing mechanism (a pushing leg and a hydraulic cylinder that projects the pushing leg into the socket 37) is provided, but their illustration is also omitted. The above-mentioned rotating mechanism, hydraulic mechanism or hydraulic cylinder of the tool main body 30 may be of an air type, an electric type or the like.

The output shaft 31 of the rotating mechanism in the tool body 30
As shown in FIG. 4, a socket 37 for receiving a (head) of a bolt is coupled via a locking mechanism using a ball plunger 38. That is, the lower end of the output shaft 31 has a quadrangular prism shape in this example, and a ball plunger 38 is provided on one side thereof. A square hole for receiving the output shaft 31 is formed in the upper half of the socket 37, and a groove having a semicircular cross section for receiving the ball of the ball plunger 38 is formed in the inner wall surface of the square hole. It is engraved in the shape of a square ring over all sides of the square hole. In the lower half of the socket 37, a hexagonal column-shaped hole for receiving a bolt head (hexagonal column) of a predetermined shape is formed.

In FIG. 4, when the socket 37 is pulled with a force greater than the locking force of the ball plunger 38,
7 is disengaged from the output shaft 31, the socket pushing mechanism (not shown) is driven to project the pushing leg, whereby the pushing leg pushes the socket 37 downward, and the socket 37
Automatically comes off the output shaft 31. Therefore, in this example, the socket corresponding to the size of the bolt can be provided by exchanging the socket 37 at the tip end without exchanging the entire tool unit 30.

In this embodiment, various sizes of bolts to be loosened / tightened are assumed, and correspondingly, sockets 37 corresponding to the assumed bolt sizes are all mounted on the socket base 4s shown in FIG. Prepare. By the way, the tool body 3
0, the above-mentioned robot finger for supporting bolts
Further, the bolts (sizes) to which the socket pushing mechanism for pushing down the socket 37 can be applied are limited to several types. Therefore, various types of bolts to be loosened / fastened and sockets corresponding to each of the bolts are divided into groups according to size, and a tool body 3 applicable to each group is provided.
0 is assigned to each. And socket base 4s
, Sockets are arranged in this group section, and the tool base 4t has a tool body 30 applicable to each group in an arrangement corresponding to the group section of the socket in a one-to-one correspondence. Is placed.

Referring again to FIG. Camera moving trolley 12
The structure and function of this are the same as those of the tool moving trolley 11 described above. However, the camera moving trolley 12 includes a vision camera 14 and an illuminating device 15, and a rotating mechanism 2 that supports them.
5 and the rotation mechanism 24 are sufficient, so that the weight and the size are small. The rotation mechanism 24 and the rotation mechanism 25 are similarly lightweight and small. On the other hand, the bogie 11 and the rotating mechanism 21 and the rotating mechanism 22 have a large force acting between the bogie 11 and the target equipment 1 when the bolts are loosened / fastened.

According to the mechanism described above, each part of the target equipment 1 is photographed by the vision camera 14 while changing the attitude of the camera 14, the bolt is identified by image processing and recognition, and the camera is mounted on the top of the bolt. By calculating the position and size of the bolt in a posture facing the camera, the posture (= the posture of the camera), the position and the size of the bolt can be known.
A socket 37 (or tool unit 13) suitable for the bolt of the size is mounted on the rotating mechanism 22 and driven to the same position as the posture, and the direction determined by the posture (the bolt extends). The socket 37 is coupled to the bolt by driving in a direction (direction) closer to the bolt by a distance (thickness of the head) corresponding to the size of the bolt. Next, the bolt is loosened by retracting and driving the tool unit 13 in the direction in which the bolt extends while rotating the rotation mechanism in the tool body 30 in the counterclockwise direction (in the case of a right-handed bolt). The space where the fingertip of the robot finger enters
When the robot finger is closed between the lower surface of the head of the bolt and the outer surface of the target equipment 1, the robot finger is closed and the counterclockwise rotation is continued. 13 (socket 37 and robot fingers). The bolt thus removed is lowered to a position assigned to the bolt on the bolt stand 4 by driving the carriage 11, and the robot finger is opened, whereby the bolt is transferred to the stand 4. The tool moving trolley 11 and the equipment mounted thereon are driven in a manner that reverses the process of transferring and unloading the bolts to the pedestal 4 from the loosening of the above-mentioned bolts, thereby targeting the bolts removed as described above. It can be screwed and fastened to the equipment 1.

The tool body 3 mounted on the rotating mechanism 22
0 is the group to which the size of the bolt to be loosened / tightened belongs.
If the tool body is different from the tool body, the tool main body 30 is positioned on the tool base 4t just above the arrangement position determined for the tool main body 30, the fixing pin 35 is removed, and the rotating mechanism 2
2 is driven upward. This means that the tool body 30 has been returned to the table 4t. Then, the rotating mechanism 22 is positioned just above the tool body arrangement position (4 t above) assigned to the group to which the size of the bolt to be loosened / fastened belongs, and is lowered. To the coupling position. As a result, the tool body has been replaced with a tool body applicable to the size of the bolt to be loosened / fastened.

The tool body 30 mounted on the rotating mechanism 22 can be applied to the size of the bolt to be loosened / tightened, but the socket 37 mounted on the tool body 30 has a bolt. If the tool cannot be applied to the size, the tool body 30 is connected to the socket 37 of the socket base 4s.
Is positioned just above the arrangement position specified in (1), and the socket pushing mechanism of the tool body 30 is driven to project the pressing leg thereof. This means that the socket 37 has dropped from the tool body 30 and has returned to the base 4s. Then, the tool main body 30 being mounted on the rotating mechanism 22 is positioned and lowered just above the arrangement position (4 s) allocated to the socket corresponding to the size of the bolt to be loosened / tightened. As a result, the socket has been replaced with a socket that matches the size of the bolt to be loosened / fastened.

The arithmetic processing unit 43 shown in FIG. 2 includes a CRT display (for displaying a photographed image and an image obtained by processing the image), a CRT display for displaying input / output information, and an image memory. , A data memory, an input board, a trolley control lever, a camera control lever, a character display, a floppy disk drive, and a printer.
The processor 43 controls the mechanism shown in FIG. 1 via the controller 42 in response to the operator's input via the control lever, the bogie control lever, and the attitude control lever to control the bolts of the target equipment 1. Loosen / tighten.

Next, a first example of a series of processing operations (full automatic mode) will be specifically described with reference to FIGS. 1 and 2, mainly taking a bolt loosening operation as an example. First, the operator places the object equipment 1 on the carry-in carriage 3 and carries it into the work area. It goes without saying that the target facility 1 may be directly carried into the frame 10 by other means such as a hoisting machine.

A1. Next, the operator instructs the arithmetic processing unit 43 to "extract the bolt in the fully automatic mode", and inputs the surface to be processed to the arithmetic processing unit 43 (the arithmetic processing unit). 43 is defined as a processing target surface). In other words, based on the origin of the assembly 10 shown in FIG. 1, many faces of the target equipment 1 from which many bolt heads are exposed are sequentially input in a loosening order. Each surface is, for example, horizontal top surface, vertical surface right direction, vertical surface left direction, vertical front surface, vertical rear surface, and the inclined surface which does not correspond to these. And the photographing distance (set distance for bolt identification) information is added to this definition. Then, for each surface, a search start point and a search direction are designated, and bolt processing is performed, that is, loosening (without removing the bolts on the target equipment 1), removing, or selecting an operator (operating each bolt individually). Select loosening / removing). The planes thus input are hereinafter referred to as first to n-th planes. Then, the work start is input to the arithmetic processing unit 43.

The arithmetic processing unit 43 first causes the vision camera 14 to use the search start point on the first surface as the center of the visual field, the visual field center line is orthogonal to the first surface, and the distance represented by the photographing distance information (the first distance).
Position). Then, the camera is driven for scanning (scanning and photographing the first surface) at a position (plane parallel to the first surface) that is always at a distance from the first surface, and appears on the first surface. The bolt is identified by template matching because the head of the bolt is represented by a regular hexagon by the image processing device 41, its size is calculated, and N is sequentially assigned to the bolt.
o. To indicate the size and the position &
Information indicating the posture (information defining the first surface + position information on the first surface) is stored in the bolt No. Correspondingly, each time one of the bolts is identified and processed in this manner, the photographed image at that time is stored in the identified bolt.
The bolt number is attached to the image memory. Write in correspondence,
A bolt information table is displayed on a CRT display for displaying input / output information, and a bolt number is displayed on the table. The information indicating the size and the information indicating the position and orientation are displayed in correspondence. It should be noted that the image captured by the vision camera 14 is always displayed on a CRT display (for displaying the captured image and an image obtained by processing the captured image) for which coordinates can be designated. This bolt detection is performed sequentially up to the n-th surface. The information defining the first surface of the information representing the position and posture (information defining the first surface + position information on the first surface) is the posture of the bolt (perpendicular to the first surface, the vision). The bolt head faces the camera 14). The bolt information table displayed on the CRT has sections of the first to n-th surfaces, and in each bolt column, the above-mentioned bolt processing information (loose / loose) specified by the operator.
Remove / operator selection), and if the bolt processing information is “operator selection”, the bolt No. Flickers "operator selection" at the top of the list, and adds a display to prompt one of "loose / unlatch".
When the operator selects, the bolt No. is correspondingly selected.
Column is updated, and the bolt number of the next rank is updated. "Operator selection" is flickered. In this way, "operator selection" is "loose" for each bolt.
Or change to the instruction of "remove". When all the “operator selections” are gone, the arithmetic processing unit 43 next proceeds to the bolt N
o. Flickers and displays the first-ranked "remove" and prompts the user to enter the "pull-out length". Operation
When the bolt inputs the drawing length, the bolt N
o. Column is updated, and the bolt number of the next rank is updated. Is flicker-displayed. In this way, the “pull-out length” for “remove” is input in individual bolt units.

At this stage, the operator sets the bolt information data.
Bull No. When the designated No. is individually designated, the designated No. is displayed on a CRT display (for displaying a photographed image and an image obtained by processing the photographed image) on which coordinates can be designated. The photographed image when the bolt is extracted is displayed, and the extracted bolt is indicated by an identification mark on the screen. When the operator recognizes that the processing (loosening / removing) of the object with the identification mark on this image is unnecessary, the bolt No. Enter the erasure. The arithmetic processing unit 43 supplies the bolt No. Is deleted from the bolt information table. If the user wants to change the bolt processing contents (loose / remove), he or she puts the cursor at the position of the corresponding information and inputs the change. The change of the “drawing length” is similarly performed. When it is desired to change the order of the processing (loosening / removing), a column (bolt No. line) whose order is to be changed is moved to a position to be changed on the bolt information table. When this movement occurs, the arithmetic processing unit 43
o. (Row number) is updated in the arrangement order on the changed bolt information table.

B1. When the operator specifies "full automatic mode bolting" and inputs "execute" to the arithmetic processing unit 43, the arithmetic processing unit 43 first outputs the bolt information data. Bull No. Based on the information in column 1, the No. 1 of the tool moving cart 11 is used. The information necessary for processing (loosening / removing) one bolt is generated and given to the control device 42. This information includes the bolt size (socket No. & tool body No. to be used), the position and orientation of the bolt to be processed, the processing details (loose / removed), the loosened length when loosened (corresponding to the bolt size), and , Pull-out length and storage position (position on the bolt base 4) in the case of removal. Upon receiving this information, the control device 42 receives the given bolt size (socket No. & tool body N to be used).
o. ) Is matched with the socket 37 and the tool body 30 currently mounted on the rotating mechanism 22, and if they do not match, the positioning bar is attached to the socket base 4s and the tool base 4t.
1a to drive the tool body 30 and / or the socket 3
Replace 7 with the specified one. Next, the mounted socket is driven to a specified position to set it in a specified posture, and the socket is aligned with the bolt, and then the tool body 30 is driven. Rotation drive is performed. In the case of removal, when a gap into which a robot finger (not shown) of the tool main body 30 enters opens between the bolt head and the outer surface of the target equipment, the robot finger is driven to close and the bolt head is closed. Support the lower surface of the part. Then, the loosening drive for the drawing length is further continued, and after the drawing length, the loosening drive is stopped, and the tool main body 30 is retracted and driven.
The No. given to the bolt on the bolt stand 4 Is driven right above the position where is given, where it is placed in a vertical position (head is up and screw portion is hanging down), and the bolt is
Lower. That is, the robot finger is returned to the open position at a position higher than the upper surface of the base 4 by the pulling length (the restraining support of the bolt head is released). With the positioning bar 11a placed at this position, the control device 42 uses the processing information from the starting position immediately before the start of loosening the bolt to this point for subsequent reattachment of the bolt to the target equipment 1. Bolt No. Correspondingly, the data is stored in the data memory and ready is transmitted to the arithmetic processing unit 43. In response to this, the arithmetic processing unit 43 sets the No. of the bolt information table. Based on the information in the second column, the No. of the tool moving cart 11 is determined. The information necessary for the processing (loosening / removing) of the second bolt is generated and given to the controller 42. The following processing is performed in the above-described No. This is the same as the one-volt process.
In this way, the processing of the bolts in the last column of the bolt information table is completed by exchanging information between the arithmetic processing unit 43 and the control unit 42, and when the control unit 42 transmits a ready to the arithmetic processing unit 43, The arithmetic processing unit 43 displays the end of the processing related to the bolt in the bolt information table on a screen displaying the table.

It should be noted that the bolts designated as "removed" are removed from the target equipment 1 and the No. The control data related to the positioning bar 11a from the start of the loosening to the storage is stored in the data memory of the controller 42 in the order of the bolt N.
o. Stored in correspondence. When re-installing the bolts to the target equipment, these bolts are tightened immediately before the bolts are substantially removed in a manner that reverses the above-described removal process based on the control data of the data memory. Reattached to state. Workers remove bolts that have been "loose" from the target equipment. The re-attachment is performed by the operator until the state immediately after the above-mentioned "loosening" process. In the "tightening", it is preferable to use a constant torque or torque adjusting type of the socket 37 or the tool body 30 so that the tightening force is not excessive or insufficient.

Next, a description will be given of a second example (semi-automatic mode) in which mechanical processing is performed by the mechanism shown in FIG. 1, and designation of bolts and the like are performed by an operator.

A2. The operator instructs the arithmetic processing unit 43 to perform "semi-automatic mode bolt extraction", operates the bogie operation lever and the attitude operation lever, and outputs the bolt to the target equipment 1. When the user sets the vision camera 14 to a desired position and orientation, monitors a display image on a CRT display (for displaying a captured image and an image obtained by processing the captured image) that can specify coordinates, and finds a bolt to be loosened or removed. Designate the center of the image (bolt image). In response to this designation, the arithmetic processing unit 43 displays an identification mark at the designated point, measures the distance between the designated point on the target equipment 1 and the camera 14, and places the point at the center of the field of view. Then, the camera 14 is driven such that the distance between the point and the camera 14 becomes the set distance for bolt identification. Then, by template (regular hexagon) matching, it is determined whether or not there is a bolt shape (regular hexagon) around the designated point. If the bolt shape is not recognized, the setting is performed centering on the point on the target equipment 1. The camera 14 is rotationally scanned (changed in position and orientation) while maintaining the distance to search for a direction in which the image around the point becomes a regular hexagon, and the change in the position and the like of the camera 14 is stopped there. Then, the position and orientation of the regular hexagonal object (= posture of the camera 14) are displayed on the input / output display CRT display in the above-described bolt information table format together with information indicating the end of bolt extraction. Further, information prompting the input of the processing contents regarding the bolt (the same information as the above-mentioned bolt information table) and processing to be executed next by the arithmetic processing unit 43 (bolt extraction / bolt processing)
Information that prompts the user to select is also displayed.

Here, the operator designates "bolt extraction", and operates the bogie control lever and the attitude control lever as necessary, so that the vision camera 14
Can be set to a desired position and orientation and the coordinates can be specified
When a display image on the T display (for displaying a photographed image and an image obtained by processing the photographed image) is monitored, and a bolt to be loosened or removed is found, the center of the image (bolt image) is designated. Similarly, another bolt is extracted, and the bolt information of the bolt information table is increased by one line. The same applies hereinafter, whereby the above-described A
1. A bolt information table similar to that in the case of "bolt extraction in fully automatic mode" is generated.

B2. When the operator specifies "Semi-automatic mode bolting", the arithmetic processing unit 43 sets the bolt information table to
Unprocessed (not loosened / removed) bolt N
o. The cursor is placed on the first rank (No. with the smallest number), and the line is flicker-displayed. When the operator inputs a cursor shift, the cursor and the flicker move sequentially in the backward order. When the operator inputs "execute", the line where the cursor is placed (volt N
o. On the basis of the information of i), the No. The information necessary for the processing (loosening / removing) of the volt i is generated and given to the control device 42 to permit interruption by the input boat (set an interrupt input response). Control device 42
The information given to the bolt size (socket N used)
o. & Tool body No. ), The position and orientation of the bolt to be processed, the processing details (loose / removed), the loosened length for loosening (corresponding to the bolt size), and the withdrawal length and accommodation position for removal (position on the bolt base 4) is there. Upon receiving this information, the control device 42 matches the given bolt size (the socket No. & tool body No. to be used) with the socket 37 and the tool body 30 currently mounted on the rotating mechanism 22. It is checked whether they do not match, and if they do not match, the positioning bar 11a is driven to the socket base 4s and the tool base 4t, and the tool main body 30 and / or the socket 37 are replaced with the specified one. Next, the mounted socket is driven to a specified position to set it in a specified posture, and the socket is aligned with the bolt, and then the tool body 30 is driven. Rotation drive is performed. In the case of removal, when a gap into which a robot finger (not shown) of the tool main body 30 enters opens between the bolt head and the outer surface of the target equipment, the robot finger is driven to close and the bolt head is closed. Support the lower surface of the part. Then, the loosening drive for the drawing length is further continued, and when the drawing length is exceeded, the loosening drive is stopped, the tool body 30 is driven to retreat, and the no. The drive is performed right above the position where i is given, and the bolt is lowered to the bolt base 4 in a vertical position (the head is up and the screw portion is hanging down).
That is, the robot finger is returned to the open position at a position higher than the upper surface of the base 4 by the pulling length (the restraining support of the bolt head is released). The control device 42 uses the processing information from the starting position immediately before the start of the loosening of the bolt to this point in the subsequent mounting of the bolt on the target equipment 1 in order to use the bolt No. Correspondingly, the data is stored in the data memory, and the ready is stored in the arithmetic processing unit 43.
Send to In response to this, the arithmetic processing unit 43 sets the No. of the bolt information table. Write the processing end information to i, C
The RT display displays a bolt information table and information prompting the operator to select a process (bolt extraction / bolt process) to be executed next, and waits for a new input.

In the above-described driving process of the tool main body 30, when an interrupt (operator interrupt) is input, the arithmetic processing unit 43 stops driving the tool main body 30 there, and then interrupts the operation. Until the release is input, the tool body 30 is input by inputting the input board, the bogie control lever, and the attitude control lever.
Drive. That is, the operator operates the bogie operation lever.
Is operated to drive the equipment on the trolley 11 (X, Y, Z drive of the tool body 30), and by operating the attitude control lever, the attitude of the tool body 30 is changed and loosened and rotated. When the driving is instructed, the hydraulic rotating mechanism of the tool main body 30 is driven while the instruction (key depression) is given, and the tool main body 30 is similarly turned at a speed corresponding to the bolt size. (In the direction opposite to the direction in which it is located), and performs an input corresponding drive in response to an operation input or the like for removal. The operator receives the bolt no. Loosen or remove i to the required length, place it on bolt stand 4, and when it is finished, enter interrupt release. The arithmetic processing unit 43
In response to the release of the interrupt, the No. of the bolt information table is set.
Write the processing end information to i. The control device 42 stores the processing information from the starting position immediately before the start of loosening of the bolt to this point in the data memory corresponding to the bolt number in order to use the processing information for re-installing the bolt to the target equipment 1 thereafter. .

The above-mentioned A1, A2, B1 and B2
(A1 and / or A2 and B1 and / or B2), for example, the bolts leaking out in the A1 mode can be removed in the A2 mode.
In the A1 mode, when the camera 14 is likely to touch the target equipment 1 in the A1 mode, the camera is carefully operated one by one by the operator intervention. In the extraction and B1 mode, if there is an error in the designation of the removal of the bolts or an error in the removal order, there is a concern that the target equipment 1 may be disassembled in the middle and may be lost. Operate according to the situation
For example, by stopping the process appropriately in the middle of the process due to the interruption of the data and restarting the process while watching the situation, the degree of freedom of bolt extraction is high, and the safety of loosening / removing the bolt is enhanced.

In the embodiment described above, the rotating mechanism 22,
Since the rotation range of 25 is within the range of 180 degrees around the rotation center axis, for example, it is difficult to extract and detect the position of the bolt whose head contacts the downward horizontal surface of the target facility, and it is difficult to loosen / tighten the bolt. . In order to apply to these bolts, a turntable is mounted on the carry-in truck 3 so that the target equipment 1 is mounted thereon, and the positioning bar 11a is provided.
The bolt processing equipment shown in FIG. In this case, the bolts on the four side surfaces of the target equipment 1 can be processed by rotating the turntable, and the bolts on the upper surface can be processed, as well as the downward horizontal surface excluding the bottom surface (outward from the side surface). The bolts on the lower surface of the protruding part) can also be processed.

[0037]

As described above, according to the present invention, the work of loosening and tightening the bolts can be performed without human intervention, so that the worker is forced to perform dangerous work under heavy muscles. In particular, it is possible to automatically perform the work of loosening and removing the bolt, which has conventionally had to rely on a manual operation, and it has a remarkable effect also in terms of safety.

[Brief description of the drawings]

FIG. 1 is a front view showing the appearance of a mechanism according to an embodiment of the present invention.

FIG. 2 is a block diagram showing functional divisions of an electric system in the embodiment shown in FIG.

FIG. 3 is an enlarged sectional view of a connecting portion between the tool body 30 and the rotating mechanism 22 shown in FIG.

FIG. 4 is a sectional view of a coupling portion between the tool body 30 and the socket 37 shown in FIG.

[Explanation of symbols]

 1: Applicable equipment 2: Bolt 3: Carrying vehicle 4: Bolt table 10: Frame 11: Tool moving vehicle 12: Camera moving vehicle 13: Tool unit 14: Vision camera 15: Lighting device 21: Tool turning mechanism 22: Tool reversing mechanism 24: Camera turning mechanism 25: Camera reversing mechanism 30: Tool body 31: Output shaft 32: Tool flange 33: Insertion shaft 34: Connection flange 35: Fixing pin 36: Cylinder 37: Socket 38: Ball plunger 40: Peripheral device 41 : Image processing device 42: Control device 43: Operation processing device

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-4-269181 (JP, A) JP-A-5-111832 (JP, A) JP-A-62-136325 (JP, A) 109821 (JP, U) (58) Field surveyed (Int. Cl. ⁶ , DB name) B23P 19/06 B25B 23/14 630

Claims (3)

(57) [Claims] 1. An automatic bolt attachment / detachment device for loosening and removing a bolt from a target facility into which the bolt is screwed, or fastening the bolt to the target facility, the socket having a socket for fitting the bolt at a tip end portion, Loosening / tightening means provided rotatably in both forward and reverse directions; bolt recognizing means for recognizing the position and size of the bolt; moving means for moving and positioning the bolt loosening / tightening means and the bolt recognizing means; Control means for determining the position of the bolt loosening / tightening means relative to the bolt based on the posture information of the bolt and the position information of the bolt recognized by the bolt recognition means, and positioning the bolt. apparatus. 2. The automatic bolt attaching / detaching apparatus according to claim 1, wherein the bolt loosening / tightening means includes a mechanism for attaching / detaching a bolt loosening / tightening tool corresponding to the size of the bolt recognized by the bolt recognition means. 3. The automatic bolt attaching / detaching apparatus according to claim 1, wherein the bolt loosening / tightening means includes a mechanism for attaching / detaching a socket corresponding to the size of the bolt recognized by the bolt recognizing means.