JP4851923B2 - Member attachment / detachment method and apparatus - Google Patents

Description

  The present invention relates to a member attaching / detaching method and apparatus.

  For example, the member attaching / detaching device includes a member attaching / detaching means for attaching / detaching a member and an extruding means for pushing the member attaching / detaching means in the direction of the member attaching / detaching position. In this type of member attaching / detaching device, the pushing means pushes the member attaching / detaching means toward the member attaching / detaching position, and attaches the member to the attaching / detaching position. Such a technique is described in Patent Documents 1 and 2, for example.

JP 2001-179553 A JP-A-5-237729

  By the way, the member attaching / detaching device described in Patent Document 1 includes a switching unit, and after switching the member attaching / detaching unit by rotating the switching unit, the member is attached to the member attaching / detaching position. No detection means is provided. Therefore, there is a problem that the member cannot be attached when the attachment / detachment position of the member is deviated from a predetermined position.

  The member attaching / detaching device described in Patent Document 2 includes a moving means for moving the member attaching / detaching means in the vicinity of the member attaching / detaching position, and an optical detecting means for optically detecting the member attaching / detaching position. After detecting the attachment / detachment position of the member by the detection means, the moving means moves the member attachment / detachment means in the vicinity of the attachment / detachment position of the member based on the detection result.

  Specifically, the moving means moves the member attaching / detaching means by a moving distance of a value obtained by adding a reference moving value based on a difference in installation position between the optical detecting means and the member attaching / detaching means and a correction value based on the detection result. . For this reason, the number of position correction processes increases, and the accuracy of position correction deteriorates. Further, since the moving distance of the moving means becomes long, there is a problem that the time for position correction becomes long.

  The present invention has been made in order to solve the above-described conventional problems. The object of the present invention is to allow the member to be attached / detached even when the attachment / detachment position of the member is deviated from a predetermined position. Another object of the present invention is to provide a member attaching / detaching method and apparatus capable of improving the accuracy of position correction and shortening the time for position correction.

Member attachment apparatus of the present invention includes a moving means, a switching means which is rotatable by a motor for the movement means, provided in said switching means, a plurality of movable back and forth along with the attaching and detaching the threaded member A member attaching / detaching means, a single optical detecting means provided on the switching means for optically detecting the attaching / detaching position of the screw member, and a forward means when the member attaching / detaching means is positioned on a predetermined axis. And an extruding means for extruding the member attaching / detaching means forward, and the extruding means is detachable from a rear end portion of the member attaching / detaching means when pushing out the member attaching / detaching means. engages, the comprises a single rotary drive means being rotatable member connecting unit, wherein the plurality of members detachable means and said single optical detection means, disposed substantially on the same circumference, said plurality Material wearing Means extends toward the extrusion means side from the switching means, said motor and said feeding means is arranged inside the arrangement of said plurality of members detachable means and said optical detection means, said optical detection means In a state where the optical axis is substantially coincident with the predetermined axis, the optical detection means optically detects the attachment / detachment position of the screw member, and then the switching means rotates to rotate the predetermined one of the plurality of member attachment / detachment means. The member attaching / detaching means is disposed on the predetermined shaft, and then the push-out means pushes the predetermined member attaching / detaching means in the predetermined axial direction, and the rotation driving means rotates the member attaching / detaching means, thereby the screw. A member is attached and detached.

By comprising in this way, since an optical detection means is provided, even when the attachment or detachment position of a member has shifted | deviated from the predetermined position, a member can be attached or detached. Further, the switching means rotates to move the member attaching / detaching means to a position where the movable direction of the member attaching / detaching means and the predetermined axis substantially coincide with each other. As a result, it is only necessary to perform position correction processing so that the attachment / detachment position moves to a position that substantially coincides with a predetermined axis, so the number of position correction processing can be reduced, and the accuracy of position correction is increased. Can do. Further, since the moving distance of the moving unit can be shortened when the position of the moving unit is corrected, the time for position correction can be shortened. Further, the screw member can be tightened by rotating the member attaching / detaching means. Moreover, even if it has a rotation drive means, since only one rotation drive means is sufficient, the weight of a member attaching / detaching apparatus can be made light. As a result, since a large number of fastening means can be provided up to the limit of the transportable weight of the moving means, a large number of members can be fastened with a single delivery. In addition, since a plurality of members to be tightened by one device can be held and the number of devices can be minimized, the cost of the member attaching / detaching device can be reduced, and the degree of freedom of arrangement of the member attaching / detaching device can be reduced. Can be increased.

Here, it is preferable that a plurality of the member attaching / detaching means are provided, and the plurality of member attaching / detaching means are arranged on the substantially same circumference.

  By configuring in this way, the delivery time of the member to be attached / detached can be shortened, so that a series of member attaching / detaching operations can be performed efficiently. Further, even if a plurality of member attaching / detaching means are provided, only one pushing means is required, so that the weight of the member attaching / detaching device can be reduced. As a result, since a large number of member attaching / detaching means can be provided up to the limit of the transportable weight of the moving means, a large number of members can be attached and detached with a single delivery. In addition, since a plurality of members that can be attached to and detached from one device can be held, and the number of devices can be minimized, the cost of the member attaching and detaching devices can be reduced, and the degree of freedom in arranging the member detaching devices. Can be increased.

Here, the screw member refers to a member in which several grooves are engraved on the side surface of a cylinder in a spiral shape, and is a member used to fasten and fix an object. Examples of screw members include bolts, screws, and tapping screws.

Member mounting method of the present invention includes a moving means, a switching means which is rotatable by a motor for the movement means, provided in said switching means, a plurality of movable back and forth along with the attaching and detaching the threaded member A member attaching / detaching means, a single optical detecting means provided on the switching means for optically detecting the attaching / detaching position of the screw member, and a forward means when the member attaching / detaching means is positioned on a predetermined axis. And an extruding means for extruding the member attaching / detaching means forward, and the extruding means is detachable from a rear end portion of the member attaching / detaching means when pushing out the member attaching / detaching means. In the member attaching / detaching device provided with a single rotation driving means that can rotate the member attaching / detaching means, the plurality of member attaching / detaching means and the single optical detecting means are substantially on the same circumference. Is location, the plurality of members detachable means extends toward the extrusion means side from the switching means, said motor and said feeding means, the inner side of the array of the plurality of members detachable means and said optical detection means In the state where the optical axis of the optical detection means is arranged and substantially coincides with the predetermined axis, the optical detection means optically detects the attachment / detachment position of the screw member, and then the switching means rotates. A step of disposing a predetermined member attaching / detaching means of the plurality of member attaching / detaching means on the predetermined axis, a step of the pushing means pushing the predetermined member attaching / detaching means in the predetermined axial direction, and the rotation And a step of attaching / detaching the screw member by rotating the member attaching / detaching means.

  According to the first aspect of the present invention, the member can be attached / detached even when the attaching / detaching position of the member is deviated from the predetermined position. Further, the number of position correction processes can be reduced, and the accuracy of position correction can be increased. Furthermore, the time for position correction can be shortened.

  According to invention of Claim 2, a series of member attachment / detachment work can be performed efficiently. Further, the weight of the member attaching / detaching device can be reduced. As a result, a large number of members can be attached and detached with one delivery. Moreover, the expense concerning a member attaching / detaching apparatus can be reduced, and the freedom degree of arrangement | positioning of a member attaching / detaching apparatus can be raised.

  According to invention of Claim 3, the member which has a screw structure can be clamp | tightened. Further, the weight of the member attaching / detaching device can be reduced. As a result, a large number of members can be attached by one delivery. Moreover, the expense concerning a member attaching / detaching apparatus can be reduced, and the freedom degree of arrangement | positioning of a member attaching / detaching apparatus can be raised.

  Embodiments of the present invention will be described below with reference to the drawings.

(overall structure)
FIG. 1 is a diagram illustrating an example of an outline of a screw tightening device 1 according to an embodiment of the present invention. FIG. 2 is a diagram showing an example of the outline in the vicinity of the fastening socket 230. FIG. 1 shows a screw tightening device 1. The screw tightening device 1 includes a robot 100, a socket switching mechanism 200, a feed mechanism 300, and a tightening nut runner 400. Here, the symbol X is the axis of the rotating part 410 of the tightening nut runner 400. Reference symbol Y denotes the optical axis of the sensing unit 240. Further, the symbol Z is an axis of the fastening socket 230.

  The robot 100 includes a robot arm unit 110 and a robot mounting bracket 120. The robot 100 moves the sensing unit 240 to the vicinity of the mounting position of the screw S by the action of a control device and a driving device (not shown). The robot arm unit 110 includes a plurality of rod-shaped members and a plurality of joints, and guides a socket 231 to be described later while avoiding an obstacle at the mounting position of the screw S. A pair of robot mounting brackets 120 are provided on the left and right of the tightening nut runner 400 at the front end of the robot arm 110 and viewed from the front of the screw tightening device 1 (left direction in FIG. 1). The mechanism 300 is connected.

  The socket switching mechanism 200 is provided on the distal end side of the robot arm unit 110 via the robot mounting bracket 120, and includes a socket switching motor 210, a socket folder 220, a tightening socket 230, and a sensing unit 240. The socket switching mechanism 200 moves the fastening socket 230 to a position where the axis Z and the axis X substantially coincide with each other by rotating in the arrow A direction or the arrow B direction. Further, after moving the tightening socket 230, the socket switching mechanism 200 moves the sensing unit 240 to a position where the optical axis Y and the axis X substantially coincide with each other by rotating in the arrow A direction or the arrow B direction.

  The socket switching motor 210 is fixed to the robot mounting bracket 120, and is controlled and driven to move the socket folder 220 connected to the tip of the socket switching motor 210 in the direction of arrow A or arrow B. Rotate to The details of the socket switching motor 210 will be described later.

  The socket folder 220 is provided at the tip of the socket switching motor 210 and is formed into a substantially cylindrical body. Six clamping sockets 230 and one sensing member are formed around the member molded into the cylindrical body. Unit 240 is provided. Note that the socket folder 220 is provided with a fastening socket 230 in a detachable manner.

  The tightening socket 230 is provided in the socket folder 220, and includes a socket 231 at the tip of the tightening socket 230, and the socket 231 holds the screw S. Further, the tightening socket 230 is movable in the axis Z direction by the action of the feed mechanism 300. Six clamping sockets 230 are provided, and all the clamping sockets 230 are arranged on substantially the same circumference. The details of the tightening socket 230 will be described later.

  The sensing unit 240 is provided in the socket folder 220, and is disposed on substantially the same circumference as the fastening socket 230 and at a position where the optical axis Y and the axis X substantially coincide with each other in FIG. In addition, the sensing unit 240 includes a CCD camera, and an image taken by the CCD camera is analyzed by an image analysis device (not shown) to detect the mounting position of the screw S. Then, the sensing unit 240 optically detects the attachment position of the screw S in a state where the optical axis Y and the axis X are arranged at substantially the same position. Based on the detection result, the position of the robot 100 is corrected.

  As an example of this correction operation, a control device (not shown) compares the position data of the mounting position of the screw S detected by the sensing unit 240 with the position data of the optical axis Y to obtain a correction value, and uses the correction value as the correction value. An example in which the robot 100 is moved to a position where the attachment position of the screw S and the optical axis Y substantially coincide with each other can be given.

  The feed mechanism 300 is connected and fixed to the robot mounting bracket 120 and is controlled and driven to advance (retract from the left in FIG. 1) and retract the tightening nut runner 400 provided in the feed mechanism 300. (Right direction in FIG. 1). Therefore, the feed mechanism 300 pushes the socket 231 forward (leftward in FIG. 1) via the tightening nut runner 400 and moves it backward. Details of the feed mechanism 300 will be described later.

  The tightening nut runner 400 is provided in the feed mechanism 300 and is arranged behind the sensing unit 240 (rightward in FIG. 1) in FIG. The tightening nut runner 400 is moved forward by the action of the feed mechanism 300, whereby the rotating part 410 and the joint part 236 are coupled, and then the rotating part 410 is rotated to rotate the socket 231 in the direction of arrow C. Tighten the screw S to the mounting position.

  The tightening nut runner 400 stops the rotation of the rotating portion 410 when the tightening torque becomes a predetermined value or more when the tightening nut runner 400 is tightening the screw S to the mounting position. On the other hand, when the tightening nut runner 400 is tightening the screw S at the mounting position, if the tightening torque does not exceed a predetermined value and a certain time elapses, the screw S is not tightened at the mounting position. The operation ends.

  In FIG. 1, the rotation unit 410 is arranged behind the sensing unit 240 (right direction in FIG. 1). The distal end of the rotating portion 410 is divided into four, and the divided distal ends are each formed into a substantially convex shape having a tapered shape. The rotating part 410 moves forward by the action of the feed mechanism 300, is coupled to the joint part 236, and then rotates the rotating part 410 to tighten the screw S to the attachment position. At this time, the unevenness of the rotating part 410 meshes with the unevenness of the joint part 236, and the rotational force of the rotating part 410 is transmitted to the joint part 236.

  Here, when the rotating part 410 moves forward and couples with the joint part 236, even if the convex part of the rotating part 410 and the convex part of the joint part 236 come into contact, the convex part of the rotating part 410 and the convex part of the joint part 236 are Since it has a taper shape, when the rotating part 410 further advances, the joint part 236 rotates, and the unevenness of the rotating part 410 can mesh with the unevenness of the joint part 236.

(Configuration of tightening socket 230)
The detailed configuration of the fastening socket 230 will be described mainly with reference to FIG. The tightening socket 230 includes a socket 231, a socket bit part 232, a floating mechanism 233, a socket feed mechanism 234, a socket return mechanism 235, a joint part 236, and a rotating shaft 237.

  The socket 231 is disposed in front of the tightening socket 230 (leftward in FIG. 2), holds the screw S, and tightens the screw S at a predetermined position by the action of the tightening nut runner 400. Since the socket 231 is formed of a magnet for holding the screw S, the socket 231 can be easily held by magnetic force when holding the screw S, and can be easily separated after the screw S is tightened. The socket bit unit 232 holds the socket 231. Since the socket bit part 232 is detachably holding the socket 231, the socket 231 can be exchanged according to the member to be tightened and an appropriate member can be tightened.

  The floating mechanism 233 includes a spring 233a, and presses the socket 231 forward and absorbs an overload on the screw S caused by being pushed by the feed mechanism 300. The socket feed mechanism 234 includes a ball spline 234a, and causes the rotary shaft 237 to linearly move and transmit the rotational force. Thereby, the rotating shaft 237 moves back and forth and rotates, and the socket 231 moves back and forth via the rotating shaft 237 and rotates.

  The socket return mechanism 235 includes a spring 235a. After the screw S is tightened, when the tightening nut runner 400 is retracted (rightward in FIG. 2) by the action of the feed mechanism 300, the socket 231 is retracted accordingly. In FIG. 1, the spring 235a is omitted. The joint portion 236 is disposed behind the tightening socket 230 (right direction in FIG. 2), is coupled to the rotating portion 410 of the tightening nut runner 400, and transmits the rotational force of the rotating portion 410 to the rotating shaft 237.

(Configuration of socket switching motor 210)
The detailed configuration of the socket switching motor 210 will be described mainly with reference to FIG.

  The socket switching motor 210 has a lower surface of the socket switching motor 210 fixed to a feed cylinder 310 described later. That is, the socket switching motor 210 is fixed to the robot mounting bracket 120 via the feed cylinder 310. The socket switching motor 210 includes a servo motor 211 and a speed reducer 212. The servo motor 211 generates power according to a control signal of a servo mechanism (not shown), and is controlled and driven. Examples of the servo motor 211 include an electric motor, a hydraulic motor, and a pneumatic motor. The speed reducer 211 reduces the rotational speed of the servo motor 211 to a speed suitable for rotating the socket folder 220.

  The socket switching motor 210 rotates the socket folder 220 from the state in which the optical axis Y and the axis X substantially coincide with each other within the range of 180 degrees in the direction of the arrow A and the direction of the arrow B by the action of the servo motor 211. With this configuration, when switching to the first tightening socket 230 when rotated in the direction of arrow A, it is only necessary to rotate slightly in the direction of arrow A, and tighten about 1 turn in the direction of arrow B. There is no need to switch to socket 230. Therefore, the efficiency of the screw S mounting operation can be increased.

(Configuration of feed mechanism 300)
A detailed configuration of the feed mechanism 300 will be mainly described with reference to FIG.

  The feed mechanism 300 includes a pair of feed cylinders 310 and a pair of slide guides 320. One of the pair of feed cylinders 310 is fixed to the side surface of the robot mounting bracket 120 on the right side of the tightening nut runner 400 when the right side portion of the feed cylinder 310 is viewed from the front of the screw tightening device 1 (left direction in FIG. 1). . The other of the pair of feed cylinders 310 is fixed to the side surface of the robot mounting bracket 120 on the left side of the tightening nut runner 400 when the left side portion of the feed cylinder 310 is viewed from the front of the screw tightening device 1 (left direction in FIG. 1). ing. That is, the feed cylinders 310 are fixed to the opposing side surfaces of the pair of robot mounting brackets 120, respectively.

  Each pair of feed cylinders 310 includes a piston 311 and moves the piston 311 back and forth. When the piston 311 moves back and forth, the tightening nut runner 400 provided in the feed mechanism 300 moves back and forth.

  The pair of slide guides 320 are fixed to the same positions as the pair of feed cylinders 310, that is, the side surfaces facing the pair of robot mounting brackets 120. As for a pair of slide guide 320, each slide guide 320 is provided with the slide support | pillar 321, and the opening part 322 is provided. Then, the slide column 321 is inserted into the opening 322 of the slide guide 320 and slides back and forth, thereby assisting the operation of the tightening nut runner 400 provided in the feed mechanism 300 moving back and forth.

  Since the socket switching mechanism 200 and the feed cylinder 310 are fixed to the mounting bracket 120, the tightening nut runner 400 provided in the feed mechanism 300 is moved back and forth with respect to the socket switching mechanism 200 by the action of the feed cylinder 310. . As a result, the feed mechanism 300 pushes the socket 231 forward and retracts it.

(Operation example)
Next, an example of the tightening operation of the screw tightening device 1 having the above configuration will be described with reference to the drawings. FIG. 3 is a diagram in which the socket folder 220 is rotated in the arrow A direction. FIG. 4 is a diagram in which the feed mechanism 300 is advanced. FIG. 5 is a view in which the feed mechanism 300 is retracted.

  As an initial setting, as shown in FIG. 1, the sensing unit 240 is disposed at a position where the optical axis Y and the axis X substantially coincide. First, the robot 100 controlled by a control device (not shown) moves to the vicinity of the first attachment position of the screw S while avoiding an obstacle. When the sensing unit 240 moves to the vicinity of the first attachment position, the first attachment position is optically detected because the first attachment position can be confirmed in the field of view of the sensing unit 240.

  Based on the detection result of the sensing unit 240, a control device (not shown) corrects the position of the robot 100. While correcting the position, as shown in FIG. 3, the socket switching motor 210 rotates the socket folder 220 in the direction of arrow A, and moves the arrow Z direction to the position where the axis Z and the axis X substantially coincide with each other. The first fastening socket 230 is moved when it is rotated.

  After moving the tightening socket 230, as shown in FIG. 4, the rotating portion 410 of the tightening nut runner 400 moves forward in the direction of arrow D by the action of the feed mechanism 300 and is coupled to the joint portion 236 and screwed together with the socket 231. S is pushed out to the first mounting position. Then, the rotating portion 410 of the tightening nut runner 400 rotates in the direction of arrow C, and the screw S is tightened at the first mounting position. When the screw S is tightened, if the tightening torque becomes equal to or greater than a predetermined value, the rotation of the rotating portion 410 stops and the tightening of the screw S is finished.

  After the screw S is tightened to the first attachment position, as shown in FIG. 5, the rotating portion 410 of the tightening nut runner 400 is retracted in the direction of arrow E by the action of the feed mechanism 300, and the socket 231 is accordingly accompanied. fall back. When the tightening nut runner 400 is moved to a position before being pushed out, the socket folder 220 is rotated and the sensing unit 240 is moved to the initial setting position.

  Thereafter, the robot 100 controlled by the control device (not shown) moves to the vicinity of the second attachment position of the screw S while avoiding the obstacle. When the sensor unit 240 moves to the vicinity of the second attachment position, the sensing unit 240 detects the second attachment position, and this time, the socket folder 220 rotates in the arrow B direction, and the arrow B moves to a position where the axis Z and the axis X substantially coincide with each other. The first clamping socket 230 when moved in the direction is moved. Then, the screw S is tightened to the second attachment position. Thereafter, the tightening operation as described above is repeated a plurality of times for the other screws S, the other screws S are tightened to a predetermined mounting position, and the tightening operation of the screw tightening device 1 is completed.

  In this embodiment, in a state where the optical axis Y of the sensing unit 240 is substantially coincident with the axis X, the sensing unit 240 optically detects the mounting position of the screw S, and the socket switching mechanism 200 rotates to tighten the tightening socket 230. The direction in which the movement is possible substantially coincides with the axis X, and the tightening nut runner 400 provided in the feed mechanism 300 pushes out the tightening socket 230 to tighten the screw S.

  According to this embodiment, since the sensing unit 240 is provided, the screw S can be tightened even when the mounting position of the screw S is deviated from a predetermined position. Further, since it is only necessary to perform the position correction process so that the attachment position moves to a position substantially coincident with the axis X, the number of position correction processes can be reduced, and the position correction accuracy can be increased. . Further, since the movement distance of the robot 100 can be shortened when the position of the robot 100 is corrected, the time for position correction can be shortened.

(Other embodiments)
The present invention is not limited to the above-described embodiment, and may be a device that removes attached members, for example. In this case, when the attached member is a screw S, the screw S attached by the sensing unit 240 is detected, and the rotating unit 410 that has been rotated in the direction of arrow C in FIG. Remove S.

  Moreover, this invention is not limited to the said embodiment, For example, the apparatus which is not equipped with the clamping nut runner 400 may be sufficient. In this case, the attachment / detachment member includes a nail, a hook, and the like, and is configured to be attached by pressing the member to the attachment / detachment position or removed from the attachment / detachment position.

  In addition, the present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, the robot 100 that is an example of a moving unit can move in three directions, that is, the X-axis direction, the Y-axis direction, and the Z-axis direction. There may be a moving means that moves only in one axial direction or moves only in two axial directions.

  Further, the present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, the socket folder 220 includes six fastening sockets 230. However, the number of screws S to be attached and the robot 100 are portable. Any number of clamping sockets 230 may be provided based on weight limitations or the like.

  The present invention is not limited to the above embodiment. For example, in the above embodiment, the socket bit portion 232 of the fastening socket 230 holds the socket 231, but the socket bit portion uses a tool such as a screwdriver. It is good also as a structure to hold | grip. In this case, the screw S temporarily tightened at the mounting position is tightened.

  The present invention can be used, for example, as an improved technique for an apparatus for attaching and detaching members.

It is a figure which shows an example of the outline | summary of a screw fastening apparatus. It is a figure which shows an example of the outline | summary of a clamping socket vicinity. It is the figure which rotated the socket folder in the arrow A direction. It is the figure which advanced the feed mechanism. It is the figure which made the feed mechanism retreat.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Screw fastening apparatus, 100 ... Robot (moving means) , 200 ... Socket switching mechanism (switching means) , 230 ... Fastening socket (member attaching / detaching means), 240 ... Sensing unit, 300 ... Feed mechanism (pushing means) , 400 ... Tightening nut runner (rotation drive means) , S ... screw, X ... axis, Y ... optical axis.

Claims (4)

Transportation means;
A switching means which is rotatable by a motor for the movement means,
A plurality of member attaching and detaching means provided on the switching means, wherein the screw member is attached and detached and movable back and forth;
A single optical detection means provided on the switching means for optically detecting the attachment / detachment position of the screw member;
The member attaching / detaching means is moved forward by a feeding means when the member attaching / detaching means is located on a predetermined axis , and thereby, the member attaching / detaching means is pushed forward, and includes an extruding means,
The push-out means includes a single rotation drive means that is detachably engaged with a rear end portion of the member attachment / detachment means when the member attachment / detachment means is pushed out, and is capable of rotating the member attachment / detachment means.
The plurality of member attaching / detaching means and the single optical detecting means are arranged on substantially the same circumference,
The plurality of member attaching / detaching means extend from the switching means toward the pushing means side,
The motor and the feeding means are arranged inside an array of the plurality of member attaching / detaching means and the optical detecting means,
In a state where the optical axis of the optical detection means is substantially coincident with the predetermined axis, the optical detection means optically detects the attachment / detachment position of the screw member, and then the switching means rotates to attach / detach the plurality of members. The predetermined member attaching / detaching means is arranged on the predetermined shaft, and then the pushing means pushes the predetermined member attaching / detaching means in the predetermined axial direction, and the rotation driving means rotates the member attaching / detaching means. A member attaching / detaching device characterized by attaching and detaching the screw member. A robot mounting bracket attached to a robot arm, the robot mounting bracket being inserted inward from a rear end opening of the array of the plurality of member attaching / detaching means and the optical detecting means, and supporting the motor and the feeding means; The member attaching / detaching device according to claim 1, wherein: Transportation means;
A switching means which is rotatable by a motor for the movement means,
A plurality of member attaching and detaching means provided on the switching means, wherein the screw member is attached and detached and movable back and forth;
A single optical detection means provided on the switching means for optically detecting the attachment / detachment position of the screw member;
The member attaching / detaching means is moved forward by a feeding means when the member attaching / detaching means is located on a predetermined axis , and thereby, the member attaching / detaching means is pushed forward, and includes an extruding means,
The push-out means is a member attaching / detaching device provided with a single rotation driving means that is detachably engaged with a rear end portion of the member attaching / detaching means when the member attaching / detaching means is pushed out. In
The plurality of member attaching / detaching means and the single optical detecting means are arranged on substantially the same circumference,
The plurality of member attaching / detaching means extend from the switching means toward the pushing means side,
The motor and the feeding means are arranged inside an array of the plurality of member attaching / detaching means and the optical detecting means,
The optical detection means optically detecting the attachment / detachment position of the screw member in a state where the optical axis of the optical detection means is substantially coincident with the predetermined axis;
Then, the step of rotating the switching means and disposing a predetermined member attaching / detaching means among the plurality of member attaching / detaching means on the predetermined axis;
Next, the pushing means pushes the predetermined member attaching / detaching means in the predetermined axial direction;
And a step of attaching / detaching the screw member by rotating the member attaching / detaching means. A robot mounting bracket attached to a robot arm, the robot mounting bracket being inserted inward from a rear end opening of the array of the plurality of member attaching / detaching means and the optical detecting means, and supporting the motor and the feeding means; The member attaching / detaching method according to claim 3, wherein:

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