JP5864296B2 - Fastening member removing device and fastening member removing method - Google Patents

Description

  The present invention relates to an improvement in a technique for removing a fastening member.

  A technique is known in which a socket holding a screw removed from a workpiece is brought close to a fastening member removing device and a screw held in the socket is removed (for example, Patent Document 1 (FIGS. 4 to 5 and FIGS. 7 to 7). See 9).).

  As shown in FIGS. 4 to 5 of Patent Document 1, the fastening member removing device (1) (the numbers in parentheses indicate the reference numerals described in Patent Document 1. The same applies hereinafter), the plate-shaped member (100), and this A plurality of openings (101) opened in the plate-like member (100) and a pair of gripping members (120) provided in these openings (101) are the main elements. In addition, a fastening device including a plurality of sockets (231) is attached to the tip of the robot arm portion (201a) as a conveying means.

  As shown in FIGS. 7 to 9 of the same document, the socket (231) holding the removed fastening member (S) is inserted into the opening (101) from above and a pair of grips provided in the opening (101). After being held by the member (120), the socket (231) is then pulled up to hook and hold the threaded portion of the fastening member (S) on the gripping member (120). The fastening member (S) held by the gripping member (120) is discharged downward by applying the next fastening member (S) to the gripping member (120) and expanding the gripping member (120).

  By the way, in the technology of Patent Document 1, the fastening member (S) held by the socket (231) is moved horizontally to the upper position of the fastening member removing device (1), and then the shaft of the fastening member (S) is moved. It is lowered in a downward posture and is held by the holding member (120) of the fastening member removing device (1). Thus, the fastening member removing device (1) and the socket (231) are separated from each other. For this reason, the operation | movement which moves a socket (231) and approaches the fastening member removal apparatus (1) of a fixed side is required. Therefore, there is a possibility that the movement time for bringing the socket (231) closer to the fastening member removing device (1) increases. There is a need for a technique that can increase efficiency by performing the work of removing the fastening member in a shorter time.

Japanese Patent No. 4484862

  This invention makes it a subject to provide the technique which can improve the efficiency of a removal operation | work by performing the removal operation | work of a fastening member in a shorter time.

The invention according to claim 1 has a socket for removing the fastening member formed with the screw groove from the member to be fastened, and transports the removed fastening member in a state of being accommodated in the socket; A first receiving means having a magazine for receiving and holding a fastening member, and a second carrying means for carrying the magazine containing the fastening member to a predetermined position; and an insertion hole into which the fastening member is inserted; , a temporary holding a movable claw fastening member takes the magazine into the screw groove of the fastening device inserted in the insertion hole includes et is, the movable pawl, a pawl portion which corresponds to the screw groove on one end, the other end And a torsion spring that urges the claw portion toward the side holding the fastening member, and is supported swingably around the shaft portion provided in the magazine. When adding The holding of the fastening member inserted into the insertion hole is released, and on the axis of the insertion hole of the magazine, the end of the fastening member inserted into the insertion hole in the magazine is pressed to disengage the fastening member from the insertion hole. A pressing mechanism for biasing in the direction is provided .

The invention according to claim 2 is the invention according to claim 1, wherein the pressing mechanism has a biasing shaft that biases the fastening member, and has a flange that is larger than the biasing shaft at an end of the biasing shaft, The sensor part which detects the state by which the fastening member was inserted in the insertion hole adjacent to the collar part is provided, It is characterized by the above-mentioned.

According to a third aspect of the present invention, in the fastening member removing method implemented using the fastening member removing device according to the first aspect, the step of moving the first conveying means, engaging the socket with the fastening member, and removing the fastening member; , A step of moving the socket of the first transport means and / or the magazine of the second transport means for holding the removed fastening member, and inserting and holding the fastening member in the insertion hole of the magazine, and the magazine of the second transport means And a step of discharging the fastening member at a predetermined position.

  According to the first aspect of the present invention, the fastening member removing device includes a first conveying means having a socket capable of accommodating the fastening member, and a magazine capable of receiving and holding the fastening member accommodated in the socket. Conveying means. That is, both the socket and the magazine can move.

  When the magazine is fixed in one place and only the socket moves, it is necessary to move the socket holding the fastening member to the fastening member removing device and to direct the socket and the fastening member removing device to a position facing each other. there were. Depending on the moving distance and direction to the fastening member removing device, there is a possibility that the time required for removing the fastening member may increase.

  In this regard, in the present invention, the first transport unit and the second transport unit are arranged close to each other and arranged so as to be relatively movable, thereby reducing the movement distance. Further, if the second transport unit is arranged in a position facing the socket in advance, there is no need to change the orientation of the socket of the first transport unit. As a result, the fastening member can be removed in a shorter time.

In the present invention, the movable claw has a claw portion, an operation portion, and a torsion spring, and when an external force is applied to the operation portion, the holding of the fastening member inserted into the insertion hole is released. When an external force is applied to the operation unit, the movable claw that holds the fastening member swings to release the holding of the fastening member. As a result, the fastening member in the socket can be easily held in the magazine of the fastening member removing device, and can be easily removed from the magazine when necessary.

Further, according to the present invention, the magazine is provided with a pressing mechanism that urges the fastening member in a direction to remove from the insertion hole when an external force is applied to the operation portion of the movable claw and the holding of the fastening member is released. Since the fastening member inserted into the insertion hole is biased in the direction away from the insertion hole, the fastening member inserted into the insertion hole can be freely removed from the magazine when the fastening member is removed. Can be removed. The fastening member held in the insertion hole of the magazine can be automatically removed from the magazine simply by moving the second transport means to a predetermined location and applying an external force to the operation portion. As a result, the efficiency of removal can be further increased.

According to a third aspect of the present invention, in the fastening member removing method implemented using the fastening member removing apparatus according to the first aspect, the socket of the first conveying means and / or the magazine of the second conveying means that holds the removed fastening member. And a step of inserting and holding a fastening member in the insertion hole of the magazine. By moving the socket of the first transport means and / or the magazine of the second transport means and holding the fastening member in the insertion hole of the magazine, the fastening member removal work can be efficiently performed without human intervention. Can be implemented well. Therefore, according to the present invention, it can be applied to a vehicle assembly line that has been difficult to apply in the past because of a large restriction in terms of tact time.

FIG. 1A is a view for explaining a method of removing a fastening member (FIG. 1A is a view in which a socket of a first transport means is brought close to a fastening member and is removed from a fastened member, and FIG. FIG. 1 (c) is a view of discharging the fastening member held in the magazine. It is a top view of a fastening member removal apparatus. It is a side view of a fastening member removal apparatus. It is a perspective view of a fastening member removal apparatus. It is a figure explaining the shape of the nail | claw part of a movable nail | claw. It is a figure explaining the structure of a movable nail | claw. FIG. 7A is a diagram for explaining the operation of the fastening member removing device (FIG. 7A is a view in which the socket in which the fastening member is stored is brought close to the magazine, and FIG. 7B is a view in which the fastening member is inserted into the magazine). FIG. 8A is a diagram for moving the magazine holding the fastening member to the discharge basket, and FIG. 8B is a diagram for removing the bolt by applying an external force to the operation portion of the movable claw. It is.

Embodiments of the present invention will be described with reference to the drawings. First, in order to facilitate understanding of the present invention, an outline of a fastening member removing device and a fastening member removing process will be described with reference to FIG.
As shown in FIG. 1 (a), the fastening member removing apparatus 10 includes a first conveying means (first arm 11) and a second conveying means (second arm 12) whose tips are freely movable vertically and horizontally. Including the double arm robot 13, the nut runner 16 attached to the tip 11 a of the first arm and capable of tightening or loosening the fastening member 21 of a predetermined size, and the fastening member 21 attached to the tip 12 a of the second arm from the nut runner 16. The magazine 20 is received and temporarily held. A socket 15 for holding a fastening member is attached to the tip of the nut runner 16.

Next, a fastening member removing process to which the fastening member removing device is applied will be described.
The socket 15 is held close to the fastening member 21 fastened to the member to be fastened (work W) in the direction of the arrow a1 in the figure, and the socket 15 is turned in the direction of the arrow a2 to remove the fastening member 21.

  Next, as shown in FIG. 1B, the direction of the socket 15 of the first arm 11 and the magazine 20 attached to the distal end 12a of the second arm are moved relative to each other so that the axis of the fastening member and the insertion hole The socket 15 and the magazine 20 are brought close to each other so as to coincide with each other, and the socket 15 holding the fastening member 21 in the direction of the arrow b is inserted into the magazine 20 and held by the socket 15. The fastening member 21 is transferred to the magazine 20 of the second arm 12.

  Next, as shown in FIG. 1 (c), the magazine 20 holding the fastening member 21 is moved to approach the discharge tray 29, and then the fastening member 21 held by the socket 15 is moved to the discharge tray 29. Discharge. The structure of the magazine in the fastening member removing device used for the fastening member removing operation will be described in detail in the following figures.

Hereinafter, the structure of the magazine will be described.
As shown in FIG. 2, the magazine 20 includes a substrate 25 fastened to the tip of the second arm (FIG. 1, reference numeral 12 a) via a plurality of screws 24, and a socket (FIG. 1, reference numeral attached to the substrate 25). 15), a magazine main body 27 having an insertion hole 26 into which the fastening member 21 removed from the workpiece W is inserted, a shaft 28 supported by the magazine main body 27, and the shaft 28 inserted into the shaft 28. A movable claw 31 supported so as to be swingable about the shaft portion 28, an urging shaft 36 extending coaxially with the axial direction of the insertion hole 26 and abutting the tip of the fastening member, and the urging shaft 36 A biasing holder 37 and a guide 38 that are slidably supported, and a biasing spring 39 that is interposed between the biasing shaft 36 and the biasing holder 37 and biases the fastening member 21 in a direction to open the insertion hole 26. And attached to the stay 41 so as to face the other end of the urging shaft 36 Is, the fastening member 21 is inserted into the insertion hole 26, the urging shaft 36 is made of a sensor unit 42 for detecting that urges the fastening member 21. The movable claw 31 is engaged with the thread groove 22 of the fastening member 21 inserted into the insertion hole 26 so that the fastening member 21 inserted into the insertion hole 26 can be temporarily held in the magazine 20.

  In the pressing mechanism 50, the fastening member 21 connects the end portion 21 b of the fastening member 21 inserted into the insertion hole 26 to the biasing holder 37 of the magazine 20 on the axis 26 </ b> J of the insertion hole of the magazine. The biasing holder 37 and the biasing guide 38, the biasing shaft 36 slidably supported by the biasing holder 37 and the biasing guide 38, and the biasing shaft It consists of the formed flange 51 and the second flange 52 and a spring 39 interposed between the second flange 52 and the biasing holder 37. In the figure, front, rear, left and right are directions when the magazine is viewed from above.

  As shown in FIG. 3, the magazine 20 includes upper and lower insertion holes 26 and 66 provided in the magazine main body 27, and upper and lower insertion holes 26 and 66 provided in the biasing holder 37 and corresponding to the two insertion holes 26 and 66. Fastening shafts 36, 46, fastening between the upper and lower biasing shafts 36, 46 and the upper and lower second flange portions 52, 62 formed on the biasing holder 37, respectively, are inserted into the insertion holes 26, 66. It is possible to detect a state in which the upper and lower biasing springs 39 and 49 for biasing the members 21 and 32 in the direction of exiting from the upper and lower insertion holes and the fastening members 21 and 32 are inserted into the upper and lower insertion holes 26 and 66, respectively. And upper and lower sensor portions 42 and 43. In the figure, front and rear and top and bottom are directions when the magazine is viewed from the side. In this embodiment, two insertion holes 26 and 66 are opened in the upper and lower portions in the magazine body, but any number of three, four, or more may be used.

  As shown in FIG. 4, the fastening member 21 is inserted into the magazine 20, the claw portion 33 of the movable claw 31 is hooked on the screw groove 22 of the fastening member 21, and one end 36 a of the urging shaft is attached to the end portion 21 b of the fastening member. The fastening member 21 that is in contact with and inserted into the insertion hole 26 is urged in a direction away from the insertion hole 26 by the upper urging shaft 36.

  At the other end 36b of the upper urging shaft 36, an upper flange portion 51 larger than the shaft diameter of the upper urging shaft is formed, and the upper sensor portion 42 detects that the upper flange portion 51 has approached. I tried to do it. The upper flange 51 has a function of holding the upper urging shaft 36 so as not to come out of the urging holder 37 when the fastening member 21 is not inserted into the insertion hole 26. In the drawing, the fastening member is not inserted into the lower insertion hole (FIG. 3, reference numeral 66).

Next, the claw part formed at one end of the movable claw will be described.
As shown in FIG. 5, the claw portion 33 constituting the distal end portion of the movable claw 31 has an arc shape having an inner diameter slightly larger than the diameter of the screw groove 22 of the fastening member so that the screw groove 22 of the fastening member can be locked. ing.

Next, the support structure and the like of the movable claw will be described.
As shown in FIG. 6, the movable claw 31 holds the fastening member 21 with the claw portion 33 that hits the screw groove 22 at one end 31 a, the operation portion 34 that can apply an external force to the other end 31 b, and the claw portion 33. And a torsion spring 35 that urges the magazine main body 27 toward the side, is supported so as to be swingable around a shaft portion 28 supported by the magazine main body 27, and when an external force is applied to the operation portion 34, The holding of the fastening member 21 inserted into the insertion hole 26 is released. The insertion hole 26 has a tapered portion 82 that guides the screw tip of the fastening member 21.

The operation of the fastening member removing apparatus described above will be described next.
As shown in FIG. 7A, the thread groove 22 of the fastening member 21 held by the socket 15 and removed from the work is brought close to the insertion hole 26 of the main body in the direction of the arrow a.

  As shown in FIG.7 (b), the fastening member 21 is inserted in the insertion hole 26 of a main-body part. When the fastening member 21 is inserted into the insertion hole 26, the screw groove 22 is engaged with the claw portion 33 of the movable claw 31, the end portion 21 b of the fastening member pushes the biasing shaft 36, and the fastening member 21 is held in the magazine 20. Is done.

  As shown in FIG. 8 (a), the second arm (FIG. 1, reference numeral 12) to which the magazine 20 is attached is held at the tip, and moved to the discharge tray 29 as shown in FIG. 8 (b). Thereafter, an external force is applied to the operation portion 34 in the direction of the arrow f to release the holding of the fastening member 21 inserted into the insertion hole 26. When an external force is applied to the operation unit 34 in the direction of FIG. F, the movable claw 31 that holds the fastening member 21 swings, and the holding of the fastening member 21 is released. As a result, the fastening member 21 held on the magazine 20 of the fastening member removing device can be easily removed from the magazine 20.

  Referring also to FIG. 4, when an external force is applied to the operation portion 34 of the movable claw, and the holding of the fastening member 21 is released, the pressing mechanism 50 that urges the fastening member 21 in the direction away from the insertion hole 26 is provided. The magazine 20 is provided. Since the fastening member 21 inserted into the insertion hole 26 is urged in a direction away from the insertion hole 26, the fastening member inserted into the insertion hole 26 when the holding of the fastening member 21 is removed. A force is applied to 21, and the fastening member 21 can be freely discharged from the magazine 20.

  That is, the fastening held by the insertion hole 26 of the magazine 20 only by moving the 2nd conveyance means (2nd arm 12) to which the magazine 20 is attached to a predetermined place, and applying external force to the operation part 34. The member 21 can be automatically removed from the magazine 20. As a result, the efficiency of removal can be further increased.

  In FIG. 1, a fastening member removing apparatus 10 includes a first arm 11 having a socket 15 that can store a fastening member 21, and a magazine 20 that can receive and hold the fastening member 21 stored in the socket 15. A second arm 12 is provided. That is, both the socket 15 and the magazine 20 can move.

  Conventionally, when the magazine is fixed in one place and only the socket moves, the socket holding the fastening member is moved to the fastening member removing device, and the socket and the fastening member removing device are directed to the opposite positions. There was a need. Depending on the moving distance and direction to the fastening member removing device, there is a possibility that the time required for removing the fastening member may increase.

  In this regard, in the present invention, the first transport unit (first arm 11) and the second transport unit (second arm 12) are arranged close to each other and arranged so as to be relatively movable, thereby reducing the movement distance. . Further, if the second arm 12 is disposed in a position facing the socket 15 in advance, there is no need to change the direction of the socket 15 of the first arm 11. As a result, the fastening member can be removed in a shorter time.

  Further, according to the present invention, the socket 15 of the first transport means (first arm 11) and / or the magazine 20 of the second transport means (second arm 12) holding the removed fastening member 21 is moved, and this The fastening member 21 is inserted and held in the insertion hole 26 of the magazine 20. Therefore, the fastening member removing operation can be performed efficiently in a short time without manual intervention. Therefore, according to the present invention, it can be applied to a vehicle assembly line that has been difficult to apply in the past because of a large restriction in terms of tact time.

  In the embodiment, the present invention is applied to a bolt removing device. However, the fastening member may be applied to a removing device for general male screws having a thread groove.

  The present invention is suitable for a fastening member removing device that removes a bolt fastened to a workpiece.

  DESCRIPTION OF SYMBOLS 10 ... Fastening member removal apparatus, 11 ... 1st conveyance means (1st arm), 12 ... 2nd conveyance means (2nd arm), 15 ... Socket, 20 ... Magazine, 21 ... Fastening member, 22 ... Screw groove, 26 ... insertion hole, 26J ... axis of insertion hole, 31 ... movable claw, 50 ... pressing mechanism, W ... fastened member (workpiece).

Claims (3)

A first conveying means for conveying the removed fastening member in a state of being housed in the socket; and a fastening member from the first conveying means. A second conveying means for receiving and holding the magazine, and conveying the magazine containing the fastening member to a predetermined position;
The magazine, the insertion hole in which the fastening member is inserted, the fastening member temporarily holdable and movable claw is provided et al is in the magazine takes the thread groove of the fastening device inserted in the insertion hole,
The movable claw has a claw portion that hits the screw groove at one end, an operation portion that can apply an external force to the other end, and a torsion spring that urges the claw portion toward the side holding the fastening member, The holding of the fastening member inserted into the insertion hole is released when an external force is applied to the operation unit, and is supported so as to be swingable around a shaft provided in the magazine.
On the axis of the insertion hole of the magazine, a pressing mechanism that presses the end of the fastening member inserted into the insertion hole on the magazine and biases the fastening member in a direction away from the insertion hole. Equipped with,
The fastening member removing apparatus characterized by the above-mentioned. The pressing mechanism has an urging shaft for urging the fastening member, and has a flange portion larger than the urging shaft at an end portion of the urging shaft, and is inserted in proximity to the flange portion. The fastening member removing apparatus according to claim 1, further comprising a sensor unit that detects a state in which the fastening member is inserted into the hole . In the fastening member removal method implemented using the fastening member removal device according to claim 1 ,
Moving the first conveying means, engaging the socket with the fastening member, and removing the fastening member;
Moving the socket of the first transport means and / or the magazine of the second transport means holding the removed fastening member, and inserting and holding the fastening member in the insertion hole of the magazine;
Moving the magazine of the second transport means and discharging the fastening member at a predetermined position;
The fastening member removal method characterized by including.

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