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

Fastening member removing device and fastening member removing method Download PDF

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JP5864296B2
JP5864296B2 JP2012032351A JP2012032351A JP5864296B2 JP 5864296 B2 JP5864296 B2 JP 5864296B2 JP 2012032351 A JP2012032351 A JP 2012032351A JP 2012032351 A JP2012032351 A JP 2012032351A JP 5864296 B2 JP5864296 B2 JP 5864296B2
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fastening member
magazine
insertion hole
socket
holding
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JP2013166229A (en
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健一 浅水
健一 浅水
政詞 岩田
政詞 岩田
朋久 方山
朋久 方山
純男 野口
純男 野口
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Honda Motor Co Ltd
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Description

本発明は、締結部材の取外し技術の改良に関する。   The present invention relates to an improvement in a technique for removing a fastening member.

ワークから取外したねじが保持されているソケットを、締結部材取外し装置に近づけ、ソケットに保持されているねじを取外す技術が知られている(例えば、特許文献1(図4〜5、図7〜9)参照。)。   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).).

特許文献1の図4〜5に示すように、締結部材取外し装置(1)(括弧付き数字は、特許文献1記載の符号を示す。以下同じ。)は、板状部材(100)と、この板状部材(100)に開けた複数の開口部(101)と、これらの開口部(101)に各々設けた一対の把持部材(120)とを主要素とする。また、搬送手段としてのロボットアーム部(201a)の先に、複数のソケット(231)を含む締結装置が取付けられている。   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.

同文献の図7〜9に示すように、取り外した締結部材(S)を保持したソケット(231)は、上方から開口部(101)へ差し込まれ、開口部(101)に設けた一対の把持部材(120)で保持され、その後、ソケット(231)を引き上げることで、把持部材(120)に締結部材(S)のねじ部を引っ掛け保持させる。把持部材(120)に保持された締結部材(S)は、次の締結部材(S)を把持部材(120)に当て、把持部材(120)を拡げることで下方に排出される。   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).

ところで、特許文献1の技術では、ソケット(231)で保持された締結部材(S)は、締結部材取外し装置(1)の上方位置まで水平に移動され、その後、締結部材(S)の軸を下向きの姿勢で下降され、締結部材取外し装置(1)の把持部材(120)に保持される。このように、締結部材取外し装置(1)とソケット(231)とは離間している。このため、ソケット(231)を移動させ、固定側の締結部材取外し装置(1)に近づける動作が要る。従って、ソケット(231)を締結部材取外し装置(1)に近づける移動時間が嵩む可能性がある。締結部材の取外し作業をより短時間に行うことで効率を高めることができる技術が求められている。   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.

特許第4484862号公報Japanese Patent No. 4484862

本発明は、締結部材の取外し作業をより短時間に行うことで、取外し作業の効率を高めることができる技術を提供することを課題とする。   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.

請求項1に係る発明は、ねじ溝が形成された締結部材を被締結部材から取外すソケットを有し、取外した前記締結部材を前記ソケットに収納した状態で搬送する第1搬送手段と、この第1搬送手段から締結部材を受取り、保持するマガジンを有し、締結部材が入っているマガジンを所定位置まで搬送する第2搬送手段とが備えられ、マガジンに、締結部材が差し込まれる差込孔と、この差込孔に差し込まれた前記締結部材のねじ溝に掛かりマガジンに締結部材を一時保持可能な可動爪とが備えられ、可動爪は、一端に前記ねじ溝に当たる爪部と、他端に外力をかけることができる操作部と、爪部を締結部材を保持する側へ付勢するねじりばねとを有し、マガジンに設けた軸部を中心にスイング自在に支持され、操作部に外力を加えたときに、差込孔に差し込まれた締結部材の保持が解除され、マガジンの差込孔の軸線上にて、マガジンに差込孔に差し込まれた締結部材の端部を押圧し締結部材が差込孔から外れる方向に付勢する押圧機構が備えられていることを特徴とする。 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 .

請求項2に係る発明は、請求項1において、押圧機構は、締結部材を付勢する付勢軸を有し、付勢軸の端部に該付勢軸よりも大きい鍔部を有し、鍔部に近接して差込穴に締結部材が差込まれた状態を検出するセンサ部を備えていることを特徴とする。 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.

請求項3に係る発明は、請求項1記載の締結部材取外し装置を用いて実施する締結部材取外し方法において、第1搬送手段を移動させ、締結部材にソケットを係合させ締結部材を取外す工程と、取り外した締結部材を保持する第1搬送手段のソケット及び/又は第2搬送手段のマガジンを移動させ、このマガジンの差込孔に締結部材を差し込んで保持する工程と、第2搬送手段のマガジンを移動させ、所定位置で締結部材を排出する工程と、を含むことを特徴とする。 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.

請求項1に係る発明では、締結部材取外し装置に、締結部材を収納可能なソケットを有する第1搬送手段と、ソケットに収納されている締結部材を受取り、保持することができるマガジンを有する第2搬送手段とが備えられている。すなわち、ソケットとマガジンは、共に、移動することができる。   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.

マガジンが一箇所に固定され、ソケットのみが移動する場合には、締結部材が保持されているソケットを、締結部材取外し装置まで移動し、ソケットと締結部材取外し装置とを対向する位置に向ける必要があった。締結部材取外し装置までの移動距離や向きによっては、締結部材の取外しにかかる時間が嵩む可能性があった。   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.

この点、本発明では、第1搬送手段と第2搬送手段とを近接配置すると共に、相対移動可能に配置することで、移動距離が短縮される。また、第2搬送手段を、あらかじめ、ソケットと対向する位置に配置しておけば、第1搬送手段のソケットの向きを変える手間もなくなる。結果、締結部材の取外し作業をより短時間に行うことができるようになる。   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.

また本発明では、可動爪は爪部と操作部とねじりばねとを有し、操作部に外力を加えたときに、差込孔に差し込まれた締結部材の保持が解除されるようにした。操作部に外力を加えると、締結部材を保持する可動爪がスイングし、締結部材の保持を解除する。結果、ソケット内の締結部材を締結部材取外し装置のマガジンへ容易に保持されると共に、必要時に、マガジンから容易に取外すことが可能になる。 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.

さらに本発明では、可動爪の操作部に外力がかかり、締結部材の保持が解除されたときに、締結部材が差込孔から外れる方向に付勢する押圧機構がマガジンに備えられている。差込孔へ差し込まれた締結部材には、差込孔から外れる方向に付勢されているので、締結部材の保持が外されたときに、差込孔に差し込まれた締結部材をマガジンから自在に取外すことが可能になる。第2搬送手段を所定の場所まで移動させ、操作部に外力を加えるだけで、マガジンの差込孔に保持されている締結部材を自動でマガジンから外すことができるようになる。結果、取外しに係る効率を一層高めることができる。 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.

請求項3に係る発明では、請求項1記載の締結部材取外し装置を用いて実施する締結部材取外し方法に、取り外した締結部材を保持する第1搬送手段のソケット及び/又は第2搬送手段のマガジンを移動させ、このマガジンの差込孔に締結部材を差し込んで保持する工程が備えられている。第1搬送手段のソケット及び/又は第2搬送手段のマガジンを移動させ、マガジンの差込孔に締結部材を保持するようにすることで、締結部材取外し作業を人手を介することなく短時間で効率良く実施できるようになる。従って、本発明によれば、従来では、タクトタイムの点で制約が大きく、適用することが困難であった車両組立ラインに適用することができるようになる。 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.

締結部材取外し方法を説明する図(図1(a)は第1搬送手段のソケットを近づけ締結部材を被締結部材から取外す図、図1(b)はソケットに保持された締結部材を第2搬送手段のマガジンに受け渡す図、図1(c)はマガジンに保持された締結部材を排出する図)である。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. 締結部材取外し装置の平面図である。It is a top view of a fastening member removal apparatus. 締結部材取外し装置の側面図である。It is a side view of a fastening member removal apparatus. 締結部材取外し装置の斜視図である。It is a perspective view of a fastening member removal apparatus. 可動爪の爪部の形状を説明する図である。It is a figure explaining the shape of the nail | claw part of a movable nail | claw. 可動爪の構造を説明する図である。It is a figure explaining the structure of a movable nail | claw. 締結部材取外し装置の作用説明図(図7(a)は締結部材が収納されたソケットをマガジンに近づける図、図7(b)は締結部材をマガジンに差し込む図)である。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). 締結部材取外し装置の作用説明図(図8(a)は締結部材が保持されたマガジンを排出バスケットまで移動させる図、図8(b)は可動爪の操作部に外力を加えボルトを外す図)である。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.

本発明の実施例を図面に基づいて説明する。先ず、本発明の理解を容易にするために、図1にて締結部材取外し装置及び締結部材取外し工程の概要を説明する。
図1(a)に示すように、締結部材取外し装置10は、先端が各々上下左右に自由に移動自在な第1搬送手段(第1腕11)及び第2搬送手段(第2腕12)を含む双腕ロボット13と、第1腕の先端11aに取付けられ、所定寸法の締結部材21を締付け又は緩めることができるナットランナ16と、第2腕の先端12aに取付けられナットランナ16から締結部材21を受け取り、一時的に保持するマガジン20とからなる。ナットランナ16の先に締結部材を保持するソケット15が取付けられている。
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.

次に、締結部材取外し装置が適用される締結部材取外し工程について説明する。
図の矢印a1方向に、ソケット15を被締結部材(ワークW)に締結されている締結部材21に近づけて保持し、図矢印a2方向にソケット15を回し締結部材21を取外す。
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.

次に、図1(b)に示すように、第1腕11のソケット15の向きと、第2腕の先端12aに取付けたマガジン20とを相互に移動させ、締結部材の軸線と差込孔の軸線とが一致するように相互に対向配置した後、ソケット15とマガジン20とを近づけ、図矢印b方向へ締結部材21が保持されているソケット15をマガジン20に差し込み、ソケット15に保持されている締結部材21を第2腕12のマガジン20に受け渡す。   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.

次に、図1(c)に示すように、締結部材21が保持されているマガジン20を移動させ、排出トレイ29に近づけた後、ソケット15に保持されている締結部材21を排出トレイ29に排出する。次図以降で、上記締結部材取外し作業に用いられる締結部材取外し装置のうちのマガジンの構造について詳細に説明する。   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.

以下、マガジンの構造について説明する。
図2に示すように、マガジン20は、第2腕の先端(図1、符号12a)に複数のねじ24を介して締結される基板25と、この基板25に取付けられソケット(図1、符号15)でワークWから取外された締結部材21が差し込まれる差込孔26を有するマガジン本体部27と、このマガジン本体部27に支持される軸部28と、この軸部28に挿入されこの軸部28を中心に揺動可能に支持される可動爪31と、差込孔26の軸方向と同軸に延びており締結部材の先に当接する付勢軸36と、この付勢軸36を摺動自在に支持する付勢ホルダ37及びガイド38と、付勢軸36と付勢ホルダ37との間に介在され締結部材21を差込孔26から開放する方向へ付勢する付勢ばね39と、付勢軸36の他端に臨むようにステー41に取付けられ、差込孔26に締結部材21が差し込まれ、付勢軸36が締結部材21を付勢していることを検出するセンサ部42とからなる。可動爪31は、差込孔26に挿入された締結部材21のねじ溝22に掛かり差込孔26に挿入された締結部材21をマガジン20に一時保持可能にするものである。
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.

押圧機構50は、マガジンの差込孔の軸線26J上にて、マガジン20の付勢ホルダ37に、差込孔26に差し込まれた締結部材21の端部21bを締結部材21が差込孔26から外れる方向に付勢するものであり、付勢ホルダ37及び付勢ガイド38と、付勢ホルダ37及び付勢ガイド38に摺動可能に支持される付勢軸36と、この付勢軸に形成した鍔部51及び第2の鍔部52と、第2の鍔部52と付勢ホルダ37の間に介在させたばね39とからなる。図中、前後、左右は、マガジンを上方から見たときの方向である。   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.

図3に示すように、マガジン20は、マガジン本体部27に設けられる上下2つの差込孔26、66と、付勢ホルダ37に設けられ前記2つの差込孔26、66に対応する上下の付勢軸36、46と、上下の付勢軸36、46と付勢ホルダ37に形成した上下の第2鍔部52、62の間に各々介在され差込孔26、66に差し込まれた締結部材21、32を上下差込孔から各々出す方向へ付勢する上下の付勢ばね39、49と、締結部材21、32が各々上下の差込孔26、66に差し込まれた状態を検出可能な上下のセンサ部42、43とを有する。図中、前後、上下は、マガジンを側方から見たときの方向である。なお、本実施例では、マガジン本体に差込孔26、66は上下2つ開けられているが、3つ、4つ又はそれ以上の任意の個数で差し支えない。   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.

図4に示すように、マガジン20に締結部材21が差し込まれ、締結部材21のねじ溝22に可動爪31の爪部33が掛かると共に、締結部材の端部21bに付勢軸の一端36aが当接して差込孔26に差し込まれた締結部材21を上の付勢軸36によって差込孔26から外れる方向に付勢している。   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.

上の付勢軸36の他端36bには、上の付勢軸の軸径よりも大きな上の鍔部51が形成され、上の鍔部51が近接したことを上のセンサ部42で検出するようにした。上の鍔部51は、締結部材21が差込孔26に差し込まれていないときに、上の付勢軸36が付勢ホルダ37から抜けないように保持する機能を有する。図中、下の差込孔(図3、符号66)には、締結部材は差し込まれていない。   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).

次に、可動爪の一端に形成した爪部について説明する。
図5に示すように、可動爪31の先端部を構成する爪部33は、締結部材のねじ溝22を係止可能に締結部材のねじ溝22の径よりも多少大きな内径の円弧状を呈している。
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.

次に、可動爪の支持構造等について説明する。
図6に示すように、可動爪31は、一端31aにねじ溝22に当たる爪部33と、他端31bに外力をかけることができる操作部34と、爪部33を締結部材21を保持するようにマガジン本体部27の側へ付勢するねじりばね35とを有し、マガジン本体部27に支持される軸部28を中心にスイング自在に支持され、操作部34に外力を加えたときに、差込孔26に差し込まれた締結部材21の保持が解除されるようにしたものである。差込孔26は、締結部材21のねじ先を案内するテーパ部82を有する。
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.

以上に述べた締結部材取外し装置の作用を次に述べる。
図7(a)に示すように、ソケット15に保持されワークから取り外された締結部材21のねじ溝22を本体部の差込孔26に図矢印a方向に近づける。
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.

図7(b)に示すように、締結部材21を本体部の差込孔26に差し込む。差込孔26に締結部材21を差し込んだとき、ねじ溝22が可動爪31の爪部33に掛かると共に、締結部材の端部21bが付勢軸36を押し、締結部材21がマガジン20に保持される。   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.

図8(a)に示すように、先端にマガジン20が取付けられる第2腕(図1、符号12)を保持した状態にし、図8(b)に示すように、排出トレイ29まで移動させた後、操作部34に図矢印f方向に外力を加え、差込孔26に差し込まれた締結部材21の保持を解除する。操作部34に図f方向に外力を加えると、締結部材21を保持する可動爪31がスイングし、締結部材21の保持を解除する。結果、締結部材取外し装置のマガジン20へ保持された締結部材21を、マガジン20から容易に取外すことが可能になる。   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.

図4を併せて参照し、可動爪の操作部34に外力がかかり、締結部材21の保持が解除されたときに、締結部材21が差込孔26から外れる方向に付勢する押圧機構50がマガジン20に備えられている。差込孔26へ差し込まれた締結部材21に、差込孔26から外れる方向に付勢されているので、締結部材21の保持が外されたときに、差込孔26に差し込まれた締結部材21に力が掛かり、締結部材21をマガジン20から自在に排出させることが可能になる。   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.

すなわち、マガジン20が取付けられている第2搬送手段(第2腕12)を所定の場所まで移動させ、操作部34に外力を加えるだけで、マガジン20の差込孔26に保持されている締結部材21を自動でマガジン20から外すことができるようになる。結果、取外しに係る効率を一層高めることができる。   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.

図1にて、締結部材取外し装置10に、締結部材21を収納可能なソケット15を有する第1腕11と、ソケット15に収納されている締結部材21を受取り、保持することができるマガジン20を有する第2腕12とが備えられている。すなわち、ソケット15とマガジン20は、共に、移動することができる。   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.

従来、マガジンが一箇所に固定され、ソケットのみが移動する場合には、締結部材が保持されているソケットを、締結部材取外し装置まで移動し、ソケットと締結部材取外し装置とを対向する位置に向ける必要があった。締結部材取外し装置までの移動距離や向きによっては、締結部材の取外しにかかる時間が嵩む可能性があった。   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.

この点、本発明では、第1搬送手段(第1腕11)と第2搬送手段(第2腕12)とを近接配置すると共に、相対移動可能に配置することで、移動距離が短縮される。また、第2腕12を、あらかじめ、ソケット15と対向する位置に配置しておけば、第1腕11のソケット15の向きを変える手間もなくなる。結果、締結部材の取外し作業をより短時間に行うことができるようになる。   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.

また、本発明によれば、取り外した締結部材21を保持する第1搬送手段(第1腕11)のソケット15及び/又は第2搬送手段(第2腕12)のマガジン20を移動させ、このマガジン20の差込孔26に締結部材21を差し込んで保持するようにした。従って、締結部材取外し作業を人手を介することなく短時間で効率良く実施できるようになる。従って、本発明によれば、従来では、タクトタイムの点で制約が大きく、適用することが困難であった車両組立ラインに適用することができるようになる。   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.

尚、本発明は、実施の形態ではボルトの取外し装置に適用したが、締結部材には、ねじ溝を有するおねじ一般を対象とする取外し装置に適用することは差し支えない。   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.

本発明は、ワークに締結されたボルトを取外す締結部材取外し装置に好適である。   The present invention is suitable for a fastening member removing device that removes a bolt fastened to a workpiece.

10…締結部材取外し装置、11…第1搬送手段(第1腕)、12…第2搬送手段(第2腕)、15…ソケット、20…マガジン、21…締結部材、22…ねじ溝、26…差込孔、26J…差込孔の軸線、31…可動爪、50…押圧機構、W…被締結部材(ワーク)。   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)

ねじ溝が形成された締結部材を被締結部材から取外すソケットを有し、取外した前記締結部材を前記ソケットに収納した状態で搬送する第1搬送手段と、この第1搬送手段から前記締結部材を受取り、保持するマガジンを有し、前記締結部材が入っている前記マガジンを所定位置まで搬送する第2搬送手段とが備えられ、
前記マガジンに、前記締結部材が差し込まれる差込孔と、この差込孔に差し込まれた前記締結部材のねじ溝に掛かり前記マガジンに前記締結部材を一時保持可能な可動爪とが備えられ、
前記可動爪は、一端に前記ねじ溝に当たる爪部と、他端に外力をかけることができる操作部と、前記爪部を前記締結部材を保持する側へ付勢するねじりばねとを有し、前記マガジンに設けた軸部を中心にスイング自在に支持され、前記操作部に外力を加えたときに、前記差込孔に差し込まれた前記締結部材の保持が解除され、
前記マガジンの差込孔の軸線上にて、前記マガジンに、前記差込孔に差し込まれた前記締結部材の端部を押圧し前記締結部材が前記差込孔から外れる方向に付勢する押圧機構が備えられている、
ことを特徴とする締結部材取外し装置。
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.
前記押圧機構は、前記締結部材を付勢する付勢軸を有し、前記付勢軸の端部に該付勢軸よりも大きい鍔部を有し、前記鍔部に近接して前記差込穴に締結部材が差込まれた状態を検出するセンサ部を備えていることを特徴とする請求項1記載の締結部材取外し装置。 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 . 請求項1記載の締結部材取外し装置を用いて実施する締結部材取外し方法において、
前記第1搬送手段を移動させ、前記締結部材に前記ソケットを係合させ前記締結部材を取外す工程と、
取り外した前記締結部材を保持する前記第1搬送手段のソケット及び/又は前記第2搬送手段のマガジンを移動させ、このマガジンの差込孔に前記締結部材を差し込んで保持する工程と、
前記第2搬送手段のマガジンを移動させ、所定位置で前記締結部材を排出する工程と、
を含むことを特徴とする締結部材取外し方法。
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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