JP7176800B2 - ネジ締付システムおよびネジ締付装置 - Google Patents

ネジ締付システムおよびネジ締付装置 Download PDF

Info

Publication number
JP7176800B2
JP7176800B2 JP2021537577A JP2021537577A JP7176800B2 JP 7176800 B2 JP7176800 B2 JP 7176800B2 JP 2021537577 A JP2021537577 A JP 2021537577A JP 2021537577 A JP2021537577 A JP 2021537577A JP 7176800 B2 JP7176800 B2 JP 7176800B2
Authority
JP
Japan
Prior art keywords
shaft
arm
screw tightening
tip
extension bar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2021537577A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2021024550A1 (https=
JPWO2021024550A5 (https=
Inventor
雄一 土田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Estic Corp
Original Assignee
Estic Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Estic Corp filed Critical Estic Corp
Publication of JPWO2021024550A1 publication Critical patent/JPWO2021024550A1/ja
Publication of JPWO2021024550A5 publication Critical patent/JPWO2021024550A5/ja
Application granted granted Critical
Publication of JP7176800B2 publication Critical patent/JP7176800B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/182—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by the machine tool function, e.g. thread cutting, cam making, tool direction control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39001—Robot, manipulator control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40072—Exert a screwing motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40301—Scara, selective compliance assembly robot arm, links, arms in a plane
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45091—Screwing robot, tighten or loose bolt
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45203—Screwing

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
JP2021537577A 2019-08-02 2020-04-08 ネジ締付システムおよびネジ締付装置 Active JP7176800B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019142934 2019-08-02
JP2019142934 2019-08-02
PCT/JP2020/015789 WO2021024550A1 (ja) 2019-08-02 2020-04-08 ネジ締付システムおよびネジ締付装置

Publications (3)

Publication Number Publication Date
JPWO2021024550A1 JPWO2021024550A1 (https=) 2021-02-11
JPWO2021024550A5 JPWO2021024550A5 (https=) 2022-08-09
JP7176800B2 true JP7176800B2 (ja) 2022-11-22

Family

ID=74502551

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021537577A Active JP7176800B2 (ja) 2019-08-02 2020-04-08 ネジ締付システムおよびネジ締付装置

Country Status (4)

Country Link
US (1) US12145229B2 (https=)
EP (1) EP4008494A4 (https=)
JP (1) JP7176800B2 (https=)
WO (1) WO2021024550A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113500365B (zh) * 2021-07-09 2022-05-31 安庆师范大学 一种计算机电源的快速组装装置
CN115592401B (zh) * 2022-09-28 2024-04-26 律扬（上海）自动化工程有限公司 双工位拧紧装置
DE102023120300A1 (de) * 2023-07-31 2025-02-06 HELLA GmbH & Co. KGaA Vorrichtung und Verfahren zur automatisierten Herstellung von Schraubverbindungen
CN121620294A (zh) 2023-08-09 2026-03-06 巴斯夫欧洲公司 包含甲酰胺的杀真菌组合物

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180021900A1 (en) 2016-07-21 2018-01-25 Delta Electronics, Inc. Automatic screw tightening module and robot manipulator employing same

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0592377A (ja) * 1991-09-27 1993-04-16 Yamaha Motor Co Ltd スカラ型ロボツトの構造
JPH07116974A (ja) * 1993-10-27 1995-05-09 Yamaha Motor Co Ltd スカラ型ロボットの作動軸駆動構造
JPH0811027A (ja) * 1994-06-30 1996-01-16 Toyota Motor Corp ネジ締付装置
JP3456949B2 (ja) 2000-06-19 2003-10-14 株式会社エスティック ネジ締め装置の制御方法および装置
JP2003136464A (ja) * 2001-10-29 2003-05-14 Yamaha Motor Co Ltd スカラ型ロボット
JP2006167864A (ja) * 2004-12-16 2006-06-29 Seiko Epson Corp 水平多関節型ロボット
JP5094952B2 (ja) 2010-12-06 2012-12-12 株式会社エスティック インパクト式のネジ締め装置
CN103612114B (zh) * 2013-11-05 2016-02-10 苏州铂电自动化科技有限公司 螺钉拧紧装配专用scara机器人
ITUB20152759A1 (it) 2015-08-03 2017-02-03 Comau Spa Robot per uso industriale
JP6852880B2 (ja) 2017-02-21 2021-03-31 株式会社アイエイアイ スカラロボット

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180021900A1 (en) 2016-07-21 2018-01-25 Delta Electronics, Inc. Automatic screw tightening module and robot manipulator employing same

Also Published As

Publication number Publication date
EP4008494A4 (en) 2023-08-02
JPWO2021024550A1 (https=) 2021-02-11
US20220347805A1 (en) 2022-11-03
WO2021024550A1 (ja) 2021-02-11
EP4008494A1 (en) 2022-06-08
US12145229B2 (en) 2024-11-19

Similar Documents

Publication Publication Date Title
JP7176800B2 (ja) ネジ締付システムおよびネジ締付装置
US8109173B2 (en) Parallel robot provided with wrist section having three degrees of freedom
US8893578B2 (en) Parallel robot provided with wrist section having three degrees of freedom
US9895814B2 (en) Industrial robot with at least one drive
JP5524412B2 (ja) 着脱式４節リンク機構駆動装置を有する産業用ロボット
US11592095B2 (en) Driving device
JP5675258B2 (ja) リンク作動装置
JP7492925B2 (ja) アームロボット
US20210178574A1 (en) Robot joint structure
JP4754296B2 (ja) 産業用ロボット
JP2018001277A (ja) 産業用ロボットの手首構造
US12589510B2 (en) Work device
JP2009257458A (ja) 送り装置及びロボット
JP2003266344A (ja) スカラ型ロボット
CN119589644A (zh) 一种具备限位保护的双臂重载机器人遥操作外骨骼设备
JP3731710B2 (ja) パラレルリンク機構の継手構造
US12162097B2 (en) Workpiece positioner assembly having compliance assemblies
KR102760592B1 (ko) 중력 보상 유닛 및 이를 구비한 로봇 매니퓰레이터
JP2007044655A (ja) 塗装ロボット
US20230341041A1 (en) Method of manufacturing speed reducer, speed reducer, and rotating device
US11759946B2 (en) Vertical articulated robot and two-axis robot
JP2020142309A (ja) 回転・直進機構と回転・直進機構位置決用治具と回転・直進機構位置決方法とスカラロボット
US20220193931A1 (en) Robot Arm And Robot
CN119502013A (zh) 一种双联带轮组件、减速机构、传动装置及机器人
JP2017007000A (ja) 搬送アーム

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220128

A529 Written submission of copy of amendment under article 34 pct

Free format text: JAPANESE INTERMEDIATE CODE: A5211

Effective date: 20220128

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20220128

AA64 Notification of invalidation of claim of internal priority (with term)

Free format text: JAPANESE INTERMEDIATE CODE: A241764

Effective date: 20220621

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220715

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20221004

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20221014

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20221101

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20221102

R150 Certificate of patent or registration of utility model

Ref document number: 7176800

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250