JP7213108B2 - Fastening system and fastening method - Google Patents

Description

The present invention relates to fastening systems and fastening methods.

It is possible to suppress the occurrence of a jamming phenomenon that can occur between the nut and the bolt based on the presence or absence of vibration that occurs during the reverse rotation operation in which the nut is pressed against the bolt and rotated in the loosening direction. There is known a nut fastening method that can be used (see Patent Document 1).

JP 2017-170574 A

In the method described in Patent Literature 1, there is a problem that the reliability of nut fastening may decrease when the direction of the axis of rotation of the nut is inclined with respect to the direction of the axis of rotation of the bolt. Similarly, when the direction of the axis of rotation of the bolt is inclined with respect to the direction of the axis of rotation of the nut, there is also a concern that the reliability of bolt fastening may decrease.

The present invention has been made in view of the above, and uses one of the nut and the bolt as a fastening member, the other of the nut and the bolt as a member to be fastened, and fastens the fastening member to the member to be fastened. A fastening system capable of suppressing a decrease in the reliability of fastening of a fastening member even when the rotation axis direction of the fastening member is inclined with respect to the rotation axis direction of the member to be fastened, and The purpose is to provide a fastening method.

In order to solve the above-described problems and achieve the object, a fastening system uses one of a nut and a bolt as a fastening member, and the other of the nut and the bolt as a member to be fastened, the fastening member to the member to be fastened, comprising: a fastening member runner that holds the fastening member and rotates the held fastening member around a rotation axis while pressing the fastening member against the member to be fastened; A physical quantity detection device for detecting a change in the position of a member runner and a reaction force to the fastening member runner, a fastening member runner inclination device for changing an inclination angle of the fastening member runner, the fastening member runner, the physical quantity detection device, and the a control device for controlling a fastening member runner tilting device, wherein the controller causes the fastening member runner to perform a reverse rotation operation of rotating the fastening member in a loosening direction while pressing the fastening member against the member to be fastened. causing the physical quantity detection device to detect push-up information in a push-up phenomenon of the fastening member with respect to the to-be-fastened member that occurs during the reverse rotation operation; A tilted state of the fastening member with respect to the rotation axis direction is calculated, and based on the calculated tilted state, the fastening member runner tilting device is caused to cancel the tilted state. The fastening member is fastened to the member to be fastened by.

According to this configuration, the tilted state of the rotational axis direction of the fastening member with respect to the rotational axis direction of the member to be fastened is calculated, the tilted state is eliminated, and the fastening member is fastened in the state where the tilted state is eliminated. Therefore, even when the direction of the rotation axis of the fastening member is inclined with respect to the direction of the rotation axis of the member to be fastened, it is possible to suppress deterioration in the reliability of the fastening of the fastening member.

In this configuration, the control device controls the position of the fastening member runner, which is one parameter of the tilted state, based on the change in the position of the fastening member runner, which is one parameter of the push-up information during the reverse rotation operation. to the rotational axis direction of the member to be fastened, and based on the reaction force to the fastening member runner, which is another parameter of the push-up information during the reverse rotation operation, the An inclination direction of the rotation axis direction of the fastening member runner with respect to the rotation axis direction of the member to be fastened, which is another parameter of the inclination state, is calculated, and in the inclination direction, the fastening member is moved in a direction that cancels the inclination angle. Preferably, a runner tilting device changes the tilting angle of the fastening member runner. According to this configuration, it is possible to more accurately calculate the inclination state of the rotation axis direction of the fastening member with respect to the rotation axis direction of the fastened member. It is possible to further suppress deterioration in the reliability of the fastening of the fastening member even when the fastening member is supplied at an angle with respect to the fastening member.

This configuration further includes a fastening member runner moving device that moves the fastening member runner, and a fastened member detection device that detects the fastened member that fastens the fastening member. further controlling the runner moving device and the fastened member detection device, causing the fastened member detection device to detect the fastened member, and based on the information of the fastened member detected by the fastened member detection device, It is preferable that the fastening member runner moving device moves the fastening member runner closer to the fastening member from the rotation axis direction of the fastening member. According to this configuration, it is possible to suppress the inclination of the rotation axis direction of the fastening member with respect to the rotation axis direction of the to-be-fastened member when the fastening member is moved closer to the to-be-fastened member. It is possible to further suppress deterioration in reliability of fastening of the fastening member even when the fastening member is supplied at an angle with respect to the rotation axis direction of the fastening member.

In order to solve the above-described problems and achieve the object, a fastening method uses one of a nut and a bolt as a fastening member, and the other of the nut and the bolt as a member to be fastened, the fastening member to the member to be fastened, comprising: a reverse rotation operation step of performing a reverse rotation operation of rotating the fastening member in a loosening direction while pressing against the member to be fastened; a push-up information detection step of detecting push-up information in a push-up phenomenon of the fastening member with respect to the member to be fastened that occurs at the same time; a tilt calculation step of calculating a tilt state; a tilt state canceling step of canceling the tilt state based on the calculated tilt state; and a fastening step for fastening. According to this configuration, similarly to the fastening system according to the present invention, the tilted state of the rotation axis direction of the fastening member with respect to the rotation axis direction of the fastened member is calculated, and the tilted state is canceled. Therefore, even if the direction of rotation of the fastening member is tilted with respect to the direction of the rotation axis of the member to be fastened, the reliability of the fastening of the fastening member does not deteriorate. can be suppressed.

According to the present invention, one of the nut and the bolt is used as the fastening member, and the other of the nut and the bolt is used as the fastening member, and the fastening member is fastened to the fastening member. It is possible to provide a fastening system and a fastening method capable of suppressing a decrease in the reliability of fastening of fastening members even when the rotating shaft direction is inclined with respect to the rotating shaft direction of the fastened member.

FIG. 1 is a configuration diagram of a fastening system according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing an example of a fastened member unit to which a fastening member is fastened by the fastening system of FIG. FIG. 3 is a flow chart showing a fastening method according to an embodiment of the invention. 4A and 4B are explanatory diagrams for explaining the fastening method of FIG. 3. FIG. FIG. 5 is an explanatory diagram for explaining the push-up information detection step in FIG. FIG. 6 is an explanatory diagram for explaining the tilt calculation step in FIG. FIG. 7 is an explanatory diagram for explaining the tilt calculation step in FIG.

EMBODIMENT OF THE INVENTION Below, embodiment which concerns on this invention is described in detail based on drawing. In addition, this invention is not limited by this embodiment. In addition, components in the embodiments include those that can be easily replaced by those skilled in the art, or those that are substantially the same. Furthermore, the components described below can be combined as appropriate.

[Embodiment]
FIG. 1 is a configuration diagram of a fastening system 100 according to an embodiment of the invention. The fastening system 100 is a system in which one of a nut and a bolt is used as a fastening member 1, and the other of the nut and bolt is used as a fastening member 3, and the fastening member 1 is fastened to the fastening member 3. 1, a configuration in which a nut is selected as the fastening member 1 and a bolt is selected as the to-be-fastened member 3 will be described. Note that the fastening system 100 is not limited to the form shown in FIG. A configuration in which a nut is selected as the member to be fastened 3 and a bolt is fastened to the nut may be adopted. As shown in FIG. 1, the fastening system 100 includes a fastening member runner 10, a physical quantity detection device 20, a fastening member runner tilting device 30, a fastening member runner movement device 40, a fastened member detection device 50, and a control device. 60 and. The fastening system 100 calculates the tilted state of the rotation axis direction of the fastening member 1 with respect to the rotation axis direction of the to-be-fastened member 3, cancels the tilted state, and tightens the fastening member 1 in the state where the tilted state is eliminated. It is a system for fastening to the member 3. The spiral thread groove formed inside the fastening member 1 and the spiral thread groove formed outside the member to be fastened 3 are screwed together.

Here, the tilted state is a state in which the rotational axis direction of the fastening member 1 is tilted at an angle larger than a predetermined threshold with respect to the required posture state with respect to the rotational axis direction of the member to be fastened 3. In other words, to eliminate the tilted state means that the rotation axis direction of the fastening member 1 in the tilted state is corrected to a required attitude state with respect to the rotation axis direction of the to-be-fastened member 3 . In addition, a state in which the direction of the rotation axis of the fastening member 1 is inclined with respect to the direction of the rotation axis of the member 3 to be fastened with respect to the required attitude state by an angle equal to or less than a predetermined threshold is defined as the state in which the fastening member 1 is inclined. It is described as being in a state where it is not

Further, in this embodiment, the tilted state of the fastening member 1 is objectively displayed by two parameters, the tilt angle and the tilt direction. The inclination angle of the fastening member 1 refers to the angle formed by the rotational axis direction of the fastening member 1 and the rotational axis direction of the member 3 to be fastened. The direction of inclination of the fastening member 1 refers to a direction in which the rotation axis direction of the fastening member 1 is inclined by an inclination angle with respect to the rotation axis direction of the member to be fastened 3 .

FIG. 2 is a schematic diagram showing an example of a fastened member unit 2 to which a fastening member is fastened by the fastening system 100 of FIG. The member-to-be-fastened unit 2 is an example of a configuration in which a bolt is selected as the member-to-be-fastened 3. As shown in FIG. Fastened members 3-1, 3-2, 3-3, 3-4, 3-5, and 3-6 erected in the +Z direction, which is vertically upward from 2-1, are provided.

Each of the fastened members 3-1, 3-2, 3-3, 3-4, 3-5, and 3-6 is a bolt having a helical thread groove formed on its outer periphery. Bolts are preferably used. The fastened members 3-1, 3-2, 3-3, 3-4, 3-5, and 3-6 have an outer diameter (inner diameter if a nut is selected as the fastened member 3) and a pitch of the thread groove. parameters relating to the members to be fastened such as may be different from each other or may be the same as each other. According to the parameters related to the members to be fastened 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, the members to be fastened 3-1, 3-2, 3-3 , 3-4, 3-5, and 3-6 are appropriately selected. Hereinafter, when there is no need to distinguish between the members to be fastened 3-1, 3-2, 3-3, 3-4, 3-5, and 3-6, they are abbreviated as members to be fastened 3 as appropriate.

In this embodiment, the plate portion 2-1 of the fastened member unit 2 is positioned along the horizontal XY plane, and the fastened member 3 erected on the plate portion 2-1 is positioned vertically upward in the +Z direction. The member to be fastened 3 is inserted into a predetermined through hole 4-1 of the plate member 4, and the fastening member 1 is fastened to the member to be fastened 3 in the −Z direction, which is vertically downward. Next, a form in which the plate member 4 is sandwiched between the fastening member 1 and the plate portion 2-1 of the member unit 2 to be fastened will be described.

In this embodiment, for simplicity of explanation, the member unit 2 to be fastened is a plane extending along the XY plane of the plate portion 2-1, and the members to be fastened 3-1, 3-2, 3- The description will be made by assuming a relatively simple shape that the erecting direction of 3, 3-4, 3-5, and 3-6 is the +Z direction, which is vertically upward, but the present invention is not limited to this. For the fastening system 100 according to the embodiment of the present invention, which has the characteristic of canceling the inclination of the rotation axis direction of the fastening member 1 with respect to the rotation axis direction of the to-be-fastened member 3, rather than the to-be-fastened member Regarding the unit 2, the plate part 2-1 has a complicated curved surface shape, or the upright direction of the members to be fastened 3-1, 3-2, 3-3, 3-4, 3-5, 3-6 is oblique. Orienting in the direction is preferable from the point of view that the effects of the fastening system 100 according to the embodiment of the present invention, which will be described later, are exhibited more remarkably.

The fastened member unit 2 used in the fastening method by the fastening system 100 in this embodiment is specifically exemplified by a heat-resistant reinforcing member that reinforces the engine against heat, a pressure-resistant reinforcing member that reinforces the engine against pressure, and the like. In addition, the plate member 4 used in the fastening method by the fastening system 100 in this embodiment can be connected to the fastening member 1 and the plate portion 2-1 of the fastening member unit 2 by fastening the fastening member 1 to the fastening member 3. A structural member of an engine to which heat resistance reinforcement and pressure resistance reinforcement are applied by the to-be-fastened member unit 2 is exemplified. When a heat-resistant reinforcing member that reinforces the engine against heat or a pressure-resistant reinforcing member that reinforces the engine against pressure is adopted as the fastened member unit 2, and a structural member of the engine that undergoes heat-resistant reinforcement or pressure-resistance reinforcement is adopted as the plate member 4. Since the number of places where the fastening member 1 is fastened to the fastened member 3 is significantly increased, this is a preferable form in that the effects brought about by the fastening system 100 according to the embodiment of the present invention, which will be described later, are exhibited more remarkably.

The fastening member runner 10 is controlled by the control device 60 in holding operation, pressing operation, and rotating operation. The fastening member runner 10 can hold the fastening member 1 or release the held state of the fastening member 1 . In the case where a nut is selected as the fastening member 1 in this embodiment, a nut runner, for example, can be suitably used as the fastening member runner 10 . When a bolt is selected as the fastening member 1, the fastening member runner 10 can be preferably a bolt runner, for example.

The fastening member runner 10 rotates the held fastening member 1 around the rotation axis while pressing it against the member 3 to be fastened. Specifically, the fastening member runner 10 presses the held fastening member 1 against the member to be fastened 3 and rotates it around the rotational axis in the loosening direction so that the upper end of the screw groove of the member to be fastened 3 is pushed. A reverse rotation operation can be performed to bring the lower end portion of the thread groove of the fastening member 1 along the portion. Further, the fastening member runner 10 rotates the held fastening member 1 in the fastening direction around the rotation axis while pressing the fastening member 1 against the member 3 to be fastened. A fastening operation for fastening the fastening member 1 to the fastened member 3 can be performed by screwing the thread grooves.

The rotation axis of the fastening member runner 10 and the rotation axis of the fastening member 1 held by the fastening member runner 10 coincide with each other. Therefore, the inclination angle of the fastening member 1 according to the present embodiment can also be expressed as an angle formed by the rotation axis direction of the fastening member runner 10 and the rotation axis direction of the member to be fastened 3 . Further, by changing the inclination angle of the fastening member runner 10, the inclination angle of the fastening member 1 can be changed in conjunction with it.

The detection operation of the physical quantity detection device 20 is controlled by the control device 60 . The physical quantity detection device 20 is attached to the upper side of the fastening member runner 10 in the vertical direction, and detects changes in the position of the fastening member runner 10 and forces on the fastening member runner 10 . Specifically, the physical quantity detection device 20 includes a displacement sensor that detects a position change in the axial direction of the fastening member runner 10 and a force sensor that detects a force acting on the fastening member runner 10 . Well-known displacement sensors such as laser type, LED type, ultrasonic type, contact type, and eddy current type are preferably used. As the force sensor, a well-known 6-axis sensor capable of detecting forces and moments in three XYZ directions is preferably used. A reaction force on the fastening member runner 10 can be detected.

The fastening member runner tilting device 30 has its tilting angle changing operation controlled by the control device 60 . The fastening member runner inclination device 30 is attached above the fastening member runner 10 in the vertical direction via the physical quantity detection device 20 , and is a device for changing the inclination angle of the fastening member runner 10 . The fastening member runner inclination device 30 can change the inclination angle of the fastening member 1 at the same time as the inclination angle of the fastening member runner 10 is changed. The fastening member runner tilting device 30 is exemplified as a suitable automatic goniometer stage.

The moving operation of the fastening member runner moving device 40 is controlled by the control device 60 . The fastening member runner moving device 40 is attached to the fastening member runner tilting device 30 and is a device that three-dimensionally moves the fastening member runner 10 together with the fastening member runner tilting device 30 . The fastening member runner moving device 40 moves the fastening member runner 10 along the horizontal direction of the X-axis or the Y-axis while maintaining the solid angle of the fastening member runner 10 controlled by the fastening member runner tilting device 30 . , or along the Z-axis direction, which is the vertical direction. Further, the fastening member runner moving device 40 can always acquire information on the three-dimensional position of the fastening member runner 10 . The fastening member runner moving device 40 is preferably exemplified by a robot arm, a crane arm, and the like.

Further, the fastening member runner tilting device 30 and the fastening member runner moving device 40 may be provided integrally. Crane arms and the like are exemplified as suitable ones.

The operation of detecting a fastened member of the fastened member detection device 50 is controlled by the control device 60 . The fastened member detection device 50 is installed at a position adjacent to the fastening member runner 10 in the horizontal direction and facing vertically downward, and is a device for detecting the fastened member 3 . The fastening member detection device 50 is moved together with the fastening member runner 10 , the physical quantity detection device 20 and the fastening member runner tilting device 30 by the fastening member runner moving device 40 . The fastened member detection device 50 is preferably exemplified by an imaging device such as an optical camera or a laser camera. In the case of such an imaging device, the fastened member 3 is imaged from above in the vertical direction, and the captured image is displayed. Through the analysis, it is possible to detect the position of the member to be fastened 3, as well as parameters related to the member to be fastened such as the outer diameter (the inner diameter if a nut is selected as the member to be fastened 3) and the pitch of the screw groove. .

The fastening system 100 may further include an input device 70 that receives input of information regarding the fastening method according to the present embodiment. The fastening system 100 may further include an output device 80 that outputs information about the fastening method according to this embodiment.

The input device 70 includes a mobile phone including a high-performance mobile phone (so-called smart phone), a tablet terminal, a notebook or desktop PC (Personal Computer), a PDA (Personal Digital Assistant) which is a mobile information terminal, and a glasses type. and a watch-type wearable device.

The input device 70 has a function for inputting various information necessary when the control device 60 executes various computational processes related to the fastening method according to the embodiment, for example, inputting various information transmitted from the control device 60. It has a function of displaying an input screen or the like for acceptance on the display unit of the input device 70 and a function of transmitting various types of information accepted as input to the control device 60 . The input device 70 implements these various functions by executing software or applications for using the control device 60 or by executing an Internet browser function for using the control device 60.

The output device 80 displays characters, images, moving images, etc. based on the received information. The output device 80 has a function of outputting output information obtained as a result of various computational processing related to the fastening method according to the embodiment executed by the control device 60, for example, a function of receiving output information output from the control device 60. , and a function of displaying an output screen or the like based on the output information on the display unit of the output device 80 . The output device 80 implements these various functions by executing software or applications for using the control device 60 or by executing an Internet browser function for using the control device 60.

Although the fastening system 100 is provided with the input device 70 and the output device 80 separately in this embodiment, the present invention is not limited to this, and the input device 70 and the output device 80 are integrated. may be In this case, for example, the display section of the input device 70 functions as the output device 80 .

The control device 60 controls each device, that is, the fastening member runner 10, the physical quantity detection device 20, the fastening member runner tilting device 30, the fastening member runner movement device 40, the to-be-fastened member detection device 50, the input device 70, the output device 80, and the electrical are connected and control the operation of each of these devices.

Control device 60 is an information processing device including a computer system that controls fastening system 100 . The control device 60 has a processing unit 61, a storage unit 62, and an information communication interface 63, as shown in FIG.

The processing unit 61 is a controller, and for example, various programs ( (equivalent to an example of a fastening program) is executed using a RAM (Random Access Memory) as a work area. Also, the processing unit 61 is, for example, a controller, and is implemented by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The processing unit 61 receives input of information from each device, and outputs information such as various parameters, measurement results, and calculation results related to the fastening system 100 to the output device 80 electrically connected to the control device 60. An information communication interface 63 is connected.

As shown in FIG. 1, the processing unit 61 is electrically connected to the storage unit 62 and the information communication interface 63 so as to be able to communicate information with each other, and functions as a control unit that controls these components. That is, the processing unit 61 functions as a control unit together with the storage unit 62 and causes the fastening system 100 to execute the fastening method according to the embodiment of the present invention.

As shown in FIG. 1, the processing unit 61 includes a holding operation control unit 64, a reverse rotation operation control unit 65, a push-up information detection unit 66, an inclination calculation unit 67, an inclination state elimination unit 68, and a fastening operation control unit. a portion 69; Each unit included in the processing unit 61, that is, the holding operation control unit 64, the reverse rotation operation control unit 65, the push-up information detection unit 66, the tilt calculation unit 67, the tilt state elimination unit 68, and the fastening operation control unit 69, It is a functional unit realized by the processing unit 61 executing the fastening program. The specific functions of each part included in the processing part 61 will be explained together with the detailed explanation of the fastening method according to the embodiment.

The storage unit 62 is realized by, for example, a semiconductor memory device such as a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 62 stores various kinds of output processing information necessary for generating control signals for controlling each device of the fastening system 100 and various inputs necessary for analyzing received signals obtained from each device of the fastening system 100. Store processing information. The storage unit 62 also stores various input information obtained by analyzing received signals obtained from each device of the fastening system 100 at any time.

The information communication interface 63 connects the processing unit 61 and each device electrically connected to the control device 60 so that they can communicate information with each other. The information communication interface 63 receives from the fastening member runner 10 and transmits to the processing unit 61 information about the holding operation, pressing operation, and rotating operation of the fastening member 1 of the fastening member runner 10 . The information communication interface 63 also receives information on the position change of the fastening member runner 10 detected by the physical quantity detection device 20 and the reaction force on the fastening member runner 10 from the physical quantity detection device 20 and transmits the information to the processing unit 61 . The information communication interface 63 also receives information about the inclination angle of the fastening member runner 10 acquired by the fastening member runner inclination device 30 from the fastening member runner inclination device 30 and transmits the information to the processing unit 61 . The information communication interface 63 also receives information on the three-dimensional position of the fastening member runner 10 acquired by the fastening member runner moving device 40 from the fastening member runner moving device 40 and transmits the information to the processing unit 61 . In addition, the information communication interface 63 receives information such as the position of the member to be fastened 3 detected by the member to be fastened detection device 50, the outer diameter (or the inner diameter if a nut is selected as the member to be fastened 3), and the pitch of the thread groove. Information such as parameters related to the member to be fastened is received from the member to be fastened detection device 50 and transmitted to the processing unit 61 . Further, the information communication interface 63 receives various types of information input from the input device 70 and transmits the received information to the processing unit 61 .

The information communication interface 63 receives each information generated by the processing unit 61, for example, a control signal for controlling each device from the processing unit 61, and transmits the information to each device. The information communication interface 63 also receives output information obtained as a result of various computational processing relating to the fastening method according to the embodiment generated by the processing unit 61 from the processing unit 61 and transmits the output information to the output device 80 .

The operation of the fastening system 100 according to the embodiment will be described below. FIG. 3 is a flow chart showing a fastening method according to an embodiment of the invention. A fastening method executed by the fastening system 100 will be described below together with detailed functions of each section in the processing section 61 of the control device 60 of the fastening system 100 .

A fastening method according to an embodiment of the present invention is a method of fastening a fastening member 1 to a member to be fastened 3. As shown in FIG. It has a step S13, an inclination calculation step S14, an inclination state cancellation step S15, and a fastening step S16.

The fastening member holding step S<b>11 is a step in which the holding operation control unit 64 causes the fastening member runner 10 to hold the fastening member 1 to be screwed with the member 3 to be fastened.

In the fastening member holding step S11, the holding operation control unit 64 first determines parameters related to the fastening member such as the inner diameter (the outer diameter when a bolt is selected as the fastening member 1) and the pitch of the thread groove for the fastening member 1 to be held. Get information about In the fastening member holding step S11, the holding operation control section 64 next controls the fastening member runner moving device 40 to move the fastening member runner 10 to the supply section for the fastening member 1 having the acquired parameters related to the fastening member. . In the fastening member holding step S11, the holding operation control unit 64 next controls the fastening member runner 10 to hold the fastening member 1 having the parameter. In the fastening member holding step S<b>11 , the holding operation control unit 64 finally controls the fastening member runner moving device 40 to move the fastening member runner 10 holding the fastening member 1 having the parameter to the fastened member 3 . move to position.

In the fastening member holding step S11, the holding operation control unit 64 controls the inner diameter (the outer diameter when a bolt is selected as the fastening member 1) and the pitch of the thread groove of the fastening member 1 to be held by three methods. It is possible to obtain information on parameters related to the fastening member such as , and information on the position to which the fastening member runner 10 holding the fastening member 1 is to be moved. In the first type of method, the holding operation control unit 64 controls the fastened member detection device 50 to detect the fastened member 3 by the fastened member detection device 50 , thereby determining the position of the fastened member 3 , In addition, information on parameters related to the member to be fastened, such as the outer diameter (inner diameter if a nut is selected as the member to be fastened 3) and the pitch of the thread groove, is acquired, and based on the parameter information about the member to be fastened, the This is a method of acquiring parameter information about a fastening member 1 that screws together with a fastening member 3 . In the second type of method, the holding operation control unit 64 receives input of parameter information and movement position information regarding the fastening member 1 via the input device 70, and acquires these pieces of information. It is a way to In the third type of method, the holding operation control unit 64 retrieves from the storage unit 62 the information on the parameters of the fastening member 1 and the information on the position to be moved, which are stored in advance in the storage unit 62 of the control device 60 . How to get it.

Further, in the fastening member holding step S11, when the holding operation control unit 64 causes the fastening member detection device 50 to detect the fastening member 3, the position of the fastening member 3 detected by the fastening member detection device 50 is detected. , and the fastening member runner moving device 40 moves the fastening member runner 10 based on the information of parameters related to the fastening member such as the outer diameter (the inner diameter when a nut is selected as the fastening member 3) and the pitch of the thread groove. is preferably moved to approach the member to be fastened 3 from the direction of the rotation axis of the member to be fastened 3. In this case, when the fastening member 1 is moved to approach the member to be fastened 3, Inclination of the member 3 with respect to the rotation axis direction can be suppressed.

In the reverse rotation operation step S12, the reverse rotation operation control unit 65 controls the fastening member runner 10 so that the fastening member 1 held by the fastening member runner 10 is pressed against the member 3 to be fastened in the loosening direction. It is a step of performing a reverse rotation operation to rotate.

The reverse rotation operation step S12 has, in detail, a pressing step S12-1, a relaxation direction rotation step S12-2, and a lifting phenomenon inducing step S12-3. 4A and 4B are explanatory diagrams for explaining the fastening method of FIG. 3. FIG. Details of the reverse rotation operation step S12 will be described below with reference to FIG.

In the pressing step S12-1, the reverse rotation operation control unit 65 controls the fastening member runner 10 to form a pressing state in which the fastening member 1 held by the fastening member runner 10 is pressed against the member 3 to be fastened. It is a step to In the pressing step S12-1, more specifically, as shown on the leftmost side of FIG. The area on the side facing to is first brought into contact with the area on the side facing the fastening member 1 of the screw thread of the member 3 to be fastened, and then the extent that they can rotate relative to each other 4 , in which a push-up phenomenon can be caused according to the rotation of the fastening member 1 with respect to the member 3 to be fastened in the loosening direction.

In the loosening direction rotation step S12-2, the reverse rotation operation control unit 65 controls the fastening member runner 10 to rotate the fastening member runner 10 to the member to be fastened while maintaining the pressing state formed in the pressing step S12-1. In this step, the fastening member 1 held by the fastening member runner 10 is rotated in the loosening direction with respect to the member to be fastened 3 by rotating the fastening member 1 in the loosening direction with respect to the member 3 . In the loosening direction rotation step S12-2, more specifically, as shown in the second from the left side of FIG. The area on the side facing the fastening member 3 is kept in contact with the area on the side facing the fastening member 1 of the thread of the member 3 to be fastened, and is moved relatively in the loosening direction. Move it along. As a result, the region of the side of the thread of the fastening member 1 held by the fastening member runner 10 that faces the member to be fastened 3 is replaced by the region of the side of the thread of the member to be fastened 3 that faces the fastening member 1 . It slides over the region and moves upward in the spiral direction of the thread of the member to be fastened 3 .

In step S12-3, the reverse rotation operation control unit 65 controls the fastening member runner 10 to cause the screw of the fastening member 1 to move on the thread of the member 3 to be fastened in the loosening direction rotation step S12-2. The thread is the step that causes the thread of the member 3 to be fastened to push up. In the push-up phenomenon inducing step S12-3, more specifically, as shown in the center of FIG. passes through the tip of the screw thread of the member to be fastened 3 and moves to the lower region in the spiral direction by one cycle with respect to the tip of the screw thread of the member to be fastened 3, causing an uplift phenomenon.

In the push-up information detection step S13, the push-up information detection unit 66 controls the physical quantity detection device 20 to detect the push-up phenomenon of the fastening member 1 with respect to the member to be fastened 3 that occurs during the reverse rotation operation in the reverse rotation operation step S12. This is the step of detecting information.

Specifically, in the push-up information detection step S13, the push-up information detection unit 66 supplies the physical quantity detection device 20 with the position change of the fastening member runner 10, which is one parameter of the push-up information, and the push-up information as push-up information in the push-up phenomenon. Another parameter of information, the reaction force on the fastening member runner 10, is detected.

FIG. 5 is an explanatory diagram for explaining the push-up information detection step S13 of FIG. In the upper graph of FIG. 5, the horizontal axis is time, and the vertical axis is the position coordinates in the axial direction (Z′-axis direction) of the fastening member runner 10. Push-up information detected by the displacement sensor of the physical quantity detection device 20 , which is one parameter of the position change of the fastening member runner 10 . In the lower graph of FIG. 5 , the horizontal axis is time and the vertical axis is the reaction force of the fastening member runner 10 , which is one parameter of the uplift information detected by the force sensor of the physical quantity detection device 20 . Information about the reaction force of the member runner 10 is shown. The information on the reaction force of the fastening member runner 10 includes information on the component of the reaction force of the fastening member runner 10 in the X′-axis direction and information on the component of the reaction force of the fastening member runner 10 in the Y′-axis direction.

Here, the X'-axis direction, the Y'-axis direction, and the Z'-axis direction represent the coordinate system based on the fastening member runner 10 and the physical quantity detection device 20, and the to-be-fastened member unit 2 and the to-be-fastened member Unlike the X-axis direction, Y-axis direction, and Z-axis direction based on 3, especially when the rotation axis direction of the fastening member 1 is inclined with respect to the rotation axis direction of the member 3 to be fastened, X The '-axis direction, the Y'-axis direction, the Z'-axis direction, and the X-axis direction, the Y-axis direction, and the Z-axis direction form a coordinate system that does not match each other.

In the upper graph of FIG. 5 , the region where the axial position of the fastening member runner 10 gradually rises is the threaded portion of the fastening member 1 held by the fastening member runner 10 due to the reverse rotation. The area facing the member 3 slides over the area of the thread of the member 3 to be fastened facing the fastening member 1, and moves upward in the helical direction of the thread of the member 3 to be fastened. , indicating that it is moving. In the upper graph of FIG. 5, the region where the axial position of the fastening member runner 10 rapidly descends in a short period of time is the tip of the thread of the fastening member 1 moving on the thread of the member 3 to be fastened. The portion passes through the tip of the thread of the member to be fastened 3 and moves to the lower region in the spiral direction by one cycle with respect to the tip of the thread of the member to be fastened 3. there is In the push-up information detection step S13, the push-up information detection unit 66 detects the amount of descent in the region where the position of the fastening member runner 10 in the axial direction of the upper graph in FIG. 10 position changes l are detected.

The reaction force to the fastening member runner 10 is such that the area of the thread of the fastening member 1 held by the fastening member runner 10 on the side facing the member 3 to be fastened is 1 It is the reaction force generated on the fastening member runner 10 holding the fastening member 1 as it is pressed against the region on the side facing the . In the graph on the lower side of FIG. 5 , the region in which non-zero positive reaction force is detected is the threaded member 3 of the fastening member 1 held by the fastening member runner 10 due to the reverse rotation operation. slides over the area of the thread of the member to be fastened 3 facing the fastening member 1, and moves upward in the spiral direction of the thread of the member to be fastened 3 As a result, a reaction force is generated on the fastening member runner 10 . In the graph on the lower side of FIG. 5 , the region where the reaction force of the fastening member runner 10 rapidly drops in a short period of time corresponds to the tip portion of the thread of the fastening member 1 that moves on the thread of the member 3 to be fastened. passes through the tip of the screw thread of the member to be fastened 3 and moves to the lower region in the spiral direction by one cycle with respect to the tip of the screw thread of the member to be fastened 3 . This indicates that the reaction force on the member runner 10 has disappeared. In the push-up information detection step S13, the push-up information detection unit 66 detects the X'-axis direction component of the reaction force acting on the fastening member runner 10 in the lower graph of FIG. directional components are detected as reaction forces F _X' and F _Y ' to the fastening member runner 10, respectively.

As described above, in the push-up information detection step S13, the push-up information detection unit 66 detects the time change of the position of the fastening member runner 10 and the time change of the reaction force to the fastening member runner 10 as shown in the graphs of FIG. Information on the detection result is obtained via the physical quantity detection device 20, and based on the information on the detection result obtained via the physical quantity detection device 20, the position change l of the fastening member runner 10 and the position change l of the fastening member runner 10 and Reaction forces F _X' and F _Y ' to 10 are detected.

The inclination calculation step S14 is a step in which the inclination calculation unit 67 calculates an inclination state of the rotation axis direction of the fastening member 1 with respect to the rotation axis direction of the member to be fastened 3 based on the uplift information detected in the uplift information detection step S13. be.

In the tilt calculation step S14, more specifically, the tilt calculator 67 calculates one parameter of the tilt state based on the position change l of the fastening member runner 10, which is one parameter of the push-up information during the reverse rotation operation. The inclination angle θ of the rotational axis direction of the fastening member runner 10 with respect to the rotational axis direction of the member 3 to be fastened is calculated, and the reaction force F _X to the fastening member runner 10, which is another parameter of push-up information during the reverse rotation operation, is calculated. _' and F _Y ', the inclination direction φ of the rotation axis direction of the fastening member runner 10 with respect to the rotation axis direction of the member to be fastened 3, which is another parameter of the inclination state, is calculated.

6 and 7 are explanatory diagrams for explaining the tilt calculation step S14 in FIG. FIG. 6 is an explanatory diagram illustrating calculation of the inclination angle _θ based on the positional change l of the _fastening member runner 10. FIG. FIG. 10 is an explanatory diagram for explaining calculation of the tilt direction φ based on; FIG. 6 shows an X' which includes a portion of the rotation axis direction of the fastening member runner 10 and the fastening member 1 held by the fastening member runner 10 that is most inclined in the +Z-axis direction, which is the rotation axis direction of the member to be fastened 3 . It is a cross-sectional view in the 'Z plane. FIG. 7 is a coordinate system based on the X″-axis direction, the X″-axis direction, and the Y″-axis direction orthogonal to the Z-axis direction in FIG. It is the figure which looked at the correlation with the 'axis direction and the Y'axis direction from +Z direction.

As a result of intensive studies, the inventors have found that the position change l of the fastening member runner 10, which is one parameter of uplift information, and the inclination angle θ, which is one parameter of the inclination state, are different from Using the pitch p, which is the interval between adjacent screw threads, it was found that the following relationship (Equation 1) is satisfied, as shown in FIG.

cos θ=p/l where 0°≦θ≦90° (formula 1)

Therefore, the formula for calculating the tilt angle θ based on this (Formula 1) is the following (Formula 2).

θ=cos ⁻¹ (p/l) where 0°≦θ≦90° (Formula 2)

In the inclination calculation step S14, the inclination calculation unit 67 can apply the relationship of (Equation 2) to calculate the inclination angle θ based on the positional change l of the fastening member runner 10 .

Further, as a result of intensive studies, the inventors have found that the reaction forces F _X' and F _Y ' to the fastening member runner 10, which are another parameter of the uplift information, and the tilt direction φ However, as shown in FIG. 7, when the X′-axis direction in the coordinate system based on the fastening member runner 10 and the physical quantity detection device 20 is used as a reference, the following relationship (Equation 3) is satisfied.

tan φ=F _X' /F _Y ' where 0° ≤ φ ≤ 90° (Equation 3)

Therefore, the formula for calculating the tilt direction φ based on this (Formula 3) is the following (Formula 4).

φ=tan ⁻¹ (F _X′ /F _Y ′ ) where 0°≦φ≦90° (Formula 4)

In the inclination calculation step S14, the inclination calculation unit 67 applies the relationship of (Equation 4) to calculate the fastening member runner 10 and the physical quantity detection device based on the reaction forces F _X′ and F _Y ′ to the fastening member runner 10 . It is possible to calculate the tilt direction φ represented by relative angular coordinates set counterclockwise when viewed from the +Z direction with the X′-axis direction in the coordinate system based on 20 as a reference.

The tilted state canceling step S15 is a step in which the tilted state canceling unit 68 controls the fastening member runner tilting device 30 to cancel the tilted state based on the tilted state calculated in the tilt calculating step S14.

Specifically, in the tilted state canceling step S15, the tilted state canceling unit 68 is operated by the fastening member runner tilting device 30 in the tilting direction φ in the direction of canceling the tilt angle θ, as shown in the second from the right side of FIG. By changing the inclination angle of the fastening member runner 10, the inclination of the rotation axis direction of the fastening member 1 with respect to the rotation axis direction of the member to be fastened 3 is eliminated.

Note that, in the tilt state elimination step S15, the tilt state elimination unit 68 has a tilt presence/absence determination step of determining whether the tilt angle θ is equal to or less than a predetermined threshold based on the tilt state calculated in the tilt calculation step S14. may be If the tilt state elimination step S15 includes the tilt presence/absence determination step, the tilt state elimination unit 68 determines in the tilt presence/absence determination step that the tilt angle θ is greater than the predetermined threshold value. , the inclination angle θ of the fastening member runner 10 is changed in the inclination direction φ by the fastening member runner inclination device 30 in the direction of canceling the inclination angle θ, and the inclination angle θ is equal to or less than a predetermined threshold value in the inclination presence/absence determination step. This operation can be omitted if it is determined that

The fastening step S16 is a step in which the fastening operation control unit 69 controls the fastening member runner 10 to fasten the fastening member 1 to the member 3 to be fastened in a state in which the inclined state is canceled in the inclined state cancellation step S15. be.

Specifically, in the fastening step S<b>16 , the fastening operation control unit 69 moves the fastening member 1 held by the fastening member runner 10 to the fastened member 3 in the state where the inclination state is canceled in the inclination state cancellation step S<b>15 . By rotating in the fastening direction around the rotation axis while pressing against, the thread groove of the fastening member 1 is screwed into the thread groove of the member 3 to be fastened, and the fastening member 1 is fastened to the member 3 to be fastened. A fastening operation can be performed. In the fastening step S<b>16 , the fastening operation control unit 69 requests the rotation axis direction of the fastening member 1 to the rotation axis direction of the member 3 to be fastened under the state in which the inclination state is canceled in the inclination state cancellation step S<b>15 . Since the fastening operation in the direction of the rotation axis is performed in a state in which the fastening member 1 is in a slightly tilted posture, the fastening reliability of the fastening member 1 that fastens the fastening member 1 to the fastened member 3 can be improved.

Since the fastening system 100 and the fastening method according to the embodiment are configured as described above, the inclination state of the rotation axis direction of the fastening member 1 with respect to the rotation axis direction of the member to be fastened 3 is calculated, and the inclination state is eliminated. Since the fastening member 1 can be fastened in a state in which the inclined state is canceled, even if the rotation axis direction of the fastening member 1 is inclined with respect to the rotation axis direction of the fastened member 3, A decrease in the reliability of fastening of the fastening member 1 can be suppressed. Further, the fastening system 100 and the fastening method according to the embodiment suppress deterioration in the reliability of the fastening of the fastening member 1, thereby reducing the reliability of the product fastened with the fastening member 1. It is also possible to reduce the time and cost associated with fastening 1.

Further, in the fastening system 100 and the fastening method according to the embodiment, the control device 60 determines one tilt state based on the position change l of the fastening member runner 10, which is one parameter of push-up information during reverse rotation operation. The inclination angle θ of the rotation axis direction of the fastening member runner 10 with respect to the rotation axis direction of the member 3 to be fastened, which is a parameter, is calculated. Based on the forces F _X′ and F _Y ′, the inclination direction φ of the rotation axis direction of the fastening member runner 10 with respect to the rotation axis direction of the fastened member 3, which is another parameter of the inclination state, is calculated. , the inclination angle of the fastening member runner 10 is changed by the fastening member runner inclination device 30 in the direction of canceling the inclination angle θ. Therefore, the fastening system 100 and the fastening method according to the embodiment can more accurately and precisely calculate the inclination state of the rotation axis direction of the fastening member 1 with respect to the rotation axis direction of the fastened member 3 . Even if the rotating shaft direction of is inclined with respect to the rotating shaft direction of the to-be-fastened member 3 , it is possible to further suppress the decrease in reliability of fastening of the fastening member 1 .

In the fastening system 100 and the fastening method according to the embodiment, the control device 60 causes the fastening member detection device 50 to detect the fastening members 3, and the information of the fastening members 3 detected by the fastening member detection device 50. , the fastening member runner 10 can be moved closer to the member to be fastened 3 from the rotation axis direction of the member to be fastened 3 by the fastening member runner moving device 40 . Therefore, the fastening system 100 and the fastening method according to the embodiment suppress the inclination of the rotation axis direction of the fastening member 1 with respect to the rotation axis direction of the fastened member 3 when the fastening member 1 is moved closer to the fastened member 3 . Therefore, even if the direction of rotation axis of the fastening member 1 is inclined with respect to the direction of the rotation axis of the member 3 to be fastened, it is possible to further suppress the decrease in the reliability of the fastening of the fastening member 1. can.

1 fastening member 2 fastened member unit 2-1 plate part 3, 3-1, 3-2, 3-3, 3-4, 3-5, 3-6 fastened member 4 plate member 4-1 through hole 10 Fastening member runner 20 Physical quantity detection device 30 Fastening member runner tilt device 40 Fastening member runner movement device 50 Fastened member detection device 60 Control device 61 Processing unit 62 Storage unit 63 Information communication interface 64 Holding operation control unit 65 Reverse rotation operation control unit 66 Push-up information detection unit 67 Inclination calculation unit 68 Inclination state elimination unit 69 Engagement operation control unit 70 Input device 80 Output device 100 _Engagement system F X', F _Y ' reaction force l Position change p Pitch θ Inclination angle φ Inclination direction

Claims (4)

A fastening system in which one of a nut and a bolt is used as a fastening member and the other of the nut and the bolt is used as a member to be fastened, and the fastening member is fastened to the member to be fastened,
a fastening member runner that holds the fastening member and rotates the held fastening member around a rotation axis while pressing the held fastening member against the member to be fastened;
a physical quantity detection device that detects a position change of the fastening member runner and a reaction force to the fastening member runner;
a fastening member runner tilting device for changing the inclination angle of the fastening member runner;
a control device that controls the fastening member runner, the physical quantity detection device, and the fastening member runner inclination device;
The control device is
causing the fastening member runner to perform a reverse rotation operation of rotating the fastening member in a loosening direction while pressing the fastening member against the member to be fastened;
causing the physical quantity detection device to detect push-up information in a push-up phenomenon of the fastening member with respect to the member to be fastened that occurs during the reverse rotation;
calculating an inclination state of the rotational axis direction of the fastening member runner with respect to the rotational axis direction of the member to be fastened based on the push-up information;
causing the fastening member runner tilting device to cancel the tilted state based on the calculated tilted state;
The fastening member is fastened to the member to be fastened by the fastening member runner in a state in which the inclined state is eliminated;
A fastening system characterized by: The control device is
The fastened member in the rotation axis direction of the fastening member runner, which is one parameter of the tilted state, is based on the change in the position of the fastening member runner, which is one parameter of the push-up information during the reverse rotation operation. Calculate the tilt angle with respect to the rotation axis direction of
Based on the reaction force to the fastening member runner, which is another parameter of the push-up information during the reverse rotation, Calculating the inclination direction of the fastening member with respect to the rotation axis direction,
causing the fastening member runner inclination device to change the inclination angle of the fastening member runner in the inclination direction in the direction of canceling the inclination angle;
The fastening system according to claim 1, characterized in that: a fastening member runner moving device for moving the fastening member runner;
a fastened member detection device that detects the fastened member that fastens the fastening member;
The control device is
further controlling the fastening member runner movement device and the fastening member detection device;
causing the to-be-fastened member detection device to detect the to-be-fastened member;
Based on the information of the fastened member detected by the fastened member detecting device, the fastening member runner moving device moves the fastening member runner closer to the fastened member from the rotational axis direction of the fastened member,
The fastening system according to claim 1 or 2, characterized in that: A fastening method in which one of a nut and a bolt is used as a fastening member, the other of the nut and the bolt is used as a fastening member, and the fastening member is fastened to the fastening member,
a reverse rotation operation step of performing a reverse rotation operation of rotating the fastening member in a loosening direction while pressing the fastening member against the member to be fastened;
a push-up information detecting step of detecting push-up information in a push-up phenomenon of the fastening member with respect to the member to be fastened that occurs during the reverse rotation;
an inclination calculation step of calculating an inclination state of the rotation axis direction of the fastening member with respect to the rotation axis direction of the fastened member based on the push-up information;
a tilted state canceling step of canceling the tilted state based on the calculated tilted state;
a fastening step of fastening the fastening member to the member to be fastened in a state in which the inclined state is canceled;
A fastening method characterized by having

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