JPH01135437A - Screw tightening hand - Google Patents

Abstract

PURPOSE:To adjust the distance between a pair of screw tightening tools by allowing a pair of screw tightening tools installed onto a hand to be shifted freely in the longitudinal direction by a pair of guide members which are set in nonparallel. CONSTITUTION:Guide rods 49, 50 and 55, 56 are arranged in -form, and the carriages 47 and 46 can be shifted in the longitudinal direction along the guide shafts 49, 50 or 55, 56 by the cylinders 52 and 54. Screw tightening tools 41 and 40 are supported in parallel to the guide shafts 49 and 55 through the L- shaped plates 43 and 42 onto the carriages 47 and 46. Therefore, the distance L between the screw tightening tools 40 and 41 can be varied by shifting the carriages 46 and 47 in the longitudinal direction, and the lateral position for a work can be freely set. Further, the distance between the work and each tool 40, 41 can be adjusted by the extension/contraction of the tool 40, 41 itself. Therefore, the works having a variety of screw distance can be handled by one unit of hand, and efficiency can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to a screw tightening hand equipped with a pair of screw tightening tools for tightening screws on a workpiece.

[Conventional technology]

In a screw tightening hand attached to an industrial robot, etc., one hand is equipped with a pair of screw tightening tools, and two
There are some devices that allow you to tighten screws at different locations at the same time.

[Problem that the invention seeks to solve]

However, in such conventional screw tightening hands, the distance between these screw tightening tools is fixed, so when trying to handle workpieces with various screw spacings, it is necessary to change the hand for each workpiece. The problem was that it was inefficient.

[Means and effects for solving the problem] Therefore, in the present invention, by making these pair of screw tightening tools freely slidable in the front and back direction of the hand using a pair of non-parallel guide members, the distance between the pair of screw tightening tools is improved. To enable the distance interval to be adjusted arbitrarily.

(Example of Actual Flow) The present invention will be described in detail below according to an embodiment shown in the accompanying drawings.

FIG. 1 shows an example of a multi-articulation robot 1 equipped with Honkomei's screw-tightening compound hand 2. The robot 1 controls the hand 2 by appropriately rotating arms 3 and 4. Move it to the required position.

FIGS. 2 to 4 each show the screw tightening compound hand 2.
FIG.
The case where it is installed is shown.

1 to 4, especially in FIG. 3, a guide shaft support plate 12.13 is attached to the front part of the side plate 10.11 of the main body frame, and these support plates 12.1
A guide shaft 14 is installed between the two carriages 3, and a pair of carriages 15 and 16 are slidably inserted into the guide shaft 14.

Clamps 17, 18 for gripping the workpiece 5 (in this case the A/C compressor unit) are fixed to these gear ridges 15, 16. A claw 19 for gripping the workpiece is provided at the tip of the clamp 17.
A convex portion 20 that engages with a concave portion of the workpiece 5 is provided at the tip of the workpiece 8 .

At the end of the carriage 15,16 there is a cylinder block 2
1.22 piston rods 23 and 24 are connected to J3, respectively, and the clamps 17 and 18 move in the left and right direction B due to the expansion and contraction of these piston rods 23 and 24, thereby causing the gripping operation by these clamps to be performed. It is done.

A stopper mechanism 25 for regulating movement of the clamp 17 is provided on the clamp 17 side.

That is, a pin 26 is protruded from the end of the carriage 15, and the movement path of this pin 26 is the stopper member 2.
7 is now regulated.

A piston rod 29 of a cylinder block 28 is attached to the stopper member 27.
9 allows the stopper member 27 to move freely within the guide member 30 in the six directions of the arrows. In this case, the stopper member 27 assumes three positions indicated by a solid line, a dashed line, and a dashed double dotted line due to the movement of the piston rod 29. That is, a four part 31 is formed at the tip of the stopper member 27, and when the stopper member 27 is in the position shown by the dashed line, the movement of the clamp 17 is not restricted, but when the stopper member 27 is in the position shown by the solid line, the movement of the clamp 17 is not restricted. is clamp 1
The movement of the clamp 17 is restricted at the position where the pin 22 abuts against the recess 31, and when the stopper member 27 is in the position shown by the two-dot chain line, the movement of the clamp 17 is restricted at the position where the pin 26 abuts against the portion 32 of the stopper member 27. It will be regulated. These two stopper positions correspond to two types of workpieces 5 having different widths, and by positioning the clamp 17 at a position corresponding to the corresponding workpieces, the centering of the workpieces 5 is automatically performed. There is.

Next, the main parts of this invention will be explained.

In addition to the clamp TA4M, this hand 2 includes a pair of screw tightening tools 40 for performing screw tightening work.
．． 41 are provided.

In Figures 2 and 4, screw tightening tool 40.41
is supported by L-shaped bent plates 42, 43, and these plates 42, 43 are further supported by pins 44.
．． 45 is positioned and fixed on the carriage 46, 47.

Four guide members 48 are provided on the lower side of the carriage 47, and two wooden guide shafts 49, 50 are fitted through these guide members 48. Also, this carriage 47
A connecting member 51 is fixedly provided on the lower side of the cylinder 52 , and a piston rod 53 of the cylinder 52 is connected to the carriage 47 via the connecting member 51 . Therefore, the carriage 47 moves along the guide shaft 4 as the piston rod 53 expands and contracts.
It is configured to be able to move back and forth along 9°50. Similarly, the gear ridge 46 is configured to be movable along the guide shafts 55, 56 by the cylinder 54.

In this configuration, the guide shaft 49.50 and the guide shaft 55
．． It is not parallel to 56, but is installed in a "V" shape. Therefore, by moving the carriage 46° 47 back and forth, the position of the screw tightening tools 40.41 in the left and right direction relative to the glue 5 can be arbitrarily changed, and the distance between the screw tightening tools 40.41 can be changed as desired. Can be set freely. In addition, workpiece 5 and screw tightening tool 40.41
The distance between the two is adjusted by expanding and contracting the white bodies of the screw tightening tools 40 and 41.

When screwing a workpiece (compressor 5) to the engine unit 6 using such a hand, first, the stopper 25 is projected to a position corresponding to the workpiece, and then the cylinders 21 and 22 are driven to screw the workpiece 5. Grip with clamps 17.18. Then, by appropriately driving the robot arm 3.4 while gripping the work 5, the work 5 is transferred to a desired position in the engine unit 6. Next, the screw tightening tools 40 and 41 are driven to connect the workpiece 5 and the engine unit 6 at two positions with the two screws 57. The interval between the screw tightening tools 40, 41 is adjusted in advance to correspond to the workpiece 5 by appropriately moving the carriage 46, 47 back and forth.

In this embodiment, the robot hand 2 is equipped with a pair of clamps 17.18 and a pair of screw tightening tools 40.4.
1, it is possible to perform screw tightening work and parts installation with a robot on the stand, and also to tighten screws using a [V]-shaped guide shaft.
1 is movable back and forth, the distance between these screw tightening tools 40 and 41 can be freely set.

Note that the present invention is not limited to the above-mentioned embodiments, and can be modified as appropriate. For example, the screw tightening tool may be moved by a single guide shaft. Further, in the above embodiment, gripping t[ by the clamps 17 and 18 was added, but it is of course possible to omit this.

(Effects of the Invention) As explained above, according to this north gate, a pair of screw tightening tools can be slid back and forth by a pair of non-parallel sliding structures, so that the distance between these screw tightening tools can be adjusted. This makes it possible to handle workpieces with various screw spacings with one hand, contributing to lower work costs and improved work efficiency.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is an enlarged vertical cross-sectional view of a hand according to the same embodiment, FIG. 3 is a cross-sectional view thereof, and FIG. FIG. 1...Robot, 2...Hand, 5...Work<
A/C compressor unit), 6... engine unit i~, 12. '13...Support plate, 14.49
゜50.55.56...Guide shaft, 15, 16.46
゜47...Carriage, 17.18...Clamp,
21゜22.28, 52.54... Cylinder block, 23.24, 29.53... Piston rod, 25
...stopper mechanism, 26...pin, 27...stopper member, 31...recess, 40.41...screw tightening tool, 42.43...plate. Figure 1 Figure 3

Claims (1)

[Claims] In a screw tightening hand equipped with a pair of screw tightening tools that performs screw tightening work on a workpiece, the pair of screw tightening tools can be moved back and forth by a pair of non-parallel guide members. A screw tightening hand that allows you to adjust the distance between screw tightening tools.