JPH0253175B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an industrial robot for bolt tightening that performs tightening work by moving a bolt tightening machine attached to a swinging arm to a pre-stored position according to an operation program. It is.

Conventionally, in this type of robot, one type of bolt/nut engagement socket is attached to one robot so that only the same type of bolt/nut can be tightened. For this reason, many types of bolts and
When tightening a nut, there is a problem in that it is necessary to deploy a plurality of robots depending on the type of nut. In addition, in this case, the operating rate of each unit deteriorated, and it was also uneconomical.

In addition, in conventional robots of this type, the bolts and nuts are lightly screwed into the work by hand in advance, and then the tightening machine is moved to the position of the lightly screwed bolts and nuts to perform tightening. For this reason, manpower was required, which became a bottleneck for labor saving.

The present invention was developed in view of these circumstances, and while it increases the operating rate by making it possible to tighten multiple types of bolts and nuts with one machine, it also allows the bolts and nuts to be lightly screwed into the workpiece by hand in advance. The purpose of the present invention is to provide an industrial robot for bolt tightening that does not require any work and is suitable for promoting labor saving.

According to the present invention, the object is to move one bolt tightening machine attached to one swinging arm to a pre-memorized position according to an operation program to perform tightening means in a bolt tightening industry. In robots,
attachment/detachment means for attaching and detaching a bolt/nut engagement socket to the output shaft of the bolt tightening machine; a replacement socket disposed within the movement range of the bolt tightening machine; and a replacement socket disposed within the movement range of the bolt tightening machine. an adsorption means for adsorbing bolts and nuts supplied to a socket mounted on the output shaft using an electromagnet; It is equipped with an outer cylinder that engages and disengages from the outer slope of the claw to open and close the collet claw, and a spring and an electromagnetic coil that move this outer cylinder to open and close the collet claw. This bolt tightening device is characterized in that the socket is automatically replaced by moving the attaching machine onto the corresponding replacement socket, and at the same time, the bolt/nut is attracted to the socket attached to the output shaft and moved to the tightening position. Achieved by attached industrial robots. The present invention will be explained in detail below based on the illustrated embodiments.

In FIG. 1, reference numeral 10 denotes a robot according to the present invention, which includes a base 12, a first arm 14 pivoted on the base 12, and a robot pivoted on the rotating end of the first arm 14. It is provided with a second arm 16, a slide rod 18 slidable up and down at the tip of the second arm 16, and a main body 22 of a bolt tightening machine attached to the lower end of the slide rod 18 via a bracket 20. First and second arms 14,1
6 are each swung substantially horizontally by a power source such as a servo motor, and the slide rod 18 is also moved up and down by a suitable power source, so that the main body 22 is carried to a predetermined position.

The main body 22 has a built-in motor and a speed reducer, and the output shaft 23 has attachment/detachment means 26 for a bolt/nut engagement socket 24. Various types of attachment/detachment means 26 are possible, and the embodiment shown in FIG. 1 includes three claws 28 for gripping the socket 24 from three sides.

Multiple types of sockets 24 are prepared according to the types of bolts and nuts, and these are connected to the belt conveyor 30.
It is transported within the movement range of the main body 22 by a transporting means such as the following.

Figure 2 shows the socket 2 held by the attachment/detachment means 26.
4 is a sectional view of FIG. A bolt/nut engagement hole 32 is formed in the lower part of the socket 24, and an electromagnetic coil 34 as a suction means is mounted so as to surround this engagement hole 32. A terminal plate 36 is attached to the upper surface of the socket 24, and both ends of the coil 34 are connected to electrode plates 38a and 38b of the terminal plate 36. Electrodes 40a and 40b are attached to the main body 22 side, and these connect the socket 24 to the attachment/detachment means 26.
When attached to the coil 34, it comes into contact with each electrode plate 38a, 38b, and the coil 34 can be energized. This coil 3
4 magnetizes the socket 24,
The bolt/nut is attracted to the engagement hole 32.

FIG. 3 is a sectional view of another attachment/detachment means 26A,
The socket 24A is attached and detached by the collect chuck mechanism. That is, the outer cylinder 5 is attached to the conical surface 52 on the outer periphery of the socket grip part 50 formed at the lower end of the output shaft 23A.
4 is pressed by the spring 56 and the socket 24A
While gripping the socket, the electrode coil 58 is energized to move the outer cylinder 54 to compress the spring 56, thereby releasing the socket 24A. Further, in this embodiment, the electromagnetic coil 60 for attracting bolts and nuts is not provided on the socket 24A itself, but is provided on the attachment/detachment means 26A side.

In FIG. 1, 70, 70a, and 70b are feeders that supply various bolts and nuts to predetermined positions. Further, 72 is a workpiece, and 74 is a conveyor for transporting the workpiece 72.

In this embodiment, according to a pre-stored program,
It works as follows. Next, sockets 24 and 24 according to the type of bolts and nuts used for tightening work.
If A is already gripped by the attachment/detachment means 26, 26A, the robot 10 moves the main body 22 onto the feeder 70 that supplies the bolts/nuts to be used, energizes the coils 34, 60, and attaches the sockets 24, 26A.
Magnetize 24A. Then, the bolt/nut is attracted into the engagement hole 32, and the main body 22 remains in this state.
is moved to the screwing position of the workpiece 72 and further lowered. Then, when the motor of the main body 22 is started, the bolts and nuts are tightened.

The above operation can be repeated when tightening the same type of bolt or nut.

When tightening different types of bolts and nuts,
The currently gripped socket is returned to a predetermined position on the conveyor 30, and the attachment/detachment means 26, 26A are raised and put on standby. Then, the conveyor 30 is operated to move the desired socket 24, 24A below the waiting attachment/detachment means 26, 26A.
6a and lower it to the desired socket 2.
4. Grasp 24A. Thereafter, bolts and nuts are sucked from the feeder 70 and screwed onto the workpiece 72 as described above.

In this embodiment, the adsorption means is the electromagnetic coils 34 and 6.
0, and the bolts and nuts are magnetically attracted to the sockets 24, 24A, but in the present invention, it is also possible to adsorb them by other methods, such as by using negative air pressure from a vacuum pump.

In the above embodiments, the attachment/detachment means 26, 26A for the sockets 24, 24A are gripped by the claws 28, and a collector chuck mechanism is shown.
Of course, the present invention is not limited to these.

Further, the socket 24 is connected to the conveyor 3 as in the embodiment.
0, etc., connect the desired sockets 24 and 24A to the main body 2.
If the sockets are moved within two movable ranges, a large number of sockets can be easily replaced. However, in the present invention, a plurality of sockets may be arranged within the movable range of the main body 22, and a robot whose positions are stored in advance may move the main body 22 to a desired socket position.

As described above, the present invention has a plurality of sockets arranged within the movement range of the tightening machine, and the sockets can be replaced by an attachment/detachment means, so that one robot can tighten multiple types of bolts and nuts. This eliminates the need to prepare multiple robots for each type of bolt and nut, as was the case in the past. Therefore, the operating rate of the robot is improved and it is also economical.

In addition, since the bolt/nut can be sucked into the engagement hole of the socket by the suction means, it is not necessary to lightly screw the bolt/nut into the workpiece by hand in advance, thereby further saving labor. This also improves work efficiency.

[Brief explanation of the drawing]

Figure 1 is a perspective view showing how the present invention is used;
The figure is a sectional view of the socket, and FIG. 3 is a sectional view of another embodiment of the attachment/detachment means. 10...Industrial robot, 14, 16...Arm, 2
2...Tightening machine body, 24, 24A...Socket, 2
6, 26A... attachment/detachment means, 34, 60... electromagnetic coil as adsorption means.

Claims (1)

[Claims] 1. In an industrial robot for bolt tightening that performs tightening work by moving one bolt tightening machine attached to one swinging arm to a pre-stored position according to an operation program, the bolt tightening machine attachment/detachment means for attaching and detaching a bolt/nut engagement socket to the output shaft of the bolt tightening machine; a replacement socket disposed within the movement range of the bolt tightening machine; and a bolt/nut engagement socket supplied within the movement range of the bolt tightening machine. an adsorption means for adsorbing a nut to a socket mounted on the output shaft using an electromagnet;
It is equipped with an outer cylinder that engages and disengages from the outer slope of the collet pawl to open and close the collet pawl, and a spring and an electromagnetic coil that move this outer cylinder so as to open and close the collet pawl. The bolt tightening machine is moved to the corresponding replacement socket and the socket is automatically replaced, while the bolt/nut is attracted to the socket attached to the output shaft and moved to the tightening position. Industrial robot for bolt tightening.