JPH026996Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] This invention is a method for fastening fastener parts such as screws, bolts, or rivets to a workpiece of a predetermined height, and then the workpiece is changed. The present invention relates to a device that allows the moving distance of a catcher that holds the fastener parts to be easily adjusted when performing the same work as described above on works of different heights.

[Conventional technology]

Currently, various types of industrial robots suitable for high-mix, low-volume production have been developed, and dedicated work tools for performing various tasks are directly attached to these industrial robots using bolts and nuts. However, in particular, fastening work tools for tightening fastener parts such as screws, bolts, or rivets are installed using conventional fixed screw tightening machines, such as the one shown in Fig. 6, which have been slightly modified. There are two slide shafts 140 that guide the movement of the tool, and a stopper member 11 that stops the catcher 100 that holds the screw at a predetermined position.
0 is placed separately. Additionally, instead of this, there are currently some devices in which the catcher is fixed at a fixed position.

[Problem that the invention attempts to solve]

However, when such a fastening work tool is used, the weight of the tip of the industrial robot increases and the structure of the fastening work tool becomes complicated due to the relationship with the industrial robot. Furthermore, since the stopper that prevents the catcher from moving is located below, the operator may become tired when adjusting the stopper. Furthermore, since the stopper is a bolt,
It is difficult to finely adjust the stopper because errors are likely to occur due to the engagement of the screw threads. Moreover, in the structure shown in Japanese Utility Model Publication No. 57-25812, in which the catch part is prevented from lowering by a stopper, the regulation plate to which the catch part is fixed comes into direct contact with the stopper, so this is not suitable for use in industrial robots. If used as is, this stopper is placed parallel to and close to the tip of the fastening work tool, so it comes into contact with the work and becomes a hindrance to the work. Furthermore, when the catcher is fixed in a predetermined position as described above, especially in a suction-type screw fastening work tool that suctions the screw held by the catcher to the suction sleeve, the suction sleeve must protrude in a long dimension from the catcher. However, there is a problem in that the suction sleeve and the driver bit vibrate during screw fastening work, making the screw fastening work unstable.

[Means for solving problems]

In view of these problems, the present invention was devised for the purpose of providing a device that enables industrial robots to perform fastener fastening work with high precision in a short time. In an industrial robot having a fast parts fastening work tool, which has a tool chuck 10 that moves the tool chuck 10 vertically, and a lifting drive means for moving the tool chuck 10 up and down in the vertical direction is attached to a bracket 5 at the tip of the unit, the tool chuck 10 is gripped by the tool chuck 10. Fixing the other end of a piston cylinder 23, one end of which was fixed to a fastening work tool, to the member 21,
A slide shaft 40 is arranged at a position parallel to the fastening work tool and close to the front bracket 5, with one end being locked to this fastening work tool, and one fast component is held at the lower end of this slide shaft 40. At the same time, a catcher 44 through which the tip of the fastening work tool can be inserted is fixed, and further,
A collar 41 is attached to the slide shaft 40 so that the position can be adjusted freely.
A stopper member 43 is fixed to the tip of the industrial robot that engages with the collar 41 to prevent the catcher 44 from descending when the tool chuck 10 descends.

[Effect]

Tool chuck 10 for holding fastening work tools
When the slide shaft 40 is lowered, a collar 41 fixed to the slide shaft 40 engages with a stopper member 43, and the slide shaft 40 is prevented from lowering. This causes the catcher 44 to stop at that position. However, since the tool chuck 10 continues to descend, the fastening tool also descends to a predetermined position. Thereafter, the piston cylinder 23 of the mounting member 21 operates to lower the piston rod 23a, and the driver bit 25 performs an operation of tightening the fastener component held by the catcher 44 to the workpiece 51.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

In FIGS. 2 and 3, reference numeral 1 denotes a column supporting an X-axis unit 2 and a Y-axis unit 3, which are movable in the X- and Y-axis directions, respectively. This prop 1 is the base 4
is fixed upright. A bracket 5 having a tool elevating means is fixed to the tip of the Y-axis unit 3, and a guide shaft 6 which is vertically reciprocatable is inserted through the bracket 5. Further, a main shaft 7 having threads formed in the axial direction and parallel to the guide shaft 6 passes through the bracket 5.
The structure is such that it is moved up and down by the rotation of a motor 8 fixed at the top. Further, a mounting plate 9 is fixed to the lower ends of the guide shaft 6 and the main shaft 7, and the guide shaft 6 and the main shaft 7 are moved up and down together by the motor 8 to a predetermined position.

Further, as shown in FIG. 1, the mounting plate 9 has a chuck body 11 of a tool chuck 10 for gripping a screw fastening work tool 20 at its tip. This tool chuck 10 is arranged parallel to the Y-axis unit 3, and this tool chuck 10 grips the mounting member 21 of the screw fastening work tool 20 so that the screw fastening work tool 20 is always held in a fixed direction. ing. This mounting member 21
has a piston rod 2 whose tip is integrally fixed to the rear end of the screw fastening work tool 20 via a fixing plate 22.
A piston cylinder 23 having a diameter 3a is fixed, and a slide shaft 40 is locked to this fixed plate 22. A collar 41 is fixed to the slide shaft 40 via a fixing screw 42 shown in FIG. 4 so that the position can be freely adjusted.
It extends downward, passing through the stopper member 43 fixed to the tip of the mounting member 21 and the mounting member 21 . A catcher stand 45 is fixed to the lower end of this slide shaft 40 and has a catcher 44 for holding each screw 50 fed from a supply unit (not shown). A first spring 46 is disposed between them.

As shown in FIG. 4, inside the mounting member 21 is a motor 2 that transmits rotation to the driver bit 25.
A transmission shaft 27 is interposed between the rotating shaft 24a of the motor 24 and the driver bit 25. A suction sleeve 28 for suctioning the screw 50 is attached to the mounting member 21, and the transmission shaft 2
A second spring 30 is disposed on the transmission shaft 27 between the driver body 26 and the guide tube 29 .

A dog 31 is attached to the transmission shaft 27 so as to be height-adjustable, and this dog 31 acts on a sensor 32 attached to the guide tube 29 to determine whether screw fastening is successful or not. Furthermore, a pipe 33 connected to the guide cylinder 29 is connected to a hose (not shown) that communicates with the inside of the cylinder and through which air sucked from the tip of the suction sleeve 28 passes. As shown in FIG. 5, the guide tube 29 is fitted into a guide groove 21a cut in the mounting member 21 to prevent rotation of the guide tube 29.

Next, to explain the operation of this embodiment, as shown in FIGS. 1 to 4, a screw fastening work tool 20
After the Y-axis unit 3 gripping the workpiece 51 moves to a predetermined position on the workpiece 51, a signal to start the screw fastening operation is input. As a result, the elevating means for the bracket 5 operates, so that the tool chuck 10 is lowered. This lowering of the tool chuck 10 causes the catch 44 to
The collar 41 is attached to the slide shaft 40 according to the lowered position of the
Since the collar 41 is adjusted and fixed in advance, the stopper member 4 has the collar 41 fixed to the bracket 5.
It is locked at 3. As a result, the catcher 44 stops descending, but since the tool chuck 10 continues to descend against the first spring 46, the suction sleeve 28 descends inside the catcher 44, and the screw 50 held by the catcher 44 Since the air is sucked from the tip of the suction sleeve 28, the air is attracted to the tip of the suction sleeve 28.

Thereafter, the tool chuck 10 stops descending just before the suction sleeve 28 protrudes from the catcher 44 by a predetermined amount and comes into contact with the workpiece 51. At the same time, the piston cylinder 23 operates and the piston rod 23a descends, so the driver bit 25
passes through the suction sleeve 28 and engages with the head of the screw 50, and the screw 50 is tightened to the workpiece 51.
As the screw 50 is screwed into the workpiece 51, the transmission shaft 27 descends relative to the guide tube 29, so the dog 31, which is attached to the transmission shaft 27 with its height adjusted in advance, approaches the sensor 32 and reaches a predetermined tightening position. When the amount of screwing is reached, the sensor 32 operates to reach an appropriate screwing amount and the screw fastening operation is completed.
When the screw tightening work is completed, the piston rod 23
a and the tool chuck 10 rise and return to their original positions. Thereafter, the industrial robot moves to the next screw fastening position on the workpiece 51 and performs the screw fastening operation again. Next, when changing the lowering position of the catcher 44, it is only necessary to loosen the fixing screw 42 of the collar 41, change the fixing position, and fix the catcher 44.

[Effect of idea]

As is clear from the above embodiments, the present invention fixes the other end of a piston cylinder 23, one end of which is fixed to a fastening work tool, to the mounting member 21 held by the tool chuck 10, and one end of which is locked to the fastening work tool. and the mounting member 21 is parallel to this.
A slide shaft 40 is arranged to pass through the slide shaft 40, and a catcher 44 is fixed to the lower end of the slide shaft 40, which holds one fast part such as a screw 50, bolt or rivet, and into which the tip of the fastening work tool can be inserted. Further, a collar 41 is fixed to the slide shaft 40 in a height-adjustable manner, and a stopper is provided at the tip of the bracket of the industrial robot to engage with the collar 41 and prevent the catcher 44 from lowering when the tool chuck 10 is lowered. The member 43 is fixed.

Therefore, the catcher, which holds fastener parts such as screws, bolts, rivets, etc. fed under pressure from the supply unit, can be easily stopped at any height position according to the workpiece. Moreover, since the fastening work tool is exchanged and held by the tool chuck, the reference of the stroke of this catcher is always set to the robot bracket side, so that the reference is always constant.Furthermore, the lifting and lowering drive of the work tool is controlled by a motor, etc. Since it is controlled by the lifting drive means, it is easy to adjust the amount of movement of the tool relative to the catcher. Furthermore, since the number of parts is reduced and the fastening work tool is lightweight, it is ideal as a work tool for industrial robots. Furthermore,
The length of the suction sleeve protruding from the catcher can always be adjusted to the appropriate length, so the suction sleeve does not swing during fastener parts fastening work, so unique effects such as stable fastener parts fastening work can be obtained. .

[Brief explanation of drawings]

The drawings show an embodiment of the present invention. Fig. 1 is an enlarged front view of the main parts of the invention, Fig. 2 is a schematic front view showing an embodiment of the invention, and Fig. 3 is a plan view of Fig. 2. 4 is an enlarged sectional front view of main parts, FIG. 5 is a view taken along the line A--A in FIG. 4, and FIG. 6 is a schematic front view of a conventional stationary automatic screw tightening machine. 1 is a column, 2 is an X-axis unit, 3 is a Y-axis unit, 4 is a base, 5 is a bracket, 6 is a guide shaft, 7 is a main shaft, 8 is a motor, 9 is a mounting plate, 10
1 is a tool chuck, 11 is a chuck body, 20 is a screw fastening work tool, 21 is a mounting member, 21a
is a guide groove, 22 is a fixed plate, 23 is a piston cylinder, 23a is a piston rod, 24 is a motor,
24a is a rotating shaft, 25 is a driver bit, 26 is a driver body, 27 is a transmission shaft, 28 is an adsorption sleeve, 29 is a guide cylinder, 30 is a second spring, 31 is a dog, 32 is a sensor, 33 is a pipe, 40 is the slide shaft, 41 is the collar, 42 is the fixing screw, 43
is a stopper member, 44 is a catcher, 45 is a catcher base, 46 is a first spring, 50 is a screw, 51
is work.

Claims (1)

[Scope of Claim for Utility Model Registration] 1. A tool chuck 10 for gripping a fastener component fastening work tool;
In an industrial robot having a fastener part fastening work tool in which a lifting drive means for vertically moving a fastener part fastener 0 is attached to a bracket 5 at the tip of the unit, one end of the fastener part fastening work tool is attached to a mounting member 21 held by the tool chuck 10. The other end of the piston cylinder 23 is fixed to, and one end of the piston cylinder 23 is fixed to the fastening tool, and a slide shaft 40 is located parallel to the fastening tool and close to the bracket 5.
A fastener component is placed on the lower end of this slide shaft 40, and a catcher 44 through which the tip of the fastening work tool can be inserted is fixed. A catcher characterized in that a collar 41 is fixed, and a stopper member 43 is fixed to the tip of the bracket 5 of the industrial robot, which engages with the collar 41 and prevents the catcher 44 from lowering when the tool chuck 10 is lowered. Travel distance adjustment device. 2. The catcher movement distance adjusting device according to claim 1, wherein the collar is fixed to the slide shaft 40 with a fixing screw 42.