JPH04183529A - Bolt supply device - Google Patents

Abstract

PURPOSE:To prevent the availability of a machine from lowering, by providing a remaining bolt sensor at the front end part, a chuck part of a fastening socket at the middle part, and a remaining bolt gripping part at the base part, and by providing a pair of a gripping members which may be opened and closed by a drive mechanism. CONSTITUTION:If a remaining bolt sensor 17 is turned on during a socket chuck hand 16 is moved from a point (a) to a point (b), a remaining bolt 19A is present in a fastening socket 18, and accordingly, a chuck cylinder 15 is driven after the socket chuck hand 16 is further moved to a point (d). Thus, the remaining bolt 19A is chucked by a narrower remaining bolt gripping part 16b of the socket chuck hand 16. The remaining bolt 19A is removed from the fastening socket 18 by vertically moving a robot arm 10, and is discarded at a discarding point Q. In this phase, a bolt 19 to be fed is held being chucked by a bolt chuck hand 14.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a bolt supply device for supplying bolts to a tightening socket of an automatic tightening device.

[Prior Art] A bolt supply device that is attached to a robot arm, grips bolts and nuts in a parts supply section, and automatically tightens screws such as bolts and nuts to a tightening socket of the device. Previously, Utsukai Showa 61-8187
There was a structure described in No. 5 ``Bolt and nut gripping device''. This device includes bolt and nut gripping means, link means for connecting the bolt and nut gripping means to a base, and biasing means for biasing the bolt and nut gripping means away from the base. Regardless of the orientation of the gripping device, the pressing force of the bolt or nut against the tightening socket can be appropriately maintained, and excessive force can be prevented from being applied to the holding portion of the gripping device.

[Problem 8 to be solved by the invention] Conventional problems When supplying a bolt to a tightening socket, it is assumed that there is nothing inside the tightening socket. However, in reality, there is a high possibility that bolts supplied during previous work may remain in the tightening socket due to problems such as defective tightening. In this case, the next time a new bolt is supplied, it will interfere with the remaining bolt and the bolt will not fit into the socket, causing trouble with the bolt supply device and the tightening socket. Further, the fact that the bolt remains in the tightening socket itself is an abnormality in the device and is a problem.

This situation in which the bolt remains in the tightening socket is particularly likely to occur when tightening upward. The reason is that the bolt will not fall down. To deal with this situation, the tightening socket in the conventional device has a function to eject the remaining bolt due to poor tightening,
There was no detection function to detect if any bolts remained. Therefore, if a bolt is defective in the tightening process at a certain point and some bolts remain in the tightening socket, the next bolt or bolt to be brought in will be inserted into the tightening socket when the next screw is supplied. There was a problem that the bolt supply device stopped abnormally, reducing the operating efficiency of the equipment. Therefore, there is a problem that the above-mentioned problems must be solved.

Purpose of the Invention The present invention was made to solve the above problems, and detects an abnormal state in which a bolt remains in a tightening socket, and removes the remaining bolt to restore normal working condition. It is an object of the present invention to provide a bolt supply device that can prevent a decrease in operating efficiency of a machine due to abnormal stoppage of the bolt supply device.

[Means for Solving the Problems] A bolt supply device according to the present invention includes a bolt chuck hand consisting of a pair of gripping members that are formed to be openable and closable by a drive mechanism, a remaining bolt detection sensor at the tip, and a bolt chuck hand at the middle portion. a socket chuck hand comprising a chuck portion of a tightening socket and a remaining bolt gripping portion at the base, and a socket chuck hand consisting of a set of gripping members formed to be openable and closable by a drive mechanism, and the bolt chuck hand The vertical relative distance between the socket chuck hand and the socket chuck hand can be changed by a driving mechanism, and the other directions are integrally formed with each other.

[Function] Since the bolt supply device according to the present invention performs the above-mentioned means, it detects in advance an abnormal state in which a bolt remains in the tightening socket, and discharges the remaining bolt to restore normal operation. As a result, abnormal stoppage of the bolt supply device can be avoided and the operating efficiency of the machine can be maintained at a high level.

[Example] Preferred embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an explanatory front view of the main parts of an embodiment of the bolt supply device according to the present invention. FIG. 2 is an explanatory diagram of the bolt supply device shown in FIG. 1 seen from the direction of arrow A, and FIG. 3 shows the bolt supply device according to the present invention attached to a robot arm being transferred from a bolt alignment machine to a tightening socket. An explanatory diagram illustrating the operation when supplying bolts is shown.

In FIG. 3, 10 is a robot arm, which is a robot that can move horizontally and vertically. A mounting plate 11 is provided at the tip thereof.

As shown in FIG.
and a bolt chuck hand 14 are provided. The bolt chuck hand 14 is configured to be able to open and close by the chuck cylinder 13. In addition, the mounting plate 11
A socket chuck hand 16 is disposed at the bottom of the chuck cylinder 15 so that it can be opened and closed.

A remaining bolt detection sensor 17 consisting of a light emitting diode 17a1, a photodiode 17b, etc. is provided at the tip of the socket chuck hand 16. At the base of the socket chuck hand 16, there is provided a remaining bolt gripping part 16b which is formed one step narrower and is capable of chucking the remaining bolt 19A.

Reference numeral 18 denotes a tightening socket, and the figure shows a state in which the remaining bolt IQA is placed on the four parts 18a provided at its upper end. What is gripped by the bolt chuck hand 14 is a bolt 19 that will be supplied to the tightening socket 18 from now on. The guide cylinder 12 provides upward and downward stroke motion to the bolt chuck hand 14 in order to insert the bolt 19 into the tightening socket 18 .

In addition, one of the two gripping members 16A constituting the socket chuck hand 16 is provided with a chevron-shaped recess 16a consisting of two slopes, and the center of the bolt 19 and the center of the tightening socket 18 are provided. It works to match the 20 is a bolt alignment machine that aligns bolts to facilitate gripping by the bolt chuck hand 14. Opening/closing operations of the bolt chuck hand 14 and socket chuck hand 16 and the bolt chuck hand 1
The vertical stroke motion of No. 4 is executed based on a command output from a control device (not shown).

Next, the operation of the above embodiment will be explained with reference to FIGS. 1 to 3 and 4. At step 101 in FIG. 4, the robot arm 10 moves to the chuck point P in FIG.
Chuck it with. Next, in step 102, the socket chuck hand 16 is moved from point a to point b in FIG. This point is socket chuck hand 16
This is the point where the center of the socket chuck matches the axis of the tightening socket 18. Until this point b is reached, the remaining bolt detection sensor 17 checks the presence or absence of the remaining bolt 19A.

If the remaining bolt detection sensor 17 does not turn ON, it is determined that there is no remaining bolt 19A, and the socket chuck and the chuck hand 16 are lowered to point C, and the chuck cylinder 15 is lowered.
to chuck the tightening socket 18 with the socket chuck hand 16 (steps 103 and 104).
. During this chuck, the bolt 1 is
9 and the axis of the tightening socket 18 are aligned. The hexagonal phase of the head of the bolt 19 and the tightening socket 18
The phases of the hexagonal hole of the recess 18a are relatively matched by a matching device (not shown).

Next, when the guided cylinder 12 is lowered, the bolt 19 is also lowered, and the bolt 19 is inserted into the tightening socket 18 (
Step 105). Then, the chuck cylinder 13 is driven to open the bolt chuck hand 14 to unchuck the bolt 19, and the socket chuck hand 1
6 is also unchucked from the tightening socket 18 (steps 106 and 107). Then, the robot arm 10 is moved forward toward the plane of the drawing, and the bolt chuck hand 14 and socket chuck hand 16 are separated from the tightening socket 18 and bolt 19, thereby completing normal bolt supply (step 108).

Next, the action to take when an abnormality occurs will be explained. If the remaining bolt detection sensor 17 turns ON while moving the socket chuck hand 16 from point a to point b, there is a remaining bolt 19A in the tightening socket 18, so step 109
After switching to the robot abnormality handling program and moving the socket chuck hand 16 further to point d, the chuck cylinder 15 is driven and the remaining bolt gripping part 16b of the socket chuck hand 16 is narrowed by one step.
Chuck the remaining bolt 19A with (step 110)
. Then, by moving the robot arm 10 upward, the remaining bolt 19A is extracted from the tightening socket 18 and taken to the disposal point Q and discarded (steps 111 and 112).
. At this time, the bolt 19 to be supplied from now on remains chucked by the bolt chuck hand 14.

With the above steps, the abnormality treatment is completed, so bring the socket chuck hand 16 to point l-b and move the robot arm 10
lower and then move to point C (step 1
13). The subsequent operation is the same as the bolt supply according to the normal operation described above (steps 104 to 108). In this way, the remaining bolt detection sensor 17 detects whether or not a bolt remains in the tightening socket 18, and if the bolt remains, the remaining bolt gripping part 16b provided in a part of the socket chuck hunt 16 By grasping and removing the remaining bolt, the next cycle can be started without stopping the device.

Therefore, even if there are remaining bolts, the equipment will not be stopped, and the operating rate of the equipment can be significantly improved. In addition, the bolt tightening condition is normally detected by a torque transducer to determine whether it is good or bad, but according to the present invention, a double check is performed to check for any remaining bolts that are damaged, so the quality of bolt tightening can be checked. can be improved.

Note that by changing the shape of the chuck hunt, residual abnormalities in nuts and screws can be easily detected and treated.

[Effects of the Invention] As explained above, the bolt supply device according to the present invention has the following features:
It consists of a bolt chuck hand that can be opened and closed by a drive mechanism, a residual bolt detection sensor at the tip, a tightening socket chuck part in the middle, and a residual bolt gripping part at the base, which can be opened and closed by the drive mechanism. With the configuration including the socket chuck hand formed in the socket chuck hand, it is possible to detect in advance whether or not there is a remaining bolt, and if there is a remaining bolt, the remaining bolt can be chucked and removed using the remaining bolt gripping part of the socket chuck hand. Therefore, even if there are remaining bolts, the equipment does not have to be stopped, and the operating rate of the equipment can be significantly improved.

[Brief explanation of the drawing]

1 and 2 are diagrams showing the configuration of the main parts of one embodiment of the bolt feeding device according to the present invention, and FIG. 1 is a front view;
Fig. 2 is an explanatory diagram viewed from the direction of arrow A in Fig. 1, Fig. 3 is an explanatory diagram showing the robot arm and bolt alignment machine equipped with the device in Fig. 1, and the trajectory during abnormality processing. FIG. 3 is an operational flow diagram of the device according to the present invention. 10 ... Robot arm 11 ... Mounting plate] 2 ... Cylinder with guide 13 ... Chuck cylinder 14 ... Bolt chuck/S throat 15 ... Chuck cylinder 16 ... Socket chuck hunt 17 ... Remaining bolt Detection sensor 18... Tightening socket 18a... Recess 19... Bolt 20... Bolt alignment machine 19A... Remaining bolt P... Chuck point Q... Discard point

Claims (1)

[Scope of Claims] A bolt chuck hand consisting of a pair of gripping members formed to be openable and closable by a drive mechanism, a remaining bolt detection sensor at the tip, a chuck part of a tightening socket at the middle part, and a remaining bolt at the base. and a socket chuck hand consisting of a pair of gripping members provided with a bolt gripping part and formed to be openable and closable by a drive mechanism, and the relative distance in the vertical direction between the bolt chuck hand and the socket chuck hand is A bolt supply device characterized in that it is formed to be changeable by a drive mechanism, and is formed integrally with respect to other directions.