JPH05337846A - Auxiliary arm for clamping tool and clamping device - Google Patents

Abstract

PURPOSE:To enlarge the movable range of a clamping tool by providing the respective upper ends of two columns with two arms having base end parts movable along guide slits provided at supporting members, and fixing a third arm, fitted with a clamping tool, pivotally between the tip parts of these arms. CONSTITUTION:Two parallel columns 20 are erected on a base 12, and a supporting member 22 provided with a first and a second guide slits 24a, 26a is fixed to the upper end part of each column 20. A first and a second arms 28, 40 with a first and a second moving parts 30, 44 movable along the respective guide slits 24a, 26a are provided, and the base end part of a third arm 48 with a clamping tool 50 fitted to the tip side thereof rotatably in plural directions through supporting members 52, 54 is pivotally fixed in the oscillating state to one end parts of both arms 28, 40. A counter weight 56 is further fitted to the left end part of the first arm 28, and an air cylinder 58 for offsetting the weight of the clamping tool 50 is fitted to the left end part of the second arm 40.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tightening tool auxiliary arm and a tightening device for assisting a worker in moving a tightening tool such as an impact wrench according to a working position.

[0002]

2. Description of the Related Art In assembling an automobile body or the like, a tightening tool such as an impact wrench is used for tightening bolts and nuts. These tightening tools are normally used by operators who tighten bolts and nuts.
Move and use according to the tightening point. In addition, when assembling an automobile body or the like, since there are many tightening points, it is necessary for an operator to hold these tightening tools for a long time to perform the assembling work. Therefore, conventionally, in such tightening work, in order to reduce the labor of the worker, an auxiliary arm that supports the tightening tools in a state where the weights of the tightening tools are canceled is used. By using such an auxiliary arm, even heavy tools can be easily handled with a small force.

As a conventional example of this auxiliary arm, one disclosed in Japanese Utility Model Publication No. 1-15491 filed by the applicant of the present application is known. As shown in FIG. 5, the conventional auxiliary arm 100 has a fixed portion 102 rotatably supported in a horizontal direction on a ceiling of a factory or a traveling body traveling on a rail arranged on the ceiling. is doing. The fixed portion 102 is provided with a first arm 104 rotatably supported with one end thereof as a fulcrum, and the other end portion of the first arm 104 is provided with a tightening tool at its tip portion. Second arm 10 that can be attached
6 is rotatably attached. Then, by the movement of the first and second arms 104 and 106, the tightening tool can be held so as to be movable upward and rightward from the position shown in FIG.

[0004]

However, in the conventional auxiliary arm 100 described above, the tightening tool can be moved in the direction shown by the arrow in FIG. Could not be moved to. Therefore, there is a problem that the working range of the tightening tool on the side closer to the fixed portion 102 is narrow and the working area is limited. Therefore, the present invention has been made in view of the above-mentioned problems, and an object thereof is to provide an auxiliary arm for a tightening tool and a tightening device having a wide movable range of the tightening tool and a wide working area. ..

[0005]

In order to solve the above-mentioned problems and to achieve the object, an auxiliary arm for a tightening tool of the present invention is capable of moving the tightening tool in a state where the weight of the tightening tool is offset. In an auxiliary arm for a tightening tool for supporting, a base, two columns arranged in parallel on the base at a predetermined distance from each other, and a first column extending in the horizontal direction Between the two support members, each having two guide slits and a second guide slit extending in the vertical direction, and fixed to each of the two columns. And a first arm having a first moving part that is movable along the first guide slit and the two support members, and is arranged along the second guide slit. Second moving part made movable A second arm that has the third arm and a third arm that is rotatably connected to the respective one end portions in a state where the one end portion of the first arm and the one end portion of the second arm are separated from each other by a predetermined distance. The arm is disposed in parallel with the third arm, and one end of the arm is rotatably connected to the first arm so that the first arm and the second arm are parallel to each other. A link member whose end portion is rotatably connected to the second arm, and a link member provided on the two support members respectively and connected to the second arm so as to offset the weight of the tightening tool. It is characterized by having two air cylinders.

Further, in the tightening device of the present invention, in the tightening device in which the tightening tool is movably supported in a state where the weight of the tightening tool is offset, the base is separated from the base by a predetermined distance. And two guide columns arranged in parallel in a state, a first guide slit extending in the horizontal direction and a second guide slit extending in the vertical direction, and the two guide columns. A second supporting member fixed to each of the columns of the first supporting member, and a first moving portion disposed between the two supporting members and movable along the first guide slit. One arm, a second arm that is disposed between the two support members and has a second moving portion that is movable along the second guide slit, and one end of the first arm. Part and one end of the second arm are predetermined. A third arm that is rotatably connected to the one end of each of the first arm and the third arm that are arranged in parallel with each other in a state where the first arm and the second arm are separated from each other. A link member, one end of which is rotatably connected to the first arm and the other end of which is rotatably connected to the second arm so as to be parallel to each other, and on the two support members, respectively. Two air cylinders are provided, which are connected to the second arm so as to offset the weight of the tightening tool, and an impact wrench attached to the tip of the third arm. There is.

[0007]

As described above, since the auxiliary arm for the tightening tool and the tightening device according to the present invention are configured, the first and second arms pass between the two columns supporting the support member. Since it is possible to rotate the tightening tool, it is possible to widen the movable range of the tightening tool and the work area.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a side view of an auxiliary arm for a tightening tool according to an embodiment. In FIG. 1, reference numeral 12 indicates a base of the entire auxiliary arm, and a caster 14 is attached to the lower surface of the base. With this caster 14, the base 12
That is, the entire auxiliary arm 10 can be moved to an arbitrary position on the floor surface of a factory or the like.

On the upper surface of the base 14, there is provided a rotating body 18 which is rotatably supported by a bearing 16 about a rotating shaft extending in the vertical direction. In this rotating body 18,
Two columns 20 extending along the vertical direction are attached. One of these columns 20 on the front side is shown, but the other one is separated from the column 20 on the front side by a predetermined distance in the direction perpendicular to the paper surface.
It is provided in parallel with the column 20.

Inside the upper end of each of these columns 20, two pentagonal support substrates 22 of the same shape are fixed, with their respective surfaces parallel to each other. A guide slit plate 24 having a first guide slit 24a extending in the direction along the horizontal line is attached to the lower side of each of the two pentagonal support substrates 22. A guide slit plate 26 having a second guide slit 26a extending in the direction along the vertical line is attached to the left side of each of the two support substrates 22 in the drawing. ..

A first guide roller 30 is provided in the first guide slit 24a so as to be rotatable around a rotation axis along a direction perpendicular to the plane of the drawing in the first arm 28. Since the outer diameter of the first guide roller 30 is made slightly smaller than the width of the first guide slit 24a, the first guide roller 30 is the first guide roller 30.
It is possible to move along the extending direction (horizontal direction) of the first guide slit 24a while being inserted into the guide slit 24a.

Further, the rotary shaft 3 of the first guide roller 30.
A roller substrate 34 is mounted on the roller 2 so as to be rotatable around the rotary shaft 32. The roller substrate 34 has a first
The guide roller 30 is separated from the guide roller 30 by a predetermined distance.
The guide roller 36 of the rotary shaft 3 along the direction perpendicular to the paper surface.
It is provided to be rotatable around 8. The third guide roller 36 also has the same outer diameter as that of the first guide roller 30 and is inserted into the first guide slit 24a. Therefore, the first arm 28 guides the first and third guide rollers 30 and 36 by the first guide slit 24a, and the support substrate 22
It is possible to move relative to the horizontal direction.

On the other hand, in the second guide slit 26a,
A rotary shaft 42 extending along a direction perpendicular to the paper surface of the second arm 40.
Second guide roller 44 rotatably provided around the
Has been inserted. Since the outer diameter of the second guide roller 44 is made slightly smaller than the width of the second guide slit 26a, the second guide roller 44 is formed.
Is inserted in the second guide slit 26a,
It is movable along the extending direction (vertical direction) of the second guide slit 26a. The second guide roller 44 is provided at the left end of the second arm 40 in the figure. Therefore, the left end portion of the second arm 40 connects the second guide roller 44 to the second guide slit 2.
The second guide slit 26a while being guided by 6a
It is movable along the extending direction (vertical direction) of the.

Here, the first arm 28 and the second arm 40 are connected to the link 46 and the third arm at positions close to both ends of each arm so that the arms are parallel to each other as shown in the figure. They are connected by an arm 48. Specifically, the rotation shaft 42 of the second guide roller 44 of the second arm 40
One end of a link 46 is rotatably connected to the. The other end of the link 46 is rotatably connected to the first arm 28. Also, the first and second
The right ends of the arms 28, 40 in the figure are rotatably connected to positions close to the left ends of the third arms 48, respectively. The positional relationship between the link 46 and the third arm 48 is also set to be parallel to each other. Therefore, the first and second arms 28, 40, the link 46, and the third arm 48 are connected so as to form a parallelogram-shaped four-bar linkage mechanism. Then, the movement of the four-bar linkage and the first to third guide rollers 30, 4
4, 36 first and second guide slits 24a, 26
By the movement along a, these first to third arms 28,
40 and 48 are moved.

At the tip of the third arm 48, a tightening tool 50 such as an impact wrench is attached to the supporting member 5.
It is attached via 2, 54. Support member 52
Is rotatably supported by the third arm 48 about a rotation axis along a line perpendicular to the plane of the drawing, and is also supported so as to be rotatable about a rotation axis along a vertical line. Further, the support member 54 is rotatably supported by the support member 52 about a rotation axis along a horizontal line. Therefore, the tightening tool 50 is provided with respect to the third arm 48.
Each of them is rotatable about a rotation axis along a vertical line, a horizontal line, and a straight line perpendicular to the paper surface, so that it can be tightened in any direction.

Further, at the left end of the first arm 28,
A counterweight 56 is attached. And
The weight of the counterweight 56 acts as a moment in the counterclockwise rotation direction about the rotation shaft 32 of the first guide roller 30 as a fulcrum, and the first to third positions located on the right side of the first guide roller 30 in the figure. The weights of the arms 28, 40 and 48 are canceled.

An air cylinder 58 is attached to the lower end portion of the support substrate 22 on the left side in the figure, with its central axis aligned with the vertical line. Then, as will be described later in detail, the tip end portion of the cylinder rod 60 of the air cylinder 58 is connected to the rotary shaft 42 of the second guide roller 44. Therefore, by adjusting the air pressure inside the air cylinder 58 to exert a downward force in the figure on the rotary shaft 42 of the second guide roller 44, the first to third arms 28, 40, 48 are moved to the first and second arms 28, 40, 48. It is possible to apply a moment in the counterclockwise rotation direction about the rotation shaft 32 of the first guide roller 30 as a fulcrum. As a result, even when the tightening tool 50 attached to the tip of the third arm 48 is moved to any position, the air cylinder 5 follows the movement of the tightening tool 50.
It is possible to cancel the weight of the tightening tool 50 by changing the air pressure inside 8. The air cylinder 58 is provided with a pressure adjusting valve (not shown), and the air pressure in the air cylinder 58 as described above is adjusted by this pressure adjusting valve.

Then, these counterweights 56
By the action of the air cylinder 58, the weights of the first to third arms 28, 40, 48 and the tightening tool 50 are balanced, and the tightening tool 50 appears to be in a so-called weightless state. It becomes a state. Therefore,
When the operator applies a light force to the tightening tool 50, the first to third arms 28, 40, and 48 move the four-node link mechanism constituted by them and the first to third guide rollers 30 ,. 44 and 36 first and second guide slits 24
a, 26a move by movement, tightening tool 50
Can be easily moved to any position. In addition, even after moving to an arbitrary position, the tightening tool 50 is held at that position.
No force to hold is required.

In the above description, the configuration on the front side of the paper surface shown in the drawing has been described, but the first to third guide rollers 30, 44, 36, the link 46, and the air cylinder 58 are the first. Also, the same arrangement is provided on the other side of the drawing with the second arms 28 and 40 interposed therebetween. That is, the first to third arms 28, 40, 48
Are arranged at approximately the center positions of the two columns 20 and the two support substrates 22. Therefore, the first to third arms 28,
40 and 48 pass between these two support columns 20 and two support substrates 22 and, as shown by the two-dot chain line,
It is possible to move to a position on the left side of 0 in the drawing.
Therefore, the movable range of the tightening tool 50 to the side closer to the support column 20 is greatly expanded.

Here, when the tightening tool 50 is moved, as described above, the first and second arms 28, 40 move along the first and second guide slits 24a, 26a. However, it is conceivable that the arm will be twisted during this movement. When the arm makes a twisting motion as described above, the tightening tool 50 does not move smoothly. The first arm 28 has the first and third guide guide rollers 3 on both sides (the front side and the other side on the paper surface) of the first arm 28.
Since 0 and 36 are restricted from moving in the vertical direction by the first guide slits 24a on the two support substrates 22, twisting is unlikely to occur. On the other hand, in the second arm 40, two second arms 40 are provided on both sides of the second arm 40.
If the vertical movements of the guide rollers 44 do not match, twisting is likely to occur. Therefore, the second guide roller 4
Both end portions (the end portion on the front side and the end portion on the other side) of the rotary shaft 42 of No. 4 need to move up and down in synchronization with each other. A mechanism for vertically moving both ends of the rotary shaft 42 of the second guide roller 44 in synchronization with the two support substrates 22 will be described below with reference to FIGS. 2 and 3.

FIG. 2 is an enlarged view of the support substrate 22 portion in FIG. 1, and FIG. 3 is a partially enlarged view of FIG. 1 seen from the left side. The second guide roller 4 of the rotary shaft 42 shown in FIG.
A gear 62 is fixed on the front side of the sheet with respect to the sheet 4, as shown in FIG. On the other hand, on the support substrate 22,
As shown in the figure, the rack 64 is fixed along the vertical line, and the gear 62 meshes with the rack 64. Therefore, when the left end portion of the second arm 40 moves up and down along the guide slit 26a, the gear 62 is
Rotate while engaging with the rack 64. Then, as described above, the gear 62 is provided on the rotation shaft 42 of the second guide roller 44.
Since the rotary shaft 42 is fixed to the rotary arm 42 and is rotatably supported by the second arm 40, the rotary shaft 42 also rotates together with the gear.

On the other hand, as shown in FIG. 3, a gear 62 is similarly fixed to the other end (the left end in the figure) of the rotary shaft 42 of the second guide roller 44, It meshes with a rack 64 fixed on the support substrate 22. Therefore, when the second guide roller 44 moves up and down, the rotary shaft 42 and the gears 62 at both ends thereof rotate integrally. That is, the gears 6 provided at both ends of the rotary shaft 42
2 is a rack 6 provided on each of the two support substrates 22.
While meshing with 4, it will move up and down with exactly the same amount of movement. As a result, the rotary shaft 42 moves up and down without tilting with respect to the two support substrates 22, and twisting of the second arm 40 is suppressed.

Further, as shown in FIGS. 2 and 3, the cylinder rod 60 of the air cylinder 58 provided on each of the two support substrates 22 rotates the second guide roller 44 via the connecting member 66. It is rotatably connected to the shaft 42. Then, as described above, the weight of the tightening tool 50 is canceled by urging the rotating shaft 42 of the second guide roller 44, that is, the end portion of the second arm 40 downward by the air cylinder 58. You can balance it.

Next, the operation of the tightening tool auxiliary arm 10 configured as described above will be described with reference to FIG. 1 and FIG. 4 schematically showing the movement of the auxiliary arm. First, as shown in FIG. 1, the air pressures of the two air cylinders 58 are adjusted by a pressure adjusting valve to cancel the weight of the tightening tool 50 and keep the balance in a stationary state.
In this state, when the tightening tool 50, that is, the point A in FIG. 4, is manually moved in the downward and leftward directions from the position indicated by the solid line, the first to third points are indicated by the two-dot chain line. The arms 28, 40, 48 of the air cylinder 5 are moved, and the pressure adjusting valve is automatically adjusted with the movement of the arms 28, 40, 48.
The pressure in 8 is kept constant and the tightening tool 50 moves with its weight cancelled. This allows the operator to move the tightening tool with a very small force.

Here, the point A in the figure can be moved to the position indicated by the point B in the conventional auxiliary arm. However, it was impossible to move the tightening tool 50 to the positions indicated by points C and D in the figure, that is, to the position close to the column 20. On the other hand, in the auxiliary arm 10 of the embodiment, the space between the two columns 20 is first to first.
Since the third arms 28, 40, 48 are configured to be movable, the first to third arms are moved to the positions indicated by the points C and D, or the positions indicated by the two-dot chain line in FIG. Two
It becomes possible to move 8, 40 and 48, and it is possible to move the tightening tool 50 to a position extremely close to the support column 20 and the support substrate 22. That is, the tightening tool 50
The movable range of will be greatly expanded.

The position shown by the two-dot chain line in the figure is an example of the movable position, and the tightening tool 50 can be moved to any position within the range shown by the one-dot chain line in the schematic diagram. It is possible. As described above, in the auxiliary arm 10 according to the embodiment, the space between the two columns 20 is first to first.
Since the third arms 28, 40, and 48 can pass through, the first to third arms 28, 40, and 48 can project to the rear side (the left side in the drawing) of these columns 20, and the columns It is possible to move the tightening tool 50 to a position near the 20 and the support substrate 22. As a result, even when the space around the auxiliary arm 10 is small, the working range of the tightening tool 50 is increased, and the workability can be improved. The present invention can be applied to the modified or modified embodiment described above without departing from the spirit of the invention.

[0027]

As described above, according to the auxiliary arm for the tightening tool and the tightening device of the present invention, the first and second arms pass between the two columns supporting the support member. Since it is possible to rotate, there is an effect that the movable range of the tightening tool can be widened and the working area can be widened.

[Brief description of drawings]

FIG. 1 is a side view of an auxiliary arm according to an embodiment.

FIG. 2 is a partially enlarged view of FIG.

FIG. 3 is a view showing a mechanism for vertically moving a rotation shaft of a second guide roller in a horizontal state.

FIG. 4 is a diagram schematically showing how the auxiliary arm operates.

FIG. 5 is a diagram showing a conventional example.

[Explanation of symbols]

 12 Base 18 Rotating Body 22 Support Substrate 24, 26 Guide Slit Plate 28 First Arm 30 First Guide Roller 36 Third Guide Roller 40 Second Arm 44 Second Guide Roller 46 Link 48 Third Arm 50 tightening tool 56 counterweight 58 air cylinder 62 gear 64 rack 66 connecting member

Claims (2)

[Claims] 1. An auxiliary arm for a tightening tool for movably supporting the tightening tool in a state where the weight of the tightening tool is offset, in a state where a base and a predetermined distance from each other on the base. The two columns are respectively provided with two columns arranged in parallel, a first guide slit extending in the horizontal direction and a second guide slit extending in the vertical direction. A first moving part disposed between the two supporting members and fixed to each of the first moving member and movable along the first guide slit. An arm, a second arm that is disposed between the two support members, and has a second moving portion that is movable along the second guide slit, and one end of the first arm. Separate a predetermined distance from one end of the second arm. And a third arm rotatably connected to one end of each of the first arm and the third arm, the first arm and the second arm being parallel to each other. A link member having one end rotatably connected to the first arm and the other end rotatably connected to the second arm, and the link member is provided on each of the two support members. An auxiliary arm for a tightening tool, comprising: two air cylinders connected to the second arm so as to offset the weight of the tightening tool. 2. A tightening device that supports a tightening tool so that the weight of the tightening tool can be offset while being movably supported. The tightening device is arranged in parallel with a base and a predetermined distance from each other on the base. Two columns, a first guide slit extending in the horizontal direction and a second guide slit extending in the vertical direction, and one column for each of the two columns. Two supporting members fixed to each other, a first arm having a first moving portion arranged between the two supporting members and movable along the first guide slit, A second arm disposed between two support members, the second arm having a second moving portion that is movable along the second guide slit; one end of the first arm; and the second arm. With a certain distance from one end of the A third arm that is rotatably connected to one end of each of the two arms, and one end of the third arm that is disposed parallel to the third arm so that the first arm and the second arm are parallel to each other. A link member rotatably connected to the first arm and the other end rotatably connected to the second arm, and a weight of the tightening tool provided on each of the two support members. A tightening device comprising: two air cylinders connected to the second arm so as to cancel the above; and an impact wrench attached to a tip end portion of the third arm.