JPH0536591Y2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The disclosed technology belongs to the technical field of devices that apply torque to bolts or nuts when rotatable mechanical parts are fastened together using bolts.

This invention relates to a bolt/nut fastening device that uses a nut runner to apply torque to bolts or nuts when bolting rotatable members to be fastened to each other. The displacement device for freely adjusting the position of the nut runner has a position fixing device for fixing the nut runner at a desired position, and further includes a bolt/nut supply device for supplying bolts or nuts to the nut runner. This invention relates to a bolt/nut fastening device that is equipped with a follow-up/backward movement device that causes a nut runner to move forward and then move backward as the bolt or nut is tightened.

<Prior Art> As is well known, various mechanical devices are often assembled from a plurality of component parts.
At the manufacturing site of mechanical devices, it is necessary to assemble each component accurately and quickly, and for this reason, various specialized assembly devices have been devised and put into practical use. .

Among them, the so-called nut runner device, which rotates bolts and nuts at a predetermined speed by a motor, has been used in many places in recent years.For example, it is used in automobile assembly lines and other lines to save labor and speed up line tact. The technology of the nut runner device used in this way is disclosed in, for example, the device disclosed in Japanese Utility Model Application Publication No. 175328/1983.

For example, when assembling a car equipped with an automatic transmission, the torque converter of the automatic transmission and the drive plate attached to the engine crankshaft are fastened together with a predetermined number of bolts. However, since the outer periphery of the bolt tightening part has a mechanically intricate structure, the worker must select a location in the facility that is relatively easy to work with. Therefore, I used a wrench to tighten the bolts one by one.

Alternatively, select a location with a relatively large working space around the joint between the torque converter and the drive plate, tighten the bolts one by one using a hand-held nut runner, and rotate the engine crankshaft accordingly. In some cases, the bolt mounting positions of the torque converter and drive plate are sequentially moved, and all bolts are tightened in the same manner.

<Problems to be solved by the invention> However, in the former work, the manner in which the worker tightens the bolts one by one with a wrench is
Each time, the worker inserts one bolt into the socket of the wrench, carries the wrench with the bolt to the tightening position, and then performs the tightening work while aligning the tip of the bolt to the tightening position. Since the fastening work had to be carried out, there was a problem that the work was extremely cumbersome.Furthermore, since the place where the fastening work was performed was complicated and narrow, the work was extremely cumbersome and the workability was poor.

In addition, in the latter work, the method of tightening the bolts with a hand-held nut runner is as follows.
Compared to the former mode, the worker still has to apply torque to the bolt, and the work of the fastened parts (torque converter and drive plate) is not eliminated.
Since the work of positioning and attaching the bolts one by one to the set positions remains unavoidable, there was the problem of poor workability, similar to the former aspect.

Although there is currently no technology for bolt/nut fastening devices for various rotating bodies, there are similar technologies for screw tightening devices such as those disclosed in Japanese Utility Model Application Publication No. 138619/1983.

The purpose of this invention is to solve the above-mentioned problems of the prior art in fastening bolts and nuts to rotating bodies. This is an excellent bolt and bolt system that benefits the field of assembly technology in the machinery industry by making it possible to perform tasks such as positioning, mounting, and fastening bolts and nuts almost fully automatically, reducing the burden on workers and improving productivity. The present invention aims to provide a nut fastening device.

<Means for Solving the Problems> In order to solve the above-mentioned problems, the structure of this invention, which is based on the above-mentioned claims for utility model registration, is a circular arrangement of rotatable members to be fastened, etc. In a bolt/nut fastening device in which the base is equipped with a nut runner that applies tightening torque to multiple bolts and nuts fastened to the tightening point at the minute position, the nut runner slides in the X and Y directions. The nut runner is mounted and fixed on the base via a displacement device that rotates the nut runner and a displacement device that rotates around the axis, and both of the displacement devices are provided with a position fixing device that locks the nut runner from being displaced in a direction other than the direction in which the nut runner is tightened. Furthermore, the bolt to the nut runner
It takes technical measures to be equipped with a nut feeding device and a following advance/retreat device for the nut runner.

<Function> Therefore, when fastening the members of the rotatable fastened members to each other via bolts and nuts, first
The main bolt or nut is loaded into the nut runner via the bolt/nut supply device, and in this state, the operator moves the nut runner to the first bolt/nut via the displacement device installed on the setting base. The bolt is moved to the installation position, where the nut runner and follow-up movement device are activated to automatically tighten the first bolt and nut.Then, the displacement device is fixed in position with the position fixing device except in the movement direction of the nut runner, and then , after retracting the nut runner via the tracking advance/retreat device and mechanically memorizing the fastening position, a new bolt or nut is loaded into the nut runner from the bolt/nut supply device, and the member to be fastened is servo operated. The nut runner is rotated while accurately indexing the position using a motor, etc., and when the bolt/nut mounting position of the fastened member and the nut runner are securely positioned relative to each other, the nut runner is advanced through the follow-up/backward device to move the machine forward. The position is determined through the memory, and at the same time the nut runner is activated to install the first bolt.
It is tightened to the member to be fastened in the same manner as the nut, and the remaining bolts and nuts are similarly tightened and fixed to the member to be fastened.

<Example> Next, an example of this invention will be described below based on the drawings.

Reference numeral 1 denotes a bolt/nut fastening device which constitutes the gist of this invention, and this embodiment is used to connect a torque converter 3 and an engine 4 of an automatic transmission 2 of the automobile as shown in FIG. 9 in the assembly process of the automobile. This figure shows an embodiment used when fastening the drive plate 5 of 2 with a plurality of bolts 6, 6, . . . .

In the embodiment shown in FIG. 2, 7 is a base installed on the floor of the line, and on the upper surface of the base 7 there are a pair of rails 8, 8 running in the front-rear direction (left-right direction in FIG. 2). A front and rear slide plate 10 is installed on the rails 8, 8 so as to be slidable in the front and rear direction (up and down direction in the figure) via linear bearings 9, 9, . . . A pair of stays 12, 12 (one of which is open in this embodiment due to design considerations) each has a positioning roller 11 at its tip (right end in Figure 2). Fixed.

A pair of rails 13, 13 running in the width direction (in the front and back directions of the paper in FIG. 2) are laid on the upper surface of the front and rear slide plate 10, and linear bearings 14, 14... are installed on the rails 13, 13. A width slide plate 15 is installed through the width slide plate 15, and a support column 17 is erected on the front upper surface of the width slide plate 15 via a mounting plate 16, as shown in FIG. A sleeve 19 is rotatably mounted on the outer periphery via bearings 18, 18 which serve both as radial and thrust, and a rotary plate 20 having an L-shape in plan view is integrally fixed on the outer periphery of the lower end of the sleeve 19. On the other hand, a flange 21 is integrally fixed to the outer periphery of its upper end.

Therefore, the sleeve 19 is movable and pivotable relative to the base 7 in the so-called X and Y directions.

Further, a flange 23 provided on the lower side of a cylinder body 22 is fixedly connected to the flange 21, and as shown in FIG. A shaft 26 is rotatably mounted, and a ball spline shaft 28 is installed inside the hollow shaft 26 via a bearing 27 so as to be able to slide forward and backward, and the hollow shaft 26 has a base end of a brake plate 29 at one end. is joined, and the base end of the lever 30 is joined to the other end thereof,
A base plate 32 is connected to one end of the ball spline shaft 28 via a bracket 31, and the base end of a stay 33 is connected to the other end. A cylinder 35 serving as an advancing/retracting device is fixedly installed, and its rod 36 is joined to the lever 30.

And the hollow shaft 26 and the ball spline shaft 28
Since the hollow shaft 26 is mounted on the cylinder 22 via bearings 24, 24, it can freely rotate relative to the cylinder 22 while being integrated.

Further, the tip of the lever 30 is connected to the rear upper surface of the rotary plate 20 via a balance cylinder 37, and by the action of the balance cylinder 37, the inertia force due to various weight members attached to the base plate 32 is absorbed into the hollow. The rotational movement of the shaft 26 and the ball spline shaft 28 is not significantly affected.

Further, as shown in FIGS. 3 and 4, a rail 38 is installed on the upper surface of the front end of the rotary plate 20 which is integrally fixed to the outer periphery of the lower end of the sleeve 19. A cylinder installation base 40 is installed via a bearing 39, and a rotating lock cylinder 43 having a pad 42 at the tip of a rod 41 is mounted on the top surface of the cylinder installation base 40.
A pad 44 facing the pad 42 is fixedly installed, and the rotary lock cylinder 43 is connected to the hollow shaft 26.
By pushing the pad 42 when the ball spline shaft 28 is at a desired rotation angle,
moves forward and first comes into contact with the brake plate 29, and due to the reaction force, the pad 44 and the cylinder installation base 40 move backward via the rail 38 and the linear bearing 39, and the pad 42 and pad 44 apply the brake. The rotary movement of the hollow shaft 26 and the ball spline shaft 28 is locked at a predetermined position by pressing and holding the plate 29.

Furthermore, as shown in FIG. 3, the rear end of the rotary plate 20 is connected to the tip of a cylinder 45 with a locking mechanism, whose base is pivotally supported on the mounting plate 16, and the sleeve 19 is attached to the mounting plate. The rotation of the sleeve 19 can be locked at a desired position by appropriately rotating the sleeve 19 relative to the sleeve 16.

As shown in FIG. 5, the base plate 32 is provided with linear bearings 46, 46, on the opposite side of the ball spline shaft 28, and is parallel to the base plate 32 through the linear bearings 46, 46,... A front and rear slide base 49 is fixed to the plate 47 at right angles to the plate 47, and a slide lock is provided at the end of the base plate 32. A cylinder 50 is fixedly installed, and as shown in FIG. 47, and the front and rear sliding movement of the front and rear slide base 49 integrated with the plate 47 are simultaneously locked.

As shown in FIG. 1, a rodless cylinder 54 is installed on the upper surface of the front and rear slide base 49 via brackets 53, 53, and a movable part 55 at the tip of the rodless cylinder 54 As shown in FIG. 2, a substantially L-shaped moving plate 5
6 is fixedly installed, and a rail 5 is provided between the upper surface of the tip of the moving plate 56 and the lower surface of the front and rear slide base 49.
7 and a linear bearing 58 for the rail 57
is interposed so that the movable plate 56 and the front and rear slide base 49 can be slid relative to each other by the operation of the rodless cylinder 54.

A nut runner 34, which will be described later, is supported and fixed to the lower surface of the front end of the movable plate 56 via brackets 59, 59.

Further, as shown in FIG. 1, a bracket 60 is fixed to the upper surface of the front end of the front and rear slide base 49.
A cylinder 61 and a linear bearing 62 are attached to the bracket 60, and a magazine base 64 is fixed to the tip of a rod 63 of the cylinder 61.
The magazine base 64 is slidably engaged with a linear bearing 62 attached to the side of the bracket 60 via a rail 65, and a bolt magazine 66 loaded with a predetermined number of bolts 6, 6, .
can be installed and removed freely,
Furthermore, when the bolt magazine 66 is attached, the magazine base 64 is moved forward and backward by the operation of the cylinder 61 and the sliding of the linear bearing 62 and rail 65.

Therefore, the nut runner 34 is shown in FIGS. 6 to 8.
As shown in the figure (Figure 6 is shown in the opposite position from Figure 1 for convenience of illustration), the casing 67 is formed into a substantially L-shape, and a motor (not shown) for threading the bolt 6 is attached to the base of the casing 67. A bolt clamp part 68 is provided at the tip thereof, and a cylinder 70 for releasing the bolt clamp is attached via a bracket 69 to the outer surface of the base thereof.

In the bolt clamp section 68, the base of a hollow cylindrical socket 71 is rotatably held in the casing 67 via bearings 72 and 73, and the socket 71 communicates along the axis. A hexagonal hole 75 having a rod insertion hole 74 and slightly larger than the head of the bolt 6 held at the tip thereof is formed, and a bevel gear 76 is formed on the outer periphery of the base inside the casing 67.

Also, a socket 71 protruding from the casing 67
A sleeve 77 is externally mounted on the tip of the socket 71, and as shown in FIGS.
8 is formed, and flanges 79, 79... for spring locking are formed on the outer periphery of the tip, and on the other hand, the base thereof is inclined at a set angle θ with respect to the axis, as shown in FIG. A pair of notches 80,8
0 is formed in a notch style.

Furthermore, a rod 81 for releasing the clamp is inserted into the rod insertion hole 74 of the socket 71, and a pair of elongated holes 82, 82 are formed along the axis at the setting portion of the socket 71. A pin insertion hole 83 is bored perpendicular to the axial direction, and one pin insertion hole 83 is formed in the notches 80, 80 of the sleeve 77, the long holes 82, 82 of the socket 71, and the pin insertion hole 83 of the rod 81. A pin 84 is inserted, and the pin 84
Both ends of 4 protrude from the outer peripheral surface of the sleeve 77,
The protrusion and the flange 7 at the tip of the socket 71
9, 79, . . . as shown in FIGS. 6 and 7, a compression spring 85 for biasing extrusion is interposed.

An annular groove 86 is formed on the outer periphery of the set position of the tip of the socket 71, and a plurality of steel balls 88 held by the sleeve 77 via a steel band 87 are fitted into the annular groove 86 to open the socket 71.
The sleeve 77 is prevented from coming off, and
In the initial setting state in which only the elastic force of the spring 85 is applied to the rod 81 via the pin 84, the hexagonal hole 75 of the socket 71 and the hexagonal hole 78 of the sleeve 77 are aligned at a predetermined angle as shown in FIG. When the socket 71 receives an external force from behind and the pin 84 moves forward along the long hole 82 of the socket 61, the sleeve 77 is pressed against the long hole 80 and is moved by the cam action. The hexagonal hole 75 of the socket 71 is rotated by the set angle.
and the hexagonal hole 78 of the sleeve 77 are positioned so that they match.

On the other hand, a shaft 81 connected to a drive motor (not shown) has a cam 90 and a bevel gear 91 fixed to its tip below the base of the socket 71 in the casing 67. It is engaged with an inward lever 93 of a latch device 92 attached to the side of the casing 67, and is also engaged with a bevel gear 91.
can be freely engaged with the bevel gear 76 of the socket 71.

That is, the driving force of a motor (not shown) is transmitted to the socket 71 and sleeve 77 via bevel gears 91 and 76, and when the shaft 81 is reversed, the socket 71 and sleeve 77 The cam 90 is attached to the lever 93 of the latch device 92.
The rotation is stopped at a predetermined position by abutting and engaging with each other.

Further, an L-shaped lever 95 is engageable with the rod 94 of the cylinder 70 for releasing the bolt clamp, and the base of the lever 95 is connected to the bracket 69 via a linear bearing 96 and a rail 97. While being slidably engaged, a rod portion 98 is integrally formed at the tip and extends forward, and the rod portion 98 is inserted into the rod insertion hole 74 of the socket 71.
As the cylinder 70 retracts, the rod 98 of the lever 95 presses and advances the rod 81 within the rod insertion hole 74 of the socket 71, and as described above, the rod 81 is inserted through the pin 84 and the notch 80. The sleeve 77 is rotated by a set angle, and the bolt 6 is threaded.

In FIG. 1, 99 is a tray for carrying the product.
9, 101 is a crank pulley of an automobile, 102 is a rotating device attached to the crank pulley 101, 103 is an oil pan, and in FIG. 10, 104 is a bolt attachment hole for the drive plate 5.

In addition, in this implementation, the front and rear slide bases 4
9, a support column 17 that rotates in the vertical direction, bearings 18, 18, a sleeve 19, a ball spline shaft 28 that moves in the width direction, a bearing 27,
hollow shaft 26, bearing 24, cylinder 22, and
A displacement device is constituted by a linear bearing 46, a rail 48, etc. that move in the front-rear direction,
Also, a rodless cylinder 54 that advances and retreats the nut runner 34, a bolt magazine 66 that pushes out the bolts 6, 6' one by one, and the bolt magazine 66.
A bolt/nut supply device is constituted by a cylinder 61 that moves and adjusts the nut runner to a mounting position on the nut runner 34, a rodless cylinder 54 that moves the nut runner 34, and the like.

In the above configuration, when fastening the drive plate 5 of the automobile engine 4 and the torque converter 3 of the automatic transmission 2 with the bolts 6, 6, etc., first, as shown in FIG. The automatic transmissions 2 are each fixed in a state of preparation for joining, and the rotating device 102 is joined to the mounting bolt (not shown) of the crank pulley 101, and as shown in FIG. Set it so that it is on the side of the bolt tightening position.

Subsequently, the front and rear slide plates 10 of the bolt/nut fastening device 1 are appropriately moved in the front and rear directions via the rails 8 and linear bearings 9, 9 by driving a moving cylinder device (not shown), and the front end of the slide plate 10 is moved. Positioning rollers 11, 11 provided via stays 12, 12 are fitted into positioning grooves 100, 100 of a conveying tray 99 of the automatic transmission 2 for positioning.

At this time, the tray 99 is also moved appropriately around the rotation center O (marked with a 10), and the bolt/nut fastening device 1
Position according to the settings.

Next, after extending the rodless cylinder 54 to advance the nut runner 34, the operator inserts the bolt 6 clamped to the nut runner 34 into the bolt mounting hole 10 of the drive plate 5.
Position it at 4 and insert it.

At this time, the bolt magazine 66 has been attached to the magazine base 64 by the operator in advance.
While the nut runner 34 is in the standby position, the bolt magazine 66 is
is moved forward and backward as appropriate to supply the bolts 6 of the bolt magazine 66 to the nut runner 34 at a predetermined value.

The bolts supplied from the bolt magazine 66 are then clamped by the nut runner 34, but prior to this, the bolts supplied from the bolt magazine 66 are clamped by the nut runner 34.
9 shows the motor reverse rotation operation and latch device 9, which are not shown.
2, the hexagonal holes 75 and 78 of the socket 67 and sleeve 77 are set so that the phases of the bolts 6 of the bolt magazine 66 match.

To clamp the bolt 6 in the nut runner 34, as shown in FIG. As described above, the sleeve 77 is rotated by a set amount via the pin 84, and the hexagonal hole 78 of the sleeve 77 and the hexagonal hole 75 of the socket 71 are connected.
With the bolts 6 from the bolt magazine 66 aligned, the bolts 6 are inserted into the hexagonal holes 78 and 78.
75, then return the rod portion 98 to its original position via the cylinder 70, and release the compression spring 8.
5 through the pin 84 due to the elastic force of the sleeve 7.
7 in the original direction, and the bolt 6 is twisted and clamped by the hexagonal hole 78 of the sleeve 77 and the hexagonal hole 75 of the socket 71.

Further, after the first bolt 6 is inserted into the bolt mounting hole 104 of the drive plate 5 as described above, the nut runner 3 is moved by a motor (not shown).
4 is driven to rotate the bolt clamp part 68 together with the bolt 6, and at the same time, the cylinder 35 as a follow-up advance/retreat device is operated, and the first bolt 6 is screwed and fixed to the drive plate 5 and the torque converter 3. Next, when the first bolt 6 has been fastened, the slide lock cylinder 50, rotation lock cylinder 43, and lock mechanism cylinder 45 are operated to rotate in the front-rear direction and vertical rotation direction.
The movement in the horizontal rotation direction is locked, and the nut runner 34 is allowed to move only in the width direction, that is, in the tightening direction of the bolt 6. After the bolt 6 is unclamped from the nut runner 34, the nut runner is moved by the operation of the cylinder 35. Move 34 back.

At this time, the bolt 6 in the nut runner 34 is unclamped by pushing the rod 81 with the rod portion 98 through the cylinder 70, as in the case of clamping the bolt 6.

Subsequently, the drive plate 5 and the torque converter 3 are rotated by a predetermined angle while accurately controlling their positions by a rotating device 102 connected to the crankshaft of the engine 4 via a mounting bolt of a crank pulley 101. Then, the next bolt mounting hole 104 of the drive plate 5 is positioned accurately with the position of the nut runner 34 that has just been retracted.

On the other hand, the retracted nut runner 34 is retracted by a predetermined amount in the front-rear direction via the rodless cylinder 54, and in this state, the bolt magazine 66 is moved forward and backward as appropriate to move the next bolt 6 from the bolt magazine 66.
is clamped to the bolt clamp portion 68 of the nut runner 34.

Then, the next bolt 6 is the nut runner 34.
When the nut runner 34 is clamped, the nut runner 34 moves forward again via the rodless cylinder 54, and the second bolt 6 is screwed into the drive plate 5 and the torque converter 3 in the same way as the first bolt 6 described above. It is fixed in place.

Thereafter, in the same manner, a predetermined number of bolts 6... are sequentially screwed and fixed to the drive plate 5 and the torque converter 3, and when the drive plate 5 and the torque converter 3 are fastened by the bolts 6, 6..., the nut runner 34 is returned to its initial position, the front and rear slide plates 10 are moved back, and the work is completed.

It goes without saying that the embodiments of this invention are not limited to the above-mentioned embodiments, and various other embodiments can be adopted.

<Effects of the invention> As described above, according to this invention, even when the work space is relatively small, most of the work is automated and bolts and nuts can be fastened accurately and quickly. As a result, the work burden on the workers is reduced and production efficiency is reliably improved, which is an excellent effect.

That is, the nut runner is made to move freely around the base via the displacement device, and
Since the displacement device can be fixed by a position fixing device in a direction other than the direction in which the nut runner is tightened, it is possible to fix the displacement device in a direction other than the direction in which the nut runner is tightened. When the operator sets the vertical position of only the mounting position, the initial bolt mounting position is mechanically memorized, and thereafter the nut runner is followed with the nut runner posture almost fixed by the position fixing device. The bolts and nuts fed from the bolt/nut supply device can all be fixed to the fastened members almost fully automatically and sequentially through indexing by the forward/backward movements of the advancing/retracting device and the appropriate rotational movements of the fastened members. This effect is produced.

In addition, since the mounting position of two bolts and nuts using the nut runner is always kept constant with respect to the base by mechanical memory, the rotation angle of the fastened member can be highly indexed using a servo motor, etc. If this is done with precision, it will also be possible to perform extremely efficient bolt fastening work.

[Brief explanation of the drawing]

The drawing shows one embodiment of this invention,
Fig. 1 is a plan view, Fig. 2 is a side view, Fig. 3 is a partially sectional front view showing a moving device in the horizontal rotation direction, Figs. 4 and 5 are side views showing different fixing devices, and Fig. 6 is a side view.
The figure is a longitudinal sectional view of the nut runner, Figures 7 and 8 are a side view and a front view thereof, Figure 9 is a schematic side view showing the whole, and Figure 10 is a front view of the drive plate of the engine. 3, 5... Member to be fastened, 6... Bolt, 34...
... Nut runner, 1 ... Bolt/nut fastening device, 17, 18, 19, 22, 24, 26, 2
7, 28, 46, 48...displacement device, 7...base, 29, 42, 43, 44, 47, 50, 52
...Fixing device, 54, 61, 66... Bolt/nut supply device, 35... Follow-up advance/retreat device.

Claims (1)

[Scope of utility model registration request] Bolts and nuts are circular arrays of rotatable members to be fastened, and are equipped with nut runners on the base that apply tightening torque to multiple bolts and nuts that are fastened to tightening points provided at equal positions.
In the nut fastening device, the nut runner is mounted and fixed on a base via a displacement device that slides in the X and Y directions and a displacement device that rotates around an axis, and both displacement devices are arranged in the direction in which the nut runner moves forward and backward in tightening. Equipped with a position fixing device that locks displacement in directions other than
A bolt/nut fastening device characterized by being equipped with a nut supply device and a follow-up/backward movement device for the nut runner.