JPH0679549A - No-screw recovery control device in automatic screwing robot - Google Patents

Abstract

PURPOSE:To provide a no-screw recovery control device in an automatic screwing robot to back up the 24 hours service in a plant more surely without stopping the automatic screwing robot. CONSTITUTION:This no-screw recovery control device is provided with a screw feeding device to feed using screws 1, a screw existence detecting sensor 5 to detect the existence of screws 1, and a robot which has a vacuum pipe 7 to suck the using screw 1 and a screwing bit 6 to fasten the screw 1, and it is composed by providing a reserve screw feeding device 4a having screws 1 same as the using screw 1, and a control means to control the vacuum pipe 7 and the screwing bit 6 of the above screwing robot so as to respond to the reserve screw feeding device 4a when the condition of no-screw is generated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a screwless recovery control device for an automatic screw tightening robot.

[0002]

2. Description of the Related Art In recent years, demand for automation has been increasing in manufacturing plants due to 24-hour operation and lack of manpower. An automatic screw tightening robot has become popular as a means of automating a manufacturing factory.

A conventional on-board automatic screw tightening robot will be described below with reference to FIGS. 3 and 4. As shown in the figure, a screw feeding chute 4 for feeding the screw 1 to the screw receiving catcher 3 by the escape 2, a screw presence detecting sensor 5 for detecting the presence or absence of the screw 1 of the screw receiving catcher 3, and a screw receiving The vacuum pipe 7 for adsorbing the screw 1 provided with the screw tightening bit 6 for adsorbing and tightening the screw 1 on the catcher 3 is provided.

The detection of the presence / absence of a screw and the screw supply of the screw tightening robot having the above configuration will be described with reference to the flowchart of FIG.

After the start input, the screw catcher 3
The upper screw 1 is detected by the screw presence / absence detection sensor 5, and the screw 1
If there is, the screw tightening operation starts, the vacuum pipe 7 for sucking the screw and the screw tightening bit 6 descend, suck the screw 1, move to a predetermined position, and tighten the screw 1 with the screw tightening bit 6.

When the screw 1 is not present on the screw catcher 3, the number of retries is set and the screw 1 on the screw feed chute 4 is fed again by the escape 2.

Thereafter, when the same operation is repeated and the number of retries is reached, an error is displayed, the robot is stopped, and the robot is restarted after a reset input.

Next, a screw supply device for a conventional stationary automatic screw tightening robot will be described below with reference to FIGS. 5 and 6.

As shown in the drawing, a screw presence / absence detection sensor 12 for detecting the presence / absence of the screw 11 sent by the external screw supply device 10, and the screw 11 on the external screw supply device 10
The vacuum pipe 13 and the screw tightening bit 14 for sucking the screw are provided.

The detection of the presence or absence of screws and the screw supply of the screw tightening robot having the above configuration will be described with reference to the flowchart of FIG. After start input, specified external screw feeder 1
The vacuum pipe 13 and the screw tightening bit 14 move to 0,
The presence / absence of the screw 11 is detected by the screw presence / absence detection sensor 12.

When the screw 11 is present, the vacuum pipe 13 and the screw tightening bit 14 are lowered to adsorb the screw 11, and the screw tightening operation is started. If the screw 11 is not present, a no-thread error is displayed, the robot stops, and the robot is restarted after the reset input.

[0012]

In both the conventional on-board automatic screw tightening robot and the stationary automatic screw tightening robot, the screw presence / absence detecting sensor 5 is used.
Or, as a result of detection in step 12, if there are no screws in the former case, an error is displayed after retry rotation and the robot is stopped. In the latter case, if there are no screws, an error message is displayed and the robot is stopped. If the person is not on the spot and cannot take appropriate measures immediately, the automatic screw tightening robot will remain in a stopped state without reworking, which will be a great hindrance to the automation of the manufacturing factory for 24-hour operation. There was a problem that became.

The present invention is intended to solve the above-mentioned problems, and it is possible to operate the automatic screw tightening robot without stopping the operation of the manufacturing plant.
An object of the present invention is to provide a screwless recovery control device for an automatic screw tightening robot capable of more reliably backing up time operation.

[0014]

In order to achieve the above object, a screwless recovery control device in an automatic screw tightening robot according to the present invention has a screw supply device for supplying a screw to be used and a screw presence detection for detecting the presence or absence of the screw. Equipped with a sensor and a screw tightening robot that has a suction / tightening mechanism that sucks and tightens the screw to be used, a spare screw feeder that has the same screw as the screw used, and a screw that is the same as the screw used when a screwless error occurs. And a control means for controlling the operation of the screw tightening robot so as to attract the screw of the spare screw supply device.

[0015]

According to the present invention, when the screwless error occurs, the screw tightening robot is controlled by the above-described structure so that the screw of the spare screw feeder having the same screw as the screw used is moved to be sucked. Since the supply is continued, it is possible to recover the supply of screws regardless of the presence of workers, and it is possible to approach the fully automated manufacturing plant.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. The difference from the conventional example is the provision of a spare screw supply device and the operation of the screw tightening robot when a screwless error occurs.Other configurations are the same as those of the conventional example, and the same reference numerals are given to the same parts. And detailed description is omitted.

As shown in the figure, a screw feeding device 4 for use, which comprises a screw feeding chute for feeding the screw 1 for use.
In addition to the above, a spare screw supply device 4a is provided, and the automatic screw tightening robot is provided with a confirmation of the type of screw 1 used and a suction / tightening mechanism such as a vacuum pipe 7 and a screw tightening bit 6 on the spare screw supply device 4a. A control means for controlling the movement is provided.

When the supply of the screw 1 from the screw supply device 4 for supplying the used screw 1 is stopped and a screwless error occurs, the automatic screw tightening robot checks the screw number being used, and supplies the spare screw. If the device 4a has the same screw or not, and if the device has the same screw, the automatic screw tightening robot moves to the spare screw supply device 4a having the same screw, and screw 1 the vacuum pipe. After sucking at 7, the screw 1 is tightened by the screw tightening bit 6.

With the above-described structure, when a screw-less error occurs, the screw tightening robot is controlled to move the screw of the spare screw supply device 4a having the same screw as the used screw 1 so as to suck the screw and supply the screw. Since it will continue, it will be possible to recover the screw supply regardless of the presence of workers, and it will be possible to approach full automation of the manufacturing plant.

Although the embodiment has been described with reference to the on-board automatic screw tightening robot, it goes without saying that the stationary automatic screw tightening robot also brings about the same effects.

[0021]

As is apparent from the above embodiments, according to the present invention, a spare screw supply device and a screw tightening robot are controlled by checking the type of screw so as to correspond to the spare screw supply device. Since it is possible to use a spare screw by doing so, regardless of the screw mounting type or the stationary type, as a result of detecting the screw presence detection sensor screw, there is no screw, the operator is not on the spot and the correct action can be taken immediately. Even if it cannot be performed, it is possible to provide a screwless recovery control device for an automatic screw tightening robot capable of more reliably backing up the 24-hour operation of a manufacturing factory without stopping the automatic screw tightening robot.

[Brief description of drawings]

FIG. 1 is a side view showing a screw supply portion in an automatic screw tightening robot according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a supply operation of a screw supply control device of the automatic screw tightening robot.

FIG. 3 is a side view showing a screw tightening supply portion in a conventional on-board automatic screw tightening robot.

FIG. 4 is a flowchart showing a screw supply operation of the on-board automatic screw tightening robot.

FIG. 5 is a side view showing a screw tightening supply portion in the stationary automatic screw tightening robot.

FIG. 6 is a flowchart showing a screw supply operation of the stationary automatic screw tightening robot.

[Explanation of symbols]

 1 Screw 4 Used screw feeder 4a Spare screw feeder 5 Screw presence / absence detection sensor 6 Screw tightening bit 7 Vacuum pipe

Claims (1)

[Claims] 1. A screw supply device for supplying a screw to be used, a screw presence / absence detection sensor for detecting the presence / absence of a screw, and a screw tightening robot having a suction / tightening mechanism for sucking and tightening the screw to be used, Control means for controlling the suction / tightening mechanism of the screw tightening robot so as to correspond to the spare screw feeder having the same screw and the spare screw feeder having the same screw as the screw to be used when a screwless error occurs. A screwless recovery control device for an automatic screw tightening robot equipped with and.