JPH07195242A - Automatic tightening device of threaded object - Google Patents

Abstract

PURPOSE:To provide an automatic tightening device of a threaded object that is simple in structure and normally screwed down even in the case where there are those of curvature and slippage in a mounted workpiece as well as inclination of the threaded object in time of mounting. CONSTITUTION:This device is made up of a rotary driving mechanism 50 of threaded objects and a handling device 10 attached to the mechanism 50 via an axial direction moving floating support mechanism 20 of a mounted work 2, a turning floating support mechanism 30 of X-direction moving and X-axis rounding within a surface orthogonal with the axial center direction, and a turning floating support mechanism 40 of Y-direction moving and Y-axis rounding orthogonal with an X axis within a surface being orthogonalized to the axial center direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tightening device for tightening a threaded object such as a tube end protector or an inspection gauge on the tube end of an object to be attached such as an oil country tubular goods having a thread at the tube end. is there.

[0002]

2. Description of the Related Art Conventionally, Japanese Patent Publication No. 5-9215 has been known as a device for tightening a screw-shaped object on an object to be attached. This is an improvement on the problem of galling on the screw surface due to a cross screw, which is disclosed in JP-A-60-238274.

[0003]

[Problems to be Solved by the Invention] And Japanese Patent Publication No. 5-9
In the apparatus disclosed in Japanese Patent No. 215, the chuck device is made lighter and the center of gravity of the composite of the chuck device and the screw-shaped object when the screw-shaped object is screwed inwardly of the end surface of the attachment object It is designed to prevent the cross screw by being held in the floating state at the position.

However, since the floating structure disclosed in the above publication has a structure for releasing the wedge-shaped chuck, it is difficult to individually control the X, Y directions and the angle floating.

If the axial center of the threaded object and the object to be attached (pipe) are largely displaced, or if the object to be attached is greatly deformed, or if the threaded object is attached at an angle to the pipe, May injure the part. for that reason,
The centering device 3 is used.

Further, the rotation of the entire chuck device 16 and the screw shaft 29 of the chuck device is driven by the motor 22 as a power source.
Since it can be driven by switching, the device configuration is extremely complicated.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic tightening device for a screw-shaped object, which has a simple device construction and is capable of avoiding the problem of a cross screw.

[0008]

SUMMARY OF THE INVENTION An automatic tightening device for a screw-like object according to the present invention is a mechanism for floatingly supporting a rotary drive mechanism of a screw-like object in a handling device so as to be movable in the axial direction of an object to be attached. And a floating support mechanism that moves in the X direction and rotates about the X axis in a plane orthogonal to the axial direction, and Y that is orthogonal to the X axis in a plane orthogonal to the axial direction.
The directional movement and the rotation around the Y-axis are sequentially mounted via a floating support mechanism.

Further, an image processing device or a displacement / angle measuring sensor for detecting the position / orientation of the object to be attached is provided.

[0010]

In the above construction, the rotation driving mechanism of the screw-like object is floatingly supported by the handling device so as to be movable in the axial direction (Z direction) of the object to be attached, and in the axial direction (Z direction). Since it is rotatably supported so as to be movable in the X and Y directions in a plane orthogonal to each other and is rotatably supported so as to be rotatable about the X axis and the Y axis, the rotary driving mechanism of the screw-shaped object is X, Y, It is movable in three directions of Z and can be rotated in all directions of up, down, left and right.

Therefore, first, the handling device directs the screw-like object substantially in the axial direction of the object to be attached, and the two screw parts are brought into substantially contact with each other, and then the rotation drive mechanism is slightly forward / reversely rotated. The threads can be meshed without the problem of cross screws.

Then, when the rotation driving mechanism of the screw-like object is rotationally driven in the state where the screw threads are meshed with each other, the rotation driving mechanism is floatingly supported so as to be movable in the axial direction (Z direction) of the mounted object. As a result, the rotation drive mechanism can easily follow the progress of the thread engagement.

Further, an image processing device or a displacement / angle measuring sensor is provided to detect the position / orientation of the object to be attached in advance so that the screw-like object can be positioned at a desired position with respect to the object to be attached by the handling device. This allows the threads to mesh smoothly.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an overall configuration diagram showing an embodiment of the present invention.

In the figure, reference numeral 1 denotes a threaded object to be tightened for inspecting an object to be attached 2, for example, a pipe end male screw 2a of an oil country tubular good, for example, a thread gauge having a thread formed on the inner surface. This screw-like object 1 is clamped by a chuck 52 of a rotary drive mechanism 50 and is fastened to a pipe end screw 2a of an object 2 to be attached so that the pipe end screw 2a can be inspected.

In the figure, 10 is a handling device, and the head 10a can be moved to a desired position. The rotary drive mechanism 5 for the screw-shaped object 1 is attached to the head 10a.
The main body 51 of 0 is the axial movement floating mechanism 20.
It is movably supported in the axial direction (Z direction) of the object to be attached 2 via.

The main body 51 of the rotary drive mechanism 50 is
With respect to the main body 21 of the floating mechanism 20, a floating support mechanism 30 that moves in the X direction (horizontal direction in the drawing) and rotates about the X axis within a plane 21a orthogonal to the axial center direction of the main body 21 and the axial center direction. It is attached via a floating floating support mechanism 40 that moves in the Y direction orthogonal to the X axis and rotates about the Y axis in a plane 21a orthogonal to the.

Details of the above configuration will be described below with reference to FIGS.

The bearing housing 24 of the floating guide shaft 25 is fixed to a surface 21b of the body 21 of the axially moving floating mechanism 20 which is orthogonal to the surface 21a. On the other hand, the head 10a of the handling device 10
A support member 22 is attached to the support member 22 via a mounting plate 23, and an axial cylinder 26 is attached to the support member 22. In this way, the main body 21 is floatingly supported in the axial direction by putting the cylinder 26 into a low pressure pressurizing state, and the cylinder 26 is operated to operate the main body 21.
The axial position of the can be controlled.

A moving floating support mechanism 30 which is movable in the X direction (horizontal direction in the drawing) is attached to the main body frame 21,
A floating floating support mechanism 40 which moves in the Y direction (vertical direction in the drawing) is incorporated in the support mechanism 30 (FIG. 3).

Then, in the main body 41 of the support mechanism 40,
Bearing 54 of rotation support shaft 53 of main body 51 of rotation drive mechanism 50
Are provided (FIG. 5). The driven gear 5 is attached to the rotary support shaft 53.
7 is provided, and the main body 51 is rotated in the forward and reverse directions by a pinion 56 driven by a motor 55 provided in the main body 41. The main body 51 is provided with a chuck 52 for gripping the screw-shaped object 1, and the claws of the chuck 52 are adapted to be opened and closed by an opening / closing cylinder 52a.
In this way, the screw-shaped object 1 grasped by the chuck 52 is
It is designed to rotate forward and backward.

Next, details of the structure of the X-direction moving floating support mechanism 30 will be described with reference to FIGS.

Cylinders 32 and 32 are provided so as to face a frame 36 protruding from both left and right sides of a frame main body 21 of the axially moving floating mechanism 20.

On the other hand, rotation support shafts 34 are provided so as to project from the left and right sides of the frame body 31 of the support mechanism 30, and the rotation support shafts 34 are rotatably supported by bearings 35 provided on a frame 36. There is. Then, the rod 33 of the cylinder 32
When is retracted, a gap δ is formed between the end of the rotation support shaft 34 and the end. On the other hand, when the rod 33 is extended, the gap δ disappears and the rod 33 and the rotation support shaft 34 are fixed. In this way, the frame-shaped main body 31 is floatingly supported so as to be movable by δ in the X direction, and is positioned by operating the left and right cylinders 32.

Further, the frame-shaped main body 31 is supported so as to be rotatable around the X-axis and rotatable about the rotation support shaft 34. The hinge 3 attached to the frame body 31
A cylinder 38 provided on the frame main body 21 presses 7 so that the rotation can be fixed. In addition, the cylinder 38 is directly attached to the frame main body 3 without using the hinge 37.
It can also be configured to press 1.

When the cylinder 38 is retracted and the frame main body 31 is rotatable while the screw-shaped object 1 is held by the chuck 52, the frame main body 31 suddenly rotates, so that shock is generated. A spring is interposed between the end of the frame main body 31 and the frame main body 21 so as to receive the spring.

Next, the Y-direction moving floating support mechanism 40 has the same structure as the X-direction moving floating support mechanism 30.

In this case, the rotation support shaft 44 around the Y axis is provided at a position passing through the center of the rotation support shaft 53. The lower cylinder 42a so that it can bear the weight in the Y-axis direction
Has a larger capacity than the upper cylinder 42.
The Y-direction fixing cylinder and the weight balance cylinder may be separately configured.

Next, in FIG. 1, reference numeral 12 is an image processing apparatus for detecting the position / orientation of the end of the object 1 in advance. Then, three cameras 12a are provided in order to obtain information on the position / orientation of the end portion of the object to be attached 3 in the three-dimensional direction, the information is sent to the image processing device 12, and the obtained information is sent to the overall controller. 11, the position of the head 10a of the handling mechanism 10 is controlled in advance.

The position / orientation of the object to be attached is detected 2
It is also possible to provide a plurality of sets of displacement / angle measurement sensors one by one so as to obtain information on the position / orientation of the end of the object 1 in the three-dimensional direction.

Next, the operation of the automatic tightening device for threaded objects of the present invention will be described with reference to the case where the object to be mounted 2 is an oil country tubular goods and the thread gauge as the threaded object 1 is tightened at the pipe end for inspection. explain.

The oil well pipe 2 is sent to the tightening inspection place of the screw gauge 1 by a conveyor. After stopping at the inspection position, a plurality of position recognition cameras 12a recognize shifts in the stop positions and pipe end position shifts due to deformation, and send data to the overall controller 11. As a result, the handling mechanism 1 moves the screw gauge 1 to the fitting position. At this time, each floating mechanism 20, 30, and 4
0 is in a restrained state.

Next, the actuator controller 13
Thus, the screw gauge 1 is screwed in. In this case, it is important to perform the initial meshing of the threads and valleys without making any flaws on the threaded portion.

The normal screwing control operation is as follows.

After the screw ring 1 reaches the fitting position, the axial center moving floating mechanism 20 and the X direction moving and rotating floating supporting mechanism 30 around the X axis and the Y direction moving and rotating floating supporting mechanism 40 around the Y axis are provided.
Is set to a floating support state, and the screwing motor 55 is first torqued in the reverse direction while controlling the torque. As a result, the screw ring 1 can move in the direction of disengagement, and the threads can be meshed with each other without any load being applied to the threaded portion.

Thereafter, while controlling the torque, a forward rotation (screw-in) inching is performed, and it is confirmed that the screw is screwed in without overload.

By repeating the above-mentioned reverse / forward rotation inversion once or twice, the screw engagement can be completed.

Next, the floating procedure when the deformation of the pipe is large will be described.

In this apparatus, after the pipe stops at the inspection position, the position recognition camera 12a can recognize the approximate deformation amount of the pipe.

As a result, when the amount of deformation exceeds a certain value,
After moving the screw ring 1 to the fitting position, first, X,
While the floating movement in the Y direction is restricted, the rotation floating mechanism around the X axis and the Y axis is set in the floating state, and the reverse rotation / forward rotation inching is performed while controlling the torque of the screw-in motor 55, and the screw ring and the pipe. Align the axes of the.

After that, the X-axis and Y-axis moving floating mechanism is set in a floating state, and the screwing motor 55 is again torque-controlled to perform reverse / forward rotation inching.
Complete screw engagement and screw in while controlling torque.

In the above embodiment, the case where the female thread gauge is fitted as the threaded object 1 to the object to be mounted 2 has been described, but it is also applicable to the case where the protector (tube end protector) is mounted as the threaded object 1. Of course, the present invention can be applied to the case where a female thread is provided on the pipe end side and a male thread gauge or protector is attached to this.

[0043]

As described above, the automatic tightening device for a screw-shaped object of the present invention has a simpler device configuration than the conventional device and has a large bending of the object to be mounted, and the screw-shaped object and the object to be screwed. It can be screwed in normally even if the axis of the screw-shaped object is misaligned or the screw-shaped object is inclined when the screw-shaped object is attached.

In addition, since the floating mechanism for X-axis and Y-axis movement and X-axis rotation and Y-axis rotation can be controlled separately, variations in machining accuracy of the pipe to be attached, positioning accuracy during pipe transportation. It is possible to set an appropriate screwing procedure (floating procedure, meshing procedure by forward rotation / reverse rotation inching) that copes with the variation of, and reliable screwing can be performed.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing the overall configuration of an embodiment of the device of the present invention.

FIG. 2 is a plan view and a side view of a main part of FIG.

FIG. 3 is an explanatory diagram of an X-direction moving and X-axis rotating floating support mechanism and a Y-direction moving and Y-axis rotating floating support mechanism.

FIG. 4 is an explanatory perspective view of each component of FIG.

FIG. 5 is an explanatory diagram of a rotation drive mechanism of a screw-shaped object.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Threaded object, 2 ... Attached object, 10 ... Handling device, 20 ... Floating support mechanism for moving axial direction of attached object, 30 ... X direction movement and rotation floating support mechanism around X axis, 40 ... Y Directional movement and rotation around Y-axis Floating support mechanism, 50 ... Rotation drive mechanism of screw-shaped object.

Front Page Continuation (72) Inventor Katsumi Ikusawa 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nihon Steel Tube Co., Ltd. (72) Haruhiko Kinoshita 1-2-1 Marunouchi, Chiyoda-ku, Tokyo Nippon Steel Tube Within the corporation

Claims (2)

[Claims] 1. A handling device including a rotation driving mechanism of a screw-shaped object, a floating support mechanism that moves in an axial direction of an object to be mounted, and a movement in an X direction and a rotation about an X axis in a plane orthogonal to the axial direction. An automatic tightening device for a screw-shaped object, which is sequentially mounted by a floating support mechanism, a Y direction movement orthogonal to the X axis in a plane orthogonal to the axis direction, and an angle floating support mechanism about the Y axis. 2. The automatic tightening device for a screw-shaped object according to claim 1, further comprising an image processing device for detecting the position / orientation of the attached object or a displacement / angle measuring sensor.