JPH0741486B2 - Screw tightening device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention provides a plurality of screw fastening machines in four dimensions (X, Y, Z,
The present invention relates to a screw tightening device that can be adjusted to a predetermined position by (θ) control and that enables screw tightening work to be efficient.

[Conventional technology]

For example, in a building using a panel construction method, panels that are used to form floors, walls, roofs, and the like are formed by adding face materials to the front and back of a frame to which steel frames are joined. In addition to rectangular shapes, such panels include non-rectangular shapes such as a triangular shape having a hypotenuse for forming a roof of a ridge and a trapezoid. Further, such a face material is attached to the frame using screws.

On the other hand, the screw fastening of such a face material is conventionally performed manually by using a hand-held screw fastening machine, or XY, YZ.
For example, a semi-automatic screw tightening device that controls only two dimensions was used.

[Problems to be Solved by the Invention]

However, as described above, the panel has a wide variety of shapes, and therefore, when the semi-automatic screw tightening device is used, the movement and alignment to other dimensions must be performed manually, and especially the screw tightening along the hypotenuse, Conventionally, since the screw tightening device is moved manually by an operator, work efficiency is poor, and accurate and stable screw tightening work is difficult.

INDUSTRIAL APPLICABILITY The present invention improves the work efficiency and quality by making the screw tightening position controllable four-dimensionally, and particularly in the panel for construction, the screw tightening work of screwing the face material to the frame is suitable. The purpose is to provide a screw tightening device that can be used.

[Means for Solving the Problems]

The present invention relates to a vertical carriage that is provided on an upper part of a gantry and travels on a pair of upper rails that extend in the vertical direction, and is arranged on the vertical carriage and moves up and down with respect to the vertical carriage and below the upper rail. A pair of lower rails extending in the horizontal direction at the lower end, a horizontal carriage that travels on the lower rails, and a swivel platform that is pivotally supported by the horizontal carriage and can swivel in a horizontal plane below the horizontal carriage. And a plurality of screw tightening machines and pilot hole punching machines are attached to a mounting frame hanging from the swivel base.
Moreover, the mounting frame is provided with a cylinder for moving between the drilling position of the pilot hole drilling machine and the screw tightening position of the screw tightening machine, and the screw is supplied to the swivel via the hose to the screw tightening machine. This is a screw tightening device provided with a screw feeder.

[Action]

The screw tightening device has a swivel base that can swivel in a horizontal plane provided with a plurality of screw tighteners and a pilot hole puncher. As a result, the screw tightener can swivel the horizontal plane (dimensions:
θ). Further, the swivel base is provided on the traverse carriage that travels on the lower rail, so that the screw tightening machine can move in the lateral direction (dimension: X direction). Further, by disposing the traversing carriage on the lower rail of the elevating stand, the screw tightening machine can be moved up and down (dimension: Z direction). Further, since the lifting platform is provided on the vertical carriage that travels on the upper rail, the screw tightening machine can move in the vertical direction (dimension: Y direction).

Further, these devices can be controlled by, for example, a program unit, and by detecting the operating position in each dimensional direction, they can be correctly aligned to a predetermined position, and screw fastening work can be performed at the same time as drilling. In addition, the swivel base is equipped with a screw feeder to enable continuous screw tightening work. This screw feeder supplies screws to the screw tightener via a hose. The placement position of the machine can be freely determined. Further, since the mounting frame is provided with a cylinder for moving between the drilling position and the screw tightening position, the screw tightening that is performed subsequent to the pilot hole machining can be performed only by moving the mounting frame hanging from the swivel base. Since it is not necessary to move the carriage or the like when tightening the screw, the operation efficiency of the screw tightening device can be improved and the production tact can be improved.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a front view showing an embodiment of the screw fastening device 1 of the present invention, FIG. 2 is a plan view thereof, and FIG. 3 is a right side view thereof, in which the pilot hole punching machine 11 is omitted. Further, FIG. 4 is a perspective view in which members of respective details are largely omitted so as to show only the main configuration of the apparatus 1.

In the figure, a screw tightening device 1 is provided on an upper part of a pedestal 2 and runs vertically on a pair of upper rails 3 extending in the vertical direction (Y direction). An elevating platform 6 having a pair of lower rails 5 that can move in the vertical direction (Z direction) and extend in the lateral direction (X direction) below the upper rail 3, a traverse vehicle 7 traveling on the lower rail 5, and the traverse vehicle. The swivel base 9 is pivotally supported by the carriage 7 and can swivel in the horizontal plane (θ direction). The swivel base 9 has a plurality of screw tightening machines 10, a pilot hole punching machine 11, and a screw feeder 12. Is installed.

The gantry 2 is arranged in the front and rear and has a gate shape in which a cross bar 22 is provided at the upper ends of the columns 21, 21, and the upper rails 3, 3 made of I-shaped steel are vertically laid between the cross bars 22, 22. Below the upper rails 3 and 3, there is provided, for example, a carrying device 23 for carrying in the framework of the panel body for construction and the face material, and carrying out after screwing.

As shown in FIGS. 5 to 7, the vertical carriage 4 has horizontal frame members 24 and 24 extending in the horizontal direction, that is, the X direction, and both ends of the horizontal frame members 24 and 24 joined to the rail 3 in the vertical direction, that is, the Y direction. Frame material 26,
26 and screw frames 29, 29 attached to the side edges of the vertical frame members 26, 26.
It has a frame 30 in which and are fixed together. Also the frame
30 includes the upper rails 3 at both ends of the vertical frame members 26, 26.
A bearing plate 32, which pivotally supports wheels for rolling rail fittings 3A provided on the upper surface, is provided below.

In addition, the bearing plate 32 is provided with a lower wheel that is in sliding contact with the lower surface of the upper flange of the upper rail 3 so that the frame 30
To prevent the falling off.

Further, as shown in FIG. 7, a rotary shaft 33 driven by a servomotor MY for traveling in the Y direction is arranged laterally and downward in the frame 30, and gears at both ends of the rotary shaft 33 are arranged on the upper rail 3.
By engaging with the rack 34 on the lower surface of the flange on the
The vertical carriage 4 can travel vertically on the upper rails 3, 3.

Further, as shown in FIGS. 6 and 7, the frame 30 is provided with a rotary shaft 35 which is driven by a brake motor MZ for raising and lowering in the Z direction via a timing belt transmission or the like and extends in the lateral direction. The worms at both ends of the rotary shaft 35 mesh with a worm gear 36, which is vertically supported by the screw frame 29 as shown in FIG. It is screwed onto the screw shaft 37.

The screw frame body 29 is an upper frame body provided with the worm gear 36.
39 and a lower frame body which is located below the 39 and guides the screw shaft 37.
40 and the screw frame are connected to each other by a joint frame.
A linear bearing 29 is provided on both sides of the upper frame body 39 and the lower frame body 40 to guide the elevating table 6 so as to be vertically movable.

The lift table 6 includes side frame bodies 41, 41 guided by the screw frame body 29.
The upper ends of the side frames 43, 43, which are connected by the upper frame body and the lower parts thereof by the lower frame body 42, to the lateral (X
Direction) and is connected by the lower rails 5 and 5 that cross the lower sides of the upper rails 3 and 3 at a right angle. Further, the lifting table 6 is
The lower end of the screw shaft 37 is fixed to the lower frame body 42. Therefore, the elevating table 6 is moved up and down by the screw shaft 37 that moves up and down via the worm gear 36 together with the driving of the brake motor MZ. The amount of elevation is obtained by detecting the number of rotations of the rotary shaft 35 by the sensor 44 shown in FIG.

As shown in FIGS. 8 and 9, the transverse carriage 7 traveling on the lower rail 5 has a rectangular and long board 45 which vertically crosses the lower rail 5 and has a flange below the lower rail 5. The bearing plates 46, 46 that pivotally support the wheels rolling on the outside are raised. Further, an extension portion of the substrate 45 mounts a servo motor MX for traveling in the X direction, and gears at both ends of a rotary shaft 47 linked to the servo motor MX via a gear device are provided on the lower surface of the lower rail 5. By engaging the rack 49, the traverse carriage 7 can traverse as the servo motor MX rotates.

While the bearing plate 46 is provided with another guide roller 50 sandwiching the lower surface of the lower rail 5, the traverse carriage 7 can rotate the swivel base 9 in a horizontal plane by a rotary bearing provided substantially at the center of the substrate 45. Is pivoted to.

The swivel base 9 is provided with a base 54 at the lower end of a hollow shaft 52 that is pivotally supported by the rotary bearing and that supplies power and the like. The hollow shaft 52 is also provided with a brake for swiveling via gear transmission. It is linked to the motor Mθ.

The turning angle can be measured by engaging the gear of the encoder 55 shown in FIG. 9 with the gear.

Further, the base 54 has one end extended, and the mounting frame 13 is provided through a linear bearing extending in the horizontal direction on the lower surface of the extension.
Is movably attached. In the mounting frame 13, a horizontal frame 60 is attached to the lower end of the moving frame 59 that slides on the linear bearings, and front and rear surfaces thereof include support plates 61 ... , And the support plates 63 on which the pilot hole punching machine 11 is mounted are vertically fixed.

The screw tightening machine 10 has a well-known configuration in which a screw received from the screw receiving portion 64 is screwed into the cylinder lower end fixed by the upper end of the support plate 61 by a rotating machine, and the pilot hole punching machine 11 is
The drill 65 is moved up and down by a cylinder fixed at the upper end of the support plate 63.

A regulator 66 for adjusting the descending speed of the drill is provided below the support plate 63.

Further, in the mounting frame 13, the moving frame 59 moves the linear bearing by the cylinder 67 provided on the lower surface of the base 54, and
It moves between the screw fastening position A of 10 and the drilling position B of the drill 65 of the pilot hole drilling machine 11. This allows the mounting frame 13 to be moved and the screw to be screwed into the prepared hole position after the prepared hole is processed.

The screw feeder 12 is attached to the lower surface of the base 54 via an L-shaped fixing plate 68. The screw feeder 12 has a well-known structure having a storage portion 70 for storing the screws and aligning them by vertical movement, and supplies the aligned screws to the screw receiving portion 64 via a hose 71. The screw feeder 12 is a swivel base 9.
The screw can be stably supplied to each screw tightening machine 10 without interruption.

Next, the operation will be described with reference to FIG.

In FIG. 10, the personal computer PC is used to move the program unit PU to input the respective control numerical values of X, Y, Z and θ, and the respective data such as the selection of screws to the sequencer S. The sequencer S sends the X and Y target values to the servo motors MX and MY via the servo positioning units SUX and SUY and the servo drivers SDX and SDY, respectively, and by feedback control from the servo motors MX and MY. Correctly set the vertical and horizontal positions.

The sequencer S also gives a Z target value to the brake motor MZ. The lift of the lift table 6, that is, the amount of movement in the Z direction is as described above, and the sensor 44 shown in FIG.
It is performed by detecting the number of rotations of the above, and is fed back to the sequencer S, and by comparing with the Z target value, the correct amount of elevation can be obtained.

Regarding the θ target value, the sequencer S rotates the brake motor Mθ via the inverter I and feeds back the rotation speed from the encoder 55.
Control by comparing with θ target value.

As described above, the screw tightening device 1 of the present invention includes the screw tightening machine 10 and the pilot hole in the four-dimensional directions of the vertical direction (Y direction), the horizontal direction (X direction), the vertical direction (Z direction), and the turning (θ). The punching machine 11 can be controlled and aligned. Further, by providing a plurality of screw tightening machines 10 and a lower hole punching machine 11, the screw tightening can be efficiently performed at the screw tightening positions arranged in a line.

In the screw tightening device 1 of the present invention, a chain drive may be adopted in place of the meshing of the rack and the gear for the traveling means of each part, and a link mechanism may be used for lifting the lift table 6 to make various modifications. .

〔The invention's effect〕

As described above, in the screw tightening device of the present invention, the screw tightener and the pilot hole punching machine can be swung in the horizontal plane by the swivel base. Further, the swivel base can be moved in the lateral direction by being provided in the traverse carriage traveling on the lower rail. Further, the transverse carriage can be moved up and down by being arranged on a lift that can be raised and lowered. Further, the elevating table can be moved in the vertical direction by being provided in the vertical carriage that travels on the rail. As described above, the four-dimensional control is performed, and by using, for example, a program unit or the like, it is possible to automatically perform the correct alignment at a predetermined position, and the screw tightening work can be performed at the same time as the pilot hole processing.
In addition, since the swivel base is equipped with a screw feeder, it is possible to stably and continuously supply screws to the screw tightener.
Since this screw feeder supplies the screw through the hose, the position of the screw on the swivel can be freely determined. Further, since the mounting frame that hangs down from the swivel is provided with a cylinder that moves between the drilling position of the pilot hole drilling machine and the screw tightening position of the screw tightening machine, the pilot hole machining and the screw tightening work can be performed, for example, in the vertical direction. It can be carried out continuously without moving the carriage or the traverse carriage, the control of the screw tightening device can be simplified, the operation of a large-scale device can be eliminated, the operation efficiency is improved, and the production tact is improved. sell.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view showing an embodiment of the present invention, FIG. 2 is a plan view, FIG. 3 is a right side view thereof, and FIG. 4 is a perspective view showing a schematic structure. FIG. 5 is a front view schematically showing the vertical carriage and the lift.
6 is a plan view thereof, FIG. 7 is a longitudinal sectional view thereof, FIG. 8 is a sectional view illustrating a traverse carriage, a swivel base, FIG. 9 is a sectional view illustrating a swivel base and a pilot hole puncher, and FIG. FIG. 10 is a diagram illustrating a control device that can be used in the device of the present invention. 2 ... Mounting stand, 3 ... Upper rail, 4 ... Longitudinal carriage, 5 ... Lower rail, 6 ... Lift base, 7 ... Transverse carriage, 9 ... Swivel base, 10 ... Screw tightener, 11 …… Pilot hole puncher, 12 …… Screw feeder, 13 …… Mounting frame, 67 …… Cylinder, 71 …… Hose, A ……
Screw tightening position, B ... Drilling position.

Claims (1)

[Claims] 1. A vertical carriage that is provided on an upper part of a gantry and travels on a pair of upper rails that extend in the vertical direction, and a vertical carriage that is arranged on the vertical carriage and that moves up and down with respect to the vertical carriage and that of the upper rail. An elevating platform provided with a pair of lower rails extending in the lateral direction below at the lower end, a traverse vehicle traveling on the lower rails, and a swivel pivotally supported by the traverse vehicle and capable of swiveling in a horizontal plane below the traverse vehicle. And a plurality of screw tightening machines and pilot hole punching machines are mounted on a mounting frame that hangs down from the swivel base, and further, the mounting frame is screwed on the drilling position of the pilot hole drilling machine and the screw tightening machine. A screw tightening device comprising a cylinder that moves between a screw position and a position, and a screw feeder that supplies a screw to the screw tightener via a hose is provided on the swivel base.