JPH11104923A - Automatically tightening/releasing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically conduct tightening operation to a work for a tightening member such as a screw and a bolt, and releasing operation from the work. SOLUTION: In this automatically tightening/releasing device, a tightening/ releasing tool 4 is mounted in an arm 3 tip of a robot. The tool 4 switches a storage part 16 and a guide holder tip part 15 to a guide holder base end part 13 to be connected by rotating the storage part 16 storing plural screws 20 and a transfer part 14 connected with the guide holder tip part 15 in the right angle direction, and makes the screw 20 to be hold to a driver 18 via the transfer part 14 from the storage part 16 by an air flow sucked from an air pipe 19. Conducted are tightening operation for tightening the screw 20 to a work by the driver 18, and releasing operation for releasing the tightening of the screw 20 from the work 7 by the driver 18 to store the screw 20 into the storage part 16 from the driver 18 by using the air flow.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic fastening / unfastening device, and more particularly to a fastening operation of fastening members such as screws, bolts and nuts to an assembly work of an electric product and the like, and disassembly of an electric product and the like. Operation of releasing the fastening member from the work,
The present invention relates to an automatic fastening / unfastening device for automatically performing the above.

[0002]

2. Description of the Related Art Conventionally, in assembling various products, for example, electric products, parts are fastened to each other or parts and a housing or the like by many screws. Performed by equipment.

In a conventional automatic screw tightening apparatus, a screw is supplied by an air hose supply system for supplying screws to a screw tightening tool of a robot for tightening screws from a screw feeder using an air hose, or a robot dedicated to transfer. In general, a gripping supply system or the like that grips and supplies screws one by one using a transfer unit is used.

However, in the air hose supply system, it is difficult to arrange a screw supply hose so as not to affect the robot operation of the automatic screw tightening device. There is a problem that a screw is clogged in the hose.

[0005] Further, in the gripping supply method, since only one screw can be gripped at a time, there is a problem that in a screw tightening step in which a plurality of screw assemblies are present, a time for transferring the screw is wasted.

In view of the above, there has been proposed a magazine exchange type work tightening apparatus in which a plurality of screws are stored in a supply magazine and supplied in units of a magazine (Japanese Patent Laid-Open No. 5-57).
No. 537).

[0007] Conventionally, in the disassembly of various products, for example, electrical products, each component such as plastic or the like is unscrewed by hand.

However, if the screw is removed manually, the work efficiency is poor. Therefore, a plastic structure disassembly method has been proposed in which the screw member is checked with a camera or the like and the screw is automatically removed (particularly). See Japanese Unexamined Patent Publication No. Hei 8-197545). This plastic structure dismantling method is a plastic structure dismantling method for disassembling a plastic structure in which a plurality of parts are fastened by a screw member, wherein the screw member recognizing step of recognizing a position of the screw member and a screw removing jig are performed. A screw member removing step of positioning and removing the screw member at the position of the screw member recognized in the screw member recognizing step.

[0009]

However, the work tightening device described in Japanese Patent Application Laid-Open No. 5-57537 requires a mechanism for attaching and detaching a supply magazine for accommodating a plurality of screws and a mechanism for confirming the attachment and detachment of the work magazine. However, when the robot system is increased in size and the existing robot device is improved to be changed to the magazine system, it is necessary to remodel the screw supply device, and there is a problem that the cost is high.

In the method of disassembling a plastic structure described in JP-A-8-197545, a screw member is checked with a camera or the like, and a screw removing jig is positioned.
Since the screws are removed one by one, when removing a plurality of screws, if the removed screws are gripped one by one by a transfer means such as a robot and collected, the transfer time of the removed screws is wasted. was there.

Therefore, according to the first aspect of the present invention, the fastening member is fastened / unfastened to the workpiece by the holding / holding means via the transfer means from the storage means for accommodating the plurality of fastening members. The fastening operation is performed such that the fastening member is held by the fastening / unfastening means, and the fastening member is fastened to the work by the fastening / unfastening means, and the fastening member is unfastened from the work by the fastening / unfastening means. By performing a fastening release operation of storing the fastening member in the storage means from the fastening / unfastening means via the transfer means by the gripping / holding release means, the fastening member is moved to one by the transfer means such as a robot as in the related art. A storage means capable of storing a plurality of fastening members with a simple configuration without transferring between the fastening member supply / recovery machine and the fastening / unfastening means. To reduce the transfer time of the fastening member, and to perform the fastening operation and the fastening release operation in a small and inexpensive and efficient manner, and to achieve an inexpensive automatic fastening / unfastening device with good working efficiency. It is intended to provide.

According to a second aspect of the present invention, by using a means for gripping and releasing gripping of the fastening member to and from the gripping / unfastening means using an air flow as the gripping / releasing means, It is an object of the present invention to provide an automatic fastening / unfastening device which enables a fastening operation and an unfastening operation of a fastening member to not only an upper surface but also a side surface and a lower surface, and has higher working efficiency and good usability. .

According to a third aspect of the present invention, as the storage means, the air flow by the grip / release means is passed,
By using a member provided with a predetermined air inlet for moving the fastening member housed by the air flow in the direction of the fastening / unfastening means, the fastening member can be properly fastened and held while being held.
Automatic fastening and fastening with better working efficiency and good usability by allowing the fastening release means to grasp and enable the fastening operation and the fastening release operation of the fastening member not only on the upper surface of the work but also on the side surface and lower surface. It is intended to provide a release device.

According to a fourth aspect of the present invention, as the transfer means, the storage means is provided with a holding / holding means for holding the fastening member from the storage means to the fastening / unfastening means and transferring the storage member from the fastening / fastening means to the storage means. By using the one provided with the rotation switching mechanism for rotating the state in which the fastening member can be stored and the state in which the fastening operation and the fastening release operation can be performed by the fastening / unfastening means, components can be further enhanced. With a small number of points and a simple structure, the delivery time of the fastening member between the storage means and the fastening / unfastening means is shortened, and it is even more inexpensive.
Further, it is an object of the present invention to provide an automatic fastening / unfastening device with further improved work efficiency.

According to a fifth aspect of the present invention, a storage device having a plurality of storage sections for storing at least one fastening member is used, and the fastening members of each storage section are managed and transferred via the transfer means. By controlling the holding of the fastening member from the fastening / unfastening means by the gripping / unfastening means to the storage unit and the gripping of the fastening member in the storage unit by the fastening / unfastening means, the efficiency of the fastening member that has been unlocked is controlled. It is an object of the present invention to provide an automatic fastening / unfastening device with higher working efficiency by performing effective separation and reuse.

According to a sixth aspect of the present invention, as the storage means, the air flow by the holding / unholding means is passed through each storage section, and the fastening member housed by the air flow is moved in the direction of the fastening / unfastening means. With the use of a magnetic material that sucks and holds the fastening member, the delivery of the fastening member between the storage means and the fastening / unfastening means is further simplified by using a predetermined intake port for allowing the fastening member to be sucked and held.
It is an object of the present invention to provide an automatic fastening / unfastening device that is more efficient and has higher working efficiency.

According to a seventh aspect of the present invention, there is provided an error detecting means for detecting an error in the fastening operation by the fastening / unfastening means, and when the error detecting means detects the fastening error, the fastening member is released during the fastening operation. And the retrieving process of performing the fastening operation by the fastening / unfastening means by another fastening member in the storage means while collecting the released fastening member in the storage means, thereby achieving the success rate of the fastening operation of the fastening member. It is an object of the present invention to provide an automatic fastening / unfastening device that is more usable.

[0018]

According to the first aspect of the present invention, there is provided an automatic fastening / unfastening apparatus for fastening a predetermined fastening member to a predetermined workpiece to be fastened, and the fastening of the fastening member. An automatic fastening / unfastening device that performs a fastening release operation of performing the fastening release of the fastening member from the workpiece, and a fastening / fastening release unit that performs the fastening operation and the fastening release operation of the fastening member; Gripping / gripping releasing means for gripping / releasing the fastening member to / from the fastening / releasing means, and being disposed near the fastening / releasing means, wherein the gripping / releasing means is provided by the gripping / releasing means. A plurality of the fastening members that have been released from the holding member can be stored, and the plurality of the fastening members to be stored can be stored by the holding / releasing means one by one by the holding / releasing means. Storage means, and the plurality of fastening members housed in the storage means are stored in the storage means, and the plurality of fastening members housed in the storage means are stored in the storage means. A delivery unit for causing the fastening / unfastening unit to grip the piece by the gripping / unfastening unit, and the fastening member stored in the storage unit via the delivery unit. The fastening operation for causing the fastening member to be fastened to the work by the fastening / unfastening means while being held by the fastening / unfastening means, and the fastening / unfastening of the fastening member from the work being performed by the fastening / fastening means, The fastening and fastening of the unfastened fastening member by the gripping and unhooking means via the delivery means By and a control means for storing in said storage means from the dividing means, it has achieved the above objects.

According to the above arrangement, the fastening member is gripped / released from the storage means accommodating the plurality of fastening members via the transfer means, and the fastening member is fastened / released to / from the work by the fastening / releasing means. Let the means grip,
A fastening operation for fastening the fastening member to the work by the fastening / unfastening means, and a fastening / unfastening of the fastening member from the work by the fastening / unfastening means, and the released fastening member is delivered by the gripping / gripping releasing means. And a fastening / unfastening operation to be stored in the storage means from the fastening / unfastening means via the means, so that the fastening members are transferred one by one to the fastening member supply / recovery machine one by one by a transfer means such as a robot as in the related art. It is possible to reduce the transfer time of the fastening member by transferring between the storage means capable of storing a plurality of fastening members and the fastening / unfastening means with a simple configuration without transferring, thereby enabling automatic fastening / fastening. The release device can be small and inexpensive, and can efficiently perform the fastening operation and the fastening release operation, thereby improving the working efficiency.

In the above case, for example, as described in claim 2, the gripping / gripping releasing means uses an air flow to grip and release the fastening member to / from the fastening / clamping releasing means. It may be performed.

According to the above arrangement, the gripping / releasing means uses an air flow for gripping the gripping member to the gripping / releasing means and releasing the gripping.
Fastening and unfastening operations of fastening members not only on the upper surface of the work but also on the side surface and lower surface can be enabled, and the automatic fastening / unfastening device has better working efficiency and good usability. can do.

Further, for example, as described in claim 3, the storage means passes the air flow by the gripping / grip releasing means, and the fastening member to be housed by the air flow is tightened / fastened. It may have a predetermined intake port for moving in the direction of the release means.

According to the above construction, the storage means is provided with a predetermined air inlet through which the air flow generated by the gripping / releasing means is passed, and the fastening member accommodated by the air flow is moved in the direction of the fastening / releasing means. Since the fastening member is used, the fastening member is appropriately held by the fastening / unfastening means while holding the fastening member, and the fastening operation and the fastening release operation of the fastening member not only on the upper surface of the work but also on the side surface and the lower surface. This makes it possible to make the automatic fastening / unfastening device more workable and more usable.

Furthermore, for example, as set forth in claim 4, the delivery means holds the storage means by the holding / holding means from the storage means to the fastening / unfastening means for holding the fastening member. And a state in which the fastening member can be stored in the storage means from the fastening / unfastening means, and a state in which the fastening operation and the fastening release operation by the fastening / unfastening means are enabled. A rotation switching mechanism may be provided.

According to the above configuration, as the delivery means,
A state in which the storage means is capable of gripping the fastening member from the storage means to the fastening / unfastening means by the gripping / release means and storing the fastening member in the storage means from the fastening / unfastening means; A state in which a fastening operation and a fastening release operation can be performed by means and a mechanism having a rotation switching mechanism for rotationally moving are used, so that the number of parts is further reduced and a simple structure can be achieved. Delivery time of the fastening member between the storage means and the fastening / unfastening means can be shortened, and the automatic fastening / unfastening device is more inexpensive, and
Work efficiency can be further improved.

Further, for example, as set forth in claim 5, the storage means includes a plurality of storage sections for storing at least one of the fastening members, and the control means includes the plurality of storage sections in the plurality of storage sections. The member is managed, and the holding / unfastening means is held by the holding / unfastening means via the transfer means, and the fastening member is stored in the storage portion from the fastening / unfastening means, and the fastening / fastening of the fastening member in the storage portion is performed. It may control the gripping of the release means.

According to the above configuration, as the storage means, one having a plurality of storage sections for storing at least one fastening member is used, and the fastening members of each storage section are managed.
Since the storage of the fastening member in the storage section from the fastening / unfastening means by the gripping / unholding means via the transfer means and the holding of the fastening member in the storage section by the fastening / unfastening means are controlled, the fastening release The separated and reused fastening members can be efficiently separated and the automatic fastening / unfastening device can be further improved in work efficiency.

Further, for example, as described in claim 6, the storage means passes the air flow by the holding / holding release means to each of the storage portions, and stores the air flow by the air flow. A predetermined intake port for moving the member in the direction of the fastening / unfastening means is provided,
A magnetic body that adsorbs and holds the fastening member may be provided.

According to the above configuration, as the storage means, an air flow by the gripping / grip releasing means is passed through each storage section, and a fastening member to be stored by the air flow is fastened and tightened.
Since it uses a predetermined suction port for moving in the direction of the fastening release means and a magnetic body for sucking and holding the fastening member, the delivery of the fastening member between the storage means and the fastening / unfastening means is performed. Can be made simpler and more efficient, and the automatic fastening / unfastening device can be made more efficient.

Further, for example, as set forth in claim 7, the automatic fastening / unfastening device further comprises an error detecting means for detecting an error of the fastening operation by the fastening / unfastening means, and the control means When the error detection unit detects the fastening error, the fastening unit releases the fastening member during the fastening operation and recovers the released fastening member to the storage unit, and another storage unit in the storage unit. A retry process for performing the fastening operation by the fastening / unfastening means by the fastening member may be performed.

According to the above construction, the error detecting means for detecting an error in the fastening operation by the fastening / unfastening means is provided, and when the error detecting means detects the fastening error, the fastening member is released from the fastening during the fastening operation. Since the released fastening member is collected in the storage means and a retry process for performing the fastening operation by another fastening member in the storage means and the fastening operation by the fastening release means is performed, the success rate of the fastening work of the fastening member is improved. Therefore, the automatic fastening / unfastening device can be made more usable.

[0032]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. It should be noted that the embodiments described below are preferred embodiments of the present invention, and therefore, various technically preferable limitations are added. However, the scope of the present invention is not limited to the following description. The embodiments are not limited to these embodiments unless otherwise specified.

FIGS. 1 to 12 show a first embodiment of an automatic fastening / unfastening device according to the present invention.
1 is a schematic configuration front view of an automatic fastening / unfastening device 1 to which a first embodiment of an automatic fastening / unfastening device of the present invention is applied.

In FIG. 1, an automatic fastening / unfastening device 1
The fastening / unfastening tool 4 is connected to the tip of the arm 3 of the robot 2. The operation of the robot 2 is controlled by a control unit 5 connected by a power line and a signal line.

The automatic fastening / unfastening device 1 comprises a robot 2
By moving the fastening / unfastening tool 4 between the fastening member supply / recovery machine 6 and the work 7 by the arm 3 of the above, the fastening members such as screws, bolts and nuts supplied from the fastening member supply / recovery machine 6 are removed. An assembling operation for fastening the work 7 to the work 7 and a disassembling operation for disassembling the work 7 by releasing the fastening member fastened to the work 7 are performed.

As shown in FIGS. 2 to 10, the fastening / unfastening tool 4 has a drive motor 9 mounted on a tool mounting member 8 of the arm 3. Through the cylindrical sleeve holder 11
Is attached. A sleeve portion 12 is connected to the sleeve holding portion 11, and a guide holder base end portion 13 is fixed to a distal end portion of the sleeve portion 12. A delivery part 14 is connected to a distal end of the guide holder base end part 13. The sleeve portion 12 and the guide holder base end portion 13 expand and contract while being housed in the sleeve holding portion 11.

A guide holder tip 15 and a storage section 16 are connected to the transfer section (transfer means) 14 in a direction substantially orthogonal to the guide section. The transfer section 14 is, as shown in FIGS. , Guide holder tip 15
And the storage section 16 are switched to a state of being positioned in the axial direction of the guide holder base end section 13. That is, the transfer unit 14 is connected to the guide holder base end 13 and connected to the guide holder distal end 15 and the storage unit 16, and is rotated to switch between the guide holder distal end 15 and the storage unit 16. A switching portion 14a for communicating with the guide holder base end 13 in a state of being positioned in the axial direction of the end portion 13, and a guide holder base end by switching and driving the switching portion 14a to switch between the guide holder distal end portion 15 and the storage portion 16; Switching motor 14b which communicates with the guide holder proximal end 13 in a state of being located in the axial direction of the switch 13
And The switching motor 14b is connected to the control unit 5
Is driven and controlled. The switching section 14a and the switching motor 14b function as a rotation switching mechanism.

The sleeve holding section 11 and the sleeve section 1
2. As shown in FIGS. 6 to 10, a driver passage 17 is formed in the guide holder base end portion 13 and the guide holder distal end portion 15 on the same axis. A driver 18 is inserted as a means. Driver 18 and driver passage 17
A passage through which air can pass is formed over the entire circumference or by an axial groove, and an air pipe 19 communicating with the driver passage 17 is connected to the sleeve portion 12. The air pipe 19 is connected to a suction-type air pump (not shown), and sucks air from the driver passage 17 through the air pipe 19. The air pipe 19 and the air pump function as holding / holding releasing means.

The driver passage 17, in particular, the driver passage 17 formed at the distal end portion of the guide holder base end portion 13 and the guide holder distal end portion 15, has a screw 20 as a fastening member sliding on the peripheral wall surface of the driver passage 17. It is formed in a size that can move along the driver passage 17 while being in contact therewith. The driver 18 is connected to the drive motor 9, and is driven to rotate in the forward and reverse directions by the drive motor 9 under the control of the control unit 5, thereby fastening and releasing the screw 20. Although not shown, the driver 18 or the drive motor 9
A fastening state detection sensor, for example, a torque sensor or the like, for detecting the completion of the fastening and the completion of the fastening of the screw 20 is provided, and the fastening state detection sensor outputs the detection result to the control unit 5.

The storage section (storage means) 16
Is formed in a cylindrical shape, as shown in FIGS.
A storage portion 16a is formed inside, and a plurality of screws (fastening members) 20 can be stored in the storage portion 16a in a line. Delivery unit 14 of storage unit 16
The base end on the side is connected to the transfer section 14, and the storage section 16 a can communicate with the guide holder distal end section 15 via the transfer section 14. A bottom member 16b is attached to a free end of the storage unit 16, and the bottom member 16b has a predetermined air hole (intake port) and is suitable for preventing a screw 20 in the storage unit 16a from dropping. , For example, a mesh member having a mesh structure. Therefore, when the transfer unit 14 rotates and the storage unit 16 is arranged on the same straight line as the guide holder base end 13, the air pipe passes through the air hole formed in the bottom member 16b and the inside of the storage unit 16a. Air flows in 19,
The screw 20 is attracted to the driver 18 and the screw 20 in the storage portion 16a is transferred to the driver 18 and sucked (gripped).

The automatic fastening / unfastening device 1 determines whether the screw 20 is attracted to the tip of the driver 18, that is, whether the screw 20 as a fastening member is gripped by the driver 18 as fastening / unfastening means. For example, a pressure sensor for detecting a change in the air pressure of the air flowing through the air pipe 19 is provided at a predetermined position of the air pipe 19, and a detection sensor for detecting whether the air pressure The control unit 5 determines whether or not the screw 20 is gripped at the tip of the driver 18 based on the detection result of (1). The detection sensor for detecting whether or not the tip of the driver 18 has gripped the screw 20 is not limited to the sensor provided in the air pipe 19 for detecting by a change in air pressure. For example, a fastening member detection sensor that optically detects the presence or absence of the screw 20 may be provided at the base end portion 13.

Next, the operation of the present embodiment will be described. The automatic fastening / unfastening device 1 controls each unit by the control unit 5 based on the automatic assembly / disassembly processing program stored in the control unit 5 to fasten the screw 20 as a fastening member to the work 7. In addition to assembling the work 7, the screws 20 fastened to the work 7 are released and the work 7 is disassembled.

First, the operation when the screw 20 is fastened to assemble the work 7 will be described below with reference to FIG. The automatic fastening / unfastening device 1 is controlled by the control unit 5 to move the arm 3 of the robot 2 to which the fastening / unfastening tool 4 is attached to the fastening member supply / recovery machine 6 as shown in FIG. (Step S1) The switching motor 14b is driven to switch the switching unit 14a as shown in FIG.
Is rotated to position the guide holder distal end portion 15 on the same straight line as the guide holder proximal end portion 13.

The control unit 5 drives the air pump to
The suction of the air from the air pipe 19 is started (step S2), and the guide holder tip 15 is positioned in contact with the screw supply section of the fastening member supply / recovery machine 6, and supplied from the fastening member supply / collection machine 6. As shown in FIGS. 6 and 8, the screw 20 is raised by the suction air flow through the driver passage 17 of the guide holder distal end portion 15, and is attracted to the distal end of the driver 18 (step S3).

When one screw 20 is attracted to the tip of the driver 18, the control unit 5 drives the switching motor 14b to rotate the switching unit 14a and guide the storage unit 16 as shown in FIG. It is positioned on the same straight line as the holder base end 13 (step S4). When the storage unit 16 positions the storage unit 16 on the same straight line as the guide holder base end 13, the control unit 5 stops driving the air pump, or
The suction of air is stopped by an electromagnetic valve or the like disposed in the middle of the air pipe 19, and the screw 20 that has been sucked by the driver 18 by air is removed from the storage section 16 of the storage section 16.
Then, it is dropped into a and stored (step S5). Further, since the screw 20 has an air hole formed in the bottom member 16b of the storage unit 16, even if the storage unit 16 is positioned on the same straight line as the guide holder base end 13, air suction is not performed. Until stopped, driver 18
When the suction of air is stopped,
It is dropped and stored in the storage section 16a of the storage section 16.

The control unit 5 removes the screw 20 from the storage unit 16
Then, it is determined whether the number of screws 20 stored in the storage unit 16 has reached a predetermined number set in advance, for example, a number that fills the storage unit 16a or a number of screws 20 to be fastened (step S6). If the number of stored screws 20 has not reached the predetermined number, the switching motor 14b is driven to again move the guide holder distal end portion 15 to the guide holder proximal end portion 13 as shown in FIGS. (Step S7), and the screw 20 supplied from the fastening member supply / recovery device 6 is drawn through the driver passage 17 of the guide holder distal end portion 15 by the sucked air flow in the same manner as described above. (Steps S1 to S3). When the control unit 5 causes the screw 20 to be attracted to the tip of the driver 18, the switching motor 14b is driven in the same manner as described above, and the storage unit 16 is again moved to the guide holder proximal end as shown in FIGS. It is positioned on the same straight line as the section 13, stops the suction of air, and fixes the screw 20 at the tip of the driver 18 to the storage section 1 of the storage section 16.
6a (steps S4, S5).

The above processing is sequentially performed, and in step S6,
A predetermined number of screws 2 are stored in the storage section 16a of the storage section 16.
When 0 is stored, the control unit 5 starts sucking air,
As shown in FIGS. 7 and 9, only one screw 20 is attracted to the tip of the driver 18 from the storage part 16a of the storage part 16 (step S8), and the switching motor 14b is driven to drive the guide holder tip 15 Are positioned on the same straight line as the guide holder base end 13 (step S9).

In this state, the control unit 5 drives the arm 3 of the robot 2 to perform the fastening / unfastening tool 4 for the work 7.
Is moved to the work position where the screw 20 is to be fastened (step S10), the drive motor 9 is rotated forward, and the driver 1
The screw 20 is fastened to the work 7 by rotating the screw 8 in the fastening direction (step S11). At this time, the control unit 5 moves the arm 3 of the robot 2 so as to press the guide holder distal end portion 15 against the work 7. When the guide holder distal end portion 15 is pressed against the work 7, as shown in FIGS. 5 and 10. As described above, the sleeve portion 12 and the guide holder base end portion 13 slide in a state of entering the sleeve holding portion 11, and the screw 20 gripped at the tip of the driver 18 is pressed against the work 7 by the driver 18. In this state, when the driver 18 is rotated in the fastening direction as shown by an arrow in FIG.
Thereby, the screw 20 is fastened to the work 7.

Next, the control unit 5 controls the arm 4 of the robot 2.
To move the fastening / unfastening tool 4 upward, stop the suction of air, and complete the fastening operation of one screw 20 (step S12).

When the fastening operation of one screw 20 is completed,
The control unit 5 determines whether to change the screw tightening position, that is, whether there is a next screw tightening position, or whether the storage unit 16 contains the screw 20 for the next screw tightening. It is checked whether to change the tightening position (step S13). When changing to the next screw tightening position in step S13, the control unit 5 rotates the switching motor 14b to position the storage unit 16 in line with the guide holder base end 13 (step S13).
14) Returning to step S8, the same processing is performed as described above.
That is, the control unit 5 performs suction of air, causes the driver 18 to grip one screw 20 from the storage unit 16, switches the guide holder distal end 15 from the storage unit 16, and connects the guide holder base end 13 with the guide holder base end 13. The guide holder tip 15 is moved to the fastening position of the workpiece 7 and pressed against the workpiece 7 (steps S8 to S8).
S10). Then, the control unit 5 rotates the driver 18 in the fastening direction to fasten the screw 20 to the work 7, and when the fastening is completed, raises the fastening / fastening release tool 4 and separates the tool from the work 7. The air suction is stopped, and it is checked whether the screw tightening position is changed (steps S11 to S13).

The above processing is sequentially performed, and step S13 is performed.
If it is not necessary to change to the next screw tightening position, the control unit 5
Ends the screw tightening operation process.

Next, the operation when the work 7 is disassembled by releasing the fastening of the screw 20 will be described with reference to FIG. The automatic fastening / unfastening device 1 is controlled by the control unit 5 and, as shown in FIG.
b is driven, and as shown by an arrow in FIG.
is rotated to position the guide holder distal end portion 15 on the same straight line as the guide holder proximal end portion 13. In this state, the arm 3 of the robot 2 to which the fastening / unfastening tool 4 is attached is fastened to the workpiece 7. It is moved to the position of the screw 20 to be released (step S21).

The control unit 5 drives the air pump to
The suction of the air from the air pipe 19 is started, the guide holder tip 15 is positioned at the screw supply section of the fastening member supply / recovery machine 6, and the drive motor 9 is driven to rotate in the reverse direction, as shown in FIG. And driver 18
Is rotated in the fastening release direction to start the fastening of the screw 20 (step S22).

At this time, the control unit 5 moves the arm 3 of the robot 2 so that the guide holder tip 15 is pressed against the work 7 in the same manner as when the screw 20 is fastened. As shown in FIG. 10, the sleeve portion 12 and the guide holder base end portion 13 slide in a state of entering the sleeve holding portion 11, and the distal end of the driver 18 is fastened to the work 7 as shown in FIG. Pressed against screw 20. In this state, when the driver 18 is rotated in the fastening release direction as indicated by an arrow in FIG.
Is released from the work 7.

When the control unit 5 determines that the screw 20 has been released from the work 7 based on the detection result of the fastening state detection sensor, the control unit 5 drives the arm 3 of the robot 2 to raise the fastening / unfastening tool 4. The storage unit 16 is moved away from the work 7 (step S23), and the switching motor 14b is driven to position the storage unit 16 on the same straight line as the guide holder base end 13 (step S24).

When the fastening / unfastening tool 4 is moved upward, the sleeve portion 12 and the guide holder base end portion 13 which have entered the sleeve holding portion 11 are moved to the sleeve holding portion as shown in FIG. The screw 20 that extends from and protrudes from the screw 11 and that has been released is moved upward while being held (adsorbed) at the tip of the driver 18 by the sucked air.

Next, when the control unit 5 positions the storage unit 16 on the same straight line as the guide holder base end 13,
The suction of the air is stopped, and the screw 20 sucked by the driver 18 with the air is removed from the storage section 16a of the storage section 16.
It is dropped inside and stored (step S25).

The control section 5 inserts the screw 20 into the storage section 16
Then, it is checked whether or not there is a screw 20 to be released next, or whether or not the screw removing position is changed depending on whether the storage unit 16 is full with the screw 20 (step S26). Is changed, the switching motor 14b is driven to again position the guide holder distal end portion 15 on the same straight line as the guide holder proximal end portion 13 as shown in FIG. 6 (step S2).
7) Returning to step 21, the same fastening release (screw removal) operation processing as above is performed (steps S21 to S27).

That is, the control unit 5 moves the guide holder tip 15 to the screw position for releasing the fastening of the work 7, presses the guide holder tip 15 against the work 7, moves the driver 18 in the fastening release direction, and tightens the screw 20. Release and
Air suction is started (steps S21 and S22). When the release of the fastening of the screw 20 is completed, the control unit 5 raises the fastening / unfastening tool 4 and moves the screw 20 to the driver 18.
When the storage 16 is moved on the same straight line as the guide holder base end 13 by driving the switching motor 14b together with the switching part 14a and stopping the suction of air, The screw 20 being held (adsorbed) is stored in the storage section 14a of the storage section 14 (Steps S23 to S25).

The above processing is sequentially performed, and step S26
When the screw removal position is not changed, the control unit 5
The air suction is started and the storage section 14 of the storage section 14 is started.
Only one screw 20 in a is sucked (gripped) by the tip of the driver 18 (step S28), and the switching motor 14b is driven to position the guide holder distal end 15 on the same straight line as the guide holder proximal end 13. (Step S2
9).

In this state, the control unit 5 drives the arm 3 of the robot 2 to move the fastening / unfastening tool 4 to the fastening member supply / recovery machine 6 (step S30), and stops the suction of air. Screw 20 from the tip of the driver 18
Is dropped through the guide holder distal end portion 15 to the screw supply portion of the fastening member supply / recovery machine 6 and collected by the fastening member supply / collection machine 6 (step S31).

When the control unit 5 collects the screw 20 in the fastening member supply / recovery machine 6, it drives the arm 3 of the robot 2 to move the fastening / unfastening tool 4 upward to retract (step S32). Storage unit 16 of the storage unit 16
a, there is a screw 20 to be collected,
It is checked whether or not a is empty (step S33).

In step S33, if there is a screw 20 to be collected in the storage section 16, the control section 5 switches the switching motor 1
4b is driven to position the storage unit 16 in line with the guide holder base end 13 (step S34), and the process returns to step 28 to perform the same processing as described above. That is,
The control unit 5 sucks air, causes the driver 18 to grip one screw 20 from the storage unit 16, switches the guide holder distal end 15 from the storage unit 16, and switches the guide holder distal end 15 from the storage holder 16 in the same direction as the guide holder base end 13. On the line,
The guide holder tip 15 is moved to the fastening member supply / recovery machine 6 (steps S28 to S30). Then, the control unit 5 stops the suction of the air, causes the screw 20 to fall and collect in the fastening member supply / collection machine 6, and when the collection of the screw 20 is completed, raises the fastening and fastening release tool 4 to fasten the fastening. It is checked whether the storage unit 16 is empty by separating from the member supply / recovery machine 6 (steps S31 to S33).

The above processing is sequentially performed, and the process proceeds to step S33.
Then, when the screws 20 to be collected by the storage unit 16 are exhausted, the control unit 5 ends the fastening release operation (screw removal operation) processing.

As described above, according to the present embodiment, the delivery unit 1 is transferred from the storage unit 16 that stores the plurality of screws 20.
4, the screw 20 is gripped by the driver 18 by the air flow sucked from the air pipe 19, and the screw 18 is fastened to the work 7 by the driver 18. A fastening release operation is performed in which the fastening is released and the removed screw 20 is stored in the storage unit 16 from the driver 18 using the airflow. Therefore, the storage unit 16 capable of storing a plurality of screws 20 with a simple configuration without transferring the screws 20 to and from the fastening member supply / recovery machine 6 one by one by a transfer means such as a robot as in the related art.
Between the screw and the driver 18, the transfer time of the screw 20 can be reduced, the automatic fastening / unfastening device 1 can be made small and inexpensive, and the fastening operation can be performed efficiently. By performing the fastening release operation, the working efficiency can be improved satisfactorily.

Further, since the screw 20 is gripped and released by the driver 20 using the air flow, the fastening operation and the release of the screw 20 not only on the upper surface but also on the side surface and the lower surface of the work 7 are performed. The operation can be made possible, and the automatic fastening / unfastening device 1 can be made more efficient and more usable.

Further, since the storage section 16 is provided with an air hole (intake port) through which the air flow is passed and the screw 20 housed by the air flow is moved in the direction of the driver 18, the screw is used. The driver 18 can be appropriately gripped while holding the screw 20 to enable the fastening and unfastening operations of the screw 20 not only to the upper surface of the work 7 but also to the side surface and the lower surface thereof. The work efficiency of the release device 1 is better, and the release device 1 has better usability.

Also, as the transfer unit 14, the storage unit 16 can be used to hold the screw 20 from the storage unit 16 to the driver 18 and to store the screw 20 from the driver 18 to the storage unit 16 by using an air flow. As a switching mechanism for rotating and moving between a state and a state where the fastening operation and the fastening release operation by the driver 18 are enabled,
Since the switching unit 14a and the switching motor 14b are provided, the number of parts can be further reduced, the structure can be simplified, and the time for transferring the screw 20 between the storage unit 16 and the driver 18 can be reduced. Thus, the automatic fastening / unfastening device 1 can be made more inexpensive and have a better working efficiency.

In the above embodiment, the screws 20 are stored in the storage unit 16 in an aligned state so that the automatic fastening / unfastening device 1 can perform both the fastening operation process and the fastening release operation process. The screw 18 is held one by one from the storage unit 16 by the driver 18. However, when the automatic fastening / unfastening device 1 is used only for the disassembling operation, the removed screw 20 is aligned with the storage unit 16. No need to store. Therefore, when the automatic fastening / unfastening device 1 is used only for disassembly work, a large storage unit 30 for accommodating a large number of screws 20 without being aligned may be attached as shown in FIG. In this way, more screws 20 as fastening members can be stored in the storage unit 30. When many screws 20 are removed from the work 7 and disassembled, the fastening member supply / recovery machine 6 and the work 7 Reduce the number of moves between
Work efficiency can be further improved.

FIGS. 14 to 19 are views showing a second embodiment of the automatic fastening / unfastening device according to the present invention. In this embodiment, a storage unit is provided for accommodating one fastening member at a time. A rotary type provided with a part is used.

In this embodiment, the storage unit of the automatic fastening / unfastening device similar to the first embodiment is replaced with a rotary type having a storage unit for storing the fastening members one by one. It has been changed, and in the description of the present embodiment, the same components as those of the first embodiment described above include:
The same reference numerals are given and the detailed description is omitted. For the same components as those of the first embodiment in the portions not shown, the same reference numerals are used as in the first embodiment. This will be described below.

In FIG. 14, an automatic fastening / unfastening device 40 is configured such that the fastening / unfastening tool 41 is an arm 3 of the robot 2 of the automatic fastening / unfastening device 1 of the first embodiment.
And a fastening / unfastening tool 41
The drive motor 9, the mounting member 10, and the sleeve holder 1 are similar to the fastening / unfastening tool 4 according to the first embodiment.
1, a sleeve portion 12, a guide holder base end portion 13, a guide holder distal end portion 15, a driver 18, an air pipe 19, and the like. The sleeve portion 12 has a two-stage structure, and has a lower sleeve portion 12a. . Then, the guide holder base end 13 and the lower sleeve 12
As shown in FIG. 15, the guide holder base end 13 is housed in the lower sleeve 12a, and the lower sleeve 12a is housed in the sleeve 12, as shown in FIG.
When the sleeve portion 12 is housed in the sleeve holding portion 11, it can be expanded and contracted, and the guide holder tip 1
When the work 5 is pressed against the work 7, the work 5 is stored and compressed.

A transfer unit 42 is mounted between the guide holder base end 13 and the guide holder distal end 15. The transfer unit 42 has a storage unit (storage means) 43 and a switching motor 44. I have. The storage unit 43 includes a disk-shaped rotating disk unit 45 having a predetermined thickness, and disk-shaped upper and lower lid members 46 and 47 disposed above and below the rotating disk unit 45, respectively. 4
5 is driven to rotate about the shaft 48 by the switching motor 44. The storage section 43 includes an upper lid member 46.
Is fixed to the guide holder base end portion 13 and the upper lid member 46 is
In the fixed portion with the guide holder base end 13,
A hole is formed which is in communication with the driver passage 17 of the guide holder base end 13 and through which the driver 18 and the screw 20 can pass. The storage unit 43
The lower lid member 47 is fixed to the guide holder distal end portion 15, and the lower lid member 47 has a portion fixed to the guide holder distal end portion 15 as shown in FIG. A hole is formed that communicates with the driver passage 17 and has a size that allows the driver 18 and the screw 20 to pass therethrough. Rotating disk part 4 of storage part 43
5 is a state sandwiched between the upper lid member 46 and the lower lid member 47,
In a state of being fixed to the lower lid member 47, while being in sliding contact with the upper lid member 46, the switching motor 44 rotates the shaft 48 as a center.
It is rotationally driven in the direction indicated by the double arrow in FIG.

As shown in FIG. 16, a plurality of the switching storage portions 45 are provided around the shaft 48 in the circumferential direction.
a is formed, and the switching storage portion 45a has a size that can be stored in a state where one screw 20 as a fastening member is set up,
That is, the driver 1 on the guide holder base end 13 side
8 is formed in a size that can be stored in a state where it can be fastened.

As shown in FIGS. 17 to 19, the lower lid member 46 has an air hole (inlet port) 45b for communicating at least each of the switching storage portions 45a with the outside. When the switching storage section 45a to be stored is rotated to a position communicating with the guide holder base end 13, when air is sucked through the air pipe 19, air is passed through the switching storage section 45a and the driver passage 17 through the air hole 45b. It is sucked, and the screw 20 of the switching storage part 45a is sucked (gripped) to the tip of the driver 18.

In the present embodiment, the rotating disk portion 45 and the lower lid member 47 are separate members, but the rotating disk portion 45 and the lower lid member 47 are not integrally formed but are integrally formed of the same member. It may be.

Further, in the present embodiment, the rotating disk portion 45 of the storage section 43 is rotated integrally with the lower lid member 47, but the present invention is not limited to this, and only the rotating disk portion 45 is provided. In a state of being sandwiched between the upper lid member 46 and the lower lid member 47, the sliding motor comes into sliding contact with the upper lid member 46 and the lower lid member 47, and the switching motor 44 rotates the shaft 48 as a center.
6 may be driven to rotate in the direction indicated by the double-headed arrow. In this case, in order to perform fastening and unfastening of the screw 20, one switching storage portion 45 a is always empty without storing the screw 20, and the lower lid member 47 of the switching storage portion 45 a is moved to the guide holder tip 15. The driver passage 17 is communicated with the same passage diameter.

Next, the operation of the present embodiment will be described. The automatic fastening / unfastening device 40 controls the control unit 5 based on the automatic assembly / disassembly processing program stored in the control unit 5.
By controlling the respective parts, the screw 20 as a fastening member is fastened to the work 7 to assemble the work 7, and the screw 20 fastened to the work 7 is released to disassemble the work 7. However, basically, the same processing as the fastening operation processing and the fastening release processing of the automatic fastening / unfastening apparatus 1 of the first embodiment shown in FIGS. 11 and 12 is performed.

That is, the automatic fastening / unfastening device 40
In order to supply the screw 20 from the fastening member supply / recovery machine 6 to the fastening / unfastening tool 41, the fastening / unfastening tool 41 is moved to the fastening member supply / recovery machine 6 as shown in FIG. When air is sucked from the air pipe 19 in a state where the guide holder tip 15 is in contact with the fastening member supply / recovery device 6, the screw 20 supplied from the fastening member supply / recovery device 6 is drawn by the suction air flow. As shown by an arrow in FIG.
To be sucked (gripped) to the tip of the driver 18 through the hole.

When the screw 20 is attracted to the tip of the driver 18, the control unit 5 pulls up the fastening / unfastening tool 41, and lifts the tip of the driver 18 that is attracting the screw 20 above the transfer unit 42. After moving to the guide hole base end 13, the switching motor 44 is driven to rotate the rotating disk 45, and the empty switching storage part 45 a is rotated to a position facing the guide holder base end 13. As shown in 18, the suction of the air is stopped, and the screw 20 sucked by the driver 18 is dropped and stored in the switching storage portion 45a.

Next, the control unit 5 drives the switching motor 44 to rotate the rotary disk 45 and the lower cover member 47 integrally, and the guide holder tip 15 with the rotary disk 45 interposed therebetween.
Is positioned in line with the guide holder base end 13, as described above, the guide holder tip 15 is brought into contact with the fastening member supply / recovery machine 6, and as shown in FIG.
The air is sucked from the air pipe 19, and the screw 20 supplied from the fastening member supply / recovery device 6 is sucked (gripped) by the suction airflow to the tip of the driver 18 through the driver passage 17 of the guide holder tip 15. When the screw 20 is attracted to the tip of the driver 18, the fastening / unfastening tool 41 is pulled up, and then the switching motor 44 is driven to rotate the rotating disk part 45 and the lower lid member 47 integrally,
The empty switch housing 45a is rotated to a position facing the base end 13 of the guide holder to stop the suction of air, and the screw 20 at the tip of the driver 18 is screwed into the empty switch housing 45.
Drop and store in a.

The above processing is sequentially performed, and the necessary amount of screws 20
Alternatively, when the screws 20 are stored in all the switching storage sections 45a, the control section 5 drives the switching motor 44 to rotate the switching storage section 45a and the lower lid member 47 integrally, and stores the screw 18 in the driver 18. When the switching storage unit 45a is opposed to the switching storage unit 45a, suction of air is started and the switching storage unit 45a is started.
The screw 20 inside is sucked to the tip of the driver 18. The control unit 5 drives the arm 3 of the robot 2 to
By moving the fastening / unfastening tool 41 to the work position where the screw 20 is fastened, the drive motor 9 is rotated forward, and the driver 18 is rotated in the fastening direction, whereby the screw 2 is fastened.
0 is fastened to the work 7. At this time, the control unit 5
The arm 3 of the robot 2 is moved so as to press the guide holder distal end portion 15 against the work 7. When the guide holder distal end portion 15 is pressed against the work 7, as shown in FIG. The guide holder base end 13 slides in a state of entering the sleeve holding portion 11, and the screw 20 gripped by the tip of the driver 18 is pressed against the work 7 by the driver 18. In this state, when the driver 18 is rotated in the fastening direction, the screw 20 is
Is concluded.

When the fastening of one screw 20 is completed, the control unit 5 drives the switching motor 44 to
a and the lower lid member 47 are integrally rotated, and the driver 18 is opposed to the switching storage portion 45a storing the screw 20. Then, suction of air is started and the screw 20 in the switching storage portion 45a is Adsorb to the tip of 18. Control unit 5
Is to drive the arm 3 of the robot 2 to move the fastening / unfastening tool 41 to the position of the work 7 where the screw 20 is fastened, rotate the drive motor 9 forward, and rotate the driver 18 in the fastening direction. Thereby, the screw 20 is fastened to the work 7. When the screws 20 are fastened to the required work positions by sequentially performing the above processes, the fastening operation process is stored.

Then, in the fastening release operation process, the control unit 5 places the guide hole distal end portion 15 in line with the guide hole base end portion 13 as shown in FIG. The tool 41 is moved to the work position of the screw 20 for unscrewing the work 7, and the tip 15 of the guide hole is pressed against the work 7. When the guide hole distal end portion 15 is pressed against the work 7, as shown in FIG. 15, the sleeve portion 12, the lower sleep portion 12 a and the guide holder base end portion 13 slide while entering the sleeve holding portion 11. The tip of the driver 18 is pressed against the screw 20 of the work 7, and in this state, while the air is being sucked, the driver 18 is rotated in the fastening release direction as shown by a double-headed arrow in FIG. The screw 20 is removed by 18.

The screw 20 removed from the work 7 is sucked and gripped by the tip of the driver 18 by the sucked air flow. In this state, the fastening / unfastening tool 41 is used.
Is moved upward, the sleeve portion 12, the lower sleep portion 12a, and the guide holder base portion 13 extend from the inside of the sleeve holding portion 11, and the driver 18 moves from the guide holder tip portion 15 to the guide holder base portion 13. The screw 20 adsorbed on the tip of the driver 18 is also stored in the guide holder base end 13 together with the driver 18.

The control unit 5 drives the switching motor 44 to
When the rotating storage portion 45 and the lower lid member 47 are rotated integrally and the empty switching storage portion 45a is opposed to the guide holder base end portion 13, the suction of air is stopped, and the screw that has been adsorbed to the tip of the driver 18 is stopped. 20 is replaced with the empty switch storage 45
Drop and store in a.

The above processing is sequentially performed, and the screw 2 of the work 7 is
When the screw 0 is removed and the necessary screws 20 are released, the release operation is completed.

As described above, according to the present embodiment, the storage section 43 having a plurality of switching storage sections 45a for storing one screw 20 is used.
The screw 20 of 5a is managed, and the driver 18 by the suction airflow through the transfer part 42 receives the switching storage part 45a.
Since the screw 20 is controlled to store the screw 20 in the screw holder and the screw 20 in the switching storage portion 45a by the driver 18, efficient separation and reuse of the screw 20 that has been released can be performed. The fastening release device 40 can be further improved in work efficiency.

The storage section 43 is in a state in which the screw 20 can be gripped from the switching storage section 45a of the storage section 43 to the driver 18 and the screw 20 can be stored from the driver 18 into the switching storage section 45a by the suction air flow. When,
Since it is rotated and switched to a state in which the fastening operation and the fastening release operation by the driver 18 are enabled,
The number of parts can be further reduced, the structure can be simplified, the time for transferring the screw 20 between the storage unit 43 and the driver 18 can be shortened, and the automatic fastening / unfastening device 40 can be made more inexpensive. In addition, the working efficiency can be further improved.

FIGS. 20 to 22 are views showing a third embodiment of the automatic fastening / unfastening device according to the present invention.
21 is an enlarged front sectional view of a main part of the fastening / unfastening tool 51 of the automatic fastening / unfastening device 50 of the present embodiment.

In this embodiment, as the storage unit, 1
A rotary type having a storage portion for storing individual fastening members is used, and a magnetic material that magnetically attracts the fastening member is disposed in the storage portion.

This embodiment is applied to an automatic fastening / unfastening device similar to that of the second embodiment. In the description of this embodiment, the second embodiment will be described. The same components as those described above are denoted by the same reference numerals, and detailed description thereof will be omitted.

In FIGS. 20 and 21, an automatic fastening / unfastening device 50 includes a fastening / unfastening tool 51,
Robot 2 of automatic fastening / unfastening device 1 of the embodiment
The fastening / unfastening tool 51 is attached to the arm 3 of the second embodiment, and the fastening / unfastening tool 51 is provided between the guide holder base end 13 and the guide holder distal end 15 similarly to the fastening / unfastening tool 41 of the second embodiment. Is provided with a delivery section 52.

The transfer section 52 includes a storage section 53 and a switching motor 44 (not shown) similar to that of the second embodiment, and the storage section 53 includes a disk-shaped rotating disk section having a predetermined thickness. 54, a disk-shaped upper lid member 55 and a lower lid member 56 disposed above and below the rotating disk portion 54, respectively. The rotating disk unit 54 is driven to rotate about a shaft (not shown) by the switching motor 44, and the storage unit 53.
The upper lid member 55 is fixed to the guide holder base end 13. The upper lid member 55 includes a guide holder base end 13 at a portion fixed to the guide holder base end 13.
And the driver 1
A hole having a size that allows the passage of the screw 8 but not the screw 20 is formed. The storage section 53 has a lower lid member 56 fixed to the guide holder distal end portion 15. The lower lid member 56 has a driver passage of the guide holder distal end portion 15 at a portion fixed to the guide holder distal end portion 15. A hole is formed in a size that communicates with the screw hole 17 and allows the driver 18 and the screw 20 to pass therethrough. The rotating disk part 54 of the storage part 53 includes an upper lid member 55 and a lower lid member 56.
In the state of being sandwiched between the upper cover member 55 and the lower cover member 56, the upper cover member 55 and the lower cover member 56 are slidably driven by the switching motor 44 about the shaft.

A plurality of switching storage portions 54a are formed in the rotating disk portion 54 so as to penetrate the rotating disk portion 54 in the circumferential direction around the axis, and the switching storage portion 54a is a single fastening member. The screw 20 is formed to have a size that can be stored in the upright state, that is, a size that can be stored in a state in which the screw 20 can be fastened by the driver 18 on the guide holder base end 13 side. Each switching accommodating portion 54a has a magnetic material, for example, a permanent magnet 5 at its end on the upper lid member 55 side.
As shown in FIG. 22, the permanent magnet 57 has a ring hole 57 having a size that allows the driver 18 to pass through the center of the permanent magnet 57 and prevents the screw 20 from passing therethrough.
a is formed in a ring shape. Even when the driver 18 is passing through this permanent magnet 57,
A concave portion 57b through which air passes is formed so as to be recessed from the ring hole 57a toward the outer peripheral surface.

Note that the lower cover member 56 is
It is not necessary that the member be provided with an air hole communicating between a and the outside.

Automatic fastening / unfastening device 5 of the present embodiment
0 performs the fastening operation process and the fastening release operation process under the control of the control unit 5.
Only the rotating disk portion 54 of the transfer portion 52 rotates, and the upper lid member 55 and the lower lid member 56 are fixed.
When the screw 20 is stored in the switching storage portion 54a of the rotating disk portion 54 and when the screw 2 from the switching storage portion 54a to the driver 18 is
At the time of supply of 0, only the rotating disk portion 54 is rotated by the switching motor 44 to switch the switching storage portion 54a facing the guide holder base end portion 13 and the guide holder distal end portion 15, so that the switching storage portion 54a of the screw 20 is provided. Screw 20 from the storage and switching storage portion 54a to the driver 18
Supply.

That is, the automatic fastening / unfastening device 50
In order to supply the screw 20 from the fastening member supply / recovery machine 6 to the fastening / unfastening tool 51, the switching motor 44 is driven to rotate the rotating disk part 54, and the empty switching storage part 5 is rotated.
When 4a rotates to a position facing the guide holder base end 13, the fastening / unfastening tool 51 is moved to the fastening member supply / collection machine 6, and the guide holder distal end 15 contacts the fastening member supply / collection machine 6. In this state, air is sucked from the air pipe 19. When the air is suctioned, the screw 20 supplied from the fastening member supply / recovery device 6 causes the screw passage 20 of the guide holder distal end portion 15 to be driven by the suction air.
Is sucked (gripped) by the tip of the driver 18 through the hole.

When the screw 20 is attracted to the tip of the driver 18, the control unit 5 pulls up the fastening / unfastening tool 51, and lifts the tip of the driver 18 that is attracting the screw 20 above the transfer unit 53. When the screw 20 is moved to the base end portion 13 of the guide hole, as shown in FIG. 20, the screw 20 that has been attracted to the distal end of the driver 18 is attracted to the permanent magnet 57 of the switching storage portion 54a. When the screw 20 is attracted to the permanent magnet 57, the control unit 5 stops the suction of the air, and the screw 20 that has been attracted to the driver 18 is sucked by the permanent magnet 57 in the switching storage unit 45a. To be stored.

Next, the control section 5 drives the switching motor 44 to rotate the empty switching storage section 54a to a position facing the guide holder base end 13, performs the same processing as described above, and sequentially The screw 20 is housed in the switching housing 54a from the fastening member supply / recovery machine 6.

The above processing is sequentially performed, and the necessary amount of screws 20
Alternatively, when the screws 20 are stored in all the switching storage portions 54a, the control unit 5 causes the switching storage portion 54a storing the screws 20 to face the guide hole base end portion 13,
The air suction is started, the arm 3 of the robot 2 is driven, the fastening / unfastening tool 51 is moved to the position of the work 7 where the screw 20 is fastened, and the guide holder tip 15 is pressed against the work 7. At this time, the sleeve portion 12, the lower sleeve portion 12a and the base end portion 13 of the guide holder are housed in the sleeve holding portion 11, and the tip of the driver 18 enters the switching housing portion 54a, and the tip of the driver 18 is moved. The screw 20 comes into contact with the upper end of the screw 20 and is separated from the permanent magnet 57. The screw 20 is sucked and gripped by the tip of the driver 18 by the suction air flow, and moves to the tip of the guide holder tip 15 in this state. Being
It is pressed against the work 7. The control unit 5 rotates the drive motor 9 in the normal direction and rotates the driver 18 in the fastening direction in a state where the screw 20 at the tip of the driver 18 is pressed against the work 7 in this manner. Perform fastening.

When the fastening of one screw 20 is completed, the control unit 5 drives the switching motor 44 to
is rotated, and the driver 18 is opposed to the switching storage portion 54a storing the screw 20, the screw 20 in the switching storage portion 54a is adsorbed to the tip of the driver 18 in the same manner as described above. The screw 20 is fastened to the work 7. Repeat the above process, and screw 2 to the required work position.
When "0" is fastened, the fastening operation process is stored.

In the fastening release operation process, the control unit 5 rotates the rotating disk unit 54 by the switching motor 44 to move the empty switching storage unit 54a to a position facing the guide hole base end 13. Then, as shown in FIG. 21, the fastening / unfastening tool 41 is moved to the position of the screw 20 for unscrewing the work 7 and the guide hole tip 1 is moved.
5 is pressed against the work 7. When the front end portion 15 of the guide hole is pressed against the work 7, the sleeve portion 12, the lower sleep portion 12 a, and the base end portion 13 of the guide holder slide in a state of entering the sleeve holding portion 11, and the tip end of the driver 18 is moved. When the driver 18 is rotated in the fastening release direction while sucking air in this state, the screw 2 is
0 is removed.

The screw 20 removed from the work 7 is sucked and gripped by the tip of the driver 18 by the sucked air flow. In this state, when the fastening / unfastening tool 51 is moved upward, the sleeve portion is removed. 12, the lower sleep part 12a and the guide holder base end 13 extend from inside the sleeve holding part 11, and the driver 18 is moved from the guide holder front end 15 to the guide holder base end 13 side, and the driver 18 The screw 20 attracted to the guide holder is also moved to the guide holder base end 13 side together with the driver 18. When the screw 20 moves together with the driver 18 to the switching housing 54a and comes into contact with the permanent magnet 57, the screw 20 is attracted to the permanent magnet 57 and is housed in the switching housing 54a.

The above processing is sequentially performed, and the screw 2 of the work 7 is
When the screw 0 is removed and the necessary screws 20 are released, the release operation is completed.

As described above, according to the present embodiment, as the storage section 53, each switch storage section 54a is provided with the screw 20.
Is provided with the permanent magnet 57 for attracting and holding the screws, so that the screw 20 can be more easily and efficiently transferred between the storage unit 53 and the driver 18, and the automatic fastening and fastening can be performed. The release device 50 can be further improved in work efficiency.

FIG. 23 is a diagram showing a fourth embodiment of the automatic fastening / unfastening device according to the present invention. In this embodiment, when an error occurs in fastening a fastening member to a workpiece,
A retry operation process for replacing the fastening member with another one and performing the fastening operation again at the same work position is performed.

This embodiment is applied to an automatic fastening / unfastening device 40 similar to that of the second embodiment. In the description of this embodiment, the second embodiment will be described. The following description will be made using the reference numerals used in the embodiments as they are.

Automatic fastening / unfastening device 4 of the present embodiment
In the reference numeral 0, an error detection sensor for detecting an error in a fastening operation, for example, a torque-up error (galling), is attached to the driver 18, and the error detection sensor detects an error in the fastening operation and controls the detection result. 5 is output. In the fastening operation process shown in FIG. 11, the control unit 5 performs a retry operation process based on the detection result of the error detection sensor.

That is, the automatic fastening / unfastening device 40
When the screw is tightened (tightened), the control unit 5 controls the storage operation of the screw 20 in the switching storage unit 45a of the rotating disk unit 45 of the storage unit 43 as shown in FIG. When the screws 20 are stored in the respective switching storage portions 45a, the switching disk 44 and the lower lid member 47 are rotated by the switching motor 44 as shown in FIG. The part 45a is positioned on the same straight line as the guide holder base end part 13 (step P1), and the air pump is driven to start suction of air, and the screw 20 is sucked (gripped) from the switching storage part 45a to the tip of the driver 18. ) (Step P2).

When the driver 18 grips the screw 20, the control unit 5 drives the switching motor 44 to position the guide holder distal end 15 on the same straight line as the guide holder proximal end 13 (step P 3). In this state, the arm 3 of the robot 2 is driven to move the fastening / unfastening tool 4 to the position of the work 7 where the screw 20 is fastened (step P4). When moving the guide holder distal end portion 15 to the work position, the control unit 5 starts the fastening of the screw 20 to the work 7 by rotating the drive motor 9 forward and rotating the driver 18 in the fastening direction ( Step P
5) It is checked whether the color detection sensor detects an error in the fastening operation (step P6).

At this time, the controller 5 moves the arm 3 of the robot 2 so as to press the guide holder tip 15 against the work 7. When the guide holder tip 15 is pressed against the work 7, the sleeve 12 and The guide holder base end 13 slides in the state of entering the sleeve holding portion 11, and the screw 20 gripped by the tip of the driver 18 is pressed against the work 7 by the driver 18. In this state, when the driver 18 is rotated in the fastening direction, the screw 20 is fastened to the work 7 by the driver 18.

Then, in Step P6, when the fastening work error does not occur and the fastening work is completed normally, the control section 5 drives the arm 4 of the robot 2 to move the fastening / fastening release tool 4 upward. While moving and retreating, the suction of air is stopped, and the fastening operation of one screw 20 is completed (step P7).

When the fastening operation of one screw 20 is completed,
When there is a work position to be screwed next, the control unit 5 rotates the switching motor 44 to rotate the rotation disk unit 45.
Then, the lower cover member 47 is rotated so that the switching housing portion 45a housing the screw 20 is opposed to the guide holder base end portion 13 (step P8), and the next screw tightening operation process of the screw 20 is performed as described above.

The above-described screw tightening operation processing is sequentially performed, and if a fastening work error occurs in step P6, the control unit 5
Drives the driver 18 in the direction to release the fastening by inverting the drive motor 9 while sucking air, and performs a screw removing operation (step P9). When the screw 20 comes off,
The control unit 5 drives the arm 4 of the robot 2 to move and retract the fastening / unfastening tool 4 upward,
Is moved to a position above the transfer section 42 in a state where it is attracted to the tip of the driver 18, the switching disk 44 is rotated by the switching motor 44, and the empty switching storage section 4 is rotated.
5a is moved to a position facing the guide holder base end 13 (step P11). When the empty switching storage portion 45a is positioned so as to face the guide holder base end portion 13, the control portion 5 stops the suction of air, and
The screw 20 adsorbed at the tip of 8 is dropped and stored in the empty switching storage section 45a (step P12).

When the storage of the screw 20 in the switching storage section 45a is completed, the control section 5 rotates the rotating disk section 45 by the switching motor 44 to remove the switching storage section 45a in which the spare new screw 20 is stored. The screw is moved to a position facing the guide holder base end 13 (step P13), and air is sucked, so that the new screw 20 is sucked (gripped) to the tip of the driver 18 (step P14).

When the new screw 20 is sucked by the driver 18, the control unit 5 returns to step P3, drives the switching motor 44, and moves the guide holder distal end 15 on the same straight line as the guide holder base end 13. In this state, the arm 3 of the robot 2 is driven to move the fastening / unfastening tool 4 to the work position of the screw 20 where the fastening error has occurred (step P3).
4). When the control unit 5 moves the guide holder distal end portion 15 to the work position, the drive motor 9 rotates the driver 18 in the fastening direction to start fastening the screw 20 to the work 7 (step P5). It is checked whether the detection sensor detects an error in the fastening operation (step P6).

According to the check result of the work error,
The normal work operation or the error work operation is performed.

As described above, according to the present embodiment, when a fastening error occurs in the fastening operation by the driver 18,
While the fastening operation of the screw 20 during the fastening operation is released and the released screw 20 is collected in the switching storage part 45a of the storage 43, the fastening operation by the driver 18 using another screw 20 in the storage part 43 is performed. Perform retry processing. Therefore, the success rate of the fastening operation of the screw 20 can be improved, and the automatic fastening / unfastening device 40 can be made more usable.

In the present embodiment, the case where the present invention is applied to the automatic fastening / unfastening device 40 of the second embodiment has been described. The same can be applied to the automatic fastening / unfastening device 50 of the third embodiment.

Although the invention made by the inventor has been specifically described based on the preferred embodiments, the present invention is not limited to the above-described embodiment, and various modifications may be made without departing from the gist of the invention. It goes without saying that it is possible.

For example, in each of the above embodiments, the case where the screw 20 is used as the fastening member to perform the screw tightening operation and the screw removing operation has been described. However, the fastening member is not limited to the screw 20. For example, a bolt or a nut can be similarly applied.

[0123]

According to the automatic fastening / unfastening device according to the first aspect of the present invention, the fastening member is gripped / released by the holding / holding release means from the storage means for accommodating the plurality of fastening members via the transfer means. A fastening operation in which the fastening member is gripped by the fastening / unfastening means for fastening / unfastening to the work, and the fastening member is fastened to the work by the fastening / unfastening means, and a fastening member is released from the work by the fastening / fastening means. To grip and release the fastened
Fastening release operation to be stored in the storage means from the fastening / unfastening means via the transfer means by the grip release means,
Storage means capable of accommodating a plurality of fastening members with a simple configuration without transferring the fastening members to and from the fastening member supply / recovery machine one by one by a transfer means such as a robot as in the related art. And transfer between the fastening / unfastening means, the transfer time of the fastening member can be reduced,
The automatic fastening / unfastening device can be small and inexpensive, and can efficiently perform the fastening operation and the fastening release operation to improve the working efficiency.

According to the automatic fastening / unfastening device according to the second aspect of the present invention, as the holding / unfastening means, an air flow is used to hold and release the fastening member to the fastening / unfastening means. The use of an object enables the fastening and unfastening of fastening members to the side and bottom surfaces, as well as the top surface of the work, enabling the automatic fastening / unfastening device to operate more efficiently. , Good usability.

According to the automatic fastening / unfastening device according to the third aspect of the present invention, as the storage means, the air flow by the gripping / unholding means is passed, and the fastening member housed by the air flow is fastened / unfastened. Since a device provided with a predetermined intake port for moving in the direction of the means is used, the fastening member is held and properly held by the fastening / unfastening means so that not only the upper surface of the work but also the side surface and the lower surface. It is possible to enable the fastening operation and the fastening release operation of the fastening member to the automatic fastening / unfastening device with better working efficiency,
Good usability can be achieved.

According to the automatic fastening / unfastening device according to the fourth aspect of the present invention, the storage means is used as the delivery means, and the holding / holding of the fastening member from the storage means to the fastening / fastening releasing means is performed by the holding / holding means. .A device provided with a rotation switching mechanism for rotating between a state in which the fastening member can be stored in the storage means from the fastening release means and a state in which the fastening operation and the fastening release operation by the fastening / unfastening means are enabled. Is used, the number of parts can be further reduced, the structure can be simplified, the delivery time of the fastening member between the storage means and the fastening / unfastening means can be shortened, and the automatic fastening can be performed.・
It is possible to make the fastening release device more inexpensive and further improve the working efficiency.

According to the automatic fastening / unfastening apparatus according to the fifth aspect of the present invention, the storage means having a plurality of storage sections for storing at least one fastening member is used, and the fastening member of each storage section is used. By controlling the storage of the fastening member in the storage unit from the fastening / unfastening means by the gripping / unholding means via the transfer means and the gripping of the fastening member in the storage unit by the fastening / unfastening means through the delivery means Therefore, the separated and re-used fastening members can be efficiently separated and reused, and the automatic fastening / unfastening device can be further improved in work efficiency.

[0128] According to the automatic fastening / unfastening device of the present invention, as the storage means, a fastening member for passing the air flow of the gripping / unholding means through each storage section and storing the airflow by the air flow. Since it is equipped with a predetermined intake port for moving the fastening member in the direction of the fastening / unfastening means, and using a magnetic body that sucks and holds the fastening member,
The transfer of the fastening member between the storage means and the fastening / unfastening means can be made simpler and more efficient, and the automatic fastening / unfastening device can be made more efficient. Can be.

According to the automatic fastening / unfastening device of the invention, an error detecting means for detecting an error of the fastening operation by the fastening / unfastening means is provided, and when the error detecting means detects the fastening error, the error is detected. Since the release of the fastening member during the fastening operation and the recovery of the released fastening member to the storage means are performed, and a retry process of performing the fastening operation by the fastening / unfastening means by another fastening member in the storage means is performed, The success rate of the fastening operation of the fastening member can be improved, and the automatic fastening / unfastening device can be made more usable.

[Brief description of the drawings]

FIG. 1 is a schematic front view of an automatic fastening / unfastening device to which a first embodiment of an automatic fastening / unfastening device of the present invention is applied.

FIG. 2 is an enlarged front view of the fastening / unfastening tool of FIG. 1;

FIG. 3 is an enlarged front view of a main part of the fastening / unfastening tool of FIG. 2;

FIG. 4 is an enlarged side view of a main part of the fastening / unfastening tool of FIG. 2;

FIG. 5 is an enlarged rear view of a main part of the fastening / unfastening tool of FIG. 2;

FIG. 6 is an enlarged front sectional view of a state in which a screw of the fastening / unfastening tool of FIG. 2 is held at the tip of a driver.

FIG. 7 is an enlarged front sectional view of a state in which the storage unit of the fastening / unfastening tool of FIG. 2 is rotated downward and screws are dropped and stored from the tip of the driver into the storage unit.

8 is a diagram showing a fastening member supply / fastening / unfastening tool of FIG.
The enlarged front sectional view in the state where the screw is supplied from the collection machine.

FIG. 9 is an enlarged front sectional view showing the operation of storing the screw from the driver tip to the storage part and adsorbing the screw from the storage part to the driver tip by rotating the storage part of the fastening / unfastening tool of FIG. 2 downward. FIG.

FIG. 10 is an enlarged front sectional view showing an operation of fastening a screw to a work and an operation of releasing a screw from a work by the fastening / unfastening tool of FIG. 2;

FIG. 11 is a flowchart showing a screw tightening operation process by the automatic fastening / unfastening device of FIG. 1;

FIG. 12 is a flowchart showing a screw removing operation process by the automatic fastening / unfastening device of FIG. 1;

FIG. 13 is an enlarged front view of a fastening / unfastening tool of an example using a large storage unit of the automatic fastening / unfastening device of FIG. 1;

FIG. 14 is an enlarged front view of a fastening / unfastening tool of the automatic fastening / unfastening device to which the second embodiment of the automatic fastening / unfastening device of the present invention is applied.

FIG. 15 is an enlarged front view showing an operation of fastening a screw to a work and an operation of releasing a screw from a work by the fastening / unfastening tool of FIG. 14;

FIG. 16 is a bottom view of the switching storage unit of FIG. 15;

FIG. 17 is an enlarged front sectional view showing an operation of attracting a screw to a driver of the fastening / unfastening tool of FIG. 14;

18 is an enlarged front cross-sectional view showing the operation of attracting a screw from the switching storage portion to the driver and the operation of storing the screw from the driver to the switching storage portion of the fastening / unfastening tool of FIG. 14;

FIG. 19 is an enlarged front cross-sectional view showing a fastening operation of a screw to a workpiece and an unfastening operation of a screw from the workpiece by the fastening / unfastening tool of FIG. 14;

FIG. 20 is an enlarged front sectional view of a main part of a fastening / unfastening tool of the automatic fastening / unfastening device to which the third embodiment of the automatic fastening / unfastening device of the present invention is applied.

FIG. 21 is an enlarged front sectional view showing the operation of fastening a screw to a work and the operation of canceling the fastening of a screw from a work by the fastening / unfastening tool of FIG. 20;

FIG. 22 is a top view of the permanent magnet of the fastening / unfastening tool of FIG. 20;

FIG. 23 is a flowchart showing a screw tightening operation recycling process performed by the automatic fastening / unfastening device to which the fourth embodiment of the automatic fastening / unfastening device of the present invention is applied.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic fastening / unfastening device 2 Robot 3 Arm 4 Fastening / fastening release tool 5 Control part 6 Fastening member supply / recovery machine 7 Work 8 Tool mounting member 9 Drive motor 10 Mounting member 11 Sleeve holding part 12 Sleeve part 12a Lower sleeve part 13 Guide holder base end part 14 Transfer part 14a Switching part 14b Switching motor 15 Guide holder tip part 16 Storage part 16a Storage part 16b Bottom member 17 Driver passage 18 Driver 19 Air pipe 20 Screw 30 Storage part 40 Automatic fastening / unfastening device 41 Fastening / unfastening tool 42 Transfer unit 43 Storage unit 44 Switching motor 45 Rotating disk unit 45a Switching storage unit 45b Air hole 46 Upper lid member 47 Lower lid member 48 Shaft 50 Automatic fastening / unfastening device 51 Fastening / fastening release tool 5 Transfer unit 53 storage unit 54 rotates the disk portion 54a switching housing portion 55 upper cover member 56 the lower lid member 57 permanent magnets 57a ring hole 57b recess

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Koichi Kawano 1-3-6 Nakamagome, Ota-ku, Tokyo Ricoh Co., Ltd.

Claims (7)

[Claims] An automatic operation for performing a fastening operation of fastening a predetermined fastening member to a predetermined work to be fastened and a fastening release operation of releasing the fastening member from the work to which the fastening member is fastened. A fastening / unfastening device, comprising: fastening / unfastening means for performing the fastening operation and the fastening-unfastening operation of the fastening member; and a gripping / unfastening means for gripping and unholding the fastening member with the fastening / unfastening means. A grip release means, and a plurality of the fastening members which are disposed near the fastening / release means and which have been released from the fastening / release means by the grip / release means can be stored and stored. A plurality of fastening members, one by one
A storage means capable of being held by the fastening / unfastening means by the gripping / unfastening means, and the fastening member released from the fastening / fastening release means by the gripping / unfastening means being housed in the storage means; A delivery means for allowing the fastening / unfastening means to grip the plurality of fastening members housed in the means one by one by the gripping / unfastening means, and the delivery means housed in the storage means via the delivery means. The fastening operation in which the fastening member is gripped by the fastening / unfastening means by the gripping / unfastening means, and the fastening member is fastened to the work by the fastening / unfastening means, and The workpiece is released from the fastening of the fastening member, and the released fastening member is gripped and held. Automatic engagement and unfastening device being characterized in that and a control means for storing in said storage means from the engagement and fastening releasing means via said transfer means by lifting releasing means. 2. The automatic fastening device according to claim 1, wherein the gripping / releasing means grips and releases the fastening member to / from the fastening / releasing means using an air flow. -A fastening release device. 3. The storage means includes a predetermined air inlet through which the air flow generated by the gripping / releasing means is passed, and the stored fastening member is moved in the direction of the fastening / fastening releasing means by the air flow. 3. The automatic fastening / unfastening device according to claim 2, further comprising: 4. The transfer means transfers the storage means from the storage means to the fastening / unfastening means by the gripping / unholding means and from the fastening / unfastening means to the storage means. A rotation switching mechanism that rotates between a state in which the fastening member can be stored in the state and a state in which the fastening operation and the fastening release operation by the fastening / unfastening means are enabled. The automatic fastening / unfastening device according to any one of claims 1 to 3. 5. The storage means includes a plurality of storage sections for storing at least one fastening member, and the control means manages the fastening members in the plurality of storage sections,
Storing the fastening member in the storage section from the fastening / unfastening means by the gripping / unholding means via the transfer means and holding the fastening member in the storage section to the fastening / fastening release means. The automatic fastening / unfastening device according to any one of claims 1 to 3, wherein the automatic fastening / unfastening device is controlled. 6. The storage means includes:
A predetermined air inlet is provided to allow the air flow by the gripping / gripping releasing means to pass therethrough to move the accommodated fastening member in the direction of the fastening / fastening releasing means by the air flow, and to hold the fastening member by suction. 6. The automatic fastening / unfastening device according to claim 5, further comprising a magnetic material. 7. The automatic fastening / unfastening device further comprises an error detecting means for detecting an error of the fastening operation by the fastening / unfastening means, and the control means includes a step of detecting the error by the error detecting means. Upon detection, while performing the fastening release of the fastening member during the fastening operation and recovering the released fastening member to the storage means, the fastening and fastening by another fastening member in the storage means is performed.
The automatic fastening / unfastening device according to any one of claims 1 to 6, wherein a retry process for performing the fastening operation by the fastening cancellation means is performed.