JPS59109429U

JPS59109429U - Abnormality determination device for automatic screw tightening machine

Info

Publication number: JPS59109429U
Application number: JP273783U
Authority: JP
Inventors: 八木　八彦
Original assignee: 日産自動車株式会社
Priority date: 1983-01-14
Filing date: 1983-01-14
Publication date: 1984-07-24

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of drawings]

第１図は、この考案を適用したロボットの側面図、第２
図は、第１図の自動ねじ締め機の構成を示す拡大部分断
面図、第３図乃至第５図は、夫々ねじ締め作業の様子を
示す状態図、第６図乃至第１０図は、夫々ねじ締め作業
における各工程で発生する異状の説明に供する状態図、
第１１図は、判定回路の一例を示す構成図、第１２図は
、ねじとねじ穴との関係を示す説明図、第１３図及び第
１４図は、夫々目標位置データＰ。に対する近傍データ
Ｐ工〜Ｐｎの設定方法を示す説明図、第１５図は、第１
１図の判定回路の―定結果を利用したロ　−ポットの運
転制御の一例を示すフロー図、第１６図は、データＰ。 −Ｐ６の補正説明に供するヒストグラム図である。８・・・自動ねじ締め機、９・・・ねじ締め機本体、１
０・・・ホルダ、１１・・・ガイドバー、１２・・・ク
ッションスプリング、１５・・・ブラケット、１７・・
・ねじ締め用ビット、１８・・・筒体、１９・・・チャ
ック部、２３・・・タッピングねじ、２５・・・リミツ
ートスイッチ（距離センサ）、２６・・・ドッグ、２７
・・・判定回路。第１０図　　　− −第１１図Figure 1 is a side view of a robot to which this invention is applied;
The figure is an enlarged partial cross-sectional view showing the configuration of the automatic screw tightening machine shown in FIG. 1, FIGS. State diagrams to explain abnormalities that occur in each process of screw tightening work,
FIG. 11 is a configuration diagram showing an example of a determination circuit, FIG. 12 is an explanatory diagram showing the relationship between screws and screw holes, and FIGS. 13 and 14 respectively show target position data P. FIG. 15 is an explanatory diagram showing how to set the neighborhood data P to Pn for the first
FIG. 16 is a flowchart showing an example of robot operation control using the determination result of the determination circuit shown in FIG. - It is a histogram diagram used for explanation of correction of P6. 8... Automatic screw tightening machine, 9... Screw tightening machine main body, 1
0... Holder, 11... Guide bar, 12... Cushion spring, 15... Bracket, 17...
・Screw tightening bit, 18... Cylindrical body, 19... Chuck part, 23... Tapping screw, 25... Limit switch (distance sensor), 26... Dog, 27
...Judgment circuit. Figure 10 - -Figure 11

Claims

[Scope of Claim for Utility Model Registration] A screw tightening machine body attached to the tip of an automatic machine such as a robot is attached to the tip of said automatic machine positioned at a predetermined screw tightening position according to each process in screw tightening work. In the automatic screw tightening machine, the automatic screw tightening machine is configured to have a distance sensor that detects the relative distance between the tip of the automatic machine and the screw tightening machine main body, and a distance sensor that detects the relative distance between the tip of the automatic machine and the screw tightening machine body,
an automatic screw tightening machine characterized by being provided with a determination means for determining the presence or absence of an abnormality regarding the screw tightening work by comparing the detection results of the sensor and predetermined reference data for each step in the screw tightening work. Abnormality determination device.