JPS59124527A - Device for supporting tightener of industrial robot - Google Patents

Abstract

PURPOSE:To enable the easy positioning of a tightener even if a main body and the tightener are not in proper positional relation to each other, by floatingly supporting the tightener and using a guide member to position the main body, the tightener and an element to be tightened on the main body. CONSTITUTION:A device for supporting the nut tightener N of a robot in an automobile assembly line comprises a flat base plate secured on the multi-joint arm of the robot, a movable plate 12 supported in a floatable manner by the base plate, and a locking member for securing the movable plate in an optional position. A mechanism 14 for setting the floated quantity of the movable plate 12, an engaging member 16 capable of being engaged in the engaging hole 15 of a strut P to be assembled with an automobile body B, and a guide member 17 to self-centripetally engage in the positioning hole 3 of the strut tower 2 of the automobile body are provided. The locking member 13 is placed between the base plate and the movable plate 12.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a support device for a fastener tightening device in an industrial robot, and particularly to a fastener tightening device in an industrial robot necessary for assembling parts to be assembled to a main body. The present invention relates to a supporting device.

Generally, on an automobile assembly line, for example, the strut assembly (hereinafter referred to as strut) of a strut-type front suspension as a vehicle component (part to be assembled) is assembled to the vehicle body (main body) on the line via fasteners. It is now possible to In this case, in order to automate the tightening of the fasteners and fasteners, conventionally, the fastener tightening device is directly fixed to the robot, and the fastener tightening device is moved to a predetermined location on the vehicle body by the teaching operation of the robot. A system has been devised in which the vehicle is transported and positioned relative to the vehicle body.

However, in such a system, the accuracy of the stopping position of the car body is lower than the movement accuracy of the robot, so the fastener tightening device delivered to the car body is generally attached to the car body assembly of the strut. This will cause you to move out of position.

For this reason, it is necessary to position the fastener tightening device at the vehicle body assembly site.In the past, the fastener tightening device was completely fixed to the robot, so the fastener tightening device was inevitably fixed to the robot. The positioning of the tightening device must be performed by a robot, and a control device for this is essential.
There is a risk that costs will increase accordingly.

The present invention has been made based on the above-mentioned viewpoint, and its purpose is to solve the problem without controlling the robot, on the premise that the relative positional relationship between the main body and the fastener tightening device is distorted. Positioning of the fastener tightening device to the main body? The process of assembling the parts to be assembled can be simplified by making it easy to assemble the parts to be assembled, and also positioning the parts to be assembled to the main body. A support device for a fastener dispensing device in an industrial robot that has a compact structure and can reliably prevent interference with the main body.
It is about providing.

The gist of the present invention is to provide a base member fixed to a robot, a movable member floatingly supported by the base member and to which a fastener tightening device is fixed, and a movable member fixed to the base member. a locking member provided on the movable member to pre-position the fastener tightening device with the assembled component when the movable member is fixed; and a locking member provided on the movable member to prevent the movable member from floating. a guide member that engages in a self-centripetal manner with a positioning portion of the main body to which the parts to be assembled are assembled to position the parts to be assembled, the main body, and the main body of the fastener delivery device; A support device for a fastener tightening device in an industrial robot is provided between a base member and a movable member.

Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.

FIG. 1 is an explanatory diagram showing a system that automates the positioning of a strut as a vehicle component and a nut tightening device as a fastener tightening device.

In FIG. 1, a vehicle body B is placed on a conveyor 1 and moved, and is positioned when it reaches the strut assembly position. One robot ()Ra for transporting the nut tightening device (N) and the other robot ()Rb for transporting the nut tightening device N are installed, and one robot ()Ra is attached with a gripping hand H for gripping the stock ()P, and the other robot () robots) R
A support device S for supporting a nut tightening device N is attached to b, and each robot loses weight.

After the stock) P and the nut tightening device N are transported to the predetermined positions based on the teaching information of the ribs, the stock) P is
And the nut tightening device N is connected to the vehicle body mounting surface of the strut P (
The strut tower 2 is positioned at a position corresponding to the upper surface of the strut tower 2. Then, the above-mentioned stock) P fits the upper case 4 into the positioning hole 3 on the upper surface of the strut tower 2, and the assembly hole 4 installed vertically in the bolt insertion hole 5 on the upper surface of the strut tower 2. )6 feet and can be assembled to the vehicle body B by tightening a nut 7 onto this assembly bolt 6.

In FIG. 1, reference numeral 8 indicates a temporary holding table for temporarily holding the stock P to be assembled, and reference numeral 9 indicates a nut supplying device for supplying the nut 1 to the nut tightening device N.

In this embodiment, the support device S of the nut tightening device N includes, as shown in FIGS. 1 to 6, a flat base plate 11 fixed to the multi-joint arm 1o of the robot rib, and A movable plate 12 supported in a floating manner on a plane parallel to the vehicle body mounting surface (the upper surface of the strut tower 2) of the provided stock (stock) P, and a locking member 1 that fixes the movable plate 12 at an arbitrary position.
3, a floating amount setting mechanism 14 for setting the floating amount of the movable plate 12, and a stock provided on the movable plate 12 and gripped by the gripping hand (2) that engages with the engagement hole 15 of the upper case 4 of P. A nut tightening device N is provided on the movable plate 12, and a guide member 11 is provided on the movable plate 12 and engages in a self-centripetal manner with the positioning hole 3 on the upper surface of the strut tower 2. is installed.

As shown in FIG. 3, a mounting bracket 18 is attached to the lower surface of the base plate 11, which is connected to the robot arm 10, and a movable plate 12 is attached to the upper surface of the base plate 11 via a floating mechanism 19. installed. As shown in FIGS. 3 and 6, this floating mechanism 19 supports the movable plate 122 at four points.
0, a nurse body 22 connected and fixed to the tip of the rotary shaft 21, and a sliding shaft n that slides inside the case body 22 on a plane parallel to the base plate 11; This sliding shirt) 2
3, and the other end is fitted into a hole in the movable plate 12 via a bearing 24.
can move in any direction while maintaining a positional relationship parallel to the base plate 11.

Reference numeral 23a denotes a coil spring which performs a self-aligning action to some extent even when tilted with respect to the nut tightening device N, and its force is adjusted in consideration of the center of gravity on the movable plate 12.

Further, as shown in FIGS. 3, 4, and 7, the locking member 13 is connected to the base plate 11 and the movable plate 12.
A pair of base plates 1 and 1 are arranged between the base plate 1 and
1 via a mounting bracket 26 and operates to protrude toward the movable plate 12 side.
an air cylinder 2γ equipped with a, and this air cylinder 21
The brake shoe 29 is removably attached to the tip of the piston rod 27a via a holding bracket 28 and is formed into a disk shape from an elastic material such as rubber or urethane, and a movable plate facing the brake shoe 29. It is. When the piston rod 27a of the air cylinder 27 is moving backward, the brake shoe 29 is spaced apart from the friction plate 30, and the movable plate 12 is not fixed to the base plate 11. When the piston rod 27a of the air cylinder 27 protrudes, the brake shoe 29 is brought into pressure contact with the friction plate 30, and the movable plate 12 is fixed to the base plate 11 by the frictional force between the two. .

Further, a pair of stopper brackets 3 are provided on the upper surface of both sides of the pace plate 110 located near the locking member 13.
The stopper bracket 31 has a substantially U-shaped cross section and is arranged so as to embrace both upper surfaces of the movable plate 12. A gap C of about 0.5fi11 is formed between the inner surface of the upper protruding piece 31a of the stopper bracket 31 and the upper surface of the movable plate 12. This is to keep the stopper bracket 31 and the movable plate 12 in a non-contact state even if the position of the movable plate 12 is slightly shifted due to play in the movable part, thereby keeping the movable plate 12 floating at all times. I try to keep it as possible.

Also, the locking member 13 allows the movable plate 12 to
When the movable plate 12 is fixed to the base plate 11, the movable plate 12 is pushed upward by the brake shoe 29, but the upward movement of the movable plate 12 is restricted by the stopper bracket 31. The plate 12 is prevented from causing a large warp deformation locally, and stress concentration on the floating mechanism 19 is avoided.

Further, a floating amount setting mechanism 14 is provided between the base plate 11 and the movable plate 12, and as shown in FIG. A pair of locating holes 32 are provided that widen toward the 11 side, and locating pins 33 that fit into the locating holes 32 are attached to the front and back of the approximate center of the base plate 11 so as to be movable forward and backward. That is, an air cylinder 35 is attached to the center of the base plate 11 via a bracket 34 so as to move a piston rod 35a forward and backward in the vertical direction, and a support plate 37 is attached to the piston rod 35a via an adapter 36. is attached to extend in the front-rear direction, and the locating pin 37 is fixed to this support plate 37.

The adapter 36 is slidably fitted into a substantially cylindrical guide bracket 38 fixed to the air cylinder 35, and the rotation stopper plates 39 fixed at the front and rear of the support plate 370 are cut at the front and rear of the guide bracket 38. Since the support plate 37 is in constant contact with the planar contact surface 38a formed by the support plate 37, it moves forward and backward without rotating, and the locating pin and the locating hole 32 are positioned so that they can move forward and backward. ing. The locating pin 33 is composed of a truncated conical portion that fits into the locating hole 32 and a cylindrical portion protruding from the upper surface of the truncated conical portion, and is connected to the piston rod 3 of the air cylinder 35.
When the locating pin 5a protrudes, the truncated conical portion of the locating pin 33 is tightly fitted into the locating pin 32, and the movable plate 12 is held in its normal position with respect to the base plate 11. On the other hand, when the piston rod 35a of the air cylinder 35 moves backward, the KU The cylindrical portion of the locate pin 33 is loosely fitted into the locate hole 32, and the 70-ring amount of the movable plate 12 is set within the gap between the locate pin 33 and the locate hole 32. Incidentally, the support plate 3T is provided with an adjustment bolt 40 that abuts against the movable plate 12, so that the position of the locate pin 33 can be adjusted.

Furthermore, as shown in FIG. 3, the guide member 17 includes a shaft 41 extending in the vertical direction, and a positioning hole 3 of the strut tower 2 that is attached to the lower end of the shaft 41.
The shaft 41 is composed of a guide tapered portion 42a having an inverted truncated conical shape and a guide 42 that fits into the shaft 41.
It is disposed to pass through a hole 43 formed in the movable plate 12, and is slidably held via a bush 45 within a cylindrical guide mounting bracket 44 attached to the edge of the hole 43. A floating member 46 having an insertion hole 46a for the shaft 41 is arranged above the guide mounting bracket 44, and a stop washer 51 that passes through the shaft 41 and the insertion hole 46a and is attached to the L end thereof. is fixed to the edge of the insertion hole 46a of the floating member 46.

The floating member 46 is also provided with a hole 46b that communicates orthogonally with the insertion hole 46a, and a lock pin 47 is arranged in the hole 46b through a bushing 48 so that it can move forward and backward. This lock pin 47 is fixed to a piston rod 49a of an air cylinder 49 attached to the floating member 46, and when the piston rod 49a is in operation, the lock pin 47 is fitted into a lock hole 50 formed in the shaft 41. At the same time, the floating member 46 is connected to the shaft 41.
On the other hand, when the piston rod 49a is retracted, the lock pin 47 is not fitted into the lock hole 50, allowing the floating member 46 and the shaft 41 to move relative to each other. In addition, the guide mounting bracket 44
A spring holding bracket 5 with an inverted cross-section is installed on the peripheral wall of the
3 secures the vertical movement of the floating member 46.
A spring 54 is interposed between the spring holding bracket 53 and the floating member 46. An insertion hole 53a for the shaft 41 is formed in the side wall of the spring retainer bracket 53 located on the axis of the shaft 41. still,
The shaft 41 is prevented from rotating by fitting a chamfered portion 41a formed on the shaft 41 into a hole 55a of a rotation prevention plate 55 attached to the lower surface of the floating member 46, and the floating member 460 is also prevented from rotating. This is performed by bringing one side of the floating member 46 into contact with the vertical wall surface of the spring holding bracket 53.

Further, as shown in FIG. 3, the guide 42 is formed with a hollow portion 42b that opens downward.
An engagement member 16 having an engagement taper portion 16a in the shape of an inverted truncated cone at its tip, in other words, an engagement portion for engaging the engagement hole 15 of the stock) P, is installed coaxially with the guide member 17 in the guide member 2b. This engaging member 16 is always urged downward by interposing a stop washer 56 provided at its upper end and a spring 57 between the engaging member 16 and the upper end thereof. The engagement tapered portion 16a of the engagement member 16 is located at a position that always projects downward from the guide 42.

Further, in this embodiment, the nut tightening device N is provided corresponding to the bolt insertion hole 5 of the vehicle body, as shown in FIGS. The fixed nut runner 58 is directly fixed to the rJ moving plate 12 via a holding bracket mark, while the movable nut runners 59 and 59 are fixed to the fixed nut runner 5.
The movable plate 12 is disposed symmetrically in the front-rear direction with respect to the movable plate 12.
It is fixed via a holding bracket 62 onto a sliding plate 61 that slides in the left-right direction. The sliding mechanism 63 of the sliding plate 61 includes an inner case 63a fixed on the movable plate 12, and an inner case 63a fixed on the movable plate 12.
and an outer case 63b which is slidably fitted into the outer case 63a and fixed to the sliding plate 61 (see FIG. 4). The sliding pulley L, -) 61 is connected to a piston rod 65a of an air cylinder 65 attached to the movable plate 12 via a mounting bracket 64.
It is designed to slide in the left and right direction in accordance with the forward and backward movement of The stopping position of the moving plate 61 is regulated. For this reason, the sliding plate 6
The arrangement position of the movable nut runner 59 changes depending on the stop position of the nut runner 1, so that it can respond to changes in the nut tightening position, which differ depending on the vehicle type. NJ Chi,
For vehicle models that have three bolt insertion holes 5 on the vehicle body,
The movable nut runners 59 and 59 may be arranged as shown in FIGS. 3 and 5, and the bolt insertion holes 5 of the vehicle body
For vehicle models that have two locations, the movable nut runners 59 , 59 are moved to the left in FIGS. 3 and 5, and the nuts can be tightened using only the movable nut runners 59 , 59 . All you have to do is do it.

Further, as shown in FIG. 3, a joint 69 is fixed to the fixed and movable nut runner 58° 590 rotation shafts, and a connecting shaft 70 slides vertically into the hole of this joint 69. It is possible to install it in the down position with no rotation possible. A nut holding socket 71 is fitted in the lower part of the connecting shaft 70, and a leaf spring 72 is provided in the socket 71 to press against the bitten nut. Also, seven langes 70a are provided on the lower surface of the joint 69 and the connecting shaft 70.
A spring 73 is interposed between the connecting shaft 70 and the connecting shaft 70, so that the connecting shaft 70 is always urged downward.

The gripping hand H that grips the stock) P'tE is configured to float the stock) P on a plane parallel to the vehicle body mounting surface of the stock) P, and is attached to the strut by a rotter member (not shown). Therefore, according to the support device for the nut tightening device in the industrial robot according to this embodiment, the strut P and the nut tightening device N can be fixedly supported against the vehicle body by the following actions. positioning is performed automatically.

First, as shown in FIGS. 1 and 8, the robot (Ra) grips the strut P on the temporary stand 8 via the gripping hand H based on the teaching information, and moves the strut tower 2.
While the robot) Rb is conveyed to the lower position and stopped,
Similarly, based on the teaching information, it is transported to a position above the nut tightening device N and strut tower 2 and stopped.

At this stage, the movable nut runners 59, 59 are appropriately moved and placed in positions according to the vehicle type in response to a vehicle type selection command signal from a control device (not shown).
Air cylinder 35 Noviston rod 35a shown in FIG.
The locating pin 33 is tightly fitted into the locating hole 32, and the nut tightening device N is positioned at the normal position relative to the robot rib.Furthermore, the piston rod 49a of the air cylinder 49 shown in FIG. 3 is operating to protrude. The lock bin 47 is fitted into the lock hole 50, the floating member 46 is fixed to the guide member 17, and the nut tightening device N
A nut 7 is held in a socket 71 . Note that the strut P is fixed to the gripping hand H. In this state, the strut P and the nut tightening device N are
The robot ribs and ribs are placed in corresponding positions based on the movement accuracy of the robot ribs, but since the stopping position accuracy of the vehicle body B is lower than the movement accuracy of the robot Ra and Rb, the positioning hole 3 of the robot rod P is is generally shifted in the front-rear direction with respect to the strut P and nut feeding device N door positions.

From this state, the robot rib lowers the nut tightening device N and guides the guide member 17, as shown in FIGS. 8 and 9.
The guide tapered portion 42a of the 7 flange 3 on the edge of the positioning hole 3
While the robot stops at a position close to a, the robot Ra raises the stock P to a predetermined position. At this time, the engagement member 16 of the support device S is in a position passing through the positioning hole 3 of the vehicle body, and the engagement member 16 of the upper case 4 of the stock P
5, the engagement tapered portion 16a of the engagement member 16 is fitted into the engagement member 16,
The retaining member 16 is pushed up slightly against the spring 51. This determines the relative positional relationship between the stock P and the nut tightening device N.

Thereafter, the positioning of the vehicle body B1 strut P and the nut tightening device N is performed. In this step, first, the locking state of the floating amount setting mechanism 14 of the support bag W8 is released in response to an engagement completion signal between the strut P and the engagement member 16 issued from a control device (not shown). That is, when the piston rod 35a of the air cylinder 35 moves backward, the locate pin 33 moves backward from the position shown in FIG. , the movable plate 12 is floatingly supported in the plane direction by a floating mechanism 19 shown in FIGS. 3 and 6 in the gap range between the locate pin 33 and the locate hole 32. In this case, the strut P is also floatingly supported by the gripping hand H.

In this state, as shown in FIGS. 8 and 10FA, when the robot Rb lowers the nut tightening device N, the guide member 17 also lowers, and the guide 42
The guide tapered portion 42a abuts against the 7 flange 3a on the edge of the positioning hole 3 of the vehicle body. From this state, the guide member 17
As it descends, this guide member 17 receives a reaction force from the seven lunges 3a. However, since the floating member 46 is fixed to the guide member 17, the spring 5
4 is transmitted to the guide member 17 via the floating member 46, and the guide member 17 is urged downward. Therefore, the guide tapered portion 42a of the guide 42 comes into sliding contact with the seven flange 3a, and the guide 42
is fitted into the positioning hole 3 while moving self-centripetally from the state shown by the two-dot chain line in FIG. 10 to the state shown by the solid line, and the robot rib stops in this state. During this time, a force is applied to the movable plate 12 that supports the guide member 17 via the guide mounting bracket 44 in the same direction as the self-centripetal movement of the guide 42.
12 is a rehesing plate 1 by a floating mechanism 19.
1, the movable plate 12 moves following the movement of the guide 42 while compressing or expanding each coil spring 23a. On the other hand, the guide 42
The engaging member 16 also moves with the self-centripetal movement of the retaining member 16, but the retaining member 16 is pressed against the strut (rat P) by the action of the spring 57, and the stock P is supported in a floating manner. Therefore, the strut P is connected to the engaging member 16
Move by following the movement of. As a result, the relative positional relationship between the vehicle body B1 strut) P and the nut tightening device N is determined, and the nut runner 58 constituting the nut tightening device N is determined.
, 59 are arranged at positions corresponding to the respective bolt insertion holes 5 of the strut tower 2 and close to the upper surface of the strut tower 2. At this time, there is no possibility that the support device S and the vehicle body will interfere with each other at the base portion. After this,
A signal that the robot ribs have stopped? In response, the control device issues an operation command signal for the locking member 13, and the locking member 13 is locked in response to this command signal. At this time, the third
The piston rod 27a of the air cylinder 27 shown in the figure is 1
Fixed to 1. As a result, the nut tightening device N
is perfectly positioned with respect to the vehicle body B, while the stock P is positioned with respect to the vehicle body B via the engaging member 16. At the same time, the de-energization command is issued.
That is, the biasing force applied to the guide member 11 by the spring 54? When the command to release is issued, the piston rod 49 of the air cylinder 49 is moved as shown by the phantom line in the first OFA.
a moves backward, and the lock bin 47 is removed from the lock hole 50, and the floating member 46 is pushed downward by the spring 54 and comes into contact with the upper surface of the guide mounting bracket 44. At this time, since the floating member 46 is movable relative to the guide member 17, the biasing force of the spring 54 is not transmitted to the guide member 17.

When this state is completed, the robot b is raised to a predetermined position with the stock P as shown in FIG.

At this time, the engaging member 16 is first pushed up against the biasing force of the spring 57, and then the engaging member 16 and the guide member 17 are pushed up together, and the shaft 4
1 rises.

At this time, since the biasing force of the spring 54 is not acting on the shaft 41, the spring 54 does not bend and deform as the shaft 41 rises, and the movable plate 12 is not subjected to unreasonable force due to the bending deformation of the spring 54. will not be added. For this reason, there is no concern that the movable plate 12 may be partially deformed in an anti-υ manner, causing stress concentration on the floating mechanism 19.

In addition, as the above-mentioned stock) P increases, the strut P
The assembly bolt 6 is inserted into the bolt insertion hole 5 of the strut tower 2.
penetrate. In this case, the strut P assembly port 60
The stock (P) is positioned and held in advance with respect to the robot ()Ra so that the phase matches the phase of the bolt insertion hole 50.

In this state, the assembly bolt 6 that has passed through the bolt insertion hole 5 is inserted into the nut runner 58, as shown in FIG.
The socket 71 is brought into contact with the lower surface of the nut 7 fitted into each socket 71 of 59, and the socket 71 is pushed upward against the biasing force of the spring 73 and raised.

When each socket 71 is pushed upward by a predetermined distance, a limit switch (not shown) or the like is activated, and the nut tightening device N is activated by a command signal from the control device. As a result, as shown in FIG. 11, each nut runner 58,
The rotation shaft 59 rotates, and the nut 7 in the socket 71 rotates □
When the assembly bolt 6 is tightened and the nut 7 is tightened to a specified torque or more, a nut tightening judgment device (not shown) is activated.
As a result, the rotation of the rotation shafts of the nut runners 58 and 59 is stopped. At this time, the assembly bolt 6 is pulled upward as the nut 7 is tightened, so when the tightening of the nut 1 reaches the specified torque, the stock P is securely assembled at the specified position on the vehicle body. It will be done.

When a nut tightening completion signal is issued from the control device, the lock portion 13 is unlocked, the piston rod 27a of the air cylinder 21 is moved backward, and the brake shoe 29 is moved as shown in FIG. When the movable plate 12 separates from the friction plate 30 and returns to the floating state, in this embodiment, the guide member 1T holding command is issued simultaneously with the unlocking operation of the lock member 13, and as shown in FIG. Piston rod 49 of cylinder 49
After the lock pin 47 is brought into pressure contact with the shaft 41 of the guide member 17, the robot 1 raises the nut tightening device N and returns to its original position, as shown in FIG. At this time, even if the robot rib moves upward, the movable plate 12 is in a floating state, so there is no concern that an excessive load will be applied to each part of the support device S. Also,
Due to the pressing force of the lock bin 47, the shaft 41 is
1217) Projection dimension l of guide member 11 and engagement member 1o that protrudes downward
is shortened, and the sockets of nut runners 58 and 59? .

The lower surface of the engaging member 16 is in a substantially coincident state. Therefore, as shown in FIG. 13, when the stock P is assembled to the vehicle body B, the upper case 4 of the stock P protrudes from the upper surface of the strut tower 2, and there is a height space between the stock P and the hood 75. Even if the nut runners 58 and 59 are narrowed, the sockets 71 of the nut runners 58 and 59
The guide member 17 etc. do not protrude downward, and the support device S
Since the height dimension of the nut tightening device N in the vertical direction is generally short, when the nut tightening device 41N is returned to its original position by the robot rib, the nut tightening device N or the support device ItS is There is no risk of interference with the 7-door 75 or the vehicle body. Furthermore, after the nut tightening device N is returned to its original position and the grasping state of P is released, the robot Ra retreats the grasping hand H so as not to interfere with the assembled stock P, and returns to its original position. .

Then, the piston rod 49a of the air cylinder 49 moves backward, and the lock pin 47 separates from the shaft 41, and at the same time, the guide member 17 descends downward due to its own weight. and return to the predetermined position, and at this stage prepare for the next step.

In the above embodiment, the locking member 13 is composed of the air cylinder 27, the brake shoes 4, and the friction plate 30, but is not necessarily limited to this, and for example, the friction plate 30 is The 1μ contact brake shoe 29 may be brought into contact with the lower surface of the movable plate 12 without using it, or the rod-deficient portion side itself may be configured with a magnetic brake. Further, the floating machine drawing 19 and the guide member 17 are not limited to the above embodiments, and may be appropriately modified in design. Furthermore, although the engaging member 16 is adapted to engage with the engaging hole 15 of the strut P, it is not necessarily limited to this. It goes without saying that the design can be changed as appropriate, such as providing an engaging opening portion at the distal end of the engaging member 16, into which the engaging convex portion engages. Furthermore, although the above-mentioned stock) P is supported so as to be floating via the gripping hand (2), it is not necessarily limited to this, and as long as it is supported so as to be movable in a plane parallel to the vehicle body mounting surface. Any support means may be used. Further, in the above embodiments, the stock P is used as an example of a vehicle part, but it goes without saying that the present invention can be applied to the assembly of any other parts to be assembled, including other vehicle parts. In this case, if a weld nut or the like is previously provided on the part to be assembled, a bolt g attachment device may be attached to the robot (Rb) via the support device S in place of the nut tightening device N.

As described above, according to the support device for a fastener tightening device in an industrial robot according to the present invention, the fastener dispensing device is fixed or mounted to the robot, and is supported in a floating manner. By providing an engaging member that engages with the robot body and a guide member that self-centripetally engages with the positioning portion formed on the main body, by keeping the fastener tightening device in a fixed state, it is possible to The part to be assembled and the fastener tightening device are pre-positioned via the engagement member, and then
By floating the fastener tightening device, it is possible to position the assembled part, the main body, and the fastener tightening device via the guide member. Therefore, even if the relative positional relationship between the main body and the fastener tightening device is out of order, the fastener tightening device can be easily positioned on the main body without controlling the robot. Since the positioning of the parts to the main body can be performed at the same time, it is also possible to simplify the silk-attached culm of the parts to be assembled. Furthermore, since the locking means is disposed between the base member and the movable member, there is no protrusion on the lower surface of the base member;
In addition to the support device having a compact structure, interference between the support device and the main body can be reliably prevented during the tightening work of the fastener tightening device.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing an assembly process system for vehicle parts (struts), Fig. 2 is a perspective view showing an embodiment of a fastener (nut) tightening device and a supporting device according to the present invention; 3 is a partially cutaway front view of the same, FIG. 4 is a partially cutaway left side view of the same, FIG. 5 is a plan view of the same, and FIG.
7 is a perspective view of the main part showing the details of the locking member, and FIG. 8 is a sectional view showing the relative positional relationship of the vehicle body, vehicle parts, and fastener tightening device before the vehicle parts are assembled. Figure 9 shows the positioning state of the vehicle parts and the fastener tightening device? The main part cross-sectional explanatory diagram shown in FIG. 10 shows the positioning state of the vehicle body, vehicle parts, and fastener tightening device. A cross-sectional explanatory diagram of the main parts shown,
Fig. 11 is a cross-sectional view of the main parts showing the state when the vehicle parts are assembled, Fig. 12 is a cross-sectional view of the main parts showing the state when the vehicle parts are assembled, and Fig. 13 is the fasteners when the vehicle parts are assembled. It is an explanatory view showing the positional relationship between a tightening device, a support device, and a vehicle body. (Parts to be assembled) 6... Assembly bolt 7... Nut (fastener)
16... Engagement member 17... Guide part side 1
9...Floating mechanism 21...Rotating shaft 22...Case body Z3...-Sliding shaft b...Connection shaft I...Air cylinder 4...Plage guishu 30...Friction plate 31. ...stopper bracket patent applicant Nissan Motor Co., Ltd. Figure 9 Figure 10 Figure 11 Figure 12 Flash

Claims (1)

[Claims] a base member fixed to the robot; a movable member floatingly supported by the base member and to which a fastener tightening device is fixed; a locking means for fixing and releasing the movable member to the base member; and a movable member. an engaging member that is provided on the movable member and that pre-positions the fastener tightening device with the part to be assembled when the movable member is fixed; and a main body that is provided on the movable member and that assembles the part to be assembled when the movable member is floating. a guide member that engages in a self-centripetal manner with the positioning portion of the base member to position the assembled part, the main body, and the king of the fastener tightening device, and the locking means is disposed between the base member and the movable member. A support device for a fastener tightening device in an industrial robot, characterized in that: