JPS60221227A - Bolt fastening robot device - Google Patents

Abstract

PURPOSE:To provide a countermeasure for a limited production of multiple products, and to enhance the efficiency of working, by providing such an arrangement that the position of a nut runner may be optionally moved in accordance with variations of workpieces. CONSTITUTION:A bolt fastening robot device 3 is composed of an X-axis mover 7 provided with an X-axis guide member 5 and a Z-axis guide member 6, A Z- axis drive means 10 for moving an X-axis drive means 8 and a Z-axis mover 9 in the Z-axis direction, a rotational drive means 12, etc. Further, the device 3 includes a pinion meshed with a pair of racks 14, 15, a pair of nut runners 21, 22 supported to the free ends of the racks 14, 15, movably in the direction Y and respectively having screwing sockets 19, 20 extending in the direction Y, and a pair of air-cylinders 23, 24 for moving the sockets 23, 24 in the direction Y. Thus, the device 3 is suitable for a limited production of multiple products, and may enhance the efficiency of working.

Description

[Detailed description of the invention] The present invention relates to a bolt tightening robot device.

Conventionally, bolt tightening devices used when assembling engine cases, etc. on motorcycle engine assembly lines, for example, have been configured specifically for that purpose, and multiple bolt tightening devices are required for each model and work location. There is. Therefore, this was inconvenient in terms of work efficiency and manufacturing cost.

The present invention has been made in view of the above circumstances, and it is possible to automatically tighten bolts on a plurality of different types of workpieces, and also to tighten two bolts at the same time. The purpose of the present invention is to provide a bolt pay robot device with improved efficiency.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings. First, in FIGS. 1 and 2, a conveyor frame 1 is extended above the floor surface to convey a workpiece W such as an engine, and the workpiece W The pallet 2 on which the bolt tightening robot device 3 is placed is transported to the installation position of the bolt tightening robot device 3. By this operation of the bolt tightening robot device 3, the bolts on the workpiece W are tightened two by two.

The bolt tightening robot device 3 includes a base 4, an X-axis guide section 5 fixedly mounted on the base 4 and extending in the X-axis direction, and a bolt-tightening robot device 3 that is movable along the X-axis direction. an X-axis moving body 7 which is supported by and includes an X-axis guide section 6 extending in the X-axis direction, an X-axis drive means 8 for moving the X-axis moving body 7 in the X-axis direction, and the X-axis guide section 6, an X-axis moving body 9 supported movably along the X-axis direction, an X-axis driving means 10 for moving the X-axis moving body 9 in the X-axis direction, and rotation along the Y-axis direction. A cylindrical rotating body 11 having an axis and rotatably supported by the X-axis moving body 9, a rotation driving means 12 for rotating the rotating body, and an end portion of the rotating body 11. A fixed housing 13, a pair of racks 14, 15 facing each other along one diameter line of the rotating body 11 and movably supported on the housing 13, and the rotating body 11'VC axis. A rotary shaft 16 (see FIGS. 4 to 6) that is relatively rotatably supported with the same
6, and a rotary drive means 17 for rotating the...
A pinion 18 (FIGS. 4 to 6) is fixed to the end of the rotating shaft 16 in the Ujifugu 13 and meshes with both racks 14 and 15.
(see figure), a pair of nut runners 21 and 22 each having a screw socket 19 and 20 that are supported movably along the Y-axis direction at the ends of both racks 14 and 15 and extend along the Y-axis direction; A pair of air cylinders 23.2 for moving both nut runners 21.22 in the Y-axis direction
4.

A gas star 25 is attached to the base 4, and 5- Therefore, the base 4 can be moved to any position.

Further, the lower surface of the base 4 is provided with legs 26 that can be extended and retracted downwards, and when the base 4 is positioned at an appropriate position, the legs 26 can be extended to tighten the bolts of the bolt tightening robot. 3
It becomes possible for the legs 26 to support the entire weight of the vehicle.

The X-axis guide part 5 is formed in a flat plate shape extending in the X-axis direction (that is, the left-right direction in FIG. 1, the direction perpendicular to the paper surface in FIG. 2), and has a is,X
An axially extending guide rail 27,28 is fixed. On the other hand, the X-axis moving body 7 has those guide rails 27 and 28.
Fitting portions 29, 30 are respectively provided, which fit into the X-axis movable body 7 along the guide rails 27, 28 in the X-axis direction.

With reference also to FIG. A DC servo motor 33 is fixed and includes an encoder 32, and
The output shaft 3 of the servo motor 33 is built in the shaft moving body 7.
4 and a drive shaft 35, and a pinion 37 that is fixed to the drive shaft 35 and meshed with the rack 31. According to this X-axis drive means 8, by operating the servo motor 33, the X-axis moving body 7 moves in the X-axis direction along the guide rails 27, 28.

The X-axis moving body 7 is integrally provided with a Z-axis guide section 6 that extends in the Z-axis direction, that is, up and down, and a guide rail 38 that extends in the Z-axis direction is fixed to this Z-axis guide section 6. The Z-axis moving body 9 is fitted into the guide rail 38, and therefore the Z-axis moving body 9 is movable along the guide rail 38 in the Z-axis direction.

The X-axis driving means 10 includes a rack 39 fixed parallel to the guide rail 38 on the side of the Z-axis moving body 9, a DC servo motor 41 fixed to the Z-axis guide part 6 and equipped with an encoder 40, and a rack. 39, and a gear train built into the Z-axis guide 6 to be interposed between the servo motor 41 and the pinion 42, similar to the structure shown in the third figure. (not shown). By operating this Z-axis 2 driving means 10, Z
The shaft moving body 9 moves along the guide rail 38 in the Z-axis direction. Moreover, in order to reduce the load on the X-axis driving means 10 required to drive the Z-axis moving body 9 upward, one end of a traction wire 43 is connected to the Z-axis moving body 9, and this traction wire 43 is connected to the Z-axis moving body 9. It is wound around a pulley 44 that is pivotally supported at the top of the guide part 60, and a weight 45 is fixed to the other end of the pulling wire 43.

4 and 5, the Z-axis moving body 9 has a support hole extending along the Y-axis direction (that is, the direction perpendicular to the plane of the paper in FIG. 1, and the left-right direction in FIG. 2). 46 is fixed, and the support hole 4 of this support frame 47 is fixed.
6, the rotary body 11 is inserted through the rotary member 11 so as to be rotatable about the axis while being prevented from moving in the axial direction.

The rotation driving means 12 includes a worm wheel 48 carved all around the outer surface of the rotating body 11, a worm gear 49 that meshes with the worm wheel 48 and is rotatably supported on the support frame 47, and a worm gear 49 that is rotatably supported on the support frame 47. and a DC servo motor 51 fixed to the worm gear 49 and connected to the worm gear 49.

According to this rotation drive means 12, the rotation body 11 can be rotated by an arbitrary amount of angular displacement.

Referring also to FIG. 6, one end of the rotating body 11 extends from the support frame 47, and a housing 13 is fixed to one end of the rotating body 11. This housing 13
A pair of racks 14, 15 facing each other on both sides of the diameter line of the rotary body 11 are supported through the housing 13 so as to be movable in the longitudinal direction thereof. Further, the rotating shaft 16 is supported concentrically and rotatably within the rotating body 11, and one end thereof is inserted into the housing 13. A pinion 18 is fixed to one end of this rotating shaft 11, and this pinion 18 meshes with both racks 14, 15 within the housing 13. Therefore, depending on the rotational movement of the rotating shaft 16, both racks 1
4.degree.15, it is driven in the direction of protruding from the housing 13 or the direction of entering into the housing 13.

The rotation driving means 11 is a motor fixed to the other end of the rotating body 11, and the other end of the rotating shaft 16 is connected to the output shaft of this motor.

An air cylinder 23.2 having an axis in the Y-axis direction is provided at the protruding end of the housing 13 of both racks 14.15.
4 is fixed. The piston rods 52.53 of these air palm 10-rings 23.24 are formed in a cylindrical shape, and the nut runners 21.22 are fitted and fixed onto each piston rod 52.53.

A control panel 54 is supported and fixed on the base 4, and this control panel 54 operates according to a preset program. , controls the operation of nut runners 21.22 and air cylinders 23.24. Furthermore, the control panel 54 is configured such that the program can be changed and set at any time by manual operation.

Next, the operation of this embodiment will be explained. As shown in FIG. 7, the bolt tightening operation means for the workpiece W having a plurality of bolt tightening positions 81 to B11 will be explained below.

Workpiece W has bolt tightening positions 81 to B11 in the previous process.
Bolts are set in each of the bolts, and the work W from the previous process is transferred to the bolt tightening robot device 3 by the pallet 2.
It is transported to the position and automatically positioned. The operation of the bolt tightening robot device 3 is started in response to an electric signal confirming the completion of the positioning. That is, the X-axis driving means 8, the Z-axis, and the driving means 10 are operated to move the axis of the rotating shaft 16 to a preset position. For example, when it is programmed to tighten the bolts at two bolt tightening positions B5 and B9 on the workpiece W, those bolt tightening positions B5. Rotation axis 1 is located at the center position A between B9.
The X-axis moving body 7 and the Z-axis moving body 9 are moved so that the axes of the X-axis moving body 7 and the Z-axis moving body 9 coincide with each other.

When the movement of the X-axis moving body 7 and the Z-axis moving body 9 is completed,
In order to rotate the rotary body 11 by the angle θ between the straight line L1 connecting both bolt tightening positions B5 and Bg and the straight line L2 connecting the axes of both nut runners 21 and 22, the rotary drive means 1
2 is activated. As a result, the surface straight line L1. The rotating body 11 rotates until L2 matches.

Next, the axes of the screw sockets) 19 and 20 in the nut runners 21 and 22 are aligned with both bolt positions B5 and B.
9, the rotary drive means 17 is operated to move the nut runners 21, 22 toward or away from each other. When the amount of movement of these nut runners 21.22 matches a preset value, the air cylinder 23.24 operates to displace the piston rod 52.53 toward the workpiece W, and also rotates both nut runners 21.22. is started. Therefore, both nut runners 21°2
2 moves forward in the Y1 axis direction without rotating, and both bolts are tightened at position B5. The bolts set in B9 are the screw sockets) 19. Pick them up in 20, then tighten those bolts.

When the tightening torque of each bolt reaches a certain value, a torque detector (not shown) is activated to stop the rotation of the nut runners 21.22, and then the air cylinders 23.24 move the piston rods 52, 53 away from the work W. Both nut runners 21 and 22 operate to separate the workpiece W.
back away. When the nut runners 21 and 22 retreat to the predetermined return position, the XS drive means 8 and the Z-axis drive means 7o are reactivated to move the X-axis moving body 7 so that the axis of the rotating shaft 16 coincides with the next installation position. Then, the Z-axis moving body 9 moves, and corresponding to the next bolt tightening position, both nut runners 21 and 22 rotate around the rotation axis 16 and move toward and away from each other. The rotation and forward motion tightens the bolt at the next bolt tightening position.

In this way, the 14-bolts set on the workpiece W are tightened one after the other, two at a time. When the final bolt tightening operation is completed, both nut runners 21 and 22 are returned to their original positions, and the workpiece W is automatically transported to the next process.

In such a bolt tightening robot device 3, the base 4
Since the machine can be moved to a desired position, it is possible to quickly respond to changes in the working position due to fluctuations in production volume. Furthermore, by changing the setting program of the control panel 54, it is possible to cope with changes in the type of workpiece W, and it becomes possible to cope with small-volume production of many models.

As described above, the device of the present invention includes: a base 1; an X-axis guide section fixedly installed on the base and extending in the X-axis direction; an X-axis moving body including a Z-axis guide portion supported and extending in the Z-axis direction; an X-axis drive means for moving the X-axis moving body in the X-axis direction;
an X-axis moving body supported movably along the Z-axis direction by the Z-axis guide; an X-axis driving means for moving the X-axis moving body in the Z-axis direction; a cylindrical rotating body having a moving axis and rotatably supported by the X-axis moving body; a rotational drive means for rotating the rotating body; fixed to an end of the rotating body; a housing; a pair of racks that are movably supported on the housing so as to face each other along one diameter line of the rotary body; a rotary shaft; a rotary drive means for rotating the rotary shaft; a pinion fixed to an end of the rotary shaft within the housing and meshed with both racks; a pair of nut runners each having a threaded socket supported movably along the axis and extending along the Y-axis direction;
Since it includes a pair of air cylinders for moving both nut runners in the Y-axis direction, the position of the nut runners can be moved at will in response to changes in the workpiece, and it can support small-volume production of a wide variety of products. . Moreover, since the bolts are tightened two at a time, work efficiency is improved. Furthermore, since the nut runner is pressed by an air cylinder, variations in the height of the clamping seat of the work can be absorbed.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is a front view, FIG. 2 is a right side view of FIG. 1, FIG. 3 is an enlarged sectional view showing the configuration of the X-axis drive means, and FIG. The figure is a cutaway side view showing the configuration for moving the nut runner, Figure 5 is a partially cutaway plan view of Figure 4, Figure 6 is a sectional view taken along the line ■-■ of Figure 4,
FIG. 7 is a front view showing the bolt tightening position of the workpiece. Total: Bolt tightening robot device, 4: Base, 5:
X-axis guide section, 6... Z-axis guide section, 7... X-axis moving body,
17- 8...X-axis drive means, 9...X-axis moving body, 10...
X-axis drive means, 11... Rotating body, 12... Rotation drive means, 13... Housing, 14.15... Rack, 16... Rotation shaft, 17... Rotation drive means, 18・
...Pinion, 19.20...Screw socket, 21
．． 22... Natsu tranner, 23. 24... Air cylinder patent applicant Honda Motor Co., Ltd. 18-

Claims (1)

[Claims] a base; an X-axis guide section fixedly installed on the base and extending in the X-axis direction; and a Z-axis supported movably on the X-axis guide section along the X-axis direction and extending in the X-axis direction. an X-axis moving body including a guide part; an X-axis driving means for moving the X-axis moving body in the X-axis direction; an X-axis moving member supported by the Z-axis guide part so as to be movable along the X-axis direction an X-axis drive means for moving the X-axis movable body in the X-axis direction; and a cylindrical rotation that is rotatably supported by the X-axis movable body and has a rotation axis along the Y-axis direction. a movable body; a rotary drive means for rotating the rotary body; a housing fixed to an end of the rotary body; and a movable body that moves toward the housing while facing each other along one diameter line of the rotary body. a pair of racks that are freely supported; a rotating shaft that is relatively rotatably supported with the same axis on the rotating body; a rotational drive means for rotating the rotating shaft; a pair of nut runners each having a pinion fixed to an end of the rack and meshing with the racks; and a screw socket supported movably along the )′ axis at the ends of the rack and extending along the Y-axis direction. A bolt tightening robot device comprising: and; a pair of air cylinders for moving both nut runners in the Y-axis direction.