JPS6034234A - Method of screw driving - Google Patents

Abstract

PURPOSE:To facilitate extremely the change-over of fastening positions and the adaptation to model change by setting initially manually a point as an origin of fastening operation start and automatically fastening the remaining set position. CONSTITUTION:A body hunger 13 on which an automobile body 12 of work is mounted and which enters this fastening robot process is detected a limit switch 14 to lift a body hunger synchronizing cylinder 2. A body hunger clamp 15 clamps a frame portion to eliminate play after being fitted therein. Next, an operator moves a main body 3 manually by utilizing a balancing mechanism of a robot body 3 to set a fastening tool 4 to the initial tack fastening position, and depresses a slow operation box 7 actuating button. When a tool 4 carries out and completes fastening with set torque, it advances automatically to the next fastening position beforehand subjected to teaching for fastening.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention belongs to the field of screw tightening technology, and relates to a screw tightening method.

(Prior Art) Conventionally, a screw tightening method for tightening a large number of parts with a single device involves fixing a tightening tool and simultaneously tightening a valley part. Therefore, the parts to be tightened with the tightening tool are fixed, and it has been extremely difficult to respond to changes in the parts to be applied or model changes. Furthermore, when using a robot to tighten screws in synchronization with the workpiece, all the tightening parts are taught from the beginning, so it is not possible to adjust the screws to accommodate misalignment between the 17-ri and the hanger.

(Object of the Invention) The present invention has been made in view of the problems existing in the above-mentioned prior art, and is a method of tightening the robot to perform a predetermined operation based on the workpiece, regardless of the positional deviation between the workpiece and the hanger. The purpose of this is to provide a method for attaching.

(Structure of the Invention) In order to achieve the above object, the structure of the present invention is a method of tightening a plurality of screws. The remaining set dispensing positions are automatically tightened using the tightening tool of the robot. Then, regardless of the positional deviation between the workpiece and the clamp, the rest of the tightening is performed using the point at which the workpiece breaks as the origin.

(Example) Hereinafter, one embodiment of the present invention will be described based on the drawings.

In FIGS. 1 and 2, reference numeral 1 denotes a synchronous trolley equipped with a Tanabata 11 for the latter half of the original position. A body hanger clamp part 15 is attached to the tip of the synchronization cart 1, and a cylinder 2 for synchronization with an IT body hanger, a robot body 5, a socket exchange mechanism 6, and an operation box 7 are attached. A tightening tool 4 is attached to the robot main body 5vc.

8 is a running rail, 9 is a shock damper that reduces the shock when the synchronized cart 1 returns to its original position, and 10 is a control panel. Note that the robot body 5 is not equipped with a balance mechanism so that it can be set manually at first.

The limit switch 14 detects that the body hanger 13 on which the workpiece, the automobile body 12, has entered the main tightening robot process, and the body hanger synchronization cylinder 2 is raised.

The body hanger clamp part 15, which fits into the frame part of the body hanger 16, clamps the 71/-m part to eliminate looseness after being fitted.

Next, the operator manually moves the robot body 6 using the balance mechanism of the robot body 5, sets the tightening tool 4 to the tightening position for the first tacking method, and presses the start button on the operation box 7. push. Then, the tightening tool 4 tightens with the set torque. When the tightening is completed, if the tightening completion signal indicates that an error is required, the process proceeds to the socket exchange mechanism 6 and the socket is exchanged. Thereafter, the machine automatically advances to the pre-taught tightening position for the next tacking method and performs tightening. After the tightening is completed, proceed to the socket replacement mechanism 6 and replace the socket if necessary. This operation is repeated to tighten the parts taught in advance. When the final tightening is completed, the robot body 5 returns to its original position, the body hanger clamp part 15 is unclamped, and the synchronization shock 2
descends. In addition, the synchronized trolley 1 is the Tanabata 1 for returning to the original position.
1 to retreat to the original position. Incidentally, the shock when the synchronized cart 1 returns to its original position is absorbed by the shock damper 9. In the above operation, when manually setting the first tightening position, it is in the center, and when tightening other parts automatically, even if the tightening position and the tightening tool are slightly misaligned, the tightening tool is securely set. A compliance mechanism that tightens works.

(Effects of the Invention) As described above, according to the present invention, the first manually set point is used as the origin for starting the dispensing operation, and the remaining set parts are automatically tightened. This has the effect of making it extremely easy to respond to changes in the tightening field Mr or model changes.

If a compliance mechanism such as the one in this embodiment is adopted, it is possible to absorb misalignment of the automatically tightened portion. Furthermore, by using the noget conversion aid structure, it is possible to provide a screw tightening method that can accommodate even more diverse changes.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention; FIG. 1 is an explanatory diagram of the method of the present invention, and FIG. 2 is a perspective view of an apparatus used in the method of the present invention. 1...Synchronized trolley 3...Robot body 4...Tightening tool patent applicant L.Yota Jidosha Co., Ltd.

Claims (1)

[Claims] (lla) This is a method of tightening several screws, in which the first tightening position is manually set and tightened using the robot's tightening tool, and the remaining set tightening positions are tightened using the robot's tightening tool. A screw tightening method characterized by automatic tightening.