JPS63134139A - Mounting device for screw-shaped member - Google Patents

Abstract

PURPOSE:To prevent the occurrence of a flaw on a screw part and ensure a smooth screw connecting operation respectively by applying light-weight construction to an oscillation part via the use of a single driving part for opening/closing and turning a hand through the changeover of a clutch device, and making the construction of the driving part and the hand monolithic. CONSTITUTION:When the cylinder 34 of a clutch device 33 has been put in a retracted position, the free rotation of a hand retaining part 30 about a driving shaft 23 is locked and the actuation of a driving part 22 causes a hand opening/ closing nut 39 to give a linear motion with a screw shaft 38, thereby opening and closing the finger 43 of a hand 32 and holding a protector 2. And when the nut 39 has been shifted to a screw connecting operation position, a cylinder 34 is extended and the hand retaining part 30 is engaged with the driving shaft 23, thereby actuating the driving part 22 and turning the hand 32 for screw connection. In this case, an oscillating arm 17 is turned into an oscillating condition with the extension of a cylinder device 14, when the screw part of the protector 2 has come to the screw part 1A of a steel pipe 1, and the screw connection is done smoothly.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for attaching a thread-like object, such as a protector, which is screwed onto a threaded end of an oil country tubular goods pipe.

[Prior Art] Conventionally, as a screw-like object attachment device for screwing a screw-like object onto an attached part, one described in Japanese Patent Application Laid-Open No. 80-238274 has been proposed. This mounting equipment consists of a centering displacement measuring device equipped with a position detector that aligns the axis of the pipe thread with the axis of a thread-like object such as a protector or nipple fitted thereon, and a centering displacement measuring device that aligns the axis of the pipe thread with the axis of a threaded object such as a protector or nipple. A screw-in hand that is swingably supported in the axial direction and pipe radial direction to allow the screw grooves to approach each other until just before contact and to engage the grooves of the screws, and a screw-in hand that is supported at the rear of the hand so that it can move forward and backward independently. It is configured with a screw-in device.

Since the above-mentioned mounting device separates the hand having the hand opening/closing drive part and the screw-in type Sa having the hand rotation drive part, the hand is lightweight and its inertia is relatively small. Therefore, the threaded part of the threaded object held by the hand is screwed into the threaded part of the oil country pipe or the like as the attached part. !
At the start of the first wear, the threaded portions do not collide with each other with a large impact, and the occurrence of flaws on both threaded portions can be prevented.

[Problems to be Solved by the Invention] However, in the above-mentioned conventional screw-like object mounting device, the screw-in device applies an external force to the swingable hand at the beginning of screwing, so the hand vibrates. Unable to obtain smooth screwing action.

In addition, the amount of swing of the hand cannot be adjusted in response to changes in the dimensions of the thread-like object or the type of thread. Therefore, depending on the dimensions of the thread-like object or the type of thread, the amount of swing of the hand may become excessive, resulting in a screw-in. At times, the vibration of the hand becomes large, or the amount of the hand swing becomes too small, making it impossible to obtain the swinging effect of the hand necessary for smooth engagement of the threaded portions.

That is, in the above-mentioned conventional screw-like object mounting device,
It is not possible to obtain a smooth screwing operation by hand, and there is a risk that the two threaded portions to be screwed may have a poor start of engagement and may be damaged due to vibration during screwing.

The purpose of the present invention is to reduce the weight of a swinging part such as a hand that swings while grasping a screw-like object, to make the screwing operation smooth, and to prevent the occurrence of flaws in both threaded parts to be screwed. shall be.

[Means for Solving the Problems] The present invention provides a screw-like object attachment device for screwing a screw-like object onto an attached part, which includes a support arm provided on a pedestal, and a support arm that is swingably supported by the support arm. a swinging arm, a swinging amount adjustment section interposed between the support arm and the swinging arm and adjusting the swinging amount of the swinging arm with respect to the support arm, a drive section fixed to the swinging arm, and a swinging arm. a drive shaft which is supported in such a manner that it can be buffered in its axial direction, and which is connected to the drive section and rotates; a hand holding section attached to the tip of the drive shaft; and a screw held by the hand holding section. A hand capable of gripping a shaped object and a hand holding portion are engaged with the swinging arm side to provide rotational force of the drive shaft for opening/closing the /\nd, and the hand holding portion is engaged with the drive shaft side. and a clutch device that uses the rotational force of the drive shaft to rotate the hand for screwing.

[Operation] In the present invention, the hand opening/closing and hand rotation are performed by a single drive unit by the switching operation of the clutch device.
swing arm, drive unit, drive shaft, hand, clutch device)
can be made lighter. This prevents the two threaded parts from colliding with each other with a large impact when the threaded part of the threaded object held by the hand starts threading into the threaded part of the oil country pipe, etc., which is the attached part. , it is possible to prevent the occurrence of flaws on both threaded parts.

Further, since the drive section and the hand are not separated, the driving force of the drive section does not vibrate the hand when starting screwing, and a smooth screwing operation can be achieved.

In addition, the amount of swing of the hand can be adjusted due to the presence of the swing amount adjustment section.
Can be adjusted according to changes in the dimensions of the threaded object and the type of thread.

Therefore, depending on the dimensions of the screw-like object and the type of screw, the amount of hand oscillation will not be excessive and the vibration of the hand will become large when landing at VJ, and the amount of hand oscillation may become too small. Therefore, it is possible to always ensure the appropriate swinging effect of the hand necessary for smooth engagement of the threaded portions.

That is, according to the present invention, the weight of a swinging part such as a hand that swings while gripping a screw-like object is reduced, and
It is possible to make the attaching operation smoother and to prevent the occurrence of flaws in both threaded portions to be screwed together.

[Example] Fig. 1 is a sectional view showing a screw-like object mounting device according to an embodiment of the present invention, and Figs. 2 (A) and (B) are sectional views showing the vicinity of the swing amount adjustment part in Fig. 1. Figures 3 and 3 are front views showing the entire screw-like object mounting device, and Figure 4 is a side view of the main parts of Figure 3.

The robot 10, which serves as a screw-like object attachment device, attaches the threaded portion 2Aifi of the protector 2 to the pipe end threaded portion IA of the steel pipe 1. A substantially cylindrical support arm 13 is disposed at. The support arm 13 is connected to a pneumatic cylinder device 14
And cylinder device I! The swing arm 17 is swingably supported via a spherical bearing 16 held by the slide body 15. ing. Sliding body 1
A swing amount adjustment ring 18 for adjusting the swing amount of the swing arm 17 with respect to the support arm 13 is screwed onto the portion facing the swing arm 17 of No. 5 .

That is, when the cylinder device 14 is in the contracted state as shown in FIG. Supported without shaking. When the cylinder device 14 is in the extended state as shown in FIG. 1
It is possible to freely swing within the range of one-sided swing angle θ□ until the ring 9 collides with the swing amount adjustment ring 18. Therefore, the swing angle of the swing arm 17 with respect to the support arm 13 is
This can be adjusted by adjusting the amount of screwing of the swing amount adjustment ring 18 with respect to the rotation amount adjusting ring 18. In FIG. 2(B), the swing amount adjusting ring 18 is moved from the sliding body 15 toward the swing arm 17 to a maximum of 7
1, and the swing angle of the swing arm 17 is O1, that is, the swing arm 17 is in a state where it is not swingable. 20 is a female screw for preventing rotation of the sliding body 15, and 21 is a set screw for positioning the swing amount adjusting ring 18.

A drive unit (drive motor) 22 is fixed to the end of the swing arm 17. The swing arm 17 also has a drive shaft 23.
is supported. The drive shaft 23 is supported by the swing arm 17 via a compression spring 24 so as to be able to absorb shock in its axial direction, and is spline-coupled to a spline shaft 25 integrated with the output shaft 22A of the drive section 22 for rotation. It is considered possible. 26 is a cap fixed to the swing arm 17, 27 is a stop plate, and 28 and 29 are bushes.

A hand holder 30 is attached to the tip of the drive shaft 23. A holding bracket 31 of the hand holding part 30 holds a hand 32 having the protector 2 as a gripping part.

The robot) 10 has a clutch device 33. The clutch device 33 has two states: one in which the hand holding part 30 is engaged with the swinging arm 17 and the rotational force of the drive shaft 23 is used to open and close the hand 32, and the other in which the hand holding part 30 is engaged with the drive shaft 23. In this manner, the state in which the rotational force of the drive shaft 23 is used for rotation for screwing the hand 32 can be selectively switched.

The clutch device 33 moves along the drive shaft 23 while being integrally connected to a pneumatic cylinder device 34 fixed to the swing arm 17 and a piston rod of the cylinder device 34, and engages and disengages from the hand holding section 30. The first engager 35 moves along the drive shaft 23 in a state where the first engager 35 and the drive shaft 23 are integrally coupled in the axial direction, and when the first engager 35 engages with the hand holding part 30. The second engaging element 36 is separated from the hand holding part 30 and engages with the hand holding part 30 when the first engaging element 35 is separated from the hand holding part 30. 37 is a key. Figure 1 is fig.

A state in which the l engagement +35 is engaged with the hand holding portion 3o and the second engaging member 36 is separated from the hand holding portion 3o is shown.

The hand 32 includes a hand opening/closing nut 39 that is screwed into a cylindrical feed screw shaft 38 provided around the drive shaft 23 in a state where the hand holding portion 3o and the drive shaft 23 are integrally connected to each other around the axis thereof. .

The feed screw shaft 38 has a key 4 around the second engager 36.
It is attached via 0. The hand 32 also includes a swinging link 41 that is pin-coupled to the hand holding part 3o, a connecting link 42 that connects the swinging link 41 and the hand opening/closing nut 39, and a distal end of the swinging link 41. and a finger 43 that comes into contact with the protector 2. 44
is Bush.

Next, the operation of the robot 10 will be explained.

When gripping the protector 2 with the hand 32,
The cylinder device 34 of the clutch device 33 is set to the retracted position to lock the free rotation of the hand holder 30 around the drive shaft 23. When the drive unit 22 is driven in this state, the hand opening/closing nut 39 moves linearly with the screw movement of the feed screw shaft 38 without rotating the hand 32, the fingers 43 of the hand 32 open and close, and the protector Can hold 2.

When screwing the threaded portion 2A of the protector 2 held by the hand 32 onto the pipe end threaded portion IA of the steel pipe 1, the cylinder device 34 of the clutch device 33 is set to the extended position, and the hand holding portion 30 is connected to the drive shaft. 23 so that it can rotate together with the drive shaft 23. In this state, when the drive section 22 is driven, the hand holding section 30 rotates, and the entire hand 32 rotates. Therefore, with the support arm 13 of the Ropo and Toro moved from the retracted position to the screwing work position and the threaded portion 2A of the protector 2 abutted against the pipe end threaded portion IA of the steel pipe 1,
As mentioned above, when the entire hand 32 is rotated, the threaded portion 2A becomes the threaded portion IA! I can arrive 11 times.

Note that when moving the support arm 13 of the robot 10 to the screwing work position with the protector 2 gripped by the hand 32, the cylinder device 14 is contracted to lock the swinging arm 17, and the hand 32 without floating it toward the above screwing work position.

In addition, after moving the support arm 13 of the protector 2 to the screwing work position as described above, the threaded portion 2 of the protector 2
When the screw A has passed through the threaded portion IA of the steel pipe 1 by 2 to 3 threads, the cylinder device 14 is switched to the extended state, and the swing arm 1
7 is set to the swinging state. As a result, the hand 32 can freely swing horizontally and vertically, and by rotating the hand 32 in this state, both threaded portions IA and 2A can be smoothly screwed together.

Note that after the support arm 13 of the robot lo has been moved to the screwing work position as described above, when the hand 32 is rotated and moved forward in order to start screwing the both threaded parts 1A and 2A, both the threaded parts 1A and 2A are During the period from when IA and 2A start colliding to when they start being screwed together, the drive shaft 23 moves in the axial direction in a cushioning manner due to the expansion and contraction of the compression spring 24.

In addition, in the intermediate stage of screwing both threaded parts IA and 2A, the screwing resistance between both threaded parts IA and 2A changes, and the screwing speed of the protector 2 in the forward direction changes to the forward speed of the support arm 13 of the robot 10. Even if they do not match, the drive shaft 23 moves in a cushioning manner due to the expansion and contraction of the compression spring 24, absorbing the speed difference.

Hereinafter, the operation of the above embodiment will be explained.

In the robot 10 described above, the hand opening/closing and hand rotation are performed by a single drive unit 22 by the switching operation of the clutch device 33, so that the protector 2 as a screw-like object is
It is possible to reduce the weight of the swinging parts (swing arm 17, drive section 22, drive shaft 23, hand 32), clutch device 33, etc., such as the hand 32, which grips and moves the hand 32. As a result, hand 32
At the start of screwing, where the threaded part of the threaded object that is gripped collides with the threaded part of the steel pipe as the attached part, the two threaded parts do not collide with each other with a large impact, which prevents damage to both threaded parts. Occurrence can be prevented.

Further, since the drive section 22 and the hand 32 are not separated, the drive force of the drive section 22 does not vibrate the hand 32 when starting screwing, and a smooth screwing operation can be achieved.

Furthermore, the amount of swing of the hand 32 can be adjusted in response to changes in the dimensions of the thread-like object and the type of thread due to the presence of the swing amount adjustment ring 18. Therefore, depending on the dimensions of the screw-like object and the type of thread, the amount of swinging of the hand 32 will not become excessive and the amount of swinging of the hand 32 during screwing will not become large, and the amount of swinging of the hand 32 will not be too large. Without this, it is possible to always ensure an appropriate swinging effect of the hand 32 necessary for smooth engagement of the threaded portions.

That is, according to the robot 10, the weight of the swinging parts such as the hand 32 that swings while grasping a screw-like object is reduced, and the screwing operation is made smoother, thereby preventing the occurrence of flaws in both threaded parts to be screwed. can be prevented.

[Effects of the Invention] As described above, according to the present invention, it is possible to reduce the weight of a swinging part such as a hand that swings while grasping a screw-like object, and also to make the screwing operation smoother and to make the screwing operation easier. It is possible to prevent flaws from occurring on both threaded portions.

[Brief explanation of the drawing]

FIG. 1 is a sectional view showing a screw-like object attachment device according to an embodiment of the present invention, FIGS. The figure is a front view showing the entire screw-like object attachment device, and FIG. 4 is a side view of the main part of FIG. 3. 1... Steel pipe (attached part), 2... Protector, LA
, 2A... Threaded part, 10... Robot (screw-like object mounting device), IT... Frame, 13... Support arm.
, 17... Swing arm, 18... Swing amount adjustment ring (swing amount adjustment section), 22... Drive section, 23... Drive shaft, 24... Compression spring, 30... Hand Holding part, 3
2... Hand, 33... Clutch device, 34...
Cylinder device, 35...first engager, 36...second
Locking element, 38...Feed screw shaft (feed screw part), 39...
...Hand opening/closing nut, 41...Swing link, 42
... Connecting link, 43... Finger. Agent Patent Attorney Osamu Shiokawa 2nd session (A) Figure 2 (8”) 'L17

Claims (2)

[Claims] (1) In a screw-like object attachment device that screws a screw-like object into a part to be attached, a support arm provided on a pedestal, a swing arm that is swingably supported by the support arm, and a support arm that swings between the support arm and the support arm. A swing amount adjustment section that is interposed between the arms and adjusts the amount of swing of the swing arm with respect to the support arm; a drive section that is fixed to the swing arm; and a drive section that is supported by the swing arm so as to be able to buffer in the axial direction thereof. In addition, a drive shaft that is connected to the drive section and rotates, a hand holding section that is attached to the tip of the drive shaft, a hand that is held by the hand holding section and can grip a screw-shaped object, and a hand holding section. is engaged with the swinging arm side to use the rotating force of the drive shaft to open and close the hand, and the hand holding part is engaged with the drive shaft side to use the rotating force of the drive shaft to screw the hand. 1. A mounting device for a screw-like object, comprising a clutch device for rotation. (2) In claim 1, the clutch device includes a cylinder device fixed to a swing arm and a piston rod of the cylinder device that moves along the drive shaft while being integrally connected to the piston rod of the cylinder device to hold the hand. a first engager that engages and disengages from the hand holding part; the first engager moves along the drive shaft while being integrally coupled with the drive shaft in the axial direction; and when the first engager engages with the hand holding part, the hand holding part is moved. and a second engaging element that engages with the hand holding part when the first engaging element separates from the hand holding part.
The hand has a hand opening/closing nut that is screwed into a feed screw provided around the drive shaft in a state where the hand holding part and the drive shaft are integrally coupled around the axis of the drive shaft, and the hand. It has a swinging link that is pin-coupled to the holding part, a connecting link that connects the swinging link and the hand opening/closing nut, and a finger that is provided at the tip of the swinging link and comes into contact with a threaded object. A mounting device for screw-like objects.