JPS63283830A - Automatic bolt setter - Google Patents

Abstract

PURPOSE:To enable automatic setting of bolt even into a socket facing upward, when under side parts are assembled to the body of an automobile, by setting the bolt in the socket arranged on a fastening pallet by means of a bolt setting hand of robot. CONSTITUTION:After a bolt is inserted into each bolt holder by means of a bolt feeder 2, it is moved above a fastening pallet A under the condition where a bolt set hand 4 is brought to such position as the head of the bolt directs downward through operation of a robot 3 so as to position the bolt set hand 4 such that the indexing position is immediately above a socket B. Then a rotary disc is rotated through an indexing means and a proper bolt holder is selected at the indexing position, thereafter the bolt set hand 4 is lowered through a phase matching means. Then the bolt set hand 4 is moved such that the indexing position will come immediately above the socket B so as to set the bolt in the socket B. Such operations are repeated to set bolts in all sockets B.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automatic bolt setting device for setting a plurality of socket bolts provided on a member such as a tightening pallet.

(Prior Art) Conventionally, as a bolt setting device for a tightening head, as seen in Japanese Patent Application Laid-Open No. 60-44257, a bolt is attached to the side of a tightening shaft with a socket installed in the tightening head. A bolt magazine that is stored in multiple stages above and below is set up, and a gripping member that can reciprocate is provided at a position directly below the magazine and a position directly below the socket, and the gripping member holds the bolts that fall from the magazine at a position directly below the socket. It is known that bolts are tightened by transferring the bolts to another location.

Also, when assembling lower parts of automobiles, multiple sockets are set up on a tightening pallet so that they can rotate freely, and the tightening pallet is loaded into an assembly station with bolts set in the sockets. It is being considered that the lower IgI#) parts can be tightened from below by raising the shisokerato and rotating it by a nut runner operated by a robot located at an assembly station.

Problems to be Solved by the Invention C) A bolt set having a bolt magazine and a gripping member as in the prior art described above at the operating end of a robot in order to automate the work of setting bolts into sockets on the tightening pallet described above. It is also possible to attach a hand and use the gripping means to set the bolts that fall from the magazine into the sockets, but in this case, the bolts are set in the sockets with their heads facing down, and the bolts that fall from the magazine are set in the sockets. It is necessary to store the bolt in a similar position, and it is actually difficult to use the gripping means to hold the bolt that falls from the magazine with the head facing down without causing the bolt to fall over. Because it is separated from the nut runner, the bolt head and socket cannot be aligned in phase when setting the bolt.
This product cannot automate the set work.

SUMMARY OF THE INVENTION An object of the present invention is to provide a device that can automatically set a bolt in a socket that is separated from a nut runner and is oriented upward.

Means for Solving Problem C8) In order to achieve the above object, the present invention provides a plurality of bolt holders for inserting and gripping the shaft portion of the bolt at the working end of the robot, each with an interval in the circumferential direction. A bolt set hand having a rotary disc that is rotatably attached is provided, and the bolt set hand is provided with a bolt set hand that rotates the rotary disc so that at least one part in the circumferential direction
indexing means for selectively moving each of the bolt holders to an indexed position; and a phase that rotates the selected bolt holder to the indexed position to match the phase of fitting the bolt head into the socket. The present invention is characterized in that it includes alignment means and release means for releasing the phase-aligned bolt from the bolt holder.

(Function) After inserting a bolt into each bolt holder using an appropriate bolt supply device, the robot moves the bolt hand in a downward position so that the head of the bolt faces downward, and then tightens the parts such as pallets. The bolt setting hand is moved upward, and the bolt set hand is positioned so that the indexing position is located directly above the appropriate socket on the member, and the rotating plate is moved once by the indexing means to set the appropriate bolt holder. The index position is selected, and then the bolt set hand is lowered while the bolt holder is rotated by the phase matching means.

According to K, when the bolt rotates together with the bolt holder and the phases of the bolt head and socket match,
The bolt head is fitted into the socket, and in this state, the bolt is released by the release means, the bolt set hand is raised, and the bolt holder is removed above the shaft of the bolt.

Next, move the bolt set hand so that the indexed position is directly above the next socket, select the next bolt holder at the indexed position, and use the same operation as above to grip the bolt holder. Set the bolts into the corresponding sockets, and repeat this to set the bolts in all the sockets (example). An embodiment in which the present invention is applied to a device for setting a parts feeder is shown, with reference to FIG. The supply device (3) shows a robot for a bolt set, and a bolt set hand (4) is attached to the operating end of the robot (3).
) by the operation of the four pots (3).
) can be moved freely between the receiving location and the setting location where the tightening pallet A is fixed.

As shown in FIGS. 2 and 3, the bolt supply device (2) consists of pillars (
5) A slide table (6) that is moved back and forth by a cylinder (6a) is provided above (5), and a rotating plate (7) is suspended from the slide table (6) via a vertical cylindrical shaft (7a). and the Ic
A plurality of bolt holders (8) each having a pair of gripping claws (8a) (8a) for gripping the head of the POL W are attached to the II moving plate (7) at intervals in the circumferential direction, and The rotating plate (7) is attached to the slide table (6) with these bolt holders (8).
), and an indexing means (9) for rotating the bolts W in increments at a constant angle according to the arrangement pitch of the bolts W from these bolt holders (8).
A releasing means aα is provided for releasing the. The indexing means (9) includes an index plate (9a) attached to the upper end of the cylindrical shaft (7&) and a support base (6C) connected to the slide base 16+ via a guide bar (6b). A swinging arm (9d) that is reciprocated in a certain angle range around the cylinder shaft (7&) by a motor (9b) via a rond (90) constituting a crank mechanism;
) The first engager (9f) is engaged with and disengaged from the index plate (9a) by a cylinder (9e) attached to the slide base 161, and the first engager (9f) is engaged with and disengaged from the index plate (9&) by a cylinder (9g) attached to the slide base 161. When the swing arm (9d) moves forward, the first retainer (9f) is engaged with the index plate (9&), and after the forward movement, the second retainer (9h) is engaged with the index plate (9&). 2 engager (9h) to the index plate (9a)
At the same time, the first engager (9h) is disengaged from the index plate (9a) and the swing arm (9(1)
), and by repeating this, each bolt holder (8) moves the index plate (9 &) so that each bolt supply path +1
Rotate each bolt holder (8) in increments so that the index position immediately above the tip of No. 3 is selected one after another.
The bolts (K) W on the supply path (1) are sequentially installed with the bolt head facing upward by a push-up cylinder (11a) interlocked with a push-up cylinder U provided below the tip.

The release means (11) is an elevating plate (11) that is moved up and down by a cylinder (10a) mounted on a frame (64) K on the slide table 16 via a rond (10t+) in the cylinder shaft (7a). 10o) Each bolt holder (8) K is made by suspending the release rond (104) of the vi & inserted into it.
According to the downward movement of each rod (10cl), the gripping claws (8a) (8a) of each bolt holder (8) and the spring (8b) (
8b).

The bolt set hand (4) is a cylindrical bolt holder a3 having a pair of gripping claws (12a) (12a) for inserting and gripping the shaft portion of the bolt W, as shown in FIGS. 4 to 8.
A rotary plate a3 in which several w of
Indexing means α for selectively moving these bolt holders az to two indexing positions set with a phase difference of 81f.
4, a phase matching means α9 for rotating the bolt holder (1z) selected at each index position to align the head of the bolt W with the phase for fitting the bolt W into the socket BK; (It is equipped with a releasing means [8 for releasing from the robot (3), and the indexing means α41 is
An index motor (14a) and a harmonic drive type reducer (
14b), and the output shaft (
The rotary disk (131) is attached to the cylindrical shaft (14o) integral with the rotary disk (131).
In 5a), it was fitted and fixed.

The phase matching means a9 matches the two index positions with the movable frame (15b) that moves forward and backward in the axial direction of the υ rotary plate 0 by the forward and backward cylinder (15a) attached to the hand body C4&). A pair of rotating shafts (15o) (15o)
It is equipped with a motor (15) that supports the rotary shafts (15a) and drives the rotary shafts (15a) via a belt (15(1)), and the tip of each rotary shaft (15o) serrations (12b) at the tail end of the bolt holder (Lz).
) is provided so that the engaging member (15f'l) that engages with the movable frame (15
According to the forward movement of b), each of the retaining members (15f) engages with the serrations (111) at the tail end of the bolt holder a3 selected at each index position, and the motor (14) operates to move the bolt holder a3. Each bolt holder (13) was made to rotate.

The release means (1G+ is a release quadruple (16a) inserted inside the power distribution part of each bolt holder az of the rotation plate a3.
and the movable frame (15b) & C fixed support frame (15b'
) is provided with a pair of release cylinders (161+1) facing the release iron (16a) at the index position.
(16'b), and an operating sleeve (12a) for opening and closing the gripping claws (12a) (12a) is slidably provided on the outer periphery of the tip of each bolt holder (13), and each release rod (16a ) of each selected bolt holder a7J is engaged with said respective operating sleeve (12o), and the operating sleeve (1
2o) was pushed to the opening side through each release rond (16a) so that the gripping claws (12a) (12a) were opened.

In addition, each bolt holder (13) is moved forward by the rotating disc ( 13 so that it can slide freely.

In the drawing, C15h) is a drive pulley for the belt (15d), (151) is a driven pulley fixed to each rotating shaft (15a), and (15j) is a tension pulley.

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

First, attach the bolt set hand (4) to each bolt holder az.
Move it to the receiving place in an upside-down position with the bolts facing upward, and position each bolt holder [3] directly below each bolt holder (8) of the bolt supply device (2). , the bolts W held by the bolt holders (8) with their heads upward are released by the release means (II), and the bolts W are simultaneously dropped into the bolt holders (13) directly below the release means (II).

Next, attach the bolt set hand (4) to each bolt holder 0.
Turn around to a downward position with z facing downward and move to the setting location.

Here, the tightening pallet person is provided with two sockets B at multiple locations, and the two sockets) B at appropriate locations.
Position the bolt set hand (4) so that the two indexing positions match directly above B, and also insert the indexing means ■
By the operation of the index motor (14a) of
bolt holders a21rtz are selected at each index position, and then the phase matching means (one advance/retreat cylinder (15a)
The movable frame (15b) is pushed down and the motor (15
m), and the two bolt holders (13α2
The bolt set hand (4) is lowered while rotating through each retaining member (15r).

According to this, the bolt W held by each bolt holder az with its head downward rotates and descends toward each socket B, and the bolt head reaches the open end of the socket B and is attached thereto. When the interference occurs, each bolt holder a3 moves upward with respect to the rotary plate 03 that continues to descend, and pushes up each retaining member (15f) against the spring (15g), and the head is removed by the rotation of the bolt W. When the spring (
Each bolt holder (13) is pushed down by a biasing force of 15g), and the head of the bolt W is fitted into the socket B.

Next, each release cylinder (16b) of the release means +18 is operated to release the gripping claw (12) of each bolt holder (13).
a) Release the grip on the bolt shaft by (12a), and then raise the bolt set hand (4) to remove each bolt holder q7J from above VC of the bolt shaft set in each socket B.

Thereafter, by applying the same pressure, 62 bolts W to be held by the bolt holders (130) are set in the two sockets B and B at each location of the mounting pallet (A).

(Effects of the Invention) As described above, according to the present invention, bolts can be automatically and efficiently set in a plurality of sockets provided on a member such as a tightening pallet, and even if the sockets are upwardly oriented, bolts can be set easily from the nut runner. Even if the bolt is separated and cannot be rotated with a self-blade, the head of the bolt can be reliably fitted into the socket while the small part of the bolt is inserted and gripped into the bolt holder.
This has the effect of providing a device with versatility.

[Brief explanation of drawings]

Fig. 1 is an overall plan view of a bolt set system equipped with the device of the present invention, Fig. 2 is an enlarged plan view of the bolt supply device in Fig. 1, and Fig. 3 is a partially cutaway front view of Fig. 2; Fig. 4 is a partially cutaway front view of the bolt set hand in Fig. 1, Fig. 5 is a side view thereof, Fig. 6 is a bottom view thereof, and Figs. 7 and 8 respectively show ■-■ in Fig. 4. A cross-sectional view taken along the line and the line ■-■. A...Tightening pallet B...Socket W...
・Bolt (3)...Four pots (4)...Bolt set hand α2...Bolt holder (1ri...Rotary plate αJ...Indexing means a9...Phase matching means flll19・・Means of release

Claims (1)

[Claims] In a device that sets bolts in multiple sockets provided on a member such as a tightening pallet, there is a
A bolt set hand is provided with a rotary disc in which a plurality of bolt holders for inserting and gripping the bolt shaft are rotatably mounted at intervals in the circumferential direction, and the bolt set hand is provided with a rotary disc. an indexing means for selectively moving each bolt holder to an indexed position at least at a location in the circumferential direction by rotating the bolt holder; 1. An automatic bolt setting device comprising: a phase matching means for matching the phase of fitting into a socket; and a releasing means for releasing the phase-matched bolt from the bolt holder.