WO1991008081A1

WO1991008081A1 - Method and apparatus for supplying and tightening screw components

Info

Publication number: WO1991008081A1
Application number: PCT/JP1990/001557
Authority: WO
Inventors: Yoshitaka Aoyama
Original assignee: Yoshitaka Aoyama
Priority date: 1989-12-01
Filing date: 1990-11-29
Publication date: 1991-06-13
Also published as: KR920700841A; GB2244445A; GB2244445B; GB9113810D0; KR940010895B1

Abstract

A method and apparatus for supplying screw components such as bolts and nuts to predetermined positions and tightening them. The apparatus includes a holding member (21) which can hold a screw component at its tip and can move them in a longitudinal direction and a rotary supply rod (4) which has an engagement head at its tip engaging with the screw component, rotating it and capable of moving in a longitudinal direction. First the holding member (21) holds the screw component at or near the end portion of a component supply path (14) and then moves in the longitudinal direction to a position at which the screw component is coaxial with the supply rod (4). Thereafter, the engagement head (5) of the supply rod (4) advances and the holding member (21) moves back substantially simultaneously with the engagement of the engagement head (5) with the screw component, thus permitting the supply rod to advance. The screw component is supplied to a mating member such as a screw hole or bolt and tightened.

Description

Specification

Method and apparatus for supplying and tightening screw parts

The present invention relates to supplying and tightening screw parts such as bolts or nuts, and it is intended that a commonly used nut runner or bolt runner be used as an automatic machine. Is what you do.

Background art

As a conventional technique, a rotary reciprocating supply port having an engaging head is provided, and a mechanism for temporarily locking a screw component that has moved on the axis of the rod is provided. The supply rod advances toward the locked part, holds the part in the engaging head, and supplies it to the target location, that is, a counterpart such as a screw hole or bolt, and simultaneously tightens the part. I do.

With the conventional technology as described above, it is necessary to realize accurate positioning of components on the axis of the supply port and secure temporary locking of components with a single mechanism. It must be supplied as a high-precision product, and if the accuracy is reduced a little, there is a problem that the engaging head and the component will not be properly engaged, and the component will fall off. The most important point here is that screw parts cannot be supplied to narrow places due to such a locking mechanism. Furthermore, in order to temporarily lock the components on the axis of the supply rod, the installation space for the temporary locking mechanism is greatly restricted, or the mechanism is provided at a position substantially in front of the engaging head. Need In addition, there is a problem that the entire device becomes a long form. An even more important point is that if the body of the threaded part is hemispherical, it cannot be held in the same way as in the conventional example.

Disclosure of the invention

The present invention has been provided to solve the above-described problem.In one embodiment of the present invention, a holding member for a component that moves forward and backward holds a screw component at an end of a component supply passage. Thereafter, the holding member is retracted to a position where the component becomes coaxial with the rotary supply port pad, and at substantially the same time as the supply π-head engaging head advances and engages with the component. The feed port is advanced by retracting further, and the part is held at the part, the part is positioned, and the engaging head is engaged with the part. Actions such as the evacuation stage of the holding member and the advancement and rotation tightening stage of the supply port are performed.

The holding member for the screw component is installed in a state where it can advance and retreat, and the end of the component supply pipe is opened on or near the axis of the advance and retreat, and the image advance and retreat has an engagement head in a direction orthogonal to the axis of the advance and retreat. A type of supply port can be provided.

A part holding means can be provided at the tip of the holding member. Another aspect of the present invention is that a holding member for a component that moves forward and backward holds a threaded component at or near an end of a component supply passage, and the component is then coaxial with a rotary supply port. The holding member is advanced to a certain position, and the holding member is retracted almost in synchronism with the engagement of the supply rod and the engagement with the portion so that the supply port head advances. The step of holding the part, the step of positioning the part after the holding member has advanced, the step of engaging the engaging head with the part, the step of retracting the holding member and the feeding step almost at the same time as this step Functions such as the advancement of the mouth and the image tightening stage are performed.

According to this method, the holding member for the screw component is installed in a state where the holding member can move forward and backward, the position of the holding member is set so as to wait near the end of the component supply pipe, and the direction perpendicular to the axis of movement of the holding member is set. This can be performed by a device provided with a rotary advance / retreat type supply rod having an engagement head.

Further, the holding member can be provided with a means for holding the component. According to another aspect of the present invention, a screw component is held at a tip end of an auta shaft, transferred to a target location, and then the inner shaft in the auta shaft is advanced and rotated to screw the screw component into a mating member. In this method, the screw component is held and transported on the side of the apron, and then or continuously with the screw component is tightened on the inner shaft side.

According to this method, a supply port is constituted by an outer shaft and an inner shaft inserted therein, a holding portion for a screw component is provided at a tip end of the outer shaft, and the inner shaft is formed inside the outer shaft. It can be performed by a device that is configured to be capable of relative movement in the direction and the rotation direction, and is provided with an engagement portion for a threaded component at the tip of the inner shaft.

A chuck mechanism is provided in the holding section, so that the component can be held on the outer shaft side.

A magnetic attraction force is applied to the holding portion, and the component can be held by the outer shaft by the magnetic force. The engaging portion has a shape that matches the depression provided in the threaded component, whereby the rotational force and the thrust can be transmitted.

The engaging portion is formed in a box shape that accommodates the threaded component, and the rotational force and the thrust can be transmitted similarly.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a longitudinal sectional view of the embodiment device,

Fig. 2 is a sectional view of (2)-(2) in Fig. 1,

Fig. 3 is a sectional view of (3)-(3) in Fig. 1,

FIG. 4 is a plan view in which a part of the holding member shown in FIG. 1 is cut off, FIG. 5 is a longitudinal sectional view of an open end of the component supply pipe,

6 and 7 are plan views of the holding member,

FIG. 8 is a longitudinal sectional view showing a modification of the device shown in FIG. 1, FIG. 9 is a plan view of a holding member shown in FIG. 8,

FIG. 10 is a longitudinal sectional view of the open end of the component supply pipe.

FIG. 11 is a longitudinal sectional view of another embodiment device,

FIG. 12 is a cross-sectional view of (2) — (2) of FIG. 11,

FIG. 13 is a sectional view of (3)-(3) of FIG. 11,

FIG. 14 is a plan view in which a part of the holding member shown in FIG. 11 is cut away, FIG. 15 is a longitudinal sectional view of an open end of the component supply pipe,

16 and 17 are plan views of the holding member,

FIG. 18 is a longitudinal sectional view showing a modification of the device shown in FIG. 11, FIG. 19 is a plan view of the holding member shown in FIG. 18,

Fig. 20 is a vertical sectional view of the open end of the parts supply pipe,

FIG. 21 is a longitudinal sectional view showing still another embodiment; δ

Fig. 22 is a sectional view of (2)-(2) in Fig. 21;

FIG. 23 is a plan view of the temporary locking device shown in FIG. 21;

Fig. 24 is a sectional view of Fig. 23 (4) -1 (4);

Figures 25 and 27 are plan views of the bolt;

Figure 26 is a sectional view of the bolt shown in Figure 25;

28 to 32, 34 to 36 are longitudinal sectional views showing a modification of the apparatus shown in FIG. 21;

FIG. 33 is a sectional view of the transfer chuck shown in FIG. 32.

BEST MODE FOR CARRYING OUT THE INVENTION First, the embodiment shown in FIGS. 1 to 4 will be described. In this embodiment, a part 1 is a bolt, a reference numeral 2 is a head, and 3 indicates a shaft. The revolving / retractable supply port 4 has an engagement head 5 so that the bolt head 2 can be inserted into the engagement hole 6 opened there. . For example, in the case of the illustrated example, since the head 2 of the bolt is hexagonal, the engaging hole 6 is also formed as such. In the case shown in the figure, since the engaging hole 6 is opened downward, a magnet (permanent magnet) 7 is fitted into the bottom of the engaging hole 6 to prevent the bolt 1 from falling.

The supply rod 4 is driven to rotate by a rotary motor 8 of a compressed air type, and a sliding piece 9 connected to the rotary motor 8 advances and retreats along a guide rail 10. As is clear from FIG. 2, the dovetail groove 11 is formed in the guide rail 10, and the sliding piece 9 is fitted to the dovetail groove 11 forcefully. The guide rail 10 is welded to a fixed part 13 attached to a stationary member 12.

The component supply pipe 15 having the component supply passage 14 is the outlet of the supply port 4 It is installed so as to make an acute angle 0 with the direction of the arc. The component supply pipe 15 is welded to the lower part of the guide rail 10 as shown in the figure. A supply hose 16 made of flexible synthetic resin is connected to the upper end and an opening 17 cut at an oblique angle at the lower end. Is provided.

A bracket 18 having a U-shaped cross section (see Fig. 3) is welded to the guide rail 10, and a guide tube 20 is welded to a mounting plate 19 extending downward. A holding member 21 of a rod-shaped component is slidably inserted into the guide tube 20, and the axis of advance and retreat of the holding member 21 is orthogonal to that of the supply rod 4. An opening 17 is arranged on or near the axis of movement of the holding member 21, and the opening 17 is separated from the axis of movement of the supply port 4 by an appropriate distance.

A magnet (permanent magnet) 22 is fixed to the holding member 21 as means for holding a component. As is clear from FIG. 4, the magnet 22 is fixed in such a manner that the holding member 21 has a recess 23 having a U-shaped cross section at the tip and is buried deep in the recess. An air cylinder 24 is connected to the guide tube 20, and a piston rod 25 is connected to the holding member 21. The air cylinder 24 has a function of giving the holding member 21 three positions, one is a position indicated by a two-dot chain line where the recess 23 is waiting at the opening 17, and two are bolts 1. The third position is a retracted position for preventing the supply rod 4 from moving forward and backward, with the position indicated by a solid line that makes the supply rod 4 and the supply port 4 have the same axial relationship.

The main cylinder 26 is attached to the fixed piece 13 and its screw rod 27 is connected to the image motor 8, and the rotary motor 8 shown is driven by compressed air. An air hose 28 is connected for this purpose. The air hose 28 is used to move the rotary motor 8 back and forth. It has enough length and flexibility to be able to follow. Further, although not shown, there is a method in which the magnet 22 is stopped and the holding member 21 is magnetized by an electromagnetic coil.

Next, the operation of this embodiment will be described. The holding member 21 takes a position where the concave portion 23 extends to the opening 17 as shown by a two-dot chain line, so that the concave portion 23 and the component opposed thereto are formed. The inner surface 29 of the supply pipe 15 has a narrow passage area, and as a result, the bolt 3 of the bolt 1 can pass through, but the head 2 cannot pass. When the bolt 1 moves through the component supply passage 14 to such a standby state, the shaft 3 tries to pass through the turning part 23. At this time, the magnet 22 sucks to the right by the magnet 22. When the lower surface of the head 2 comes into close contact with the upper surface of the holding member 21, the relative position between the holding member 21 and the bolt 1 is determined as shown in FIG.

Thereafter, the operation of the air cylinder 24 causes the holding member 21 to retreat to a solid line position where the bolt 1 becomes coaxial with the supply port 4, and is in a state of waiting for the supply port 4 to advance. Next, when the supply rod 4 advances while rotating, the engagement hole 6 of the engagement head 5 is aligned with the head 2 of the bolt 1, and almost simultaneously with this, the holding member 21. When the feed port 4 (engagement head 5) is further retracted, the feed port 4 (engagement head 5) advances without interfering with the holding member 21, and is inserted into the screw hole (not shown) at the target position. And tighten it. It should be understood that the above-mentioned approximately same period means a certain time width from a position where a part of the head 2 enters the engagement hole 6 to a position where the head 2 fully enters. In the present invention, the delivery direction of the parts may be either up and down or left and right, but when the parts are to be transported upward by air, FIG. Providing a magnet (permanent magnet) 30 for preventing dropping as described above at the end of the component supply pipe 15 can further ensure the operation.

Next, the embodiment shown in FIGS. 5 to 7 will be described. Here, instead of holding the holding member 21 at the opening 17, the bolt 1 is stopped near the opening 17, and Is a type that goes to the holding member 21. That is, the stop plate 31 is fixed to the lower end of the component supply pipe 15, and a magnet (permanent magnet) 32 for obtaining the upright state of the bolt 1 is fixed to the outer surface of the component supply pipe 15. A cam surface 33 is formed on the inner surface of the component supply pipe 15 in order to correctly erect the lowered bolt 1. As shown in FIG. 6, the holding means 21 is constituted by a horseshoe-shaped clamp 34 made of a leaf spring on a piston rod 25 of an air cylinder, and stands by in a state as shown in FIG. The bolt 1 is elastically grasped by the clamp 34 at the shaft portion 3 and thereafter the same operation as in the previous embodiment is performed. In place of the clamp 34, a clamp 35 as shown in FIG. 7 can be used. In this case, a substrate 36 is fixed to the tip of the piston rod 25, and a pair of jaws 37 is fixed there. , 38 are mounted by pivots 39, 40 so as to grip the shaft 3 between JOs 37, 38. A coil spring 41 is arranged between the rear portions of the joints 37 and 38 so that the shaft portion 3 can be elastically clamped. The operation is the same as that in Fig. 6.

Next, the case of a nut 43 having a flange 42 will be described with reference to FIGS. 8 and 9.The component supply pipe 15 is installed in a substantially horizontal direction. The nut 43 that has moved to the holding member 21 is transferred. The tip of the holding member 21 A step portion 44 for receiving the flange 42 is formed, and an arc portion 45 (see FIG. 9) is provided for positioning the circular flange 42. The step (44) has a magnet (permanent magnet) (46) embedded therein. Another step 47 is provided to allow the engagement head 5 to approach. The component supply pipe 15 is welded to the guide rail 10 through a bracket 48. The holding member 21 is waiting at the position shown by the solid line, and when the nut 43 from the component supply pipe 15 is transferred there, the positioning is performed by the arc portion 45 and the magnet 46, and the subsequent operation is performed. This is done in the same way as in FIG.

According to the present invention, since the holding member holds the component at a position distant from the axis of the supply rod, there is no need to hold the component on the axis of the supply rod, and the component can be held. It is done very accurately and smoothly. Since the holding member is retracted to a position coaxial with the axis of the supply port after being held in this manner, the above coaxial state can be accurately determined, and the engagement head and the part Engagement occurs smoothly. Then, the holding member is retracted almost at the same time as the engagement, so that the supply port can advance without hindrance. By performing each of the above-mentioned operations in a series, a highly reliable method without parts dropping due to accuracy problems can be realized. Since the end of the part supply pipe on or near the axis of movement of the holding member is opened, a structure is obtained that can reliably receive the part at a position off the line of the supply port pad. . Since the axis of the holding member and the supply rod are arranged so as to be orthogonally engaged, it is possible to accurately determine the match between the part and the engagement head during the advancement process of the supply rod. Become. Since the part is received at a location away from the axis of the supply port, various structures are adopted as means for holding the part provided at the tip of the holding member according to the size and weight of the part. It is very convenient to achieve good operation. Referring to the embodiment shown in FIGS. 11 to 14, the component of interest in this embodiment is a bolt 1, reference numeral 2 indicates a head, and reference numeral 3 indicates a shaft. The rotary reciprocating supply head 4 has an engagement head 5 so that the head 2 of the bolt can be securely inserted into the engagement hole 6 opened there. . For example, in the case of the illustrated example, the head 2 of the bolt 1 is hexagonal, so the engaging hole 6 is also so. In the case shown in the figure, since the engaging hole 6 is opened downward, a magnet (permanent magnet) 7 is fitted into the bottom of the engaging hole 6 to prevent the bolt 1 from dropping.

The supply rod 4 is driven for image rotation by a rotary motor 8 of a compressed air type, and a sliding piece 9 connected to the surface rotation motor 8 advances and retreats along a guide rail 10. As is clear from FIG. 12, a dovetail groove 11 is formed in the guide rail 10, and the sliding piece 9 is matched with the groove. The guide rail 10 is welded to a fixing piece 13 attached to a locking member 12.

A component supply pipe 15 having a component supply passage 14 is provided at an angle that is at an acute angle to the direction of the stroke of the supply port 4. The part supply pipe 15 is welded to the lower part of the guide rail 10 as shown in the figure.A supply hose 16 made of flexible synthetic resin is connected to the upper end, and an opening cut at an oblique angle at the lower end. 17 are provided.

Guide rail 10 has a U-shaped bracket (see Fig. 13). Are welded, and the support tube 20 is welded to the mounting plate 19 extending downward. An air cylinder 24 is fixed to the support tube 20, and a holding member 21 is connected to the piston rod 25, and the advance / retreat axis of the holding member 21 is orthogonal to that of the supply rod 4. . An opening の of the component supply pipe 15 is arranged near the moving axis of the holding member 21, and the opening 17 is separated from the moving axis of the supply rod 4 by an appropriate distance. A magnet (permanent magnet) 22 is fixed to the holding member 21 as means for holding a component. As is clear from FIG. 14, the magnet 22 has a holding member 21 having a U-shaped concave section 23 at the tip, and is fixed in such a manner as to be buried in the interior thereof. The air cylinder 24 has a function of providing the holding member 21 with two positions, one of which is indicated by a solid line in which the concave portion 23 is waiting near the opening 17, that is, near the end of the component supply pipe 15. The two positions are indicated by two-dot chain lines that make the bolt 1 and the supply port 4 have the same axial relationship.

The main cylinder 26 is attached to the fixed piece 13 and its screw rod 27 is connected to the image motor 8. The rotary motor 8 shown is driven by compressed air. An air hose 28 is connected for this purpose. The air hose 28 has a sufficient length and flexibility so as to follow the movement of the image motor 8. Further, as shown in the drawing, there is a method in which the magnet 22 is stopped and the holding member 21 is magnetized by an electromagnetic coil.

Next, the operation of this embodiment will be described. The holding member 21 is configured such that the recessed portion 23 takes a solid line position adjacent to the opening 17 so that the shaft portion 3 of the bolt 1 can pass but the head portion 2 cannot pass. It has become . The bolt 1 moves through the parts supply passage 14 to such a standby state. Then, the shaft 3 tries to pass through the recess 23, but at this time, it is sucked to the left by the magnet 22, and when the lower surface of the head 2 comes into close contact with the upper surface of the holding member 21, the eleventh solid line diagram Thus, the relative position between the holding member 21 and the bolt 1 is determined, and a correct holding state is obtained.

Thereafter, the operation of the air cylinder 24 causes the holding member 21 to advance to the position indicated by the two-dot chain line where the bolt 1 becomes coaxial with the supply port 4, and enters a state of waiting for the supply port 4 to advance. Next, when the supply head 4 advances while rotating, the engagement hole 6 of the engagement head 5 is aligned with the head 2 of the bolt 1, and almost simultaneously with this, the holding member When the feed rod 21 is retracted, the supply rod 4 (engagement head 5) moves forward without interfering with the holding member 21, and the shaft 3 is inserted into a screw hole (not shown) at a target position. Screw-in Tightening is performed. It should be understood that the above-mentioned approximately same period has a certain time width from a position where a part of the head 2 enters the engagement hole 6 to a position where the head 2 fully enters.

In the present invention, the component may be delivered in any direction, up and down, left and right. However, when the component is transported upward by air, a magnet (permanent magnet) for preventing falling as shown in FIG. If the part 30 is provided at the end of the component supply pipe 15, more reliable operation can be obtained.

Next, the embodiment shown in FIGS. 15 to 17 will be described. Here, the holding member 21 is made to stand by at a position as shown in FIG. 15 or a position as shown in FIG. 20, and the end of the component supply pipe end is stopped. The magnet 32 is attached to the plate 31, the bolt 1 that has moved is temporarily locked by the magnet 32 as shown in the figure, and the bolt 1 in that state is moved to the opening 17 side. The other holding means 21 is composed of a horseshoe-shaped clamp 34 made of a leaf spring on a screw rod 25 of an air cylinder as shown in FIG. The bolt 1 that is waiting in the state as shown in Fig. 15 is elastically grasped by the clamp 3 from the left side of the figure with the shaft 3 and then the same operation as in the previous embodiment is performed. Do it. Instead of the clamp 34, a chuck 35 as shown in FIG. 7 can be used. In this case, a substrate 36 is fixed to the tip of the piston rod 25, and a pair of jaws 37, 38 is mounted by pivots 39, 40 so as to grip the shaft 3 between the jogs 37, 38. A coil spring 41 is disposed between the rear portions of the jaws 37 and 38 so that the shaft portion 3 can be elastically sandwiched. The operation is the same as in FIG. Next, the case of a nut 43 having a flange 42 will be described with reference to FIGS. 18 and 19.The component supply pipe 15 is installed in a substantially horizontal direction in a direction orthogonal to the advancing and retreating direction of the holding member 21. The nut 43 that has moved to the holding member 21 that stands by immediately near the end of the component supply pipe 15 is to be transferred. A step portion 44 for receiving the flange 42 is formed at the tip of the holding member 21, and an arc portion 45 (see FIG. 19) is provided for positioning the circular flange 42. In the step 44, a magnet (permanent magnet) 46 is embedded. In addition, another step 47 is provided to allow the engagement head 5 to approach. The component supply pipe 15 is fixed to the stationary member 33, and the support pipe 20 for fixing the cylinder 24 is connected to the guide rail 10 via a bracket 48. The holding member 21 is standing by at the position shown by the solid line, and when the nut 43 from the component supply pipe 15 moves there, the positioning is performed by the arc portion 45 and the magnet 46, and the subsequent operation is performed by the first operation. This is done in the same way as in Figure 1.

According to the present invention, the holding member is provided at a position away from the axis of the supply port. Since the parts hold the parts, there is no need to hold them on the axis of the supply port, and the parts can be held very accurately and smoothly. After being held in this manner, the holding member is advanced to a position that is coaxial with the axis of the supply π-head, so that the above-mentioned coaxial state can be accurately determined, and the engagement head and the part The engagement is smooth. Then, the holding member is returned almost at the same time as the engagement, so that the supply port can advance without hindrance. By performing each of the operations described above in a series, a highly reliable method without parts dropping due to accuracy problems is realized.

Since the position of the holding member is set so as to wait near the end of the component supply pipe, a structure that can reliably receive the component at a location off the axis of the supply port can be obtained. . Since the axis of the holding member and the supply port are arranged so as to be orthogonal to each other, it is necessary to accurately determine the match between the component and the engagement end in the process of entering the supply port. Becomes possible.

Since the part is received at a location away from the axis of the supply port, various structures are adopted as means for holding the part provided at the tip of the holding member according to the size and weight of the part. It is very convenient to achieve good operation.

Up to this point, the case of supplying and tightening nuts has been described as an example of threaded parts.However, in the following examples, bolts with heads correspond to threaded parts, and Figs. 25 to 27 The shape is as exemplified in FIG. That is, the bolt 1 is composed of a head 2 and a shaft 3, and the head 2 is hemispherical and circular as viewed in plan as shown in FIGS. 25 and 27. And head 2 has a cross-shaped or square hollow Only 4 are formed. The one in Fig. 25 is generally called a Phillips screw.

Referring to the embodiment shown in FIGS. 21 to 24, the supply port pad 5 includes a hollow outer shaft 6 and an inner shaft inserted therein, and the inner shaft 7 has an axial direction in the outer shaft 6. It is configured so that relative movement in the rotation direction can be performed. The inner ring 7 is made to be connected to the output shaft of the rotary motor 8 or the output shaft of the rotary motor 8, and the image motor 8 is fixed to the slide member 9. As is clear from FIG. 22, the dovetail groove 11 is formed in the guide rail 10, and the slide member 9 is aligned therewith. Note that the guide rail 10 is firmly fixed to the stationary member 12 with a bracket 13. The piston rod 15 of the working cylinder 14 fixed to the stationary member 12 is connected to the rotary motor 8, whereby the slide member 9 moves forward and backward along the guide rail 10, and accordingly. Supply port 5 also moves forward and backward. Since the rotary motor 8 uses compressed air as a drive source, a hose 40 for that purpose is connected.

The bin 16 ′ fixed to the autter shaft 6 abuts against the projection 16 of the slide member 9, and the abutment is made between the end of the autter shaft 6 and the rotary motor 8 by the elasticity of the coil spring 17. Is maintained.

A holding member 18 having a shape matching the head 2 of the bolt and a function of holding the bolt 1 is provided at the tip of the auta shaft 6. That is, a partial spherical portion 19 is provided so as to match the hemispherical shape of the head 2 of the bolt, and a ring-shaped magnet (permanent magnet) 20 is fixed to the opening of the outer shaft 6 as shown in the figure. It is.

At the tip of the inner shaft 7, there is provided an engaging portion 21 corresponding to the recess 4 of the head. However, the shape here is like the tip of a Phillips screwdriver.

In this embodiment, the bolt 1 is temporarily locked, and the supply port 5 is advanced there. Accordingly, a temporary locking device 22 for the bolt 1 is provided, which is shown in a plan view in FIG. A pair of left and right opening and closing plates 23 and 24 are supported by pivots 25 and 26, and the pivots are held by protrusions 27, 28, 29 and 30 fixed to the stationary member 12. Although not shown, by installing a coil spring on the pivots 25 and 26, normally the open / close plates 23 and 24 are at the positions shown by the solid lines, and when the bolt 1 is pushed out, the first It is designed to be able to rotate downward in Fig. 21. The opening / closing plates 23 and 24 are provided with a pair of notches 31 and 32 so as to receive the bolt shaft 3. The guide pipe 33 is provided with a slit 34, and the bolt 1 is transferred in a hanging manner as shown in FIG. The notch 34 matches the notches 31 and 32 as shown in Fig. 23.

The other member into which the bolt 1 is screwed is a substrate 36 having a screw hole 35, on which a component 38 having a through hole 37 is mounted. The magnet 20 can be replaced by an electromagnetic coil (shown by a two-dot chain line) 39.

The operation will now be described. FIG. 21 shows a state in which the bolt 1 is waiting at the temporary locking device 22, and the piston rod 15 of the operation cylinder 14 is now in position. When protruding, the rotary motor 8 fixed to the slide member 9 moves straight along the slide rail 10. At the same time, the supply rod 5 also advances while maintaining the relative position between the outer shaft 6 and the inner shaft 7 as shown in the figure, and the holding portion 18 is attached to the head 2 of the bolt. When they match, the head 2 matches the partial sphere 19 as shown in the two-dot chain line and is attracted by the magnet 20, and when the supply rod 5 advances together with the bolt 1, the open / close plates 23, 24 Is pushed out to release the bolt 1 from the temporary locking device 22. When the shaft part 3 of the bolt enters the through hole 37 of the part 38 and the tapered tip part 41 engages with the inlet end of the screw hole 35, the advancement of the outer shaft 6 is stopped, and the coil spring is stopped. Only the inner shaft 7 advances while compressing 17 and separating the projection 16 and the pin 16 ′. At this time, when the inner shaft 7 is rotated by the rotary motor 8, the engaging portion 21 matches the recess 4 of the head 2, the bolt 1 is screwed into the screw hole 35, and the mounting of the component 38 is completed.

In the case where the flange 42 as shown in FIG. 1 is formed on the bolt 1, the end face of the outer shaft 6 is configured to be in close contact with the flange 42 as shown in FIG. The holding stability of the bolt 1 is further improved, and the partial spherical portion 19 can be stopped.

In the embodiment shown in FIG. 21, the relative positional relationship between the outer shaft and the inner shaft is determined in a predetermined state by the coil springs 17, the bins 16 ', the projections 15, and the like. In the modification shown, the auta axis and the inner axis can be freely controlled instead of such a structure. In other words, the auta shaft 6 is connected to the separately installed operation rod 43 of the piston rod 44 via the arm 45, and only the auta shaft 6 advances first while holding the bolt 1, and thereafter. Then, the piston shaft 7 is operated in accordance with the advance of the piston π-head 15 from. Further, the outer shaft 6 and the inner shaft 7 may be simultaneously advanced, and the outer shaft 6 may be stopped first, and then the inner shaft 7 may be screwed. The operation control of both cylinders 14 and 43 uses a conventionally known air control valve. This can be done easily.

FIG. 29 shows a modification in which the bolt 1 is fed from a direction orthogonal to the axis of the supply port pad 5, and the guide tube 46 is exactly the same as that in FIG. The tip of the shaft 6 has an opening 47 facing the guide tube 46, and the bolt 1 coming in from the lateral direction is attracted to the holding portion 18 by the magnet 20.

FIG. 30 shows a modification in which the bolt 1 is fed from the lower side to the supply port 5 as shown in FIG. 21, and the U-shaped pipe 49 which moves forward and backward in the horizontal direction by the air cylinder 48 The bolt 1 is fed when the opening end 50 thereof matches the holding portion 18 as shown in the figure. The U-shaped tube 49 is connected to a flexible hose 51 extending from a parts feeder (not shown).

FIG. 31 shows a modification in which the component supply pipe 52 and the supply port 5 are arranged at an acute angle, and at the same time when the bolt 1 stops on the stop plate 53, the magnet Sucked to the side. The holding portion 18 has an opening 47 as in the case of FIG.

FIGS. 32 and 33 show a modification in which a transfer chuck 55 is added to that of FIG. 31. A concave groove 57 is formed in a head member 56, and a magnet 58 is fitted therein. The transfer chuck 55 is moved forward and backward by a screw rod 59 of an air cylinder (not shown). FIG. 34 shows a modification in which the support plate 60 is installed when the bolt 1 is long. The support piece 61 is connected via a pivot 62 so as to be openable and closable. The support piece 61 is kept at the position shown in the figure by a coil spring (not shown) wound around the pivot 62. This is suitable when the support piece 61 is located on the lower side. FIG. 35 shows a modification which is suitable for a hexagonal nut 64 having a flange 63. The inner shaft 7 is provided with a recess 65 for accommodating the nut 64. FIG.

FIG. 36 shows a modified example in which a chuck mechanism 66 is installed on the holding portion 18, and a pair of leaf springs 67, 68 is provided so that the bolt head 2 is narrowed.

In addition, the supply port pad 5 in the present invention may be arranged in any of up, down, left, right, and oblique directions.

According to the present invention, there are two kinds of behaviors: a component holding by an outer shaft, transferring to a target location, and then a screw tightening by an inner shaft; a component holding / transferring and a screw tightening. Therefore, each operation is smoothly and reliably performed. Since both axes are inside and outside, they can be accurately coaxial. Therefore, the components held on the outer shaft are accurately centered on the inner shaft, and the accuracy problem as in the conventional example can be easily solved. In particular, since parts are held at the tip of the auta shaft, screw parts can be easily supplied to narrow locations, which is extremely effective in terms of automation and the like.

Since the holding part for the screw component is provided at the tip of the shaft, the hollow structure of the shaft can be used to hold the hemispherical bolt head without displacement. In addition, the use of magnetic force and a chuck mechanism can be widely used in this holding portion, so that an optimum holding that matches the shape characteristics of the screw component can be performed.

The engaging part at the tip of the inner shaft can be realized as, for example, the shape of the tip of a Phillips screwdriver or the box shape of a box wrench. Therefore, the centering can be performed accurately on the threaded components held on the auta shaft, and the screw components can be stored in the auta shaft without requiring any special space.

Claims

The scope of the claims

1. The holding member of the screw component that moves forward and backward holds the screw component at the end of the component supply passage, and then retracts the holding member to a position where the screw component is coaxial with the image-supplying supply port. Engagement of the supply head A method of tightening the supply of screw parts, in which the holding member is further retracted so that the supply port advances at almost the same time as the head advances and engages with the component.

2. A screw component holding member is installed in such a manner as to be able to advance and retreat, an end of the component supply pipe is opened on or near the axis of advance and retreat, and a rotation having an engagement head in a direction perpendicular to the axis of advance and retreat is provided. A supply and tightening device for screw parts with a retractable supply port.

3. The holding member for the screw component is installed in such a manner that it can advance and retreat, the end of the component supply pipe is opened on or near the axis of the advance and retreat, and the rotation has an engagement head in a direction orthogonal to the axis of the advance and retreat. An apparatus for supplying and tightening a screw component, comprising an advancing / retracting supply port and a means for holding a component at a tip of the holding member.

4. The holding member of the screw component that moves forward and backward holds the screw member at or near the end of the component supply passage, and then the holding member is positioned so that the screw component is coaxial with the rotary supply rod. The holding member is retracted almost at the same time as the engaging head of the supply rod advances and engages with the component so that the supply port head advances. Supply tightening method.

5. Install the holding member for the screw component in such a manner that it can advance and retreat, and set the position of the holding member so that it stands by near the end of the component supply pipe. Has joint head

, A supply and tightening device for screw parts that has a reversing type supply port. The holding member for the threaded component is installed in such a way that it can move forward and backward, and the position of the holding member is set so as to wait near the end of the component supply pipe. A supply and tightening device for a screw component, comprising: a rotary advancing / retracting supply rod having a joint head; and a means for holding the component on the holding member.

Supplying and tightening a screw part by holding the screw part at the tip of the outer shaft and transferring it to a target location, then moving the inner shaft inside the outer shaft and rotating it to screw the screw part into the mating member .

The feed port is composed of the outer shaft and the inner shaft inserted in the inner shaft, and a holding part for the threaded part is provided at the tip of the outer shaft, and the inner shaft is axially and rotationally moved inside the outer shaft. A screw component supply and tightening device that is configured to be capable of relative movement and has an engagement portion for a screw component at the tip of the inner shaft.

A feed port is composed of the outer shaft and the inch shaft inserted therein, and a holding portion for a screw component is provided at the tip of the outer shaft. The holding portion is provided with a magnetic attraction force, A supply and tightening device for a screw component, wherein the inner shaft is configured to be capable of relative movement in the axial direction and the plane rotation direction within the outer shaft, and an engagement portion for the screw component is provided at a tip of the inner shaft.

The feed port is composed of the after shaft and the inner shaft inserted inside the feeder shaft, and a holding part for screw parts is provided at the tip of the aterer shaft. The shaft is configured to allow relative movement in the axial and rotational directions within the outer shaft. A screw component supply and tightening device with an engagement portion for a screw component at the tip of the shaft.

11. The feed port is composed of the feeder shaft and the inner screw inserted inside the feeder shaft, and a holding part for the screw component is provided at the tip of the feeder shaft. An engaging portion for the screw component is provided at the tip of the inner shaft, and the engaging portion is formed in a shape matching the recess provided in the screw component. Supply tightening device.

12. The feed rod is composed of the outer shaft and the inner shaft inserted into the inner shaft, and a holding part for screw parts is provided at the tip of the outer shaft. A screw component supply and tightening device which is configured so that relative movement can be performed, an engagement portion for a screw component is provided at a distal end portion of the inner shaft, and the engagement portion has a box shape for accommodating the screw component.