WO2021024550A1 - ネジ締付システムおよびネジ締付装置 - Google Patents

ネジ締付システムおよびネジ締付装置 Download PDF

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Publication number
WO2021024550A1
WO2021024550A1 PCT/JP2020/015789 JP2020015789W WO2021024550A1 WO 2021024550 A1 WO2021024550 A1 WO 2021024550A1 JP 2020015789 W JP2020015789 W JP 2020015789W WO 2021024550 A1 WO2021024550 A1 WO 2021024550A1
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WO
WIPO (PCT)
Prior art keywords
shaft
screw tightening
arm
tip
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/015789
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English (en)
French (fr)
Japanese (ja)
Inventor
雄一 土田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Estic Corp
Original Assignee
Estic Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Estic Corp filed Critical Estic Corp
Priority to US17/631,925 priority Critical patent/US12145229B2/en
Priority to JP2021537577A priority patent/JP7176800B2/ja
Priority to EP20850790.5A priority patent/EP4008494A4/en
Publication of WO2021024550A1 publication Critical patent/WO2021024550A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/182—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by the machine tool function, e.g. thread cutting, cam making, tool direction control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39001—Robot, manipulator control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40072—Exert a screwing motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40301—Scara, selective compliance assembly robot arm, links, arms in a plane
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45091—Screwing robot, tighten or loose bolt
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45203—Screwing

Definitions

  • the present invention relates to a technique for using a screw tightening device in combination with a robot such as a SCARA robot.
  • Patent Document 1 an impact type screw tightening device (Patent Document 1) that intermittently applies tightening torque to a screw, a continuous type or direct type screw tightening device that continuously applies tightening torque, and the like are used.
  • SCARA robots are often used to save labor on production lines.
  • the SCARA robot is provided with a first arm rotatably supported at the base and a second arm rotatably supported by the first arm, and the second arm has a motion axis that can rotate and move up and down as an output axis.
  • Patent Document 2 It has also been proposed that a third arm is further provided on the second arm, and an operation unit such as a gripper member is provided on an operation shaft that rotates and translates in the third arm (Patent Document 3).
  • FIG. 11 is a diagram showing an example of a conventional screw tightening system 9.
  • the SCARA robot 90 has a base 91, a first arm 92, and a second arm 93, a third arm 94 is further attached, and a screw tightening device 95 is attached to the tip of the third arm 94. Be done.
  • the first arm 92, the second arm 93, and the third arm 94 are rotationally driven with the first axis 92J, the second axis 93J, and the third axis 94J as rotation axes, respectively.
  • the third shaft 94J performs an elevating drive as well as a rotational drive, whereby the third arm 94 is moved up and down.
  • the screw tightening device 95 includes a tool 96 that rotates about the fourth axis 95J at the lower end portion.
  • the rotational drive of the arms 92, 93, 94 performs positioning of the tool 96 on the XY plane, and the vertical movement of the third arm 94 positions the tool 96 in the height direction (Z direction).
  • the screw tightening is performed by rotationally driving the tool 96 by the screw tightening device 95.
  • the screw tightening system 9 shown in FIG. 11 can be realized, for example, by attaching the third arm 94 and the screw tightening device 95 to the third axis 94J of a general-purpose SCARA robot having two arms 92 and 93. It is possible.
  • the reaction force of the tightening torque by the screw tightening device 95 is a third through the third arm 94. It is transmitted to the shaft 94J and generates a torque (reaction force) that rotates the third shaft 94J.
  • the maximum value of the tightening torque generated by the screw tightening device 95 is limited by the rigidity of the elevating shaft constituting the third shaft 94J and the allowable torque of the motor that rotationally drives the elevating shaft.
  • the tightening torque by the screw tightening device 95 cannot be increased. Therefore, the tightening ability of the screw tightening device 95 may not be sufficiently exhibited.
  • the SCARA robot used tends to be large. That is, even if the small SCARA robot sufficiently satisfies the conditions for the allowable load capacity and the movable range, the large SCARA robot can withstand the reaction force of the tightening torque by the screw tightening device 95. It happens that you have to use it.
  • the SCARA robot 90 becomes large, which leads to an increase in the installation area and an increase in the installation cost. Further, as the size of the SCARA robot 90 increases, the transport time of the screw tightening device 95 and the work becomes longer, and the production efficiency may decrease.
  • an object of the present invention is to enable a screw tightening device to be easily used in combination with a robot without inviting an increase in size of a robot such as a SCARA robot.
  • the screw tightening system is provided on a robot having a plurality of arms connected in series and a tip arm which is a tip arm among the plurality of arms, and is provided on the tip arm.
  • the screw tightening device has a tip shaft that can move along the lifting shaft and a screw tightening device that is fixedly provided to the tip arm on a screw tightening shaft that is parallel to the lifting shaft.
  • the attached drive means, the drive shaft rotationally driven by the screw tightening drive means, and the drive shaft are integrally connected with the drive shaft so as to rotate in the circumferential direction and move in the axial direction, and a tool is provided at the tip portion. It includes an extension bar and a slide member that is connected to the tip shaft and supports the extension bar so as to move integrally in the axial direction and rotate in the circumferential direction.
  • the robot is a SCARA robot
  • the tip arm is a second arm of the SCARA robot.
  • the elevating shaft is an output shaft in the second arm, and the tip shaft is moved and driven by a drive means provided on the tip arm.
  • the slide member is fixedly connected to the tip shaft.
  • the slide member is connected to the tip shaft so as to move integrally in the axial direction and rotate in the circumferential direction.
  • the screw tightening device is fixedly provided in the housing of the tip arm via a connecting member.
  • the screw tightening device is a screw tightening device that is fixedly attached to the housing of the tip arm of a robot having a tip arm provided with a tip shaft that can move along an elevating shaft.
  • the screw tightening device can be easily used in combination with the robot without causing the robot such as the SCARA robot to become large.
  • FIG. 3 is a cross-sectional view taken along the line AA of FIG. It is a figure for demonstrating an example of each component of a drive shaft and a bearing box.
  • FIG. 1 is a view showing an example of the overall configuration of the screw tightening system 1
  • FIG. 2 is a plan view showing an example of a state of the screw tightening system 1
  • FIG. 3 is a base 2, a first arm 3, and a second.
  • FIG. 4 is a diagram showing an example of the configuration of each of the screw tightening device main body 5, the attachment unit 6, and the slide member 7, and
  • FIG. 5 is an example of the configuration of the drive device 50.
  • 6A is a sectional view taken along the line AA of FIG. 4
  • FIG. 7 is a diagram for explaining an example of each component of the drive shaft 54 and the bearing box
  • FIG. 8 is a tubular portion 55a and a housing case 70. It is a figure for demonstrating the example of each component.
  • the screw tightening system 1 shown in FIG. 1 includes a SCARA robot 10 and a screw tightening device 11. That is, the screw tightening system 1 is an industrial robot configured by combining the SCARA robot 10 with the screw tightening device 11.
  • the SCARA robot 10 moves the screw tightening device 11 to an arbitrary position in a predetermined space, and the screw tightening device 11 tightens the screw of the work under the screw tightening device 11.
  • screw tightening also includes loosening a screw.
  • the SCARA robot 10 is a robot generally called a "SCARA type robot" or a “horizontal articulated robot", and is composed of a base 2, a first arm 3, a second arm 4, and the like.
  • the first arm 3 and the second arm 4 rotate in the forward direction or the reverse direction about the first axis P1 and the second axis P2, respectively.
  • the first shaft P1, the second shaft P2, the elevating shaft L1 and the screw tightening shaft L2, which will be described later, are parallel to each other. In the present embodiment, a case where all of these four axes are along the vertical direction will be described as an example.
  • the base 2 supports the first arm 3 and rotates the first arm 3 under the control of the control device 81.
  • the base 2 is composed of a base housing 20, a motor 21, a speed reducing unit 22, an output shaft 23, and the like.
  • the base housing 20 is formed of iron, aluminum alloy or other light alloy, reinforced plastics, or the like. The same applies to the arm housings 30 and 40 described later.
  • the screw tightening system 1 is used in a state where the base housing 20 is fixed to the floor surface FL or the horizontal plane FL of the airframe.
  • the motor 21 is a rotational drive source that rotationally drives the output shaft 23 via the deceleration unit 22 based on the control by the control device 81.
  • a DC brushless motor, a stepping motor, an AC servo motor, or the like is used as the motor 21, 41, and 51 described later.
  • the deceleration unit 22 decelerates the rotation of the motor 21 and transmits the rotational force to the output shaft 23.
  • the speed reducing unit 22 for example, various gear devices and transmission devices are used. The same applies to the speed reduction unit 32 described later.
  • the output shaft 23 is connected to the first arm 3. In conjunction with the rotation of the output shaft 23, the first arm 3 rotates about the first shaft P1.
  • the first arm 3 supports the second arm 4 and rotates the second arm 4 based on the control by the control device 81.
  • the first arm 3 is composed of an arm housing 30, a motor 31, a reduction gear 32, an output shaft 33, and the like.
  • the motor 31 rotationally drives the output shaft 33 via the deceleration unit 32 based on the control by the control device 81.
  • the speed reduction unit 32 decelerates the rotation of the motor 31 and transmits the rotational force to the output shaft 33.
  • the output shaft 33 is connected to the second arm 4.
  • the second arm 4 rotates about the second axis P2 in conjunction with the rotation of the output shaft 33.
  • a screw tightening device 11 is attached to the second arm 4.
  • the second arm 4 is composed of an arm housing 40, a motor 41, a ball screw 42, a tip shaft 43, and the like.
  • the motor 41 is a rotational drive source that rotates based on the control of the control device 81 and rotates the screw shaft or ball nut of the ball screw 42.
  • the ball screw 42 converts the rotary motion from the motor 41 into a linear motion.
  • the tip shaft 43 is a rod provided so as to penetrate the arm housing 40, is connected to the ball screw 42, and moves up and down along the elevating shaft L1 with the linear motion of the ball screw 42.
  • the elevating shaft L1 is an axis that can be called a third axis (P3) in the SCARA robot 10.
  • the tip shaft 43 moves in the vertical direction (axial direction) due to the rotation of the motor 41.
  • the tip shaft 43 moves up and down at a speed corresponding to the rotation speed of the motor 41, and is positioned at a position (height position) corresponding to the amount of rotation of the motor 41.
  • the height position is held by the holding force when the motor 41 is stopped or the holding force of a separately provided braking device.
  • the second arm 4 may be provided with a mechanism for rotating the tip shaft 43 with the elevating shaft L1 as the rotation axis.
  • the function of rotating the tip shaft 43 is not used.
  • the drive motor and transmission mechanism for rotating the tip shaft 43 are not required, and they may be omitted or removed if they are already installed. Further, the function of rotating may be disabled by control.
  • the screw tightening device 11 includes a screw tightening device main body 5, an attachment unit 6, and a slide member 7.
  • the screw tightening device body 5 tightens screws such as nuts or bolts. Those mainly used for automatically tightening screws are commonly referred to as “nut runners” or “automatic fasteners”. As the screw tightening device main body 5, various screw tightening devices such as an impact type screw tightening device or a continuous screw tightening device can be used. In this embodiment, a case where an impact type screw tightening device as described in JP-A-2002-1676 or JP-A-2011-73137 is used will be described as an example. Therefore, these publications can be referred to for detailed structures and functions.
  • the screw tightening device main body 5 is composed of a drive device 50, a drive shaft 54, an extension bar 55, a tool 56, and the like.
  • the drive device 50 includes a motor 51, a reduction gear 52, an output shaft 53, and the like.
  • the motor 51 is a rotary drive source that rotationally drives the output shaft 53 via the reduction gear 52 based on the control by the control device 81.
  • the reduction gear 52 decelerates the rotation of the motor 51 and transmits the rotational force to the output shaft 53.
  • the planetary gear device can also serve as an impact generator.
  • the output shaft 53 has a square cross-sectional shape at the tip, and the drive shaft 54 is rotationally driven by engagement with the tip.
  • the drive shaft 54 has a connector portion 54a which is a base portion and a shaft bar 54b which extends in connection with the connector portion 54a.
  • the connector portion 54a and the shaft bar 54b are integrally formed by machining or the like.
  • the connector portion 54a has four portions, a head portion 54a1, a chest portion 54a2, a lumbar portion 54a3, and a leg portion 54a4. These parts are integrally formed.
  • the head portion 54a1, the chest portion 54a2, the lumbar region portion 54a3, and the leg portion 54a4 are all cylindrical, but their cross-sectional diameters are different.
  • a recess 54a5 into which the tip of the output shaft 53 is fitted is provided on the upper end surface of the connector portion 54a, and the drive shaft 54 outputs by engaging the tip of the output shaft 53 with the recess 54a5. It is integrally rotationally driven by the shaft 53.
  • the shaft bar 54b is a rod having a square cross section extending downward from the lower end surface of the connector portion 54a.
  • the corners of the shaft bar 54b are chamfered at 45 degrees or in a rounded shape.
  • the extension bar 55 is a member for extending the output shaft of the screw tightening device main body 5 downward along the screw tightening shaft L2 and expanding and contracting it.
  • the extension bar 55 has a tubular portion 55a and a connecting portion 55b.
  • the tubular portion 55a has three portions, an upper portion 55a11, a central portion 55a12, and a lower portion 55a13.
  • the upper portion 55a11, the central portion 55a12, and the lower portion 55a13 all have a circumferential outer shape, but their outer diameters (diameters) are different.
  • the tubular portion 55a is provided with a columnar hole 5S having an inner diameter larger than the maximum outer diameter of the shaft bar 54b so that the shaft bar 54b can be inserted.
  • a hole 5S1 having a diameter larger than that of the hole 5S is provided in the opening at the upper end of the hole 5S, and a bearing bush 551 having an outer shape of a circumferential surface is fitted in the hole 5S1.
  • a member having good slidability is used for the bearing bush 551, and a hole 552 having an inner peripheral surface having a square cross section for the shaft bar 54b to penetrate and slide is provided in the center thereof.
  • the outer peripheral surface of the bearing bush 551 is fitted into the hole 5S1 of the tubular portion 55a by tightening and fitting, and the bearing bush 551 is prevented from rotating by a key, a screw, welding, an adhesive or the like.
  • a means for providing a hole having a square cross section in the tubular portion 55a another means, for example, a member having a hole having a square cross section may be connected to the upper end surface of the tubular portion 55a by welding or the like.
  • the cross-sectional shape of the shaft bar 54b and the hole 552 may be rectangular, hexagonal, elliptical, spline, or the like, in addition to the square shape. Further, the rotational force may be transmitted by the key and the key groove in a cylindrical shape.
  • the shape may be any shape that can transmit rotational torque and can move in the stroke direction (movement in the axial direction), and therefore may be designed according to the actual usage.
  • the shaft bar 54b is inserted into the hole 5S of the tubular portion 55a of the extension bar 55. Since the outer peripheral surface of the shaft bar 54b engages with the inner peripheral surface of the hole 552 of the bearing bush 551 in the rotational direction, the drive shaft 54 and the extension bar 55 integrally rotate in the circumferential direction and move in the axial direction. It will be connected as possible.
  • the connecting portion 55b is integrally provided at the lower end portion of the tubular portion 55a.
  • the connecting portion 55b is provided with a tip portion 55b2 having the same shape as the tip portion of the output shaft 53. That is, the tip portion 55b2 has a square cross-sectional shape, and the recess 56a of the tool 56 is fitted therein, and the tool 56 is integrally rotationally driven by the extension bar 55.
  • the tool 56 As the tool 56, a socket, a bit, and other tools are used. Although not shown, the tool 56 and the connect portion 55b are provided with a mechanism for preventing the tool 56 from falling off from the connect portion 55b.
  • the attachment unit 6 is composed of a connecting member 61, a bearing box 62, two ball bearings 63a, 63b, and the like, and connects the screw tightening device main body 5 to the arm housing 40 of the second arm 4. And fix it integrally.
  • the connecting member 61 is fixed to the lower surface of the arm housing 40 with bolts.
  • the connecting member 61 is provided with a columnar hole 61a and a hole 61b that penetrate the elevating shaft L1 and the screw tightening shaft L2 at the center positions.
  • the hole 61a of the connecting member 61 is large enough so that the connecting member 61 does not interfere with the tip shaft 43 and the guide member 43b provided on the second arm 4.
  • a small-diameter hole for fitting a positioning collar provided on the end face of the drive device 50 and a positioning collar 62a (see FIG. 7) provided in the bearing box 62 are fitted. Large-diameter holes for inserting are continuously formed. As a result, the drive device 50 is aligned with the bearing box 62, the drive shaft 54, and the like.
  • the bearing box 62 is fixed to the lower surface of the connecting member 61 with bolts. Further, as shown in FIG. 7, the bearing box 62 has a hole 6S penetrating along the screw tightening shaft L2, through which the connector portion 54a of the drive shaft 54 of the screw tightening device main body 5 penetrates.
  • the hole 6S of the bearing box 62 has a first hole 6S1, a second hole 6S2, and a third hole 6S3. These are cylindrical concentric holes centered on the screw tightening shaft L2.
  • the second hole 6S2 is larger than the outer diameter of the connector portion 54a of the drive shaft 54, and they do not interfere with each other.
  • the ball bearing 63a is fitted between the first hole 6S1 and the head 54a1 in a state where the connector portion 54a of the drive shaft 54 is inserted into the hole 6S.
  • the ball bearing 63b is fitted between the third hole 6S3 and the waist portion 54a3.
  • the ball bearings 63a and 63b are prevented from coming off by retaining rings 64a and 64b (see FIG. 4), respectively.
  • the drive shaft 54 is rotatably supported by the bearing box 62.
  • the slide member 7 is composed of a housing 70, a connecting plate 71, two ball bearings 72a, 72b, and the like.
  • the housing 70 has a hole 7S penetrating along the screw tightening shaft L2, through which the shaft bar 54b of the drive shaft 54 of the screw tightening device main body 5 penetrates.
  • the hole 7S of the housing 70 has a first hole 7S1, a second hole 7S2, and a third hole 7S3. These are cylindrical concentric holes centered on the screw tightening shaft L2.
  • the second hole 7S2 is larger than the outer diameter of the central portion 55a12 of the extension bar 55, and they do not interfere with each other.
  • the ball bearing 72a is fitted between the first hole 7S1 and the upper portion 55a11 in a state where the tubular portion 55a of the extension bar 55 is inserted into the hole 7S.
  • a ball bearing 72b is fitted between the third hole 7S3 and the lower portion 55a13.
  • the ball bearings 72a and 72b are prevented from coming off by retaining rings 73a and 73b (see FIG. 4), respectively.
  • the extension bar 55 is rotatably supported by the housing 70.
  • the connecting plate 71 is a rectangular plate-shaped member for connecting the tip shaft 43 and the housing 70, and is a columnar hole 71a for the extension bar 55 to penetrate without interference. Is provided.
  • the flange portion 70a of the housing 70 is bolted to one end of the connecting plate 71, and the other end of the connecting plate 71 is bolted to the flange portion 43a of the tip shaft 43.
  • the drive shaft 54 and the extension bar 55 are attached so that the central shafts coincide with the screw tightening shaft L2 and the extension bar 55 smoothly moves up and down along the screw tightening shaft L2.
  • the shape of the flange portion 43a and the flange portion 70a in a plan view may be circular or square. Further, the shape of the end portion of the connecting plate 71 may be made to follow the shape of the flange portion 43a and the flange portion 70a.
  • a bearing, a bush, or the like may be used to connect the connecting plate 71 so as to be relatively rotatable and integrally move in the axial direction.
  • the connector portion 54a of the drive shaft 54 and the bearing box 62 may be connected by a structure similar to the connecting structure. In this case, the relative degrees of freedom between the connecting plate 71 and the tip shaft 43 are increased, alignment and position adjustment are facilitated, and only an axial load is applied to the tip shaft 43. Increased design, processing, and assembly freedom.
  • the control device 81 shown in FIG. 1 controls the SCARA robot 10 and the screw tightening device 11 to control the entire screw tightening system.
  • the control device 81 includes, for example, control circuits such as motors 21, 31, 41, 51, circuits for processing signals from various sensors, operation control circuits, teaching circuits, other signal processing circuits, arithmetic processing circuits, control and display. Consists of a computer and so on.
  • FIG. 9 is a diagram showing an example of an ascending / descending operation of the screw tightening device main body 5.
  • the first arm 3 and the second arm 4 rotate and move in the horizontal direction, so that the screw tightening device main body 5 is positioned directly above the nut 87 of the work W. .. In this state, the center of the nut 82 and the screw tightening shaft L2 coincide with each other.
  • the reaction force due to screw tightening is applied to the drive device 50. Since the drive device 50 is integrated with the arm housing 40 via the connecting member 61 and these are one rigid body, the reaction force applied to the drive device 50 is received by the overall rigidity of the second arm 4. It becomes.
  • the second arm 4 is connected to the first arm 3 on the second axis P2, and the first arm 3 is fixed to the base 2, that is, the floor surface FL on the first axis P1.
  • the second arm 4, the first arm 3, and the link line T connecting the first axis P1 and the screw tightening axis L2 on the floor surface FL form a triangle.
  • the reaction force due to screw tightening acts on the second arm 4, which generates a torque for rotating the second arm 4, but theoretically, this torque does not generate a force for rotating the second shaft P2 itself. .. This is because the triangle is formed by the second arm 4, the first arm 3, and the link line T, and the triangle is not deformed.
  • a force for rotating the second axis P2 may be generated due to rattling or bending of the slide member 7, but even in this case, the distance between the screw tightening shaft L2 and the second axis P2 is large. , The force for rotating the second axis P2 is small, which is within a sufficiently acceptable range in the mechanism of the second axis P2.
  • reaction force due to screw tightening is applied to the second axis P2 as a shear force via the second arm 4, but the length of the second arm 4 is sufficiently larger than the diameter of the nut 82, so the applied force is It is small so that the second shaft P2 is not deformed or excessively worn. Similarly, the force applied to the first axis P1 is small.
  • a small SCARA robot 10 can easily receive the reaction force at the time of screw tightening by the screw tightening device 11, and there is no need to use a large motor or add a new brake. Further, since the small SCARA robot 10 may be used, the transport time does not become long and the production efficiency does not decrease as in the case of increasing the size. Further, since the tip weight is reduced, the moment of inertia is reduced, the positioning speed of the SCARA robot 10 is improved, the cycle time is shortened, and the production efficiency can be improved.
  • the screw tightening device 11 can be easily combined with the robot to perform stable screw tightening with high torque without inviting an increase in size of a robot such as the SCARA robot 10. it can.
  • the screw tightening device 11 is provided by providing a large number of sets of holes corresponding to SCARA robots of different types and sizes as bolt holes for attaching the connecting member 61 to the arm housing 40. It can be easily attached to and combined with SCARA robots 10 of different types and sizes.
  • the arm housing 40 includes an exterior panel and a structural member that supports the exterior panel.
  • ball bearings are used to rotatably support the drive shaft 54 and the extension bar 55, but bearings other than ball bearings, or sliding bearings or fluid bearings may be used.
  • extension bar 55B having the structure shown in FIG. 10 may be used.
  • FIG. 10 shows the extension bar 55B of another embodiment
  • FIG. 10A is a plan view thereof
  • FIG. 10B is a front sectional view thereof.
  • the extension bar 55B has a tubular portion 55Ba and a connecting portion 55Bb.
  • the tubular portion 55Ba and the connecting portion 55Bb are manufactured separately and then integrally connected by welding.
  • the tubular portion 55Ba is provided with a columnar hole 5BS and a hole 552B having an inner peripheral surface having a square cross section provided at the opening at the upper end of the hole 5BS.
  • the connect portion 55Bb is provided with a tip portion 55Bb2 having the same shape as the tip portion of the output shaft 53.
  • the connecting portion 55Bb is welded so that the shaft cores match at the lower end portion of the tubular portion 55Ba.
  • the entire extension bar may be integrally formed.
  • the hole 5S can be machined using an inner diameter machining tool.
  • the base 2 is installed on the floor FL, but it may be installed on the wall or ceiling of the building.
  • a SCARA robot 10 having two arms, a first arm 3 and a second arm 4, is used, the second arm 4 is referred to as a "tip arm” in the present invention, and an elevating shaft is used in the second arm 4.
  • the tip shaft 43 that can move along L1 is referred to as the "tip shaft” in the present invention.
  • the present invention is not limited to this, and a SCARA robot having three or more arms may be used, and the second arm or the third arm at that time may be referred to as a “tip arm”. Further, it can be applied to articulated robots other than SCARA robots and various other robots.
  • the configuration, dimensions, shape, material, number, mounting method, control content, etc. of the above can be appropriately changed in accordance with the gist of the present invention, such as considering cost and delivery date.
  • Screw tightening system 10 SCARA robot (robot) 11 Screw tightening device 2 Base 3 1st arm (arm) 4 Second arm (tip arm) 40 arm housing (housing) 41 Motor (driving means) 43 Tip shaft 50 Drive device (screw tightening drive means) 54 Drive shaft 55,55B Extension bar 56 Tool 6 Attachment unit (connecting member) 61 Connecting member 7 Slide member L1 Lifting shaft (first shaft) L2 screw tightening shaft (second shaft)

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
PCT/JP2020/015789 2019-08-02 2020-04-08 ネジ締付システムおよびネジ締付装置 Ceased WO2021024550A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US17/631,925 US12145229B2 (en) 2019-08-02 2020-04-08 Screw fastening system and screw fastening device
JP2021537577A JP7176800B2 (ja) 2019-08-02 2020-04-08 ネジ締付システムおよびネジ締付装置
EP20850790.5A EP4008494A4 (en) 2019-08-02 2020-04-08 SCREW FASTENING SYSTEM AND SCREW FASTENING DEVICE

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-142934 2019-08-02
JP2019142934 2019-08-02

Publications (1)

Publication Number Publication Date
WO2021024550A1 true WO2021024550A1 (ja) 2021-02-11

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EP (1) EP4008494A4 (https=)
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CN113500365A (zh) * 2021-07-09 2021-10-15 安庆师范大学 一种计算机电源的快速组装装置
DE102023120300A1 (de) * 2023-07-31 2025-02-06 HELLA GmbH & Co. KGaA Vorrichtung und Verfahren zur automatisierten Herstellung von Schraubverbindungen
WO2025031854A1 (en) 2023-08-09 2025-02-13 Basf Se Fungicidal compositions comprising carboxamides

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CN115592401B (zh) * 2022-09-28 2024-04-26 律扬（上海）自动化工程有限公司 双工位拧紧装置

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113500365A (zh) * 2021-07-09 2021-10-15 安庆师范大学 一种计算机电源的快速组装装置
CN113500365B (zh) * 2021-07-09 2022-05-31 安庆师范大学 一种计算机电源的快速组装装置
DE102023120300A1 (de) * 2023-07-31 2025-02-06 HELLA GmbH & Co. KGaA Vorrichtung und Verfahren zur automatisierten Herstellung von Schraubverbindungen
WO2025031854A1 (en) 2023-08-09 2025-02-13 Basf Se Fungicidal compositions comprising carboxamides

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EP4008494A4 (en) 2023-08-02
JPWO2021024550A1 (https=) 2021-02-11
US20220347805A1 (en) 2022-11-03
JP7176800B2 (ja) 2022-11-22
EP4008494A1 (en) 2022-06-08
US12145229B2 (en) 2024-11-19

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