JP3676881B2 - Tool moving device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a tool moving device that reciprocally moves a tool such as a nut runner or a drill of a machine tool along a predetermined vertical orbit of a vertical path.
[0002]
[Prior art]
When reciprocating a tool used in an automatic assembly machine or machine tool on a gate-type track that includes a vertical vertical direction and a horizontal horizontal direction, two cylinders, a vertical movement cylinder and a horizontal movement cylinder, are used. Is usually used. For example, as shown in FIG. 12, when a bearing cap 2 is bolted to a cylinder head 1 of an automobile engine with a nut runner 4, the nut runner 4 is moved vertically and horizontally by two cylinders 61 and 62 by a constant stroke. Yes.
[0003]
For example, as shown in FIG. 13, eight bolts 3 are arranged in two rows on the right and left sides. The eight right bolts 3 are four in the inner row m and four in the outer row n, and the eight left bolts 3 are four in the inner row m ′ and four in the outer row n ′. Four nut runners 4 are arranged directly above each bolt 3 in the right inner row m, and four nut runners are similarly placed directly above each four bolts 3 in the left inner row m ′. 4 is arranged. The four nut runners 4 on the right side are moved up and down and left and right by the vertical movement cylinder 62 and the left and right movement cylinder 61, and the four nut runners 4 on the left side are also moved up and down by the vertical movement cylinder 62 and the left and right movement cylinder 61 in the same manner. It is moved left and right.
[0004]
The four nut runners 4 on the right side and the four nut runners 4 on the left side of FIG. 12 move up and down and left and right at the same speed synchronously with each other, and simultaneously tighten the bolts 3 in the inner rows m and m ′, Next, the bolts 3 of the outer rows n and n ′ are tightened simultaneously. This bolting operation will be described with the operations of the four nut runners 4 on the right side.
[0005]
Four nut runners 4 are lowered by the operation of the vertical movement cylinder 62 from a fixed position right above the four bolts 3 in the inner row m, and the four inner rows to which the socket members 5 of the respective nut runners 4 correspond. M is fitted to the head of the bolt 3. When the rotation driving unit 6 that rotates the socket member 5 of each nut runner 4 is operated to complete the tightening of the bolt 3 with the socket member 5, the vertical movement cylinder 62 is operated and the nut runner 4 is raised to the original fixed position. . Next, the left / right cylinder 61 is actuated to move each nut runner 4 to a fixed position directly above the four bolts 3 in the outer row n, and then the vertical cylinder 62 is actuated again to activate each nut runner. 4 is moved up and down to tighten the bolts 3 in the outer row n.
[0006]
The nut runners described above are used in the bolt tightening process of automobile engine manufacture. In the automobile engine manufacturing process, after drilling holes for attaching the crankshaft to the bolted cylinder head and bearing cap, remove the bearing cap from the cylinder head, reassemble the crankshaft, and reattach the bearing cap to the cylinder head. There is a process of bolting. In this process, a nut runner dedicated to bolt loosening is used to loosen the bolt from the bearing cap bolted to the cylinder head. In such a nut runner dedicated to loosening bolts, vertical and horizontal movements are performed by two vertical and horizontal cylinders similar to the above.
[0007]
[Problems to be solved by the invention]
The vertical and horizontal movements of a tool such as the nut runner socket member for bolt tightening or bolt loosening described above are moved using a position sensor such as a limit switch or photoelectric switch each time a fixed stroke is moved vertically or horizontally. Completion confirmation or position confirmation operation is performed, and after this position confirmation, the next operation is performed. Such a position check operation after the movement of the tool is necessary for accurately moving the tool, but the time from the position check to the next operation command is in the cycle time required for one up / down / left / right movement of the tool. Loss time has been made, making it difficult to speed up the movement of the tool up and down, left and right and shorten the cycle time.
[0008]
An object of the present invention is to provide a tool moving device that shortens a cycle time by shortening a loss time when a tool reciprocates vertically and horizontally.
[0009]
[Means for Solving the Problems]
The present invention relates to a tool moving device for reciprocating a vertical or horizontal portal track from a predetermined position with a fixed stroke from a predetermined position, which includes a single shaft rotation drive source, a first cam for left and right movement, and a second cam for vertical movement. By using a cam, the above object is achieved.
[0010]
That is, the tool moving device of the present invention includes a support frame that supports the entire device, a left and right moving table that is installed on the support frame so as to be able to reciprocate in the left-right direction of the tool, A tool support that is supported so as to be able to reciprocate in the moving direction, a rotation drive shaft installed on the left and right moving table, a shaft rotation drive source that reciprocates the rotation drive shaft at a constant angle, and a first fixed to the rotation drive shaft. A left and right drive mechanism installed between the one cam and the support frame and having a cam follower for converting the rotational force of the first cam by the rotational drive shaft into the left and right moving force of the left and right moving table; and a first fixed to the tool support. A cam follower is provided between the two cams and the rotation drive shaft, and rotates integrally with the rotation drive shaft to move the tool support up and down through the second cam.
[0011]
Here, the left / right drive mechanism has a structure including a lever that converts the rotational force of the first cam fixed to the rotational drive shaft of the left / right moving table into the left / right moving force of the left / right moving table. The vertical drive mechanism has a structure including a cam follower that rotates integrally with the rotary drive shaft to move the second cam of the tool support up and down. By operating such a pair of cams and the drive mechanism of each of the upper, lower, left and right with a single rotation drive shaft and its rotation drive source, it is not necessary to perform a position confirmation operation at each movement point when the tool moves up and down, left and right, The cycle time can be shortened.
[0012]
Further, in the present invention, the number of tools supported by the tool support is not limited to a single one, and a tool support that supports a plurality of tools and a plurality of tool driving units that individually operate the plurality of tools is practical. It is effective.
[0013]
Moreover, in the case of the tool movement device of the nut runner application in the above invention, The nut runner has a configuration in which the socket member and the rotational drive unit that rotationally drives the socket member are arranged up and down, The socket member and the rotation drive unit are offset so that the rotation center of the socket member and the rotation axis center line of the rotation drive unit are spaced apart in parallel in each of the nut runners. Move the stopper for pushing the workpiece, such as a bolt stuck to the lower end of the socket member at the lower end of the rod by pushing down the upper end of the rod when the socket member is lifted by the vertical drive mechanism. It can be fixedly arranged on the table side.
[0014]
Here, the tool moving device provided with the stopper is effective for loosening a bolt with a nut runner. That is, when a socket member of a nut runner loosens a bolt in place and releases the socket member, a problem may occur that the loosened bolt adheres to the socket member and is lifted without being separated from the socket member. is there. Therefore, the work sticking rod is passed through the socket member coaxially, the upper end of this rod is brought into contact with the stopper just above the socket member when it is lifted by the vertical drive mechanism of the socket member, and the rod is pushed down relatively with the stopper. The bolt stuck in the socket member is pushed down at the lower end of the rod. A simple stopper such as a flat plate fixed to the left and right moving table is sufficient as a stopper as a means for dropping such a clogged bolt, and a bolt dropping mechanism in a nut runner dedicated for bolt loosening is simplified.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the first embodiment will be described with reference to FIGS. 1 to 7, and the second embodiment will be described with reference to FIGS.
[0016]
In the first embodiment, the present invention is applied to an up / down / left / right moving device of a nut runner dedicated to bolt tightening. 1 and 2 show an apparatus for fastening the bearing cap 2 to the cylinder head 1 of FIGS. 12 and 13 with a total of 16 bolts 3. The nut runner 4 shown in the apparatus of FIG. 1 is the same as that of FIG. 12 and moves vertically and horizontally. First, four bolts 3 in the inner rows m and m ′ are first tightened, and then in the outer rows n and n ′. Tighten four bolts 3 each. Four nut runners 4 directly above the four bolts 3 in the inner row m are integrated and simultaneously driven by the tool moving device 10 of the embodiment of the present invention, and similarly, 4 in the other inner row m ′. Four nut runners 4 directly above the three bolts 3 are integrated by another tool moving device 10 and driven simultaneously. The pair of left and right tool moving devices 10 and 10 operate symmetrically with the same left-right symmetrical structure. Hereinafter, the tool moving device 10 on the right side of FIG. 1 will be mainly described.
[0017]
The four nut runners 4 that are moved up, down, left, and right by the tool moving device 10 are constituted by a socket member 5 and a rotation drive unit 6. In this case, the nut runner 4 is used for bolt tightening, and the socket member 5 and the rotation drive unit 6 are arranged vertically coaxially. The rotation driving unit 6 of each nut runner 4 is supported by a common tool support 13, and the tool support 13 is supported by the left / right moving table 12 so as to be movable up and down. The left / right moving table 12 is a horizontal table and is installed on the support frame 11 that supports the entire tool moving device 10 so as to be movable left and right.
[0018]
The tool moving device 10 moves the four nut runners 4 up and down and left and right with a single shaft rotation drive source 15 and a rotation drive shaft 14. The rotation drive shaft 14 is installed on the left / right movement table 12 so as to be rotatable in parallel with the tool left / right movement direction, and the shaft rotation drive source 15 is installed at the outer (right side) end of the rotation drive shaft 14. The shaft rotation drive source 15 is a rotary actuator or the like that converts the reciprocating linear motion of the cylinder into a rotational motion. The shaft rotation drive source 15 is fixed on the left / right moving table 12 and moves the rotation drive shaft 14 in a constant angle range (180 ° in this embodiment). Rotate back and forth.
[0019]
As shown in FIGS. 3 and 4, the first cam 20 is fixed to a part of the rotary drive shaft 14, and the left and right drive mechanism 21 is installed between the first cam 20 and the support frame 11. The second cam 30 is fixed to the tool support 13 located adjacent to the tip of the rotational drive shaft 14, and the vertical drive mechanism 31 is installed between the second cam 30 and the rotational drive shaft 14.
[0020]
The first cam 20 and the left / right drive mechanism 21 move the left / right moving table 12 left and right by the rotational force of the rotation drive shaft 14. The first cam 20 is a perfect circular cam having a first cam groove 22 on the outer periphery, for example, and is coaxially fixed to the rotary drive shaft 14. The first cam groove 22 includes two inner circumferential grooves 22L and an outer circumferential groove 22R that are parallel to the circumferential direction of the first cam 20, as shown in the development view of the circumferential direction 180 ° in FIG. Each of the circumferential grooves 22L and 22R has an inclined groove 22S by linearly connecting the ends thereof.
[0021]
The left / right drive mechanism 21 is a composite lever mechanism having a cam follower 23 inserted in a first direction into the first cam groove 22 of the first cam 20, and as shown in FIG. 4, the first lever 24, the connecting shaft 25, Two levers 26 are provided. The connecting shaft 25 is disposed horizontally on the left / right moving table 12 in a direction orthogonal to the tool left / right moving direction, and is rotatably supported by a bearing 27 fixed to the left / right moving table 12. The lower end of the first lever 24 is fixed to the inner end of the connecting shaft 25, and the cam follower 23 is rotatably installed at the upper end of the first lever 24. The outer end portion of the connecting shaft 25 protrudes from the left / right moving table 12, and the upper end portion of the second lever 26 is fixed to the outer end portion. A lower end portion of the second lever 26 is rotatably supported by a fixed block 28 on the support frame 11 with a pin 29.
[0022]
When the first cam 20 is rotated by the rotary drive shaft 14, the cam follower 23 fitted into the first cam groove 22 from a fixed direction relatively moves between the circumferential groove 22 </ b> L or 22 </ b> R of the first cam groove 22 and the inclined groove 22 </ b> S. Then, the first lever 24 rotates and swings around the connecting shaft 25 in the tool lateral movement direction. The rotation of the first lever 24 causes the connecting shaft 25 to rotate integrally. With this rotation, the second lever 26 attempts to rotate and swing around the connecting shaft 25. The lower end of the second lever 26 is supported by the support frame. 11 is connected to the left and right moving table 12 via the connecting shaft 25 and the bearing 27, so that the left and right moving table 12 is connected to the support frame 11. Move left and right. That is, when the first lever 24 and the second lever 26 are regarded as an integrated “lever”, the pin 29 is a fulcrum, the cam follower 23 is a power point, and the bearing 27 is an action point. The moving direction of the left / right moving table 12 is the same as the moving direction of the cam follower 23 by the rotation of the first cam 20. The tool support 13 and the nut runner 4 supported by the left / right movement table 12 move left / right.
[0023]
The second cam 30 and the vertical drive mechanism 31 move the tool support 13 and the nut runner 4 up and down by the rotational force of the rotary drive shaft 14. The second cam 30 is, for example, a rectangular flat plate cam, and has a back surface fixed to the tool support 13 and a second cam groove 32 as shown in FIG. 6 on a vertical surface. The second cam groove 32 has an arc groove 32S formed at the center of the surface of the second cam 30 and a pair of horizontal grooves 32L, 32R extending horizontally from both ends thereof. The vertical drive mechanism 31 includes a rotation arm 33 fixed to the distal end portion of the rotation drive shaft 14 and a cam follower 34 that is rotatably installed at the distal end portion of the rotation arm 33. The rotary arm 33 extends in the radial direction of the rotary drive shaft 14, and the cam follower 23 at the tip of the rotary arm 33 is fitted into the cam groove 32 of the second cam 30.
[0024]
The rotation radius r at the center of the cam follower 23 of the rotary arm 33 that rotates integrally with the rotary drive shaft 14 and the center line curvature radius of the arc groove 32S of the second cam groove 32 are set to be equal to each other. When the rotary arm 33 reciprocates by reciprocating rotation of the rotational drive shaft 14 at a constant angle (180 ° in this embodiment), the cam follower 23 moves from the horizontal groove 32L or 32R of the second cam groove 32 to the arc groove 32S, and the arc It moves from the groove 32S to the horizontal groove 32R or 32L. While the cam follower 23 moves in the horizontal groove 32L or 32R, the tool support 13 moves up and down by the rotational force of the rotary arm 33, and the tool support 13 is held in a fixed position while the cam follower 23 moves in the arc groove 32S. The
[0025]
Here, for example, when the shaft rotation drive source 15 reciprocates the rotation drive shaft 14 within a constant angle range of 180 °, the first lever is rotated during the forward rotation of the first cam 20 (left rotation as viewed from the shaft rotation drive source 15). 24, the cam follower 23 moves relative to the first cam groove 22 from Pa at the fixed position in FIG. 5 to Pb, Pc, Pd, and when the first cam 20 rotates in the backward direction (right rotation as viewed from the shaft rotation drive source 15). Relative movement from the opposite home position Pd to Pc, Pb, Pa. One fixed position Pb is in the boundary area between the inner circumferential groove 22L and the inclined groove 22S, and the other fixed position Pc is in the boundary area between the outer circumferential groove 22R and the inclined groove 22S. The rotation angle α of the first cam 20 when the cam follower 23 relatively moves from the position Pa to Pb and the rotation angle α of the first cam 20 when the cam follower 23 moves relatively from the position Pd to Pc are the same, and the cam follower Assuming that the rotation angle of the first cam 20 when 23 is relatively moved between the positions Pb and Pc is β, β + 2α = 180 °.
[0026]
On the other hand, the relationship between the second cam groove 32 of the second cam 30 and the cam follower 34 of the rotary arm 33 is set as shown in FIG. 6 corresponding to the relationship of FIG. That is, the cam follower 34 moves from the fixed positions Qa to Qb of the second cam groove 32 in the second cam groove 32 during the forward rotation of the rotary arm 33 due to the 180 ° reciprocation of the rotary drive shaft 14 (left rotation as viewed from the shaft rotary drive source 15). Relative movement to Qc, Qd, and relative movement from the reverse fixed position Qd to Qc, Qb, Qa when the rotary arm 33 rotates in the backward direction (right rotation). One fixed position Qb is in the boundary area between the horizontal groove 32L and the arc groove 32S on one side, and the other fixed position Qc is in the boundary area between the other horizontal groove 32R and the arc groove 32S. The rotation angle of the rotary arm 33 when the cam follower 34 moves relative to the fixed positions Qa to Qb and Qd to Qc is set to α, and the rotary arm when the cam follower 34 moves relatively between the fixed positions Qb and Qc The rotation angle of 33 is set to β.
[0027]
Accordingly, when the rotary drive shaft 14 is reciprocated once by the shaft rotary drive source 15, the nut runner 4 moves in a gate shape up and down and left and right, and the bolts 3 in the inner row m of the bearing cap 2 in a fixed position. Then, the bolts 3 in the outer row n are tightened. This bolt tightening operation will be described with reference to FIGS.
[0028]
FIG. 7 (A) shows a state immediately before the nut runner 4 is lowered and the socket member 5 is inserted into the head of the bolt 3 in the inner row m just before bolt tightening. In this state, when the nut runner 4 starts the bolt tightening operation and the bolts 3 in the inner row m are tightened to the bearing cap 2, the rotary drive shaft 14 starts to rotate forward.
[0029]
The first cam 20 and the rotary arm 33 integrally start the forward rotation by the forward rotation of the rotation drive shaft 14 and shift to the state of FIG. That is, the cam follower 23 relatively moves from the position Pa of the inner circumferential groove 22 of the first cam groove 22 to Pb by the forward rotation of the first cam 20 at a constant angle α, but the absolute position of the cam follower 23 does not change, The moving table 12 remains stopped. On the other hand, when the rotary arm 33 rotates forward to a constant angle α integrally with the rotary drive shaft 14, the cam follower 34 moves relative to the horizontal groove 32L of the second cam groove 32 from the position Qa to Qb, and rotates upward during this movement. The cam follower 34 pushes up the second cam 30 by a constant stroke s, and the tool support 13 and the nut runner 4 are raised by the constant stroke s via the second cam 30. That is, when the rotary drive shaft 14 rotates in the forward direction by a constant angle α, the nut runner 4 rises by a predetermined stroke s without moving left and right.
[0030]
When the rotary drive shaft 14 further rotates forward from the state of FIG. 7B by a constant angle β, the state shifts to the state of FIG. In this transition, the cam follower 34 of the rotating arm 33 moves the arc groove 32S of the second cam groove 32 from the position Qb to Qc. At this time, the rotation radius r of the center of the cam follower 34 and the center line of the arc groove 32S Since the curvature radii are the same, the second cam 30 is kept stationary without being raised or lowered, and the nut runner 4 is stationary at a fixed position in the vertical direction. On the other hand, when the first cam 20 rotates forward by a constant angle β, the cam follower 23 moves relative to the first cam groove 22 from the fixed position Pb to Pc, and the relative movement causes the bearing 27 to push rightward in FIG. In response, the left / right moving table 12 moves to the right by a constant horizontal stroke s ′ as shown in FIG. With this right horizontal movement, the tool support 13 and the nut runner 4 are also moved to the right by the fixed stroke s ′, and the nut runner 4 is moved to a fixed position just above the bolts 3 in the outer row n.
[0031]
Next, when the rotary drive shaft 14 further travels forward by a constant angle α from the state of FIG. 7C, the state shifts to the state of FIG. 7D and the nut runner 4 descends by a constant stroke s, and the socket member. 5 is inserted into the head of the bolt 3 in the outer row n. That is, the cam follower 23 relatively moves from the position Pc of the outer circumferential groove 22R of the first cam groove 22 to Pd by the forward rotation of the first lever 24 at a constant angle α, but the absolute position of the cam follower 23 does not change and moves left and right. Table 12 remains stopped. On the other hand, when the rotary arm 33 rotates forward to a constant angle α, the cam follower 34 moves relative to the horizontal groove 32R of the second cam groove 32 from the position Qc to Qd, and the cam follower 34 that rotates downward at this time is the second cam 30. Is pushed down by a fixed stroke s to lower the tool support 13 and the nut runner 4 by a fixed stroke s.
[0032]
In the state of FIG. 7D, the nut runner 4 operates to tighten the bolts 3 in the outer row n to the bearing cap 2. After completion of this bolt tightening, the rotary drive shaft 14 rotates in the reverse direction opposite to that in the case of FIG. 7, and the nut runner 4 is moved upward, moved left, and moved downward in the reverse course.
[0033]
As described above, the vertical movement of the nut runner 4 on the predetermined trajectory is converted into the horizontal movement force by the first cam 20 by converting the reciprocating rotational force of the rotational drive shaft 14 by the single shaft rotational drive source 15. If the second cam 30 is converted into a vertical movement force, the drive source required for the vertical and horizontal movement is only one. In addition, it is possible to obtain the accuracy of the moving point with high accuracy without checking the movement completion point when the nut runner 4 moves up and down, left and right, and the minimum cycle time without loss time. Will be able to do it.
[0034]
In the first embodiment described above, the case where the rotary drive shaft 14 is reciprocated within a range of 180 ° has been described. However, even if this reciprocating rotation angle is other than 180 °, Accordingly, since the shapes of the first cam groove 22 and the second cam groove 32 may be set respectively, the reciprocating rotation angle of the rotary drive shaft 14 is not particularly limited to 180 °. In addition, the nut runner 4 is moved up and down by a fixed stroke and then moved left and right. However, the shape of the second cam groove 32 of the first cam groove 22 is changed and the nut runner 4 is moved left and right from the middle of raising and lowering. It is also possible to make it. In this case, the movement track of the nut runner 4 has a gate shape close to an inverted U shape. Such a change in the shape of the gate-shaped track can be freely performed as long as no interference exists in the movement path of the nut runner 4. However, it is necessary to make the movement path of the nut runner 4 vertical in order to perform the detachment with the socket member 5 without any trouble in the immediate vicinity of the bolt 3.
[0035]
In the first embodiment, as shown in FIGS. 1 and 2, an air cylinder 40 is installed on the upper part of the left / right moving table 12, and air pressure for constantly lifting the tool support 13 is constantly supplied to the air cylinder 40. It is desirable to keep it. That is, when four nut runners 4 are attached to the tool support 13, the total weight thereof becomes considerably large, and the load applied to the shaft rotation drive source 15 for moving the nut runner up and down increases. Therefore, if the air pressure that matches the total weight of the four nut runners 4 and the tool support 13 is supplied to the air cylinder 40 so that the tool support 13 is always lifted, the nut runner 4 will move up and down very quickly. Therefore, the load applied to the shaft rotation drive source 15 is light.
[0036]
Further, as shown in FIG. 3, guide pins 41 and guide holes 42 for upper and lower guides may be formed between the tool support 13 and the support frame 11. The guide pins 41 are formed downward on the lower end of the tool support 13, and the guide holes 42 are formed on the support frame 11 as a pair of left and right. Immediately before the tool support 13 is lowered and the nut runner 4 is inserted into the bolt 3, the guide pin 41 is inserted into the guide hole 42 to perform positioning guide when the nut runner 4 is lowered.
[0037]
The first embodiment described above is applied to a bolt tightening nut runner. The tool moving device 10 of the second embodiment shown in FIGS. 8 to 11 is applied to a bolt loosening nut runner. It is. The tool moving device 10 for loosening the bolt loosens the bolt 3 in the inner row m of the bearing cap 2 with the socket member 5 of the nut runner 4, and lifts the nut runner 4 while leaving the loosened bolt 3 in the bearing cap 2. Then, a series of operations are performed in which it is moved laterally to just above the bolt 3 in the next outer row n and lowered.
[0038]
In the case of the tool moving device 10, when the socket member 5 is pulled up from the loosened bolt 3, there is a possibility that the head of the bolt 3 is clogged in the socket member 5 and the bolt 3 is pulled up together. The vertical movement stroke needs to be set larger than that of the first embodiment, and the extra vertical movement stroke required is obtained by the vertical movement cylinder 50 shown in FIG. The added vertical movement cylinder 50 moves the support frame 11 supporting the entire tool moving device 10 up and down to move all the nut runners 4 up and down collectively.
[0039]
The feature of the second embodiment is that the nut runner 4 is offset to prevent the bolt 3 from being lifted together when the socket member 5 is lifted, and the rod for dropping the bolt coaxially with the socket member 5. 51, and the stopper 52 is installed at the upper limited position when the rod 51 is raised.
[0040]
That is, the socket member 5 and the rotary drive unit 6 of the nut runner 4 are arranged in a state where the axes of the nut runner 4 are shifted laterally with respect to the tool support 13, that is, in an offset state, and a space is provided above the socket member 5. . Further, as shown in FIG. 10B and FIG. 11B, a bolt pushing rod 51 is penetrated coaxially through the socket member 5 so as to be movable up and down. The large diameter portion 51 ′ at the upper end of the rod 51 is locked to the upper end of the socket member 5, so that the rod 51 is freely inserted into the socket member 5, and at this time, the lower end portion of the rod 51 is connected to the lower end of the socket member 5. It protrudes slightly from the bolt fitting hole 53 of the part. Then, a flat stopper 52 is installed at a fixed position directly above the socket member 5. The stopper 52 is fixed to the lower surface of the distal end portion of the support plate 54 whose base end portion is fixed to the left / right moving table 12. The mutual relationship between the stopper 52 and the rod 51 will be described with reference to FIGS.
[0041]
FIG. 10 shows the case where the bolts are loosened normally. As shown in FIG. 10 (A), when the nut runner 4 descends and the bolts 3 in the inner row m are loosened, the nut runner 4 becomes the first one. As with the embodiment, the cam mechanism raises the fixed stroke. When the bolt 3 is normally removed from the socket member 5 at this time, only the nut runner 4 is lifted as shown in FIG. 10B, and the bolt 3 remains in the bearing cap 2 in a loosened state.
[0042]
When the nut runner 4 ascends from the state of FIG. 10 (A), if the socket member 5 is clogged with the head of the bolt 3 or the like, the bolt 3 is attached together with the socket member 5 as shown in FIG. Be raised. At this time, the lower end of the rod 51 is pushed up by the head of the bolt 3 in the bolt fitting hole 53 of the socket member 5, and the large-diameter portion 51 ′ at the upper end of the rod 51 is lifted from the upper end of the socket member 5. Held in a state. When the nut runner 4 tries to rise to the upper limit position by the cam mechanism similar to that in FIG. 7B from the state of FIG. In this case, the rod 51 is slightly pushed down by the stopper 52. The rod 51 pushes down the bolt 3 from the bolt fitting hole 53 of the socket member 5 by this depression. The bolt 3 that has been dropped returns to the bearing cap 2, and the rod 51 also falls slightly due to its own weight, and is stabilized at a fixed position where the large diameter portion 51 ′ is locked to the upper end of the socket member 5.
[0043]
The stopper 52 installed just above the socket member 5 of the nut runner 4 that is offset as described above has a simple flat plate structure and reliably pushes down the rod 51 and the bolt 3. Such a stopper 52 can be installed by arranging the nut runner 4 in an offset manner. As in the first embodiment of FIG. 1, the nut runner has a socket member and a rotational drive portion that are coaxially arranged. When the bolt sticking rod is passed through the socket member, In order to make it drop off, it is necessary to make a complicated structure in which a part of the rod protrudes to the outer periphery of the socket member and the protruding portion is pushed down by a lever or the like from the outside.
[0045]
【The invention's effect】
According to the tool moving device of the first and second aspects, since the tool moves up and down and left and right only with the power of one shaft rotation drive source, the drive source can be configured with the minimum number, and the equipment cost can be reduced. In addition, the rotary drive shaft is reciprocally rotated by the shaft rotary drive source, and this rotational force is converted into the vertical and horizontal movement force of the tool by the vertical cam drive mechanism and the horizontal cam drive mechanism. Accurate up / down / left / right movement can be achieved without the confirmation operation at the left / right movement points, and the cycle time can be shortened.
[0046]
Also, It is possible to reduce the size and weight by reducing the drive source of the nut runner moving device that sequentially tightens or loosens a pair of adjacent bolts with the nut runner, and to increase the speed of the nut runner up and down and left and right.
[0047]
Also, When the bolt is loosened, the nut runner's socket member can be pushed through the stopper with a simple structure that is installed directly above the socket member. Reliability is improved.
[Brief description of the drawings]
FIG. 1 is a front view of a tool moving device according to a first embodiment of the present invention.
FIG. 2 is a side view of the apparatus of FIG.
3 is an enlarged front view of the main part of the apparatus shown in FIG.
4 is an exploded perspective view of the main part of FIG. 3;
5 is a development view of the cam groove of the first cam shown in the main part of FIG. 3. FIG.
6 is a front view of a second cam shown in the main part of FIG. 3;
FIGS. 7A to 7D are front views showing a relationship between the first cam and the second cam when the tool (nut runner) moves vertically and horizontally in the apparatus shown in FIG.
FIG. 8 is a front view of a tool moving device according to a second embodiment of the present invention.
9 is a side view of the apparatus of FIG.
10A and 10B are front views of each operation state during normal bolt loosening operation of the nut runner in the apparatus of FIG.
FIGS. 11A and 11B are front views of each operation state when the nut runner of the nut runner in FIG.
FIG. 12 is a front view schematically showing a nut runner moving device for explaining a conventional tool moving device.
13 is a plan view showing an arrangement state of bolts in FIG. 12. FIG.
[Explanation of symbols]
3 bolts
4 Nutrunner
5 Socket member (tool)
6 Rotation drive part (tool drive part)
10 Tool moving device
11 Support frame
12 Left and right moving table
13 Tool support
14 Rotation drive shaft
15-axis rotational drive source
20 First cam
21 Left-right drive mechanism
30 Second cam
31 Vertical drive mechanism
51 Rod for dropping workpiece
52 Stopper

Claims (2)

In the tool moving device for reciprocating the vertical and horizontal portal tracks with a predetermined stroke from a predetermined position,
A support frame that supports the entire apparatus, a left and right moving table that is installed on the support frame so as to be able to reciprocate in the left and right direction of the tool, and a tool that supports the tool and is supported by the left and right moving table so that the tool can be reciprocated in the vertical direction of the tool. A tool support, a rotation drive shaft installed on the left and right moving table, a shaft rotation drive source that reciprocates the rotation drive shaft at a constant angle, a first cam fixed to the rotation drive shaft, and the support frame. A left and right drive mechanism installed between the left and right drive mechanisms for converting a rotational force of the first cam by the rotational drive shaft into a left and right moving force of the left and right moving table; and a second cam fixed to the tool support; Vertical drive provided with a cam follower that is installed between the rotary drive shafts and rotates integrally with the rotary drive shaft to move the tool support up and down through the second cam. Provided with a structure,
The tool supported by the tool support is a nut runner,
The nut runner has a configuration in which a socket member and a rotation drive unit that rotationally drives the socket member are arranged vertically, and the rotation center of the socket member of the nut runner and the rotation axis center line of the rotation drive unit are separated in parallel. When the socket member and the rotary drive unit are offset, the workpiece dropping rod is penetrated so that the socket member is coaxial with the socket member and can be moved relative to the vertical direction, and the socket member is lifted by the vertical drive mechanism. A tool moving device characterized in that a stopper that pushes down the upper end of the rod and pushes down a workpiece such as a bolt clogged at the lower end of the socket member at the lower end of the rod is fixedly arranged on the left and right moving table side .   2. The tool moving device according to claim 1, wherein the tool support supports a plurality of tools and a plurality of tool driving units for operating the plurality of tools separately.

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