JPH025539B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an industrial robot for bolt tightening that performs tightening work by moving a bolt tightening machine attached to a sliding arm to a pre-stored position according to an operation program. It is.

Conventionally, in this type of robot, one type of bolt/nut engagement socket is attached to one robot so that only the same type of bolt/nut can be tightened. For this reason, when tightening many types of bolts and nuts, it is necessary to deploy a plurality of robots according to the types, which is an inconvenience. In addition, in this case, the operating rate of each machine was poor, and it was also a stimulant.

The present invention has been made in view of the above circumstances, and aims to provide an industrial bolt tightening robot that can tighten multiple types of bolts and nuts with one robot and can significantly increase the operating rate. purpose.

According to the present invention, this purpose is for bolt tightening, in which one bolt tightening machine body attached to one sliding arm is moved to a pre-stored position according to an operation program to perform tightening work. An industrial robot, comprising: a socket attachment/detachment means for removably attaching a bolt/nut engagement socket to the output shaft of the bolt tightening machine; and a replacement socket disposed within a movement range of the bolt tightening machine; The attachment/detachment means includes a collet pawl provided at the lower end of the output shaft for gripping the socket, an outer cylinder that engages with and disengages from the outer slope of the collet pawl to open and close the collet pawl, and an outer cylinder for opening and closing the collet pawl of the outer cylinder. The bolt tightening machine is equipped with a spring and an electromagnetic coil to move the bolt to a corresponding replacement socket according to the operation program corresponding to the type of bolt or nut, and the socket can be automatically replaced. This is achieved by an industrial robot for bolt tightening. The present invention will be explained in detail below based on the illustrated embodiments.

In FIG. 1, reference numeral 10 denotes a robot according to the present invention, which includes a base 12, a first arm 14 pivoted on the base 12, and a first arm 14 pivoted on the rotation axis of the first arm 14. It is provided with a second arm 16, a slide rod 18 slidable up and down at the tip of the second arm 16, and a main body 22 of a bolt tightening machine attached to the lower end of the slide rod 18 via a bracket 20. First and second arms 14,1
6 are each slid approximately horizontally by a power source such as a servo motor, and the slide rod 18 is also moved up and down by a suitable power source, so that the main body 22 is carried to a predetermined position.

The main body 22 has a built-in motor and a speed reducer, and the output shaft 23 has attachment/detachment means 26 for a bolt/nut engagement socket 24. Various types of attachment/detachment means 26 are possible.
In the illustrated embodiment, three claws 28 are provided for grasping the socket 24 from three sides.

Multiple types of sockets 24 are prepared according to the types of bolts and nuts, and these are connected to the belt conveyor 30.
It is transported within the movement range of the main body 22 by a transporting means such as the following.

Figure 2 shows the socket 2 held by the attachment/detachment means 26.
4 is a sectional view of FIG. A bolt/nut engagement hole 32 is formed in the lower part of the socket 24, and an electromagnetic coil 34 serving as a suction means is mounted so as to surround this engagement hole 32. A terminal plate 36 is attached to the upper surface of the socket 24, and both ends of the coil 34 are connected to electrode plates 38a and 38b of the terminal plate 36. Electrodes 40a and 40b are attached to the main body 22 side, and these connect the socket 24 to the attachment/detachment means 26.
When attached to the coil 34, it comes into contact with each electrode plate 38a, 38b, and the coil 34 can be energized. This coil 3
4 magnetizes the socket 24,
The bolt/nut is attracted to the engagement hole 32.

FIG. 3 is a sectional view of another attachment/detachment means 26A,
The socket 24A is attached and detached by the collect chuck mechanism. That is, the outer cylinder 5 is attached to the conical surface 52 on the outer periphery of the socket grip part 50 formed at the lower end of the output shaft 23A.
4 is pressed by the spring 56 and the socket 24A
While gripping the socket 24A, by energizing the electromagnetic coil 58, the outer cylinder 54 moves to compress the spring 56, thereby releasing the socket 24A. Further, in this embodiment, the electromagnetic coil 60 for attracting bolts and nuts is not provided on the socket 24A itself, but is provided on the attachment/detachment means 26A side.

In FIG. 1, 70, 70a, and 70b are feeders that supply various bolts and nuts to predetermined positions. Further, 72 is a workpiece, and 74 is a conveyor for transporting the workpiece 72.

In this embodiment, according to a pre-stored program,
It works as follows. Next, sockets 24 and 24 according to the type of bolts and nuts used for tightening work.
If A is already gripped by the attachment/detachment means 26, 26A, the robot 10 moves the main body 22 onto the feeder 70 that supplies the bolts and nuts to be used;
The coils 34 and 60 are energized. Then, the bolt/nut is attracted into the engagement hole 32, and in this state, the main body 22 is moved to the screwing position of the workpiece 72.
further descended. Then, when the motor of the main body 22 is started, the bolts and nuts are tightened.

The above operation can be repeated when tightening the same type of bolt or nut.

When tightening different types of bolts and nuts,
The currently gripped socket is returned to the predetermined position on the conveyor 30, and the attachment/detachment means 26, 26A are raised and put on standby. Then, the conveyor 30 is operated to move the desired socket 24, 24A below the waiting attachment/detachment means 26, 26A.
26a is lowered to grasp the desired socket 24, 24A. Thereafter, bolts and nuts are sucked from the feeder 70 and screwed onto the workpiece 72 as described above.

In this embodiment, the bolts and nuts supplied from the feeder 70 are adsorbed by the electromagnetic coils 34 and 60, so manual work such as lightly tightening the bolts and nuts in advance is unnecessary, further promoting labor savings. . However, the present invention can achieve its intended purpose even without such adsorption means.

In the above embodiments, the attachment/detachment means 26, 26A for the sockets 24, 24A are gripped by the claws 28 and have a collect chuck mechanism, but it goes without saying that the present invention is not limited to these. .

Furthermore, if the desired sockets 24, 24A are transported within the movable range of the main body 22 by a conveyor 30 or the like, a large number of sockets can be easily replaced. However, in the present invention, a plurality of sockets may be arranged within the movable range of the main body 22, and a robot whose positions are stored in advance may move the main body 22 to a desired socket position.

As described above, the present invention has a plurality of sockets arranged within the movement range of the tightening machine, and the sockets can be replaced by an attachment/detachment means, so that one robot can tighten multiple types of bolts and nuts. This eliminates the need to prepare multiple robots for each type of bolt and nut, as was the case in the past. Therefore, the operating rate of the robot is improved and it is also economical.

[Brief explanation of drawings]

Figure 1 is a perspective view showing how the present invention is used;
The figure is a sectional view of the socket, and FIG. 3 is a sectional view of another embodiment of the attachment/detachment means. 10...Industrial robot, 14, 16...Arm, 2
2...Tightening machine body, 24, 24A...Socket, 2
6, 26A... attachment/detachment means, 34, 60... electromagnetic coil as attachment/detachment means.

Claims (1)

[Claims] 1. In an industrial robot for bolt tightening that performs tightening work by moving one bolt tightening machine body attached to one swinging arm to a pre-stored position according to an operation program, the bolt tightening machine is The bolt tightening machine includes a socket attachment/detachment means for removably attaching a bolt/nut engagement socket to the output shaft of the machine, and a replacement socket disposed within a movement range of the bolt tightening machine, and the socket attachment/detachment means attaches to the lower end of the output shaft. a collector claw provided on the socket for gripping the socket;
It is equipped with an outer cylinder that engages and disengages from the outer slope of the collet pawl to open and close the collet pawl, and a spring and an electromagnetic coil that move this outer cylinder to open and close the collet pawl. An industrial robot for bolt tightening, characterized in that the bolt tightening machine is moved to a corresponding replacement socket according to a program, and the socket can be automatically replaced.