JPH0451328U

JPH0451328U -

Info

Publication number: JPH0451328U
Application number: JP9229690U
Authority: JP
Priority date: 1990-08-31
Filing date: 1990-08-31
Publication date: 1992-04-30

Description

[Brief explanation of the drawing]

第１図は本考案に係る部品締結装置の一実施例
の一部断面側面図、第２図はソケツトの外観を示
す斜視図、第３図ａおよび第３図ｂはそれぞれ第
１図の部品締結装置の動作説明図、第４図ａ、第
４図ｂ、第４図ｃ、第４図ｄおよび第４図ｅはそ
れぞれ第１図の部品締結装置によるナツトの締結
時にセンサ手段から出力するパルス信号の説明図
、第５図はロボツト本体と一体化された部品締結
装置の側面図、第６図は第５図における要部拡大
破断断面図、第７図はパレツトとパレツト側ソケ
ツトとの関係を示す側面図である。１……昇降装置、２……支持ベース、３……モ
ータ、３′……ナツトランナ、４……ソケツト支
持部材、４ａ……スプライン嵌合軸、５……ソケ
ツト、７……ナツト、９ａ，９ｂ……被検知体、
１０……センサ手段、１６……非感応部、１７…
…感応部、２０……アームロボツト本体、２１…
…第１回転部、２２……第１アーム、２３……第
２回転部、２４……第２アーム、２６……パレツ
ト側ソケツト、２７……パレツト。 Fig. 1 is a partially sectional side view of an embodiment of the component fastening device according to the present invention, Fig. 2 is a perspective view showing the external appearance of the socket, and Figs. 3a and 3b are the parts shown in Fig. 1, respectively. The operation explanatory diagrams of the fastening device, FIG. 4a, FIG. 4b, FIG. 4c, FIG. 4d, and FIG. 4e are output from the sensor means when the nut is fastened by the component fastening device of FIG. 1, respectively. An explanatory diagram of the pulse signal, Fig. 5 is a side view of the component fastening device integrated with the robot main body, Fig. 6 is an enlarged sectional view of the main part in Fig. 5, and Fig. 7 is an illustration of the relationship between the pallet and the socket on the pallet side. FIG. 3 is a side view showing the relationship. DESCRIPTION OF SYMBOLS 1... Lifting device, 2... Support base, 3... Motor, 3'... Nut runner, 4... Socket support member, 4a... Spline fitting shaft, 5... Socket, 7... Nut, 9a, 9b... Detected object,
10...Sensor means, 16...Non-sensitive part, 17...
...Sensing part, 20...Arm robot body, 21...
...first rotating section, 22...first arm, 23...second rotating section, 24...second arm, 26...pallet side socket, 27...pallet.

Claims

[Scope of utility model registration request]

A socket device that holds the fastening member in a non-rotatable manner and is movable in the direction in which the fastening member is screwed in, and is rotationally driven by a rotational drive means; a movement detecting means, comprising a plurality of objects to be detected arranged at intervals from each other and a sensor arranged outside the objects to detect each object to be detected, and detecting movement of the fastening member of the socket device in the screwing direction; and a determining means for determining whether the fastening state of the fastening member is good or bad based on the signal from the movement detecting means, and the movement detecting means detects when the fastening of at least one of the plurality of detected objects has started. A component fastening device characterized in that a detected object facing the sensor when the socket device is connected is divided into a sensing portion and a non-sensing portion by going around the outer circumferential surface of the socket device.