JPH0453865Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field This invention relates to a bolt supply device that supplies bolts to sockets.

Prior Art When performing bolt tightening work automatically, it is necessary to automatically insert the bolt into the socket of the nut runner or automatically supply the bolt to a position on the axis of the screw hole. Conventionally, for example, Utility Model Application Publication No. 172669/1983 and Utility Model Application Publication No. 1987-
A device described in Japanese Patent No. 194434 is known.

The device described in the former publication has a bolt holder that is pivoted at a location offset from the center of gravity so that it faces horizontally when empty and faces vertically when a bolt is inserted, and the bolt holder is attached to the underside of the socket. The bolt is injected from the bolt supply pipe into the bolt holder by air pressure, and as a result, the bolt holder rotates around the horizontal axis.
Hold the bolt coaxially under the socket,
In this state, the bolt is tightened by rotating and lowering the socket.

In addition, the device described in the latter publication has a cylindrical bolt feeding socket, a hexagonal cross-section at the lower end that matches the bolt head, and a bolt phase adjustment mechanism above the hexagonal cross-section. By distributing six steel balls at equal intervals, the bolt inserted from the upper end of the socket is controlled in phase by the steel balls until it reaches the lower end, and the socket is rotated in this state. , the bolt is tightened.

Problems to be Solved by the Invention However, although the former device described in Japanese Utility Model Application Publication No. 172669/1983 can feed the bolt on the same axis as the socket, there is no means to determine the phase of the bolt. In many cases, the phase of the bolt head does not match the hexagonal hole of the socket, and in such cases, as the socket is rotated and lowered, the bolt may be pushed down while the end face of the socket is in contact with the end face of the bolt head. This may cause the bolt to not be properly screwed in.

In addition, the latter device described in Japanese Utility Model Application Publication No. 60-194434 has a bolt inserted from the upper end side of the bolt feeding socket, which passes between six equally spaced steel balls. Since the method determines the phase, there is a problem in that it cannot be applied to bolts having a circular cross-section larger than the bolt head, such as seat bolts.

Furthermore, since each of the above-mentioned devices is configured to determine the direction of the bolt by gravity, there is a problem that it cannot be used when the bolt is directed horizontally or obliquely to a vertical line.

The purpose of this invention is to solve the above-mentioned problems and to provide a bolt supply device that can supply bolts without changing the phase to match the socket, and is not subject to restrictions on the screwing direction of the bolts.

Means for Solving the Problems In order to achieve the above object, this invention consists of a terminal part of a bolt feeding device that feeds the bolt in a predetermined position and a socket into which the bolt is inserted and rotated. In between, a two-axis moving mechanism is provided, which includes a first movable base that reciprocates between the terminal end of the bolt feeding device and the socket, and a second movable base that reciprocates in a direction parallel to the axial direction of the socket. a chuck for positioning the bolt on the same axis as the socket by gripping the shaft of the bolt at the terminal end of the bolt feeding device and rotating about an axis perpendicular to the shaft of the bolt; a guide that contacts the tip of the bolt on the side opposite to the head of the bolt that is gripped by the chuck and rotates together with the chuck, and defines the position of the tip at least in the axial direction of the bolt; It is characterized in that it is arranged to be moved in two axial directions by an axial movement mechanism.

Function: In the device of this invention, the bolt is sent to the terminal end of the bolt feeding device in a predetermined posture.
The chuck grips the shaft of the bolt. The chuck holding the bolt is moved toward the socket by the movement of the first movable base or the second movable base, and during this time the chuck rotates and the bolt is changed in orientation parallel to the axis of the socket. In that case, the tip of the bolt on the opposite side from the head abuts against the guide, regulating its position at least in the axial direction, and as a result, the relative distance between the bolt and the socket is set to the desired dimension. be done. Therefore, when it stops on the socket side, the bolt is located on the axis of the socket, and since the bolt was conveyed while being gripped by the chuck, there is no phase shift on the way, and therefore the second movable The bolt is inserted into the socket by moving the base or first movable base in a direction parallel to the socket. In that case, if the head of the bolt and the hexagonal hole of the socket do not match, an axial load will be applied to the bolt, but since the tip of the bolt is in contact with the guide, the bolt This prevents the screw thread from shifting in the axial direction, thereby avoiding inconveniences such as damage to the screw thread caused by sliding with the chuck.

Embodiments Next, embodiments of this invention will be described with reference to the accompanying drawings.

FIG. 1 is a plan view showing an example of a bolt feeding device according to this invention, and FIG. 2 is a plan view of the bolt feeding device 2, such as a parts feeder, which feeds the bolt 1 in a predetermined posture. The bolt 1 is supplied to the socket 3 from the terminal end of the bolt. That is, the bolt feeding device 2, as shown in FIG.
It has a nearly horizontal rail 4 into which the upwardly facing head of the bolt 1 is inserted and slides, and a stopper 5 is provided near the end of the rail to temporarily stop the bolt 1 and feed out the bolts 1 one by one. This configuration includes a cylinder 6 that pushes up the bolt 1 at the terminal end of the bolt 4.

Bolt 1 pushed up by cylinder 6
is configured to be gripped by a chuck 7 and supplied to the socket 3 by a two-axis moving mechanism consisting of a turning mechanism 8, a horizontal feed mechanism 9, and a vertical feed mechanism 10. That is, the chuck 7 grips the shaft of the bolt 1, and
A pair of fingers 71, 72 as shown in FIG.
The main body 73 is configured to be opened and closed by an actuator and a link mechanism (not shown) provided inside the main body 73. Further, the turning mechanism 8 is for turning the chuck 7, and the rotary actuator 81 that generates the turning force has an output shaft 82 that projects both forward and backward, and projects forward (to the left in FIG. 1). The output shaft 82 is rotatably supported by a bearing 83, and the main body 73 of the chuck 7 is attached to the end of the output shaft 82 protruding from the bearing 83 via a bracket 84. Furthermore, a mechanism for determining the rotation angle range of the output shaft 82 is provided at the rear end of the rotary actuator 81. Its configuration is as shown in Figure 5, with an approximately sector-shaped punch hole 8 with an opening angle of 90 degrees.
5 is fixed to the case of the rotary actuator 81, and the protruding end of the output shaft 82 is located at the center of the sector (corresponding to the linchpin). At the end is an attachment 87 that rotates within the punch hole 85.
is installed. Therefore, the attachment 87 is configured to come into contact with the inner end surface of the punch hole 85 to restrict the rotation range of the output shaft 82 to 90 degrees.

The above-mentioned turning mechanism 8 is attached to a transverse feed mechanism 9 configured to reciprocate a movable base 91 from the terminal end of the bolt feeding device 2 toward the socket 3 by a cylinder 92. In other words, the movable base 91
has an L-shape in the illustrated example, and is connected to the rotary actuator 81 and the bearing 8 in the turning mechanism 8.
3 is attached to the movable base 91 so that its axis is parallel to the moving direction of the movable base 91. A rod of a cylinder 92 is connected to this movable table 91. Furthermore, at the tip end of the movable base 91 (left end in FIG. 1), there is a guide 93 having an arcuate inner surface for regulating the tip position of the bolt 1 gripped by the chuck 7, and a guide 93 at the tip end of the socket 3. A guide 94 provided with a tapered hole for guiding toward the target is attached.

Further, the vertical feed mechanism 10 reciprocates in a direction parallel to the axis of the socket 3, and the cylinder 13 is held parallel to the socket 3 by a bracket 12 attached to a predetermined fixed part 11 such as a machine base. A movable base 14 is attached to the rod end of the cylinder 13. A movable base 91 of the lateral feed mechanism 9 engages with a rail 15 provided in front of the movable base 14 via a linear bearing 95, and a cylinder 92 is attached to an end of the movable base 14. And on the back of the movable base 14,
Two guide rods 16 are mounted parallel to the cylinder 13, each guide rod 16 passing through a bearing 17 held by the bracket 12.

To explain the feeding operation of the bolt 1 by the above device, the bolt 1 is arranged in a predetermined posture by a parts feeder or the like so that the shaft portion faces upward, and then slides on the rail 4 of the bolt feeding device 2. After being temporarily stopped near the end by a stopper 5, the wires are sent out one by one to the end. The bolt 1 that has reached the terminal end of the bolt supply device 2 is pushed up by the cylinder 6. In response to this, the movable base 91 of the transverse feed mechanism 9 is moved back to the right side in FIG. bolt 1 is pushed up by cylinder 6.
is in a state where its shaft portion is inserted between the fingers 71 and 72 which are in an open state. The bolt 1 is gripped by the shaft by closing the fingers 71 and 72, and is then conveyed toward the socket 3. That is, the cylinder 6 performs a downward movement and the bolt 1
After the head of the cylinder 92 of the transverse feed mechanism 9 is removed,
is operated to move the movable base 91 toward the socket 3 along the rail 15, and during this time the rotary actuator 81 of the turning mechanism 8 is operated to rotate the chuck 7. In that case, the rotary actuator 81
The above-mentioned attachment 87 is attached to the output shaft 82 of the output shaft 82, and the rotation of the output shaft 82 is stopped by the attachment 87 coming into contact with the inner end surface of the hole 85 in the plate 86, so that the bolt 1 is 7 and rotated 90 degrees to change its orientation. The bolt 1 whose direction has been changed in this way has its tip defined by the guide 93, and when the movable base 91 of the lateral feed mechanism 9 reaches the forward end, it is aligned on the axis of the socket 3. be positioned. If the cylinder 13 of the vertical feed mechanism 10 is operated so that the rod moves backward, the bolt 1 will be gripped by the chuck 7 by moving the movable base 14 parallel to the axis of the socket 3. As a result, the head of the bolt 1 is inserted into the hexagonal hole of the socket 3 while the socket 3 is guided by the tapered hole of the guide 94. In that case, even if the head of bolt 1 and the hexagonal hole of socket 3 do not match in the direction of rotation, socket 3 is rotated slightly as in conventional general equipment, so the head of bolt 1 is aligned with the socket. 3 will be automatically fitted. Also, at this time, the bolt 1 may receive a load in the axial direction, but since the tip of the bolt 1 is in contact with the guide 93, the position of the bolt 1 does not shift, and therefore the screw of the bolt 1 It is possible to prevent the thread from rubbing against the chuck 7 and causing damage, and from widening the distance between the head of the bolt 1 and the socket 3.

After that, the grip of the bolt 1 by the chuck 7 is released, and the vertical feed mechanism 10 and the horizontal feed mechanism 9 are released.
By sequentially operating the turning mechanism 8 in the opposite direction to the above-described case, the original state is returned and the supply of one bolt is completed.

Therefore, in the above-mentioned apparatus, since the bolt 1 is conveyed while being gripped by the shaft portion by the tipper 7, no rotation about the axis occurs during conveyance, and no phase shift occurs.

In addition, in the above embodiment, a configuration in which the bolt is rotated by 90 degrees was explained as an example, but this invention is not limited to the above embodiment, and the rotation angle of the bolt may be set as necessary. be able to.

Further, in the above embodiment, the movable base 91 of the horizontal feed mechanism 9 is attached to the movable base 14 of the vertical feed mechanism 10 to constitute a two-axis movement mechanism, but the two-axis movement mechanism of this invention is essentially a two-axis movement mechanism. Any configuration that can move the chuck in this direction may be used, and is not limited to the configuration shown in the above embodiment.

Effects of the Invention As is clear from the above description, the device of this invention grips the bolt with a rotatable chuck, and the chuck can be held in at least two straight directions, including a direction parallel to the axis of the socket. Since the bolt is configured so that it can be moved around the axis, there is no rotation around the bolt axis during transportation,
Since the desired phase can be maintained, the bolt can be inserted into the socket reliably, and since the tip of the bolt is in contact with the guide and its position is regulated, the bolt and socket can be easily inserted. The spacing is set to the desired dimension to ensure that the bolt fits into the socket, and even if the bolt and socket are slightly misaligned in the direction of rotation, the bolt will come into contact with the socket and move in the axial direction. As a result, inconveniences such as bolt threads rubbing against chucks and damage can be prevented, and the bolt can be positioned in a variety of directions, such as horizontally or diagonally to the vertical line. Since it can be used for various bolt fastening operations, excellent practical effects can be obtained.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing an example of the bolt feeding device of this invention, FIG. 2 is a view taken along the - line in FIG. 4 is a view taken along the - line in FIG. 1, and FIG. 5 is a view taken along the - line in FIG. 1... Bolt, 2... Bolt feeding device, 3...
Socket, 7...Chuck, 71, 72...Finger, 8...Swivel mechanism, 81...Rotary actuator, 9...Transverse feed mechanism, 91...Movable base, 1
0... Vertical feed mechanism, 14... Movable base.

Claims (1)

[Scope of utility model registration request] A first bolt that reciprocates between the terminal end of the bolt feeding device and the socket is provided between the terminal end of the bolt feeding device that feeds the bolt in a predetermined posture and the socket into which the bolt is inserted and rotated. A two-axis moving mechanism is provided, which includes a movable base and a second movable base that reciprocates in a direction parallel to the axial direction of the socket; A chuck that positions the bolt on the same axis as the socket by gripping and rotating the bolt around an axis perpendicular to the shaft of the bolt, and a bolt that is gripped by the chuck and rotates together with the chuck. A guide that contacts the tip on the side opposite to the head and defines the position of the tip at least in the axial direction of the bolt is arranged so as to be moved in the biaxial direction by the biaxial movement mechanism. A bolt feeding device characterized by: