JPS6048228A - Screw tightening robot - Google Patents
Screw tightening robotInfo
- Publication number
- JPS6048228A JPS6048228A JP15693683A JP15693683A JPS6048228A JP S6048228 A JPS6048228 A JP S6048228A JP 15693683 A JP15693683 A JP 15693683A JP 15693683 A JP15693683 A JP 15693683A JP S6048228 A JPS6048228 A JP S6048228A
- Authority
- JP
- Japan
- Prior art keywords
- wrist
- robot
- nut runner
- screw tightening
- axis
- 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.)
- Granted
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 44
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 241001274216 Naso Species 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〈産業上の利用分野〉
本発明は、ロボットの手首部にナツトランナを着脱可能
に装着したねじ締めロボットに関するものである。DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a screw tightening robot having a nut runner detachably attached to the wrist of the robot.
〈従来技術〉
手首部にねじり、曲げ、旋回等の回転動作を付与できる
ようにした自由度の大きなロボットにおいては、手首部
を回転駆動させるモータトルクが小さいために、手首部
にねじ締め用のナツトランナを取付けた場合、ねじ締め
時の反力によって手首部を回転させるようなモーメント
が作用すると手首部が回転してしまうため、大きなねじ
締めトルクを必要とするものには使用できず、専らビス
等の小物のねじ締めにしか利用できないのが実状である
。<Prior art> In robots with a large degree of freedom that allow rotational movements such as twisting, bending, and turning to the wrist, the torque of the motor that drives the rotation of the wrist is small, so the wrist is equipped with screws for tightening. When a nut runner is installed, the wrist will rotate if a moment that rotates the wrist is applied due to the reaction force when tightening the screw, so it cannot be used for items that require a large screw tightening torque, and is used exclusively for screw tightening. The reality is that it can only be used to tighten screws on small items such as.
〈発明の目的〉
本発明の目的は、ねじ締め時の反力によって手首部を回
転させるようなモーメントが発生しないようして、ねじ
締めトルクの増大を可能にしたねじ締めロボットを提供
することである。<Objective of the Invention> An object of the present invention is to provide a screw tightening robot that is capable of increasing screw tightening torque by preventing the generation of a moment that rotates the wrist due to reaction force during screw tightening. be.
〈発明の構成〉
上記した目的を達成するために本発明は、ロボットの手
首部に、この手首部の回転軸線に対して平行でかつ所定
量オフセットした位置にナツトランナを着脱可能に装着
し、ナツトランナによるねじ締め時の反力を剛性の高い
ロボット腕部等で受承できるようにしたものである。<Structure of the Invention> In order to achieve the above object, the present invention provides a nut runner that is removably attached to the wrist of a robot at a position parallel to the rotational axis of the wrist and offset by a predetermined amount. This allows the highly rigid robot arm to absorb the reaction force when tightening screws.
〈実施例〉 以下本発明の実施例を図面に基づいて説明する。<Example> Embodiments of the present invention will be described below based on the drawings.
第１図は６自由度を有する多関節形ロボット１０にナノ
１−ランナ１１を装着したねじ締めロボットを示すもの
で、このロボット１０は、固定ベース１３と、この固定
ベース１３に鉛直軸線まわりに旋回可能に支持された肩
部１４と、この肩部１４に水平軸線のまわりに旋回可能
に支持された第１腕部１５と、この第１腕部１５の先端
に第１腕部１５の旋回軸線と平行な軸線のまわりに旋回
可能に支持された第２腕部１６と、この第２腕部１６の
先端に第２腕部１６の旋回軸線に直角な軸線のまわりに
旋回可能に支持された手首部１７と、この手首部１７に
手首部１７の旋回軸線と直角な軸線のまわりに旋回可能
に支持された第２手首部１８と、この手首部１８に手首
部１８の旋回軸線と直角な軸線のまわりに旋回可能に支
持された第３手首部１９とによって構成されている。FIG. 1 shows a screw tightening robot in which a Nano 1-runner 11 is attached to an articulated robot 10 having six degrees of freedom. A shoulder portion 14 that is rotatably supported; a first arm portion 15 that is rotatably supported by the shoulder portion 14 around a horizontal axis; A second arm 16 is supported so as to be pivotable around an axis parallel to the axis; a second wrist part 18 supported by the wrist part 17 so as to be pivotable about an axis perpendicular to the pivot axis of the wrist part 17; and a third wrist portion 19 supported rotatably around an axis.
第２図および第３図において、前記第３手首部１９の取
付フランジ２０には取付筒２１が同心的に固着され、こ
の取付筒２１の下部に手首部１９の回転軸線と直角な方
向にアリ溝２２を形成した連結ブＩコック２３が取付け
られている。取付筒２１内にはノックピン２４が手首部
１９の回転軸線方向に摺動可能に嵌挿され、このノック
ピン２４は通常スプリング２５の作用によりアリ溝２２
内に突出する位置に保持されているが、エア圧の作用に
よりスプリング２５に抗して後退できるようになってい
る。In FIGS. 2 and 3, a mounting tube 21 is fixed concentrically to the mounting flange 20 of the third wrist section 19, and is arranged at the lower part of the mounting tube 21 in a direction perpendicular to the axis of rotation of the wrist section 19. A connecting cock 23 with a groove 22 formed therein is attached. A knock pin 24 is fitted into the mounting cylinder 21 so as to be slidable in the direction of the rotational axis of the wrist portion 19, and the knock pin 24 is normally inserted into the dovetail groove 22 by the action of a spring 25.
Although it is held in an inwardly protruding position, it can be moved back against the spring 25 by the action of air pressure.
前記ナツトランナ１１は、取付ベース２７」二に固着さ
れ、この取付ベース２７はナツトランナ１１の回転軸線
と直角方向に延在され、その先端には前記アリ溝２２に
スライド可能に係合する係合案内部２８と前記ノックピ
ン２４に嵌合するノ・ツク穴２９からなる結合部３０が
ナツトランナ１１より所定量オフセットして設けられて
いる。取付ベース２７ば通常固定フレーム３１上に突設
された一対の位置決めピン３２により固定フレーム３１
の定められた位置に保管されており、前記ロボソ１−１
０の移動制御により手首部１９がナツトランナ１１に平
行な状態で取付ベース２７の係合案内部２８に沿って移
動されることにより、係合案内部２８に手首部１９側の
アリ溝２２が係合され、かつスプリング２５の作用によ
りノック穴２９にノックピン２４が嵌合されることによ
り、取付ベース２７ば手首部１９に一体的に結合される
。The nut runner 11 is fixed to a mounting base 27'', which extends perpendicularly to the axis of rotation of the nut runner 11, and has an engagement guide at its tip that slidably engages with the dovetail groove 22. A coupling portion 30 consisting of a portion 28 and a knock hole 29 that fits into the knock pin 24 is provided offset from the nut runner 11 by a predetermined amount. The mounting base 27 is normally attached to the fixed frame 31 by a pair of positioning pins 32 protruding from the fixed frame 31.
It is stored in a predetermined location, and the Roboso 1-1
By moving the wrist part 19 parallel to the nut runner 11 along the engagement guide part 28 of the mounting base 27 under the movement control of 0, the dovetail groove 22 on the wrist part 19 side is engaged with the engagement guide part 28. When the dowel pin 24 is fitted into the dowel hole 29 by the action of the spring 25, the mounting base 27 is integrally connected to the wrist portion 19.
前記ナツトランナ１１は、取付ベース２７を結合した手
首部１９の回転軸線に対して平行でかつその回転軸線よ
り所定量オフセットした位置において前記取イ」ヘース
２７に取付けられている。このナラＩ・ランナ１１は、
取付ベース２７に固着された支持筒３４と、この支持筒
３４に可撓部祠を介して微少量相対回転可能に連結され
た可動筒３５と、この可動筒３５に回転かつ軸方向移動
可能に支持され、先端にボルト等の角部に係合するソケ
ット３６ （第１図）を取付けた駆動軸３７と、この駆
動軸３７を回転駆動する駆動モータ３８とによって構成
されており、ねじ締めの反力による５−
前記可撓部材の撓みをセンサにて検出することによりね
じ締めｌ・ルクを管理するようになっている。The nut runner 11 is attached to the heel head 27 at a position parallel to the axis of rotation of the wrist portion 19 to which the attachment base 27 is coupled and offset by a predetermined amount from the axis of rotation. This Nala I Lanna 11 is
A support tube 34 fixed to the mounting base 27, a movable tube 35 connected to the support tube 34 through a flexible portion so as to be able to rotate slightly relative to each other, and a movable tube 35 that is rotatable and movable in the axial direction. It consists of a drive shaft 37 that is supported and has a socket 36 (Fig. 1) attached to its tip that engages with the corners of bolts, etc., and a drive motor 38 that rotationally drives this drive shaft 37. 5- Due to reaction force The screw tightening torque is managed by detecting the deflection of the flexible member using a sensor.
」−２した構成において、例えばねじ締めｉ・ルク範囲
の異なる数種のナツトランナ１１をそれぞれ取付けた複
数の取付ベース２７は、通常固定フレーム３１の定めら
れた位置に保管されており、ねじ締め作業の内容に応じ
て所定のナツトランナ１１を取付げた取付ベース２７が
ロボット１０に装着される。In the configuration described above, for example, a plurality of mounting bases 27 to which several types of nut runners 11 with different screw tightening torque ranges are attached are usually stored at a predetermined position of the fixed frame 31, and the screw tightening operation is performed. A mounting base 27 with a predetermined nut runner 11 mounted thereon is mounted on the robot 10 according to the contents of the robot 10.
かかるロボット１０への取付ベース２７の装着は、手首
部１９がナツトランナ１１の軸線に平行に保持された状
態で、手首部１９が係合案内部２８に沿って移動され、
アリ溝２２が係合案内部２８に係合されるとともに、ノ
ックピン２４がスプリング２５の作用でノック穴２９に
係合され、これによってナツトランナ１１を取付けた取
付ベース２７が手首部１９に一体的に結合される。しか
る後手首部１９の上昇により取付ベース２７が固定フレ
ーム３１の位置決めピン３２より離脱され、ねし締め位
置に移送される。To attach the mounting base 27 to the robot 10, the wrist portion 19 is moved along the engagement guide portion 28 while the wrist portion 19 is held parallel to the axis of the nut runner 11.
The dovetail groove 22 is engaged with the engagement guide part 28, and the dowel pin 24 is engaged with the dowel hole 29 by the action of the spring 25, whereby the mounting base 27 on which the nut runner 11 is attached is integrally attached to the wrist part 19. be combined. Thereafter, as the wrist portion 19 rises, the mounting base 27 is released from the positioning pin 32 of the fixed frame 31 and transferred to the screw-tightening position.
６−
かかるねし締め位置においてナツトランナ１１によりポ
ルＩ・等のねし締めが行われ、このねじ締め時の反力が
取付ベース２７を介して手首部１９に伝えられるが、ナ
ツトランナＩＩの回転軸線（ソケソ１〜中心）は手首部
１９の回転軸線に対して平行でかつ所定量オフセットさ
れているため、ねし締め時の反力は第４図に示すように
オフセット量Ｏ３を半径とする回動モーメン）ＦＬか手
首部１９に作用せず、この回転モーメントは手首部１９
より手首部１８．１７を経て剛性の高い第２腕部１６側
にて受承されるので、手首部１９を旋回させるような力
は発生しなくなる。従って、高１−ルクのねじ締めに耐
え得るようになる。6- At this screw tightening position, the nut runner 11 screws the pole I, etc., and the reaction force at the time of screw tightening is transmitted to the wrist part 19 via the mounting base 27, but the rotation axis of the nut runner II (center of the socket 1) is parallel to the axis of rotation of the wrist part 19 and is offset by a predetermined amount, so the reaction force when tightening the screw is a rotation with a radius equal to the offset amount O3 as shown in Fig. 4. dynamic moment) FL does not act on the wrist portion 19, and this rotational moment
Since it is received on the more rigid second arm portion 16 side via the wrist portions 18 and 17, no force that would cause the wrist portion 19 to pivot is generated. Therefore, it becomes possible to withstand screw tightening of high 1-lux.
上記実施例においては、６自由度を有する関節形ロボッ
トの先端手首部に、ナノ１−ランナを着脱可能に装着す
る例について述べたが、本発明は先端に旋回可能な手首
部を備えた少なくとも４自由度を有するロボットに適用
しても有効である。In the above embodiment, an example was described in which the Nano 1-Runner was removably attached to the wrist at the tip of an articulated robot having six degrees of freedom. It is also effective when applied to a robot having four degrees of freedom.
〈発明の効果〉
以」二述べたように本発明においては、ロボ・ノ（・の
先端手首部に、この手首部の回転軸線に対して平行でか
つ所定量オフセットした位置にナツトランナを着脱可能
に装着した構成であるので、ナツトランナによるねじ締
め時の反力によって手首部を旋回させるようなモーメン
１−が発生せず、その反力は剛性の高いロボット腕部等
で受承されるようになるため、大きなねじ締めトルクに
も十分に耐え得るねじ締めロボットを得ることができる
特徴がある。<Effects of the Invention> As mentioned above, in the present invention, the nut runner can be attached to and detached from the tip wrist of the robot at a position parallel to the rotational axis of the wrist and offset by a predetermined amount. Since the structure is such that moment 1-, which would cause the wrist to rotate due to the reaction force when tightening the screw by the nut runner, is not generated, the reaction force is received by the highly rigid robot arm, etc. Therefore, it is possible to obtain a screw tightening robot that can sufficiently withstand large screw tightening torques.
図面ば本発明の実施例を示すもので、第１図はねじ締め
ロボットの全体を示す図、第２図は第１図の要部を拡大
して断面した図、第３図は第２図の■方向から見た図、
第４図は手首部に作用するねじ締め反力を示す図である
１０・・・ロボソｌ−１１１・・・ナツトランナ、１３
・・・固定ベース、１４・・・肩部、１５・・・第１腕
部、１６・・・第２腕部、１７，１．８゜１９・・・手
首部、２７・・・取付ベース、３０・・・結合部。
特許出願人 豊田工機株式会社
＄ １日
第 ３ 口
第 ４図The drawings show an embodiment of the present invention; FIG. 1 is a diagram showing the entire screw tightening robot, FIG. 2 is an enlarged cross-sectional view of the main part of FIG. 1, and FIG. View from the ■ direction of
Fig. 4 is a diagram showing the screw tightening reaction force acting on the wrist part.
...Fixed base, 14...Shoulder part, 15...First arm part, 16...Second arm part, 17, 1.8° 19...Wrist part, 27...Mounting base , 30... joint part. Patent Applicant: Toyota Machine Machinery Co., Ltd. $1, 3rd, Figure 4
Claims (1)
自由度を有するロボットを備え、このロボットの手首部
にナソｉ・ランナを前記手首部の回転軸線に対して平行
でかつ所定量オフセットした位置に着脱可能に装着して
なるねじ締めロボット。 （２） 前記ナツトランナは、取付ベース上に固着され
、この取付ベース上ナツトランナの回転軸線から所定量
オフセットした位置に、前記手首部に着脱可能に結合さ
れる結合部を設けてなる特許請求の範囲第１項に記載の
ねじ締めロボット。[Claims] fll At least four having a rotatable wrist portion at the tip
A screw tightening robot comprising a robot having a degree of freedom, and a Naso i-runner removably attached to the wrist of the robot at a position parallel to the rotational axis of the wrist and offset by a predetermined amount. (2) The nut runner is fixed on a mounting base, and a coupling portion detachably coupled to the wrist portion is provided on the mounting base at a position offset by a predetermined amount from the axis of rotation of the nut runner. The screw tightening robot according to item 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15693683A JPS6048228A (en) | 1983-08-26 | 1983-08-26 | Screw tightening robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15693683A JPS6048228A (en) | 1983-08-26 | 1983-08-26 | Screw tightening robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6048228A true JPS6048228A (en) | 1985-03-15 |
| JPH042377B2 JPH042377B2 (en) | 1992-01-17 |
Family
ID=15638584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15693683A Granted JPS6048228A (en) | 1983-08-26 | 1983-08-26 | Screw tightening robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6048228A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0699325A (en) * | 1992-09-18 | 1994-04-12 | Pioneer Electron Corp | Automatic adjustment and inspection device |
| JPH0751957A (en) * | 1993-08-06 | 1995-02-28 | Hirata Corp | Fastening tool and fastening device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5973245A (en) * | 1982-10-21 | 1984-04-25 | Nissan Motor Co Ltd | Automatic screwing device |
| JPS59109413U (en) * | 1983-01-12 | 1984-07-24 | 日立電子株式会社 | Screw tightening robot |
-
1983
- 1983-08-26 JP JP15693683A patent/JPS6048228A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5973245A (en) * | 1982-10-21 | 1984-04-25 | Nissan Motor Co Ltd | Automatic screwing device |
| JPS59109413U (en) * | 1983-01-12 | 1984-07-24 | 日立電子株式会社 | Screw tightening robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0699325A (en) * | 1992-09-18 | 1994-04-12 | Pioneer Electron Corp | Automatic adjustment and inspection device |
| JPH0751957A (en) * | 1993-08-06 | 1995-02-28 | Hirata Corp | Fastening tool and fastening device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH042377B2 (en) | 1992-01-17 |
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