JP2018069429A - Socket-in detection mechanism - Google Patents

Abstract

Provided is a socket-in detection mechanism capable of suppressing a socket-in failure of a workpiece. A "socket-in detection mechanism" for detecting that a workpiece has been socketed in an expected posture is provided in the socket 30, and the workpiece is removed when the workpiece is held in the socket 30 in the expected posture. And a detection rib (detection terminal) 34 that is electrically connected to the bit 12 to form a socket-in detection circuit. With this “socket-in detection mechanism” configuration, it is possible to reliably detect that the workpiece has been socketed in, so it is possible to suppress the socket-in failure of the workpiece. [Selection] Figure 1

Description

  The present invention relates to a socket-in detection mechanism.

  Conventionally, in a clamping device (nut runner) that tightens bolts and nuts (hereinafter sometimes referred to as “fastening parts”) used for a workpiece, the workpiece is vacuum-sucked and held in this holding state. A tip of a bit (for example, a driver bit) and a part to be fitted to the workpiece are fitted, that is, the workpiece is set in an “expected posture”. Then, the fastening device tightens the fastening component by rotating the bit.

  In such a vacuum suction type fastening device, the workpiece may not be held because the suction pressure does not increase due to dirt, deformation, or wear of the suction portion that sucks the workpiece.

  Therefore, there is an electromagnet type clamping device that magnetizes the bit by arranging an electromagnetic coil around the axis of the bit formed of a ferromagnetic material, and attracts and holds the work in the socket by the magnetic force of the bit. It has been proposed (for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 09-076165

  However, in the electromagnet type clamping device, the workpiece can be attracted and held by the bit even when the workpiece is not in the expected posture, and therefore, the workpiece may not be accommodated in the socket. When the workpiece is not accommodated in the socket, there is a possibility that the fastening component cannot be tightened by the tightening device.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a socket-in detection mechanism that can suppress a socket-in failure of a workpiece.

  A socket-in detection mechanism according to an aspect of the present invention is a socket-in detection mechanism in an electromagnetic work holding mechanism that attracts and holds a work in a socket by the magnetic force of a bit, and is provided in the socket, and When the workpiece is held in the socket in the expected posture, the socket has a detection terminal that is electrically connected to the bit through the workpiece to form a socket-in detection circuit.

  ADVANTAGE OF THE INVENTION According to this invention, the socket in detection mechanism which can suppress the failure of the socket in of a workpiece | work can be provided.

It is the schematic which shows the structure of the clamping apparatus of one Embodiment. It is the schematic which shows the structure of the socket of a clamping device. It is a figure with which it uses for description of the guidance of a workpiece | work and socket-in detection by a clamping device. It is a figure with which it uses for description of the guidance of a workpiece | work and socket-in detection by a clamping device. It is a figure with which it uses for description of the guidance of a workpiece | work and socket-in detection by a clamping device.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic diagram illustrating a configuration of a tightening device according to an embodiment. FIG. 2 is a schematic view showing the configuration of the socket of the tightening device. In each figure, an xyz three-dimensional orthogonal coordinate system is defined. Hereinafter, the + z side may be referred to as “upper”, the + y side as “front”, and the + x side as “right”.

  In FIG. 1, a tightening device (nut runner) 1 includes a tightening mechanism portion 10, a support body 20, a socket 30, and a robot 40.

  The tightening mechanism unit 10 includes a main body 11 and a bit 12. The main body 11 includes a drive unit such as a servo motor (not shown). As the drive unit rotates, the bit 12 rotates. The bit 12 is made of a ferromagnetic material.

  The support 20 supports the tightening mechanism 10 in a state where the bit 12 is rotatable. Specifically, the support 20 has an upper arm portion 21, a lower arm portion 22, and a bearing portion 23. The upper arm portion 21 supports the main body 11 of the tightening mechanism portion 10. The lower arm portion 22 is provided with a bearing portion 23. The bearing portion 23 supports the bit 12 from a direction perpendicular to the central axis while the bit 12 is rotatable about the central axis. doing. In FIG. 1, the lower arm portion 22 is shown as a cross-sectional view parallel to the xz plane.

  The socket 30 includes a socket body 31, a fixing portion 36 provided on the + z side of the upper body 31A, and a bearing 37 provided between the fixing portion 36 and the upper body 31A. The socket body 31 is made of a non-conductive material, and includes an upper body 31A and a lower body 31B provided on the −z side of the upper body 31A. In FIG. 1 and FIG. 2, the socket main body 31 and detection ribs (detection terminals) 34 described later are shown as cross-sectional views parallel to the xz plane.

  The upper body 31A has a cylindrical shape having a hollow portion 31A1. The lower main body 31B has a cylindrical shape having a hollow portion 31B1. And hollow part 31A1 and hollow part 31B1 are connected, The bit 12 extended in az direction is inserted.

  Further, the electromagnetic coil 32 is disposed around the bit 12 in the hollow portion 31A1. A wiring L1 is connected to the electromagnetic coil 32. When a current is passed through the wiring L1 and the electromagnetic coil 32, the bit 12 made of a ferromagnetic material is magnetized. The work is attracted and held in the socket 30 by the magnetic force of the bit 12. That is, an “electromagnetic work holding mechanism” is formed by the bit 12 and the socket 30.

  Further, the width of the + z side portion of the hollow portion 31B1 is narrow, and the electromagnetic coil 32 is supported by the narrowed portion so that the electromagnetic coil 32 does not shift in the −z direction. On the other hand, the -z side portion of the hollow portion 31B1 forms an accommodation recess 33 in which the workpiece is accommodated from the -z side in an "expected posture", as will be described later.

  An accommodation guide portion 35 slidable in the z direction is provided on the surface of the lower body 31 </ b> B on the −z side and on the edge portion of the accommodation recess 33. In addition, a detection rib (detection terminal) 34 is provided on the surface of the lower main body 31B on the −z side and on the outer side of the accommodation guide portion 35 when viewed from the axial center of the bit 12.

  The accommodation guide part 35 includes a sliding claw part 35A and a spring 35B. The sliding claw portion 35A is biased in the −z direction by a spring 35B. In the “normal state”, the sliding claw portion 35 </ b> A has the −z direction tip of the sliding claw portion 35 </ b> A projecting in the −z direction from the detection rib 34, and the accommodation recess 33 accommodates the workpiece in the expected posture. In the “accommodating state”, sliding in the + z direction causes the tip of the −z direction to retract to the surface on the −z side of the detection rib 34.

  The detection rib 34 is formed of a conductive material, and the wiring L22 of the wiring L2 is electrically connected. The wiring L21 of the wiring L2 is electrically connected to the bit 12. As will be described later, when the workpiece is accommodated in the accommodation recess 33 in the expected posture, the workpiece contacts both the tip end portion 12A of the bit 12 and the detection rib 34. Thus, a “socket-in detection circuit” for detecting that the workpiece is socketed in the expected posture is formed by the wiring L21, the bit 12, the workpiece, the detection rib 34, and the wiring L22. That is, the “socket-in detection mechanism” is formed by the wiring L21, the bit 12, the workpiece, the detection rib 34, and the wiring L22. And it can detect that the workpiece | work was accommodated in the accommodation recessed part 33 by the expected attitude | position by sensing that the electric current is flowing into the "socket-in detection circuit" with a current detection sensor (not shown).

  The fixed part 36 is fixed to the bit 12. For this reason, the fixed portion 36 rotates as the bit 12 rotates.

  The bearing 37 connects the fixed portion 36 and the socket body 31. By connecting the socket main body 31 to the fixing portion 36 via the bearing 37, the socket main body 31 can be maintained in a stationary state (that is, a non-rotating state) even if the fixing portion 36 rotates.

  For example, the robot 40 moves the tightening mechanism 10, the support 20, and the socket 30 to a position where a workpiece is prepared.

  Workpiece guidance and socket-in detection by the tightening device 1 having the above configuration will be described with reference to FIGS. 3 to 5.

  FIG. 3 shows a state where the work 50 is attracted by the magnetic force of the bit 12 but has not yet reached the expected posture. At this time, the sliding claw portion 35A is in a state close to the “normal state” or “normal state”. In the “normal state”, as described above, the tip of the sliding claw portion 35A in the −z direction protrudes from the detection rib 34 in the −z direction. Thereby, any part (for example, the head part 51, the flange part 52, etc.) of the workpiece | work 50 can be made not to contact any of the front-end | tip part 12A of the bit 12, and the rib 34 for a detection.

  In FIG. 3, the head portion 51 of the work 50 is positioned between the sliding claw portions 35 </ b> A provided on the left and right in the drawing, and the head portion 51 is guided toward the housing recess 33 by the sliding claw portions 35 </ b> A. The Then, as shown in FIG. 4, the workpiece 50 approaches the expected posture. In this state, the work 50 is not yet in contact with either the bit 12 or the detection rib 34. Then, the sliding claw portion 35A urged in the −z direction slides in the + z direction, and the −z direction front end portion of the sliding claw portion 35A eventually has the detection rib 34 as shown in FIG. -Retract to the z-side surface.

  Thus, the workpiece 50 assumes the expected posture shown in FIG. In this expected posture, the head portion 51 of the work 50 is in electrical contact with the tip portion 12A of the bit 12, and the flange portion 52 is in electrical contact with the detection rib 34. Here, the head portion 51 and the flange portion 52 are both formed of a conductive material and are electrically connected to each other. Therefore, in the expected posture of the workpiece 50 shown in FIG. 5, as described above, the wiring L21, the bit 12, the workpiece, the detection rib 34, and the wiring L22 are used to detect that the workpiece is socketed in the expected posture. A “socket-in detection circuit” is formed. That is, the “socket-in detection mechanism” is formed by the wiring L21, the bit 12, the workpiece, the detection rib 34, and the wiring L22. And it can detect that the workpiece | work was accommodated in the accommodation recessed part 33 by the expected attitude | position by sensing that the electric current is flowing into the "socket-in detection circuit" with a current detection sensor (not shown).

  As described above, according to the present embodiment, when the above-described “socket-in detection mechanism” is provided in the socket 30 and the workpiece 50 is held in the socket 30 in the expected posture, the workpiece 50 is interposed via the workpiece 50. It has a detection rib (detection terminal) 34 that is electrically connected to the bit 12 to form a socket-in detection circuit.

  With the configuration of the “socket-in detection mechanism”, it is possible to reliably detect that the workpiece 50 has been socketd in, so that the socket-in failure of the workpiece 50 can be suppressed.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Tightening apparatus 10 Tightening mechanism part 11 Main body 12 Bit 12A Tip part 20 Support body 21 Upper arm part 22 Lower arm part 23 Bearing part 30 Socket 31 Socket main body 31A Upper main body 31A1 Hollow part 31B Lower main body 31B1 Hollow part 32 Electromagnetic coil 33 Housing recess 34 Detection rib 35 Housing guide portion 35A Sliding claw portion 35B Spring 36 Fixing portion 37 Bearing 40 Robot 50 Work 51 Head portion 52 Flange portion L1 Wiring L2 Wiring L21 Wiring L22 Wiring

Claims (1)

A socket-in detection mechanism in an electromagnetic work holding mechanism that attracts and holds a work in a socket by the magnetic force of a bit,
A detection terminal which is provided in the socket and forms a socket-in detection circuit in conduction with the bit through the workpiece when the workpiece is held in an expected posture in the socket;
Socket-in detection mechanism.

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