Screw taking out device

Abstract

To provide a screw taking out device that can automatically take out a screw and store and process data associated with taking out of a screw.SOLUTION: A screw taking out device 1 is a device for automatically taking out a screw 50 and includes: a screw supply mechanism 2 for supplying a screw 50; a screw taking out mechanism 3 for taking out a screw 50 that is supplied by the screw supply mechanism 2; a data storage part 5 for storing various data acquired by the screw supply mechanism 2 and the screw taking out mechanism 3; and data processing part 6 for processing various data stored in the data storage part 5.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a screw extraction device. [Background technology]

[0002] In a component assembly process, a process of assembling two components using screws is generally performed. The component assembly process includes a process of taking out screws automatically supplied by a screw feeder or the like using a screw fastening device or the like. In this process, there are many problems with the screws not being attracted to the screw fastening device due to a deviation in the relative position between the screw fastening device and the screw. In addition, if the position of the screws supplied from the screw feeder varies, or if the absolute positions of the screw fastening device and the screw feeder change due to aging or the like, there will be many screw suction errors. An increase in screw suction errors will affect the production volume. Patent Document 1 discloses a surface mounting device used to automatically correct the suction coordinates relative to the suction position of a feeder that supplies electronic components. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-124169 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology disclosed in Patent Document 1, position adjustment after determining the suction abnormality is performed using an image captured by a camera, but if the location where the abnormality occurred cannot be captured by the camera due to problems with the mechanism and driving speed, the suction coordinates cannot be corrected. In addition, the technology disclosed in Patent Document 1 has a problem that the introduction cost is high because it is necessary to prepare a camera. In order to solve the conventional problems, there is a demand for a screw pick-up device that can automatically pick up screws and store and process data related to screw pick-up.

[0005] The present disclosure has been made in consideration of the above, and aims to provide a screw extraction device that can automatically extract screws and store and process data related to screw extraction. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objective, the screw extraction device of the present disclosure is a device for automatically extracting screws, and includes a screw supply mechanism that supplies screws, a screw extraction mechanism that extracts the screws supplied by the screw supply mechanism, a data storage unit that stores various data acquired by the screw supply mechanism and the screw extraction mechanism, and a data processing unit that processes the various data stored in the data storage unit. Effect of the Invention

[0007] The screw extraction device according to the present disclosure has the advantage that it can automatically extract screws and can store and process data related to the extraction of the screws. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a mechanism of a screw extraction device according to a first embodiment. [Diagram 2] Block diagram of a screw extracting device according to a first embodiment. [Diagram 3] 1 is a flowchart showing the procedure of an operation when the screw extracting device according to the first embodiment executes a screw extracting process. [Figure 4] FIG. 13 is a diagram showing an image of retrying screw removal in the first embodiment. [Diagram 5] FIG. 13 is a diagram showing an example of the coordinates of the screw removal position at each retry in the case where the coordinates of the initial screw removal position are (X, Y)=(A, B) in the first embodiment; [Figure 6] FIG. 1 is a diagram for explaining processing after data is stored in a data storage unit of the screw extracting device according to the first embodiment; [Figure 7]FIG. 13 is a diagram showing an image of retrying screw removal in the second embodiment. [Figure 8] FIG. 1 is a diagram showing a processor in the case where a part or all of the functions of a data processing unit included in the screw extracting device according to each of the first to fourth embodiments are realized by the processor. [Figure 9] FIG. 1 is a diagram showing a processing circuit in the case where a part or all of the functions of a data processing unit included in the screw extracting device according to each of the first to fourth embodiments are realized by the processing circuit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A screw extracting device according to an embodiment will be described in detail below with reference to the drawings.

[0010] Embodiment 1 Fig. 1 is a diagram showing an outline of a mechanical section of a screw extracting device 1 according to a first embodiment. The screw extracting device 1 is a device that automatically extracts screws 50, and has a screw supplying mechanism 2 that supplies screws 50, and a screw extracting mechanism 3 that extracts the screws 50 supplied by the screw supplying mechanism 2. The screws 50 are also shown in Fig. 1. The screw extracting device 1 executes a screw extracting process. The screw extracting process is a process in which the screws 50, which have been automatically supplied by the screw supplying mechanism 2 in a process of automatically screwing two parts together, are extracted by the screw extracting mechanism 3.

[0011] The screw supply mechanism 2 corrects the posture of the screw 50 fed into the screw supply mechanism 2 by vibration, air pressure, or the like, and then supplies the screw 50 to a desired position. The screw take-out mechanism 3 has a Z-axis motor and a Θ-axis motor that adjust the position of the screw take-out mechanism 3, a screw bit that fits into a screw hole on the top surface of the screw 50, and a sleeve and air mechanism for adsorbing the screw 50, and takes out the screw 50 supplied to a desired position and sends the taken-out screw 50 to a device that performs the next process. The definitions of the X-axis, Y-axis, Z-axis, and Θ-axis in Fig. 1 are as follows. X-axis: A straight line perpendicular to the Y-axis on the same plane as the top surface of the screw supply mechanism 2 Y-axis: A straight line extending from the screw insertion position to the screw supply position Z axis: A straight line perpendicular to the top surface of the screw supply mechanism 2 Θ axis: Direction of rotation around the Z axis The screw extractor 1 may be used in tightening the screw 50 .

[0012] Fig. 2 is a block diagram of the screw extracting device 1 according to the first embodiment. Fig. 2 is a diagram for explaining the function of the screw extracting device 1. Fig. 2 also shows a screw 50. The screw extracting device 1 has a mechanism unit 4 composed of a screw supply mechanism 2 and a screw extracting mechanism 3. The screw extracting device 1 further has a data storage unit 5 that stores various data acquired by the mechanism unit 4, and a data processing unit 6 that processes the various data stored in the data storage unit 5. The data storage unit 5 is realized by, for example, a semiconductor memory.

[0013] The various data acquired by the mechanism unit 4 includes data indicating the number of screw extraction failures, screw extraction coordinates, screw extraction pressure, etc. Furthermore, the data acquired by the mechanism unit 4 is screw extraction related data. The screw extraction related data is data indicating the process completion date, the individual identification number, the number of screw extraction retries, the screw extraction position coordinates, the suction pressure when the screw is extracted, and the motor pressing pressure when the screw is extracted, etc.

[0014] The data storage unit 5 stores a database and the like. The data storage unit 5 can store data for a certain period of time. The data processing unit 6 statistically processes the data stored in the data storage unit 5 and automatically calculates correction values ​​for the screw extraction parameters. The data processing unit 6 analyzes the statistical data related to the screw extraction and determines that an abnormality has occurred in the screw extraction parameters. When an abnormality occurs in the screw extraction parameters, the data processing unit 6 automatically corrects the screw extraction parameters using the statistical data related to the screw extraction.

[0015] Fig. 3 is a flow chart showing the procedure of the operation when the screw extracting device 1 according to the first embodiment executes the screw extracting process. Fig. 3 also shows the contents of the operation performed by a device different from the screw extracting device 1. When the screw extracting process is started, the screw extracting mechanism 3 moves to the screw extracting position (S1). Thereafter, the screw extracting mechanism 3 comes into contact with the screw 50 through position control and torque control by the motor, and starts the operation of attracting the screw 50 (S2). In Fig. 3, the operation of step S2 is indicated by the phrase "start screw extracting".

[0016] The data processing unit 6 determines whether the screw 50 has been removed at any timing. Specifically, the data processing unit 6 determines whether the screw 50 has been removed by determining whether the suction pressure at the screw removal contact point exceeds a threshold value or by determining whether the suction pressure at a position above the screw removal contact point in the Z direction exceeds a threshold value.

[0017] If the data processing unit 6 determines that the screw 50 has been successfully removed, a screw tightening process is performed (S3). The screw tightening process is performed by a device different from the screw extracting device 1. If the data processing unit 6 determines that the screw 50 has been successfully removed, the mechanical unit 4 transmits screw extraction related data to the data storage unit 5 (S4). If the data processing unit 6 determines that the screw 50 has not been successfully removed, the mechanical unit 4 retreats (S5). Thereafter, the screw extracting device 1 shifts the screw removal position in the planar direction and retries removing the screw (S6). The operation of step S6 is mainly performed by the mechanical unit 4.

[0018] In the first retry, the screw take-out device 1 shifts the screw take-out position by an arbitrary distance in the X direction from the initial screw take-out position. The arbitrary distance in the X direction to be shifted in the first retry is assumed to be about half the deviation in the relative position in the X direction between the adsorbable screw take-out mechanism 3 and the screw 50. If the first retry is insufficient, a second retry is performed. In the second retry, the screw take-out device 1 shifts the screw take-out position by an arbitrary distance in the Y direction from the first retry position. The arbitrary distance in the Y direction to be shifted in the second retry is assumed to be about half the deviation in the relative position in the Y direction between the adsorbable screw take-out mechanism 3 and the screw 50.

[0019] In this way, if the m-th retry is insufficient, the (m+1)-th retry is performed. m is an integer equal to or greater than 1. In the third retry and subsequent retries, the screw take-out device 1 retries the screw take-out so that the screw take-out position draws a spiral around the initial screw take-out position. FIG. 4 is a diagram showing an image of a retry of screw take-out in the first embodiment. (m) in FIG. 4 shows the coordinates of the screw take-out position when the m-th retry is performed. FIG. 5 is a diagram showing an example of the coordinates of the screw take-out position at each retry in the case where the coordinates of the initial screw take-out position are (X, Y)=(A, B) in the first embodiment. FIG. 5 shows an example of the coordinates of the screw take-out position at each retry from the first retry to the 15th retry. Examples of a, a', b, and b' shown in FIG. 5 are as follows. a: Approximately half the deviation in the relative position between the suction-capable screw removal mechanism 3 and the screw 50 in the X direction a': Approximately half the deviation of the relative position between the suction-capable screw removal mechanism 3 and the screw 50 in the X direction b: Approximately half the deviation in the relative position between the suction-capable screw removal mechanism 3 and the screw 50 in the Y direction b': Approximately half the deviation of the relative position between the suction-capable screw removal mechanism 3 and the screw 50 in the Y direction

[0020] The data processing unit 6 judges whether the screw 50 has been taken out at each retry, and if it is judged that the screw 50 has been successfully taken out, the screw tightening process is performed. If it is judged that the screw 50 has been successfully taken out, the mechanism unit 4 transmits screw take-out related data to the data storage unit 5. A threshold value may be set for the number of retries, and if a threshold value is set for the number of retries, the screw take-out device 1 issues a device error when the number of retries exceeds the threshold value. The screw take-out device 1 performs retries such that the screw take-out position draws a spiral around the initial screw take-out position, so that a screw take-out position that is considered to be correct can be searched for from the vicinity of the initial screw take-out position. In other words, the screw take-out device 1 can be expected to have the effect of reducing the number of retries and the effect of reducing the cycle time.

[0021] FIG. 6 is a diagram for explaining processing after data is stored in the data storage unit 5 of the screw extracting device 1 according to the first embodiment. The data storage unit 5 accumulates data, and the data processing unit 6 acquires the data stored in the data storage unit 5 after each screw extraction is completed. In the example of FIG. 6, the data processing unit 6 acquires data indicating the number of successful screw extractions, the screw extraction position, the screw extraction pressure, the screw extraction torque, and the like as screw extraction-related data. The data processing unit 6 performs principal component analysis on the screw extraction-related data to create a distribution of the first principal component and the second principal component. The data processing unit 6 sets a threshold value for the Mahalanobis distance in the created distribution, and determines that an abnormality has occurred when the Mahalanobis distance exceeds the threshold value. It is assumed that the Mahalanobis distance of the normal data group is calculated in advance using a normal data group, and the maximum value of the calculated distance is set as the threshold value of the Mahalanobis distance. Normal indicates that the screw extraction has been performed. Abnormal indicates that the screw extraction could not be performed. When an abnormality occurs, it is mainly assumed that the relative position between the screw extraction position of the screw extracting mechanism 3 and the position of the screw 50 supplied by the screw supplying mechanism 2 is misaligned. The abnormal data set and trend are also shown in Figure 6. The trend is determined by the distribution of the average value over a certain period of time.

[0022] The data processing unit 6 performs a principal component analysis and judges whether an abnormality has occurred based on the Mahalanobis distance, thereby making it possible to comprehensively judge not only the screw removal position but also the screw removal related data. Therefore, it is expected to have the effect of detecting small abnormalities and the effect of not judging whether an abnormality has occurred based only on sudden data. In addition, it is possible to prevent the phenomenon in which the screw removal position varies due to fine adjustments to the screw removal position, resulting in an increase in screw removal failures.

[0023] When a certain number of data items are determined to have an abnormality, or when the number of data items determined to have an abnormality exceeds a certain threshold, the data processing unit 6 calculates a correction value for the screw removal position. For data items determined to have an abnormality, the data processing unit 6 extracts only the data of the screw removal position from the data storage unit 5 and obtains the average value of the screw removal position. The data processing unit 6 calculates the difference between the obtained average value and the initial screw removal position, and sets the calculated difference as a correction value. The data processing unit 6 feeds back the correction value to the mechanism unit 4, and the mechanism unit 4 changes the initial screw removal position.

[0024] The calculation formula used by the data processing unit 6 is shown below. xl=((Σxi) / n)-x yl=((Σyi) / n)-y xl: X coordinate of the screw removal position correction value yl: Y coordinate of the screw removal position correction value xi: X-coordinate of the i-th screw removal position after it is determined that an abnormality has occurred i: An integer equal to or greater than 1 n: The number of data points for the screw removal position after it is determined that an abnormality has occurred yi: Y coordinate of the i-th screw removal position after it is determined that an abnormality has occurred x: X coordinate of the initial position for removing the screw y: Y coordinate of the initial position for removing the screw

[0025] The data processing unit 6 calculates the correction value using the screw extraction related data output from the mechanism unit 4, so it is possible to calculate the correction value without using any device external to the screw extracting device 1. Therefore, it is expected to be effective in terms of cost.

[0026] As described above, the screw extracting device 1 according to the first embodiment has the screw supplying mechanism 2 that supplies the screws 50, the screw extracting mechanism 3 that extracts the screws 50 supplied by the screw supplying mechanism 2, the data storage unit 5 that stores various data acquired by the screw supplying mechanism 2 and the screw extracting mechanism 3, and the data processing unit 6 that processes the various data stored in the data storage unit 5. Therefore, the screw extracting device 1 can automatically extract the screws 50, and can also store and process data related to screw extraction.

[0027] When screw extraction fails, the screw extracting device 1 minutely changes the extraction position of the screw 50 to retry the screw extraction, and stores the retry result in the data storage unit 5. This allows the screw extracting device 1 to extract the screw without stopping the equipment when the screw extraction position is shifted.

[0028] The data processing unit 6 analyzes statistical data related to the screw extraction and determines whether an abnormality has occurred in the screw extraction parameters. That is, the data processing unit 6 can determine an abnormality in the screw extraction process based on the statistical data.

[0029] When the screw extraction parameters are abnormal, the data processing unit 6 automatically corrects the screw extraction parameters using statistical data related to the screw extraction. The data processing unit 6 can automatically correct the screw extraction parameters without using an external device such as a camera, resulting in cost effectiveness.

[0030] The screw pick-out device 1 can reduce equipment stoppages by minutely changing the pick-up position of the screw 50 and retrying the screw pick-up. The screw pick-out device 1 can prevent erroneous correction of parameters due to specific cases by determining whether or not an abnormality has occurred using all screw pick-out related data. The screw pick-out device 1 can automatically correct parameters without human intervention during mass production of products. The screw pick-out device 1 can correct screw pick-up parameters without using external devices such as cameras.

[0031] Embodiment 2 In the retry of screw removal, the screw remover 1 may retry by scanning in the X direction or the Y direction. FIG. 7 is a diagram showing an image of a retry of screw removal in the second embodiment. (m) in FIG. 7 shows the coordinates of the screw remover position when the m-th retry is performed. In the first retry, the screw remover 1 shifts the screw remover position from the initial screw remover position in the X direction by an arbitrary distance. The arbitrary distance in the X direction to be shifted in the first retry is assumed to be about half the deviation of the relative position in the X direction between the suction-capable screw remover mechanism 3 and the screw 50. In the second retry, the screw remover 1 shifts the screw remover position from the initial screw remover position by a distance minus the amount of shift in the X direction in the first retry. In the third retry, the screw remover 1 shifts the screw remover position from the initial screw remover position in the X direction by an arbitrary distance. The arbitrary distance in the X direction to be shifted in the third retry is assumed to be about the deviation of the relative position in the X direction between the suction-capable screw remover mechanism 3 and the screw 50.

[0032] In the fourth retry, the screw take-out device 1 shifts the screw take-out position from the initial screw take-out position by a distance minus the amount of shift in the X direction in the third retry. Next, in the fifth retry, the screw take-out device 1 shifts the screw take-out position from the initial screw take-out position by an arbitrary distance in the Y direction. The arbitrary distance in the Y direction to be shifted in the fifth retry is assumed to be the degree of shift in the relative positions in the Y direction between the adsorbable screw take-out mechanism 3 and the screw 50. From the sixth retry position, the screw take-out device 1 shifts the take-out position in the X direction in the same manner as the shifts in the X direction from the first to fourth retry. The screw take-out device 1 repeats this to perform scanning in the X direction. By switching the order of the shifts in the X direction and the Y direction, the screw take-out device 1 can perform scanning in the Y direction. When the screw removal position is shifted in a single direction due to a problem in the mechanism 4 or when it is known that the shift in the screw removal position in either the X direction or the Y direction is small, the screw removal device 1 can be expected to have the effect of reducing the number of retries and the cycle time by performing the retry of embodiment 2.

[0033] Embodiment 3 In retrying the screw extraction, the screw extracting device 1 may change the screw extracting position in the Z direction and perform a retry. If the screw 50 cannot be extracted after performing a specified number of retries in the X and Y directions, the screw extracting device 1 changes the screw extracting position in the Z direction and performs a retry of the screw extraction. In the third embodiment, the screw extracting device 1 minutely changes the screw extracting position in the Z direction in the plus and minus directions to extract the screw 50. As in the first embodiment, if the screw 50 can be extracted, the screw extracting device 1 ends the retry and performs the screw tightening process, which is the process next to the screw extracting process. If the screw cannot be extracted, the screw extracting device 1 minutely changes the screw extracting position in the Z direction and repeats the retry of the screw extracting.

[0034] Regarding the screw removal position in the Z direction, the data storage unit 5 may store the screw removal related data, and the data processing unit 6 may determine whether an abnormality has occurred, and calculate a correction value for the screw removal position if it is determined that an abnormality has occurred. The number of retries for screw removal increases as the Z direction retries are repeated, but if the screw removal position in the Z direction is shifted due to a problem in the mechanism unit 4 or the like, or if the shift in the screw removal position in the Z direction is small, it is expected that the number of retries can be reduced and the cycle time can be reduced. In addition, since the screw removal related data used in the principal component analysis increases, it is expected that whether an abnormality has occurred can be determined more precisely. In addition, since the position in the Z direction can also be corrected, it is more expected that the effect of reducing the number of screw removal failures can be obtained.

[0035] Embodiment 4 In the method for correcting the screw take-out position, parameters other than the screw take-out position may be subject to retry and correction. It is well known that when the screw take-out device 1 automatically takes out a screw, the parameter that is greatly related to the success rate of taking out the screw 50 is the screw take-out position. However, parameters to be adjusted include the approach speed to the screw take-out position, the screw adsorption judgment pressure, and the screw adsorption judgment time. As the approach speed to the screw take-out position, the speed of the screw take-out mechanism 3 in the Z direction when moving from above the screw take-out position to the screw take-out position is assumed. As the screw adsorption judgment pressure, in order to determine whether the screw take-out mechanism 3 was able to adsorb the screw 50, a negative pressure threshold is set in the air mechanism, and a threshold value related to the pressure at which the screw 50 is adsorbed to the screw take-out mechanism 3 is determined when the pressure at which the screw 50 is adsorbed to the screw take-out mechanism 3 exceeds the threshold value is assumed. As the screw adsorption judgment time, a threshold value related to the time at which the screw 50 is adsorbed to the screw take-out mechanism 3 is determined when the pressure at which the screw 50 is adsorbed to the screw take-out mechanism 3 exceeds the screw adsorption judgment pressure for a certain period of time is assumed.

[0036] As in the first embodiment, the data processing unit 6 statistically processes the data stored in the data storage unit 5 to determine whether an abnormality has occurred. If the data processing unit 6 determines that an abnormality has occurred, it determines which of the parameters to be adjusted should be adjusted. Next, the data processing unit 6 changes the parameter to be adjusted near the set value, and the mechanism unit 4 performs a retry like the retry of the screw removal position shown in the first embodiment. After that, the data processing unit 6 corrects the parameter to be retried. Although there is a disadvantage that the number of retries or the amount of calculation increases by performing retries and calculation of correction values ​​for parameters other than the screw removal position, it is expected to have an effect of further improving the success rate of screw removal.

[0037] Fig. 8 is a diagram showing a processor 81 in the case where a part or all of the functions of the data processing unit 6 included in the screw extracting device 1 according to each of the first to fourth embodiments are realized by the processor 81. In other words, a part or all of the functions of the data processing unit 6 may be realized by the processor 81 that executes a program stored in a memory 82. The processor 81 is a CPU (Central Processing Unit), a processing system, an arithmetic system, a microprocessor, or a DSP (Digital Signal Processor). The memory 82 is also shown in Fig. 8.

[0038] When some or all of the functions of the data processing unit 6 are realized by the processor 81, the functions are realized by the processor 81 and software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 82. The processor 81 realizes some or all of the functions of the data processing unit 6 by reading and executing the program stored in the memory 82.

[0039] When some or all of the functions of the data processing unit 6 are realized by the processor 81, the screw extracting device 1 has the processor 81 and a memory 82 for storing a program that results in some or all of the steps executed by the data processing unit 6. It can also be said that the program stored in the memory 82 causes a computer to execute some or all of the procedures or methods executed by the data processing unit 6.

[0040] The memory 82 is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (registered trademark) (Electrically Erasable Programmable Read-Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disk).

[0041] 9 is a diagram showing a processing circuit 91 in a case where a part or all of the functions of the data processing unit 6 included in the screw extracting device 1 according to each of the first to fourth embodiments are realized by the processing circuit 91. In other words, a part or all of the functions of the data processing unit 6 may be realized by the processing circuit 91. In a case where a part or all of the functions of the data processing unit 6 are realized by the processing circuit 91, the screw extracting device 1 has the processing circuit 91.

[0042] The processing circuit 91 is dedicated hardware. The processing circuit 91 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0043] Some of the functions of the data processing unit 6 may be realized by dedicated hardware separate from the remaining functions.

[0044] Some of the functions of the data processing unit 6 may be realized by software or firmware, and the remaining functions may be realized by dedicated hardware. In this way, the functions of the data processing unit 6 can be realized by hardware, software, firmware, or a combination of these.

[0045] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or the embodiments may be combined with each other. Also, parts of the configurations may be omitted or modified without departing from the spirit of the invention. [Explanation of symbols]

[0046] 1 screw extraction device, 2 screw supply mechanism, 3 screw extraction mechanism, 4 mechanism section, 5 data storage section, 6 data processing section, 50 screw, 81 processor, 82 memory, 91 processing circuit.

Claims

1. A screw extracting device that automatically extracts screws, a screw supply mechanism for supplying screws; a screw removal mechanism that removes the screws supplied by the screw supply mechanism; a data storage unit that stores various data acquired by the screw supply mechanism and the screw removal mechanism; a data processing unit that processes the various data stored in the data storage unit; A screw extraction device comprising:

2. When the screw extraction fails, the screw extraction position is changed and the screw extraction is retried, and the result of the retry is stored in the data storage unit.

2. The screw extracting device according to claim 1.

3. The data processing unit automatically corrects the screw extraction parameters when the screw extraction parameters are abnormal by using statistical data related to screw extraction.

3. The screw extracting device according to claim 1 or 2.

4. The data processing unit analyzes statistical data related to screw extraction and determines whether an abnormality occurs in the screw extraction parameters.

3. The screw extracting device according to claim 1 or 2.

5. The data processing unit automatically corrects the screw extraction parameters when the screw extraction parameters are abnormal, using statistical data related to the screw extraction.

5. The screw extracting device according to claim 4.

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