Threaded member tightening and loosening device and threaded member tightening and loosening method

Abstract

The control unit (5) performs the following: First control, controlling the moving part (3) to align the axis of the mating part (Sa) of the threaded component (S) with the axis of the mating part (1a) of the rotating body (1); Second control, controlling the moving part (3) to push the mating part (1a) relative to the mating part (Sa); Third control, while maintaining the state of pushing the mating part (1a) relative to the mating part (Sa), controlling the rotation drive unit (2) to rotate the rotating body (1) a first direction (R1) in the rotation direction. A predetermined angle (θ1); and a fourth control, after the third control, while maintaining the state of pushing the fitting part (1a) relative to the fitted part (Sa), the rotation drive part (2) is controlled so that the rotating body (1) rotates to the second side (R2) of the rotation direction by a second predetermined angle (θ2) smaller than the first predetermined angle (θ1); the fitting part (1a) is formed such that a predetermined shape repeats at each predetermined angle along the rotation direction (R); the first predetermined angle (θ1) is set to an angle corresponding to the aforementioned predetermined angle.

Description

Technical Field

[0001] The present invention relates to a screw member tightening and loosening apparatus and a screw member tightening and loosening method. The screw member tightening and loosening apparatus comprises: a rotating body having a fitting part that fits into a fitting part of a screw member; a rotation drive unit for rotating the rotating body; and a moving part for moving the rotating body. Background Technology

[0002] An example of such technology is disclosed in Japanese Patent Application Publication No. 2004-237444 (Patent Document 1). Hereinafter, in the description of the background art, reference numerals from Patent Document 1 will be cited in parentheses.

[0003] Patent Document 1 discloses a threaded component tightening / loosening device, which includes a nut runner (40) mounted on the front end of a robot arm (30). The nut runner (40) includes a rotating body (40c), which has a fitting portion (40d) that engages with the fitting portion (11d) of a threaded component (11). In this threaded component tightening / loosening device, after the fitting portion (40d) of the rotating body (40c) in the nut runner (40) is engaged with the fitting portion (11d) of the threaded component (11), the rotating body (40c) is rotated, thereby tightening or loosening the threaded component (11) relative to the threaded object (10).

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2004-237444 ( Figure 6 , Figure 7 ) Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] In the aforementioned threaded component tightening and loosening device, to control the engagement of the engaging portion (40d) of the rotating body (40c) in the nut wrench (40) with the engaged portion (11d) of the threaded component (11), firstly, the nut wrench (40) is moved by means of a robotic arm (30) to align the axes of the engaged portion (11d) of the threaded component (11) and the engaging portion (40d) of the rotating body (40c) with each other. Next, the robotic arm (30) applies a force toward the threaded component (11) to the nut wrench (40) to push the engaging portion (40d) relative to the engaged portion (11d). Then, by maintaining this state while rotating the rotating body (40c) of the nut wrench (40) at a low speed, the engaging portion (40d) of the rotating body is engaged with the engaged portion (11d) of the threaded component (11) (see paragraph 0028 of Patent Document 1).

[0009] However, in the control described above, as the rotating body (40c) rotates, the mating surfaces of the mating part (11d) and the mating part (40d) come into contact with each other under high pressure, making it impossible for the rotating body (40c) to move toward the threaded component (11). As a result, there is a possibility that the mating part (40d) of the rotating body (40c) may not properly engage with the mating part (11d) of the threaded component (11).

[0010] Therefore, it is desirable to achieve a technology that can properly engage the mating part of the rotating body with the mating part of the threaded component.

[0011] Methods used to solve problems

[0012] The aforementioned threaded component tightening / loosening device features the following structure: a rotating body having a fitting portion that engages with a fitting portion of the threaded component and is supported to rotate freely about the axis of the fitting portion; a rotation drive unit for rotating the rotating body; a moving unit for moving the rotating body; and a control unit for controlling the operation of the rotation drive unit and the moving unit; designating one side of the rotation direction of the rotating body driven by the rotation drive unit as a first rotation direction and the other side as a second rotation direction; the control unit performs: a first control to control the moving unit to align the axes of the fitting portion and the fitting portion with each other; and a second control to maintain the alignment of the axes of the fitting portion and the fitting portion. The system controls the aforementioned moving part to push the aforementioned fitting part relative to the aforementioned fitted part; a third control maintains the state of pushing the aforementioned fitting part relative to the aforementioned fitted part while controlling the aforementioned rotation drive to rotate the aforementioned rotating body towards the first side of the aforementioned rotation direction by a first predetermined angle; and a fourth control, after the aforementioned third control, maintains the state of pushing the aforementioned fitting part relative to the aforementioned fitted part while controlling the aforementioned rotation drive to rotate the aforementioned rotating body towards the second side of the aforementioned rotation direction by a second predetermined angle smaller than the aforementioned first predetermined angle; the aforementioned fitting part is formed such that a predetermined shape repeats at each predetermined angle along the aforementioned rotation direction; the aforementioned first predetermined angle is set to an angle corresponding to the aforementioned predetermined angle.

[0013] According to this feature structure, after a first control to align the axes of the threaded component's mating portion and the rotating body's mating portion with each other, a second control to push the mating portion relative to the mating portion with the moving part, and a third control to rotate the rotating body by a first predetermined angle in the first direction of rotation, a fourth control is performed to rotate the rotating body by a second predetermined angle in the second direction of rotation while maintaining the state of pushing the mating portion relative to the mating portion. Therefore, even if the mating surfaces of the threaded component's mating portion and the rotating body's mating portion are in contact with each other under high pressure in the third control, the fourth control can rotate the rotating body to separate these mating surfaces and move the rotating body toward the threaded component. As a result, the mating portion of the rotating body and the mating portion of the threaded component can be properly mated.

[0014] Furthermore, the aforementioned threaded component tightening and loosening method is characterized by the following aspects: it is a threaded component tightening and loosening method using a rotating body to tighten or loosen the threaded component, wherein the rotating body has a fitting portion that engages with the fitting portion of the aforementioned threaded component and is supported so as to be freely rotatable about the axis of the fitting portion; the fitting portion is formed such that a predetermined shape repeats at each predetermined angle along the rotation direction of the aforementioned rotating body; one side of the aforementioned rotation direction is designated as the first side of the rotation direction, and the other side is designated as the second side of the rotation direction; it includes: a first step of moving the aforementioned rotating body so that the axes of the fitting portion and the fitting portion are aligned with each other; In the second step, while maintaining the alignment of the axes of the aforementioned fitted portion and the aforementioned fitted portion, the aforementioned rotating body is moved to push the aforementioned fitted portion relative to the aforementioned fitted portion; in the third step, while maintaining the state of pushing the aforementioned fitted portion relative to the aforementioned fitted portion, the aforementioned rotating body is rotated to a first predetermined angle corresponding to the aforementioned predetermined angle in the first rotation direction; and in the fourth step, after the aforementioned third step, while maintaining the state of pushing the aforementioned fitted portion relative to the aforementioned fitted portion, the aforementioned rotating body is rotated to a second predetermined angle smaller than the aforementioned first predetermined angle in the second rotation direction.

[0015] According to this feature structure, after the first step of moving the rotating body to align the axes of the threaded component's mating portion and the rotating body's mating portion, the second step of moving the rotating body to push the mating portion relative to the mating portion, and the third step of rotating the rotating body by a first predetermined angle in the first direction of rotation, a fourth step is performed where the rotating body is rotated by a second predetermined angle in the second direction of rotation while maintaining the state of pushing the mating portion relative to the mating portion. Therefore, even if the mating surfaces of the threaded component's mating portion and the rotating body's mating portion are in contact with each other under high pressure in the third step, the fourth step can rotate the rotating body to separate these mating surfaces and move the rotating body toward the threaded component. As a result, the mating portion of the rotating body and the mating portion of the threaded component can be properly mated. Attached Figure Description

[0016] Figure 1 This is a top view of the device using the threaded component tightening / loosening device described in the embodiment.

[0017] Figure 2 This is a perspective view showing the threaded component tightening / loosening device and clamp involved in the embodiment being mounted on the floating unit support of the robotic arm.

[0018] Figure 3 This is a diagram showing the threaded component tightening / loosening device and the clamp supporting the threaded object according to the embodiment, viewed from the direction along the axis of the mating part of the rotating body.

[0019] Figure 4 It is a diagram showing the rotating body as viewed from the direction along the axis of the fitting part, and a cross-sectional view along the axis of the rotating body.

[0020] Figure 5 This is a control block diagram of the threaded component tightening and loosening device involved in the implementation method.

[0021] Figure 6 This is a diagram illustrating an example of the first and second controls.

[0022] Figure 7 This is a diagram illustrating an example of the third and fourth controls.

[0023] Figure 8 This is a diagram illustrating an example of the 5th and 6th controls.

[0024] Figure 9 This is a flowchart illustrating an example of control procedures for removing a threaded component from a screwed object.

[0025] Figure 10 This is a flowchart illustrating an example of control procedures for removing a threaded component from a screwed object. Detailed Implementation

[0026] Hereinafter, the threaded component tightening / loosening device 100 according to the embodiment will be described with reference to the accompanying drawings. The threaded component tightening / loosening device 100 is a device for tightening or loosening a threaded component S relative to a threaded object W. Figure 1 and Figure 2 As shown, in this embodiment, the threaded component tightening / loosening device 100 is supported by a floating unit F mounted at the front end of the robotic arm A. The floating unit F also supports a clamp J for supporting the threaded object W. In this embodiment, the threaded component tightening / loosening device 100 moves the threaded component S (refer to...) from the threaded object W supported by the clamp J. Figure 3 The unloading work.

[0027] like Figure 1 As shown, in this embodiment, the object W to be engaged is the door unit of the vehicle body V, which is conveyed by the conveying device C in the conveying direction D. In the illustrated example, the robotic arms A are respectively positioned on both sides of the conveying path of the vehicle body V.

[0028] The fixture J exists in multiple types corresponding to the types of the object W to which it is engaged, and is replaced according to the type of the object W to which the operation is performed. For example... Figure 2As shown, the clamp J includes a frame Ja formed in the shape of a frame and multiple fixing parts Jb supported by the frame Ja. The multiple fixing parts Jb are configured to fix the screwed object W in a state where the object is in contact with the frame Ja. Each of the multiple fixing parts Jb is configured to be switchable between a fixed state in which the clamp J is fixed and a fixed-release state in which the clamp J is released. The number and position of the fixing parts Jb vary in each clamp J, corresponding to the type of screwed object W.

[0029] The floating unit F is configured to support the threaded component tightening / loosening device 100 and the clamp J integrally with respect to the floating unit F, allowing them to move and rotate relative to each other. Therefore, when the threaded component tightening / loosening device 100 and the clamp J are supported by the floating unit F, the relative position of the threaded component tightening / loosening device 100 and the clamp J is always constant.

[0030] In the following description, in the threaded component tightening / loosening device 100 and clamp J supported by the floating unit F, the three mutually orthogonal directions are respectively designated as "first direction X", "second direction Y" and "third direction Z". In this embodiment, the second direction Y is consistent with the axial direction of the threaded component S that is threaded with the threaded object W supported by the clamp J, that is, the threading direction of the threaded component S relative to the threaded object W.

[0031] like Figure 2 As shown, in this embodiment, the clamp J is positioned relative to the floating unit F on one side of the first direction X. Furthermore, as... Figure 3 As shown, the clamp J supports the screwed object W in a state of abutting against it in the first direction X. In this embodiment, with the screwed object W supported by the clamp J, a pair of threaded components S are screwed onto one end of the screwed object W in the second direction Y via a hinge H. Figure 3 In the example shown, each of the two parts of the object being screwed in the third direction Z is screwed with a pair of threaded parts S in the state of being arranged in the third direction Z.

[0032] like Figure 2 and Figure 3 As shown, in this embodiment, the threaded component tightening / loosening device 100 is located on the side of the threaded component S that engages with the object W in the second direction Y, relative to the floating unit F. In this embodiment, the threaded component tightening / loosening device 100 includes a pair of nut wrenches 10, a pair of first moving mechanisms 20, a pair of second moving mechanisms 30, and a pair of third moving mechanisms 40.

[0033] In this embodiment, the nut wrench 10, the first moving mechanism 20, the second moving mechanism 30, and the third moving mechanism 40 of one party, and the nut wrench 10, the first moving mechanism 20, the second moving mechanism 30, and the third moving mechanism 40 of the other party are arranged in the third direction Z. Furthermore, since the nut wrench 10, the first moving mechanism 20, the second moving mechanism 30, and the third moving mechanism 40 of one party, and the nut wrench 10, the first moving mechanism 20, the second moving mechanism 30, and the third moving mechanism 40 of the other party are also configured in the same way, the description of the nut wrench 10, the first moving mechanism 20, the second moving mechanism 30, and the third moving mechanism 40 of the other party is omitted unless specifically stated otherwise.

[0034] Nut wrench 10 has a rotating body 1 and a rotation drive unit 2 (see reference) Figure 5 ).like Figure 3 As shown, the rotating body 1 has a fitting portion 1a that engages with the fitting portion Sa of the threaded member S. Furthermore, the rotating body 1 is supported so that it can rotate freely about the axis of the fitting portion 1a. The rotation drive unit 2 is configured to rotate the rotating body 1. The rotation drive unit 2 includes, for example, a motor and a transmission mechanism for transmitting the rotation of the motor to the rotating body 1. In this embodiment, the rotation drive unit 2 is housed in the housing 11. Furthermore, the rotating body 1 is rotatably supported by the housing 11.

[0035] In this embodiment, with the object W to be screwed in supported by the clamp J, the rotating body 1 is arranged such that the axis of the fitting portion 1a is along the second direction Y. That is, in this embodiment, the second direction Y is equivalent to the "axial direction" along the axis of the fitting portion 1a.

[0036] In the following description, with the object W being supported by the clamp J, the side of the rotating body 1 in the second direction Y that approaches the engaged portion 1a of the threaded member S relative to the engaged portion Sa of the threaded member S is designated as "first axial side Y1", and the side of the rotating body 1 in the second direction Y that moves away from the engaged portion Sa of the threaded member S is designated as "second axial side Y2". Furthermore, the rotation direction of the rotating body 1 is designated as "rotation direction R".

[0037] like Figure 2 and Figure 3 As shown, the first moving mechanism 20 includes a first support portion 21 supporting the nut wrench 10, a first guide portion 22 guiding the first support portion 21 in the first direction X, and a first drive portion 23 moving the first support portion 21 in the first direction X (see reference). Figure 5 ).

[0038] In this embodiment, the first support portion 21 supports the housing 11 of the nut wrench 10. In this embodiment, the housing 11 is formed into a cylindrical shape having an axis along the first direction X. Furthermore, a rotating body 1 is disposed at one end of the housing 11 on one side of the first direction X.

[0039] The first guide portion 22 supports the first support portion 21 in a movable manner in the first direction X. The first guide portion 22 can be, for example, a linear motion mechanism having a track extending along the first direction X and a moving body that moves along the track. Furthermore, the first drive portion 23 can be, for example, an electric cylinder having a motor and a conversion mechanism that converts the rotational motion of the motor into linear motion along the first direction X. Alternatively, a hydraulic cylinder can be used as the first drive portion 23. As a hydraulic cylinder, for example, a pneumatic cylinder, a hydraulic cylinder, etc., can be used.

[0040] The second moving mechanism 30 includes a second support portion 31 that supports the first guide portion 22, a second guide portion 32 that guides the second support portion 31 in the second direction Y, and a second drive portion 33 that moves the second support portion 31 in the second direction Y (see reference). Figure 5 ).

[0041] In this embodiment, the second support portion 31 is formed as a plate along the first direction X and the third direction Z. Furthermore, the second support portion 31 supports the first guide portion 22 axially from the first side Y1. The second guide portion 32 supports the second support portion 31 movably in the second direction Y. In this embodiment, a pair of second guide portions 32 extending along the second direction Y are arranged in the first direction X. For example, a linear motion mechanism having a shaft member extending along the second direction Y and a moving body moving along that shaft member can be used as the second guide portion 32. Furthermore, for example, a fluid cylinder having a movable part connected to the second support portion 31 can be used as the second drive portion 33. For example, a pneumatic cylinder, a hydraulic cylinder, etc., can be used as the fluid cylinder. Alternatively, an electric cylinder can also be used as the second drive portion 33.

[0042] The third moving mechanism 40 includes a third support portion 41 that supports the second guide portion 32, a third guide portion 42 that guides the third support portion 41 in the third direction Z, and a third drive portion 43 that moves the third support portion 41 in the third direction Z (see reference). Figure 5 ).

[0043] In this embodiment, the third support portion 41 is formed as a plate along the first direction X and the third direction Z. Furthermore, the third support portion 41 is arranged opposite the second support portion 31 from the axial first side Y1. The third guide portion 42 supports the third support portion 41 so that it can move in the third direction Z. For example, a linear motion mechanism having a track extending along the third direction Z and a moving body moving along the track can be used as the third guide portion 42. Furthermore, an electric cylinder having a motor and a conversion mechanism that converts the rotational motion of the motor into linear motion along the third direction Z can be used as the third drive portion 43. Alternatively, a hydraulic cylinder can be used as the third drive portion 43. For example, a pneumatic cylinder or a hydraulic cylinder can be used as the hydraulic cylinder.

[0044] Thus, in the threaded component tightening / loosening device 100 of this embodiment, the nut wrench 10 moves in the first direction X by means of the first moving mechanism 20, in the second direction Y by means of the second moving mechanism 30, and in the third direction Z by means of the third moving mechanism 40. That is, in this embodiment, the first moving mechanism 20, the second moving mechanism 30, and the third moving mechanism 40 function as "moving parts 3" for moving the rotating body 1. As described above, the threaded component tightening / loosening device 100 includes a rotating body 1, a rotation drive part 2, and a moving part 3.

[0045] like Figure 2 and Figure 3 As shown, in this embodiment, the threaded component tightening / loosening device 100 includes a retaining portion 4 for holding the threaded component S. In this embodiment, the retaining portion 4 holds the threaded component S along the second direction Y with respect to the axis of the threaded component S. Furthermore, in this embodiment, each of the two portions arranged in the third direction Z on the side of the clamp J facing the axial second side Y2 is provided with a pair of retaining portions 4 in a state of arrangement in the third direction Z.

[0046] like Figure 3 As shown, in this embodiment, the threaded component S is a hexagonal bolt with a hexagonal prism-shaped head. Therefore, in this embodiment, the mating portion Sa of the threaded component S is a hexagonal prism-shaped head. Consequently, as... Figure 4 As shown, in this embodiment, the rotating body 1 is a socket formed with a hexagonal prism-shaped recess as the fitting part 1a opening toward the first axial side Y1. Therefore, the fitting part 1a is formed as a cylindrical shape having a plurality (here, 6) sides 1b surrounding the axis of the fitting part 1a.

[0047] Thus, in this embodiment, the mating portion Sa of the threaded component S is formed such that a predetermined shape is repeated at each predetermined angle along the rotation direction of the threaded component S. Furthermore, the mating portion 1a of the rotating body 1 is formed such that a predetermined shape is repeated at each predetermined angle along the rotation direction R of the rotating body 1, so as to correspond to the shape of the mating portion Sa. Thus, in this embodiment, the mating portion 1a and the mating portion Sa are configured to mat together when the phase of the predetermined shape of the mating portion 1a repeated at each predetermined angle coincides with the phase of the corresponding shape of the mating portion Sa.

[0048] Furthermore, in this embodiment, a chamfered portion 1d inclined relative to the second direction Y is formed at the end of the boundary portion 1c of adjacent side surfaces 1b on the first axial side Y1 of the plurality of side surfaces 1b. In this example, the chamfered portion 1d is continuously formed over the entire rotational direction R in the end of the fitting portion 1a on the first axial side Y1. Furthermore, in this example, the chamfered portion 1d is inclined such that it gradually moves towards the second axial side Y2 as it moves radially outward from the fitting portion 1a toward the axis.

[0049] like Figure 5 As shown, the threaded component tightening / loosening device 100 includes a control unit 5 that controls the operation of the rotary drive unit 2 and the moving unit 3. In this embodiment, the control unit 5 controls the first drive unit 23 of the first moving mechanism 20, the second drive unit 33 of the second moving mechanism 30, and the third drive unit 43 of the third moving mechanism 40.

[0050] In this embodiment, the threaded component tightening / loosening device 100 includes a first detection unit 6 for detecting the state of the rotating body 1 and a second detection unit 7 for detecting whether the threaded component S is held by the holding unit 4. The control unit 5 acquires the detection signals from the first detection unit 6 and the second detection unit 7.

[0051] In this embodiment, the first detection unit 6 is configured to detect at least one of the rotational torque T of the rotating body 1 and the amount of movement M in the second direction Y of the rotating body 1. In this example, the first detection unit 6 includes both a first sensor, such as a torque sensor, that detects the rotational torque T of the rotating body 1, and a second sensor, such as an encoder, that detects the amount of movement M in the second direction Y of the rotating body 1. That is, in this example, the first detection unit 6 is configured to detect both the rotational torque T of the rotating body 1 and the amount of movement M in the second direction Y of the rotating body 1.

[0052] The control unit 5 performs the first control, the second control, the third control, and the fourth control in the order described.

[0053] like Figure 6As shown in the left figure, in the first control, the control unit 5 controls the moving unit 3 to align the axes of the engaging portion Sa of the threaded component S and the engaging portion 1a of the rotating body 1. Here, as described above, in this embodiment, the floating unit F supports the threaded component tightening / loosening device 100 and the clamp J as a single unit, allowing them to move and rotate relative to each other. That is, the relative positional relationship between the threaded component tightening / loosening device 100, including the first moving mechanism 20, the second moving mechanism 30, and the third moving mechanism 40, and the clamp J is always constant. Therefore, when the object being threaded W is supported by the clamp J, the relative positional relationship between the threaded component tightening / loosening device 100 and the object being threaded W is also always constant. Thus, the relative position of the threaded component S, which is threaded to the object being threaded W, relative to the rotating body 1 can be calculated in advance.

[0054] like Figure 6 As shown in the right-hand diagram, in the second control, the control unit 5 maintains the alignment of the axes of the mating portion Sa of the threaded component S and the mating portion 1a of the rotating body 1 with each other, while controlling the moving unit 3 to push the mating portion 1a relative to the mating portion Sa. Here, in the second control, it is assumed that the phases of the mating portion 1a and the mating portion Sa are not synchronized. Therefore, in this embodiment, in the second control, the multiple (here, 6) corner portions Sb of the mating portion Sa of the threaded component S abut against the chamfered portion 1d formed on the rotating body 1 from the first axial side Y1, and the movement of the rotating body 1 towards the first axial side Y1 is restricted.

[0055] like Figure 7 As shown in figures (a) to (c), in the third control, the control unit 5 maintains the state in which the fitting portion 1a of the rotating body 1 is pushed relative to the fitting portion Sa of the threaded member S, while controlling the rotation drive unit 2 to rotate the rotating body 1 towards the first side of the rotation direction R1 by a first predetermined angle θ1. Here, the first predetermined angle θ1 is set to an angle corresponding to a predetermined angle, which is an angle interval in the fitting portion 1a of the rotating body 1 that repeats a predetermined shape along the rotation direction R. In the case where the fitting portion 1a is formed as a hexagonal prism as in this embodiment, the angle interval of the repeated predetermined shape is 60°. Therefore, the first predetermined angle θ1 can be set to 60° for example. Here, the first side of the rotation direction R1 is one side of the rotation direction R of the rotating body 1 brought by the rotation drive unit 2. In addition, unlike the example shown, when the fitting portion 1a is a 12-cornered sleeve with two hexagonal prisms stacked together, the angle interval of the repeated predetermined shape is 30°. In this case, the first specified angle θ1 can be set to, for example, 30°.

[0056] like Figure 7As shown in Figure (d), in the fourth control, the control unit 5 maintains the state of pushing the engaging portion 1a of the rotating body 1 relative to the engaging portion Sa of the threaded member S while controlling the rotation drive unit 2 to rotate the rotating body 1 towards the second side of the rotation direction R2 by a second predetermined angle θ2 smaller than the first predetermined angle θ1. In this embodiment, the second predetermined angle θ2 is set to a value corresponding to the angle range of the rotation direction R in which the engaging portion Sa is guided by the chamfered portion 1d of the rotating body 1 in the rotation direction R to engage the engaging portion 1a with the engaging portion Sa. This angle range varies depending on the tilt angle of the chamfered portion 1d of the rotating body 1 relative to the second direction Y. Furthermore, this angle range also varies depending on the size of the area in the second direction Y (axial direction) where the chamfered portion 1d is formed and the shape of the chamfered portion 1d itself. The second predetermined angle θ2 can be set to, for example, 5°. In addition, the second side of the rotation direction R2 is the other side of the rotation direction of the rotating body 1 brought about by the rotation drive unit 2. That is, the second rotation direction R2 is the side opposite to the first rotation direction R1 in the rotation direction of the rotating body 1 brought about by the rotation drive unit 2.

[0057] In this embodiment, during the third control, if the control unit 5 determines, based on the state of the rotating body 1 detected by the first detection unit 6, that the phase deviation between the fitted part Sa and the fitted part 1a has become below an angle threshold TH, which is set to be below the second predetermined angle θ2, then it switches to the fourth control. In this example, during the third control, if the rotational torque T of the rotating body 1 becomes greater than the first threshold TH1, or if the amount M of movement of the rotating body 1 towards the first axial side Y1 becomes greater than the second threshold TH2, then the control unit 5 determines that the phase deviation between the fitted part Sa and the fitted part 1a has become below the angle threshold TH.

[0058] exist Figure 7 In the example shown, after the third control is initiated, as the rotating body 1 rotates towards the first side R1 in the rotation direction, the rotating body 1 moves slightly towards the first side Y1 in the axial direction, so that the corner Sb of the threaded component S moves relative to the chamfer 1d of the rotating body 1 (see reference). Figure 7 (See figures (a) and (b) in the figure). Furthermore, if the rotating body 1 rotates further towards the first rotational direction R1, the side 1b of the fitting portion 1a in the rotating body 1 abuts against the side of the fitted portion Sa in the threaded component S from the second rotational direction R2 (see figure). Figure 7(See Figure (c)). As a result, the mating surfaces (side surface 1b of mating surface 1a and side surface of mating surface Sa) of the threaded component S and the mating surface 1a of the rotating body 1 are in contact with each other under high pressure, and the movement of the rotating body 1 toward the first axial side Y1 is hindered. Furthermore, the rotation of the rotating body 1 toward the first rotational direction R1 is hindered, and the rotational torque T of the rotating body 1 increases. Moreover, when the rotational torque T of the rotating body 1 becomes greater than the first threshold TH1, the rotating body 1 is rotated toward the second rotational direction R2, so that the mating surfaces of mating surface 1a of the threaded component S and the mating surface of mating surface 1a of the rotating body 1 separate from each other in the rotational direction R. As a result, the rotating body 1 moves toward the first axial side Y1, and the mating surface 1a of mating surface 1a of the threaded component S engages with the mating surface of the rotating body 1 (see Figure 1). Figure 7 (Figure d in the middle).

[0059] In this embodiment, after the fourth control, the control unit 5 performs the fifth, sixth, and seventh controls in the order described.

[0060] like Figure 8 As shown in figures (a) and (b), in the fifth control, the control unit 5 maintains the state in which a force acting on the rotating body 1 in the first axial direction Y1 is applied by the moving unit 3, while controlling the rotation drive unit 2 to rotate the threaded component S towards the loosening side Ra via the rotating body 1. Here, the loosening side Ra is the side of the rotating body 1 in the rotation direction that loosens the threaded component S from the threaded object W. Furthermore, either the first rotation direction R1 or the second rotation direction R2 can be the loosening side Ra. In the illustrated example, the first rotation direction R1 is the loosening side Ra.

[0061] like Figure 8 As shown in figures (c) and (d), in the sixth control, the control unit 5 controls the moving unit 3 to move the rotating body 1 towards the second axial side Y2. The sixth control is performed when the amount M of movement of the rotating body 1 towards the second axial side Y2 in the fifth control is equivalent to the engagement length L of the threaded component S relative to the engagement object W at the beginning of the fifth control.

[0062] In the seventh control, after the threaded component S is removed from the object being threaded W, the control unit 5 controls the moving part 3 to keep the threaded component S in place by the holding part 4 (see reference). Figure 3 (The upper nut wrench 10 in the middle). In the 7th control, when the 2nd detection unit 7 detects that the threaded part S is held by the holding unit 4, the control unit 5 determines that the removal of the threaded part S from the threaded object W is completed.

[0063] The following is for reference Figure 9 and Figure 10The control of the control unit 5 when the threaded component S is removed from the threaded object W will be explained. Figure 9 and Figure 10 This is a flowchart illustrating an example of the control unit 5's operation when the threaded component S is removed from the threaded object W. Furthermore, assuming... Figure 9 and Figure 10 The control unit 5 shown starts when the screwed object W is supported by the clamp J.

[0064] First, such as Figure 9 As shown, the control unit 5, as the first control, controls the moving unit 3 to align the engagement part Sa of the threaded component S with the axis of the engagement part 1a of the rotating body 1 (step #01). Step #01 is equivalent to "first operation".

[0065] Next, the control unit 5, as the second control, maintains the alignment of the axis of the mating part Sa of the threaded component S with the axis of the mating part 1a of the rotating body 1, while controlling the moving part 3 to push the mating part 1a relative to the mating part Sa (step #02). Step #02 is equivalent to "second operation".

[0066] Next, the control unit 5, as the third control, maintains the state in which the engaging portion 1a of the rotating body 1 is pressed relative to the engaging portion Sa of the threaded member S, while controlling the rotation drive unit 2 to rotate the rotating body 1 in the first rotation direction R1 (step #03). Furthermore, the control unit 5 determines whether the rotating body 1 has rotated by a first predetermined angle θ1 after it starts rotating in the third control (step #04).

[0067] If the control unit 5 determines that the rotating body 1 has not rotated by the first predetermined angle θ1 (step #04: no), it determines whether the rotational torque T of the rotating body 1 becomes greater than the first threshold TH1 or the amount of movement M of the rotating body 1 toward the first side Y1 in the axial direction becomes greater than the second threshold TH2 (step #05).

[0068] When the control unit 5 determines that the rotational torque T of the rotating body 1 becomes greater than the first threshold TH1, or that the amount M of the rotating body 1 moving towards the first axial side Y1 after the rotating body 1 starts rotating in the third control becomes greater than the second threshold TH2 (step #05: Yes), as the fourth control, it controls the rotation drive unit 2 to rotate the rotating body 1 towards the second rotational side R2 while maintaining the state of pushing the fitting part 1a of the rotating body 1 relative to the fitting part Sa of the threaded member S, so as to rotate the rotating body 1 towards the second rotational side R2 (step #06). On the other hand, when the control unit 5 determines that the rotational torque T of the rotating body 1 is less than or equal to the first threshold TH1, and that the amount M of the rotating body 1 moving towards the first axial side Y1 after the rotating body 1 starts rotating in the third control is less than or equal to the second threshold TH2 (step #05: No), it returns to the above-described step #03.

[0069] Furthermore, if the control unit 5 determines in step #04 above that the rotating body 1 has rotated by a first predetermined angle θ1 (step #04: yes), then it performs step #06 above.

[0070] Steps #03, #04, and #05 mentioned above correspond to "Step 3". Furthermore, step #05 corresponds to "Step 1 (Inspection)".

[0071] After step #06 above, the control unit 5 determines whether the rotating body 1 has rotated by the second predetermined angle θ2 after it started rotating in the fourth control (step #07).

[0072] If the control unit 5 determines that the rotating body 1 has not rotated by the second predetermined angle θ2 (step #07: No), it determines whether the amount of movement M of the rotating body 1 toward the first side Y1 of the axis becomes greater than the third threshold TH3 (step #08).

[0073] If the control unit 5 determines that the amount of movement M of the rotating body 1 towards the first side Y1 after the rotating body 1 starts to rotate in the fourth control is below the third threshold TH3 (step #08: No), it returns to the above step #06.

[0074] On the other hand, when the control unit 5 determines that the amount M of movement of the rotating body 1 towards the first axial side Y1 after the rotating body 1 starts rotating in the fourth control becomes greater than the third threshold TH3 (step #08: Yes), it determines that the engaging part Sa of the threaded component S is engaged with the engaging part 1a of the rotating body 1. Moreover, as Figure 10 As shown, the control unit 5, as the fifth control, maintains the state in which the force acting on the first axial side Y1 is applied to the rotating body 1 by means of the moving unit 3, and controls the rotation drive unit 2 to make the threaded component S rotate toward the loosening side Ra via the rotating body 1 (step #09).

[0075] Furthermore, if the control unit 5 determines in step #07 above that the rotating body 1 has rotated by a second predetermined angle θ2 (step #07: yes), then it performs step #09 above.

[0076] Steps #06, #07, and #08 described above correspond to "Step 4". Furthermore, step #09 described above corresponds to "Step 5".

[0077] After step #09 above, the control unit 5 determines whether the amount M of movement of the rotating body 1 toward the second axial side Y2 becomes an amount equivalent to the engagement length L of the threaded component S relative to the engagement object W at the start of the fifth control (step #10).

[0078] If the control unit 5 determines that the amount of movement M of the rotating body 1 toward the second axial side Y2 is not equal to the engagement length L of the threaded component S relative to the engagement object W at the start of the fifth control (step #10: No), it returns to the above step #09.

[0079] On the other hand, when the control unit 5 determines that the amount M of movement of the rotating body 1 toward the second axial side Y2 has become an amount equivalent to the engagement length L of the threaded member S relative to the engagement object W at the start of the fifth control (step #10: Yes), as the sixth control, it controls the moving unit 3 to move the rotating body 1 toward the second axial side Y2 (step #11).

[0080] Steps #10 and #11 above are equivalent to "Step 6".

[0081] Then, the control unit 5, as the seventh control, controls the moving unit 3 to hold the threaded component S, which has been removed from the threaded object W, by the holding unit 4 (step #12). Then, the control unit 5 determines whether the second detection unit 7 has detected that the threaded component S is held by the holding unit 4 (step #13).

[0082] If the control unit 5 determines that the second detection unit 7 has detected that the threaded component S is held by the holding unit 4 (step #13: Yes), it determines that the removal of the threaded component S from the threaded object W is complete (step #14) and ends the control.

[0083] On the other hand, if the control unit 5 determines that the second detection unit 7 has not detected that the threaded component S is held by the holding unit 4 (step #13: no), it performs an abnormality determination (step #15), for example, stopping the operation of the threaded component tightening / loosening device 100.

[0084] Steps #12, #13, #14, and #15 described above correspond to "Step 7". Furthermore, step #13 described above corresponds to "Step 2 (Inspection)".

[0085] [Other implementation methods]

[0086] (1) In the above embodiment, the example described is a hexagonal bolt with a hexagonal prism-shaped head as the mating part Sa and a sleeve with a hexagonal prism-shaped recess as the mating part 1a. However, it is not limited to such a structure. For example, it can also be made into a bolt with a hexagonal hole where the threaded part S has a hexagonal prism-shaped recess as the mating part Sa and a cutting bit where the mating part 1a is hexagonal prism-shaped.

[0087] (2) In the above embodiment, the structure described is based on the case where the rotational torque T of the rotating body 1 becomes greater than the first threshold TH1 in the third control, or where the amount M of movement of the rotating body 1 towards the first axial side Y1 becomes greater than the second threshold TH2, and the control unit 5 determines that the phase deviation between the fitted part Sa and the fitted part 1a has become less than the angle threshold TH, and then transfers to the fourth control. However, the structure is not limited to that. For example, it is also possible to make a structure in which the phase deviation between the fitted part Sa and the fitted part 1a is not determined in the third control, but the rotating body 1 is rotated by a first predetermined angle θ1 towards the first rotational direction R1, and then the structure transfers to the fourth control.

[0088] (3) In the above embodiment, the structure described is based on the example where the control unit 5 determines that the amount M of movement of the rotating body 1 towards the first axial side Y1 after the rotating body 1 starts to rotate in the fourth control becomes greater than the third threshold TH3, and determines that the engaging part Sa of the threaded component S is engaged with the engaging part 1a of the rotating body 1. However, the structure is not limited to that. For example, it is also possible to make a structure in which the amount M of movement of the rotating body 1 towards the first axial side Y1 is not detected in the fourth control, but the structure determines that the engaging part Sa of the threaded component S is engaged with the engaging part 1a of the rotating body 1 when the rotating body 1 is rotated by a second predetermined angle θ2 towards the second rotation direction R2.

[0089] (4) In the above embodiment, the example described is that the fitting part 1a is formed into a cylindrical structure having a plurality of side surfaces 1b surrounding the axis of the fitting part 1a. However, it is not limited to such a structure, and the fitting part 1a may also be made into a structure having a cylindrical side surface 1b formed by curves when viewed along the direction of the axis of the fitting part 1a.

[0090] (5) In the specific example of the above embodiment, a structure in which the chamfered portion 1d is continuously formed throughout the entire rotational direction R at the end of the fitting portion 1a on the first axial side Y1 is described as an example. However, it is not limited to such a structure. For example, the chamfered portion 1d inclined relative to the second direction Y may only be formed at the boundary portion 1c of adjacent side surfaces 1b among the plurality of side surfaces 1b at the end of the fitting portion 1a on the first axial side Y1. Furthermore, it is also possible to make a structure in which the chamfered portion 1d is not formed in the rotating body 1. Furthermore, in Figure 4 In the example shown, the cross-section of the chamfered portion 1d along the second direction Y (axial direction) is formed as an arc-shaped structure protruding toward the axis of the fitting portion 1a, but it is not limited to that structure. For example, the cross-section of the chamfered portion 1d along the second direction Y (axial direction) may be formed as a straight line or as an arc-shaped structure recessed toward the radial outer side of the rotating body 1.

[0091] (6) In the above embodiment, a sixth control is described as controlling the moving part 3 to move the rotating body 1 to the second axial side Y2 when the amount M of movement of the rotating body 1 to the second axial side Y2 becomes equivalent to the engagement length L of the threaded member S relative to the threaded object W at the beginning of the fifth control. However, the structure is not limited to that. For example, it is also possible to make a structure in which the sixth control is performed when the amount M of movement of the rotating body 1 to the second axial side Y2 becomes greater than the engagement length L of the threaded member S relative to the threaded object W at the beginning of the fifth control.

[0092] (7) In the above embodiment, an example was described using a structure that includes a first detection unit 6 for detecting the state of the rotating body 1 and a second detection unit 7 for detecting whether the threaded member S is held by the holding unit 4. However, the structure is not limited to that; it is also possible to make a structure that does not include at least one of the first detection unit 6 and the second detection unit 7.

[0093] (8) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments, provided that no contradictions arise. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be made appropriately without departing from the spirit of this disclosure.

[0094] [Summary of the above embodiments]

[0095] The following is a summary of the threaded component tightening and loosening device described above.

[0096] A threaded component tightening / loosening device comprises: a rotating body having a fitting portion that engages with a fitting portion of a threaded component and being supported to rotate freely about an axis of the fitting portion; a rotation drive unit for rotating the rotating body; a moving unit for moving the rotating body; and a control unit for controlling the operation of the rotation drive unit and the moving unit; defining one side of the rotation direction of the rotating body driven by the rotation drive unit as a first rotation direction and the other side as a second rotation direction; the control unit performs: a first control to control the moving unit to align the axes of the fitting portion and the fitting portion with each other; and a second control to maintain the alignment of the axes of the fitting portion and the fitting portion while controlling the moving unit. The control is performed to push the aforementioned fitting portion relative to the aforementioned fitted portion; the third control is performed while maintaining the state of pushing the aforementioned fitting portion relative to the aforementioned fitted portion, and the rotation drive is controlled to rotate the aforementioned rotating body to the first side of the aforementioned rotation direction by a first predetermined angle; and the fourth control is performed after the aforementioned third control, while maintaining the state of pushing the aforementioned fitting portion relative to the aforementioned fitted portion, and the rotation drive is controlled to rotate the aforementioned rotating body to the second side of the aforementioned rotation direction by a second predetermined angle smaller than the aforementioned first predetermined angle; the aforementioned fitting portion is formed such that a predetermined shape repeats at each predetermined angle along the aforementioned rotation direction; the aforementioned first predetermined angle is set to an angle corresponding to the aforementioned predetermined angle.

[0097] According to this structure, after a first control to align the axes of the threaded component's mating portion and the rotating body's mating portion with the moving part, a second control to push the mating portion relative to the mating portion with the moving part, and a third control to rotate the rotating body by a first predetermined angle in the first direction of rotation, a fourth control is performed to rotate the rotating body by a second predetermined angle in the second direction of rotation while maintaining the state of pushing the mating portion relative to the mating portion. Therefore, even if the mating surfaces of the threaded component's mating portion and the rotating body's mating portion are in contact with each other under high pressure in the third control, the fourth control can rotate the rotating body to separate these mating surfaces and move the rotating body toward the threaded component. As a result, the mating portion of the rotating body and the mating portion of the threaded component can be properly mated.

[0098] Here, preferably, a first detection unit is also provided to detect the state of the aforementioned rotating body; the aforementioned fitting part and the aforementioned fitted part are configured to fit together when the phase of the aforementioned predetermined shape of the aforementioned fitting part, which is repeated at each of the aforementioned predetermined angles, is consistent with the phase of the corresponding shape of the aforementioned fitted part; in the aforementioned third control, if the aforementioned control unit determines, based on the state of the aforementioned rotating body detected by the aforementioned first detection unit, that the phase deviation between the aforementioned fitted part and the aforementioned fitting part has become below an angle threshold set below the aforementioned second predetermined angle, the aforementioned control unit switches to the aforementioned fourth control.

[0099] According to this structure, in the third control, if the phase deviation between the mating part and the mating part decreases based on the state of the rotating body detected by the first detection unit, the fourth control is initiated. Therefore, the fourth control can be initiated at an appropriate time. Consequently, the mating part of the rotating body and the mating part of the threaded component can be mated more appropriately.

[0100] In the structure having the aforementioned first detection unit, it is preferable to define the direction along the axis of the aforementioned fitting portion as the axial direction, and define the side of the aforementioned fitting portion that is close to the aforementioned fitted portion in the aforementioned axial direction as the first axial side; the aforementioned first detection unit is configured to detect at least one of the rotational torque of the aforementioned rotating body and the amount of movement of the aforementioned rotating body in the aforementioned axial direction; in the aforementioned third control, the aforementioned control unit determines that the phase deviation between the aforementioned fitted portion and the aforementioned fitting portion has become less than the aforementioned angle threshold when the rotational torque of the aforementioned rotating body becomes greater than a first threshold, or when the amount of movement of the aforementioned rotating body toward the aforementioned first axial side becomes greater than a second threshold.

[0101] According to this structure, in the third control, when the mating surfaces of the mating portion of the threaded component and the mating portion of the rotating body are in contact with each other under high pressure and the rotational torque of the rotating body becomes greater than the first threshold, it is determined that the phase deviation between the mating portion and the mating portion has decreased, and the fourth control is initiated. Alternatively, in the third control, when the rotating body begins to move towards the threaded component and the amount of movement of the rotating body becomes greater than the second threshold, it is determined that the phase deviation between the mating portion and the mating portion has decreased, and the fourth control is initiated. Therefore, the fourth control can be initiated at a more appropriate time. Consequently, the mating portion of the rotating body and the mating portion of the threaded component can be more appropriately mated.

[0102] Furthermore, preferably, the direction along the axis of the aforementioned fitting portion is defined as the axial direction, and the side of the aforementioned fitting portion that is close to the aforementioned fitted portion in the aforementioned axial direction is defined as the first axial side; the aforementioned fitting portion is formed as a angular tube shape having a plurality of side surfaces surrounding the axis of the fitting portion; at the end of the aforementioned first axial side of the boundary portion of the adjacent aforementioned side surfaces among the plurality of aforementioned side surfaces, a chamfer portion inclined relative to the aforementioned axial direction is formed; the aforementioned second predetermined angle is set to a value corresponding to the angle range of the aforementioned rotation direction in which the aforementioned fitted portion is guided by the aforementioned chamfer portion in the aforementioned rotation direction so that the aforementioned fitting portion fits into the aforementioned fitted portion.

[0103] According to this structure, in the third and fourth controls, the mating part can be guided by the chamfered portion formed in the mating part, so as to reduce the phase deviation between the mating part and the mating part.

[0104] Furthermore, the second specified angle is set to a value corresponding to the range of angles in the rotational direction in which the chamfered portion guides the mating part to engage with the mating part. Therefore, in the fourth control, the rotating body can be rotated to the second side of the rotational direction within the range where the mating part is guided by the chamfered portion of the mating part. Consequently, it becomes easier to engage the mating part of the rotating body with the mating part of the threaded component.

[0105] Furthermore, preferably, the direction along the axis of the aforementioned fitting portion is defined as the axial direction, the side of the aforementioned fitting portion that is close to the aforementioned fitted portion in the aforementioned axial direction is defined as the first axial side, the side of the aforementioned fitting portion that is away from the aforementioned fitted portion in the aforementioned axial direction is defined as the second axial side, and the side in the aforementioned rotational direction that loosens the aforementioned threaded member from the object being fitted is defined as the loosening side; the aforementioned control unit performs: a fifth control, after the aforementioned fourth control, while maintaining the state in which the force towards the aforementioned first axial side is applied to the aforementioned rotating body by means of the aforementioned moving part, while controlling the aforementioned rotation drive unit to make the aforementioned threaded member rotate towards the aforementioned loosening side via the aforementioned rotating body; and a sixth control, when the amount of movement of the aforementioned rotating body towards the aforementioned second axial side in the aforementioned fifth control becomes an amount equivalent to the threaded length of the aforementioned threaded member relative to the aforementioned object being fitted at the beginning of the aforementioned fifth control, controlling the aforementioned moving part to make the aforementioned rotating body move towards the aforementioned second axial side.

[0106] According to this structure, in the fifth control that rotates the threaded component toward the loosening side while maintaining a force acting on the rotating body toward the first axial side, the sixth control that begins to move the rotating body toward the second axial side at the point when the threaded component's engagement with the object is released. This avoids the situation where the threaded component continues to be pressed against the object after the engagement with the object is released.

[0107] Furthermore, preferably, it also includes: a holding part for holding the aforementioned threaded component; and a second detection part for detecting whether the aforementioned threaded component is held by the aforementioned holding part; the aforementioned control part performs: a seventh control, which controls the aforementioned moving part after the aforementioned threaded component is removed from the object being threaded, so that the aforementioned holding part holds the threaded component; in the aforementioned seventh control, if the aforementioned second detection part detects that the aforementioned threaded component is held by the aforementioned holding part, it is determined that the removal of the aforementioned threaded component from the aforementioned object being threaded is completed.

[0108] According to this structure, since the threaded component is held by the retaining part after it is removed from the threaded object, it becomes easy to recycle the threaded component.

[0109] Furthermore, according to this structure, if the second detection unit detects that the threaded component is being held by the holding part, it is determined that the removal of the threaded component from the threaded object is complete. Therefore, if it is determined that the threaded component is not being held by the holding part, for example, processing such as stopping the operation of the threaded component tightening / loosening device can be performed, thus avoiding unpredictable situations.

[0110] A method for tightening or loosening threaded components is a method for tightening or loosening threaded components using a rotating body. The rotating body has a mating portion that engages with a mating portion of the threaded component and is supported so that it can rotate freely about the axis of the mating portion. The mating portion is formed such that a predetermined shape repeats at each predetermined angle along the rotation direction of the rotating body. One side of the rotation direction is designated as a first rotation direction side, and the other side as a second rotation direction side. The method includes: a first step of moving the rotating body to align the axes of the mating portion and the mating portion with each other; and a second step of maintaining the... In the first step, while aligning the axes of the aforementioned fitted portion and the aforementioned fitted portion with each other, the aforementioned rotating body is moved to push the aforementioned fitted portion relative to the aforementioned fitted portion; in the second step, while maintaining the state of pushing the aforementioned fitted portion relative to the aforementioned fitted portion, the aforementioned rotating body is rotated to the first side of the aforementioned rotation direction by a first predetermined angle corresponding to the aforementioned predetermined angle; and in the third step, after the aforementioned third step, while maintaining the state of pushing the aforementioned fitted portion relative to the aforementioned fitted portion, the aforementioned rotating body is rotated to the second side of the aforementioned rotation direction by a second predetermined angle smaller than the aforementioned first predetermined angle.

[0111] According to this structure, after the first step of moving the rotating body to align the axes of the threaded component's mating portion and the rotating body's mating portion, the second step of moving the rotating body to push the mating portion relative to the mating portion, and the third step of rotating the rotating body by a first predetermined angle in the first direction of rotation, a fourth step is performed where the rotating body is rotated by a second predetermined angle in the second direction of rotation while maintaining the state of pushing the mating portion relative to the mating portion. Therefore, even if the mating surfaces of the threaded component's mating portion and the rotating body's mating portion are in contact with each other under high pressure in the third step, the fourth step can rotate the rotating body to separate these mating surfaces and move the rotating body toward the threaded component. As a result, the mating portion of the rotating body and the mating portion of the threaded component can be properly mated.

[0112] Here, preferably, the aforementioned fitting portion and the aforementioned fitted portion are configured to fit together when the phase of the aforementioned predetermined shape of the aforementioned fitting portion, which is repeated at each of the aforementioned predetermined angles, is consistent with the phase of the corresponding shape of the aforementioned fitted portion; the aforementioned third step includes a first detection step for detecting the state of the aforementioned rotating body; in the aforementioned third step, if it is determined based on the state of the aforementioned rotating body detected in the aforementioned first detection step that the phase deviation between the aforementioned fitted portion and the aforementioned fitting portion has become below an angle threshold set below the aforementioned second predetermined angle, the process proceeds to the aforementioned fourth step.

[0113] According to this structure, in the third step, if it is determined, based on the state of the rotating body detected in the first detection step, that the phase deviation between the mating part and the mating part has decreased, the fourth step begins. This allows the fourth step to begin at an appropriate time. Consequently, the mating part of the rotating body and the mating part of the threaded component can be mated more appropriately.

[0114] Furthermore, preferably, the direction along the axis of the aforementioned fitting portion is defined as the axial direction, and the side of the aforementioned fitting portion that is close to the aforementioned fitted portion in the aforementioned axial direction is defined as the first axial side; in the aforementioned first detection step, at least one of the rotational torque of the aforementioned rotating body and the amount of movement of the aforementioned rotating body in the aforementioned axial direction is detected; in the aforementioned third step, if the rotational torque of the aforementioned rotating body becomes greater than the first threshold, or if the amount of movement of the aforementioned rotating body toward the aforementioned first axial side becomes greater than the second threshold, it is determined that the phase deviation between the aforementioned fitted portion and the aforementioned fitting portion has become less than the aforementioned angle threshold.

[0115] According to this structure, in the third step, when the mating surfaces of the threaded component's mating portion and the rotating body's mating portion are in contact with each other under high pressure, and the rotational torque of the rotating body becomes greater than the first threshold, it is determined that the phase deviation between the mating portion and the mating portion has decreased, and the fourth step begins. Alternatively, in the third step, when the rotating body begins to move towards the threaded component and the amount of movement of the rotating body becomes greater than the second threshold, it is determined that the phase deviation between the mating portion and the mating portion has decreased, and the fourth step begins. Therefore, the fourth step can be started at a more appropriate time. Consequently, the mating portion of the rotating body and the mating portion of the threaded component can be more appropriately mated.

[0116] Furthermore, preferably, the direction along the axis of the aforementioned fitting portion is defined as the axial direction, the side of the aforementioned fitting portion in the aforementioned axial direction that is close to the aforementioned fitted portion is defined as the first axial side, the side of the aforementioned fitting portion in the aforementioned axial direction that is away from the aforementioned fitted portion is defined as the second axial side, and the side in the aforementioned rotational direction that loosens the aforementioned threaded member from the threaded object is defined as the loosening side; and further comprising: a fifth step, after the aforementioned fourth step, while maintaining the state in which a force toward the aforementioned first axial side is applied to the aforementioned rotating body, rotating the aforementioned rotating body to rotate the aforementioned threaded member toward the aforementioned loosening side; and a sixth step, in the aforementioned fifth step, if the amount of movement of the aforementioned rotating body toward the aforementioned second axial side becomes an amount equivalent to the threaded length of the aforementioned threaded member relative to the aforementioned threaded object at the beginning of the aforementioned fifth step, moving the aforementioned rotating body toward the aforementioned second axial side.

[0117] According to this structure, in the fifth step of rotating the threaded component towards the loosening side while maintaining a force acting on the rotating body towards the first axial direction, the sixth step of moving the rotating body towards the second axial direction begins at the point when the threaded component's engagement with the object is released. This avoids the situation where the threaded component continues to be pressed against the object after the engagement with the object has been released.

[0118] Furthermore, preferably, it also includes: a 7th step, in which, after the aforementioned threaded component is removed from the object being threaded, the aforementioned rotating body is moved so that the retaining part holds the threaded component; the aforementioned 7th step includes a 2nd detection step of detecting whether the aforementioned threaded component is held by the aforementioned retaining part; in the aforementioned 7th step, if it is detected in the aforementioned 2nd detection step that the aforementioned threaded component is held by the aforementioned retaining part, it is determined that the removal of the aforementioned threaded component from the aforementioned object being threaded is completed.

[0119] According to this structure, since the threaded component is held by the retaining part after it is removed from the threaded object, it becomes easy to recycle the threaded component.

[0120] Furthermore, according to this structure, if the threaded component is detected to be held by the holding part in the second detection step, it is determined that the removal of the threaded component from the threaded object has been completed. Therefore, if it is determined that the threaded component is not held by the holding part, for example, it is possible to stop the operation of the threaded component tightening / loosening device, thus avoiding unpredictable situations.

[0121] Industrial availability

[0122] The technology disclosed herein can be used in a threaded component tightening / loosening device having a rotating body having a fitting portion that engages with a threaded component, a rotation drive portion that rotates the rotating body, and a moving portion that moves the rotating body.

[0123] Explanation of reference numerals in the attached figures

[0124] 100: Tightening / Loosening Device for Threaded Components

[0125] 1: Rotational body

[0126] 1a: Chimeric part

[0127] 2: Rotary drive unit

[0128] 3: Mobile Department

[0129] 5: Control Department

[0130] S: Threaded component

[0131] Sa: the part that is fitted together

[0132] θ1: The first specified angle

[0133] θ2: The second specified angle

[0134] R: Direction of rotation

[0135] R1: Rotation direction, first side

[0136] R2: Rotation direction, second side

Claims

1. A device for tightening and loosening threaded components, characterized in that, have: A rotating body having a fitting portion that engages with a threaded component and being supported so as to rotate freely about the axis of the fitting portion; The rotation drive unit causes the aforementioned rotating body to rotate; The moving part causes the aforementioned rotating body to move; and The control unit controls the operation of the aforementioned rotary drive unit and the aforementioned moving unit; One side of the rotation direction of the aforementioned rotating body brought about by the aforementioned rotation drive unit is designated as the first side of the rotation direction, and the side opposite to the first side of the rotation direction of the aforementioned rotating body brought about by the aforementioned rotation drive unit is designated as the second side of the rotation direction. The aforementioned control unit performs the following: The first control controls the aforementioned moving part to align the axes of the aforementioned fitted part and the aforementioned fitted part with each other. The second control involves maintaining the alignment of the axes of the aforementioned fitted portion and the aforementioned fitted portion with each other while controlling the aforementioned moving portion to push the aforementioned fitted portion relative to the aforementioned fitted portion. The third control involves maintaining the state of pushing the aforementioned fitting part relative to the aforementioned fitted part while controlling the aforementioned rotation drive part to rotate the aforementioned rotating body to the first side of the aforementioned rotation direction by a first predetermined angle. as well as The fourth control, after the aforementioned third control, maintains the state of pushing the aforementioned fitting part relative to the aforementioned fitted part while controlling the aforementioned rotation drive part so that the aforementioned rotating body rotates to the second side of the aforementioned rotation direction by a second predetermined angle smaller than the aforementioned first predetermined angle. The aforementioned fitting portion is formed such that, along the aforementioned rotational direction, a predetermined shape is repeated at each predetermined angle; The aforementioned first specified angle is set to an angle corresponding to the aforementioned specified angle.

2. The threaded component tightening / loosening device as described in claim 1, characterized in that, It also has a first detection unit for detecting the state of the aforementioned rotating body; The aforementioned fitting portion and the aforementioned fitted portion are configured to fit together when the phase of the aforementioned predetermined shape of the aforementioned fitting portion, which is repeated at each of the aforementioned predetermined angles, coincides with the phase of the corresponding shape of the aforementioned fitted portion. In the aforementioned third control, if the control unit determines, based on the state of the aforementioned rotating body detected by the aforementioned first detection unit, that the phase deviation between the aforementioned fitted part and the aforementioned fitted part has become below an angle threshold set below the aforementioned second predetermined angle, the control unit will switch to the aforementioned fourth control.

3. The threaded component tightening / loosening device as described in claim 2, characterized in that, The direction along the axis of the aforementioned fitting portion is defined as the axial direction, and the side of the aforementioned fitting portion in the aforementioned axial direction that is close to the aforementioned fitted portion is defined as the first axial side. The aforementioned first detection unit is configured to detect at least one of the rotational torque of the aforementioned rotating body and the amount of movement of the aforementioned rotating body along the aforementioned axial direction; In the aforementioned third control, if the rotational torque of the aforementioned rotating body becomes greater than the first threshold, or if the amount of movement of the aforementioned rotating body toward the aforementioned first axial side becomes greater than the second threshold, the aforementioned control unit determines that the phase deviation between the aforementioned mating part and the aforementioned mating part becomes less than the aforementioned angle threshold.

4. The threaded component tightening / loosening device as described in any one of claims 1 to 3, characterized in that, The direction along the axis of the aforementioned fitting portion is defined as the axial direction, and the side of the aforementioned fitting portion in the aforementioned axial direction that is close to the aforementioned fitted portion is defined as the first axial side. The aforementioned fitting portion is formed as a angular tube shape having multiple sides surrounding the axis of the fitting portion; At the end of the first axial side of the boundary portion of adjacent sides among the plurality of aforementioned sides, a chamfer portion inclined relative to the aforementioned axial direction is formed. The aforementioned second specified angle is set to a value corresponding to the range of angles of the aforementioned rotation direction in which the aforementioned fitted portion is guided by the aforementioned chamfered portion in the aforementioned rotation direction so that the aforementioned fitted portion fits into the aforementioned fitted portion.

5. The threaded component tightening / loosening device as described in any one of claims 1 to 3, characterized in that, The direction along the axis of the aforementioned fitting portion is defined as the axial direction, the side of the aforementioned fitting portion in the aforementioned axial direction that is close to the aforementioned fitted portion is defined as the first axial side, the side of the aforementioned fitting portion in the aforementioned axial direction that is away from the aforementioned fitted portion is defined as the second axial side, and the side in the aforementioned rotational direction that loosens the aforementioned threaded component from the threaded object is defined as the loosening side. The aforementioned control unit performs the following: The fifth control, following the aforementioned fourth control, maintains the state where the force acting on the aforementioned rotating body towards the aforementioned axial first side via the aforementioned moving part, while controlling the aforementioned rotation drive part to rotate the aforementioned threaded component towards the aforementioned loosening side via the aforementioned rotating body; and The sixth control, in which the amount of movement of the aforementioned rotating body toward the aforementioned second axial side in the aforementioned fifth control becomes an amount equivalent to the engagement length of the aforementioned threaded component relative to the aforementioned engagement object at the start of the aforementioned fifth control, controls the aforementioned moving part to move the aforementioned rotating body toward the aforementioned second axial side.

6. The threaded component tightening / loosening device as described in claim 4, characterized in that, The direction along the axis of the aforementioned fitting portion is defined as the axial direction, the side of the aforementioned fitting portion in the aforementioned axial direction that is close to the aforementioned fitted portion is defined as the first axial side, the side of the aforementioned fitting portion in the aforementioned axial direction that is away from the aforementioned fitted portion is defined as the second axial side, and the side in the aforementioned rotational direction that loosens the aforementioned threaded component from the threaded object is defined as the loosening side. The aforementioned control unit performs the following: The fifth control, following the aforementioned fourth control, maintains the state where the force acting on the aforementioned rotating body towards the aforementioned axial first side via the aforementioned moving part, while controlling the aforementioned rotation drive part to rotate the aforementioned threaded component towards the aforementioned loosening side via the aforementioned rotating body; and The sixth control, in which the amount of movement of the aforementioned rotating body toward the aforementioned second axial side in the aforementioned fifth control becomes an amount equivalent to the engagement length of the aforementioned threaded component relative to the aforementioned engagement object at the start of the aforementioned fifth control, controls the aforementioned moving part to move the aforementioned rotating body toward the aforementioned second axial side.

7. The threaded component tightening / loosening device as described in any one of claims 1 to 3, characterized in that, It also has: The retaining part retains the aforementioned threaded component; and The second detection unit detects whether the aforementioned threaded component is held by the aforementioned holding unit; The aforementioned control unit performs the following: The seventh control involves controlling the moving part after the aforementioned threaded component is removed from the object being threaded, so that the aforementioned holding part holds the threaded component. In the aforementioned seventh control, if the aforementioned second detection unit detects that the aforementioned threaded component is held by the aforementioned holding unit, it is determined that the removal of the aforementioned threaded component from the aforementioned threaded object has been completed.

8. The threaded component tightening / loosening device as described in claim 4, characterized in that, It also has: The retaining part retains the aforementioned threaded component; and The second detection unit detects whether the aforementioned threaded component is held by the aforementioned holding unit; The aforementioned control unit performs the following: The seventh control involves controlling the moving part after the aforementioned threaded component is removed from the object being threaded, so that the aforementioned holding part holds the threaded component. In the aforementioned seventh control, if the aforementioned second detection unit detects that the aforementioned threaded component is held by the aforementioned holding unit, it is determined that the removal of the aforementioned threaded component from the aforementioned threaded object has been completed.

9. The threaded component tightening / loosening device as described in claim 5, characterized in that, It also has: The retaining part retains the aforementioned threaded component; and The second detection unit detects whether the aforementioned threaded component is held by the aforementioned holding unit; The aforementioned control unit performs the following: The seventh control involves controlling the moving part after the aforementioned threaded component is removed from the object being threaded, so that the aforementioned holding part holds the threaded component. In the aforementioned seventh control, if the aforementioned second detection unit detects that the aforementioned threaded component is held by the aforementioned holding unit, it is determined that the removal of the aforementioned threaded component from the aforementioned threaded object has been completed.

10. The threaded component tightening / loosening device as described in claim 6, characterized in that, It also has: The retaining part retains the aforementioned threaded component; and The second detection unit detects whether the aforementioned threaded component is held by the aforementioned holding unit; The aforementioned control unit performs the following: The seventh control involves controlling the moving part after the aforementioned threaded component is removed from the object being threaded, so that the aforementioned holding part holds the threaded component. In the aforementioned seventh control, if the aforementioned second detection unit detects that the aforementioned threaded component is held by the aforementioned holding unit, it is determined that the removal of the aforementioned threaded component from the aforementioned threaded object has been completed.

11. A method for tightening or loosening a threaded component, comprising using a rotating body to tighten or loosen the threaded component, said rotating body having an engaging portion that engages with a mating portion of the aforementioned threaded component and being supported to rotate freely about an axis of said engaging portion, characterized in that... The aforementioned fitting portion is formed such that, along the rotation direction of the aforementioned rotating body, a predetermined shape is repeated at each predetermined angle; One side of the aforementioned rotation direction is designated as the first side of the rotation direction, and the side of the aforementioned rotation direction opposite to the first side of the rotation direction is designated as the second side of the rotation direction. have: In the first step, the aforementioned rotating body is moved so that the axes of the aforementioned fitted portion and the aforementioned fitted portion are aligned with each other. In the second step, while maintaining the alignment of the axes of the aforementioned fitted portion and the aforementioned fitted portion with each other, the aforementioned rotating body is moved to push the aforementioned fitted portion relative to the aforementioned fitted portion. In the third step, while maintaining the state of pushing the aforementioned fitting portion relative to the aforementioned fitted portion, the aforementioned rotating body is rotated towards the first side of the aforementioned rotation direction by a first predetermined angle, which is set to an angle corresponding to the aforementioned predetermined angle; and In the fourth step, after the aforementioned third step, while maintaining the state of pushing the aforementioned fitting part relative to the aforementioned fitted part, the aforementioned rotating body is rotated to the second side of the aforementioned rotation direction by a second predetermined angle smaller than the aforementioned first predetermined angle.

12. The method for tightening and loosening threaded components as described in claim 11, characterized in that, The aforementioned fitting portion and the aforementioned fitted portion are configured to fit together when the phase of the aforementioned predetermined shape of the aforementioned fitting portion, which is repeated at each of the aforementioned predetermined angles, coincides with the phase of the corresponding shape of the aforementioned fitted portion. The aforementioned third step includes the first detection step of detecting the state of the aforementioned rotating body; In the aforementioned third step, if the phase deviation between the aforementioned fitted part and the aforementioned fitted part is determined to be below an angle threshold set below the aforementioned second predetermined angle based on the state of the aforementioned rotating body detected in the aforementioned first detection step, the process proceeds to the aforementioned fourth step.

13. The method for tightening and loosening threaded components as described in claim 12, characterized in that, The direction along the axis of the aforementioned fitting portion is defined as the axial direction, and the side of the aforementioned fitting portion in the aforementioned axial direction that is close to the aforementioned fitted portion is defined as the first axial side. In the aforementioned first detection step, at least one of the rotational torque of the aforementioned rotating body and the amount of axial movement of the aforementioned rotating body is detected; In the aforementioned third step, if the rotational torque of the aforementioned rotating body becomes greater than the first threshold, or if the amount of movement of the aforementioned rotating body toward the aforementioned first axial side becomes greater than the second threshold, it is determined that the phase deviation between the aforementioned fitted portion and the aforementioned fitted portion becomes less than the aforementioned angle threshold.

14. The method for tightening or loosening threaded components as described in any one of claims 11 to 13, characterized in that, The direction along the axis of the aforementioned fitting portion is defined as the axial direction, the side of the aforementioned fitting portion in the aforementioned axial direction that is close to the aforementioned fitted portion is defined as the first axial side, the side of the aforementioned fitting portion in the aforementioned axial direction that is away from the aforementioned fitted portion is defined as the second axial side, and the side in the aforementioned rotational direction that loosens the aforementioned threaded component from the threaded object is defined as the loosening side. It also has: In the fifth step, after the aforementioned fourth step, while maintaining the state in which a force is applied to the aforementioned rotating body towards the aforementioned first axial direction, the aforementioned rotating body is rotated so that the aforementioned threaded component rotates towards the aforementioned loosening side; and In the sixth step, if the amount of movement of the aforementioned rotating body towards the second side of the aforementioned axial direction in the aforementioned fifth step becomes an amount equivalent to the engagement length of the aforementioned threaded component relative to the aforementioned engagement object at the beginning of the aforementioned fifth step, the aforementioned rotating body is moved towards the second side of the aforementioned axial direction.

15. The method for tightening or loosening threaded components as described in any one of claims 11 to 13, characterized in that, It also includes: a 7th step, in which, after the aforementioned threaded component is removed from the object being threaded, the aforementioned rotating body is moved so that the retaining part holds the threaded component; The aforementioned seventh step includes a second detection step that checks whether the aforementioned threaded component is held by the aforementioned holding part; In the aforementioned seventh step, if the aforementioned threaded component is detected to be held by the aforementioned holding part in the aforementioned second detection step, it is determined that the removal of the aforementioned threaded component from the aforementioned threaded object has been completed.

16. The method for tightening and loosening threaded components as described in claim 14, characterized in that, It also includes: a 7th step, in which, after the aforementioned threaded component is removed from the object being threaded, the aforementioned rotating body is moved so that the retaining part holds the threaded component; The aforementioned seventh step includes a second detection step that checks whether the aforementioned threaded component is held by the aforementioned holding part; In the aforementioned seventh step, if the aforementioned threaded component is detected to be held by the aforementioned holding part in the aforementioned second detection step, it is determined that the removal of the aforementioned threaded component from the aforementioned threaded object has been completed.

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