Mating method and mating device

Abstract

Even if misalignment of the axis occurs, the mating part will be able to easily engage with the mated part. [Solution] The fitting method of the present disclosure includes a moving step in which a moving part moves a nut runner (51) provided with a socket (S) that fits onto a bolt, and moves the nut runner (51) along an orthogonal plane (P) perpendicular to the axis (A1) of the socket (S) with respect to the axis (A1), thereby bringing the socket (S) closer to the bolt.

Description

[[TECHNICAL FIELD]]

[0001] The present disclosure relates to a technique for fitting a fitting portion to a fitted portion. [[BACKGROUND ART]]

[0002] Conventionally, for example, in an automobile manufacturing line, after a painting process is performed with a door attached to a vehicle body, a door removing step of temporarily removing the door from the vehicle body is performed to assemble components to the vehicle body and the like. In this door removing step, a door removing device is used which fits a socket onto a bolt such as a bolt that fixes the door to the vehicle body, loosens the bolt, and removes the door from the vehicle body.

[0003] Regarding such a fitting technique for fasteners, for example, Patent Document 1 discloses a tightening method in which a male screw is moved along its axial direction to couple the male screw to a female screw. [[PRIOR ART DOCUMENT]] [[PATENT DOCUMENT]]

[0004] [[Patent Document 1]] Japanese Unexamined Patent Application Publication No. 2002-331428 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0005] However, in the configuration in which the male screw is moved along the axial direction as in the above conventional technique, when positional deviation occurs between the male screw and the female screw, the positional deviation cannot be absorbed and it is not easy to couple the two.

[0006] One aspect of the present disclosure has been made in view of the above conventional problems, and an object of the present disclosure is to provide a fitting method and a fitting device that allow the fitting portion to easily fit into the fitted portion even when axial misalignment (positional deviation) occurs between the fitting portion and the fitted portion. [[Means for Solving the Problem]]

[0007] To solve the aforementioned problems, a fitting method according to one aspect of the present disclosure includes a moving step of controlling a moving part that moves a tightening / loosening member having a fitting part that fits into a fitting part to be fitted, and moving the tightening / loosening member along an orthogonal plane perpendicular to the axis of the fitting part, thereby bringing the fitting part closer to the fitting part; and a stopping step of stopping the movement of the tightening / loosening member along the orthogonal plane when the fitting part is fitted into the fitting part.

[0008] To solve the aforementioned problems, a fitting device according to one aspect of the present disclosure comprises a tightening / loosening member having a fitting portion that fits into a fitted portion which is an object to be fitted, and a moving part for moving the tightening / loosening member, wherein the moving part moves the tightening / loosening member along an orthogonal plane perpendicular to the axis of the fitting portion, bringing the fitting portion closer to the fitted portion, and stops moving the tightening / loosening member along the orthogonal plane when the fitting portion is fitted into the fitted portion. [Effects of the Invention]

[0009] According to one aspect of this disclosure, it is possible to provide a fitting method and fitting device that facilitates fitting of the fitting portion to the fitted portion even when an axial misalignment occurs between the fitting portion and the fitted portion. [Brief explanation of the drawing]

[0010] [Figure 1] This is a plan view showing equipment equipped with a door removal system according to an embodiment. [Figure 2] This is a perspective view showing the main parts of the door removal device included in the aforementioned door removal system. [Figure 3] This is an exploded view of the aforementioned door removal device. [Figure 4] This is a schematic diagram showing the door being held by the door removal device. [Figure 5] This is an enlarged view of the area enclosed by the dashed line shown in Figure 4. [Figure 6] This is a functional block diagram showing the main components of the control device that controls the aforementioned door removal system. [Figure 7]This is a schematic diagram illustrating the fitting operation of a socket being fitted onto a bolt fastened to a door. [Figure 8] This is a schematic diagram illustrating the movement of the nut runner of the aforementioned door removal device along a perpendicular plane. [Figure 9] This flowchart shows the flow of the fitting operation when a socket is fitted onto a bolt. [Figure 10] This is a schematic diagram showing the state in which the nut runner has stopped at the approach point. [Figure 11] This is a schematic diagram illustrating the movement of the nut runner along the orthogonal plane. [Figure 12] This is a schematic diagram illustrating the sequence of movement of the nut runner along the orthogonal plane. [Modes for carrying out the invention]

[0011] An embodiment of the present disclosure will be described below. In this embodiment, an example of applying the fitting device according to the present disclosure to a door removal system used in an automobile manufacturing line will be described. Note that the following description is an example of the fitting device according to the present disclosure, and the technical scope of the present disclosure is not limited to the illustrated example.

[0012] [Overview of the door removal system] First, an overview of the door removal system 100 according to this embodiment will be described. Figure 1 is a plan view showing equipment equipped with the door removal system 100 according to this embodiment. As shown in Figure 1, the door removal system 100 is a device for removing a door D attached to a vehicle body V, for example, in an automobile manufacturing line. The door removal system 100 is positioned on both the left and right sides of the transport path of the vehicle body V, which is transported by the transport device C.

[0013] The door removing system 100 according to the present embodiment includes a manipulator 1 and a door removing device 2. The manipulator 1 is a robot arm having a plurality of joints. The door removing device 2 is attached to the distal end side of the manipulator 1. For example, the door removing device 2 may be attached to a rotation support unit that constitutes a wrist portion on the distal end side of the manipulator 1. The position, posture and the like of the door removing device 2 are changed by the operation of the manipulator 1.

[0014] When removing the door D from the vehicle body V, in the door removing system 100, the door removing device 2, which is brought close to the door D by the operation of the manipulator 1, grips the door D and removes the door D from the vehicle body V. Then, the door removing system 100 moves the door D to a predetermined location by the operation of the manipulator 1, in a state where the door D removed from the vehicle body V is gripped by the door removing device 2.

[0015] [Configuration of Door Removing Device] Next, the configuration of the door removing device 2 included in the door removing system 100 according to the present embodiment will be described. FIG. 2 is a perspective view showing essential parts of the door removing device 2 shown in FIG. 1. FIG. 3 is an exploded view of the door removing device 2 shown in FIG. 2. FIG. 4 is a schematic diagram showing a state where the door removing device 2 shown in FIG. 2 grips the door D. FIG. 5 is an enlarged view of a portion Q enclosed by a broken line shown in FIG. 4.

[0016] As shown in FIGS. 2 and 3, the door removing device 2 includes a floating unit 3 connected to the manipulator 1, a gripping unit 4 that grips the door D, a nutrunner unit (fitting device) 5 having a socket S, and a door opening arm 6 that opens the door D.

[0017] In the door removing device 2, the floating unit 3 is supported by the manipulator 1, and the gripping unit 4, the nutrunner unit 5, and the door opening arm 6 are supported by the floating unit 3.

[0018] In the following explanation, the horizontal direction in which the floating unit 3 and the gripping unit 4 are aligned in the three-dimensional Cartesian coordinate system (X, Y, and Z axes) may be referred to as the X direction, and the horizontal direction in which the floating unit 3 and the nut runner unit 5 are aligned may be referred to as the Y direction. Furthermore, the vertical direction perpendicular to the X and Y directions may be referred to as the Z direction.

[0019] (Floating unit) The floating unit 3 is configured to provide floating support for the gripping unit 4, the nut runner unit 5, and the door opening arm 6. Through this floating unit 3, the gripping unit 4, the nut runner unit 5, and the door opening arm 6 are three-dimensionally supported by the manipulator 1.

[0020] The floating unit 3 has a plate-shaped arm connecting portion 31 to which the manipulator 1 is connected. The arm connecting portion 31 is provided on the upper side of the floating unit 3 in the Z direction. The door opening arm 6 is connected to this arm connecting portion 31.

[0021] Furthermore, the floating unit 3 has a plate-shaped unit support portion 32 that supports the gripping unit 4 and the nut runner unit 5. The unit support portion 32 is provided on one side of the floating unit 3 in the X direction. A first connecting portion 33 is provided in the center of the unit support portion 32. The gripping unit 4 is connected to this first connecting portion 33. Also, a second connecting portion 34 is provided on one side of the unit support portion 32 in the Y direction. The nut runner unit 5 is connected to this second connecting portion 34.

[0022] (Gripping unit) The gripping unit 4 is a jig for gripping the door D. The gripping unit 4 moves to a predetermined position relative to the door D by the operation of the manipulator 1 and grips the door D. The gripping unit 4 includes a plate-shaped connecting plate 41, a support frame 42, a proximity sensor 43, a reference pin 44, and a gripping portion 45.

[0023] The connecting plate 41 is connected to the first connecting portion 33 of the floating unit 3 by bolts or the like. Multiple proximity sensors 43, reference pins 44, and gripping portions 45 are provided on the frame-shaped support frame 42.

[0024] The proximity sensor 43 is a sensor that detects the proximity of door D. The reference pin 44 is a guide for positioning the gripping unit 4 relative to door D. The gripping part 45 is a mechanism for gripping door D. The gripping part 45 may be, for example, a clamping mechanism including an air cylinder and a clamp that extends and retracts by the air cylinder.

[0025] Furthermore, the gripping unit 4 may have a plurality of receiving portions 46 provided on the support frame 42 as a clamping mechanism. The receiving portions 46 are configured to receive the inner panel of the door D when gripping the door D.

[0026] (Nut Runner Unit) The nut runner unit 5 has a pair of nut runners (tightening / loosening members) 51. The nut runner 51 is an electric nut runner (electric torque wrench) driven by a motor. The nut runner 51 is configured in a straight line overall. The nut runner 51 has a socket (fitting part) S at its tip that fits (engages) with a bolt (fitting target, fitted part) B that fixes the door D to the vehicle body V.

[0027] Each nut runner 51 is positioned vertically along the X direction, with a predetermined distance between them in the Z direction. As shown in Figures 4 and 5, the upper and lower nut runners 51 correspond to the hinges H located at two locations, upper and lower, between the vehicle body V and the door D, and are used to fasten and release the bolt B. The nut runners 51 are designed to remove the bolt B from the vehicle body V by, for example, rotating the socket S with a motor while the socket S is fitted onto the bolt B.

[0028] Furthermore, the nut runner unit 5 includes a movable part 52 for moving the nut runners 51. A movable part 52 is provided for each nut runner 51 so that each nut runner 51 can be moved individually.

[0029] The moving section 52 includes a pair of first linear actuators 52A and second linear actuators 52B that move the nut runner 51 in mutually orthogonal Z and X directions. The first linear actuator 52A and the second linear actuator 52B are composed of, for example, electric cylinders (robot cylinders).

[0030] Furthermore, the moving section 52 includes a third linear actuator 52C that moves the nut runner 51 in the Y direction. The third linear actuator 52C is composed of, for example, an air cylinder. The third linear actuator 52C may also be, for example, a measuring cylinder capable of measuring the distance traveled and outputting the measured value of the distance traveled.

[0031] The first linear actuator 52A is positioned so that its axial direction is parallel to the Z direction, and moves the nut runner 51 back and forth in the Z direction. The second linear actuator 52B is positioned so that its axial direction is parallel to the X direction, and moves the nut runner 51 back and forth in the X direction. The third linear actuator 52C is positioned so that its axial direction is parallel to the Y direction, and moves the nut runner 51 back and forth in the Y direction.

[0032] The nut runner unit 5 can move the nut runner 51 in the XYZ direction and change the position of the nut runner 51 by controlling the first linear actuator 52A, the second linear actuator 52B, and the third linear actuator 52C, respectively.

[0033] Furthermore, the nut runner unit 5 is equipped with a fitting sensor 53 that detects when the socket S is fitted onto the bolt B (see Figure 6). As will be described later, this fitting sensor 53 detects when the socket S is fitted onto the bolt B by detecting a change in the rotational torque of the socket S.

[0034] (Door opening arm) The door opening arm 6 is a mechanism for opening the door D attached to the vehicle body V from a closed position. The door opening arm 6 has a straight frame body portion 61 made of, for example, an aluminum frame, and a door locking portion 62 provided on the frame body portion 61.

[0035] The frame body 61 is supported at one end by the arm connecting portion 31 of the floating unit 3, and a door locking portion 62 is provided at the other end, which is on the side opposite to the frame body. The door opening arm 6 engages the door locking portion 62 with the closed door D when the manipulator 1 is operated, and opens the door D by pulling it with the door opening arm 6 when the manipulator 1 is opened.

[0036] [Control device configuration] Next, the configuration of the control device 7 that controls the door removal system 100 will be described. Figure 6 is a functional block diagram showing the main parts of the control device 7 that controls the door removal system 100. Note that Figure 6 shows only the control system for the nut runner unit 5 of the control device 7.

[0037] As shown in Figure 6, the control device 7 includes a control unit 71, a mobile unit controller 72, a nut runner controller 73, and a storage unit 74.

[0038] The control unit 71 controls the operation of each part of the door removal system 100, including the nut runner unit 5. The control unit 71 is composed of, for example, a PLC (Programmable Logic Controller). The control unit 71 reads a pre-programmed control sequence from the storage unit 74 and controls the operation of the nut runner unit 5 according to the control sequence. The control unit 71 also controls the operation of the nut runner unit 5 based on detection signals from the mating sensor 53.

[0039] The movement controller 72 controls the movement unit 52 based on the control signal output from the control unit 71. For example, the movement controller 72 controls the first linear actuator 52A, the second linear actuator 52B, and the third linear actuator 52C, respectively, to move the nut runner 51 in the XYZ directions.

[0040] The nut runner controller 73 controls the nut runner 51 based on the control signal output from the control unit 71. For example, the nut runner controller 73 controls the nut runner 51 and controls the rotational drive and rotational speed of the socket S.

[0041] The storage unit 74 stores various types of data. The storage unit 74 stores the program for the control sequence of the door removal system 100. For example, the storage unit 74 can be a random access memory, flash memory, a hard disk drive, etc.

[0042] [Nut Runner Unit Fitting Operation] Next, we will explain the fitting operation of the nut runner unit 5, which fits the socket S onto the bolt B. As mentioned above, in the automobile manufacturing line, after the painting process, a door removal process is performed in which the door D is temporarily removed from the vehicle body V. In this door removal process, the nut runner unit 5 fits the socket S onto the bolt B that secures the door D to the vehicle body V, and then loosens and removes the bolt B. In this fitting operation in which the socket S is fitted onto the bolt B, if there is an axial misalignment (positional misalignment) between the socket S and the bolt B, it is not easy to fit the socket S onto the bolt B.

[0043] Figure 7 is a schematic diagram illustrating the fitting operation of a socket S being fitted onto a bolt B fastened to a door D. Reference numeral 701 in Figure 7 indicates the case where the axis A1 of the socket S and the axis A2 of the bolt B coincide, while reference numeral 702 in Figure 7 indicates the case where there is an axial misalignment between the axis A1 of the socket S and the axis A2 of the bolt B. Note that the hinge H is omitted in Figure 7.

[0044] As shown in Figure 7, a fastening hole D1 is formed in the door D for screwing in a bolt B, and the bolt B is fastened into this fastening hole D1. As shown by reference numeral 701 in Figure 7, when the axis A1 of the socket S and the axis A2 of the bolt B coincide, that is, when there is no axial misalignment between the axis A1 of the socket S and the axis A2 of the bolt B, the socket S can be fitted onto the bolt B by moving the nut runner 51 in the Y direction.

[0045] On the other hand, as shown by reference numeral 702 in Figure 7, if there is an axial misalignment between the axis A1 of the socket S and the axis A2 of the bolt B, even if the nut runner 51 is moved in the Y direction, the socket S will not fit onto the head of the bolt B, and the socket S cannot be fitted onto the bolt B.

[0046] Therefore, in the nut runner unit 5, in order to make it easier for the socket S to fit onto the head of the bolt B even if there is an axial misalignment between the socket S and the bolt B, the nut runner 51 is moved in the XZ plane direction perpendicular to the Y direction, bringing the socket S closer to the bolt B.

[0047] Figure 8 is a schematic diagram illustrating the movement of the nut runner 51 along the orthogonal plane P. As shown in Figure 8, when the socket S is brought closer to the bolt B, the movement controller 72 controls the movement 52 to slightly move (micro-move, vibrate) the nut runner 51 along the orthogonal plane (XZ plane) P perpendicular to the axis A1 of the socket S, with the axis A1 as the reference.

[0048] In this way, by slightly moving the nut runner 51 along the orthogonal plane P while bringing the socket S closer to the bolt B, the axial misalignment between the socket S and the bolt B can be absorbed. Therefore, even if an axial misalignment occurs between the socket S and the bolt B, the socket S becomes easier to fit onto the bolt B.

[0049] [Flow of the fitting process] Next, the flow of the fitting operation (fitting method) of the nut runner unit 5 that fits the socket S onto the bolt B will be explained. Figure 9 is a flowchart showing the flow of the fitting operation that fits the socket S onto the bolt B. The fitting operation flowchart shown in Figure 9 is performed after the door gripping operation in which the gripping unit 4 grips the door D (see Figure 4). The fitting operation is performed by the control unit 71 controlling the moving unit controller 72 and the nut runner controller 73.

[0050] After the gripping unit 4 grips the door D, the moving unit controller 72 controls the moving unit 52 to move the nut runner 51 from its original position (bolt chuck position) to the approach point (bolt removal position) (step S1). The approach point is the approach start position when the socket S begins to approach the bolt B in the Y direction in the subsequent step S2. The moving unit controller 72 controls, for example, the first linear actuator 52A and the second linear actuator 52B to move the nut runner 51 to the approach point.

[0051] Figure 10 is a schematic diagram showing the state in which the nut runner 51 is stopped at the approach point. As shown in Figure 10, the nut runner 51 is positioned such that the axis A1 of the socket S coincides with a pre-programmed reference point R when the nut runner 51 is stopped at the approach point. The reference point R is the approximate position of axis A2, which corresponds to the position of axis A2 of bolt B.

[0052] In this way, after aligning the axis A1 of the socket S with the reference point R corresponding to the position of the axis A2 of the bolt B, the nut runner 51 is moved along the orthogonal plane P in the subsequent step S2, making it easier to fit the socket S onto the bolt B.

[0053] In this embodiment, the reference point R is taught in advance and is stored in the memory unit 74 beforehand, for example. However, the reference point R does not necessarily have to be stored in the memory unit 74 beforehand. For example, the area including the bolt B may be imaged with a camera or the like before or during the operation of the door removal system 100, and the reference point R may be acquired based on the imaged data.

[0054] Next, the moving unit controller 72 controls the moving unit 52 to move the nut runner 51 along the orthogonal plane P, bringing the socket S closer to the bolt B (step S2: moving step). For example, the moving unit controller 72 controls the first linear actuator 52A and the second linear actuator 52B to move the nut runner 51 along the orthogonal plane P around the reference point R. The moving unit controller 72 also controls the third linear actuator 52C to move the nut runner 51 in the Y direction, bringing the socket S closer to the bolt B.

[0055] Figure 11 is a schematic diagram illustrating the movement of the nut runner 51 along the orthogonal plane P. Figure 11 shows the trajectory of the axis A1 of the socket S during the movement of the nut runner 51 along the orthogonal plane P.

[0056] As shown in Figure 11, the first linear actuator 52A and the second linear actuator 52B move the nut runner 51 around the reference point R (axis A1) along the orthogonal plane (XZ plane) P perpendicular to the axis A1 of the socket S. Therefore, the nut runner 51 can be moved along the orthogonal plane P with a simple two-axis linear motion mechanism, and the device configuration of the nut runner unit 5 can be simplified.

[0057] The direction of movement of the nut runner 51 along the orthogonal plane P is not particularly limited. For example, the nut runner 51 may be moved along the orthogonal plane P such that the axis A1 of the socket S traces a circular trajectory around the reference point R. Alternatively, the nut runner 51 may be moved along the orthogonal plane P such that the axis A1 of the socket S traces a trajectory that has rotational symmetry around the reference point R.

[0058] However, it is not essential to move the socket S so that it has rotational symmetry around the reference point R; it is sufficient to move the socket S in a way that can absorb any axial misalignment that may occur between the socket S and the bolt B.

[0059] Furthermore, the range of movement of the nut runner 51 along the orthogonal plane P (distance traveled from the reference point R) is not particularly limited. The range of movement of the nut runner 51 should be set so as to be able to absorb any axial misalignment that may occur between the socket S and the bolt B.

[0060] For example, as illustrated in Figure 11, the movement range of the nut runner 51 may be set so that the axis A1 of the socket S moves within a range of ±0.5 mm in the X and Z directions, respectively, around the reference point R. In this case, the nut runner 51 may be moved along the orthogonal plane P so that the axis A1 of the socket S traces four squares P1 to P4, which are formed by rotating a square with corners and sides of 0.5 mm around the reference point R by 90 degrees each.

[0061] Figure 12 is a schematic diagram illustrating the sequence of movement of the nut runner 51 along the orthogonal plane P shown in Figure 11. As shown in Figure 12, when moving the socket S to draw four squares P1 to P4 having corners at the reference point R, the axis A1 of the socket S may be moved in the order of the numbers indicated by the arrows in the figure. Specifically, the nut runner 51 may be moved along the orthogonal plane P such that the axis A1 of the socket S continuously draws four squares P1 to P4 having 90 degrees of rotational symmetry around the reference point R, either clockwise or counterclockwise.

[0062] In this way, by moving the socket S so as to have rotational symmetry with respect to the reference point R as the center of rotation, the axial misalignment between the socket S and the bolt B can be effectively absorbed.

[0063] Furthermore, in step S2, the nut runner 51 may rotate the socket S around its axis at a slow speed (for example, 30 rpm). This makes it easier for the socket S to fit onto the bolt B, and in the subsequent step S3, the fitting of the socket S and the bolt B can be detected based on the change in the rotational torque of the socket S when the socket S is fitted onto the bolt B.

[0064] For example, even if the axes of socket S and bolt B are aligned, socket S may not be able to fit onto bolt B if the points where socket S and bolt B engage with each other (for example, the position of the corner of socket S and the corner of the head of bolt B) do not align. In such cases, however, rotating socket S at a slow speed around its axis can make it easier to fit onto bolt B.

[0065] Next, after the start of step S2, the control unit 71 determines whether or not the socket S has been fitted onto the bolt B (step S3: detection step). For example, based on the output signal from the fitting sensor 53, the control unit 71 determines whether the rotational torque of the socket S has reached the fitting torque threshold. The fitting torque threshold is a threshold value used to determine whether or not the socket S has been fitted onto the bolt B, and is stored in advance in the storage unit 74.

[0066] For example, if the fitting sensor 53 does not detect a rotational torque exceeding the fitting torque threshold within a predetermined time from the start of the approach movement of the socket S, the control unit 71 determines that the socket S has not fitted to the bolt B and that a fitting error has occurred (NO in step S3).

[0067] If a mating error is detected, the control unit 71 determines whether the number of consecutive mating errors is less than a predetermined number (3 times in this embodiment) (step S5). If the number of consecutive mating errors is less than 3 (YES in step S5), the control unit 71 controls the moving unit 52 to return the nut runner 51 to the up-approach start position and repeats steps S2 and S3. On the other hand, if three consecutive mating errors occur (NO in step S5), the control unit 71 determines that an abnormality has occurred in the door removal system 100. In this case, the control unit 71 emergency stops the door removal system 100, terminates the mating operation, and outputs an abnormality signal indicating that an abnormality has occurred.

[0068] On the other hand, if the fitting sensor 53 detects a rotational torque exceeding the fitting torque threshold, the control unit 71 determines that the socket S has been fitted onto the bolt B (YES in step S3). In this case, the control unit 71 stops the movement of the nut runner 51 (step S4: stop step). For example, the movement controller 72 controls the first linear actuator 52A and the second linear actuator 52B to stop the movement of the nut runner 51 along the orthogonal plane P. The movement controller 72 also controls the third linear actuator 52C to stop the movement of the nut runner 51 in the Y direction. As a result, the control unit 71 completes the fitting operation of fitting the socket S onto the bolt B.

[0069] In this way, during the fitting operation of the nut runner unit 5, the nut runner 51 is moved along the orthogonal plane P while the socket S is fitted onto the bolt B. This absorbs the axial misalignment between the socket S and the bolt B, making it easier for the socket S to fit onto the bolt B.

[0070] Furthermore, after the fitting operation described above is completed, the control unit 71 moves on to the bolt loosening operation. In this bolt loosening operation, the nut runner controller 73 controls the nut runner 51 to rotate the socket S around its axis to loosen the bolt B and remove the bolt B fastened to the door D.

[0071] [Effects of the Nut Runner Unit] As described above, the nut runner unit 5 according to this embodiment includes a nut runner 51 provided with a socket S that fits onto a bolt B, which is the object to be fitted, and a moving part 52 that moves the nut runner 51. The moving part 52 moves the nut runner 51 along an orthogonal plane P perpendicular to the axis A1 of the socket S, bringing the socket S closer to the bolt B. Furthermore, when the socket S is fitted onto the bolt B, the moving part 52 stops moving the nut runner 51 along the orthogonal plane P.

[0072] In the nut runner unit 5, the nut runner 51 is moved along the plane P perpendicular to the axis A1 of the socket S, thereby fitting the socket S onto the bolt B. This makes it easier to absorb axial misalignment between the socket S and the bolt B. Therefore, according to this embodiment, even if axial misalignment occurs between the socket S and the bolt B, the socket S can be easily fitted onto the bolt B.

[0073] In the embodiment described above, an example of a configuration in which a socket S is fitted to a bolt B fastened to a fastening hole D1 of a door D using a nut runner unit 5 was explained. However, the nut runner unit 5 can also be applied, for example, when fastening a bolt B to a fastening hole D1 of a door D. In this case, for example, when bringing the bolt (fitting part) B provided on the socket S close to the fastening hole (received fitting part) D1 of the door D, the nut runner 51 may be moved along the orthogonal plane P while fitting the bolt B into the fastening hole D1. This makes it easier for the bolt B to fit into the fastening hole D1 even if there is an axial misalignment between the bolt B and the fastening hole D1.

[0074] 〔summary〕 A fitting method according to Embodiment 1 of the present disclosure includes a moving step of controlling a moving part that moves a tightening / loosening member (nut runner 51) which is provided with a fitting part (socket S) that fits into a fitting part (bolt B) to be fitted, and moving the tightening / loosening member along an orthogonal plane perpendicular to the axis of the fitting part, thereby bringing the fitting part closer to the fitting part; and a stopping step of stopping the movement of the tightening / loosening member along the orthogonal plane when the fitting part is fitted into the fitting part.

[0075] In the above method, the tightening / loosening member is moved along a plane perpendicular to the axis of the fitting portion while fitting the fitting portion into the fitted portion. This makes it easier to absorb axial misalignment between the fitting portion and the fitted portion. Therefore, according to the above method, even if axial misalignment occurs between the fitting portion and the fitted portion, fitting the fitting portion becomes easier to fit into the fitted portion.

[0076] In the fitting method according to aspect 2 of the present disclosure, in aspect 1, the moving part includes a pair of linear actuators that move the tightening / loosening member in two directions that are parallel to the orthogonal plane and mutually orthogonal, and in the moving step, the pair of linear actuators may be controlled to move the tightening / loosening member along the orthogonal plane.

[0077] In the above method, a pair of linear actuators that move the tightening / loosening member are controlled to move the tightening / loosening member along an orthogonal plane. Therefore, according to the above method, the tightening / loosening member can be moved along an orthogonal plane with a simple two-axis linear motion mechanism, and the device configuration can be simplified.

[0078] In the fitting method according to embodiment 3 of the present disclosure, in embodiment 1 or 2, in the moving step, the moving part may align the axis of the fitting part with a reference point corresponding to the position of the axis of the fitted part, and then move the tightening / loosening member along the orthogonal plane.

[0079] According to the above method, the moving part moves the tightening / loosening member along a perpendicular plane around a reference point corresponding to the position of the axis of the fitted part, making it easier for the fitted part to fit into the fitted part.

[0080] In the fitting method according to aspect 4 of the present disclosure, any of aspects 1 to 3 may further include a detection step of detecting that the fitting portion has been fitted to the fitted portion after the start of the movement step.

[0081] According to the above method, by detecting in the detection step that the fitting portion has been fitted to the fitted portion, the movement of the tightening / loosening member along the orthogonal plane can be appropriately stopped in the stopping step.

[0082] In the fitting method according to aspect 5 of the present disclosure, in aspect 4, in the moving step, the fitting portion may be brought closer to the fitted portion while rotating the fitting portion around its axis, and in the detection step, a change in the rotational torque of the fitting portion may be detected.

[0083] According to the above method, the mating portion becomes easier to fit into the mated portion. Furthermore, the fitting between the mating portion and the mated portion can be detected, for example, based on the change in the rotational torque of the mating portion when the mating portion is fitted into the mated portion.

[0084] A fitting device according to aspect 6 of the present disclosure comprises a tightening / loosening member having a fitting portion that fits into a fitted portion which is an object to be fitted, and a moving portion for moving the tightening / loosening member, wherein the moving portion moves the tightening / loosening member along an orthogonal plane perpendicular to the axis of the fitting portion, bringing the fitting portion closer to the fitted portion, and stops moving the tightening / loosening member along the orthogonal plane when the fitting portion is fitted into the fitted portion.

[0085] In the above configuration, the tightening / loosening member is moved along a plane perpendicular to the axis of the fitting portion, while the fitting portion is fitted to the fitted portion. This makes it easier to absorb axial misalignment between the fitting portion and the fitted portion. Therefore, with the above configuration, even if axial misalignment occurs between the fitting portion and the fitted portion, the fitting portion can be easily fitted to the fitted portion.

[0086] This disclosure is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in the embodiments are also included in the technical scope of this disclosure. [Explanation of Symbols]

[0087] 1: Manipulator 2: Door removal device 5: Nut Runner Unit (Matching Device) 51: Nut runner (tightening / loosening component) 52: Mobile Unit 52A: First linear actuator (moving part, linear actuator) 52B: Second linear actuator (moving part, linear actuator) 52C: Third linear actuator (moving part) 53: Mating Sensor 100: Door Removal System A1: Socket axis A2: Bolt axis B: Bolt (to be fitted, part to be fitted) P: orthogonal plane R:Reference point S: Socket (Mating part) S2: Movement Step S3: Detection Step S4: Stop step

Claims

1. A movement step involves controlling a movement unit that moves a tightening / loosening member having a fitting portion that fits into a mating portion to be fitted, and moving the tightening / loosening member along a plane perpendicular to the axis of the fitting portion, thereby bringing the fitting portion closer to the mating portion. When the fitting portion is fitted to the fitted portion, a stopping step is performed to stop the movement of the tightening / loosening member along the orthogonal plane, A fitting method including

2. The moving part includes a pair of linear actuators that move the tightening / loosening member in two directions that are parallel to the orthogonal plane and mutually orthogonal to each other. The fitting method according to claim 1, wherein in the moving step, the pair of linear actuators are controlled to move the tightening / loosening member along the orthogonal plane.

3. The fitting method according to claim 1 or 2, wherein in the moving step, the moving part aligns the axis of the fitting part with a reference point corresponding to the position of the axis of the fitting part, and then moves the tightening / loosening member along the orthogonal plane.

4. The fitting method according to claim 1 or 2, further comprising a detection step of detecting that the fitting portion has been fitted to the fitted portion after the commencement of the movement step.

5. In the aforementioned moving step, the fitting portion is rotated around its axis while bringing the fitting portion closer to the fitted portion. In the detection step, the change in rotational torque of the fitting portion is detected. The fitting method according to claim 4.

6. A tightening / loosening member having a fitting portion that fits into the fitting portion, which is the object to be fitted, A moving part for moving the tightening / loosening member, Equipped with, The aforementioned movable part is While moving the tightening / loosening member along a plane perpendicular to the axis of the fitting portion, bring the fitting portion closer to the fitted portion. A fitting device that stops the movement of the tightening / loosening member along the orthogonal plane when the fitting portion is fitted to the fitted portion.

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