Socket change table

Abstract

Provided is a socket change table that, while having a simple structure, can exchange a socket with a tool attached to a fastening work machine only by the operation of a device such as a robot without using a dedicated movable mechanism. 【Solution means】The fastening work machine includes a joint mechanism in which a cap slides along a holder, the socket includes a flange extending outward from the main body, the socket change table is formed with a first opening 32a surrounding the socket and inclined convex portions 34, 35, 36, and a lower stage 32 on which the flange is placed, and a second opening 33a surrounding the socket and an upper stage 33 with which the bottom surface of the cap abuts are provided. When the flange rotates around the center line of the socket, the inclined convex portions 34, 35, 36 are such that the flange rides on the inclined convex portions 34, 35, 36. The height order proceeds in the same direction along the outer periphery of the first opening 32a and is the same when the inclined convex portions 34, 35, 36 are viewed.

Description

Technical Field

[0001] The present invention relates to a socket changing table used for exchanging a socket with a tool attached thereto, which is mounted on a fastening work machine.

Background Art

[0002] There is known a fastening work machine that uses a nut runner as a drive source and is used for fastening parts such as bolts and nuts. Such a fastening work machine is incorporated into an automated facility such as a robot and can accurately fasten many parts. These fastening work machines are used by connecting a socket to a joint mechanism. A bit (tool) for fastening a part is attached to the socket, and by exchanging the socket, it is possible to exchange to a bit corresponding to the part to be fastened.

[0003] When exchanging the socket, it is necessary to remove the socket that has been connected to the joint mechanism. At this time, it is necessary to slide the cylindrical cap provided in the joint mechanism in the axial direction of the joint mechanism, and a separate movable mechanism for sliding the cap is required.

[0004] In this regard, the attachment / detachment mechanism described in Patent Document 1 constitutes the attachment / detachment mechanism by providing a mounting-side engaging portion on the mounting element, a mounted-side engaging portion on the element to be mounted, and a holding member, a stopper, a stopper receiver, a biasing means, and a support base in the holder, so that a replacement member integrated with a tip (tool) can be detachably attached only by the operation of a device such as a robot.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the attachment / detachment mechanism described in Patent Document 1, the retainer required for attaching / detaching the replacement member is not a simple structure, but as described above, it has a complicated structure composed of a holding member, a stopper, a stopper receiver, a biasing means, and a support base.

[0007] In view of the above-mentioned conventional problems, an object of the present invention is to provide a socket change table that has a simple structure and can replace a socket with a tool attached thereto for a fastening work machine by only the operation of a device such as a robot without using a dedicated movable mechanism.

Means for Solving the Problems

[0008] In order to achieve the above object, a socket change table of the present invention is a socket change table used for replacing a socket with a tool attached thereto for a fastening work machine, wherein the fastening work machine is provided with a joint mechanism in which a cap slides along a holder to enable attachment / detachment of the socket, the socket is provided with a flange extending outward from the main body, the socket change table is formed with a first opening surrounding the socket and a plurality of inclined convex portions, a lower stage on which the flange is placed, and a second opening surrounding the socket and an upper stage against which the bottom surface of the cap abuts, the plurality of inclined convex portions are such that when the flange rotates around the center line of the socket, the flange rides on the plurality of inclined convex portions, the height order of the plurality of inclined convex portions proceeds in the same direction along the outer periphery of the first opening, and when the inclined convex portions are viewed, they are the same, and by the flange riding on the plurality of inclined convex portions, the socket is raised so that the socket can be attached to the fastening work machine.

[0009] In the socket change table of the present invention, it is preferable that the number of the plurality of inclined convex portions is three, and two of the three inclined convex portions are arranged to face each other with the first opening therebetween.

Effects of the Invention

[0010] The socket change table according to the present invention has a simple structure in which an inclined convex portion is added to the original structure for supporting the socket mounted on the fastening work machine. That is, the socket change table according to the present invention has a simple structure, and can replace the socket mounted on the fastening work machine only by the operation of equipment such as a robot without using a dedicated movable mechanism for socket replacement.

[0011] Also, according to a preferred configuration in which there are three inclined convex portions, it is advantageous for stably raising the socket.

Brief Description of Drawings

[0012]

Figure 1

Figure 2

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Figure 8

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Figure 11

Embodiments for Carrying Out the Invention

[0013] Hereinafter, one embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing the usage mode of the socket change table 1 according to one embodiment of the present invention. The socket change table 1 includes four socket mounting tables 3 on the base 2, and each socket mounting table 3 is mounted with four sockets 20. At the tip side of the four sockets 20, a bit 22 (tool) is attached via a magnet holder 21 (which attracts bolts to be fastened, etc.). The tip side of the magnet holder 21 is housed in the holder receiver 4. The holder receiver 4 may be omitted.

[0014] The bits 22 attached to the four magnet holders 21 are all different and can correspond to bolts of different diameters, etc. In FIG. 1, there are four socket mounting tables 2, but the number is not particularly limited.

[0015] The adapter 23 provided in the socket 20 is fixed to the socket holder 24. Similarly, the bit 22 is also fixed to the socket holder 24. Therefore, when the adapter 23 rotates by the nut runner 60 described later, the socket holder 24 and the bit 22 rotate integrally therewith.

[0016] In this embodiment, the fastening work machine 70 is constituted by the slide joint 40 and the nut runner 60. The nut runner 60 includes a motor case 61 and a speed reducer case 62, and the slide joint 40 includes a slide mechanism 43 and a joint mechanism 44. The slide mechanism 43 is one in which a rod 46 is relatively slidably attached to a cylindrical holder 45. The joint mechanism 44 is one in which a cylindrical cap 48 is relatively slidably attached to a cylindrical holder 47.

[0017] The fastening work machine 70 in this embodiment is an example, and any mechanism that enables the cap 48 to slide along the holder 47 to attach and detach the socket 20 may be used.

[0018] When the motor in the motor case 61 is driven, the shaft in the holder 45 rotates via the speed reducer in the speed reducer case 62, and the rod 46 and the joint mechanism 44 integrated therewith rotate. As a result, the socket 20 coupled to the joint mechanism 44 also rotates, and fastening work such as tightening a bolt can be performed with the tip of the bit 22 attached to the socket 20.

[0019] The nut runner 60 is mounted on a robot arm 80 provided in the robot, and the nut runner 60 can move linearly and rotationally. For example, when mounting the socket 20 on the joint mechanism 44 from the state shown in FIG. 1, the nut runner 60 approaches the socket 20 by horizontal movement and vertical movement. The rotation of the rod 46, the rotation and position movement of the robot arm 80 by the nut runner 60 are controlled by a control means (not shown).

[0020] FIG. 2 shows an enlarged perspective view of one of the socket mounting bases 3 of the socket change table 1 shown in FIG. 1. A lower stage 32 and an upper stage 33 are attached to the support 31. A first opening 32a is formed in the lower stage 32, and a second opening 33a is formed in the upper stage 33. Three inclined convex portions 34 to 36 are integrated with the lower stage 32. The three inclined convex portions 34 to 36 are arranged so as to surround the first opening 32a.

[0021] FIG. 3 shows a plan view of the lower stage 32. In FIG. 3, a flange 25 (see FIG. 1) integrated with the adapter 23 is shown by a two-dot chain line. In FIG. 3, a contact surface where the bottom surface of the flange 25 abuts is secured inside the three inclined convex portions 34 to 36.

[0022] In FIG. 2, inclined convex portions 34, 35, and 36 are respectively formed with inclined surfaces 34a, 35a, and 36a. These inclined surfaces 34a, 35a, and 36a are arranged such that when the flange 25 rotates counterclockwise (in the direction of arrow b) around the center line 20a of the socket 20 in FIG. 3, the flange 25 rides onto the inclined surfaces 34a, 35a, and 36a.

[0023] More specifically, the order of height of the inclined surfaces 34a, 35a, and 36a of the three inclined convex portions 34, 35, and 36 is the same when looking at the inclined surfaces 34a, 35a, and 36a while advancing in the same direction along the outer periphery of the first opening 32a. In the example of FIG. 2, along the outer periphery of the opening 32a, while advancing counterclockwise, when looking at the inclined surfaces 34a, 35a, and 36a, the order of height of the inclined surfaces 34a, 35a, and 36a is low, high (inclined surface 34a), low, high (inclined surface 35a), low, high (inclined surface 36a).

[0024] In FIGS. 1 and 3, the flange 25 is quadrilateral, but it is not limited to this, and any shape that can ride onto the inclined surfaces 34a, 35a, and 36a may be used. For example, it may be triangular.

[0025] FIG. 4 is a diagram for explaining the connection between the joint mechanism 44 and the adapter 23. FIG. 4(a) is a view of the joint mechanism 44 shown in FIG. 1 as seen from the lower side (opening side) (viewed in the direction of arrow A in FIG. 1). A holder 47 is arranged on the inner peripheral surface of the cap 48. A square hole 47a is formed in the holder 47. FIG. 4(b) is a view of the adapter 23 shown in FIG. 1 as seen from the upper side (viewed in the direction of arrow B in FIG. 1). A square column portion 23a is formed on the tip side of the adapter 23. When connecting the socket 20 to the joint mechanism 44, the square column portion 23a is inserted into the square hole 47a shown in FIG. 4(a).

[0026] FIG. 4(c) is a view in which the illustration of the prism portion 23a is added to FIG. 4(a). As shown in FIG. 4(c), if the arrangement angle of the square hole 47a and the arrangement angle of the prism portion 23a are different, the prism portion 23a cannot enter the square hole 47a. Although details will be described later, when coupling the socket 20 to the joint mechanism 44, the joint mechanism 44 is rotated to match the arrangement angle of the square hole 47a and the arrangement angle of the prism portion 23a.

[0027] FIG. 5 is a view showing a cross section of the slide joint 40 and partial cross sections of the socket change table 1 and the socket 20. The illustration is appropriately simplified (the same applies to FIGS. 7, 8, and 10). The lowering and raising of the slide joint 40 are performed by a robot. FIG. 5 is a cross-sectional view showing the state at the start of mounting the adapter 23 to the joint mechanism 44, and the joint mechanism 44 is above the adapter 23. This state is a state in which the slide joint 40 is moved by the robot to the socket change table 1.

[0028] FIG. 6 is an enlarged cross-sectional view of the joint mechanism 44 (corresponding to part C in FIG. 5). In the joint mechanism 44, the cap 48 is slidable in the central axis direction of the holder 47. FIG. 6(a) shows the state before the cap 48 slides, and FIG. 6(b) shows the state after the cap 48 slides. Hereinafter, the structure of the joint mechanism 44 will be described with reference to FIG. 6(a).

[0029] In FIG. 6(a), in a direction orthogonal to the central axis of the holder 47, pins 50 are inserted into the holder 47 and the rod 46. By this, the rod 46 is fixed to the holder 47. The pins 50 are inserted into through holes formed in the holder 47 and the rod 46. Both ends of the through hole formed in the holder 47 are closed by O-rings 49.

[0030] The cap 48 is arranged to surround the outer periphery of the holder 47, and a spring 53 is interposed between the cap 48 and the holder 47. In the state of Fig. 6(a), due to the repulsive force of the spring 53, the cap 48 has descended completely, and the movement of the cap 48 is restricted by a stopper ring 51 attached to the holder 47.

[0031] Two balls 52 are built into the cylindrical portion of the holder 47. The inward movement of the balls 52 is restricted by a hole in which the inner peripheral surface side of the holder 47 is smaller than the diameter of the balls 52. The outward movement of the balls 52 is restricted by a convex portion 48b formed on the cap 48. In the state of Fig. 6(a), a part of the balls 52 protrudes into the space inside the holder 47, and this state is maintained by the above-mentioned respective restrictions.

[0032] In Fig. 6(a), when the bottom surface 48a of the cap 48 is placed on the upper stage 33 shown in Fig. 2, the cap 48 can no longer descend. However, if the holder 47 is arranged in the second opening 33a shown in Fig. 2, when the holder 47 is pushed down, the spring 53 is compressed and the holder 47 descends. At this time, although the position of the cap 48 does not move, the positional relationship between the cap 48 and the holder 47 changes, and the cap 48 rises relative to the holder 47.

[0033] Fig. 6(b) shows a state in which the cap 48 has risen relative to the holder 47. In the state of Fig. 6(b), the outside of the ball 52 faces a concave portion 48c formed on the cap 48. In this state, a part of the ball 52 can move into the concave portion 48c. As will be described in detail later, due to the relative movement of the cap 48 as described above, the state in which the position of the ball 52 is restricted and the state in which this position restriction is released are switched, and the joint mechanism 44 and the socket 20 can be detached from each other.

[0034] Hereinafter, with reference to FIGS. 7 to 10, the operation of mounting the socket 20 to the joint mechanism 44 will be described. The state in FIG. 7(a) is the same as that in FIG. 5, where the joint mechanism 44 is above the adapter 23 and the adapter 23 has not yet entered the joint mechanism 44.

[0035] FIG. 7(b) shows a state where the slide joint 40 has descended by a height h1 and a part of the adapter 23 has entered the joint mechanism 44. As shown in FIG. 3, the flange 25 (integrated with the adapter 23 as shown in FIG. 1) is placed on the lower stage 32 while being surrounded by the inclined convex portions 34 to 36. Therefore, as shown in FIG. 1, in each socket 20, the arrangement angle of the prism portion 23a of the adapter 23 is constant. On the other hand, since the joint mechanism 44 rotates during operation, the arrangement angle of the angular hole 47a formed in the holder 47 provided in the joint mechanism 44 is arbitrary for the slide joint 40.

[0036] Therefore, normally, the arrangement angle of the angular hole 47a and the arrangement angle of the prism portion 23a do not coincide, and the prism portion 23a cannot enter the angular hole 47a. FIG. 7(b) shows this state, where the upper end of the prism portion 23a abuts against the lower end of the angular hole 47a in a state where it cannot enter the angular hole 47a. In this state, the joint mechanism 44 cannot descend any further.

[0037] FIG. 8 is a diagram showing how the prism portion 23a engages with the angular hole 47a. In the state of FIG. 8(c), a force is acting on the slide joint 40 in the direction of lowering it. As described above, since the descent of the joint mechanism 44 is restricted, the joint mechanism 44 is in a fixed position state, the spring 54 is compressed, and the holder 45 descends. During this time, as the nut runner 60 (see FIG. 1) rotates forward (clockwise), the rod 46 rotates forward, and the joint mechanism 44 also rotates forward integrally therewith.

[0038] The forward rotation of the nut runner 60 refers to the forward rotation of a rotation shaft (not shown) provided in the nut runner 60. Specifically, a joint 57 is built into the holder 45, and the joint 57 has a square hole 55 and a square columnar shaft 56. A square hole 46a is formed in the rod 46, and the square columnar shaft 56 is engaged with the square hole 46a. A square columnar rotation shaft provided in the nut runner 60 is engaged with the square hole 55. Due to the rotation of this rotation shaft, the shaft 56 rotates, and the rod 46 rotates integrally therewith.

[0039] As this forward rotation progresses, since the arrangement angle of the square hole 47a and the arrangement angle of the square column portion 23a coincide, the square column portion 23a can enter the square hole 47a. As a result, the square column portion 23a is engaged with the square hole 47a. In this engaged state, a force to rotate the adapter 23 integrally with the square column portion 23a acts, but since the flange 25 integrally with the adapter 23 interferes with the inclined convex portion 36, the adapter 23 cannot rotate forward (see FIGS. 3 and 11(a)). In this state, the torque detected by the nut runner 60 (monitored by a torque transducer inside the nut runner 60) increases, and when it exceeds a predetermined torque, the forward rotation of the nut runner 60 is stopped by the control means.

[0040] On the other hand, when the square column portion 23a is engaged with the square hole 47a, the square column portion 23a can enter the square hole 47, so the joint mechanism 44 descends due to the repulsive force of the spring 54. FIG. 8(d) shows this state. In FIG. 8(d), the bottom surface 48a of the cap 48 is in contact with the upper stage 33, and further descent of the cap 48 is restricted. On the other hand, the holder 47 descends even after the bottom surface 48a of the cap 48 comes into contact with the upper stage 33, and the stopper ring 51 integrally with the holder 47 is separated from the bottom surface 48a of the cap 48.

[0041] FIG. 9 is an enlarged cross-sectional view showing how the adapter 23 is coupled to the joint mechanism 44. FIG. 10 is a view showing how the coupling between the joint mechanism 44 and the adapter 23 is completed. The state of FIG. 9(a) corresponds to the state of FIG. 8(d). When the holder 47 is pushed down, the spring 53 is compressed, and the cap 48 has risen by a height h2 relative to the holder 47.

[0042] In the state of FIG. 9(a), the prism portion 23a is engaged with the square hole 47a, but the ball 52 and the groove 23b formed in the adapter 23 are not engaged. This state is the state where the forward rotation of the nut runner 60 has stopped. From this state, if the adapter 23 rises, as shown in FIG. 9(b), the groove 23b also rises to the position of the ball 52. This state is the state of FIG. 10(e). The rise of the adapter 23, as will be described later with reference to FIG. 11 in detail, becomes possible by subsequently reversing (counterclockwise) the nut runner 60 after the forward rotation of the nut runner 60 has stopped.

[0043] When the nut runner 60 is raised from the state of FIG. 9(b), the slide joint 40 and the joint mechanism 44 also rise integrally with it. As shown in FIG. 9(c), due to the repulsive force of the spring 53, the cap 48 is in a state where it has completely descended. In this state, the ball 52 is pushed toward the groove 23b by the convex portion 48b formed on the cap 48, and the ball 52 and the groove 23b are engaged. In this state, the coupling between the joint mechanism 44 and the adapter 23 is completed. This state is the state of FIG. 10(f), and the slide joint 40 has risen by h3 from the state of FIG. 10(e).

[0044] Hereinafter, with reference to FIG. 11, the process of the adapter 23 rising will be described. FIG. 11(a) shows the initial state. In the initial state, as shown in FIG. 3, the flange 25 is inside the three inclined convex portions 34 to 36. In this state, the bottom surface of the flange 25 is in contact with the lower stage 32. The internal state of the cap 48 in this state corresponds to the state of FIG. 9(a).

[0045] When the adapter 23 is rotated counterclockwise from the state of Fig. 11(a), as shown in Fig. 11(b), the bottom surface of the flange 25 rides on the inclined surfaces 34a, 35a, 36a formed on the inclined convex portions 34, 35, 36. Fig. 11(c) shows the state where the adapter 23 has completed its rotation. The internal state of the cap 48 in this state corresponds to the state of Fig. 10(e).

[0046] As described above, in the state of Fig. 10(f), the connection between the joint mechanism 44 and the adapter 23 is completed. From this state, when the slide joint 40 is horizontally moved (in the direction of arrow a in Fig. 2), the slide joint 40 detaches from the socket change table 1 with the socket 20 mounted thereon. If the socket 20 has dimensions such that it does not interfere with the lower stage 32 and the upper stage 33, it is also possible to vertically move the slide joint 40 to detach the slide joint 40 from the socket change table 1.

[0047] When the fastening operation of components such as bolts by the fastening work machine 70 (see Fig. 1) is completed and subsequently the fastening operation of different components is to be performed, after returning the already mounted socket 20 to the socket change table 1, a new socket 20 is mounted on the joint mechanism 44. When returning the socket 20 to the socket change table 1, the socket 20 is removed from the fastening work machine 70 in a procedure reverse to the above-described procedure of mounting the socket 20 on the fastening work machine 70.

[0048] As described above, the present invention has been explained. As described above, the socket change table 1 according to the present invention has a simple structure in which inclined convex portions 34 to 36 are added to the original structure for supporting the socket 20 to be mounted on the fastening work machine 70. That is, the socket change table 1 according to the present invention has a simple structure, and can replace the socket 20 to be mounted on the fastening work machine only by the operation of equipment such as a robot without using a dedicated movable mechanism for replacing the socket 20.

[0049] In addition, the above-described embodiment is merely an example, and modifications may be made as follows. Although inclined convex portions 34 to 36 are formed with inclined surfaces 34a to 36a, the adapter 23 only needs to be able to rise in a horizontal state, and the portion where the square flange 25 rides up may not be planar but linear (mountain-shaped with a pointed top).

[0050] In the above-described embodiment, when engaging the square column portion 23a of the adapter 23 with the square hole 46a of the rod 46, the nut runner 60 was rotated forward (clockwise), but it may be rotated backward (counterclockwise). Also, when raising the adapter 23, the nut runner 60 was rotated backward, but it may be rotated forward. Thus, when reversing the rotation direction, the height order of the inclined surfaces 34a, 35a, and 36 may be reversed accordingly.

[0051] As shown in FIG. 3, although three inclined convex portions 34, 35, and 36 are formed on the lower stage 32, the middle inclined convex portion 35 may be omitted. Also, in FIG. 3, the inclined convex portion 34 and the inclined convex portion 36 are substantially parallel, the arrangement of the inclined convex portion 35 is the arrangement obtained by rotating the inclined convex portion 34 by 90 degrees, and the arrangement of the inclined convex portion 36 is the arrangement obtained by rotating the inclined convex portion 35 by 90 degrees. The arrangement is not limited to this, and the inclined convex portion 34 and the inclined convex portion 36 may be arranged in an inverted V shape, the arrangement of the inclined convex portion 35 may be the arrangement obtained by rotating the inclined convex portion 34 by 90 degrees or more, and the arrangement of the inclined convex portion 36 may be the arrangement obtained by rotating the inclined convex portion 35 by 90 degrees or more.

[0052] In the above-described embodiment, an example in which the linear movement and rotational movement of the nut runner 60 are performed by a robot has been described, but it is not limited to a robot, and any device capable of realizing the same movement may be used.

Explanation of Reference Numerals

[0053] 1 Socket change table 20 Socket 20a Center line of the socket 22 Bit (tool) 23 Adapter 25 Flange 32 Lower stage 32a First opening 33 Upper stage 33a Second opening 34, 35, 36 Inclined convex part 34a, 35a, 36a Inclined surface 40 Slide joint 44 Joint mechanism 47 Holder 48 Cap 60 Nut runner 70 Fastening work machine

Claims

1. A socket change table used for changing a tool-equipped socket attached to a fastening machine, The fastening work machine is provided with a joint mechanism in which a cap slides along a holder to enable attachment and detachment of the socket, The socket includes a flange extending outwardly from the body; The socket change table is a lower stage on which the flange is placed, the lower stage having a first opening surrounding the socket and a plurality of inclined protrusions; a second opening surrounding the socket; and an upper stage against which the bottom surface of the cap abuts; the plurality of inclined protrusions have the same order of height when viewed in the same direction along the outer periphery of the first opening, so that the flange rides on the plurality of inclined protrusions when the flange rotates around the center line of the socket; A socket change table characterized in that the socket is raised by the flange riding on the multiple inclined convex portions, thereby making it possible to attach the socket to the fastening work machine.

2. 2. The socket change table according to claim 1, wherein the number of the plurality of inclined protrusions is three, and two of the three inclined protrusions are disposed opposite each other so as to sandwich the first opening.

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