Screw removal module and screw removal unit

Abstract

To provide a thread cleaning module that is not restricted by a direction in which a threaded hole is oriented and that can clean a thread from both front and back sides of a workpiece, simultaneously at multiple points, or from the horizontal direction by standing the workpiece up.SOLUTION: A thread cleaning module comprises: a rod-shaped assembly 3 which comprises a drive motor 2 with a rotation shaft 14 capable of achieving normal and reverse rotation in a horizontal posture, comprises a shaft member 16 coupled to the rotation shaft via an Oldham coupling, and comprises a tap 5 detachably attached to a distal end portion of the shaft member; a support body 4 which supports the rod-shaped assembly such that the rod-shaped assembly is movable in a horizontal axial direction of the rotation shaft; centering posture control means (first and second contact members 56, 57) which are supported by the support body so as to be able to come into and out of contact with an outer peripheral surface of the shaft member of the rod-shaped assembly and restrict movement of the shaft member in a direction orthogonal to the axial direction by being pressed against the outer peripheral surface of the shaft member; and a drive control device which reversely rotates the rotation shaft to operate the Oldham coupling, thereby carrying out centering between a threaded hole of a workpiece and the tap.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a thread tapping module and a thread tapping unit for tapping a tap into a threaded hole to perform thread tapping.

Background Art

[0002] Automobile body parts made of steel plates are formed into a predetermined shape by combining sheet materials. Brackets, nuts, etc. for attaching accessories are welded to this body part. When welding work such as MAG welding is performed in the process of manufacturing this body part, spatter scattered from the welded part may adhere to the threaded holes of the parts or the threaded holes of the nuts. If spatter adheres to the threaded hole or nut, there is a risk that the bolt cannot be screwed in. Therefore, when spatter adheres to the threaded hole or nut, an operator manually screws a tap into the threaded hole or nut and removes the spatter by tapping the threaded hole or nut with the tap.

[0003] By the way, Patent Document 1 and Patent Document 2 disclose an apparatus for performing a thread tapping operation of removing spatter by screwing a tap into a threaded hole. The apparatus shown in Patent Document 1 has a tap attached to the tip of a spindle that is driven by a motor to rotate, and is used in a state where the tap points downward. In this apparatus, an Oldham coupling is provided between the spindle and the motor so that the tap is screwed along the threaded hole.

[0004] The apparatus described in Patent Document 2 includes a work holding table that holds a work swingably by a spring member and moves it in the vertical direction, and a tap that is disposed above the work holding table and points downward. The tap is driven by a motor to rotate. In this apparatus, the work rises toward the tap, and the rotating tap is inserted into the threaded hole, whereby the thread tapping operation is performed.

Prior Art Documents

Patent Documents

[0005] [Patent Document 1] Japanese Utility Model Publication No. 6-53027 [Patent Document 2] Patent No. 5150189 [Overview of the project] [Problems that the invention aims to solve]

[0006] If screw removal is performed manually by workers, the work time becomes long, and it is inefficient from the standpoint of labor costs. This problem can be resolved to some extent by using a device that drives a tap with a motor to screw it into a screw hole, as shown in Patent Documents 1 and 2.

[0007] However, if the workpiece is a large automobile body part, the devices shown in Patent Documents 1 and 2 cannot be used. This is because the devices shown in Patent Documents 1 and 2 screw a tap into a screw hole that is oriented vertically from above. Many large automobile body parts have a shape that extends horizontally when mounted on a vehicle. Screw holes and nuts provided on these types of body parts often have screw holes that are oriented vertically when mounted on a vehicle. If screw removal work is performed on the screw holes and nuts of such large automobile body parts using the devices shown in Patent Documents 1 and 2, the automobile body part, which is the workpiece, will spread out horizontally, and the floor area occupied by the device will increase.

[0008] If screw thread removal can be performed on large vehicle body parts in an upright position with the screw holes and nuts facing horizontally, it is possible to reduce the occupied floor space. The device shown in Patent Document 1 is used by being attached to an articulated robot, so it is possible to position the tap so that it faces horizontally. However, in this position, the spindle tilts downward from the Oldham joint, making it difficult to properly screw the tap into the screw holes and nuts. If the device shown in Patent Document 2 is used in an upright position, the spring member supporting the workpiece bends unnecessarily, making it impossible to properly hold the workpiece. For this reason, the devices shown in Patent Document 1 and Patent Document 2 cannot be used to perform screw thread removal on screw holes and nuts that face horizontally.

[0009] Furthermore, the apparatus shown in Patent Document 1 and the apparatus shown in Patent Document 2 have the following problems in addition to the problems mentioned above. The apparatus shown in Patent Document 1 and the apparatus shown in Patent Document 2 cannot remove screws from both the front and back sides of the workpiece. The apparatus shown in Patent Document 1 and the apparatus shown in Patent Document 2 cannot perform screw removal at multiple points simultaneously. The apparatus shown in Patent Document 1 has a robot hold the tap, and the apparatus shown in Patent Document 2 does not have a rocking mechanism in its screw removal mechanism, so screw removal can only be performed at one location at a time. The apparatus shown in Patent Document 1 and Patent Document 2 performs screw removal work with the workpiece lying horizontally. When the workpiece is lying horizontally, spatter can fall onto the workpiece or onto jigs and other fixtures beneath the workpiece, which is undesirable from a maintainability standpoint.

[0010] The object of the present invention is to provide a screw cleaning module that is not restricted by the direction in which the screw holes are directed, and that can perform screw cleaning from both the front and back surfaces of the workpiece, simultaneously at multiple points, or from the horizontal direction with the workpiece upright, and to provide a screw cleaning unit that can perform screw cleaning work efficiently using this screw cleaning module. [Means for solving the problem]

[0011] To achieve this objective, the screw removal module according to the present invention comprises a rod-shaped assembly including a drive motor having a rotating shaft that can rotate forward and reverse in a horizontal position, a shaft member connected to the rotating shaft via an Oldham coupling, and a tap detachably attached to the tip of the shaft member and capable of being screwed into a screw hole in a workpiece; a support that supports the rod-shaped assembly so as to be movable in the horizontal axial direction of the rotating shaft; a centering attitude control means supported by the support so as to be able to move toward and away from the outer circumferential surface of the shaft member of the rod-shaped assembly, and which restricts movement of the shaft member in a direction perpendicular to the axial direction by being pressed against the outer circumferential surface of the shaft member; and a drive control device that operates the Oldham coupling by reversing the rotation shaft to center the screw hole in the workpiece and the tap.

[0012] The present invention further provides a screw threading module in which the shaft member has a cylindrical portion that is in contact with the centering attitude control means, and the centering attitude control means comprises a first contact member located on one radial side of the cylindrical portion and a second contact member located on the other radial side, and the first contact member and the second contact member may each have contact pieces that contact the cylindrical portion at a plurality of positions spaced apart in the circumferential direction of the cylindrical portion.

[0013] In the screw retrieval module of the present invention, the contact piece may be configured as a recessed shape that opens toward the cylindrical portion when viewed from the axial direction of the cylindrical portion.

[0014] In the screw dredging module of the present invention, the contact piece may be provided with a sagging prevention portion to prevent the shaft member from sagging.

[0015] The present invention further comprises, in the screw threading module, a first drive device for moving the rod-shaped assembly relative to the support in the axial direction of the rotation shaft, a second drive device for switching between a state in which the centering attitude control means presses the shaft member and a state in which the pressing force disappears, a drive motor, and a control device for controlling the operation of the first drive device and the second drive device, wherein the control device includes a first functional unit for operating the second drive device so that the centering attitude control means presses the shaft member, and the tap The device may also include a second functional unit that operates the first drive device so that the pusher approaches the screw hole of the workpiece; a third functional unit that operates the second drive device so that the pressing force of the centering attitude control means disappears, and rotates the drive motor in reverse at a predetermined rotational speed for a predetermined time; and a fourth functional unit that rotates the drive motor forward at a predetermined rotational speed after the reverse rotation has finished, and operates the first drive device so that the rod-shaped assembly moves toward the workpiece at a predetermined speed.

[0016] The present invention further provides a screw threading module, comprising a tap holder for detachably attaching the tap to the tip of the shaft member, the tap holder comprising a support shaft mounted integrally with the shaft member so as to rotate, and a lock nut screwed onto the tip of the support shaft, the tip of the support shaft being formed in a bifurcated shape capable of gripping the tap and tapering towards the tip, and the lock nut may have a tapered surface that fits onto the tip of the support shaft.

[0017] The screw cleaning unit according to the present invention comprises a screw cleaning module support portion that supports the screw cleaning module so that the axis of the rotation shaft is horizontal, and a workpiece support portion that supports the workpiece so that the opening direction of the screw hole is horizontal, wherein the screw cleaning module support portion has mounting seats to which the support of the screw cleaning module is attached at the same position in the axial direction of the rotation shaft, and at multiple positions in a direction perpendicular to the axial direction of the rotation shaft, and may also have a third drive device for moving the plurality of mounting seats in the axial direction of the rotation shaft.

[0018] The present invention further provides a screw removal unit in which the screw removal module support portion comprises a slide member driven by the third drive device, the plurality of mounting seats are provided on a single frame supported by the slide member so as to be movable in the vertical direction, and the slide member may comprise a fourth drive device for moving the frame in the vertical direction.

[0019] In the screw removal unit, the workpiece support portion may have a mounting seat on the opposite side of the workpiece from the mounting seat of the screw removal module support portion, to which the support body of the screw removal module is attached. [Effects of the Invention]

[0020] According to the present invention, it is possible to provide a screw degreasing module that is not restricted by the opening direction of the screw hole or the mounting angle of the nut, and that allows screw degreasing to be performed from both the front and back surfaces of the workpiece, at multiple points simultaneously, or from the horizontal direction with the workpiece upright. Furthermore, according to the present invention, it is possible to provide a screw degreasing unit that is not restricted by the opening direction of the screw hole or the mounting angle of the nut, and is not restricted by the position of the screw hole, enabling efficient screw degreasing work. [Brief explanation of the drawing]

[0021] [Figure 1] Figure 1 is a perspective view of the screw removal module according to the present invention. [Figure 2] Figure 2 is a perspective view of the thread milling module. [Figure 3] Figure 3 is a partial cross-sectional view of the thread milling module. [Figure 4] Figure 4 is a cross-sectional view showing the state where the tap approaches the nut portion of the workpiece. [Figure 5] Figure 5 is a cross-sectional view showing a part of the thread milling module. [Figure 6] Figure 6 is a block diagram showing the configuration of the control system of the thread milling module. [Figure 7] Figure 7 is a perspective view showing the centering control means. [Figure 8] Figure 8 is a cross-sectional view of the main shaft and the contact member. [Figure 9] Figure 9 is a cross-sectional view of the main shaft and the contact member. [Figure 10] Figure 10 is a schematic diagram for explaining the configuration of the contact piece. [Figure 11] Figure 11 is an exploded perspective view of the tap holder. [Figure 12] Figure 12 is a schematic diagram for explaining the usage mode of the thread milling module. [Figure 13] Figure 13 is a schematic diagram for explaining the operation of the thread milling module. [Figure 14] Figure 14 is a schematic diagram for explaining the operation of the thread milling module. [Figure 15] Figure 15 is a side view of the thread milling unit. [Figure 16] Figure 16 is a side view of the thread milling unit. [Figure 17] Figure 17 is a perspective view of the thread milling module support portion. [Figure 18] Figure 18 is a perspective view of the thread milling module support portion. [Figure 19] Figure 19 is a perspective view showing a part of the thread milling module support portion on which a plurality of thread milling modules are mounted. [Figure 20] Figure 20 is a perspective view of the workpiece support portion. [Figure 21] Figure 21 is a perspective view of the workpiece support section. [Figure 22] Figure 22 is a perspective view of the workpiece holding device. [Modes for carrying out the invention]

[0022] Hereinafter, one embodiment of the screw removal module according to the present invention will be described in detail with reference to Figures 1 to 14. (Description of the screw removal module) The screw removal module 1 shown in Figure 1 comprises a rod-shaped assembly 3 including a drive motor 2, which is depicted at the top of Figure 1, and a support 4 that supports this rod-shaped assembly 3 so as to be movable in the axial direction.

[0023] The drive motor 2 is located at one end of the rod-shaped assembly 3 in the axial direction. The other end of the rod-shaped assembly 3 in the axial direction is provided with a tap 5 for performing a screw-cleaning operation. In the following description of each component of the screw-cleaning module 1, for convenience, the direction in which the drive motor 2 of the rod-shaped assembly 3 is located will be considered the rear of the screw-cleaning module 1, and the direction in which the tap 5 is located will be considered the front of the screw-cleaning module 1. The tap 5 is screwed into the threaded hole 8 of the nut 7 provided in the workpiece 6 (see Figure 4) to remove spatter adhering to the threaded hole 8. Although not shown in the figures, threaded holes may also be directly formed in the workpiece 6, and the tap 5 can be used to clean such threaded holes as well. Workpiece 6 can be, for example, a car body part. In this embodiment, an example of a case in which a screw hole 8 oriented horizontally is descrewed will be described. Workpiece 6 is fixed to a workpiece support base 9 with the screw hole 8 oriented horizontally.

[0024] (Description of the rod-shaped assembly) As shown in Figure 3, the drive motor 2 has an output shaft 11 protruding from one end (front end), and this output shaft 11 can be rotated in both forward and reverse directions. The front end of the drive motor 2 is fixed to the annular flange portion 12 of the support body 4, which will be described later, by a plurality of fixing bolts (not shown) that pass through it. An extension shaft 13 is connected to the front end of the output shaft 11 so as to rotate integrally with it. In this embodiment, the output shaft 11 and the extension shaft 13 constitute the rotation shaft 14 of the drive motor 2.

[0025] As shown in Figure 3, the rod-shaped assembly 3 consists of the drive motor 2 described above, a shaft member 16 connected to the extension shaft 13 via an Oldham coupling 15, and a tap 5 detachably attached to the front end of the shaft member 16. The Oldham coupling 15 transmits the rotation of the rotating shaft 14 to the shaft member 16 in a manner that allows the shaft member 16, described later, to be eccentric or tilted relative to the rotating shaft 14. The Oldham coupling 15 comprises a drive block 15a attached to the extension shaft 13, a driven block 15b formed integrally with the connecting shaft 17 that constitutes the rear end of the shaft member 16, and an intermediate block 15c interposed between the drive block 15a and the driven block 15b.

[0026] The shaft member 16 comprises a connecting shaft 17 integrally formed with the driven block 15b of the Oldham coupling 15, a cylindrical main shaft 18 fixed to the front end of the connecting shaft 17, and a tap holder 19 detachably attached to the front end of the main shaft 18. The main shaft 18 constitutes the "cylindrical portion of the shaft member" as referred to in this invention. The tap holder 19 comprises a support shaft 21 detachably attached to the spindle 18 and a lock nut 22 screwed onto the support shaft 21. The rear end 21a of the support shaft 21 is formed to fit into a hole 18a formed in the front end of the spindle 18, as shown in Figure 11. The opening shape of the hole 18a is oval so that rotational force is transmitted from the spindle 18 to the support shaft 21. By fitting the rear end 21a of the support shaft 21 into the hole 18a, the support shaft 21 is positioned on the same axis as the spindle 18.

[0027] A lock bolt 23 passes through the fitting portion between the support shaft 21 and the main spindle 18. The lock bolt 23 is screwed into the support shaft 21. By removing the lock bolt 23 from the main spindle 18, the tap holder 19 can be attached to and detached from the main spindle 18. Since the tap holder 19 can be attached to and detached from the main spindle 18 in this way, when the tap 5 breaks, the operation of the thread removal module 1 can be temporarily stopped, and the tap 5 can be replaced with a spare along with the tap holder 19. Therefore, tap replacement can be performed without reducing the line operating rate.

[0028] As shown in Figure 11, the front end 21b of the support shaft 21 of the tap holder 19 is formed in a bifurcated shape so that the tap 5 can be sandwiched in its axial center. The opposing parts of the bifurcated shape are formed by a pair of parallel flat surfaces 21c and a pair of concave curved surfaces 21d. The concave curved surface 21d is shaped to fit the cylindrical shaft portion 5a of the tap 5. By fitting the shaft portion 5a into the concave curved surface 21d, the tap 5 is positioned on the same axis as the support shaft 21. A rectangular prism-shaped engaging portion 5b is provided at the rear end of the tap 5. The size of the engaging portion 5b is such that it fits between a pair of flat surfaces 21c, 21c. When the engaging portion 5b fits between the pair of flat surfaces 21c, 21c, the rotation of the support shaft 21 is transmitted to the tap 5.

[0029] The front end 21b of the support shaft 21 is tapered, becoming progressively narrower towards the tip. As shown in Figure 3, the lock nut 22 has a tapered surface 22a that fits onto the front end 21b of the support shaft 21 and is screwed onto the outer circumference of the support shaft 21. By screwing the lock nut 22 onto the support shaft 21, the front end 21b of the support shaft 21 is pressed radially inward, and the tap 5 is held within the front end 21b of the support shaft 21. On the other hand, by loosening the lock nut 22, the force pressing on the tap 5 is eliminated, making it possible to pull the tap 5 out of the support shaft 21. Since the front end of the shaft member 16 is configured with a tap holder 19, the tap 5 can be detachably attached to the front end of the shaft member 16.

[0030] Conventional tap holders typically use threaded components, ball materials, elastic members, etc., resulting in a complex structure. In comparison to such conventional tap holders, the tap holder 19 according to this embodiment consists of only two parts: a support shaft 21 with a bifurcated tip and a lock nut 22. This simple structure fulfills the function of holding the tap 5. Therefore, as mentioned above, the tap holder 19 according to this embodiment uses fewer parts and employs a simple configuration of holding the tap 5 by clamping it in the bifurcated portion, resulting in a lightweight and compact design. Because the screw threading module 1 in this embodiment employs such a tap holder 19, the entire module could be made compact.

[0031] (Description of the support and the first drive device) In this embodiment, the support 4 is configured to support a first support plate 24 (see Figures 1 and 2) having an annular flange portion 12 to which the above-mentioned drive motor 2 is attached, so as to be movable in the axial direction of the rotation shaft 14 via a first drive device 25, which will be described later. This support 4 is composed of the first support plate 24, the first drive device 25, a second support plate 26 that supports the first drive device 25, and the like.

[0032] The first support plate 24, including the annular flange portion 12, is formed to extend in a direction perpendicular to the axial direction of the rotation shaft 14. A cylindrical body 31 extending forward from the front of the annular flange portion 12 is fixed to the front surface by a plurality of fixing bolts 32. As shown in Figure 3, the cylindrical body 31 covers the extension shaft 13, the Oldham coupling 15, and a portion of the rear side of the connecting shaft 17. An annular lip 33 extending radially inward is formed at the front end of the cylindrical body 31. The diameter of the hole in the center of the lip 33 is larger than the outer diameter of the connecting shaft 17 to allow the connecting shaft 17 to move freely, and smaller than the outer diameter of the driven block 15b to restrict the forward movement of the driven block 15b of the Oldham coupling 15. As shown in Figures 1 and 3, a hole 31a is formed at the rear of the cylindrical body 31. This hole 31a is for passing the extension shaft 13 through when replacing the extension shaft 13 located inside the cylindrical body 31.

[0033] The first drive unit 25 is composed of an air cylinder having a piston rod 34, as shown in Figure 5. The first support plate 24 extends in a direction perpendicular to the axial direction of the rotation shaft 14 and is attached to the piston rod 34 of the first drive unit 25. The first drive unit 25 is configured such that the piston rod 34 reciprocates in a direction parallel to the axial direction of the rotation shaft 14. This first drive unit 25 is connected to an air supply device (not shown) via a first solenoid valve 35 (see Figure 6), and operates when air is supplied from the first solenoid valve 35. The operation of the first solenoid valve 35 is controlled by a drive control device 41, which will be described later. When the first drive unit 25 operates, the rod-shaped assembly 3 moves in the front-rear direction relative to the support 4.

[0034] The second support plate 26 extends in the front-to-back direction along the rod-shaped assembly 3. The first drive unit 25 is attached to the rear end of the second support plate 26, and a mounting bracket 43 for assembling the screw removal module 1 to, for example, a positioning robot 42 (see Figure 2) is also attached. The positioning robot 42 can be an articulated robot or a robot that supports the screw removal module 1 so that it can move in parallel.

[0035] As shown in Figure 1, a position sensor 44 is provided on one side of the second support plate 26 for detecting the front-rear position of the rod-shaped assembly 3. The position sensor 44 is a so-called proximity sensor that magnetically detects the first support plate 24, which is driven forward by the first drive device 25, and sends a detection signal to the drive control device 41. When the screw removal operation described later is completed, the tap 5 is screwed into the nut 7 and the screw removal is finished, the first support plate 24 is detected by the position sensor 44. Furthermore, a laser sensor 46 is attached to one side of the second support plate 26 via a mounting stay 45. The laser sensor 46 irradiates the tap 5 with laser light 47 and sends detection data that can determine the presence or absence of reflected light to the drive control device 41. If the reflected light does not reach the laser sensor 46, the drive control device 41 determines that the tap 5 has broken and performs a predetermined alarm operation.

[0036] As shown in Figure 2, an air blow pipe 48 is attached to the other side of the second support plate 26. The air blow pipe 48 is connected to an air supply device (not shown) via air piping (not shown) and sprays compressed air toward the tap 5. By blowing compressed air onto the tap 5, dust such as spatter removed during the screw degreasing operation is blown away.

[0037] (Description of the centering posture control means) As shown in Figures 2 and 7, a second drive unit 52 is attached to the front end of the second support plate 26 via a mounting bracket 51. The second drive unit 52, although not shown in detail, is composed of an air cylinder and has a pair of actuators 53, 54 (see Figure 7) that protrude forward from its front end. The pair of actuators 53, 54 are aligned in a direction perpendicular to the axial direction of the rotation shaft 14.

[0038] The second drive unit 52 is connected to an air supply device (not shown) via a second solenoid valve 55 (see Figure 6), and operates when air is supplied from the second solenoid valve 55. The operation of the second solenoid valve 55 is controlled by a drive control device 41, which will be described later. When the second drive unit 52 operates, the pair of actuators 53 and 54 move toward each other and toward each other.

[0039] Of the pair of actuators 53 and 54, the first actuator 53, located on the left side in Figure 7, is fitted with a first contact member 56, and the second actuator 54, located on the right side in Figure 7, is fitted with a second contact member 57. These first contact members 56 and second contact members 57 are positioned to sandwich the main shaft 18 from both radial sides, as will be described in detail later, and are driven by the second drive unit 52 to move toward the main shaft 18 and make contact with the outer circumferential surface of the main shaft 18. For this reason, the first contact member 56 and second contact member 57 in this embodiment are supported by the support unit 4 via the second drive unit 52 so that they can move toward and away from the main shaft 18. The first contact member 56 and the second contact member 57 constitute a centering attitude control means 58 that restricts movement of the main shaft 18 in a direction perpendicular to the axial direction by being pressed against the outer circumferential surface of the main shaft 18.

[0040] The second solenoid valve 55, connected to the second drive unit 52, is a three-position solenoid valve at the exhaust center, although not shown in detail in the illustration. Air is supplied from the second solenoid valve 55 to the second drive unit 52, causing the first and second contact members 56 and 57 to move closer to or further apart from each other. Furthermore, by turning the second solenoid valve 55 OFF while the first and second contact members 56 and 57 are pressing against the main spindle 18, air is discharged from the second drive unit 52 via the second solenoid valve 55, and the pressing force that the first and second contact members 56 and 57 exert on the main spindle 18 disappears. In other words, the second drive unit 52 switches between a state in which the first and second contact members 56 and 57 are in contact with the main spindle 18 and pressing against it, and a state in which the pressing force disappears. When the pressing force exerted by the first and second contact members 56 and 57 against the main shaft 18 is eliminated, the main shaft 18 can push aside the first and second contact members 56 and 57 and move in a direction perpendicular to the axial direction.

[0041] As shown in Figure 7, the first contact member 56 comprises a plurality of contact pieces 61, 62 arranged at predetermined intervals in the axial direction of the rotation axis 14 (parallel to the direction from the lower left to the upper right in Figure 7). In this embodiment, the first contact member 56 has two contact pieces 61, 62. More specifically, the first contact member 56 comprises a front contact piece 61 attached to one of the pair of actuators 53, 54 of the second drive unit 52, and a rear contact piece 62 connected to the front contact piece 61 via a connecting member 63.

[0042] The second contact member 57 comprises a plurality of contact pieces 64, 65 arranged at predetermined intervals in the axial direction of the rotation shaft 14. In this embodiment, the second contact member 57 has two contact pieces 64, 65. More specifically, the second contact member 57 comprises a front contact piece 64 attached to the other second actuator 54 of a pair of actuators 53, 54 of the second drive unit 52, and a rear contact piece 65 connected to the front contact piece 64 via a connecting member 66.

[0043] The reason for providing front contact pieces 61, 64 and rear contact pieces 62, 65 in this manner is to ensure stable support for the main shaft 18. If only the rear contact pieces 62, 65 were used, when the elongated screw dredging module 1 is positioned horizontally, its own weight would cause it to sag with the rear contact pieces 62, 65 as the pivot point. Therefore, the front contact pieces 61, 64 and rear contact pieces 62, 65 are positioned with a width in the axial direction. The front contact pieces 61, 64 and rear contact pieces 62, 65 are connected by connecting members 63, 66. As shown in Figure 8, the front contact pieces 61 and 64 of the first and second contact members 56 and 57 contact the main shaft 18 at multiple positions spaced apart in the circumferential direction of the main shaft 18 when the first and second contact members 56 and 57 move toward each other.

[0044] More specifically, these front contact pieces 61 and 64 are configured to contact the main shaft 18 at four contact points A to D that are separated vertically at the ends in the left-right direction, when the direction in which the pair of actuators 53 and 54 are aligned is defined as the left-right direction, and the direction perpendicular to the left-right direction and the axial direction of the rotation axis 14 is defined as the up-down direction. These four contact points A to D are the front upper left contact point A, the front lower left contact point B, the front upper right contact point C, and the front lower right contact point D. The front contact piece 64 of the second contact member 57 has a projection 67 that extends to a position where it overlaps with the main shaft 18 in the vertical direction described above. The projection 67 constitutes a sagging prevention part that prevents the main shaft 18 from sagging. The projection 67 is positioned below the main shaft 18 at a predetermined distance. The reason for this spacing between the projection 67 and the main shaft 18 is to ensure that the Oldham function of the Oldham joint 15 is not impaired.

[0045] The rear contact pieces 62 and 65 of the first and second contact members 56 and 57 contact the spindle 18 at multiple positions spaced apart in the circumferential direction of the spindle 18, as shown in Figure 9, when the first and second contact members 56 and 57 move toward each other. More specifically, these rear contact pieces 62 and 65 contact the spindle 18 at four pressing portions E to H that are spaced apart in the left-right direction at their vertical ends. These four pressing portions E to H are the rear upper left pressing portion E, the rear lower left pressing portion F, the rear upper right pressing portion G, and the rear lower right pressing portion H. In this way, the first and second contact members 56 and 57 contact the main shaft 18 at four locations on the front side and four locations on the rear side, pressing against the main shaft 18, thereby restricting the movement of the shaft member 16 in a direction perpendicular to the axial direction.

[0046] In this embodiment, the front contact pieces 61, 64 and the rear contact pieces 62, 65 are configured as recessed shapes that open toward the main spindle 18 when viewed from the axial direction of the main spindle 18, as shown in Figure 10(A). The recessed shapes here include the V-shape shown in Figure 10(A) and the U-shape (semicircular shape) shown in Figure 10(C). The following advantages are available when the front contact pieces 61, 64 and rear contact pieces 62, 65 are formed in a V-shape. When the spindle 18 is sagging, in the case of a V-shape, as the contact pieces move towards the center, the circled parts come into contact with the spindle 18, causing the spindle 18 to move towards the center. In this case, the V-shape makes it easier for the spindle 18 to return upward along the shape. The allowable amount of sagging is greater than in the case of the semicircular shape shown in Figure 10(C). In other words, the reason why the front contact pieces 61, 64 and the rear contact pieces 62, 65 are formed in a V-shape rather than a circular shape is that it is highly effective in returning the sagging shaft member 16 to its original position. By deliberately forming it in a V-shape, there is more force (than in a circular shape) to return the shaft member 16 to the center when it is pressed (even if it sags, it can be returned to its original position).

[0047] As shown in the configuration diagram in Figure 10(A), the aforementioned pressing portions A to H of the front contact pieces 61, 64 and the rear contact pieces 62, 65 are each composed of inclined surfaces that are tilted with respect to the horizontal when viewed from the front. As shown in Figures 8 and 9, the pressing portions A to D of the front contact pieces 61, 64 have a larger angle of inclination with respect to the horizontal than the pressing portions E to H of the rear contact pieces 62, 65. In other words, the contact points A to H are inclined with respect to the horizontal, and the angles of inclination differ between the front contact pieces 61 and 64 and the rear contact pieces 62 and 65.

[0048] Furthermore, the positions where the front contact pieces 61 and 64 contact the main spindle 18 (pressing sections A to D) and the positions where the rear contact pieces 62 and 65 contact the main spindle 18 (pressing sections E to H) are different from each other in the circumferential direction of the main spindle 18. The front contact pieces 61 and 64 are designed to grip the outermost part of the circle that forms the outer circumference of the main shaft 18, making it easier to pick up the object when it hangs down. In other words, the distance between the front upper left pressing part A and the front lower left pressing part B is small, and the distance between the front upper right pressing part C and the front lower right pressing part D is also small. To put it another way, the front contact pieces 61 and 64 have contact points with the main shaft 18 that are close to the horizontal axis L2 (see Figure 8). The front contact piece 64 is provided with a projection 67 to prevent it from sagging and causing the main shaft 18 to fall. The rear contact pieces 62 and 65 are structured to firmly hold the main spindle 18. Specifically, the distance between the rear upper left pressing part E and the rear lower left pressing part F, and the distance between the rear upper right pressing part G and the rear lower right pressing part H are wider than the distances between pressing parts A and B, and between pressing parts C and D. In other words, the rear contact pieces 62 and 65 have contact points that contact the main spindle 18 close to the vertical axis L1.

[0049] The reason why the front contact pieces 61, 64 and the rear contact pieces 62, 65 have different shapes is that these components adjust the amount of force they apply to grip the main shaft 18. The rear contact pieces 62, 65 firmly grip for centering, while the front contact pieces 61, 64 are configured to accommodate more oscillation than the rear ones. In other words, the main function of the front contact pieces 61, 64 is to prevent sagging, and its secondary function is centering. The main function of the rear contact pieces 62, 65 is centering, and its secondary function is to prevent sagging.

[0050] In this embodiment, as shown in Figure 8, the front upper left pressing portion A and the front upper right pressing portion C, and the front lower left pressing portion B and the front lower right pressing portion D are symmetrical with respect to the vertical axis L1 extending in the vertical direction. Furthermore, the front upper left pressing part A and the front lower left pressing part B, and the front upper right pressing part C and the front lower right pressing part D are symmetrical with respect to the horizontal axis L2. Furthermore, as shown in Figure 9, the rear upper left pressing part E and the rear upper right pressing part G, and the rear lower left pressing part F and the rear lower right pressing part H are symmetrical with respect to the vertical axis L3 that extends in the vertical direction. Furthermore, the rear upper left pressing part E and the rear lower left pressing part F, and the rear upper right pressing part G and the rear lower right pressing part H are symmetrical with respect to the horizontal axis L4.

[0051] The first contact member 56 and the second contact member 57 are configured such that, when the main shaft 18 is pressed and movement of the shaft member 16 in a direction perpendicular to the axial direction is restricted, the shaft member 16 and the rotating shaft 14 are positioned on the same axis. That is, the first and second contact members 56 and 57 are driven by the second drive device 52 to press the main shaft 18, thereby aligning the shaft member 16 and the rotating shaft 14. In this embodiment, since the front contact pieces 61 and 64 and the rear contact pieces 62 and 65 press at two points in the axial direction of the main shaft 18, the axis of the shaft member 16 accurately coincides with the axis of the rotating shaft 14.

[0052] (Description of the control device) As shown in Figure 6, the drive control device 41 is connected to a start switch 71, the position sensor 44, laser sensor 46, drive motor 2, first solenoid valve 35, second solenoid valve 55, and alarm device 72, among others. The start switch 71, although not shown in detail, consists of a mechanical switch operated by the operator and other devices that send electrical signals when operating the screw removal module 1. The alarm device 72 consists of a warning lamp and a speaker, among others.

[0053] The drive control device 41 is configured using a microcomputer (not shown) and has a screw scraping operation control unit 73 and a tap detection unit 74 that execute a predetermined program. The screw scraping operation control unit 73 has first to fifth functional units 75 to 79 for performing screw scraping operations using the screw scraping module 1. These first to fifth functional units 75 to 79 operate in sequence, with the first functional unit 75 operating first, followed by the second to fifth functional units 76 to 79.

[0054] The screw cleaning operation by the screw cleaning module 1 begins with the screw cleaning module 1 positioned at a predetermined initial position using the positioning robot 42 described above. The initial position, as shown in Figure 13(A), is the position where the tip of the tap 5 contacts the opening edge of the screw hole 8 in the workpiece 6. The operation of positioning the screw cleaning module 1 at the initial position is performed by operating the second drive unit 52 to press the main spindle 18 with the first and second contact members 56 and 57, so that the shaft member 16 and the rotating shaft 14 are aligned. In other words, the operation of positioning the screw cleaning module 1 at the initial position using the positioning robot 42 is performed based on the design position of the tap 5 and the design position of the screw hole 8.

[0055] The components and workpiece 6 that make up the screw cleaning module 1 have tolerances. Therefore, when the screw cleaning module 1 is positioned in its initial position, the tip of the tap 5 may not reach the opening edge of the screw hole 8, or the tip of the tap 5 may be pressed against the screw hole 8. In addition, the axis C2 of the tap 5 may be eccentric or inclined with respect to the center line C1 (see Figure 4) of the screw hole 8. The screw cleaning module 1 according to this embodiment is configured to perform the screw cleaning operation while eliminating such positional deviations due to tolerances, as will be described later.

[0056] The first functional unit 75 of the drive control device 41 operates the second drive device 52 so that the first and second contact members 56 and 57 press against the main shaft 18. As described above, when positioning the screw dredging module 1 in its initial position, the first functional unit 75 operates to align the shaft member 16 with the rotating shaft 14.

[0057] The second functional unit 76 operates the first drive unit 25 so that the rod-shaped assembly 3 moves forward relative to the support 4 with a predetermined thrust force (so that the tap 5 approaches the screw hole 8) while the main shaft 18 is pressed by the first and second contact members 56 and 57. In Figures 13 and 14, arrow A indicates the direction of the thrust force that moves the rod-shaped assembly 3 in the forward and backward directions. Also, arrow B indicates the direction of the pressing force when the first and second contact members 56 and 57 press against the main shaft 18. When the rod-shaped assembly 3 moves forward relative to the support 4, the first and second contact members 56 and 57 are fixed to the support 4 so as not to move in the axial direction (front-to-back direction) of the rod-shaped assembly 3. As a result, the front contact pieces 61 and 64 and the rear contact pieces 62 and 65 of the first and second contact members 56 and 57 slide while in contact with the outer circumferential surface of the main shaft 18. Alternatively, the first and second contact members 56 and 57 can be configured to move integrally with the rod-shaped assembly 3 relative to the support 4.

[0058] On the other hand, if the tip of the tap 5 is in contact with the opening edge of the screw hole 8 while the screw cleaning module 1 is positioned in its initial position, the rod-shaped assembly 3 will not move forward, and the tap 5 will press against the workpiece 6 with a predetermined pressing force. As the second functional unit 76 operates in this way, the tap 5 is pressed against the workpiece 6 in contact with the opening edge of the screw hole 8, as shown in Figure 13(A). In Figure 13(A), the pressing force is indicated by a white arrow. Figure 13(A) is drawn with the axis C2 of the tap 5 eccentric with respect to the center line C1 of the screw hole 8.

[0059] The third functional unit 77 operates the second drive unit 52 so that the pressing force of the first and second contact members 56 and 57 disappears, while the second functional unit 76 is operating and the tip of the tap 5 is in contact with or near the opening edge of the screw hole 8, and also rotates the drive motor 2 in the reverse direction for a predetermined time. This state is shown in Figure 13(B). In Figure 13(B), the direction of rotation of the rotation axis 14 during reverse rotation is indicated by arrow C. By rotating the tap 5 in the reverse direction in this way, the tip of the tap 5 enters the center of the screw hole 8. Alignment is performed when bringing the tap 5 close to just before it hits the nut 7. However, by rotating the tap 5 in the reverse direction, the tap 5 is drawn into the center of the nut 7, ensuring accurate centering (the process of aligning the tap of the tap 5 with the nut 7).

[0060] In other words, as shown in Figure 13(C), if the axis C2 of the tap 5 is eccentric or inclined with respect to the center line C1 of the screw hole 8 when the screw cleaning module 1 is positioned in its initial position, the tap 5 will rotate in the reverse direction to enter the screw hole 8, and the shaft member 16 will tilt or move in parallel starting from the Oldham joint 15 so that the axis C2 of the tap 5 is aligned with the center line C1 of the screw hole 8.

[0061] As shown in Figure 14(A), the fourth functional unit 78 causes the drive motor 2, which has finished its reverse rotation, to rotate forward at a predetermined rotational speed, and operates the first drive device 25 so that the rod-shaped assembly 3 moves toward the workpiece 6 at a predetermined speed until the tap 5 is screwed into the nut 7. In Figure 14(A), the direction of rotation of the rotation axis 14 during forward rotation is indicated by arrow D. The speed at which the rod-shaped assembly 3 moves toward the workpiece 6 is the speed at which the tap 5, which is driven forward by the drive motor 2 and rotates forward, is screwed into the nut 7 and moves forward.

[0062] The pressing force that pushes the tap 5 in the forward direction is applied to the tap 5 by the first drive unit 25 for a predetermined time after the reverse rotation. However, after the set time has elapsed, the fourth functional unit 78 controls the first drive unit 25 so that the pressing force is lost and it becomes free, allowing the tap 5 to move forward on its own as it is screwed in. Therefore, when screwing in, the tap 5 moves forward due to the thrust force generated by screwing in the tap 5. When the tap 5 is screwed into the screw hole 8, the spatter adhering to the screw hole 8 is removed and discharged outside the screw hole 8. This discharged spatter is blown away by air supplied from the air blow pipe 48. Furthermore, as shown in Figure 14(B), the fourth functional unit 78 stops the drive motor 2 and the first drive device 25 when the tap 5 is screwed into the nut 7 by a predetermined length. This stopping time can be set based on the time when the position sensor 44 detects the first support plate 24.

[0063] The fifth functional unit 79 reverses the drive motor 2 after the tap 5 has been screwed into the nut 7 by a predetermined length, as shown in Figure 14(C), until time has elapsed for the tap 5 to be completely removed from the nut 7. The depth to which the tap 5 enters the nut 7 can be set by changing the position at which the position sensor 44 detects the first support plate 44. The tap 5 retracts and disengages from the nut 7 by reversing in this manner. Subsequently, the fifth functional unit 79 operates the second drive unit 52 with the tap 5 disengaged from the screw hole 8 to center it and then operates the first drive unit 25 to return the screw cleaning module 1 to its initial position.

[0064] The tap detection unit 74 of the drive control device 41 detects the presence or absence of the tap 5 based on the signal sent from the laser sensor 46 after the screw removal operation described above is completed. If the tap 5 is not detected, the drive control device 41 activates the alarm device 72.

[0065] According to this embodiment of the screw removal module 1, screw removal can be performed as shown in Figures 12(A) to (C). In Figures 12(A) to (C), the direction of screw removal is indicated by a white arrow. Figure 12(A) shows the screw-cleaning operation when screw-cleaning is performed on nuts provided on the front and back sides of the workpiece 6. Since it has a sagging prevention mechanism consisting of first and second contact members 56 and 57, and screw-cleaning can be performed by the screw-cleaning module 1 alone, screw-cleaning can be performed from both the front and back sides of the workpiece 6 as shown in Figure 12(A).

[0066] Figure 12(B) shows the thread removal operation when there are nuts with different mounting angles. Since the thread removal module 1 has a mounting bracket 43, by replacing the mounting bracket 43 with one that matches the mounting angle of the nut 7, the mounting angle of the nut 7 is no longer restricted. Figure 12(C) shows the screw cleaning operation when there are nuts with different positions in the front-to-back direction. Thread removal in cases where there is a difference in mounting depth between the uppermost nut and the nut below it in Figure 12(C), such as in automotive parts with uneven shapes, can be achieved by using thread removal modules 1 with different spindle lengths. That is, because it has a sagging prevention mechanism consisting of first and second contact members 56 and 57, it is possible to use a longer spindle 18 while preventing the spindle 18 from sagging.

[0067] (Explanation of the effects of the screw removal module according to this embodiment) In the thread cleaning module 1 configured in this way, the shaft member 16 located on the tap 5 side of the Oldham joint 15 is supported by the first and second contact members 56 and 57, allowing the tap 5 to be positioned in the thread hole 8. Therefore, even if the thread hole 8 is oriented horizontally, or for example, oriented upwards, the tap 5 can be accurately positioned in the thread hole 8. Furthermore, since the thread cleaning operation is performed when the pressing force of the first and second contact members 56 and 57 is eliminated, the tap 5 is properly screwed into the thread hole 8. Therefore, according to this embodiment, it is possible to provide a screw threading module that is not restricted by the direction in which the screw hole is oriented.

[0068] The shaft member 16 according to this embodiment has a main shaft 18 (cylindrical portion) that is in contact with the first and second contact members 56 and 57. The first and second contact members 56 and 57 consist of a first contact member 56 located on one radial side of the main shaft 18 and a second contact member 57 located on the other radial side. The first contact member 56 and the second contact member 57 each have front contact pieces 61 and 64 and rear contact pieces 62 and 65 that contact the main shaft 18 at multiple positions spaced apart in the circumferential direction of the main shaft 18. Because it has the first and second contact members 56 and 57 in this way, even when accessing the workpiece 6 in a horizontal direction, the tip of the tap 5 does not droop under its own weight, allowing for reliable centering and thread removal. Furthermore, because the screw cleaning module 1 has a long, slender shape, it can be installed in places with limited space, and can handle cases where the distance between screw holes is short, or where nuts 7 have an uneven shape. In particular, by providing multiple screw cleaning modules, screw cleaning can be performed on multiple points simultaneously.

[0069] In this embodiment, the front contact pieces 61, 64 and the rear contact pieces 62, 65 are positioned spaced apart in the axial direction of the shaft member 16. As a result, the front contact pieces 61, 64 and the rear contact pieces 62, 65 press against the main shaft 18 at two points in the axial direction, so that the axis of the shaft member 16 accurately coincides with the axis of the rotation axis 14. Furthermore, since the positions where the front contact pieces 61, 64 contact the main shaft 18 in the circumferential direction are different from the positions where the rear contact pieces 62, 65 contact the main shaft 18 in the circumferential direction are different, the axis alignment between the shaft member 16 and the rotation axis 14 can be accurately performed even if the roundness of the outer surface of the main shaft 18 is low.

[0070] The drive control device 41 according to this embodiment includes a first functional unit 75 that operates the second drive device 52 so that the first and second contact members 56, 57 press against the shaft member 16; a second functional unit 76 that operates the first drive device 25 so that the tap 5 approaches the screw hole 8 of the workpiece 6; a third functional unit 77 that operates the second drive device 52 so that the pressing force of the first and second contact members 56, 57 disappears, and also rotates the drive motor 2 in the reverse direction for a predetermined time; and a fourth functional unit 78 that rotates the drive motor 2 in the forward direction at a predetermined rotational speed after the reverse rotation has finished, and also operates the first drive device 25 so that the rod-shaped assembly 3 moves toward the workpiece 6 at a predetermined speed. Therefore, the screw removal process can be automated, allowing for more efficient screw removal.

[0071] (Description of the screw removal unit) The screw removal module 1 described above can be used by assembling it into a screw removal unit 81 configured as shown in Figures 15 to 22. As shown in Figure 15, the screw removal unit 81 includes a screw removal module support section 82 that supports the screw removal module 1 so that the axis of the rotation shaft 14 is horizontal, and a workpiece support section 83 that supports the workpiece 6 upright so that the opening direction of the screw hole 8 is horizontal.

[0072] (Explanation of the screw removal module support section) As shown in Figure 15, the screw removal module support section 82 comprises a base 84 extending horizontally parallel to the axial direction of the rotation axis 14 (left-right direction in Figure 15), and a slide member 86 configured to move along two first rails 85 provided on the base 84. The base 84 is provided with a third drive device 87 (see Figure 17) that moves the slide member 86 along the first rails 85. Although not shown in detail, the third drive device 87 is configured to move the slide member 86 in parallel using a pneumatic cylinder or motor as a power source.

[0073] The sliding member 86 is driven by the third drive device 87 to reciprocate between the screw-cleaning position shown in Figure 15 and the retracted position shown in Figure 16. The screw-cleaning position is the initial position when the screw-cleaning module performs the screw-cleaning operation. The retracted position is a position where the screw-cleaning module 1 does not come into contact with the workpiece 6 when loading or unloading the workpiece 6 into or out of the screw-cleaning unit 81. The workpiece 6 is loaded into the screw-cleaning unit 81 by the transport device 88 and unloaded by the transport device 88 after the screw-cleaning operation is completed. The device that loads the workpiece 6 and the device that unloads the workpiece 6 may be the same or different.

[0074] As shown in Figure 17, the slide member 86 comprises a pair of vertically extending support columns 89 and two second rails 90 provided on these support columns 89. A frame 92 supporting the threaded dredging module 1 is mounted on these second rails 90 so as to be movable in the vertical direction. Fourth drive units 93 are connected to both horizontal ends of the frame 92. The fourth drive unit 93 is composed of an air cylinder that extends in the vertical direction. The lower end of the fourth drive unit 93 is attached to the slide member 86, and the upper end is attached to the frame 92. The frame 92 moves vertically as the vertical length of the fourth drive unit 93 changes. Figure 17 shows the frame 92 in its lowest position. As the fourth drive unit 93 extends to its maximum extent, the frame 92 rises as shown in Figure 18. Because the frame 92 is movable vertically in this way, it can accommodate parts (derivatives) of various shapes. Furthermore, if the placement position of parts produced in a mass production site is set in advance, the fourth drive unit 93 is controlled so that the frame 92 automatically moves up and down according to the placement position, thereby automatically switching the screw removal position and improving efficiency.

[0075] The frame 92 has a plurality of support members 94 extending in the horizontal direction. In this embodiment, three support members 94 are provided on the frame 92. These support members 94 are positioned at predetermined intervals in the vertical direction and are located at the same position in the longitudinal direction of the first rail 85 (axial direction of the rotation axis 14). These support members 94 are provided with mounting seats 95 for attaching the support body 4 of the threaded retrieval module 1. The mounting seats 95 are provided at multiple positions on each support member 94 that are spaced apart at predetermined intervals in the horizontal direction.

[0076] In other words, the screw removal module support section 82 has multiple mounting seats 95 at the same position in the axial direction of the rotation shaft 14. The multiple mounting seats 95 move in the axial direction of the rotation shaft 14 when the third drive unit 87 drives the slide member 86.

[0077] As shown in Figure 17, the second support plate 26 of the threading module 1 is attached to the mounting seat 95 via a mounting bracket 43. When attaching threading modules 1 to multiple mounting seats 95, the position of each threading module 1 is set so that the taps 5 of each threading module 1 face the screw holes 8 of the workpiece 6. This position setting is done using the mounting bracket 43 that connects the second support plate 26 and the support member 94. That is, by individually forming the mounting bracket 43 or by placing shims (not shown) at both ends or one end of the mounting bracket 43, the position is set so that each tap 5 faces the screw hole 8 and the distance from the screw hole 8 to all taps 5 is a predetermined distance.

[0078] In this embodiment, the base 84 of the screw degreasing module support 82 is configured such that, as the slide member 86 moves along the base 84 toward the workpiece 6, the slide member 86 stops at the position where the screw degreasing module 1 is positioned in the initial position described above. When attaching multiple screw degreasing modules 1 to the frame 92, it is also necessary to change the mounting angle of the screw degreasing modules 1 so that adjacent screw degreasing modules 1 do not interfere with each other. This mounting angle is the angle at which the screw degreasing module 1 is rotated around the axis of the rotation shaft 14. In this embodiment, as shown in Figure 19, the mounting direction of the mounting bracket 43 is devised to prevent interference (for example, by mounting the screw degreasing module 1 rotated 90 degrees), or the shape of the bracket 43 is changed. By installing multiple screw degreasing modules 1 without interference, it becomes possible to degreasing multiple nuts 7 on a single part simultaneously. Even if the nuts 7 are very close together and attempting to descrew each nut 7 with a separate descrew module 1 would likely cause interference between the modules, the frame 92 can move vertically. Therefore, after descrewing one nut 7, the frame 92 can be moved vertically to descrew the other nut 7. Although not shown in the diagram, it is also possible to provide the frame 92 with a horizontal (left-right) movement mechanism.

[0079] Figure 19 shows an example of mounting seven screw degreasing modules 1 to a frame 92. The multiple screw degreasing modules 1 shown in Figure 19 are arranged so that they are divided between the lower and upper parts of the frame 92. The reason for this arrangement is to perform screw degreasing for two different types of workpieces 6 without having to change the screw degreasing modules 1. For example, when performing screw degreasing on one of the two types of workpieces 6, the screw degreasing is performed using the screw degreasing module 1 installed on the upper side with the frame 92 lowered. Then, when performing screw degreasing on the other workpiece 6, the screw degreasing is performed using the screw degreasing module 1 installed on the lower side with the frame 92 raised.

[0080] (Explanation of the workpiece support section) The workpiece support section 83 is configured to hold the workpiece 6 in an upright position, as shown in Figures 20 and 21. The workpiece 6 shown in Figures 20 and 21 is an automobile body part that expands horizontally in its usage configuration. Note that the workpiece 6 shown in Figures 20 and 21 is depicted in a different shape from the actual workpiece for clarity. This workpiece 6 has three nuts 7 welded to its front surface, as shown in Figure 20.

[0081] In this embodiment, the workpiece support section 83 holds the workpiece 6 in an upright position using multiple workpiece holding devices (first to fourth workpiece holding devices 101 to 104). The first to fourth workpiece holding devices 101 to 104 have the same structure. Therefore, the first workpiece holding device 101, located in the upper left of Figure 20, will be described here. As shown in Figure 22, the first to fourth workpiece holding devices 101 to 104 are configured to hold the workpiece 6 by a fixed arm 105 fixed to a workpiece support base 9 and a movable arm 107 rotatably connected to the fixed arm 105 via a pivot shaft 106. The movable arm 107 is connected to an air cylinder 108 and rotates between a workpiece release position, where it moves away from the workpiece 6 when driven by the air cylinder 108, and a workpiece holding position, where it holds the workpiece 6 in cooperation with the fixed arm 105.

[0082] Of the first to fourth workpiece holding devices 101 to 104, the second workpiece holding device 102 and the fourth workpiece support device 104, which are located on the lower side, are equipped with pins 109 on their fixed arms 105 for positioning the workpiece 6. As shown in Figure 21, the pins 109 fit into positioning holes (not shown) formed on the back surface of the workpiece 6.

[0083] As shown in Figure 21, the workpiece support section 83 in this embodiment has multiple screw removal modules 1 assembled to it in order to perform screw removal work from the back side of the workpiece 6. More specifically, the workpiece support section 83 has mounting seats 95 on multiple locations on the opposite side of the workpiece 6 from the mounting seats 95 of the screw removal module support section 82, to which the support bodies 4 of the screw removal modules 1 are attached.

[0084] (Explanation of the effects of the screw removal unit in this embodiment) The screw cleaning unit 81 configured in this way has a slide member 86 to which multiple screw cleaning modules 1 can be attached, and a third drive device 87 that moves the slide member 86 in the axial direction of the rotation axis 14. Therefore, multiple screw cleaning operations can be performed on multiple screw holes 8 of a single workpiece 6 at once using multiple screw cleaning modules 1. Accordingly, this embodiment provides a screw cleaning unit that can perform screw cleaning operations efficiently. The reason this was achieved is that a long, slender screw cleaning module 1 with a swing mechanism is used. In this embodiment of the screw removal unit 81, the sliding member 86 can be moved to a position far away from the workpiece 6 to increase the distance between the screw removal module 1 and the workpiece 6. This makes it possible to avoid interference between the screw removal module 1 and the loading device for loading the workpiece 6 or the unloading device for unloading the workpiece 6.

[0085] The screw threading module support 82 in this embodiment includes a sliding member 86 driven by a third drive device 87. Multiple mounting seats 95 are provided on a single frame 92 that is supported by the sliding member 86 so as to be movable in the vertical direction. The sliding member 86 includes a fourth drive device 93 that moves the frame 92 in the vertical direction. Therefore, since multiple screw removal modules 1 can be moved vertically and used, screw removal work can be performed on, for example, two different types of workpieces 6 without changing the screw removal modules 1. Thus, a screw removal unit that enables more efficient screw removal work can be provided.

[0086] In this embodiment, the workpiece support section 83 has a mounting seat 95 on the opposite side of the workpiece 6 from the mounting seat 95 of the screw degreasing module support section 82, to which the support body 4 of the screw degreasing module 1 is attached. The screw degreasing module 1 is (1) an independent module with a swing mechanism, and (2) is accessible from the horizontal direction by first and second contact members 56, 57 (anti-sagging mechanism). In this embodiment, the screw degreasing unit can degreasing from both the front and back sides of the workpiece 6 by arranging such screw degreasing modules 1 on both the front and back sides of the workpiece 6. Conventionally, there has been no device that can degreasing at multiple locations simultaneously. Simply increasing the number of robots and tapping mechanisms described in Patent Documents 1 and 2 will not enable screw degreasing as in the present invention. [Explanation of symbols]

[0087] 1...Screw removal module, 2...Drive motor, 4...Support, 5...Tap, 6...Workpiece, 8...Screw hole, 14...Rotating shaft, 15...Oldham joint, 16...Shaft member, 18...Main shaft (cylindrical part), 25...First drive device, 41...Control device, 52...Second drive device, 56...First contact member, 57...Second contact member, 58...Centering attitude control means, 61, 64...Front contact piece, 62, 65...Rear contact piece, 75...First functional part, 76...Second functional part, 77...Third functional part, 78...Fourth functional part, 79...Fifth functional part, 82...Screw removal module support part, 83...Workpiece support part, 86...Slide member, 87...Third drive device, 92...Frame, 93...Fourth drive device, 95...Mounting seat.

Claims

1. A thread cleaning module having a tap holder for which a tap can be detachably attached to the tip of a shaft member and which can be screwed into a threaded hole of a workpiece while the workpiece is upright, A frame supporting the thread reaming module such that the tap faces the thread hole, Equipped with, The frame has a support member provided with a plurality of mounting seats for attaching the thread removal module via interchangeable mounting brackets aligned with the opening direction of the thread holes, The tap holder is characterized by comprising a support shaft mounted integrally with the shaft member so as to rotate, the support shaft having a bifurcated tip capable of gripping the tap and tapering towards the tip, and a lock nut that is directly screwed onto the tip of the support shaft and has a tapered surface that fits onto the tip of the support shaft.

2. In the screw removal unit according to claim 1, A screw reclaiming unit characterized in that the tip of the shaft member and the rear end of the support shaft facing the tip are configured such that a concave portion formed on one end and a convex portion formed on the other end interlock.

3. In the screw removal unit according to claim 2, A screw threading unit characterized in that the lock bolt penetrates across the interlocking portion between the concave portion and the convex portion.

4. In the screw removal unit according to any one of claims 1 to 3, The system further comprises a sliding member configured to move on a Go board toward the aforementioned workpiece, A screw removal unit characterized in that the frame is supported by the sliding member.

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