[go: up one dir, main page]

WO2018105240A1 - Appareil de production de automatique et procédé de production automatique - Google Patents

Appareil de production de automatique et procédé de production automatique Download PDF

Info

Publication number
WO2018105240A1
WO2018105240A1 PCT/JP2017/037544 JP2017037544W WO2018105240A1 WO 2018105240 A1 WO2018105240 A1 WO 2018105240A1 JP 2017037544 W JP2017037544 W JP 2017037544W WO 2018105240 A1 WO2018105240 A1 WO 2018105240A1
Authority
WO
WIPO (PCT)
Prior art keywords
screw
bit
screw member
automatic production
screw head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/037544
Other languages
English (en)
Japanese (ja)
Inventor
大毅 梶田
中須　信昭
博文 田口
本間　雅彦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Astemo Ltd
Original Assignee
Hitachi Automotive Systems Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Automotive Systems Ltd filed Critical Hitachi Automotive Systems Ltd
Publication of WO2018105240A1 publication Critical patent/WO2018105240A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/02—Arrangements for handling screws or nuts
    • B25B23/08—Arrangements for handling screws or nuts for holding or positioning screw or nut prior to or during its rotation
    • B25B23/10—Arrangements for handling screws or nuts for holding or positioning screw or nut prior to or during its rotation using mechanical gripping means

Definitions

  • the present invention relates to an automatic production facility and an automatic production method, and particularly to a technique effective for screwing a product.
  • Automatic production equipment is widely used as automation equipment when manufacturing products.
  • this automatic production equipment for example, there is one that automatically tightens a screw of a product.
  • the automatic production equipment that automatically performs the screw tightening includes, for example, an electric screwdriver and an automatic screw feeder.
  • the electric driver installed in the equipment picks up the screw and tightens the picked-up screw on the product.
  • the screw can be picked up regardless of the screw material, but the bit at the tip of the electric driver is inserted into the fitting portion of the bit at the head of the picked-up screw. That is not guaranteed.
  • the screw may be gripped in an inclined state with respect to the rotation axis of the bit, and when tightening the screw to the product, the screw cannot be inserted into the screw hole of the product, resulting in poor screw tightening. There is a risk that.
  • An object of the present invention is to provide a technique capable of ensuring that a bit of an electric driver is inserted into a fitting portion of a screw head when a screw is picked up without complicating the structure of the electric driver. It is in.
  • a typical automatic production facility has an electric screwdriver that rotates and tightens a screw member.
  • the electric driver has a bit, a rotating part, and a first cover part.
  • the bit is fitted into the tightening drive hole of the screw member to rotate the screw member.
  • the rotating unit rotates the bit.
  • the first cover part is a cylindrical cover that covers the bit.
  • the inner diameter of the first cover part is the same as the diameter of the screw head of the screw member to be tightened.
  • the bit is provided so that the bit is housed in the first cover portion when the bottom surface of the tightening drive hole formed in the screw head is closer to the top of the screw head than the end portion of the chamfer formed in the screw head.
  • the tip of the bit is provided so as to protrude from the first cover portion.
  • the first length which is the axial length of the bit from the tip end portion of the bit to the tip end portion of the first cover portion.
  • This distance is equal to or greater than a second distance that is the axial length of the screw member from the bottom surface of the tightening drive hole formed in the screw head to the end portion of the chamfer formed in the screw head of the screw member.
  • the first length which is the axial length of the bit from the tip end portion of the bit to the tip end portion of the first cover portion.
  • a third distance or more which is the axial length of the screw member, from the base end where the arc surface of the screw head starts to the bottom surface of the tightening drive hole formed in the screw head.
  • tip part of a bit when it is provided so that the front-end
  • the first distance is greater than the fourth distance, which is the chamfered length of the screw head in the axial direction.
  • FIG. It is explanatory drawing which shows an example of the structure in the automatic production equipment by Embodiment 1.
  • FIG. It is sectional drawing which shows an example of a structure in the electric driver which the automatic production equipment of FIG. 1 has.
  • It is explanatory drawing which shows an example of the cross section which expanded a part of bit part and cover part which the electric driver of FIG. 2 has.
  • It is explanatory drawing which shows an example of the pick-up of the screw in the electric driver of FIG.
  • It is a block diagram which shows an example of a structure in the automatic production equipment of FIG.
  • It is a flowchart which shows an example of the screwing process to the product by the automatic production apparatus of FIG.
  • the constituent elements are not necessarily indispensable unless otherwise specified and apparently essential in principle. Needless to say.
  • the automatic production facility 100 determines the positional relationship between the bit part 20 of the electric driver 140 and the cover part 40 provided around the bit part 20 according to the shape and dimensions of the screw. It is.
  • FIG. 1 is an explanatory diagram showing an example of the configuration of the automatic production facility 100 according to the first embodiment.
  • the automatic production facility 100 includes a housing 110, an automatic screw feeder 120, a robot 130, an electric driver 140, and a control unit 145, as shown in FIG.
  • an automatic screw feeder 120 is mounted on the left side of the casing 110, and a product 200 to be assembled is mounted on the right side thereof.
  • a robot 130 is placed on the housing 110.
  • the automatic screw feeder 120 stores a plurality of screws 300 and cuts out the screws 300 which are screw members one by one when the electric driver 140 picks up.
  • the robot 130 is configured to be movable three-dimensionally, and an electric driver 140 is attached to the robot 130.
  • the electric driver 140 is moved by the robot 130. Specifically, the robot 130 moves the electric driver 140 between the automatic screw feeder 120 and the product 200.
  • the electric driver 140 picks up the screw 300 in the automatic screw feeder 120 and tightens the picked-up screw 300 in the product 200.
  • the automatic screw feeder 120 needs to cut out the screws 300 one by one with the screw heads facing upward because the electric screwdriver 140 mounted on the robot 130 picks up the screws 300.
  • the robot 130 is not particularly limited as long as it can move three-dimensionally. Examples of forms include a three-axis orthogonal type, a scalar type, a vertical articulated type, and a parallel link type.
  • the control unit 145 controls the operations of the automatic screw feeder 120, the robot 130, and the electric driver 140. ⁇ Example of electric driver configuration>
  • FIG. 2 is a cross-sectional view showing an example of the configuration of the electric driver 140 included in the automatic production facility 100 of FIG.
  • the electric driver 140 includes a main body portion 10, a bit portion 20, a link portion 30, and a cover portion 40 that is a first cover portion.
  • the main body 10 generates a rotating operation by a motor (not shown).
  • the link unit 30 connects the main unit 10 and the bit unit 20. Thereby, the rotation operation of the main body unit 10 is transmitted to the bit unit 20.
  • the bit part 20 is a shaft part of the electric screwdriver 140, and the tip part of the bit part 20 is inserted into the screw head.
  • the cover part 40 is a cover that covers the periphery of the bit part 20.
  • the cover part 40 is formed of a hollow cylinder concentric with the bit part 20, and the inner diameter of the cover part 40 is approximately the same as the diameter of the screw head of the screw 300. In this case, if the inner diameter of the cover portion 40 is the same as the diameter of the screw head of the screw 300, the screw head is not accommodated in the cover portion 40, so the inner diameter of the cover portion 40 is slightly larger than the diameter of the screw head. Shall.
  • the tip of the bit portion 20 has a shape that matches the shape of a fitting portion 400 described later of the screw 300 to be tightened, and is, for example, a plus type, a minus type, a square type, a hexagonal type, or a Torx (registered trademark) type. .
  • connection part 50 is provided in the cover part 40.
  • FIG. One end of the hose 60 is connected to the connection portion 50.
  • a pressure mechanism 150 shown in FIG. 6 such as a suction pump is connected to the other end of the hose 60.
  • the pressure mechanism 150 performs a suction operation.
  • the pressure mechanism 150 applies a negative pressure to the inside of the cover portion 40. Thereby, the screw 300 is sucked.
  • FIG. 3 is an explanatory diagram showing an example of an enlarged cross section of a part of the bit unit 20 and the cover unit 40 included in the electric driver 140 of FIG.
  • FIG. 3 is an explanatory diagram showing an example of an enlarged cross section of the tip of the bit portion 20 in the electric driver 140 of FIG.
  • FIG. 3 (a) shows a state before the bit part 20 is inserted into the screw head
  • FIG. 3 (b) shows a state where the bit part 20 is inserted into the screw head. is there.
  • FIG. 3 shows a case where the screw 300 to be tightened is a hexagon socket head cap screw.
  • the screw head that is, the head shape of the screw 300 is a so-called hexagonal hole, and a fitting portion 400 into which the bit portion 20 is inserted is formed on the screw head. ing.
  • the fitting portion 400 serves as a tightening drive hole.
  • the tip of the upper surface of the screw head is chamfered 410.
  • the chamfer 410 is obtained by rounding the tip of the upper surface of the screw head. In other words, it is cut obliquely from the top surface of the screw head to the outer peripheral surface of the screw head, and the corner of the top surface of the screw head is taken.
  • a portion where the chamfer 410 of the outer peripheral surface of the screw head starts that is, a portion where the chamfer 410 has the same outer diameter as the outer periphery of the screw head is defined as a terminal portion 415.
  • the length in the axial direction of the screw 300 from the end portion 415 to the bottom surface 405 of the fitting portion 400 is defined as a distance B.
  • the distance B is the second distance.
  • the bottom surface 405 is a surface with which the front end surface of the bit part 20 contacts in the fitting part 400.
  • the length in the axial direction of the bit portion 20 where the tip portion 20a of the bit portion 20 protrudes from the tip portion 40a of the cover portion 40 of the electric driver 140 is defined as a distance A.
  • the distance A is the first distance.
  • the screw 300 is sucked and gripped by operating the pressure mechanism 150 such as a suction pump connected to the cover 40 via the hose 60 of FIG. be able to.
  • the pressure mechanism 150 serves as a suction unit.
  • the distance A is larger than the distance B
  • the gap between the cover portion 40 and the screw head when the bit portion 20 is inserted into the screw head fitting portion 400 becomes large, and the screw 300 is sucked. Cannot be gripped because no force is applied.
  • the distance A must be the same as or smaller than the distance B, and the relationship is expressed by the following formula 1.
  • FIG. 4 is an explanatory view showing an example of the pick-up of the screw 300 in the electric driver 140 of FIG.
  • FIG. 4A shows an example in which the bit part 20 cannot be inserted into the fitting part 400 of the screw 300 when the distance A and the distance B coincide with each other.
  • FIG. 4B shows a case where the bit portion 20 is inserted into the fitting portion 400 of the screw 300 when the distance A and the distance B coincide with each other.
  • the detection of the successful pickup of the screw 300 can be easily determined by, for example, a detection mechanism 160 described later with reference to FIG.
  • the detection mechanism 160 is a sensor that measures the pressure in the cover unit 40, for example.
  • the screw 300 when the screw 300 is picked up, when the bit portion 20 cannot be ensured to be inserted into the fitting portion 400 of the screw 300, as described in the problem to be solved by the invention, the screw is a rotating shaft of the bit. May be gripped in a tilted state.
  • FIG. 5 is an explanatory diagram showing another example of FIG.
  • the axial length of the chamfer 410 of the screw 300 is defined as a distance D.
  • the distance D is a fourth distance. That is, the length in the axial direction of the screw 300 from the end portion 415 of the chamfering 410 to the top surface of the screw head of the screw 300 is a distance D.
  • the top surface of the screw head is always above the end portion 415 of the chamfer 410 as shown in FIG. Therefore, the front end portion 20a of the bit portion 20 is stored in the cover portion 40, and the axial length of the bit portion 20 from the front end portion 20a of the bit portion 20 to the front end portion 40a of the cover portion 40 in this state. Is defined as a distance A ′.
  • the distance A ′ must be larger than the distance D.
  • the distance A ′ is within the range of Equation 2 shown below.
  • FIG. 6 is a block diagram showing an example of the configuration of the automatic production facility 100 of FIG.
  • the automatic production facility 100 has a configuration having a casing 110 and a control unit 145.
  • the housing 110 includes an automatic screw feeder 120, a robot 130, an electric driver 140, a pressure mechanism 150, and a detection mechanism 160.
  • the pressure mechanism 150 is a suction pump or the like as described above, and generates a negative pressure by sucking the inside of the cover unit 40.
  • the detection mechanism 160 is a pressure sensor that measures the pressure in the cover 40 as described in FIG. In this case, the pressure of the hose 60 may be measured. Alternatively, an imaging unit such as a digital camera may be used.
  • an image when the electric driver 140 picks up the screw 300 is taken by a digital camera or the like, and it is determined whether the electric driver 140 holds the screw 300 by image recognition processing or the like.
  • control unit 145 includes a screw supply completion detection unit 510, an operation control unit 520, and a screw pickup determination unit 530 that is a determination unit.
  • the screw supply completion detection unit 510 detects that the screw 300 has been supplied by the automatic screw feeder 120 installed in the housing 110.
  • the operation control unit 520 outputs a control signal for picking up the screw 300 to the robot 130, the electric driver 140, the pressure mechanism 150, and the like.
  • the detection mechanism 160 detects the pickup state of the screw 300 when the pickup operation of the screw 300 is completed. As described above, the detection detects the pressure in the cover 40 or the hose 60. Alternatively, an image of the electric driver 140 that has completed the pickup operation may be taken.
  • the screw pickup determination unit 530 determines whether or not the screw 300 has been picked up based on the detection result of the detection mechanism 160, and outputs the determination result to the operation control unit 520. When the determination result is not picked up, the operation control unit 520 outputs a control signal for the operation of picking up the screw 300 again.
  • the operation control unit 520 outputs a control signal for tightening the screw 300 to the product by the electric driver 140 to the robot 130, the electric driver 140, the pressure mechanism 150, and the like.
  • FIG. 7 is a flowchart showing an example of a screw tightening process to a product by the automatic production apparatus of FIG.
  • the screw supply completion detection unit 510 detects the supply state of the screw 300 by the automatic screw feeder 120 (step S101), and determines whether the supply of the screw 300 is completed (step S102).
  • step S102 determines in step S102 that the screw 300 has not been supplied
  • the process returns to step S101, and the processes after step S101 are repeated.
  • the operation control unit 520 causes the electric driver 140 to move directly above the screw 300 cut out by the automatic screw feeder 120. Control is performed by outputting a control signal to the robot 130 (step S103).
  • the operation control unit 520 operates the pressure mechanism 150 to start suction in the cover unit 40 of the electric driver 140 and operates the main body unit 10 of the electric driver 140 to rotate the bit unit 20 (step) S104).
  • the operation control unit 520 controls the robot 130 to lower the electric driver 140 while rotating the bit unit 20 and approach to pick up the screw 300 on the automatic screw feeder 120 (step S105). .
  • the operation control unit 520 raises the electric driver 140 and performs control so that the screw 300 is pulled out from the automatic screw feeder 120 (step S106).
  • the detection mechanism 160 detects whether or not the screw 300 has been picked up (step S107). The detection result is output to the screw pickup determination unit 530.
  • the screw pickup determination unit 530 determines whether the screw 300 has been picked up based on the detection result output from the detection mechanism 160 (step S108).
  • the detection mechanism 160 is a pressure sensor
  • the measured pressure value is output to the screw pickup determination unit 530.
  • the detection mechanism 160 is a digital camera or the like, image data obtained by photographing a screw gripping state or a loaded state of the screw 300 of the automatic screw feeder 120 is output to the screw pickup determination unit 530.
  • the screw pickup determination unit 530 determines whether or not the pressure value received when the pressure value is received exceeds a preset threshold value. When the preset threshold value is not exceeded, the screw pickup determination unit 530 determines that the screw 300 is not gripped.
  • the screw pickup determination unit 530 performs image processing on the captured image data to determine from the screw gripping state or the loaded state of the screw 300 of the automatic screw feeder 120. .
  • the electric driver 140 has no screw, it is determined that the pickup has not been performed. Alternatively, it is determined that the automatic screw feeder 120 has not been picked up unless the number of loads in the automatic screw feeder 120 has decreased from the previous pickup.
  • step S108 If it is determined in step S108 that the screw 300 has not been picked up, the process returns to step S105, and the processes after step S105 are repeated.
  • step S108 If it is determined in step S108 that the screw 300 has been picked up, the operation control unit 520 controls the robot 130, the electric driver 140, and the pressure mechanism 150 to screw the product 200 in FIG. Fastening is performed (step S109). Thereby, the screw tightening process with respect to the product 200 is completed.
  • the bit part 20 of the electric driver 140 cannot be inserted into the fitting part 400 of the screw 300 and the pickup fails repeatedly, by adjusting the rotational speed of the bit part 20 that is rotating when the screw 300 is picked up.
  • the success rate of inserting the bit part 20 can be increased.
  • the success rate of insertion of the bit unit 20 can be increased by adjusting the descent speed of the electric driver 140 or the like.
  • the electric driver 140 having a simple structure ensures that the bit portion 20 is inserted into the fitting portion 400 at the time of picking up the screw 300, and the screw 300 can be picked up without tilting.
  • FIG. 8 is an explanatory view showing an example of an enlarged cross section of a part of the bit part 20 and the cover part 40 of the electric driver 140 included in the automatic production facility 100 according to the second embodiment.
  • the configuration of the automatic production facility 100 is the same as that of FIG. 1 of the first embodiment, and the configuration of the electric driver 140 is the same as that of FIG. 2 and FIG. 6 of the first embodiment. Is omitted.
  • FIG. 8 shows a case where the screw 300 is a pan screw.
  • the screw head of the screw 300 which is a pan head screw, is composed of a straight surface and an arc surface 420, and the bit portion 20 is inserted into the center of the screw head.
  • a joint part 400 is provided.
  • the straight surface is a surface extending from the screw portion of the screw 300 in the radial direction to the end portion 425 in the axial direction of the screw 300 with the end portion of the radial surface 427 extending in the radial direction as a base end portion.
  • the arcuate surface 420 is the tip of the straight surface, and is an arcuate surface from the terminal end 425 where the straight surface ends to the tip of the screw head. That is, the end portion 425 is also a base end where the arc surface 420 starts.
  • the length in the axial direction of the screw 300 from the end portion 425 of the straight surface to the bottom surface 405 of the fitting portion 400 is defined as a distance C.
  • the distance C is a third distance.
  • the bit The tip of the part 20 is configured to be stored in the cover part 40.
  • the axial length of the bit portion 20 from the tip portion 20a of the bit portion 20 to the tip portion 40a of the cover portion 40 in a state where the tip portion 20a of the bit portion 20 is housed in the cover portion 40 is defined as a distance A ′. Define.
  • the distance A ′ must be the same as or larger than the distance C, and the relationship is expressed by the following formula 3.
  • the distance A ′ must be smaller than the distance D ′. Therefore, the distance A ′ takes the range of the following expression 4 based on the expression 3.
  • the tip portion 20a of the bit portion 20 protrudes from the tip portion 40a of the cover portion 40 or is stored. It is divided according to what is done.
  • the distal end portion 20 a of the bit portion 20 included in the electric driver 140 is the distal end portion of the cover portion 40. It will be in the state accommodated in 40a.
  • the tip part 20a of the bit part 20 protrudes from the tip part 40a of the cover part 40. It becomes a state.
  • FIG. 9 is an explanatory view showing another example in the cross section of FIG.
  • FIG. 9A shows a case where the screw 300 tightened by the electric driver 140 is a countersunk screw
  • FIG. 9B shows a case where the screw 300 tightened by the electric driver 140 is a truss screw. is there.
  • a chamfered or arcuate surface 420 is formed on the screw head of the screw 300, such as a hexagon socket head bolt shown in FIG. 3 or a pan-head screw shown in FIG. Therefore, the outer periphery of the top surface of the screw head of the screw 300 is regarded as a chamfered end portion 415.
  • the tip portion 20a of the bit portion 20 of the electric driver 140 is connected to the tip portion 40a of the cover portion 40. It will be in the state which protruded from.
  • the bit is inserted into the fitting portion of the screw head of the screw 300 at the time of picking up the screw 300 regardless of the shape of the screw head of the screw 300. That can be guaranteed.
  • FIG. 10 is a cross-sectional view showing an example of the configuration of the electric driver 140 included in the automatic production facility according to the third embodiment.
  • the automatic production facility 100 has the same configuration as the automatic production facility 100 shown in FIG.
  • the electric driver 140 shown in FIG. 10 is intended to tighten a screw 300 in which a spring washer 301 and a flat washer 302 are integrated.
  • the spring washer 301 reduces the looseness of the screw 300 and is provided between the screw head and the flat washer 302.
  • the flat washer 302 enhances the adhesiveness with the product to be tightened.
  • the auxiliary cover portion 45 has a cylindrical shape, is provided on the outer periphery of the cover portion 40, and is attached by a spring 60 or the like so that it can be expanded and contracted in the axial direction of the electric driver 140.
  • the inner diameter of the auxiliary cover 45 is formed so as to substantially match the diameter of the flat washer 302. Thereby, when the screw 300 is gripped, it can be made more difficult to tilt. If the inner diameter of the auxiliary cover portion 45 is the same as the diameter of the flat washer 302, the flat washer 302 is not accommodated in the auxiliary cover portion 45. Therefore, the inner diameter of the auxiliary cover portion 45 is larger than the diameter of the plain washer 302. Slightly larger.
  • a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)

Abstract

La présente invention assure, sans augmentation de la complexité de la structure d'un tournevis électrique, que lorsqu'une vis est saisie, un foret est introduit dans la tête de vis. Le tournevis électrique 140 d'un appareil de production automatique comprend un foret 20, un corps principal 10 et un cache 40. Le foret 20 entre en prise avec la fente d'entrée en prise d'une vis 300. Le corps principal 10 fait tourner le foret. Le cache 40 est cylindrique et recouvre le foret 20. Le diamètre intérieur du cache 40 est identique au diamètre de la tête de vis d'une vis 300 qui doit être serrée. Le foret 20 est prévu de telle sorte que la pointe du foret 20 dépasse du cache 40 lorsque le fond de la fente d'entrée en prise formée dans la tête de vis est plus proche du sommet de la tête de vis que le bord terminal d'une chambre formée sur la tête de vis, et de telle sorte que le foret 20 est rangé dans le cache 40 lorsque le bord terminal de la chambre formée sur la tête de vis est plus proche du sommet de la tête de vis que le fond de la fente d'entrée en prise formée dans la tête de vis.
PCT/JP2017/037544 2016-12-07 2017-10-17 Appareil de production de automatique et procédé de production automatique Ceased WO2018105240A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-237839 2016-12-07
JP2016237839A JP6663837B2 (ja) 2016-12-07 2016-12-07 自動生産設備および自動生産方法

Publications (1)

Publication Number Publication Date
WO2018105240A1 true WO2018105240A1 (fr) 2018-06-14

Family

ID=62491806

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/037544 Ceased WO2018105240A1 (fr) 2016-12-07 2017-10-17 Appareil de production de automatique et procédé de production automatique

Country Status (2)

Country Link
JP (1) JP6663837B2 (fr)
WO (1) WO2018105240A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12296444B2 (en) 2019-06-28 2025-05-13 Atlas Copco Industrial Technique Ab Vacuum arrangement for a tightening tool

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2025126550A (ja) * 2024-02-19 2025-08-29 沖縄東京計装株式会社 合成樹脂製ねじ用電動ドライバ工具

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03277431A (ja) * 1990-03-26 1991-12-09 Canon Inc ねじ締め装置
JPH0447976U (fr) * 1990-08-31 1992-04-23
JPH081533A (ja) * 1994-06-16 1996-01-09 Nitto Seiko Co Ltd 吸着機構
JP2001121440A (ja) * 1999-10-01 2001-05-08 Internatl Business Mach Corp <Ibm> ねじピックアップ装置
JP2003071739A (ja) * 2001-08-29 2003-03-12 Auto Network Gijutsu Kenkyusho:Kk エア吸着式ねじ締めビット
US8813610B2 (en) * 2012-06-21 2014-08-26 Tera Autotech Corporation Automatic screw tightening apparatus

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03277431A (ja) * 1990-03-26 1991-12-09 Canon Inc ねじ締め装置
JPH0447976U (fr) * 1990-08-31 1992-04-23
JPH081533A (ja) * 1994-06-16 1996-01-09 Nitto Seiko Co Ltd 吸着機構
JP2001121440A (ja) * 1999-10-01 2001-05-08 Internatl Business Mach Corp <Ibm> ねじピックアップ装置
JP2003071739A (ja) * 2001-08-29 2003-03-12 Auto Network Gijutsu Kenkyusho:Kk エア吸着式ねじ締めビット
US8813610B2 (en) * 2012-06-21 2014-08-26 Tera Autotech Corporation Automatic screw tightening apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12296444B2 (en) 2019-06-28 2025-05-13 Atlas Copco Industrial Technique Ab Vacuum arrangement for a tightening tool

Also Published As

Publication number Publication date
JP6663837B2 (ja) 2020-03-13
JP2018089767A (ja) 2018-06-14

Similar Documents

Publication Publication Date Title
US7580773B2 (en) Handling robot system
JP5344243B2 (ja) 電動ドライバの姿勢監視装置、および姿勢監視装置付き電動ドライバ
US20170043477A1 (en) Robot system with visual sensor and a plurality of robots
US11518037B2 (en) Robot system and control method
JP7458018B2 (ja) 工具システム、工具管理方法及びプログラム
US11654567B2 (en) Robot system and control method
WO2018105240A1 (fr) Appareil de production de automatique et procédé de production automatique
JP5252589B2 (ja) 傾き検出機能付き電動ドライバ及び電動ドライバによるネジ締め付け方法
JP2015226963A (ja) ロボット、ロボットシステム、制御装置、及び制御方法
JP5574103B2 (ja) 把持搬送装置
JPWO2009022420A1 (ja) ネジ締め装置
US11006561B2 (en) Component mounter
WO2022004133A1 (fr) Système d&#39;outil, outil, système d&#39;identification de cible de travail, procédé d&#39;identification de cible de travail et programme
US20180071034A1 (en) Medical manipulator system
US20230158678A1 (en) Robot system, control method and non-transitory storage medium storing control program thereon
CN114630728A (zh) 工具系统、工具管理方法和程序
CN108098794B (zh) 机械手臂及其晶圆传送装置与晶圆检测机台
JP5904837B2 (ja) 自動ねじ締め機、ドライバシステム、及び、ねじ締め方法
CN110153990B (zh) 工业用机器人的修正值计算方法
US20200100407A1 (en) Component mounter
JP5522532B2 (ja) 切削部を有するワークの把持装置及び把持方法
CN114025919B (zh) 用于拧紧工具的真空布置
JP2000079522A (ja) ねじ締め装置
JPH11190269A (ja) スパークプラグの装着方法及びスパークプラグの装着装置
US7414799B2 (en) Manufacturing method of camera module

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17877823

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17877823

Country of ref document: EP

Kind code of ref document: A1