JP3079947B2 - Nut loading device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a nut loading device for transferring a nut used for tightening and fixing a segment in, for example, a shield method from a nut supply device to a nut fixing device, and particularly to a nut transfer device in a narrow working space. It is related to the higher efficiency described above.

[0002]

2. Description of the Related Art The shield method is a method of constructing a tunnel by assembling segments while propelling a shield having a diameter slightly larger than the inner diameter of the tunnel into the ground. In this shield method, a plurality of bolts and nuts are used to connect an existing segment to a newly installed segment held by an elector device. When connecting an existing segment and a newly installed segment in this way, variations in the shape of each segment and variations in the positions of the bolt holes occur due to the deflection of the segment due to earth pressure and the like. Therefore, conventionally, bolts and nuts have been manually attached to the segments and tightened.

[0003] However, the work of mounting and tightening the bolts and nuts with the segment held by the elector device set at a predetermined position has a problem in terms of safety because it is a heavy work in a high place and a narrow place. A fastening device for automatically fastening a bolt and a nut to a segment in order to solve such an operation having a problem on safety is disclosed in, for example, Japanese Utility Model Laid-Open No. 2-47300 and Japanese Patent Laid-Open No. 4-194198. I have.

As shown in the front view of FIG. 12 and the side view of FIG. 13, a fastening device disclosed in Japanese Utility Model Laid-Open No. 2-47300 discloses a bolt arm 151 having a bolt fixing device and a nut arm having a nut rotating device. And a cartridge 153 that houses bolts and nuts. The bolt arm 151 and the nut arm 152 are supported by a vertically movable motor 154 so as to be able to reciprocate up and down and a cylinder 155 so that the distance between them can be adjusted. Cartridge 1
Reference numeral 53 denotes a rising end of the bolt arm 151 and the nut arm 152, and an intermediate position between the bolt arm 151 and the nut arm 152 at the initial position where the bolt arm 151 and the nut arm 152 are retracted by the cylinder 155. Are provided at right angles. The cartridge 153 is configured so that the cylinder 156 can be advanced to an intermediate position between the bolt arm 151 and the nut arm 152 at the initial position. As shown in FIG. 13, the bolt arm 151 and the nut arm 152 are connected to each other. When the cartridge 153 is at the initial position, the cartridge 153 is advanced by the cylinder 156, and the bolt pushing member 1 connected to the bolt pushing cylinder 157 provided at the tip end portion.
At 58, the bolt 101 is pushed into the bolt fixing device of the bolt arm 151, and the nut 102 is moved to the nut of the nut arm 152 by the nut pushing member 161 connected to the nut pushing cylinder 160 which advances in the opposite direction to the bolt pushing cylinder 157. It is pushed into the rotating device.

Further, a stocker-1 of a bolt and nut supply device of a fastening device disclosed in Japanese Patent Application Laid-Open No. 4-194198 or the like.
As shown in the top view of FIG. 14, 71 is made of a pair of plate members supported at a predetermined interval and opposed to the support plate 172, and the head of the bolt 101 is inserted into one of the opposed surfaces. A plurality of holding holes 173 are provided, and a plurality of holding holes 174 for inserting the nut 102 are provided on the other facing surface, and a permanent magnet 175 is fixed to the inner surface of each holding hole 173, 174. Each of the holding holes 173 and 174 has a bolt 10
1 and the nut 102 are inserted and stored. Then, as shown in the side view of FIG.
A pair of support arms 179a, 179b connected to ball screws 177a, 177b rotating at 6b and having electromagnets 178a, 178b at the ends are provided in the stocker 17.
1 by the moving mechanism 180 to move the drive motor 17
6a, 176b to rotate the support arms 179a, 179
b in the direction of the facing surface of the stocker-171, and the electromagnet 1
The bolts 101 and the nuts 102 stored in the stocker-171 are attracted and excited one by one by energizing 78a and 178b. Thereafter, as shown in FIG. 16, the supporting arms 179a and 179b are connected to the bolt arm 151 and the nut arm.
The arm 101 is moved to the position of the arm 152, and the bolt 101 and the nut 102 held are moved to the bolt arm 151 and the nut arm 15.
2, the excitation of the electromagnets 178a, 178b is cut off, and the bolt 101 and the nut 102 are mounted on the bolt arm 151 and the nut arm 152.

[0006]

In any of the above fastening devices, when the bolt and the nut are mounted on the bolt fixing device of the bolt arm and the nut rotating device of the nut arm, the car housing the bolt and the nut is mounted. A moving mechanism is required to move the cartridge and the supporting arm for transferring the bolts and nuts stored in the stocker to the bolt arm and the nut arm. A large space had to be provided for moving the moving mechanism in between. Also, move the bolt or nut in a direction perpendicular to the vertical direction of the bolt arm and nut arm.
It was necessary to arrange them in a row, and a space for this was also required. For this reason, the space occupied by the entire fastening device is
When used in a narrow work space, it is difficult to arrange a plurality of fastening devices in parallel for simultaneous fastening, and there is a disadvantage that work efficiency is reduced.

Further, there are many disadvantages in that there are many moving operation steps when the nut is mounted on the nut arm, so that the operation time of the moving mechanism is long, and that much time is required for assembling the segments.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned disadvantages. The occupying space is reduced by minimizing a moving operation step when transferring a nut to a nut, and the nut head is accurately positioned. It is an object of the present invention to obtain a nut loading device that can be positioned at a predetermined position.

[0009]

A nut loading device according to the present invention includes a nut gripper, a moving mechanism, and a loading arm body, and a nut fixing device for feeding a nut supplied from a nut supply device. Wherein the nut gripper has a slide base, a traversing mechanism, a gripper and a gripper cylinder, and the slide base holds a nut supplied from a nut supply device. A lower end portion of the nut is provided at a lower end of the nut at a tip end of the loading arm main body side at a lower portion of a supply port of the nut supply device so as to be able to traverse in a horizontal direction orthogonal to a screw axis of the nut supplied from the nut supply device. And a nut holding portion for holding one of the parallel surfaces. The traversing mechanism is for traversing the slide base, and is rotatably supported by the lower end of the nut supply device. One tip Suraidobe - scan the linked rampant A - and arm, rampant A - and a transverse cylinder connected to the other of the distal end portion of the arm, gripping claws Suraidobe -
The nut held by the nut is positioned and gripped, and is rotatably provided at the lower end of the nut holding portion. The gripping cylinder applies gripping force to the gripping claw, and the tip of the piston rod has a gripping claw. The moving mechanism moves the loading arm body from the position of the nut gripper to the position of the nut fixing device, and engages with the lower end of the slide base. A rail provided in the same direction as a screw axis of a nut supplied from a nut supply device to a guide frame provided vertically on a lower surface of the rail, a main body holding portion movably mounted on the rail, and a guide frame. And a moving cylinder connected between the main body holding part and the loading arm main body. The loading arm main body has a rotating mechanism part, a centering clamp part, a loading arm and an arm straight moving mechanism part. ,rotation The structure part rotates the loading arm and the centering clamp part, and has a rotating shaft attached to the main body holding part of the moving mechanism part, and a rotation driving part for rotating the rotating shaft. The output clamp is for positioning the loading arm with respect to the nut fixing device, and is fixed to the tip of the rotary shaft on the nut gripping portion side.
It has a pair of clamp arms provided at one end so as to be openable and closable, a clamp cylinder for opening and closing the clamp arm, and a guide shaft attached to the other end, and the loading arm is a nut. The nut is held and moved by the holding portion, and is rotatably provided between the rotation driving portion of the rotating shaft and the centering clamp portion, and is opposed to the clamp arm of the centering clamp portion. At one end, an adsorption unit having an electromagnet and a torque limiter is provided,
The other end has a guide portion to be fitted to the guide shaft of the centering clamp portion, and the arm straight moving mechanism portion has a loading arm.
A driving cylinder attached to the main body holding portion of the moving mechanism, and a driving cylinder attached to the loading arm via a bearing and connected to the piston rod tip of the driving cylinder. And a transmission unit.

[0010]

In the present invention, when the nut is supplied from the nut supply device, the slide base is retracted to adjust the nut holding portion to the position of the lower supply port of the nut supply device, and the nut is supplied by the nut holding portion. The nut is held, and a gripper is pressed against the outer surface of the held nut to position and grip the nut.

With the nut held, the slide base is advanced to move the held nut to the loading arm. When the slide base is moved, the linear movement of the traversing cylinder is converted into a swinging movement by a traversing arm rotatably supported at the lower end of the nut supply device, and the slide base is moved.

In this state, the loading arm and the centering clamp are rotated by the rotation mechanism of the loading arm main body, and the loading arm is positioned on the nut gripped by the slide base. When the electromagnet of the suction portion is excited to suck the nut gripped by the slide base, the gripping of the nut by the gripper of the slide base is released and the nut is suction-held by the suction portion.

After the nut is held by the loading arm, the loading mechanism and the centering clamp are rotated by a predetermined angle by the rotating mechanism, and then the moving cylinder of the moving mechanism is driven to load the loading arm. Moving the main body holding portion supporting the centering clamp portion to the nut holding device side of the nut hand along the rail. When the centering clamp reaches the position of the nut fixing device, the nut fixing device is clamped by the clamp arm, and the nut held by the clamp arm is centered on the nut fixing device.

After the nut held by the clamp arm is centered, the loading arm is advanced by the arm straight-moving mechanism, and the gripped nut is mounted on the nut fixing device, and the suction arm is rotated. The electromagnet is de-energized and the nut is transferred to the nut fixing device. After transferring the nut to the nut fixing device, the clamp of the centering clamp is released, and the clamp arm and the centering clamp are retracted.

[0015]

FIG. 1 is a front view showing an embodiment of the present invention. The nut loading device 1 is provided below the support frame 3 on which a nut supply device 4 for supplying a nut 2 is provided. The support frame 3 is provided with a nut cartridge 5 in which a plurality of nuts 2 are vertically stacked and loaded, and as shown in the front view of the bolt and nut fastening device 6 in FIG. A guide frame 41 is provided on one side surface of the fastening device main body 9 having the hand 7 and the nut hand 8, and extends vertically at the lower end.

As shown in FIG. 1, the nut loading device 1 has a nut gripper 10, a moving mechanism 20, and a loading arm main body 30. The nut gripper 10 is
As shown in a front sectional view of FIG. 3 and a side sectional view of FIG. 4, a slide base 101, a traversing mechanism 102, and a gripper 103
And a holding cylinder 104. Slide base 10
As shown in FIG. 3, 1 is inserted into a support portion 105 provided below the nut supply device 4 of the support frame 3, and is orthogonal to the screw axis of the nut 2 supplied from the nut supply device 4. It can be moved horizontally.
The loading arm body 3 of the slide base 101
The zero end has a nut holding portion 106 for holding the lower end of the nut 2 and one parallel surface. A gripping claw 103 for positioning and gripping an outer hexagonal surface of the nut 2 held by the nut holding portion 106 is provided at a lower end portion of the nut holding portion 106.
Are rotatably mounted. Slide base 101
A gripping cylinder 104 is attached to the lower end of the gripping cylinder.
Is mounted via a compression spring 108.

The traversing mechanism 101 for moving the slide base 101 is rotatably supported by the horizontal frame 31 at the lower end of the support frame 3, as shown in the bottom sectional views of FIGS. One end is rotatably attached to the side of the support arm 105 and a traversing arm 110, which is connected with a roller 109 attached to the slide base 101 therebetween. And a traversing cylinder 111 rotatably connected to the other end of the system 110.

As shown in FIG. 1, the moving mechanism 20 is supplied from the nut supplying device 4 to a guide plate 32 provided vertically on the lower surface of the lower horizontal frame 31 of the support frame 3. 6, a main body holding portion 203 mounted on the rail 201 via a plurality of rolling guides 202, as shown in a side sectional view of FIG. And a moving cylinder 204 connected between the guide plate 32 and the main body holding portion 203, as shown in the rear view of FIG.

The loading arm body 30 has a rotation mechanism 301, a centering clamp 302, and a loading arm 303, as shown in the side sectional view of FIG. The rotation mechanism 301 has a gear 304 at an intermediate portion, and has a rotation shaft 306 attached to the main body holding portion 203 of the movement mechanism 20 via a bearing 305, and as shown in FIG.
A rack 307 meshing with the gear 304 of the No. 06, and a rack 3
07, and a rotation cylinder 308 for rotating the rotation shaft 306. The centering clamp 302 is fixed to the tip of the rotating shaft 306 on the side of the nut gripper 10.
As shown in FIG. 7, a pair of clamp arms urged outward by one end by a compression spring 309 and attached to open and close freely.
And a clamp cylinder 311 for opening and closing the clamp arm 310. A guide shaft 312 for guiding the loading arm 303 is attached to the other end. Inside the clamp arm 310, rollers 313 which are engaged with the outer peripheral surface of the nut fixing device 81 of the nut hand 8 shown in FIG.

The loading arm 303 has a rotating shaft 306.
The centering clamp portion 302 is rotatably mounted via a linear motion ball bearing 314 between the main body holding portion 203 and the centering clamp portion 302, and one end of the centering clamp portion 302 facing the clamp arm 310 has an electromagnet. 315 and torque limiter 316
Is provided, and a guide portion 318 that fits with the guide shaft 312 of the centering clamp portion 302 is provided at the other end.

As shown in FIG. 7, the loading arm main body 30 is provided with an arm rectilinear mechanism 319. The arm rectilinear mechanism 319 has a driving cylinder 320 attached to the main body holding part 203 of the moving mechanism 20, and the tip of the piston rod of the driving cylinder 320 is
As shown in FIG. 8, the bearing 32 is mounted on the loading arm 303.
1 and is connected to a drive transmission section 322 attached thereto.

A nut car loaded with a plurality of nuts 2 to be supplied to the nut loading device 1 constructed as described above.
The cartridge 5 has a cartridge body 501, an upper movable stopper 502, a lower stopper 503, and a fixed rod 504, as shown in the front sectional view of FIG. The cartridge body 501 is for stacking and storing a plurality of laterally arranged nuts 2 and is formed of a vertically long casing. A supply port 505 for the nut 2 is provided at an upper end portion, and a nut is provided at a lower end portion. Two outlets 506 are provided. At the center of one side surface of the cartridge body 501, there is provided a guide groove 507 that opens vertically from the supply port 505 to the discharge port 506. The guide groove 507 has a guide surface 507a that fits on the parallel outer peripheral surface of the nut 2 as shown in a plan sectional view of the nut cartridge 5 in FIG. A fixing pin 508 protruding in the vertical direction is provided on the upper end surface of the cartridge body 501, and a fixing hole 509 is provided at a position corresponding to the fixing pin 508 on the lower end surface. The upper movable stopper 502 has a locking portion whose tip engages with the outer peripheral surface of the nut 2, and is rotatable to one side, for example, the left side of the guide groove 507 near the supply port 505 of the cartridge body 501. It is attached and urged toward the guide groove 507 by the compression spring 510. The lower stopper 503 has a locking portion at its tip for engaging with the nut 2, and is orthogonal to the guide groove 507 on the opposite side of the upper movable stopper 502 with the guide groove 507 therebetween in the vicinity of the discharge port 506 of the cartridge body 501. It is attached rotatably in the direction in which A guide shaft 503b is provided between the locking portion at the tip of the lower stopper 503 and the shaft 503a. The fixed rod 504 is formed slightly shorter than the entire length of the cartridge body 501, has a cam groove 504a at the lower end for engaging with the guide shaft 503b of the lower stopper 503, and is urged upward by the compression spring 511 to guide the guide. It is provided along the groove 507. Fixed rods 504 are provided on the upper end surface and the lower end surface of the cartridge body 501.
And a guide hole 512 coaxially provided.

As shown in the side view of FIG. 11, the nut supply device 4 includes a lock mechanism 40 provided on the support frame 3.
1 and a feed mechanism 402 and a nut dispensing device 403. The supporting frame 3 holds a plurality of nut cartridges 5 in the vertical direction between the horizontal frame 31 and the upper horizontal frame 33, and holds the nut cartridge 5 on the upper horizontal frame 33 as shown in FIG. It has a positioning hole 34 that fits into the fixing pin 508 at the upper end of the nut cartridge 5 and has a horizontal frame.
The fixing hole 50 at the lower end of the cartridge body 501 is
9 and the lower supply port 36 of the nut 2 and the fixing rod 504 in the cartridge body 501.
Has a lock hole 37 at a position corresponding to.

The lock mechanism 401 includes an upper horizontal frame 3
3 and fixed rod 5 of nut cartridge 5
Operating rod 404 for pushing down the operating rod
And an electromagnetic solenoid 405 that pushes down the solenoid 4. The feed mechanism 402 includes a feed motor 406 mounted on the horizontal frame 31, a sprocket 407 connected to the feed motor 406, a sprocket 408 mounted on the upper part of the support frame 3, and a sprocket. 407, a chain 409 wound around a sprocket 408, and a chain 40.
9, a feed arm 410 for applying a feed force to the bolt 2 housed in the nut cartridge 5.
As shown in FIG. 1, the nut dispensing device 403 includes a discharge cylinder 411 provided below the horizontal frame 31 and a stopper 412 connected to the discharge cylinder 411 and opening and closing the lower supply port 36.

When the nut 2 is loaded into the nut cartridge 5 constructed as described above, the nut cartridge 5 is removed from the nut supply device 4 and the parallel outer periphery of the nut 2 is supplied from the upper supply port 505. The surface is the guide surface 507
Insert along the line a. At this time, the upper movable stopper 502 pivots downward by the force for pushing the inserted nut 2, and the nut 2 can be easily loaded. When the nut 2 passes through the position of the upper movable stopper 502, the upper movable stopper 502 rotates upward and returns to the initial position, thereby preventing the loaded nut 2 from dropping out of the supply port 505. The initial position of the lower stopper 503 in the cartridge body 501 is determined so that the guide shaft 503b is pushed by the fixed rod 504 and the locking portion at the tip is in the guide groove 507. Body 501
It is possible to prevent the nut 2 loaded therein from falling off from the lower discharge port 506. Therefore, the nut 2 can be loaded and stored in the nut cartridge 5 in advance, and the work in a narrow working environment can be reduced. The nut cartridge 5 loaded with a predetermined number of nuts 2 in this manner is mounted on the nut supply device 4.

The nut cartridge 5 is connected to the nut supply device 4.
When mounting the nut cartridge 5, the fixing hole 509 provided at the lower end of the nut cartridge 5, the fixing pin 508 provided at the upper end, the positioning pin 35 provided at the horizontal frame 31, and the positioning hole of the upper horizontal frame 33 are provided. A plurality of, for example, two bolt cartridges 5 are set up vertically by using 34. afterwards,
The electromagnetic solenoid 405 of the lock mechanism 401 is driven to push down the operating rod 404 and insert it through the upper guide hole 512 of the nut cartridge 5 to push down the fixing rod 504, and the distal end of the fixing rod 504 is moved to the horizontal frame 33.
And the nut cartridge 5 is fixed to the nut supply device 4. Further, the fixing of the nut 2 by the lower stopper 503 is released by pressing down the fixing rod 504, and the nut 2 is stored in a state where it can be supplied to the nut loading device 1.

When supplying the nut 2 to the nut loading device 1, the feed motor 406 of the feed mechanism 402 is driven to lower the feed arm 410 along the guide groove 507 of the nut cartridge 5. A constant force is applied to the uppermost nut 2. The stopper 412 is opened and closed by the discharge cylinder 411 of the nut dispensing device 403 to supply the nuts 2 in the nut cartridge 5 to the nut loading device 1 one by one.

As described above, when the nut 2 supplied from the nut supply device 4 is gripped by the nut loading device 1 and transferred to the nut hand 8, the traversing cylinder 111 of the nut gripper 10 is moved forward to slide the nut. The nut 101 is retracted to dispose the nut holding portion 106 at an initial position facing the lower supply port 34 of the support frame 3 as shown in FIG. In this state, the stopper 412 is opened and closed by the discharge cylinder 411 of the nut dispensing device 403, and the nut 2 in the nut cartridge 5 is sent to the nut holding unit 106. Then, the nut 2 is gripped by the nut holding part 106 and the gripping claw 103 while driving the gripping cylinder 104 to press the gripping claw 103 against the nut 2 and align the outer peripheral surface of the nut 2. As described above, when the nut 2 is gripped, the parallel outer peripheral surfaces of the nut 2 are aligned and gripped, so that the nut 2 to be transferred to the nut hand 8 can always be conveyed and transferred in the same posture. .

After the nut 2 is gripped by the nut holding portion 106 and the gripping claw 103, the traversing cylinder 111 is retracted,
As shown in FIG. 3, the slide base 101 is advanced. Then, the rotation cylinder 308 provided on the loading arm main body 30 is advanced, and the rotation shaft 306 is rotated by the rack 307 and the gear 305.
02 and the loading arm 303 are rotated by a certain angle α = 120 degrees, and the suction portion 31 of the loading arm 303 is rotated.
7 is adjusted to the position of the nut 2 gripped by the slide base 101. In this state, the electromagnet 31
5 is excited and the nut 2 gripped by the slide base 101
The nut 2 is released from the gripping claws 103 of the slide base 101 while sucking
Is absorbed and held.

After the nut 2 is held by the loading arm 303, the rotation cylinder 101 is retracted, and the centering clamp 302 and the loading arm 303 are rotated by the angle α to return to the initial position. Thereafter, the moving cylinder 204 of the moving mechanism unit 20 is driven to move the main body holding unit 203 along the rail 201 toward the nut hand 8. When the clamp arm 310 of the centering clamp portion 302 reaches the position of the nut fixing device 81 of the nut hand 8 by the movement of the main body holding portion 203, the clamp cylinder 311 is driven to drive the roller 313 of the clamp arm 310. The outer peripheral surface of the nut fixing device 81 is clamped by the
The centering of the nut 2 held by the loading arm 303 with respect to 1 is performed. In this state, the driving arm 320 of the arm straight moving mechanism 319 is driven to move the loading arm 310 forward, and the nut 2 being gripped is mounted on the nut fixing device 81. Then, the electromagnet 315 of the suction part 317 is de-energized and the nut 2 is fixed to the nut fixing device 81.
Transfer to Thus, the nut 2 is fixed to the nut fixing device 81.
Therefore, even if the nut fixing device 81 is in a rotating state, the torque limiter 316 of the suction portion 317 operates to follow the rotation, so that generation of excessive torque can be prevented.

After transferring the nut 2 to the nut fixing device 81, the clamp of the centering clamp portion 301 is released and
After the ding arm 303 and the centering clamp portion 302 are retracted and returned to the initial position, the nut hand 8 is lowered to start the bolt and nut fastening operation.

In the above embodiment, the loading arm 3 is used.
03 and a rotating shaft 306 for rotating the centering clamp 302
The rotation cylinder 311, rack 307 and gear 304
Although the description has been given of the case where the rotary shaft 306 is rotated by the hydraulic motor or the electric motor, the rotary shaft 306 may be rotated by the hydraulic motor or the electric motor.

[0033]

As described above, according to the present invention, when nuts are supplied from the nut supply device, the slide base is retracted to adjust the nut holding portion to the position of the lower supply port of the nut supply device, thereby holding the nut. Since the nut supplied by the unit is held, and the holding claws are pressed against the outer surface of the held nut to position and hold the nut, the nut transferred to the nut hand can always be transported in the same posture.

Further, the slide base is advanced while holding the nut, and the held nut is moved to the loading arm. When the slide base is moved, the linear movement of the traversing cylinder is converted into a swinging movement by a traversing arm rotatably supported at the lower end of the nut supply device, and the slide base is moved. The slide base holding the nut with the base can be moved.

Further, the loading arm and the centering clamp are rotated by the rotating mechanism of the loading arm main body, and the suction portion of the loading arm is moved to the position of the nut gripped by the slide base. In addition, the electromagnet in the suction portion is excited to release the nut held by the slide base while the nut held by the slide base is released while the nut held by the slide base is sucked, so that the nut is suction-held by the suction portion. Thus, the amount of movement of the loading arm when holding the nut can be reduced, and the nut can be held securely.

After the nut is held by the loading arm, the loading mechanism and the positioning arm are rotated by a predetermined angle by the rotating mechanism, and then the moving cylinder of the moving mechanism is driven to drive the nut. Since the main body holding part supporting the ding arm and the centering clamp part is linearly moved along the rail to the nut fixing device side of the nut hand, the process of moving to the loading arm holding the nut is simplified. The size of the entire device can be reduced.

Further, when the centering clamp reaches the position of the nut fixing device, the nut fixing device is clamped by the clamp arm, and the nut held by the clamp arm with respect to the nut fixing device is centered. Therefore, the nut can be stably transferred from the clamp arm to the nut fixing device.

[Brief description of the drawings]

FIG. 1 is a front view showing an embodiment of the present invention.

FIG. 2 is a front view showing a bolt and nut fastening device.

FIG. 3 is a front sectional view showing a nut grip portion of the embodiment.

FIG. 4 is a side sectional view showing a nut gripper.

FIG. 5 is a bottom cross-sectional view showing a traversing mechanism of the nut gripper.

FIG. 6 is a side sectional view showing a moving mechanism section of the embodiment.

FIG. 7 is a rear view showing the moving mechanism.

FIG. 8 is a side sectional view showing a loading arm body.

FIG. 9 is a front sectional view showing a nut cartridge.

FIG. 10 is a plan sectional view showing a nut cartridge.

FIG. 11 is a side view showing the nut supply device.

FIG. 12 is a front view showing a conventional example.

FIG. 13 is a side view of the conventional example.

FIG. 14 is a top sectional view showing a second conventional example.

FIG. 15 is a side view showing a holding operation of a bolt and a nut according to a second conventional example.

FIG. 16 is a side view showing a mounting operation of a bolt and a nut according to a second conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Nut loading device 2 Nut 3 Support frame 4 Nut supply device 5 Nut cartridge 6 Bolt / nut fastening device 8 Nut hand 10 Nut gripping part 20 Moving mechanism part 30 Loading arm body

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Kenichi Murano 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan Co., Ltd. (56) References JP-A-2-3033685 (JP, A) JP-A-4 -176527 (JP, A) JP-A-5-261632 (JP, A) JP-A-4-45636 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23P 19/06 E21D 11/40

Claims (1)

(57) [Claims] 1. A nut loading device, comprising: a nut gripper, a moving mechanism, and a loading arm main body, for transferring a nut supplied from a nut supply device to a nut fixing device, comprising: a nut gripper; The unit has a slide base, a traversing mechanism, a gripping claw, and a gripping cylinder. The slide base holds a nut supplied from the nut supply device. And a nut holding portion for holding a lower end portion of the nut and one parallel surface at a leading end of the loading arm body side, which is provided so as to be able to traverse in a horizontal direction orthogonal to a screw axis of the nut supplied from the nut. The traversing mechanism is for traversing the slide base,
A traversing arm rotatably supported at the lower end of the nut supply device and having one end connected to a slide base, and a traversing cylinder connected to the other end of the traversing arm. The gripping claw is for positioning and gripping the nut held by the slide base, is provided rotatably at the lower end of the nut holding section, and the gripping cylinder is for applying gripping force to the gripping claw. The rod end is engaged with the lower end of the gripping claw and attached to the lower end of the slide base, and the moving mechanism moves the loading arm body from the position of the nut gripper to the position of the nut fixing device. A rail provided on a guide frame provided vertically on the lower surface of the nut supply device in the same direction as the screw axis of the nut supplied from the nut supply device, and a main body holder movably mounted on the rail. And a moving cylinder connected between the guide frame and the main body holder. The loading arm main body includes a rotating mechanism, a centering clamp, a loading arm, and an arm. A rotating mechanism for rotating the loading arm and the centering clamp; a rotating shaft attached to the main body holding portion of the moving mechanism; and a rotation for rotating the rotating shaft. A driving part, and the centering clamp part is for positioning the loading arm with respect to the nut fixing device, and is fixed to a tip part of the rotating shaft on the nut gripping part side, and one tip part A pair of clamp arms provided to be able to open and close
A clamping cylinder for opening and closing the arm, and a guide shaft attached to the other end. The loading arm moves while holding the nut gripped by the nut gripper. An attraction portion having an electromagnet and a torque limiter is provided at one end of the centering clamp portion facing the clamp arm and rotatably provided between the rotation driving portion and the centering clamp portion. The distal end portion has a guide portion that fits with the guide shaft of the centering clamp portion. The arm straight-moving mechanism is for moving the loading arm forward and backward. A nut loading device, comprising: a driving cylinder mounted thereon; and a drive transmitting unit mounted on a loading arm via a bearing and connected to a tip end of a piston rod of the driving cylinder.