Screw fastening device
A screw fastening device ( 10 ) includes a base part ( 11 ), an extended part ( 12 ) with one end ( 12 a ) which is attached to the base part in a pivotable manner, a tool part ( 13 ) which is fastened to another end ( 12 ) of the extended part and makes a screw which is engaged with its front end rotate, a pushing mechanism ( 15 ) which pushes the tool part against the screw ( 14 ) through the extended part in an axial direction of the screw, a guide part ( 16 ) which is fastened to the base part and has an arc shaped part, a torque generating part ( 17 ) which generates a torque which makes the extended part rotate along the arc shaped part in a fastening direction of the screw, and a first detection part ( 18 a ) which detects when a reaction force of a predetermined value or more acts against the torque generating part.
1. A robot system comprising:
a robot; and
a screw fastening device which is attached to a front end of the robot;
wherein the screw fastening device includes;
(i) a base part which is fixed to the front end of the robot,
(ii) an extended part with one end which is attached to said base part in a pivotable manner,
(iii) a tool part which is fastened to another end of said extended part and is configured to rotate a screw,
(iv) a pushing mechanism which pushes said tool part against said screw through said extended part in an axial direction of said screw,
(v) a guide part which is fastened to said base part, and
(vi) a torque generating part which generates a torque which makes said extended part rotate along said guide part in a radial fastening direction of said screw,
wherein, in a screw fastening operation, when the robot is made to rotate about the tool part in the radial fastening direction, the torque generating part generates a certain torque so that the extended part rotates along the guide part in the radial fastening direction of the screw thereby rotating the tool part and the screw that is pushed against said tool part.
2. The robot system according to claim 1 wherein said pushing mechanism is an air cylinder.
3. The robot system according to claim 1 wherein said pushing mechanism is a spring.
4. The robot system according to claim 1 which is provided with a first detection part which detects when said tool part is engaged with said screw due to the pushing action of said pushing mechanism.
5. The robot system according to claim 1 wherein said torque generating part is an air cylinder which uses controlled air pressure.
6. The robot system according to claim 1 wherein said torque generating part is an air cylinder which uses a plurality of air pressures which are controlled by an air pressure switching device.
7. The robot system according to claim 1 wherein said torque generating part is a servo motor which is controlled by a robot controller.
8. The robot system according to claim 1 , wherein the screw fastening device further including a first detection part which is provided with the torque generating part and which detects when a reaction force of a predetermined value or more acts;
wherein if the first detection part detects when the reaction force of the predetermined value or more acts, the screw fastening operation is stopped.