Fastener locking device, method and production line

Abstract

The present application belongs to the technical field of fastener locking mechanism, in particular to a fastener locking device, method and production line. It solves the defects of unreasonable design in the prior art. The fastener locking device comprises an industrial robot for obtaining a fastener and tightening the fastener on a workpiece, a lifting mechanical cantilever of the industrial robot is connected with a clamping manipulator capable of clamping the cap end of the fastener through a vertical elastic component, a rotary driver is arranged on the lifting mechanical cantilever, and a batch rod is connected to the rotary driver at the upper end, the lower end of the batch rod is extended in the clamping position of the clamping manipulator, and the batch rod and the clamping manipulator are linearly slidably matched in the vertical direction. The present application has the advantages of ensuring the verticality and accuracy of the screwing position and prolonging the service life of the batch rod.

Description

Technical Field

[0001] This invention belongs to the field of fastener fastening machinery technology, and particularly relates to a fastener fastening device, method and production line. Background Technology

[0002] Screw driving is typically done manually, allowing for control of the force applied during the process. Manual assistance is also available, with the electric screwdriver applying more force after the screw has entered the slot. Currently, many screw driving methods are used on production lines, with manual electric screwdriver driving being a common method. However, this method suffers from low efficiency and difficulty in standardization. To improve existing technology, for example, Chinese patent application CN202322858843.2 discloses a laptop computer alignment and screw-locking device, including a base plate, two automatic screw-locking units, an alignment platform module, a carrier module, a display housing positioning unit, a top cover positioning unit, a vision sensor unit, and a laser sensor unit. The two automatic screw-locking units are symmetrically arranged on the rear side of the base plate, each including an XYZ axis moving mechanism and an electric screwdriver connected to its end. The carrier module is mounted on the alignment platform module, passing through the base plate and positioned in the center of the front side of the automatic screw-locking units, to support the display housing and top cover. The display housing positioning unit and the top cover positioning unit are arranged around the carrier module on the base plate, with the top cover positioning unit being higher than the display housing positioning unit. This solution can be designed to be compatible with two product sizes, and can automatically adjust the centering of components using vision and laser sensors, with electric screwdrivers automatically positioning and locking, thereby improving production efficiency and reducing production costs.

[0003] The above solutions utilize visual and other detection methods to tighten and lock the screws. However, when the screw contacts the screw hole and is screwed in, the screw lacks pre-positional correction to the screw hole, resulting in a skewed phenomenon after the screw is screwed in.

[0004] Secondly, the screwdriver handle that extends beyond the screwdriver blade deforms during operation, affecting the turning process, and requires regular replacement, resulting in higher costs. Summary of the Invention

[0005] The purpose of this invention is to address the above-mentioned problems by providing a fastener fastening device, method, and production line that can solve the aforementioned technical problems.

[0006] To achieve the above objectives, the present invention adopts the following technical solutions:

[0007] This fastener fastening device includes an industrial robot for acquiring and tightening fasteners onto a workpiece. The lifting mechanical arm of the industrial robot is connected via a vertical elastic component to a clamping manipulator capable of clamping the cap end of the fastener. A rotary driver is provided on the lifting mechanical arm, and a wrench bar is connected at its upper end to the rotary driver. The lower end of the wrench bar extends into the clamping position of the clamping manipulator, and the wrench bar and the clamping manipulator slide linearly in the vertical direction.

[0008] Industrial robots are equipped with lifting drive cylinders or hydraulic cylinders to drive the lifting mechanical arm to move up and down.

[0009] In the fastener fastening device described above, the gripping manipulator includes a mechanical claw and a main body block fixedly connected to the vertical elastic component, and a lifting drive block linearly sliding with the main body block in the vertical direction. The lifting drive block is connected to a lifting driver. At least a portion of the mechanical claw is hinged to the main body block, and at least a portion of the remaining portion of the mechanical claw is hinged to the lifting drive block.

[0010] In the fastener fastening device described above, the lifting drive block and the main body block are respectively provided with coaxial through holes for the screwdriver rod, and the screwdriver rod passes through the through holes.

[0011] In the fastener fastening device described above, the projections of the rotary driver and the vertical elastic component on a plane perpendicular to the vertical direction are staggered. The lifting driver is connected to the lifting drive block through a transmission guide pair, and the lifting driver and the rotary driver are spaced apart.

[0012] In the fastener fastening device described above, the transmission guide pair has two extension arms, the suspended ends of the extension arms are connected to the lifting drive block, and the two extension arms are symmetrically distributed around the axis of the through hole of the wrench rod provided on the lifting drive block.

[0013] In the fastener locking device described above, the vertical elastic component includes a lifting floating block that moves linearly in the vertical direction and is located below the lifting mechanical arm. The lifting floating block is connected to the lifting mechanical arm via a vertical guide rail pair, and a vertical spring is provided between the top of the lifting floating block and the lifting mechanical arm.

[0014] In the fastener locking device described above, the lifting mechanical arm is provided with a limiting arm located at the lower end of the vertical guide rail pair. There are two vertical springs that are parallel to each other. A guide post is inserted into each of the vertical springs. The guide post slides in the vertical direction with the lifting mechanical arm or the lifting floating block.

[0015] In the fastener fastening device described above, the fastener fastening device further includes a frame, on which a vibratory feeder, a conveying track connected to the vibratory feeder, and a single fastener delivery assembly connected to the discharge end of the conveying track are provided. The single fastener receiving position of the single fastener delivery assembly is connected to the discharge end of the conveying track, and the conveying direction of the single fastener delivery assembly is different from the conveying direction of the conveying track.

[0016] This application also provides a fastener fastening method, which includes the following steps:

[0017] S1. Material handling: The industrial robot uses a gripping manipulator on the lifting mechanical arm to pick up the cap end of the fastener to be tightened and locked at a set material handling position, and transfers the fastener to directly above the threaded hole on the workpiece.

[0018] S2, Correction: The lifting mechanical arm in S1 descends vertically, causing the fastener to be pre-aligned with the threaded hole; and the lifting mechanical arm descends further, causing at least a portion of the lower end of the fastener to contact the threaded hole. The descent of the lifting mechanical arm causes the vertical elastic component to be elastically compressed in the vertical direction, and when the vertical elastic component is elastically compressed to a set compression position, the clamping robot releases the clamping of the cap end of the fastener.

[0019] S3. When the vertical elastic component in S2 is elastically compressed to the set compression position, the lower end of the wrench bar, which is linearly sliding with the clamping manipulator in the vertical direction, is inserted into the tool groove of the cap end. The rotary driver is started and the wrench bar is rotated. Under the further descent drive of the lifting mechanical arm, the fastener is tightened and locked to the threaded hole of the workpiece.

[0020] S4, the lifting mechanical cantilever in S3 is reset and S1-S3 is repeated.

[0021] This application also provides a fastener fastening production line, including the fastener fastening device, and a transfer device and a workpiece storage device located next to the fastener fastening device.

[0022] Compared with existing technologies, the advantages of this application are:

[0023] The vertical elastic component provides vertical force reduction, giving the fastener a certain degree of elastic buffer after it contacts the threaded hole, preventing damage to the fastener's threads. At the same time, the released force provides ample adjustment time for the fastener to be accurately aligned with the threaded hole, and extends the service life of the screwdriver and robot.

[0024] The wrench bar and the gripping robot slide linearly in the vertical direction. When the gripping robot descends to pick up the fastener, the wrench bar provides vertical guidance for the gripping robot. When the wrench bar is inserted into the tool groove at the cap end, the gripping robot provides vertical guidance for the wrench bar.

[0025] When the screwdriver bar is rotating, the gripping robot can move to support the lower middle section of the screwdriver bar, thereby providing radial reinforcement and preventing bending deformation during the screwdriver bar's twisting operation, thus extending the screwdriver bar's service life.

[0026] Of course, the lower end of the wrench bar is in the clamping position of the clamping robot, which can ensure that the axis of the clamped fastener can coincide with the axis of the wrench bar, so that the wrench bar can be smoothly inserted into the tool mating groove at the end of the fastener cap.

[0027] The single fastener ejection assembly allows fasteners to be ejected one by one, making production orderly; secondly, it allows the fasteners output from the conveyor track to change position, so as to avoid obstacles when picking up industrial robots. At the same time, it also allows industrial robots to pick up fasteners at a uniform height. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the fastener locking device provided by the present invention.

[0029] Figure 2 This is a partial structural diagram of the fastener fastening device provided by the present invention.

[0030] Figure 3 This is a partial structural diagram of the fastener fastening device provided by the present invention.

[0031] Figure 4 yes Figure 3 Enlarged structural diagram at point A in the middle.

[0032] Figure 5 This is a schematic diagram of the three-dimensional structure of the production line provided by the present invention.

[0033] Figure 6 This is a top view schematic diagram of the production line structure provided by the present invention.

[0034] Figure 7 yes Figure 2 Enlarged structural diagram at point B.

[0035] In the diagram, fastener J, workpiece G, industrial robot 1, frame 10, workpiece positioning fixture 11, lifting mechanical cantilever 2, rotary driver 20, biting rod 21, transmission guide pair 22, extension arm 23, limiting arm 24, vertical elastic component 3, lifting floating block 30, vertical guide rail pair 31, vertical spring 32, guide column 33, clamping robot 4, mechanical claw 40, main body block 41, lifting drive block 42, lifting driver 43, biting rod through hole 44, vibratory plate 5, conveying track 50, single fastener output component 6, single fastener receiving position 60, fixed seat 61, guide groove 610, guide groove 611, moving seat 62, translation driver 63, cover plate 64, detection sensor 640, movement stroke detection sensor group 65, transfer device 7, and workpiece storage device 8. Detailed Implementation

[0036] The following are specific embodiments of the invention, which are described in conjunction with the accompanying drawings. The technical solution of the invention will be further described, but the invention is not limited to these embodiments.

[0037] The fasteners are T-screws or T-bolts.

[0038] Example 1

[0039] like Figure 1 and Figure 5 As shown, this fastener fastening device includes a frame 10, a vibratory feeder 5, a conveyor track 50, a single fastener ejection assembly 6, and an industrial robot 1.

[0040] A vibratory feeder 5 is provided on the frame 10. The vibratory feeder 5 adopts the principle of spiral feeding and sequential discharge, which is existing technology.

[0041] Secondly, such as Figure 1 and Figures 3-4 As shown, the feed end of the conveyor track 50 is connected to the vibratory feeder 5. The conveyor track 50 is a T-shaped conveying channel to allow fasteners to be arranged and suspended on the conveyor track 50. The conveyor track 50 is horizontally positioned, and a single fastener guide assembly 6 is connected to the discharge end of the conveyor track 50. The single fastener receiving position 60 of the single fastener guide assembly 6 is connected to the discharge end of the conveyor track 50, and the conveying direction of the single fastener guide assembly 6 is different from that of the conveyor track 50. For example, the conveying direction of the single fastener guide assembly 6 is perpendicular to the conveying direction of the conveyor track 50. The single fastener receiving position 60 can only accommodate the threaded section of the fastener J and cannot accommodate the cap end.

[0042] The function of the single fastener output component 6 is to enable fasteners J to be output one by one, so as to make the production orderly; secondly, to enable the fasteners J output from the conveyor track 50 to change position, so as to avoid the industrial robot 1; at the same time, it can also enable the industrial robot 1 to obtain fasteners J at a uniform height position.

[0043] Specifically, such as Figures 3-4 As shown, the single fastener delivery assembly 6 of this embodiment includes a fixed base 61 with a guide groove 610. The fixed base 61 is provided with a guide groove 611 that connects the guide groove 610 and the discharge end of the conveying track 50. A movable base 62 is slidably connected in the guide groove 610. A single fastener receiving position 60 is provided on the side surface of the movable base 62. When the single fastener receiving position 60 and the guide groove 611 are connected, the fastener J can enter the single fastener receiving position 60 from the guide groove 611. At this time, the fastener J moves in the Y-axis. The movable base 62 translates and drives the fastener J to move, that is, the fastener J moves in the X-axis.

[0044] Secondly, the top surfaces of both the fixed base 61 and the movable base 62 are flat and form a large plane, on which the lower surface of the cap end of the fastener J rests. In other words, the top surfaces of the fixed base 61 and the movable base 62 are flush, and the large plane formed can provide a unified reference for the cap end of the fastener J, as well as a reference for the gripping robot 4 when it picks up the fastener J, ensuring consistent height and position of the gripping robot 4 when picking up the fastener J.

[0045] The movable seat 62 is connected to the translation driver 63, which is powered by a cylinder, hydraulic cylinder, linear motor, or other similar device.

[0046] Additionally, a cover plate 64 is provided on the top surface of the fixed base 61 to close at least a portion of the opening of the guide groove 610. A detection sensor 640 is provided on the cover plate 64, with the detection end of the detection sensor 640 located above and to the side of the single fastener receiving position 60. The detection sensor 640 is used to detect whether there is a fastener J in the single fastener receiving position 60. If there is a fastener J, the translation driver 63 then drives the moving base 62 to move relative to the fixed base 61.

[0047] The cover plate 64 ensures the stability of the movement of the movable seat 62 relative to the fixed seat 61. Meanwhile, the movable seat 62 in this embodiment has a U-shaped structure, and the two opposite sides of the movable seat 62 form a limit for the maximum movement stroke. A movement stroke detection sensor group 65 is provided between the two opposite sides of the movable seat 62 and the fixed seat 61 to control the precise displacement of the movable seat 62.

[0048] Industrial robot 1 is used to acquire fastener J and tighten fastener J onto workpiece G. Industrial robot 1 is a multi-axis motion prior art.

[0049] Preferred solutions, such as Figure 2 and Figure 7 As shown, the lifting mechanical arm 2 of the industrial robot 1 is connected to a gripping manipulator 4 capable of clamping the cap end of the fastener J via a vertical elastic component 3. The lifting mechanical arm 2 is connected to a lifting drive cylinder 25. Specifically, the vertical elastic component 3 includes a lifting floating block 30 that moves linearly in the vertical direction and is located below the lifting mechanical arm 2. The lifting floating block 30 is connected to the lifting mechanical arm 2 via a vertical guide rail pair 31. A vertical spring 32 is provided between the top of the lifting floating block 30 and the lifting mechanical arm 2. The vertical spring 32 provides a damping force in the vertical direction (referring to the Z-axis), so that the fastener J has a certain elastic buffer after contacting the threaded hole, preventing damage to the threads of the fastener J. At the same time, the released force provides the fastener J with sufficient adjustment time to accurately align with the threaded hole.

[0050] Secondly, a limiting arm 24 is provided on the lifting mechanical cantilever 2 at the lower end of the vertical guide rail pair 31. There are two vertical springs 32 that are parallel to each other, and a guide post 33 is inserted into each vertical spring 32. The guide post 33 is in sliding engagement with the lifting mechanical cantilever 2 or the lifting floating block 30 in the vertical direction. For example, the upper end of the guide post 33 is fixedly connected to the lifting mechanical cantilever 2, while the lower end of the guide post 33 is in sliding engagement with the lifting floating block 30.

[0051] A rotary drive 20, such as an electric screwdriver, is provided on the lifting mechanical cantilever 2. A screwdriver bar 21 is connected to the upper end of the rotary drive 20. The lower end of the screwdriver bar 21 extends into the clamping position of the clamping robot 4, and the screwdriver bar 21 and the clamping robot 4 are linearly slidingly engaged in the vertical direction. When the clamping robot 4 descends to obtain the fastener J, the screwdriver bar 21 provides a vertical guide for the clamping robot 4. When the screwdriver bar 21 is inserted into the tool groove at the cap end, the clamping robot 4 provides a vertical guide for the screwdriver bar 21.

[0052] When the biting bar 21 is rotating, the gripping robot 4 can move to support the lower middle section of the biting bar 21 to form radial reinforcement of the biting bar 21, prevent bending deformation of the biting bar 21 during the twisting operation, and extend the service life of the biting bar 21.

[0053] Of course, in this embodiment, the lower end of the bit rod 21 is in the clamping position of the clamping robot 4, which can ensure that the axis of the clamped fastener J can coincide with the axis of the bit rod 21, so that the bit rod 21 can be smoothly inserted into the tool mating groove at the end of the fastener J cap.

[0054] Specifically, the gripping manipulator 4 in this embodiment includes a mechanical claw 40, which is formed by two claws, each of which is two segments hinged to each other, a main body block 41 fixedly connected to the vertical elastic component 3, and a lifting drive block 42 that is linearly slidably engaged with the main body block 41 in the vertical direction. The lifting drive block 42 is connected to a lifting driver 43, which is a cylinder or hydraulic cylinder, etc. At least a portion of the mechanical claw 40 is hinged to the main body block 41, and at least a portion of the remaining portion of the mechanical claw 40 is hinged to the lifting drive block 42.

[0055] The downward drive of the lifting driver 43 can enable the mechanical gripper 40 to pick up the fastener J, and conversely, it can release the fastener J.

[0056] Secondly, coaxial through holes 44 for the bit screwdriver 21 are provided on the lifting drive block 42 and the main body block 41, with the lower end of the bit screwdriver 21 passing through the through holes 44. The through holes 44 serve to constrain and guide the bit screwdriver 21.

[0057] The rotary actuator 20 and the vertical elastic component 3 are staggered in their projections onto a plane perpendicular to the vertical direction. This staggered distribution makes the overall structure more compact. Furthermore, combined with the rational layout of the lifting mechanical cantilever 2, it prevents interference during the lifting and lowering movement of the overall gripping manipulator 4. The lifting actuator 43 is connected to the lifting drive block 42 via the transmission guide pair 22, and the lifting actuator 43 and the rotary actuator 20 are spaced apart. This spaced distribution of the lifting actuator 43 and the rotary actuator 20 facilitates the disassembly and maintenance of the power unit.

[0058] In addition, the transmission guide pair 22 has two extension arms 23, the suspended ends of which are connected to the lifting drive block 42, and the two extension arms 23 are symmetrically distributed along the axis of the through hole 44 of the wrench rod on the lifting drive block 42. From the perspective of force stability, the two extension arms 23 and the wrench rod 21 form a triangular distribution, which can restrain each other and provide a stable guarantee for lifting.

[0059] like Figures 1-4 As shown, the fastener fastening method or working principle includes the following steps:

[0060] S1. Picking up material: The industrial robot 1 causes the gripping manipulator 4 on the lifting mechanical arm 2 to pick up the cap end of the fastener J to be tightened and locked at the set picking position, and causes the fastener J to be transferred to the position directly above the threaded hole on the workpiece G.

[0061] S2, Correction, the lifting mechanical arm 2 in S1 descends vertically, so that the fastener J is pre-aligned with the threaded hole; and the lifting mechanical arm 2 descends further so that at least part of the lower end of the fastener J contacts the threaded hole, the lifting mechanical arm 2 descends so that the vertical elastic component 3 is elastically compressed in the vertical direction and when the vertical elastic component 3 is elastically compressed to the set compression position, the clamping robot 4 cancels the clamping of the cap end of the fastener J.

[0062] S3. When the vertical elastic component 3 in S2 is elastically compressed to the set compression position, the lower end of the bit 21, which is linearly sliding with the clamping robot 4 in the vertical direction, is inserted into the tool fitting groove at the cap end. The rotary driver 20 is started and the bit 21 is driven to rotate. Under the further descent drive of the lifting mechanical arm 2, the fastener J is tightened and locked to the threaded hole of the workpiece G.

[0063] When the vertical elastic component 3 is elastically compressed to the set compression position, it can be detected by a pressure sensor.

[0064] The lifting mechanical cantilever 2 in S4 and S3 is reset and S1-S3 are repeated.

[0065] Prior to S1 mentioned above, there is also vibratory feeding, specifically:

[0066] The vibration of the vibratory feeder 5 causes the fasteners to be output from the conveyor rail 50 in the single fastener output assembly 6 according to the set orientation.

[0067] Example 2

[0068] like Figures 5-6 As shown, this embodiment provides a fastener fastening production line, which includes the fastener fastening device of Embodiment 1, as well as a transfer device 7 and a workpiece storage device 8 located next to the fastener fastening device. The transfer device 7 is an industrial robot, which uses internal expansion clamps and other methods to pick up the workpiece G on the workpiece storage device 8 and transfer it to the workpiece positioning fixture 11 on the frame 10.

[0069] The fastener fastening device in Embodiment 1 performs the above-described steps S1-S4.

[0070] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A fastener fastening device, comprising an industrial robot (1) for acquiring a fastener (J) and tightening said fastener (J) onto a workpiece (G), characterized in that, The lifting mechanical arm (2) of the industrial robot (1) is connected to a clamping manipulator (4) that can clamp the cap end of the fastener (J) via a vertical elastic component (3). A rotary driver (20) is provided on the lifting mechanical arm (2), and a wrench (21) with its upper end connected to the rotary driver (20). The lower end of the wrench (21) extends into the clamping position of the clamping manipulator (4), and the wrench (21) and the clamping manipulator (4) slide linearly in the vertical direction. The gripping manipulator (4) includes a mechanical gripper (40) and a main body block (41) fixedly connected to the vertical elastic component (3), and a lifting drive block (42) linearly sliding with the main body block (41) in the vertical direction. The lifting drive block (42) is connected to a lifting driver (43). At least a portion of the mechanical gripper (40) is hinged to the main body block (41), and at least a portion of the remaining portion of the mechanical gripper (40) is hinged to the lifting drive block (42). The lifting drive block (42) and the main body block (41) are respectively provided with coaxial through holes (44) for the bit rod, and the bit rod (21) passes through the bit rod through hole (44); The projections of the rotary driver (20) and the vertical elastic component (3) on a plane perpendicular to the vertical direction are staggered. The lifting driver (43) is connected to the lifting drive block (42) through a transmission guide pair (22), and the lifting driver (43) and the rotary driver (20) are spaced apart. The vertical elastic component (3) includes a lifting floating block (30) that moves linearly in the vertical direction and is located below the lifting mechanical arm (2). The lifting floating block (30) is connected to the lifting mechanical arm (2) via a vertical guide rail pair (31). A vertical spring (32) is provided between the top of the lifting floating block (30) and the lifting mechanical arm (2).

2. The fastener locking device according to claim 1, characterized in that, The transmission guide pair (22) has two extension arms (23), the suspended ends of the extension arms (23) are connected to the lifting drive block (42), and the two extension arms (23) are symmetrically distributed around the axis of the through hole (44) of the squeegee provided on the lifting drive block (42).

3. The fastener locking device according to claim 1, characterized in that, The lifting mechanical arm (2) is provided with a limiting arm (24) located at the lower end of the vertical guide rail pair (31). There are two vertical springs (32) that are parallel to each other. A guide post (33) is inserted into each of the vertical springs (32). The guide post (33) slides in the vertical direction with the lifting mechanical arm (2) or the lifting floating block (30).

4. The fastener locking device according to claim 1, characterized in that, The fastener fastening device further includes a frame (10), on which a vibratory feeder (5), a conveying track (50) connected to the vibratory feeder (5), and a single fastener delivery assembly (6) connected to the discharge end of the conveying track (50) are provided. The single fastener receiving position (60) of the single fastener delivery assembly (6) is connected to the discharge end of the conveying track (50), and the conveying direction of the single fastener delivery assembly (6) is different from the conveying direction of the conveying track (50).

5. The fastener fastening method of the fastener fastening device according to any one of claims 1-4, characterized in that, The fastener fastening method includes the following steps: S1. Picking up materials: The industrial robot (1) causes the gripping manipulator (4) on the lifting mechanical arm (2) to pick up the cap end of the fastener (J) to be tightened and locked at the set picking position, and causes the fastener (J) to be transferred to the position directly above the threaded hole on the workpiece (G). S2, Correction, the lifting mechanical arm (2) in S1 descends vertically, so that the fastener (J) is pre-aligned with the threaded hole; and the lifting mechanical arm (2) descends further so that at least part of the lower end of the fastener (J) contacts the threaded hole, the lifting mechanical arm (2) descends so that the vertical elastic component (3) is elastically compressed in the vertical direction and when the vertical elastic component (3) is elastically compressed to a set compression position, the clamping manipulator (4) cancels the clamping of the cap end of the fastener (J); S3. When the vertical elastic component (3) in S2 is elastically compressed to the set compression position, the lower end of the wrench bar (21) which is linearly sliding with the clamping manipulator (4) in the vertical direction is inserted into the tool fitting groove of the cap end. The rotary driver (20) is started and the wrench bar (21) is driven to rotate. Under the further descent drive of the lifting mechanical arm (2), the fastener (J) is tightened and locked to the threaded hole of the workpiece (G). S4, the lifting mechanical cantilever (2) in S3 is reset and S1-S3 is repeated.

6. A fastener fastening production line, characterized in that, The fastener fastening production line includes the fastener fastening device according to any one of claims 1-4, and a transfer device (7) and a workpiece storage device (8) located next to the fastener fastening device.

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