Automatic hardware fastening device

Abstract

The invention comprises: a base frame, a sleeve, a circular magazine and a retainer guide actuator, the sleeve being able to be raised / lowered relative to the base frame; the circular material box can rotate relative to the basic frame, and a plurality of hardware pieces to be inserted into the sleeve are arranged in the circular material box in a circle; the retainer guide actuator can be switched between a state in which the displacement of the circular magazine retainer is limited and a state in which the sleeve passes through at the upper side of the sleeve.

Description

Technical Field

[0001] The present invention relates to devices configured to automatically tighten hardware such as bolts or nuts. Background Art

[0002] On automobile assembly lines, hardware such as bolts, nuts, and clips are used to fasten various components.

[0003] The tightening of hardware as described above is a simple and repetitive task that it is desirable that would be automated to reduce human error and labor costs.

[0004] Furthermore, during the automated hardware tightening process, errors may occur such as hardware not being tightened properly, and it would be desirable if these errors could be automatically corrected.

[0005] As a related art to the above description, KR10-2021-0061131A is disclosed.

[0006] The description provided above as a related art of the present invention is only for helping understanding of the background art of the present invention and should not be construed as being included in the related art known by those skilled in the art. Summary of the invention

[0007] Technical issues

[0008] An object of the present invention is to provide an automatic hardware fastening device, which is configured to perform automatic fastening of various hardware such as bolts and nuts, thereby accurately fastening a piece of hardware to a sleeve to reduce fastening errors and improve the normal installation rate, thereby reducing the occurrence of fastening operation errors, and when an error occurs during the automatic fastening of hardware, automatically solving the problem so that subsequent fastening operations can continue, thereby improving productivity while improving the process operation rate.

[0009] Technical Solution

[0010] In order to achieve the above object, an automatic hardware fastening device is provided, comprising:

[0011] Basic framework;

[0012] a sleeve configured to be raised and lowered relative to the base frame; and

[0013] A circular magazine is configured to be rotatable relative to the base frame, and a plurality of hardware pieces to be inserted into the sleeve can be mounted in a circle in the circular magazine.

[0014] The circular magazine may be arranged to be slidable relative to the base frame, so that at least one of the installed multiple hardware parts may be located on the upper portion of the sleeve.

[0015] The circular magazine may be arranged to be slidable relative to the base frame so that at least one of the plurality of pieces of hardware mounted thereon may be removed from the upper portion of the sleeve.

[0016] The automatic hardware fastening device may include: a retainer guide actuator configured to switch between a state in which the displacement of the retainer of the circular magazine is restricted at the upper space of the sleeve and a state in which the sleeve passes therethrough.

[0017] Round magazines can include:

[0018] disc;

[0019] The holder has a placement portion with a magnet for fixing hardware, the placement portion is open to the outer space of the disc, and the holder is elastically supported by the disc so that the placement portion can rotate upward relative to the disc.

[0020] The circular magazine may be configured to be linearly slidable relative to the base frame such that hardware engaged to the seating portion of the retainer may be located between the sleeve and the retainer guide actuator.

[0021] The automatic hardware fastening device may include: a sliding plate configured to be linearly slidable relative to a base frame;

[0022] a slide actuator configured to enable the slide plate to slide linearly; and

[0023] A rotary actuator is configured to rotate the circular magazine relative to the slide plate.

[0024] The disc of the circular magazine may have a mounting hole at a central portion thereof for attachment to or removal from the rotary actuator.

[0025] The base frame may include a separation block formed for passing an upper end of the sleeve therethrough and configured to separate the hardware of the sleeve from the sleeve when the sleeve is lowered and pressed.

[0026] The retainer guide actuator may be arranged above the separation block, and the retainer of the circular magazine is located between the retainer guide actuator and the separation block;

[0027] The finger of the retainer guide actuator is arranged at a predetermined interval from the upper surface of the retainer.

[0028] The seating portion of the retainer may be formed with an opening portion that is open toward the outer space of the disk so that the threaded portion of the bolt may pass through the opening portion;

[0029] The two fingers of the retainer guide actuator may include finger grooves to cover the threaded portion of the bolt seated in the seating portion of the retainer.

[0030] The magnet of the holder may include a plurality of magnets arranged around a curved portion of the opening.

[0031] The sleeve may be connected to a torque supply actuator that applies torque for fastening the hardware;

[0032] The lift actuator may be configured to raise and lower the torque supply actuator and sleeve relative to the base frame;

[0033] The base frame can be connected to the robot;

[0034] A controller may be provided, wherein when an error is determined that hardware may be left in the socket based on operation information of the torque supply actuator and the socket when the hardware is fastened, the controller may control the robot to remove the hardware left in the socket.

[0035] The controller may be configured to compare a maximum torque or a maximum rotation angle when the torque supply actuator tightens the hardware with a predetermined reference torque or a predetermined reference angle to determine an error.

[0036] When the maximum torque is less than or greater than a predetermined reference torque range centered on the reference torque, the controller may determine that an error in which a hardware component is left in the socket has occurred.

[0037] When the maximum rotation angle is less than or greater than a predetermined reference angle range centered on the reference angle, the controller may determine that an error has occurred in which a hardware component is left in the sleeve.

[0038] When the controller determines that

[0039] The error identified was when the hardware was assumed to be left in the socket.

[0040] The controller can drive the lifting actuator so that the upper end of the sleeve can be pressed into the separation block to separate the hardware from the sleeve;

[0041] The controller may drive the robot to have a posture that enables the hardware between the separation block and the retainer guide actuator to fall freely.

[0042] The controller can be configured to repeat the following sequence of processes:

[0043] raising the sleeve via a lift actuator to engage hardware disposed on the retainer to the sleeve;

[0044] driving the slide actuator to move the slide plate so that the circular magazine between the sleeve and the retainer guide actuator is removed;

[0045] Opening the fingers of the retainer guide actuator;

[0046] raising the socket by the lifting actuator and rotating the socket by the torque supply actuator to tighten the hardware of the socket to the tightening target;

[0047] receiving operation information when the socket is tightening the hardware, and when determining that there is no error in which the hardware is assumed to be left in the socket, lowering the socket by the lifting actuator, and rotating the circular magazine by the rotating actuator to align another piece of hardware to be tightened next toward the socket;

[0048] The circular magazine is linearly moved toward the sleeve by a sliding actuator and the hardware to be subsequently fastened is positioned between the sleeve and the retainer guide actuator;

[0049] The closure keeper guides the fingers of the actuator.

[0050] In addition, in order to achieve the above-mentioned object, a method for controlling an automatic hardware fastening device can be provided, the method comprising:

[0051] While closing the fingers of the retainer guide actuator and restraining the upper portion of the retainer seating portion, raising the sleeve and engaging a piece of hardware located in the retainer seating portion to the sleeve;

[0052] The sliding plate is moved by the sliding actuator so that the circular magazine between the sleeve and the retainer guide actuator is removed;

[0053] Opening the fingers of the retainer guide actuator;

[0054] raising the socket using a lifting actuator, rotating the socket using a torque supply actuator, and tightening the hardware of the socket to a tightening target;

[0055] receiving operation information when the socket is fastened with the hardware, and when determining that an error has occurred in which the hardware is assumed to be left in the socket, driving the lifting actuator to press the socket into the separation block, thereby removing the hardware from the socket;

[0056] The robot is driven to a free-falling posture with the hardware between the separation block and the retainer guide actuator.

[0057] The method may include: after driving the robot to have a posture with the hardware falling freely, restoring the posture of the robot to a previous posture;

[0058] Rotating the circular magazine by rotating the actuator and aligning the other piece of hardware to be fastened toward the sleeve;

[0059] The circular magazine is linearly moved toward the sleeve by a sliding actuator and the hardware to be fastened is positioned between the sleeve and the retainer guide actuator;

[0060] While closing the fingers of the retainer guide actuator and restraining the upper portion of the retainer seating portion, raising the sleeve and engaging the hardware to be fastened located in the retainer seating portion to the sleeve;

[0061] The sliding plate is moved by the sliding actuator so that the circular magazine between the sleeve and the retainer guide actuator is removed;

[0062] Opening the fingers of the retainer guide actuator;

[0063] The sleeve is raised by the lifting actuator, the sleeve is rotated by the torque supply actuator, and the hardware to be fastened of the sleeve is fastened to the fastening target.

[0064] The method may include: receiving operation information when the socket is fastened with hardware, lowering the socket by a lifting actuator when it is determined that there is no error in which the hardware is assumed to be left in the socket, and rotating the circular magazine by a rotating actuator to align the hardware to be fastened toward the socket;

[0065] The circular magazine is linearly moved toward the sleeve by a sliding actuator and the hardware to be fastened is positioned between the sleeve and the retainer guide actuator;

[0066] The closure keeper guides the fingers of the actuator.

[0067] Beneficial Effects

[0068] According to the present invention, the automatic hardware fastening device can perform automatic fastening of various hardware such as bolts and nuts, accurately fasten a piece of hardware to a sleeve to reduce fastening errors and improve the normal installation rate, thereby reducing the occurrence of fastening operation errors, and when an error occurs during the automatic fastening of hardware, automatically solve the problem so that subsequent fastening operations can continue, thereby improving productivity and improving the process operation rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 is a view showing the main configuration of the automatic hardware fastening device according to the present invention;

[0070] Figure 2 It is shown Figure 1 Detailed views of the main components;

[0071] Figure 3 is a view showing a circular magazine and a holder;

[0072] Figure 4 is a view showing a state immediately before the sleeve is engaged with the bolt mounted to the retainer;

[0073] Figure 5 The sleeve is shown from Figure 4 A view of a state in which the device is raised and engaged to a bolt;

[0074] Figure 6 The circular magazine is shown from Figure 5 The state of the view moves backward;

[0075] Figure 7 It is shown in Figure 6 A view of a state in which the circular magazine moves backward after the state of completion;

[0076] Figure 8 is a view showing a state where an error occurs and a piece of hardware is left in the socket;

[0077] Fig. 9 is a view showing a state in which a sleeve is pressed down into a separation block and a piece of hardware is removed from the sleeve;

[0078] Fig.10 The hardware removed from the sleeve is shown to be free to fall and Fig. 9 A view of a state in which the robot makes the posture of the base frame rotate 180°;

[0079] Fig.11 is a flow chart showing an embodiment of a method for controlling an automatic hardware fastening device according to the present invention. DETAILED DESCRIPTION

[0080] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or similar components are given the same reference numerals regardless of the numbers of the drawings, and description will not be repeated.

[0081] The suffixes "module" and "portion" of components used in the following description are given or mixed only in consideration of the convenience of writing the specification, and have no different meanings or functions themselves.

[0082] In the following description, if it is determined that the detailed description of the known technology related to the present invention makes the subject matter of the embodiment described in this article unclear, the detailed description is omitted. In addition, the attached drawings are provided only for easy understanding of the embodiments disclosed in the specification, the technical spirit disclosed in the specification is not limited by the attached drawings, and all embodiments, equivalent embodiments and alternative embodiments should be understood to be included in the spirit and scope of the present invention.

[0083] Terms including ordinal numbers such as "first", "second", etc. may be used to describe various components, but these components should not be construed as being limited by these terms. These terms are only used to distinguish one component from another.

[0084] It should be understood that when an element is referred to as being "connected to" or "engaged to" another element, it can be directly connected to or engaged to the other element, or connected to or engaged to the other element with other elements interposed therebetween. On the other hand, it should be understood that when an element is referred to as being "directly connected to" or "directly engaged to" another element, it can be connected to or engaged to the other element without other elements interposed therebetween.

[0085] Singular forms are intended to include plural forms unless the context clearly indicates otherwise.

[0086] It will be further understood that the terms “including” or “having” used in this specification specify the presence of stated features, steps, operations, components, parts or a combination thereof, but do not exclude the presence or addition of one or more other features, values, steps, operations, components, parts or a combination thereof.

[0087] In addition, the unit or control unit included in the names such as motor control unit (MCU), hybrid control unit (HCU), etc. is merely a widely used term for a controller used to control specific functions of a vehicle and does not mean a general functional unit.

[0088] The controller may include a communication device for communicating with other controllers or sensors to control the responsible functions, a memory for storing operating system or logic instructions and input / output information, and at least one processor for performing the determinations, calculations and decisions required to control the responsible functions.

[0089] refer to Figures 1 to 4 The implementation scheme of the automatic hardware fastening device of the present invention includes a basic frame 1, a sleeve 3 and a circular magazine 5, wherein the sleeve 3 is installed to be movable upward and downward relative to the basic frame 1; the circular magazine 5 is installed to be rotatable relative to the basic frame 1, and multiple pieces of hardware to be inserted into the sleeve 3 are installed in a circle in the circular magazine 5.

[0090] At this time, the circular magazine 5 is installed to be slidable relative to the base frame 1 so that at least one of the installed multiple hardware parts is located on the upper part of the sleeve 3.

[0091] Furthermore, the circular magazine 5 may be mounted to be slidable relative to the base frame 1 so that at least one of the mounted pieces of hardware is removed from the upper portion of the sleeve 3 .

[0092] In other words, the circular magazine 5 is arranged to be slidable relative to the base frame 1 to position a piece of hardware on the upper part of the sleeve 3 or remove it from the upper part of the sleeve 3.

[0093] Furthermore, the embodiment of the present invention includes a holder guide actuator 9 which can be switched between a state where the displacement of the holder 7 of the circular magazine 5 is restricted and a state where the sleeve 3 passes therethrough at the upper side of the sleeve 3 .

[0094] Furthermore, the circular magazine 5 comprises a disc 11 and a holder 7 having a placement portion 15 (with a magnet 13 with fixing hardware) which is open to the outside of the disc 11 and elastically supported by the disc 11 and which can be rotated upward relative to the disc 11.

[0095] In other words, the present invention is configured to engage the plurality of hardware pieces mounted to the circular magazine 5 to the sleeve 3 one by one to fasten the hardware pieces to the fastening target. When the sleeve 3 is raised toward the retainer 7 to engage with the hardware pieces, the retainer guides the finger 17 of the actuator 9 to limit the elastic upward rotation range of the placement portion 15 of the retainer 7. Accordingly, it is possible to stably maintain a posture that is conducive to the engagement of the hardware pieces with the sleeve 3, and efficiently perform the movement of the hardware pieces in a posture with less friction between the sleeve 3 and the hardware pieces, which ultimately enables the hardware pieces to be accurately and stably engaged to the sleeve 3.

[0096] For reference, in Figure 3 In the embodiment, the retainer 7 is elastically supported on the disc 11 by the spring 19. Therefore, in the free state, the placement portion 15 is kept parallel to the disc 11, so that the head of the bolt or nut held on the lower side of the placement portion 15 by magnetic force is kept in a posture that can be inserted into the sleeve by the linear approach of the sleeve 3, and when the sleeve 3 presses the retainer upward through the hardware, the retainer can be rotated upward relative to the disc 11, and the range in which the retainer 7 can be rotated upward is limited by the finger-shaped member 17 of the retainer guide actuator 9.

[0097] Therefore, when the sleeve 3 is raised and the hardware is located at the sleeve 3, the seating portion 15 can be rotated upward by the provided space, so the hardware can be effectively seated in the sleeve 3 compared to a structure in which the seating portion 15 is fixed.

[0098] The circular magazine 5 is mounted to be linearly slidable relative to the base frame 1 so that the hardware engaged to the seating portion 15 of the holder 7 is located between the sleeve 3 and the holder guide actuator 9 .

[0099] In other words, the holder 7 of the circular magazine 5 can be moved forward and backward between the sleeve 3 and the holder guide actuator 9 by means of the slide plate 21 installed to be linearly slidable relative to the base frame 1 and the slide actuator 23 installed to linearly slide the slide plate 21.

[0100] Furthermore, the circular magazine 5 is rotated by a rotary actuator 25 mounted to rotate the circular magazine 5 relative to the slide plate 21 , thereby changing the hardware between the retainer 7 and the entry sleeve 3 and the retainer guide actuator 9 .

[0101] Therefore, the circular magazine 5 can be configured so that a plurality of pieces of hardware to be fastened to a fastening target such as a vehicle are sequentially mounted to the holder 7 , and an appropriate piece of hardware can be sequentially fastened to the sleeve 3 .

[0102] For example, when multiple pieces of hardware are fastened to a fastening target in the order of bolt-bolt-nut-bolt, the multiple pieces of hardware are installed in the order of bolt-bolt-nut-bolt to the retainer 7 arranged along the circumferential direction of the circular magazine 5, and the multiple pieces of hardware are supplied to the sleeve 3 in this order by rotating the circular magazine 5, thereby enabling different types of hardware to be fastened in sequence.

[0103] Of course, the circular magazine 5 may be configured to mount and supply one type of hardware, such as bolts or nuts, to the sleeve 3 .

[0104] The disc 11 of the circular magazine 5 has a mounting hole 27 to which the rotary actuator 25 is attached or removed.

[0105] Therefore, when the hardware installed in the circular magazine 5 is used up, the used circular magazine 5 is removed from the rotary actuator 25, and a new circular magazine 5 with completed hardware installation is engaged to the rotary actuator 25 through the mounting hole 27, so that the hardware required for the sleeve 3 can be continuously supplied.

[0106] The replacement of the circular magazine 5 as described above can be performed manually or automatically.

[0107] The base frame 1 includes a separation block 29 formed to allow the upper end of the sleeve 3 to pass therethrough, and to separate the hardware of the sleeve 3 from the sleeve 3 when the sleeve 3 is lowered and pressed.

[0108] In other words, the separation block 29 has a hole 31 into which the sleeve 3 is inserted and raised and lowered. The diameter of the hole 31 is smaller than the diameter of the washer portion of the hardware placed in the sleeve 3. Therefore, when the sleeve 3 is lowered and pressed into the separation block 29, only the hardware remains on the separation block 29, thereby achieving separation between the sleeve 3 and the hardware.

[0109] Therefore, the bolt B as a kind of hardware is inseparably engaged with the flange or washer having a diameter greater than the diameter of the bolt head. Similarly, the nut is integrated with the flange or washer having a diameter greater than the diameter of the nut.

[0110] The retainer guide actuator 9 is disposed above the separation block 29 , the retainer 7 of the circular magazine 5 is located between the retainer guide actuator 9 and the separation block 29 , and the finger 17 of the retainer guide actuator 9 is arranged to form a gap with the upper surface of the retainer 7 .

[0111] In other words, as described above, when the sleeve 3 moves toward the retainer 7 to engage with the hardware, the gap can enable the hardware to move effectively in a posture with less friction between the sleeve 3 and the hardware, prevent the hardware from changing its posture excessively, and enable the hardware to stably maintain a posture that is conducive to engaging with the sleeve 3. The gap can be designed through multiple experiments and analysis.

[0112] In this embodiment, the seating portion 15 of the retainer 7 is formed as an open portion open to the outside of the disc 11, for the threaded portion of the bolt B to pass through it; a finger-shaped member groove 33 is formed in the two fingers 17 of the retainer guide actuator 9 to cover the threaded portion of the bolt B seated in the seating portion 15 of the retainer 7.

[0113] Furthermore, the magnet 13 of the holder 7 includes a plurality of magnets arranged around the bent portion of the opening.

[0114] Therefore, before the sleeve 3 is engaged with the bolt B mounted to the retainer 7, as shown in FIG. Figure 4 As shown, the head of the bolt B is brought into close contact with the lower portion of the seating portion 15 by magnetic force, and the threaded portion of the bolt B passes through the seating portion 15 and is located in the finger groove 33 .

[0115] For reference, in Figure 4 In the sleeve 3, Figure 4 The status of hardware such as Figure 5 As shown, the finger-shaped member groove 33 is inserted into the circular magazine 5. Figure 6 As shown, the actuator 23 is moved (backward). Figure 7 As shown, the circular magazine 5 is completely spaced apart from the sleeve 3 and the retainer guide actuator 9. Thereafter, the sleeve 3 is raised to the fastening target and rotated so that the hardware of the sleeve 3 is fastened to the fastening target.

[0116] Next, in order to fasten another piece of hardware to the sleeve 3, the sleeve 3 is lowered, the circular magazine 5 is rotated by the rotary actuator 25, and the new piece of hardware is aligned to face the sleeve 3. Then, the sliding actuator 23 is driven to enable the new piece of hardware mounted to the holder 7 of the circular magazine 5 to enter (move forward) between the sleeve 3 and the holder guide actuator 9, and then the sleeve 3 is raised and the new piece of hardware is engaged to the sleeve 3.

[0117] For reference, the retainer guide actuator 9 is configured to switch between an open state in which the two fingers 17 are open to each other and a closed state in which the two fingers 17 are closed to each other. In the embodiment, in the closed state of the two fingers 17, the relative upper part of the open portion of the retainer 7 is restricted by the two fingers, and in the open state, the sleeve 3 can pass through the gap between the two fingers.

[0118] The sleeve 3 is connected to a torque supply actuator 35 which applies torque for fastening the hardware; a lifting actuator 37 is mounted to raise and lower the torque supply actuator 35 and the sleeve 3 relative to the base frame 1; and the base frame 1 is connected to a robot 39.

[0119] Therefore, the base frame 1 can have a free spatial position and posture by the robot 39. When the robot 39 positions the base frame 1 below the fastening target, the lifting actuator 37 lifts the sleeve 3 so that the hardware is engaged to the sleeve 3. Then, when the lifting actuator 37 additionally lifts the sleeve 3, the hardware of the sleeve 3 is moved to the fastening position of the fastening target, and then when the torque supply actuator 35 rotates the sleeve 3, the hardware is fastened to the fastening position of the fastening target.

[0120] At the same time, an embodiment of the present invention includes a controller 41, which determines an error that hardware may be left in the sleeve 3 based on the operation information of the torque supply actuator 35 and the sleeve 3 when tightening the hardware, and the controller 41 controls the robot 39 to remove the hardware left in the sleeve 3.

[0121] The controller 41 may be configured to compare the maximum torque or the maximum rotation angle of the torque supply actuator 35 when tightening the hardware with a predetermined reference torque or a predetermined reference angle, respectively, to determine an error.

[0122] For example, when the maximum torque is less than or greater than a predetermined reference torque range centered on the reference torque, the controller 41 may determine that an error of hardware being left in the sleeve 3 has occurred.

[0123] At this time, the reference torque can be preset to the conventional torque designed to tighten the hardware to the tightening target, and the reference torque range can be preset to a range that is substantially greater than or less than the reference torque, making it difficult to determine that the hardware is normally tightened to the tightening target and being able to identify situations where the hardware is likely to be left in the sleeve 3.

[0124] For example, when the normal torque for fastening a piece of hardware to the fastening target is preset to be 5Nm, the reference torque is 5Nm, and the reference torque range can be preset to be a range from 2Nm to 8Nm. In this case, when the maximum torque when the torque supply actuator 35 fastens the hardware is less than 2Nm or greater than 8Nm, the controller can determine that an error of the hardware being left in the sleeve 3 has occurred.

[0125] In addition, when the maximum rotation angle is smaller than or larger than a predetermined reference angle range centered on the reference angle, the controller 41 may determine that an error of hardware being left in the sleeve 3 has occurred.

[0126] At this time, the reference angle may be preset as a conventional rotation angle designed to be applied when fastening the hardware, and the reference angle range may be preset as an angle range substantially larger or smaller than the reference angle, making it difficult to determine that the hardware is fastened normally to the fastening target and being able to identify that the hardware is likely to be left in the sleeve 3.

[0127] For example, when the conventional rotation angle for fastening the hardware to the fastening target is preset to be 1000°, the reference angle is 1000°, and the reference angle range can be preset to be a range from 500° to 1500°. In this case, when the maximum rotation angle when the torque supply actuator 35 fastens the hardware is less than 500° or greater than 1500°, the controller can determine that an error of the hardware being left in the sleeve 3 has occurred.

[0128] The controller 41 determines that an error has occurred in which the hardware is assumed to be left in the sleeve 3, and the controller 41 drives the lifting actuator 37 so that the upper end of the sleeve 3 is lifted from the upper end. Figure 8 The state is pressed into the separation block 29 and becomes Fig. 9 state, so that the hardware is separated from the sleeve 3; Fig.10 As shown, the driving robot 39 is in a posture where the hardware between the separation block 29 and the retainer guide actuator 9 is in free fall.

[0129] At this time, the posture of the basic frame 1 in which the hardware can fall freely can be (for example, Fig.10 shown) is the same as Fig. 9Compared with the state of rotating 180°. However, the present invention is not necessarily limited to this, but can be a variety of postures. Therefore, in order to ensure the removal of the hardware located above the separation block 29, the base frame 1 can be rotated 90°, rotated to 200°, and then rotated 90°.

[0130] The controller 41 is configured to raise the sleeve 3 through the lifting actuator 37 to engage the sleeve 3 to the hardware placed in the retainer 7; drive the sliding actuator 23 to move the sliding plate 21 so that the circular magazine 5 is removed from the sleeve 3 and the retainer guide actuator 9; open the finger 17 of the retainer guide actuator 9; then raise the sleeve 3 through the lifting actuator 37, and rotate the sleeve 3 through the torque supply actuator 35 to fasten the hardware of the sleeve 3 to the fastening target.

[0131] In addition, the controller 41 is configured to receive operation information when the sleeve 3 is tightening the hardware, and when it is determined that there is no error in which the hardware is assumed to be left in the sleeve 3, the sleeve 3 is lowered by the lifting actuator 37, and the circular magazine 5 is rotated by the rotary actuator 25 to align the new piece of hardware to be tightened toward the sleeve 3; the circular magazine 5 is linearly moved toward the sleeve 3 by the sliding actuator 23 to position the new hardware to be tightened between the sleeve 3 and the retainer guide actuator 9; the finger 17 of the retainer guide actuator 9 is closed, and the controller is configured to repeat a series of processes.

[0132] The operation of the controller 41 as described above may be as follows Fig.11 Configure as shown in the flowchart.

[0133] According to the present invention, the method for controlling an automatic hardware fastening device comprises: at S10, Fig.11 As shown, when the finger 17 of the retainer guide actuator 9 is closed to limit the upper side of the placement portion 15 of the retainer 7, the sleeve 3 is raised so that the hardware located at the placement portion 15 of the retainer 7 is engaged with the sleeve 3; in S20, the sliding plate 21 is moved by the sliding actuator 23 so that the circular magazine 5 is removed between the sleeve 3 and the retainer guide actuator 9; in S30, the finger 17 of the retainer guide actuator 9 is opened; in S40, the sleeve 3 is raised by the lifting actuator 37 and rotates the sleeve 3 through the torque supply actuator 35 so that the hardware of the sleeve 3 is fastened to the fastening target; at S50, the operation information when the sleeve 3 fastens the hardware is received, and when it is determined that an error has occurred in which the hardware is left in the sleeve 3, the lifting actuator 37 is driven to press the sleeve 3 into the separation block 29 and separate the hardware from the sleeve 3; at S60, the driving robot 39 is in a posture in which the hardware between the separation block 29 and the retainer guide actuator 9 can fall freely.

[0134] In addition, the control method further includes: after S60 (driving the robot 39 to have a posture in which the hardware can fall freely), at S70, the posture of the robot 39 is restored to the previous posture; at S80, the circular magazine 5 is rotated by the rotary actuator 25 to align the new piece of hardware to be fastened toward the sleeve 3; at S90, the circular magazine 5 is linearly moved toward the sleeve 3 by the sliding actuator 23, and the new piece of hardware to be fastened is positioned between the sleeve 3 and the retainer guide actuator 9; when the finger 17 of the retainer guide actuator 9 is closed to When limiting the upper side of the placement portion 15 of the retainer 7, at S100, the sleeve 3 is raised to engage the new hardware located at the placement portion 15 of the retainer 7 to the sleeve 3; at S110, the sliding plate 21 is moved by the sliding actuator 23 so that the circular magazine 5 is removed between the sleeve 3 and the retainer guide actuator 9; at S120, the finger 17 of the retainer guide actuator 9 is opened; at S130, the sleeve 3 is raised by the lifting actuator 37, and the sleeve 3 is rotated by the torque supply actuator 35 to fasten the new hardware of the sleeve 3 to the fastening target.

[0135] At this time, in the process of fastening the newly fastened hardware to the fastening target, the hardware is not properly fastened and an error occurs that the hardware is left in the sleeve 3, the device can warn the manufacturer of the occurrence of the error and stop the operation.

[0136] In addition, the control method may further include: receiving operation information when the sleeve 3 is tightening the hardware, and when it is determined that there is no error that the hardware will be left in the sleeve 3, at S140, lowering the sleeve 3 by the lifting actuator 37, and rotating the circular magazine 5 by the rotating actuator 25 to align the next piece of hardware to be tightened toward the sleeve 3; at S150, linearly moving the circular magazine 5 toward the sleeve 3 by the sliding actuator 23, and positioning the next piece of hardware to be tightened between the sleeve 3 and the retainer guide actuator 9; at S160, closing the finger 17 of the retainer guide actuator 9.

[0137] Although the present disclosure is presented above with respect to specific embodiments shown in the drawings, it will be obvious to those skilled in the art that the present disclosure may be changed and modified in various ways without departing from the scope of the invention as provided in the appended claims.

[0138] Description of reference numerals:

[0139] 1: Basic framework

[0140] 3: Sleeve

[0141] 5: Round magazine

[0142] 7: Retainer

[0143] 9: Retainer guide actuator

[0144] 11: Disc

[0145] 13: Magnet

[0146] 15: Placement

[0147] 17: Fingers

[0148] 19: Spring

[0149] 21: Sliding board

[0150] 23: Sliding actuator

[0151] 25: Rotary Actuator

[0152] 27: Mounting hole

[0153] 29: Separation Block

[0154] 31: Hole

[0155] 33: Finger groove

[0156] 35: Torque supply actuator

[0157] 37: Lifting actuator

[0158] 39: Robot

[0159] 41: Controller

[0160] B: Bolt.

Claims

1. An automatic hardware fastening device, comprising: Basic framework; a sleeve configured to be raised and lowered relative to the base frame; as well as A circular magazine is configured to be rotatable relative to the base frame, and a plurality of hardware pieces to be inserted into the sleeve are mounted in a circle in the circular magazine. The circular magazine is arranged to be slidable relative to the base frame so that at least one of the installed multiple hardware parts is located at the upper part of the sleeve.

2. The automatic hardware fastening device according to claim 1, wherein: The circular magazine is arranged to be slidable relative to the base frame so that at least one of the plurality of installed hardware pieces is removed from the upper portion of the sleeve.

3. The automatic hardware fastening device according to claim 1, further comprising: The holder guide actuator is configured to switch between a state in which the displacement of the holder of the circular magazine is restricted in the upper space of the sleeve and a state in which the sleeve passes through the holder guide actuator.

4. The automatic hardware fastening device according to claim 3, wherein: The circular magazine comprises: disc; The holder has a placement portion with a magnet for fixing hardware, the placement portion is open to the outer space of the disc, and the holder is elastically supported by the disc so that the placement portion can rotate upward relative to the disc.

5. The automatic hardware fastening device according to claim 4, wherein: The circular magazine is configured to be linearly slidable relative to the base frame such that hardware engaged to the seating portion of the retainer is located between the sleeve and the retainer guide actuator.

6. The automatic hardware fastening device according to claim 5, further comprising: a sliding plate configured to be linearly slidable relative to the base frame; a slide actuator configured to enable the slide plate to slide linearly; as well as A rotary actuator is configured to rotate the circular magazine relative to the slide plate.

7. The automatic hardware fastening device according to claim 6, wherein: The circular magazine's disc has a mounting hole at a central portion for attachment to or removal from a rotary actuator.

8. The automatic hardware fastening device according to claim 6, wherein: The base frame includes a separation block formed for passing an upper end of the sleeve therethrough and configured to separate the hardware of the sleeve from the sleeve when the sleeve is lowered and pressed.

9. The automatic hardware fastening device according to claim 8, wherein: The retainer guide actuator is arranged above the separation block, and the retainer of the circular magazine is located between the retainer guide actuator and the separation block; The finger-shaped member of the retainer guide actuator is arranged at a predetermined interval from the upper surface of the retainer.

10. The automatic hardware fastening device according to claim 9, wherein: The seating portion of the retainer is formed with an opening portion that is open toward the outer space of the disk so that the threaded portion of the bolt passes through the opening portion; The two fingers of the retainer guide actuator include finger grooves to cover the threaded portion of the bolt seated in the seating portion of the retainer.

11. The automatic hardware fastening device according to claim 10, wherein: The magnet of the holder includes a plurality of magnets arranged around a curved portion of the open portion.

12. The automatic hardware fastening device according to claim 8, wherein: The sleeve is connected to a torque supply actuator that applies torque for fastening hardware; A lift actuator is configured to raise and lower the torque supply actuator and sleeve relative to the base frame; The base frame is connected to the robot; A controller is provided, wherein, when determining that a hardware is assumed to be left in the socket by mistake based on operation information of the torque supply actuator and the socket when the hardware is fastened, the controller controls the robot to remove the hardware left in the socket.

13. The automatic hardware fastening device according to claim 12, wherein: The controller is configured to compare a maximum torque or a maximum rotation angle when the torque supply actuator tightens the hardware with a predetermined reference torque or a predetermined reference angle to determine an error.

14. The automatic hardware fastening device according to claim 12, wherein: When the maximum torque is less than or greater than a predetermined reference torque range centered on the reference torque, the controller determines that an error in which a hardware is left in the socket has occurred.

15. The automatic hardware fastening device according to claim 12, wherein: When the maximum rotation angle is less than or greater than a predetermined reference angle range centered at the reference angle, the controller determines that an error of hardware being left in the sleeve has occurred.

16. The automatic hardware fastening device according to claim 12, wherein: When the controller determines that the determined error is that the hardware is assumed to be left in the socket, The controller drives the lifting actuator so that the upper end of the sleeve is pressed into the separation block to separate the hardware from the sleeve; The controller drives the robot to have a posture that enables the hardware between the separation block and the holder guide actuator to fall freely.

17. The automatic hardware fastening device according to claim 12, wherein: The controller is configured to repeat the following sequence of processes: raising the sleeve via a lift actuator to engage hardware disposed on the retainer to the sleeve; driving the slide actuator to move the slide plate so that the circular magazine between the sleeve and the retainer guide actuator is removed; Opening the fingers of the retainer guide actuator; raising the socket by a lifting actuator and rotating the socket by a torque supply actuator to tighten the hardware of the socket to a tightening target; receiving operation information when the socket is tightening the hardware, and when determining that there is no error in which the hardware is assumed to be left in the socket, lowering the socket by the lifting actuator, and rotating the circular magazine by the rotating actuator to align another piece of hardware to be tightened next toward the socket; The circular magazine is linearly moved toward the sleeve by a sliding actuator and the hardware to be fastened next is positioned between the sleeve and the retainer guide actuator; The closure keeper guides the fingers of the actuator.

18. A method for controlling an automatic hardware fastening device, the method comprising: While closing the fingers of the retainer guide actuator and restraining the upper portion of the retainer seating portion, raising the sleeve and engaging a piece of hardware located in the retainer seating portion to the sleeve; The sliding plate is moved by the sliding actuator so that the circular magazine between the sleeve and the retainer guide actuator is removed; Opening the fingers of the retainer guide actuator; raising the socket using a lifting actuator, rotating the socket using a torque supply actuator, and tightening the hardware of the socket to a tightening target; receiving operation information when the socket is fastened with the hardware, and when determining that an error has occurred in which the hardware is assumed to be left in the socket, driving the lifting actuator to press the socket into the separation block, thereby removing the hardware from the socket; The robot is driven to a free-falling posture with the hardware between the separation block and the retainer guide actuator.

19. The method according to claim 18, further comprising: After driving the robot to have a posture with the hardware falling freely, restoring the posture of the robot to a previous posture; Rotate the circular magazine by rotating the actuator and align the next piece of hardware to be fastened toward the sleeve; The circular magazine is linearly moved toward the sleeve by a sliding actuator and the hardware to be fastened next is positioned between the sleeve and the retainer guide actuator; While closing the fingers of the retainer guide actuator and restraining the upper portion of the retainer seating portion, raising the sleeve and engaging the hardware to be fastened next in the retainer seating portion to the sleeve; The sliding plate is moved by the sliding actuator so that the circular magazine between the sleeve and the retainer guide actuator is removed; Opening the fingers of the retainer guide actuator; The sleeve is raised by the lifting actuator, the sleeve is rotated by the torque supply actuator, and the hardware to be fastened next of the sleeve is fastened to the fastening target.

20. The method of claim 18, further comprising: receiving operation information when the socket is tightening the hardware, and when determining that there is no error in which the hardware is assumed to be left in the socket, lowering the socket by the lifting actuator, and rotating the circular magazine by the rotating actuator to align another piece of hardware to be tightened next toward the socket; The circular magazine is linearly moved toward the sleeve by a sliding actuator and the hardware to be fastened next is positioned between the sleeve and the retainer guide actuator; The closure keeper guides the fingers of the actuator.

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