System for door assembly of vehicle

Abstract

A system for door assembly of a vehicle includes: a door hanger configured to supply a door to be joined to a vehicle body; a first alignment portion provided to the door hanger and configured to align the door to a first reference orientation preset based on a longitudinal direction of the vehicle body; and a transfer unit configured to take down the door from the door hanger and transfer the door to the vehicle body, thereby obtaining advantageous effects of automating a door assembly process and improving productivity and production efficiency.

Description

[0001] This application claims the priority and benefit of Korean Patent Application No. 10-2023-0178079, filed with the Korean Intellectual Property Office on December 8, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present invention relates to a system for assembling a vehicle door, and more particularly, to a vehicle door assembly system capable of automating and simplifying the process of assembling a door and improving productivity and production efficiency. Background Art

[0003] Generally, a vehicle is assembled through a process of assembling and welding approximately 20,000 components on a mass production line.

[0004] Recently, various attempts have been made to automate vehicle assembly processes using a robot system in order to reduce costs and improve productivity and production efficiency.

[0005] For example, various attempts have recently been made to automate the process of assembling or attaching a door to a vehicle body using a robot system.

[0006] However, in the related art, since a door has an atypical shape and structure depending on the type of vehicle to which it is to be attached, it is difficult to standardize the process of assembling or attaching a door to a vehicle body. In addition, it is necessary to change and modify the automation equipment for attaching a door to a vehicle body according to the type and structure of the door, which is very disadvantageous in terms of logistics flexibility and increases the facility investment cost.

[0007] In particular, in the related art, there is a problem in that the position accuracy of a door is reduced due to an increase and deformation of cumulative dispersion of a door hanger for supplying a door in the process of assembling a door. In addition, there is a problem in that the stability during removal and loading of a door (reduction in accuracy when assembling a door) is reduced due to deformation and cumulative dispersion, and thus it is difficult to automate the process of assembling or attaching a door to a vehicle body.

[0008] Therefore, various studies have recently been conducted to automate the process of assembling or attaching a door to a vehicle body and improve productivity and production efficiency, but the research results are still insufficient.

[0009] The statements in this background art section merely provide background information related to the present invention and do not constitute prior art. Summary of the Invention

[0010] The present invention provides a system for assembling or attaching a door to a vehicle body, which is capable of automating the process of assembling or attaching a door to a vehicle body, thereby improving productivity and production efficiency.

[0011] In particular, the present invention aims to ensure the position accuracy of the door and automate the process of assembling or attaching the door to the vehicle body even when the deformation and cumulative dispersion of the door hanger increase.

[0012] In particular, the present invention aims to optimize the orientation of door removal (e.g., gripping) and loading and improve the accuracy of assembling or attaching the door to the vehicle body even when the deformation and cumulative dispersion of the door hanger increase.

[0013] The present invention also aims to standardize and automate the process of assembling or attaching the door to the vehicle body without being limited by the type (e.g., shape) and structure of the door.

[0014] The present invention also aims to automate the process of tightening the door connector and the process of structurally attaching the door to the vehicle body.

[0015] The present invention also aims to simplify the structure and manufacturing process and improve the space utilization rate and design freedom.

[0016] The present invention also aims to shorten the time required for the process of assembling or attaching the door to the vehicle body and reduce the manufacturing cost.

[0017] The present invention also aims to prevent the door from being misassembled, reduce the defect rate, and improve the stability and reliability.

[0018] The objectives to be achieved by the embodiments are not limited to the above objectives, and also include objectives or effects that can be understood from the following technical solutions or embodiments.

[0019] To achieve the above objectives, an embodiment of the present invention provides a system for assembling a vehicle door, the system including: a door hanger configured to supply a door to be attached to the vehicle body; a first alignment unit provided on the door hanger and configured to align the door to a first reference orientation preset based on the longitudinal direction of the vehicle body; and a transfer unit configured to remove the door from the door hanger and transfer the door to the vehicle body.

[0020] This is to automate the process of assembling the door to the vehicle body and improve productivity and production efficiency.

[0021] In other words, in the related art, since the door has an atypical shape and structure according to the type of the vehicle, it is difficult to standardize the process of assembling or attaching the door to the vehicle body. In addition, it is necessary to change and modify the automated equipment according to the type and structure of the door, which is very disadvantageous in terms of logistics flexibility and facility investment cost.

[0022] In particular, in the related art, there are problems such as a decrease in the positional accuracy of the door due to an increase in the cumulative dispersion and deformation of the door hanger that supplies the door in the process of assembling the door. In addition, there is a problem that the stability during removal and loading of the door (a decrease in accuracy during door assembly) is reduced due to deformation and cumulative dispersion, making it difficult to automate the process of assembling the door.

[0023] On the contrary, in an embodiment of the present invention, the first alignment portion can be provided on the door hanger, and the door can be removed from the door hanger in a state where the door is pre-aligned to a first reference orientation through the first alignment portion, so that even if the door hanger is deformed and the cumulative dispersion increases, the positional accuracy of the door can be ensured. Therefore, the stability of door removal (clamping) and loading (improvement of door assembly accuracy) can be improved, and the process of assembling the door can be automated.

[0024] According to an embodiment of the present invention, the first alignment portion may include: a first support member configured to support a first lateral end of the door at a longitudinally preset reference position based on the longitudinal direction of the vehicle body; and a second support member configured to be movable in the longitudinal direction of the vehicle body toward or away from a second lateral end of the door and support the second lateral end of the door. When the door is pressed by the second support member, the first lateral end of the door can be aligned with the longitudinal reference position.

[0025] According to an embodiment of the present invention, the first support member and the second support member may be configured to be selectively movable upward or downward in the vertical direction.

[0026] According to an embodiment of the present invention, in a state where the door is moved by the transfer unit to a preset reference height relative to the door hanger, the first alignment portion can align the door to a first reference orientation.

[0027] According to an embodiment of the present invention, the transfer unit may include: a fixture configured to clamp the door; and a fixture transfer robot configured to transfer the fixture holding the door to the vehicle body.

[0028] According to an embodiment of the present invention, the fixture may include: a lower end clamping portion configured to support the lower end of the door; and an upper end clamping portion configured to support the upper end of the door.

[0029] According to an embodiment of the present invention, the lower end clamping portion may include a mounting block to which the lower end of the door is mounted, and the upper end clamping portion may include an adsorption member configured to adsorb the door glass of the door.

[0030] According to an embodiment of the present invention, the system may include: a second alignment portion provided on the fixture and configured to align the door to a second reference orientation preset based on the width direction of the vehicle body.

[0031] According to an embodiment of the present invention, the second alignment unit may include: a support protrusion provided on the jig and configured to support an outer surface of a lower end of the door at a width direction reference position preset based on the width direction of the vehicle body; and a pressing member configured to be movable in the width direction of the vehicle body toward or away from an inner surface of the door and press the inner surface of the lower end of the door. When the door is pressed by the pressing member, the outer surface of the lower end of the door may be aligned with the width direction reference position.

[0032] According to an embodiment of the present invention, the system may include: a connector fastening unit provided on the jig and configured to fasten a door connector provided on the door to a body connector provided on the vehicle body.

[0033] According to an embodiment of the present invention, the system may include: a connector holder provided on the door hanger and configured to support the door connector at a preset connector reference orientation, wherein the connector fastening unit is configured to remove the door connector from the connector holder and fasten the door connector to the vehicle body.

[0034] According to an embodiment of the present invention, the connector fastening unit may include: a connector jig configured to clamp the door connector; and a connector transfer unit configured to transfer the connector jig clamping the door connector from the connector holder to the body connector.

[0035] According to an embodiment of the present invention, the connector jig may include: a first clamping portion configured to support one end of the door connector; and a second clamping portion configured to be movable toward or away from the other end of the door connector and support the other end of the door connector.

[0036] According to an embodiment of the present invention, the connector jig may be provided on a base connector frame, and the connector transfer unit may include: a first cylinder configured to move the base connector frame relative to the jig in a first direction; a second cylinder configured to move the base connector frame in a second direction intersecting the first direction; and a moving cylinder configured to move the base connector frame such that the door connector is inserted into the body connector.

[0037] According to an embodiment of the present invention, the connector transfer unit includes a lifting cylinder configured to be able to move the base connector frame upward or downward in the vertical direction.

[0038] According to an embodiment of the present invention, the system may include: a locking frame provided on the base connector frame and configured to be movable upward or downward and lock a locking pin of the door connector to the body connector.

[0039] According to an embodiment of the present invention, the system may include a door fastening unit configured to fasten the door to the vehicle body.

[0040] According to an embodiment of the present invention, the door fastening unit may include: a fastening tool module configured to structurally fasten a door and a vehicle body; and a fastening tool transfer robot configured to transfer the fastening tool module corresponding to a portion where the door is fastened to the vehicle body.

[0041] According to an embodiment of the present invention, the fastening tool module may include: a base fastening frame connected to the fastening tool transfer robot; a first fastening tool disposed on the base fastening frame; a second fastening tool disposed on the base fastening frame and configured to be movable toward or away from the first fastening tool; and a third fastening tool rotatably disposed on the base fastening frame and configured to define a fastening angle different from that of the first fastening tool or the second fastening tool.

[0042] According to an embodiment of the present invention, the fastening tool module may include: a base fastening frame connected to the fastening tool transfer robot; a first fastening tool disposed on the base fastening frame; a second fastening tool disposed on the base fastening frame and configured to define the same fastening angle as the first fastening tool; a third fastening tool disposed on the base fastening frame and configured to define the same fastening angle as the first fastening tool; and a fourth fastening tool configured to be linearly movable on the base fastening frame, selectively protrude from the base fastening frame, and define a fastening angle different from that of the first fastening tool. Description of the Drawings

[0043] Figure 1 is a view showing a door assembly system for a vehicle according to an embodiment of the present invention;

[0044] Figure 2 is a view showing a first alignment part of a door assembly system for a vehicle according to an embodiment of the present invention;

[0045] Figure 3 is a view showing a second alignment part of a door assembly system for a vehicle according to an embodiment of the present invention;

[0046] Figure 4 and Figure 5 is a top view showing a jig of a door assembly system for a vehicle according to an embodiment of the present invention;

[0047] Figure 6 is a view showing a door clamping state in a door assembly system for a vehicle according to an embodiment of the present invention;

[0048] Figure 7 is a view showing a connector fastening unit of a door assembly system for a vehicle according to an embodiment of the present invention;

[0049] Figure 8It is a diagram showing a connector jig of a door assembly system for a vehicle according to an embodiment of the present invention;

[0050] Figure 9 It is a diagram showing a door connector of a door assembly system for a vehicle according to an embodiment of the present invention;

[0051] Figure 10 and Figure 11 It is a diagram showing the fastening process of a locking pin of a door assembly system for a vehicle according to an embodiment of the present invention;

[0052] Figure 12 It is a diagram showing a door fastening unit of a door assembly system for a vehicle according to an embodiment of the present invention;

[0053] Figure 13 It is a diagram showing a door tool module of a door assembly system for a vehicle according to an embodiment of the present invention;

[0054] Figure 14 and Figure 15 It is a diagram showing another embodiment of a door tool module of a door assembly system for a vehicle according to an embodiment of the present invention.

[0055] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present invention in any way. Detailed Description of the Invention

[0056] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0057] However, the gist or inventive concept of the present invention is not limited to the embodiments described herein and can be implemented in various different forms. Within the scope of the gist or inventive concept of the present invention, one or more constituent elements in the embodiments can be selectively combined and replaced.

[0058] In addition, unless otherwise specifically and clearly defined and explained, the terms (including technical and scientific terms) used to describe the embodiments of the present invention should be interpreted as having the meanings commonly understood by those skilled in the art to which the present invention pertains. The meanings of general terms, such as terms defined in a dictionary, can be interpreted by considering the context meanings of the related technologies.

[0059] In addition, the terms used in the embodiments of the present invention are for explaining the embodiments and do not limit the present invention.

[0060] In this specification, unless otherwise specifically stated, the singular form may also include the plural form. The expression "at least one (or one or more) of A, B, and C" may include one or more of all combinations formed by A, B, and C.

[0061] In addition, terms such as first, second, A, B, (a), and (b) may be used to describe the components of the embodiments of the present invention.

[0062] These terms are only intended to distinguish one component from another, and these terms do not limit the nature, sequence, or order of the components.

[0063] In addition, when one component is described as "connected", "coupled", or "attached" to another component, one component may be directly connected, coupled, or attached to another component, or may be connected, coupled, or attached to another component through yet another component interposed therebetween.

[0064] In addition, the expressions "a component is disposed or arranged above (on) or below (under) another component" include not only the case where the two components are in direct contact with each other, but also the case where one or more other components are disposed or arranged between the two components. The expressions "above (on) or below (under)" may indicate the downward direction and the upward direction with respect to one component. When a component, device, element, etc. of the present invention is described as having a purpose or performing an operation, function, etc., the component, device, or element should be considered herein as "configured to" meet the purpose or perform the operation or function.

[0065] Reference Figures 1 - 15 , a system 10 for attaching a door to a vehicle body according to an embodiment of the present invention includes: a door hanger 100 configured to supply or provide a door 30 to be attached to the vehicle body 20; a first alignment unit 110 disposed on the door hanger 100 and configured to align the door 30 in the longitudinal direction (length direction) of the vehicle body 20 to a first preset reference orientation; and a transfer unit 200 configured to remove the door 30 from the door hanger 100 and transfer the door 30 to the vehicle body 20.

[0066] As a reference, the system 10 for attaching a door to a vehicle body according to an embodiment of the present invention can be used to attach doors 30 of various types of vehicles according to required conditions and design specifications. The present invention is not limited or restricted to the type and structure of the door 30.

[0067] For example, a door assembly system 10 for a vehicle according to an embodiment of the present invention can be used in a process of assembling a vehicle in a doorless manner (i.e., in a manner of assembling vehicle components to the vehicle body in a state where the door is removed from the vehicle body or not attached to the vehicle body, and then attaching the door to the vehicle body).

[0068] For example, the process of assembling or attaching the door 30 to the vehicle body 20 may include steps of removing the door 30 from the door hanger 100 and transporting the door 30 to the vehicle body 20, fastening (attaching) the door connector 32 to the vehicle body connector 22, and structurally fastening the vehicle body 20 and the door 30 (structurally fastening the vehicle body and the door through the door hinge and the door stopper).

[0069] Reference Figure 1 and Figure 2 , the door hanger 100 is configured to supply or provide (i.e., transport) the door 30 to be attached to the vehicle body 20.

[0070] The door hanger 100 may have various structures capable of transporting the door 30. The present invention does not limit or define the type and structure of the door hanger 100.

[0071] For example, the door hanger 100 may have a frame structure that is approximately quadrilateral or square. A pair of doors 30 may be supported on the door hanger 100 in an upright state. Alternatively, only a single door 30 may be supplied or provided on the door hanger 100.

[0072] The first alignment portion 110 is provided on the door hanger 100 and is configured to align the door 30 to a first reference orientation (attitude) preset based on the longitudinal direction of the vehicle body 20 (i.e., the left / right direction with reference to Figure 1 ).

[0073] This is based on the fact that when the door hanger 100 is deformed or the cumulative dispersion of the door hanger 100 becomes large due to the increased usage frequency of the door hanger 100, it is difficult to maintain the position accuracy of the door 30, and the stability of removing the door 30 from the door hanger 100 and loading the door 30 onto the door hanger 100 is reduced (i.e., the accuracy of attaching the door to the vehicle body is reduced).

[0074] In contrast, in an embodiment of the present invention, the first alignment portion 110 is provided on the door hanger 100, and the first alignment portion 110 is used to align the door 30 to the first reference orientation, so that even if the door hanger 100 is deformed or the cumulative dispersion increases, the position accuracy of the door 30 can be ensured. Therefore, the advantageous effect of improving the stability or reliability of removing (i.e., by clamping) the door from the door hanger 100 and loading the door 30 (improving the accuracy of assembling the door) can be obtained.

[0075] In addition, according to an embodiment of the present invention, since the door 30 is aligned to a preset first reference orientation via the first alignment portion 110, the process of detecting the orientation (the position and angle of the generally clamped door) of the door 30 before removing the door 30 from the door hanger 100 and transporting the door 30 to the vehicle body 20 can be omitted. For example, the detection process that requires a camera can be omitted. Therefore, the advantageous effects of simplifying the structure and the assembly process can be obtained, thereby shortening the time required for the process of coupling the door 30 to the vehicle body 20.

[0076] The first alignment portion 110 may have various structures capable of aligning the door 30 to a first reference orientation preset based on the longitudinal direction of the vehicle body 20. The present invention does not limit or define the structure of the first alignment portion 110.

[0077] According to an embodiment of the present invention, the first alignment portion 110 may include a first support member 112 configured to support a first lateral end of the door 30 at a longitudinally reference position preset in the longitudinal direction of the vehicle body 20; and a second support member 114 configured to be movable in the longitudinal direction of the vehicle body 20 toward or away from a second lateral end of the door 30 and configured to support the second lateral end of the door 30. When the door 30 is pressed by the second support member 114, the first lateral end of the door 30 can be aligned with the longitudinally reference position.

[0078] For example, the first support member 112 may be configured to support the right end of the door 30 (refer to Figure 2 ), and the second support member 114 may be configured to support the left end of the door 30 (refer to Figure 2 ).

[0079] In particular, the first support member 112 and the second support member 114 may be made of an elastic material such as rubber or polyurethane to minimize damage to the door 30 (i.e., the risk of scratching) caused by the door 30 contacting the first support member 112 and the second support member 114.

[0080] The first support member 112 may have various structures capable of setting or defining the door 30 in the longitudinal direction of the vehicle body 20 at the longitudinally reference position. Specifically, the first support member 112 may have various structures capable of defining the setting position of the right end portion of the door at the reference position. The present invention does not limit or define the structure and shape of the first support member 112.

[0081] For example, the first support member 112 may be configured to move linearly or horizontally from a standby position spaced apart from the first lateral end (right end) of the door 30 of the first support member 112 to a support position where the first support member 112 approaches or contacts the first lateral end (right end) of the door 30. For example, the first support member 112 may be configured to move from the standby position to the support position by the driving force of a first driving source such as a pneumatic cylinder.

[0082] In addition, in the embodiments described and illustrated above for the present invention, the example is described as the first support member 112 being configured to move from the standby position to the support position. However, according to another embodiment of the present invention, the first support member may be configured to be fixed at a point adjacent to the first lateral end (right end) of the door.

[0083] The second support member 114 is configured to press the second lateral end (left end) of the door 30 such that the first lateral end (right end) of the door 30 is aligned with the longitudinal reference position. Specifically, the second support member 114 may be configured to press the door 30 such that the first lateral end of the door is in close contact with the first support member 112.

[0084] The second support member 114 may have various structures capable of pressing the second lateral end of the door 30 and moving the door 30 toward the first support member 112. The present invention does not limit or define the structure and shape of the second support member 114.

[0085] For example, the second support member 114 may be configured to move linearly or horizontally from a standby position where the second support member 114 is spaced apart from the second lateral end (left end) of the door 30 to a pressing position where the second support member 114 approaches or contacts the second lateral end (left end) of the door 30. For example, the second support member 114 may be configured to move from the standby position to the pressing position by the driving force of a second driving source such as a pneumatic cylinder.

[0086] The time points at which the first support member 112 and the second support member 114 move can be variously changed according to the required conditions and design specifications. The present invention does not limit or define the time points at which the first support member 112 and the second support member 114 move.

[0087] In particular, in a state where the first support member 112 first supports the first lateral end of the door 30, the second support member 114 may press the second lateral end of the door 30.

[0088] More specifically, the magnitude of the driving force applied to the first support member 112 may be relatively greater than the magnitude of the driving force applied to the second support member 114. Therefore, when the second support member 114 presses the second lateral end of the door 30, the first lateral end of the door 30 can be prevented from deviating from the longitudinal reference position (the first support member does not move from the support position).

[0089] According to an embodiment of the present invention, the first support member 112 and the second support member 114 may be configured to be capable of selectively moving upward or downward in the vertical direction.

[0090] For example, the first support member 112 and the second support member 114 may be configured to selectively move in the vertical direction using a drive source such as a pneumatic cylinder.

[0091] Specifically, the first alignment portion 110 may be lowered below the height position at which the door 30 enters the door hanger 100 to prevent the first alignment portion 110 (the first and second support members) from interfering with the movement route of the door 30. After the door hanger 100 reaches the working position (i.e., the position where the door is conveyed), the first alignment portion 110 may move the door upward so that the door 30 returns to the height at which the alignment of the door 30 can be performed.

[0092] According to an embodiment of the present invention, the first alignment portion 110 may be configured to align the door 30 to a first reference orientation in a state where the door 30 is moved upward (lifted) by the conveying unit 200 relative to the door hanger 100 to a preset reference height.

[0093] For example, in a state where the door 30 has been moved to the reference height, the door 30 may be set to be spaced apart from the door hanger 100 by 3 mm or more.

[0094] This is based on the fact that the position accuracy deviation of the door 30 caused by the deformation of the door hanger 100 and the increase in the cumulative dispersion of the door hanger 100 occurs not only in the longitudinal direction of the vehicle body 20 but also in the vertical direction. In an embodiment of the present invention, in a state where the door 30 is moved to be spaced apart from the door hanger 100 at a preset reference height (in a state where the door 30 is disposed at a height at which the cumulative dispersion of the door hanger can be absorbed), the door 30 is aligned in the longitudinal direction of the vehicle body 20 (aligned to the first reference orientation). Therefore, the advantageous effects of ensuring the position accuracy of the door 30 and optimizing the orientation of the door 30 when removing (clamping) and loading the door 30 can be obtained.

[0095] The conveying unit 200 is configured to remove the door 30 from the door hanger 100 and convey the door 30 to the vehicle body 20 provided on the assembly line.

[0096] The conveying unit 200 may have various structures capable of removing the door 30 from the door hanger 100 and conveying the door 30. The present invention does not limit or define the structure and operation method of the conveying unit 200.

[0097] According to an embodiment of the present invention, the conveying unit 200 may include: a fixture 210 configured to clamp or grasp the door 30; and a fixture transfer robot 220 configured to transfer the fixture 210 holding the door 30 to the vehicle body 20.

[0098] In this case, the configuration in which the fixture 210 clamps the door 30 may be defined as a configuration in which the fixture 210 holds or supports the door 30 in a state where the fixture 210 can convey or move the door 30.

[0099] The fixture 210 can hold the door 30 in various ways according to the required conditions and design specifications. The present invention is not limited or restricted to the type and structure of the fixture 210.

[0100] According to an embodiment of the present invention, the fixture 210 may include a lower clamping portion 212 configured to support the lower end of the door 30 in the vertical direction, and an upper clamping portion 214 configured to support the upper end of the door 30 in the vertical direction.

[0101] According to an embodiment of the present invention, the lower clamping portion 212 may include a mounting block 212a, to which the lower end of the door 30 is mounted.

[0102] The mounting block 212a may have various structures capable of supporting the lower end of the door 30. The present invention is not limited or restricted to the structure and shape of the mounting block 212a.

[0103] For example, the mounting block 212a may be provided in the form of an approximately square block. When the lower end of the door 30 is seated on the upper surface of the mounting block 212a, the lower end of the door 30 can be mounted on the mounting block 212a by the self-weight of the door 30.

[0104] For example, the lower clamping portion 212 may include a plurality of mounting blocks 212a provided at a preset interval from each other.

[0105] In the embodiments described and illustrated above of the present invention, it is described that the lower end of the door 30 is mounted on the lower clamping portion 212 by the weight of the door 30. However, according to another embodiment of the present invention, the lower clamping portion may press (e.g., grip) the lower end of the door or hold (support) the lower end of the door in other ways.

[0106] According to an embodiment of the present invention, the upper clamping portion 214 may include an adsorption member 214a configured to adsorb the door glass 31 of the door 30.

[0107] The adsorption member 214a may have various structures capable of being vacuum-adsorbed and bonded to the surface of the door glass 31. The present invention is not limited or restricted to the structure and number of the adsorption member 214a.

[0108] Hereinafter, it is described that the upper clamping portion 214 includes a total of two adsorption members 214a, and each adsorption member 214a is substantially circular plate-shaped.

[0109] In the embodiments described and illustrated above of the present invention, it is described that the upper clamping portion 214 supports the upper end (door glass) of the door 30 by adsorption. However, according to another embodiment of the present invention, the upper clamping portion may be configured to hold the upper end of the door by attachment, pressing, or other methods.

[0110] In addition, in the embodiments described and illustrated above for the present invention, the example was described as the upper clamping portion 214 supporting the door glass 31. However, according to another embodiment of the present invention, the upper clamping portion 214 may be configured to support the door panel or other parts of the door 30.

[0111] According to an embodiment of the present invention, the fixture 210 may include guide rollers 216 configured to support the inner surface of the door 30 when in rolling contact with the inner surface of the door 30.

[0112] For example, two guide rollers 216 may be respectively provided at the upper and lower ends of the fixture 210. The plurality of guide rollers 216 may jointly support the inner surface of the door 30.

[0113] Reference Figure 3 Referring to, according to an embodiment of the present invention, the vehicle door assembly system 10 may include a second alignment portion 230 provided on the fixture 210 and configured to align the door 30 to a preset second reference orientation in the width direction of the vehicle body 20.

[0114] This is based on the fact that the deviation of the position accuracy of the door 30 caused by the deformation of the door hanger 100 and the increase in the cumulative dispersion of the door hanger 100 occurs not only in the longitudinal direction (length direction) of the vehicle body 20 but also in the width direction (i.e., the left / right direction of the vehicle body) of the vehicle body 20, which results in poor stability or reliability when removing and loading the door 30 (e.g., poor accuracy of the combination of the door 30 and the vehicle body 20).

[0115] In contrast, in the embodiments of the present invention, the second alignment portion 230 is provided on the fixture 210, and the door 30 is aligned to the second reference orientation in the width direction of the vehicle body 20 through the second alignment portion 230, so that even if the door hanger 100 is deformed or the cumulative dispersion (cumulative dispersion in the vehicle body width direction) increases, the position accuracy of the door 30 can be ensured. Therefore, the advantageous effects of further improving the stability or reliability (improving the door assembly accuracy) when removing (e.g., clamping) and loading the door 30 can be obtained.

[0116] The second alignment portion 230 may have various structures capable of aligning the door 30 to a preset second reference orientation based on the width direction of the vehicle body 20 (referring to Figure 1 the up and down direction). The present invention does not limit or restrict the structure of the second alignment portion 230.

[0117] According to an embodiment of the present invention, the second alignment unit 230 may include a support protrusion 232, which is provided on the jig 210 and is configured to support the outer surface of the lower end of the door 30 at a width direction reference position preset based on the width direction of the vehicle body 20. Additionally or alternatively, the second alignment unit 230 may include a pressing member 234, which is configured to move in the width direction of the vehicle body 20 toward or away from the inner surface of the door 30 and is configured to press the inner surface of the lower end of the door 30. When the door 30 is pressed by the pressing member 234, the outer surface of the lower end of the door 30 may be aligned with the width direction reference position.

[0118] Specifically, the support protrusion 232 and the pressing member 234 may be made of an elastic material such as rubber and polyurethane to minimize damage (e.g., scratching) to the door 30 caused by contact with the support protrusion 232 and the pressing member 234.

[0119] The support protrusion 232 may have various structures capable of setting or defining the width direction reference position in the width direction of the vehicle body 20. The present invention is not limited or restricted to the structure and shape of the support protrusion 232.

[0120] For example, the support protrusion 232 may be integrally formed with the mounting block 212a and protrude from the upper surface of the mounting block 212a.

[0121] As a reference, in the embodiments described and illustrated above in the present invention, the example is described as the support protrusion 232 being integrally fixed to the mounting block 212a. However, according to another embodiment of the present invention, the support protrusion may be configured to move linearly or horizontally from a standby position where the support protrusion is spaced apart from the outer surface of the lower end of the door to a support position where the support protrusion is close to or in contact with the outer surface of the lower end of the door.

[0122] The pressing member 234 is configured to press the inner surface of the lower end of the door 30 so that the outer surface of the lower end of the door 30 is aligned with the width direction reference position (the outer surface of the lower end of the door is in close contact with the support protrusion 232).

[0123] The pressing member 234 may have various structures capable of pressing the inner surface of the lower end of the door 30 and moving the door 30 in a direction toward the support protrusion 232. The present invention is not limited or restricted to the structure and shape of the pressing member 234.

[0124] For example, the pressing member 234 may be configured to move linearly or horizontally from a standby position where the pressing member 234 is spaced apart from the inner surface of the lower end of the door 30 to a pressing position where the pressing member 234 is close to or in contact with the inner surface of the lower end of the door 30. For example, the pressing member 234 may be configured to move from the standby position to the pressing position by the driving force of a third driving source such as a pneumatic cylinder.

[0125] The jig transfer robot 220 is configured to transfer the jig 210 that holds the door 30 to the vehicle body 20.

[0126] A normal multi-axis robot capable of transferring the jig 210 in the X-axis direction, Y-axis direction, and Z-axis direction can be used as the jig transfer robot 220. The present invention is not limited or restricted to the type and structure of the jig transfer robot 220.

[0127] With the above structure, the door 30 supplied to the door hanger 100 can be pre-aligned to the first reference orientation and the second reference orientation by the first alignment unit 110 and the second alignment unit 230 before the door 30 is removed from the door hanger 100. The jig transfer robot 220 can remove the door 30 from the door hanger 100 and transfer the door 30 to the working position (the assembly position adjacent to the vehicle body).

[0128] Reference Figures 3 - 11 , according to an embodiment of the present invention, the vehicle door assembly system 10 may include a connector fastening unit 300, which is provided on the jig 210 and is configured to fasten the door connector 32 provided on the door 30 to the body connector 22 provided on the vehicle body 20.

[0129] The connector fastening unit 300 is configured to automatically fasten (connect) the door connector 32 (e.g., male connector) to the body connector 22 (e.g., female connector).

[0130] According to an embodiment of the present invention, the vehicle door assembly system 10 may include a connector holder 102, which is provided on the door hanger 100 and is configured to support the door connector 32 in a preset connector reference orientation. The connector fastening unit 300 can remove the door connector 32 from the connector holder 102 and fasten the door connector 32 to the vehicle body 20 (see Figure 1 and Figure 9 ).

[0131] As described above, in an embodiment of the present invention, the door connector 32 is provided on the door hanger 100 in a preset connector reference orientation by the connector holder 102. Therefore, it is possible to obtain the advantageous effects of simplifying the process of detecting the orientation of the door connector 32 to hold the door connector 32 (detecting the position and angle of the door connector to hold the door connector), and shortening the time required for the detection process.

[0132] The connector fastening unit 300 can have various structures capable of automatically fastening (connecting) the door connector 32 to the body connector 22. The present invention is not limited or restricted to the structure of the connector fastening unit 300.

[0133] According to an embodiment of the present invention, the connector fastening unit 300 may include: a connector clamp 310 configured to hold the door connector 32; and a connector transfer unit 320 configured to transfer the connector clamp 310 holding the door connector 32 from the connector holder 102 to the body connector 22.

[0134] The connector clamp 310 may have various structures capable of holding the door connector 32. The present invention does not limit or define the structure and operation method of the connector clamp 310.

[0135] Here, the configuration in which the connector clamp 310 holds the door connector 32 may be defined as a configuration in which the connector clamp 310 holds (supports) the door connector 32 in a state where the connector clamp 310 can transfer or move the door connector 32.

[0136] According to an embodiment of the present invention, the connector clamp 310 may include: a first clamping portion 314 configured to support one end of the door connector 32; and a second clamping portion 316 configured to be movable toward or away from the other end of the door connector 32 and configured to support the other end of the door connector 32.

[0137] For example, the first clamping portion 314 may be configured to support the right end of the door connector 32 (based on Figure 9 ) and the second clamping portion 316 may be configured to support the left end of the door connector 32 (based on Figure 9 ).

[0138] Specifically, the first clamping portion 314 and the second clamping portion 316 may be made of an elastic material such as rubber and polyurethane to minimize damage and sliding of the door connector 32 due to contact with the first clamping portion 314 and the second clamping portion 316.

[0139] The first clamping portion 314 and the second clamping portion 316 may each have various structures capable of supporting one end and the other end of the door connector 32. The present invention does not limit or define the structure and shape of the first clamping portion 314 and the second clamping portion 316.

[0140] For example, the first clamping portion 314 and the second clamping portion 316 may be provided on the base connector frame 312 and together form an approximate "U" shape. The door connector 32 may be held by the connector clamp 310 by being squeezed between the first clamping portion 314 and the second clamping portion 316.

[0141] For example, the second clamping portion 316 may be configured to move linearly or horizontally from a standby position spaced apart from the other end of the door connector 32 to a pressing position where the second clamping portion 316 approaches or contacts the other end of the door connector 32.

[0142] The second clamping part 316 can be configured to move from a standby position to a pressing position by the driving force of a driving source such as a pneumatic cylinder. The present invention does not limit or define the operation method of the second clamping part 316.

[0143] The connector transfer part 320 can have various structures capable of transferring the connector jig 310 in the X-axis direction, Y-axis direction, and Z-axis direction. The present invention does not limit or define the structure and operation method of the connector transfer part 320.

[0144] Specifically, the transfer path of the connector jig 310 can be appropriately changed in the X-axis direction, Y-axis direction, and Z-axis direction according to required conditions and design specifications to prevent the connector transfer part 320 from interfering with peripheral components (e.g., the door fastening unit).

[0145] According to an embodiment of the present invention, the connector transfer part 320 can include: a first cylinder 322 configured to move the base connector frame 312 relative to the jig 210 in a first direction (e.g., the X-axis direction); a second cylinder 324 configured to move the base connector frame 312 in a second direction (e.g., the Y-axis direction) intersecting the first direction; and a moving cylinder 326 configured to move the base connector frame 312 so that the door connector 32 is inserted into the body connector 22.

[0146] A general pneumatic cylinder or servo electric cylinder can be used as the first cylinder 322, the second cylinder 324, and the moving cylinder 326. The present invention does not limit or define the types and characteristics of the first cylinder 322, the second cylinder 324, and the moving cylinder 326.

[0147] According to an embodiment of the present invention, the connector transfer part 320 can include a lifting cylinder 328 configured to selectively raise or lower the base connector frame 312 in the vertical direction (e.g., the Z-axis direction).

[0148] As described above, in an embodiment of the present invention, the height of the base connector frame 312 can be changed by the lifting cylinder 328. Therefore, the clamping height (e.g., the loading height) and the fastening height of the door connector 32 can be selectively adjusted according to the type of vehicle.

[0149] Reference Figures 9 - 11 According to an embodiment of the present invention, the vehicle door assembly system 10 can include a locking frame 330 provided on the base connector frame 312 and configured to be movable up and down and lock the locking pin 32a of the door connector 32 to the body connector 22.

[0150] As a reference, the locking pin 32a of the door connector 32 is used to maintain or fix the state in which the door connector 32 is connected to the vehicle body connector 22. When the locking pin is pressed downward from above in a state where the door connector 32 is connected to the vehicle body connector 22, one end of the locking pin is inserted into the position-limiting hole provided in the vehicle body connector, whereby the state in which the door connector 32 is connected to the vehicle body connector 22 can be maintained.

[0151] For example, the locking frame 330 can be configured to selectively move upward or downward in the vertical direction by a drive source such as a cylinder.

[0152] Reference Figure 1 and Figures 12 - 15 According to an embodiment of the present invention, the vehicle door assembly system 10 may include a door fastening unit 400 configured to fasten the door 30 to the vehicle body 20.

[0153] The door fastening unit 400 may have various structures capable of fastening the door 30 and the vehicle body 20. The present invention does not limit or define the type and structure of the door fastening unit 400.

[0154] According to an embodiment of the present invention, the door fastening unit 400 may include: a fastening tool module 410 configured to structurally fasten the door 30 and the vehicle body 20; and a fastening tool transfer robot 420 configured to transfer the fastening tool module 410 corresponding to the portion where the door 30 is fastened to the vehicle body 20.

[0155] The fastening tool module 410 is configured to structurally fasten the door 30 and the vehicle body 20.

[0156] Here, the structure in which the door 30 and the vehicle body 20 are structurally fastened is defined as a structure in which the door 30 is rotatably structurally connected or joined to the vehicle body 20.

[0157] For example, the door 30 and the vehicle body 20 may be structurally fastened by a door hinge DH and a door stopper DC, wherein the door hinge DH is configured to support the door 30 such that the door 30 can rotate relative to the vehicle body 20, and the door stopper DC is configured to support the opening angle of the door 30 relative to the vehicle body 20. The fastening tool module 410 may be used to fasten the door stopper and the door hinge to the vehicle body 20.

[0158] The fastening tool module 410 can be structurally varied in various ways according to required conditions and design specifications. The present invention does not limit or define the structure of the fastening tool module 410.

[0159] Reference Figure 13, according to an embodiment of the present invention, the fastening tool module 410 may include: a base fastening frame 412 connected to a fastening tool transfer robot 420; a first fastening tool 414 disposed on the base fastening frame 412; a second fastening tool 416 disposed on the base fastening frame 412 and configured to move in a direction toward or away from the first fastening tool 414; and a third fastening tool 418 configured to rotate relative to the base fastening frame 412 to define a fastening angle different from that of the first fastening tool 414 or the second fastening tool 416.

[0160] For example, the process of structurally fastening the door 30 to the vehicle body 20 may be performed by first fastening the door hinge DH using the first fastening tool 414 and the second fastening tool 416, and then fastening the door stopper DC using the third fastening tool 418.

[0161] Various tools capable of fastening the fastening bolts for the door hinge may be used as the first fastening tool 414 and the second fastening tool 416. The present invention is not limited or restricted to the types and structures of the first fastening tool 414 and the second fastening tool 416. For example, the first fastening tool 414 and the second fastening tool 416 may be used to simultaneously fasten the fastening bolts to different door hinges.

[0162] Various tools capable of fastening the fastening bolts for the door stopper may be used as the third fastening tool 418. The present invention is not limited or restricted to the types and structures of the third fastening tool 418.

[0163] The second fastening tool 416 may be configured to linearly move in a direction toward or away from the first fastening tool 414 by a driving source such as a cylinder (e.g., a servo electric cylinder or a pneumatic cylinder). The third fastening tool 418 may be configured to rotate relative to the base fastening frame 412 by a driving source such as a cylinder (e.g., a rotary cylinder) (e.g., rotate within 10 degrees based on the fastening angle of the first fastening tool).

[0164] In particular, to ensure (e.g., sufficient) working space and at the same time prevent interference between the fastening tools (the first to third fastening tools) and surrounding components (e.g., fixtures or connector fastening units) during the fastening process using the fastening tool module 410, the base fastening frame 412 may be configured to linearly move selectively in a forward / backward direction (a direction perpendicular to the moving direction of the second fastening tool 416) by a driving source such as a cylinder.

[0165] In the embodiments described and illustrated above of the present invention, an example is described in which the fastening tool module 410 includes three fastening tools. However, according to another embodiment of the present invention, the fastening tool module may include four or more fastening tools, or may include two or fewer fastening tools.

[0166] According to another exemplary embodiment of the present invention, the fastening tool module 410' can be used to fasten a dual-motion door hinge DMDH for a passenger car door.

[0167] Referring Figure 14 and 15 , the fastening tool module 410' can include: a base fastening frame 412', connected to a fastening tool transfer robot 420; a first fastening tool 414', disposed on the base fastening frame 412'; a second fastening tool 416', disposed on the base fastening frame 412' and configured to define the same fastening angle as the first fastening tool 414'; a third fastening tool 418', disposed on the base fastening frame 412' and configured to define the same fastening angle as the first fastening tool 414'; and a fourth fastening tool 419', movably disposed linearly on the base fastening frame 412' and configured to selectively protrude from the base fastening frame 412' and define a fastening angle different from that of the first fastening tool 414'.

[0168] For example, the process of structurally fastening the door 30 to the vehicle body 20 can be performed by first using the first to third fastening tools 414', 416' and 418' to fasten the fastening bolts for the door hinge, and then using the fourth fastening tool 419' to fasten the fastening bolts for the door limiter.

[0169] Various tools capable of fastening the fastening bolts for the door hinge can be used as the first fastening tool 414', the second fastening tool 416' and the third fastening tool 418'. The present invention is not limited or restricted to the type and structure of the first fastening tool 414' and the second fastening tool 416'. For example, the first fastening tool 414', the second fastening tool 416' and the third fastening tool 418' can be used to simultaneously fasten three fastening bolts for the door hinge.

[0170] Various tools capable of fastening the fastening bolts for the door limiter can be used as the fourth fastening tool 419'. The present invention is not limited or restricted to the type and structure of the fourth fastening tool 419'. For example, the fastening angle of the fourth fastening tool 419' can be defined as being orthogonal to the fastening angle of the first fastening tool 414'.

[0171] In addition, the fourth fastening tool 419' can be configured to linearly move in the direction in which the fourth fastening tool 419' protrudes from the base fastening frame 412' (the length direction of the fourth fastening tool) through a stroke changing device, such as a cylinder (e.g., a servo electric cylinder or a pneumatic cylinder).

[0172] The fastening tool transfer robot 420 is configured to transfer the fastening tool module 410 corresponding to the portion where the door 30 is fastened to the vehicle body 20.

[0173] A general multi-axis robot capable of transferring the fastening tool module 410 in the X-axis direction, Y-axis direction, and Z-axis direction can be used as the fastening tool transfer robot 420. The present invention is not limited or restricted to the type and structure of the fastening tool transfer robot 420.

[0174] According to the present invention described above, it is possible to obtain the advantageous effects of automating the process of assembling the door and improving productivity and production efficiency.

[0175] In particular, according to an embodiment of the present invention, even if the door hanger is deformed and the cumulative dispersion increases, it is possible to obtain the advantageous effects of ensuring the position accuracy of the door and automating the door assembly process.

[0176] In particular, according to an embodiment of the present invention, even when the door hanger is deformed and the cumulative dispersion increases, it is possible to obtain the advantageous effects of optimizing the orientation of the door during removal (e.g., clamping) and loading of the door and improving the accuracy of assembling the door.

[0177] In addition, according to an embodiment of the present invention, it is possible to obtain the advantageous effects of standardizing and automating the door assembly process without being restricted by the type (e.g., shape) and structure of the door.

[0178] In addition, according to an embodiment of the present invention, it is possible to automate the process of fastening the door connector and the process of structurally fastening the door to the vehicle body.

[0179] In addition, according to an embodiment of the present invention, it is possible to obtain the advantageous effects of simplifying the structure and manufacturing process and improving the space utilization rate and design freedom.

[0180] In addition, according to an embodiment of the present invention, it is possible to obtain the advantageous effects of reducing the manufacturing cost and shortening the time required for the process of assembling the door.

[0181] In addition, according to an embodiment of the present invention, it is possible to obtain the advantageous effects of preventing the door from being misassembled, reducing the defect rate, and improving the stability and reliability.

[0182] Although several embodiments have been described above, the embodiments are merely illustrative and are not intended to limit the present invention. Those of ordinary skill in the art should understand that various modifications and various different applications that are not described above can be made to the embodiments described herein without departing from the essential features of the embodiments described herein and the inventive concept of the present invention. For example, each component specifically described in the embodiments can be modified and applied to the embodiments described herein. In addition, it should be understood that the differences related to the modifications and applications are included within the scope of the present invention.

[0183] Description of Reference Numerals

[0184] 10: Door assembly system for a vehicle

[0185] 20: Vehicle body

[0186] 22: Vehicle body connector

[0187] 30: Door

[0188] 31: Door glass

[0189] 32: Door connector

[0190] 32a: Locking pin

[0191] 100: Door hanger

[0192] 102: Connector retainer

[0193] 110: First alignment part

[0194] 112: First support member

[0195] 114: Second support member

[0196] 200: Transfer unit

[0197] 210: Fixture

[0198] 212: Lower clamping part

[0199] 212a: Mounting block

[0200] 214: Upper clamping part

[0201] 214a: Adsorption member

[0202] 216: Guide roller

[0203] 220: Fixture transfer robot

[0204] 230: Second alignment part

[0205] 232: Support protrusion

[0206] 234: Pressing member

[0207] 300: Connector fastening unit

[0208] 310: Connector fixture

[0209] 312: Substrate connector frame

[0210] 314: First clamping part

[0211] 316: Second clamping part

[0212] 320: Connector transfer part

[0213] 322: First cylinder

[0214] 324: Second cylinder

[0215] 326: Moving cylinder

[0216] 328: Lifting cylinder

[0217] 330: Locking frame

[0218] 400: Door fastening unit

[0219] 410, 410': Fastening tool module

[0220] 412, 412': Substrate fastening frame

[0221] 414, 414': First fastening tool

[0222] 416, 416': Second fastening tool

[0223] 418, 418': Third fastening tool

[0224] 419': Fourth fastening tool

[0225] 420: Fastening tool transfer robot.

Claims

1. A system for assembling a door of a vehicle, comprising: a door hanger configured to supply a door to be coupled to a vehicle body; a first alignment portion, provided on the door hanger and configured to align the door to a first reference orientation preset based on the longitudinal direction of the vehicle body; and A transfer unit is configured to remove the door from the door hanger and transfer the door to the vehicle body.

2. The system according to claim 1, wherein: The first alignment portion comprises: a first supporting member configured to support a first lateral end portion of the door at a longitudinal reference position preset based on a longitudinal direction of the vehicle body; and a second supporting member configured to be movable in a longitudinal direction of the vehicle body toward or away from a second lateral end of the door and to support the second lateral end of the door, Wherein, when the door is pressed by the second supporting member, the first transverse end of the door is aligned with the longitudinal reference position.

3. The system according to claim 2, wherein: The first supporting member and the second supporting member are configured to be selectively movable upward or downward in a vertical direction.

4. The system according to claim 1, wherein: The first aligning portion aligns the door to the first reference orientation in a state where the door is moved by the conveying unit to a preset reference height relative to the door hanger.

5. The system according to claim 1, wherein: The transmission unit comprises: a clamp configured to clamp the door; and A jig transfer robot is configured to transfer the jig holding the door to the vehicle body.

6. The system according to claim 5, wherein: The fixture comprises: a lower end clamping portion configured to support a lower end of the door; and The upper end clamping portion is configured to support the upper end of the door.

7. The system according to claim 6, wherein: The lower end clamping portion includes a mounting block to which a lower end of the door is mounted, and the upper end clamping portion includes a suction member configured to suction a door glass of the door.

8. The system according to claim 5, comprising: The second alignment portion is provided on the fixture and is configured to align the door to a second reference orientation that is preset based on the width direction of the vehicle body.

9. The system according to claim 8, wherein: The second alignment portion comprises: a support protrusion provided on the jig and configured to support the outer surface of the lower end of the door at a width direction reference position preset based on the width direction of the vehicle body; and a pressing member configured to be movable in a width direction of the vehicle body toward or away from an inner surface of the door and to press an inner surface of a lower end of the door, Wherein, when the door is pressed by the pressing member, the outer surface of the lower end of the door is aligned with the width direction reference position.

10. The system according to claim 5, comprising: A connector fastening unit is provided at the jig and is configured to fasten a door connector provided at the door to a vehicle body connector provided at the vehicle body.

11. The system according to claim 10, comprising: a connector holder disposed on the door hanger and configured to support the door connector in a predetermined connector reference orientation, The connector fastening unit is configured to remove the door connector from the connector holder and fasten the door connector to the vehicle body.

12. The system according to claim 11, wherein: The connector fastening unit comprises: a connector clamp configured to clamp the door connector; and A connector conveying portion is configured to convey the connector clamp clamping the door connector from the connector holder to the vehicle body connector.

13. The system according to claim 12, wherein: The connector fixture comprises: a first clamping portion configured to support a first end of the door connector; and The second clamping portion is configured to be movable toward or away from the second end of the door connector and supports the second end of the door connector.

14. The system according to claim 12, wherein: The connector fixture is arranged on the base connector frame, and The connector transmission part comprises: a first cylinder configured to move the base connector frame relative to the fixture in a first direction; a second cylinder configured to move the base connector frame in a second direction intersecting the first direction; and A moving cylinder is configured to move the base connector frame so that the door connector is inserted into the body connector.

15. The system of claim 14, wherein: The connector conveying portion includes an elevating cylinder configured to be able to move the base connector frame upward or downward in a vertical direction.

16. The system of claim 14, comprising: A locking frame is provided at the base connector frame and is configured to be movable upward or downward and to lock a locking pin of the door connector to the vehicle body connector.

17. The system of claim 1, comprising: A door fastening unit is configured to fasten the door to the vehicle body.

18. The system of claim 17, wherein: The door fastening unit comprises: a fastening tool module configured to structurally fasten the door and the vehicle body; and A fastening tool transfer robot is configured to transfer the fastening tool module corresponding to a portion where the door is fastened to the vehicle body.

19. The system of claim 18, wherein: The fastening tool module comprises: a base fastening frame connected to the fastening tool transfer robot; A first fastening tool, arranged on the base fastening frame; a second fastening tool disposed on the base fastening frame and configured to be movable toward or away from the first fastening tool; and A third fastening tool is rotatably provided on the base fastening frame and is configured to define a fastening angle different from that of the first fastening tool or the second fastening tool.

20. The system of claim 18, wherein: The fastening tool module comprises: a base fastening frame connected to the fastening tool transfer robot; A first fastening tool, arranged on the base fastening frame; a second fastening tool disposed on the base fastening frame and configured to define the same fastening angle as the first fastening tool; a third fastening tool disposed on the base fastening frame and configured to define the same fastening angle as the first fastening tool; and The fourth fastening tool is configured to be linearly movably provided on the base fastening frame and is configured to selectively protrude from the base fastening frame and define a fastening angle different from that of the first fastening tool.

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