Vehicle door shackle fastening device, system and method

Abstract

The present disclosure relates to a vehicle door latch fastening apparatus, system and method, the present disclosure being characterized by comprising: a gripper comprising a plurality of nut tighteners and a permanent magnet by which the vehicle door latch and a plurality of bolts fastened to the vehicle door latch are picked up simultaneously; the robot is used for transferring the car door lock catch and the plurality of bolts picked up by the clamping device to a fastening position of a car body; and a processor controlling driving of the robot or the gripper based on image pickup data acquired by the image pickup module to fasten the door lock catch and the plurality of bolts to the fastening position.

Description

Technical Field

[0001] This invention relates to a technology for fastening a door striker to a vehicle body. Specifically, it relates to a door striker fastening device, system, and method capable of simultaneously picking up a door striker and multiple bolts and moving them to the fastening position, and performing precise fastening operations by identifying the fastening position through a camera module. Background Technology

[0002] Vehicles are equipped with doors (car doors) to allow drivers to get in and out and to connect with the interior and exterior environments. To secure the doors in place when they open and close, door strikers are installed on the vehicle body. When the door is closed, the door striker engages with the door latch to firmly secure the vehicle door; therefore, accurate and reliable fastening of the vehicle body is essential.

[0003] Previously, installing door latches onto the vehicle body mainly involved manual tightening of bolts by the operator. Generally, door latches are secured to the vehicle body with two bolts spaced only about 31mm apart, requiring the operator to tighten these bolts sequentially within a confined space.

[0004] However, this manual tightening method can cause scratches or dents on door latches or vehicle body surfaces during the tightening process, thus reducing the vehicle's appearance quality. Furthermore, depending on the operator's skill level and the working environment, the tightening torque value of the bolts can vary, making it difficult to ensure uniform tightening quality. Moreover, repetitive and precise manual tightening increases operator fatigue, contributing to reduced productivity.

[0005] Therefore, there is a need to develop a technology that automates the fastening process, enabling door latches to be fastened to the vehicle body more accurately and quickly, thereby improving both fastening quality and productivity. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] To address the aforementioned problems, the present invention aims to provide a door latch fastening device, system, and method that, through the automation of door latch installation operations, prevents quality degradation caused by manual tightening, and ensures stable bolt tightening even in narrow tightening intervals, thereby improving work productivity.

[0008] (II) Technical Solution

[0009] To address the aforementioned technical problems, a door lock fastening device according to an embodiment of the present invention may include: a gripper comprising a plurality of nutrunners and a permanent magnet, wherein the plurality of nutrunners and the permanent magnet simultaneously pick up the door lock and a plurality of bolts fastened to the door lock; a robot that moves the door lock and the plurality of bolts picked up by the gripper to a fastening position on the vehicle body; and a processor that, based on camera data acquired by a camera module, controls the drive of the robot or the gripper to fasten the door lock and the plurality of bolts to the fastening position.

[0010] According to an embodiment of the present invention, the clamp may further include a fixing part corresponding to the shape of the lug of the door latch, and the clamp attracts and fixes the door latch by means of the fixing part and the permanent magnet.

[0011] According to one embodiment of the present invention, the fixing part can be configured such that the lug of the door latch is disposed in the space between the plurality of nut tighteners.

[0012] According to one embodiment of the present invention, the processor can control the drive of the clamp to cause the nut tightener to repeatedly rotate forward and reverse at a preset speed, so as to tighten the nut tightener to the plurality of bolts.

[0013] According to one embodiment of the present invention, the clamp may include a cylinder for raising or lowering the permanent magnet. After the nut tightener is fastened to the plurality of bolts, the processor may lower the permanent magnet by driving the cylinder, thereby causing the permanent magnet to attract the door latch.

[0014] According to an embodiment of the present invention, the plurality of nut tighteners can be arranged in a first direction consistent with the arrangement direction of the plurality of bolts fastened to the door latch, and the permanent magnet can be arranged in a second direction intersecting the first direction, and attract the door latch by contacting the pickup surface of the door latch.

[0015] According to one embodiment of the present invention, the clamp may include a variable structure such that the height position of the nut tightener changes according to the clamping force generated during the process of the plurality of nut tighteners picking up the plurality of bolts or fastening the plurality of bolts to the vehicle body.

[0016] According to an embodiment of the present invention, the processor can identify the fastening holes of the vehicle body through the camera data, and can move the robot or the gripper to the fastening position based on the positional relationship between the identified fastening holes and the plurality of bolts.

[0017] According to one embodiment of the present invention, the processor can drive the plurality of nut tighteners with a preset torque value, thereby simultaneously fastening the door latch and the plurality of bolts to the vehicle body.

[0018] To address the aforementioned technical problems, a door lock fastening system according to an embodiment of the present invention may include: a component supply unit for supplying door locks or a plurality of bolts; a gripper for simultaneously picking up the door lock supplied from the component supply unit and the plurality of bolts inserted into the door lock and fastening them to the vehicle body; a robot for transferring the door lock and the plurality of bolts picked up by the gripper to the fastening position on the vehicle body; and a processor for identifying the fastening position based on video data acquired by a camera module and controlling the operation of the robot or the gripper based on the identification result.

[0019] According to an embodiment of the present invention, the component supply section of the door lock fastening system may include: a feeder for supplying the plurality of bolts; and a supply device for arranging and sequentially supplying the plurality of bolts supplied from the feeder.

[0020] According to an embodiment of the present invention, the clamp of the door lock fastening system may include: a nut tightener for picking up the plurality of bolts; a permanent magnet for picking up the door lock; and a cylinder for raising or lowering the permanent magnet.

[0021] According to an embodiment of the present invention, the clamp of the door latch fastening system can cause the nut tightener to repeatedly rotate forward and reverse at a preset speed to fasten the nut tightener to the plurality of bolts. The processor can drive the cylinder to lower the permanent magnet, thereby causing the permanent magnet to attract the door latch.

[0022] According to an embodiment of the present invention, the processor of the door lock fastening system can identify the fastening holes of the vehicle body through the camera data, and can move the robot or the gripper to the fastening position based on the identified positional relationship between the fastening holes and the plurality of bolts.

[0023] According to an embodiment of the present invention, the processor of the door latch fastening system can drive the plurality of nut tighteners with a preset target torque value, thereby simultaneously fastening the door latch and the plurality of bolts to the vehicle body.

[0024] To address the aforementioned technical problems, a door lock fastening method according to an embodiment of the present invention may include the following steps: a gripper simultaneously picks up a door lock and a plurality of bolts fastened to the door lock; a robot moves the picked-up door lock and the plurality of bolts to a fastening position on the vehicle body; a processor identifies fastening holes on the vehicle body via a camera module, and based on the identified positional relationship between the fastening holes and the plurality of bolts, moves the robot or the gripper to the fastening position; and the gripper fastens the door lock and the plurality of bolts to the vehicle body. The gripper may include: a nut tightener for picking up the plurality of bolts; a permanent magnet for picking up the door lock; and a cylinder for raising or lowering the permanent magnet.

[0025] The picking step of the door latch fastening method according to an embodiment of the present invention includes the following steps: the processor causes the nut tightener to repeatedly rotate forward and reverse at a preset speed to fasten the nut tightener to the plurality of bolts; and the permanent magnet is lowered by driving the cylinder, thereby causing the permanent magnet to attract the door latch.

[0026] In the moving step of the door lock fastening method according to an embodiment of the present invention, the processor can move the robot or the gripper to the fastening position while keeping the plurality of bolts fastened to the plurality of nut tighteners and the door lock attracted to the permanent magnet.

[0027] In the fastening step of the door lock fastening method according to an embodiment of the present invention, the clamp can drive the plurality of nut tighteners with a preset torque value, thereby fastening the plurality of bolts to the vehicle body.

[0028] (III) Beneficial Effects

[0029] According to one aspect, the present invention minimizes the fastening position error between the door latch and the vehicle body by simultaneously picking up the door latch and multiple bolts and moving them to the fastening position, and by accurately identifying the fastening position and performing the fastening operation through a camera module. This prevents separation or poor clearance during door opening and closing, thereby improving vehicle assembly quality.

[0030] Furthermore, during the tightening process, by driving multiple nut tighteners included in the clamp in both forward and reverse directions, the alignment of multiple bolts with the tightening holes is optimized, and multiple bolts are tightened with a preset torque value, thereby maintaining uniform tightening strength and preventing deviations in tightening quality. In addition, it can prevent uneven tightening quality that may occur during manual tightening due to differences in operator skill, as well as the possibility of scratches or damage to the vehicle body or door latches during the tightening process. By achieving full automation of the tightening process, repetitive tasks for operators are significantly reduced, operator fatigue is alleviated, and the working environment is improved.

[0031] However, the effects that can be obtained by the present invention are not limited to those described above, and those skilled in the art will clearly understand other technical effects not mentioned through the following description of the invention. Attached Figure Description

[0032] Figure 1 This is a block diagram of a door lock fastening device according to an embodiment of the present invention.

[0033] Figure 2 and Figure 3 This is a diagram illustrating a door lock fastening device according to an embodiment of the present invention.

[0034] Figure 4 This is a block diagram of a door lock fastening system according to an embodiment of the present invention.

[0035] Figure 5 This is a diagram illustrating a door lock fastening system according to an embodiment of the present invention.

[0036] Figure 6 This is a flowchart illustrating a door lock fastening method according to an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached figures:

[0038] 100: Processor

[0039] 200: Robot

[0040] 300: Gripper

[0041] 310: Nutrunner

[0042] 320: Permanent magnet

[0043] 330: Cylinder

[0044] 10: Protruding ears (Dog)

[0045] 400: Camera Module

[0046] 500: Component Supply Department

[0047] 510: Feeder

[0048] 520: Supply device Detailed Implementation

[0049] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Prior to this, the terms or words used in this specification and claims should not be interpreted limited to their conventional or dictionary meanings, but should be interpreted as conforming to the technical concept of the present invention, based on the principle that the inventor can appropriately define the concepts of terms to best explain their own invention. Therefore, the embodiments described in this specification and the configurations shown in the accompanying drawings are only a portion of the most preferred embodiments of the present invention and do not represent all the technical concepts of the present invention. It should be understood that at the time of this application, there are many equivalents and variations that can replace these. Furthermore, in this specification, "comprise, include" and / or "comprising, including" are used to specify the presence of the mentioned shapes, numbers, steps, operations, parts, components, and / or combinations thereof, without excluding the presence or addition of one or more other shapes, numbers, operations, parts, components, and / or combinations thereof. Additionally, in describing embodiments of the present invention, "may" and "may be" include "more than one embodiment of the present invention".

[0050] Furthermore, to aid in understanding the invention, the accompanying drawings are not shown to scale, and the dimensions of some components may be exaggerated. Additionally, the same reference numerals are used for the same components in different embodiments.

[0051] When two objects of comparison are referred to as "identical," it means "substantially identical." Therefore, substantial identity can include deviations considered low in the field, such as those within 5%. Furthermore, when a parameter is uniform in a specific region, it can be understood as uniform in an average sense.

[0052] Although terms such as "first," "second," etc., are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from other components, and unless specifically stated otherwise, a first component may also be a second component.

[0053] Throughout the instruction manual, unless otherwise stated otherwise, each component may be in the singular or the plural.

[0054] When the “upper (or lower)” of a component or the “upper (or lower)” of a component is provided with any configuration, it not only means that the arbitrary configuration is in contact with the upper (or lower) surface of the component, but also means that other configurations can be sandwiched between the component and the arbitrary configuration provided on the upper (or lower) of the component.

[0055] Furthermore, when a component is described as being "connected," "combined," or "joined" with other components, the components can be directly connected or joined, but it should be understood that other components can also be "interposed" between the components, or that the components can be "connected," "combined," or "joined" through other components. Additionally, when a part is electrically coupled to other parts, this includes not only direct connections but also cases where other components are interposed.

[0056] Throughout this specification, when expressed as "A and / or B," unless otherwise stated to the contrary, it means A, B, or A and B. That is, "and / or" includes all or any combination of the listed items. When expressed as "C to D," unless otherwise stated to the contrary, it means C and below D.

[0057] Figure 1 This is a block diagram of a door lock fastening device according to an embodiment of the present invention. Figure 2 and Figure 3 This is a diagram illustrating a door lock fastening device according to an embodiment of the present invention.

[0058] First refer to Figure 1 According to one embodiment of the present invention, the door lock fastening device may include a processor 100, a robot 200, a gripper 300, and a camera module 400.

[0059] The processor 100 can pick up the door latch and multiple bolts by controlling the drive of the robot 200 or the gripper 300, and control the operation of fastening the door latch and multiple bolts to the vehicle body based on the camera data acquired by the camera module 400.

[0060] The various embodiments described in this specification can be implemented as software, which includes one or more instructions stored in a machine-readable storage medium (e.g., internal or external memory). For example, the machine or processor 100 can call at least one of the more than one stored instructions from the storage medium and execute the called instruction. The at least one instruction may include code that can be generated by a compiler or code that can be executed by an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, "non-transitory" means only that the storage medium is a tangible device and does not include signals (e.g., electromagnetic waves), and does not distinguish whether the data is semi-permanently stored or temporarily stored in the storage medium.

[0061] Processor 100 may include hardware (e.g., controllers, etc.) for implementing the various embodiments described in this specification. Processor 100 may consist of more than one core and may include processors used for data analysis and deep learning, such as central processing units (CPUs), general-purpose graphics processing units (GPGPUs), tensor processing units (TPUs), application processors (APs), application-specific integrated circuits (ASICs), and field-programmable gate arrays (FPGAs). Processors used for deep learning can be controlled to process input data according to predefined operating rules or artificial intelligence models stored in memory. When one or more processors are dedicated artificial intelligence processors, these processors may be designed with hardware architectures optimized for processing specific artificial intelligence models.

[0062] The memory can store various information and mappings required to implement the various embodiments described in this specification. The memory may include at least one type of storage medium selected from flash memory type, hard disk type, multimedia card micro type, card type memory (e.g., SD or XD memory), random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), magnetic random access memory (MRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic storage, magnetic disk, and optical disk. Furthermore, the memory may include any form of computer-readable recording medium known in the art related to this specification. Additionally, examples of storage or recording media may include media managed by application stores that distribute applications or websites, servers, etc., that provide or distribute various other software. The above description of memory is merely an example, and this disclosure is not limited thereto.

[0063] Robot 200 may be configured to transfer door latches and multiple bolts picked up by gripper 300 to a fastening position. Robot 200 according to this embodiment may be implemented as a cooperative multi-joint robot (e.g., UR20), the operation of which may be controlled by processor 100.

[0064] The clamp 300 can simultaneously pick up door latches and multiple bolts, and fasten the picked-up door latches and multiple bolts in a secure position. The clamp 300 may include multiple nutrunners 310, permanent magnets 320, and cylinders 330.

[0065] Specifically, the multiple nut tightener 310, under the control of the processor 100, after picking up multiple bolts fastened to the door latch and moving them to the tightening position, executes a drive to tighten the multiple bolts to the vehicle body. (See reference...) Figure 2 and Figure 3According to one embodiment of the present invention, the plurality of nut tighteners 310 may be configured in two parts. That is, the plurality of nut tighteners 310 may be set according to the number of bolts fastened to the door latch, and their number may be adjusted as needed. The nut tighteners 310 may be spaced apart from each other in a manner that corresponds to the spacing between the plurality of bolts inserted into the door latch (e.g., bolt pitch or center-to-center distance). Furthermore, the bit of the nut tightener 310 may be formed to correspond to the shape of the fastening portion of the bolt to be fastened, so as to achieve a stable fastening.

[0066] The clamp 300 may further include a fixing portion (not shown) corresponding to the shape of the lug 10 of the door latch. The fixing portion may refer to the space between the plurality of nut tighteners 310. By arranging the lug 10 of the door latch within the fixing portion, the clamp 300 can stably clamp the door latch during the transfer of the door latch to the tightened position. The fixing portion has a shape corresponding to the lug 10 protruding from the surface of the door latch, and the cross-section of the fixing portion may be "U". Through the fixing portion and the permanent magnet 320, the door latch can be attracted and fixed to the clamp 300, at which time the permanent magnet 320 can perform the function of attracting and picking up the door latch.

[0067] On the other hand, according to the present invention, the plurality of nut tighteners 310 can be arranged along a first direction consistent with the setting direction of the plurality of bolts fastened to the door latch, and the permanent magnet 320 can be arranged along a second direction intersecting the first direction and contacting the pickup surface of the door latch. Specifically, the plurality of nut tighteners 310 can be arranged along the first direction, which is the same as the bolt tightening direction of the door latch, to tighten the bolts inserted into the door latch to the vehicle body. Thus, the permanent magnet 320 can be arranged along a second direction orthogonal to or intersecting the first direction, thereby contacting the pickup surface of the door latch. With this arrangement structure, the permanent magnet 320 can stably contact the pickup surface of the door latch and attract the door latch. On the other hand, the arrangement structure between the plurality of nut tighteners 310 and the permanent magnet 320 is not limited to the above example. As long as the configuration facilitates the pickup and tightening operation of the door latch, the arrangement form between the plurality of nut tighteners 310 and the permanent magnet 320 can be varied.

[0068] The cylinder 330, configured to control the raising or lowering of the permanent magnet 320, can move the permanent magnet 320 up and down during the process of picking up the door latch or fastening it to the vehicle body. Specifically, before the door latch is fastened to the vehicle body, under the control of the processor 100, the cylinder 330 can raise the permanent magnet 320 to release the contact between the door latch and the permanent magnet 320. During the fastening operation, the cylinder 330 lowers the permanent magnet 320 to attract the door latch to the permanent magnet 320, thereby stably fixing the door latch to the clamp 300.

[0069] The camera module 400 may be configured to acquire camera data related to the fastening positions of door latches, multiple bolts, and the vehicle body, and transmit the acquired camera data to the processor 400. The processor 100 can analyze the camera data acquired by the camera module 400 to identify the fastening positions of the vehicle body, and precisely control the operation of the robot 200 and the gripper 300 based on the identified fastening positions. In particular, the camera module 400 can identify fastening holes in the vehicle body and transmit data about the identified fastening holes to the processor 100. The camera module 400 according to the invention can be implemented as a camera module (e.g., a vision module) known in the field of robotics, and therefore specific details are omitted.

[0070] Figure 4 This is a block diagram of a door lock fastening system according to an embodiment of the present invention. Figure 5 This is a diagram illustrating a door lock fastening system according to an embodiment of the present invention. The following is based on the foregoing and refers to... Figure 4 and Figure 5 The door lock fastening system of this embodiment will be described, but details that overlap with the foregoing will be omitted.

[0071] Reference Figure 4 and Figure 5 According to one embodiment of the present invention, a door lock fastening system may include a processor 100, a robot 200, a gripper 300, a camera module 400, and a component supply unit 500.

[0072] The component supply unit 500 may be configured to smoothly supply multiple bolts used for fastening door locks, and may include a feeder 510 for storing and supplying multiple bolts and a supply device 520 for arranging and sequentially supplying the bolts supplied by the feeder 510.

[0073] The feeder 510 may be equipped with a hopper for accommodating multiple bolts. The feeder 510 can automatically arrange the bolts placed in the hopper and supply them in a transferable state. With the feeder 510, the operator only needs to put a large number of bolts into the hopper, and the bolts will be automatically arranged and supplied.

[0074] The supply device 520 can pick up and arrange bolts sequentially supplied from the feeder 510 and transfer them to a pre-set position (e.g., a placement position) for easy pickup by the robot 200 or the gripper 300. Specifically, the supply device 520 can be configured with cylinders and electromagnets in the X, Y, and Z axes. The X and Y axis cylinders can adjust the bolt pickup and placement positions, while the Z axis cylinder can perform the pickup and transfer operations. The electromagnets can control the pickup and release of bolts, transferring or ejecting bolts at precise times. The supply device 520 according to the invention can be implemented, for example, by an escape device. The component supply unit 500 can be implemented using various supply mechanisms widely known in the fields of robotics and automation, which are omitted in detail here.

[0075] The processor 100 can control the drive of the clamp 300 to repeatedly rotate the multiple nut tighteners 310 forward and reverse at a preset speed. For this purpose, the multiple nut tighteners 310 can be configured to precisely control the tightening torque (e.g., Atlas Copco QST42-20COT-T50L134-H10). Forward rotation drives the bits of the multiple nut tighteners 310 to engage with the bolts fastened to the door latches to begin tightening. Conversely, reverse rotation is used during tightening to stabilize the engagement between the bits and bolts and to fine-tune the tightening position of the bolts. The multiple nut tighteners 310 can perform precise tightening operations under the control of the processor 100 until the preset torque is reached, thereby accurately tightening the bits of the multiple nut tighteners 310 to multiple bolts. After the multiple nut tighteners 310 have tightened the multiple bolts, the processor 100 can lower the permanent magnet 320 by driving the cylinder 330. According to the control signal from the processor 100, the cylinder 330 can precisely move the permanent magnet 320 to a preset lowering position, so that the pickup surface of the door latch is in close contact with the permanent magnet 320. When the lowering operation is completed, the permanent magnet 320 can magnetically attract the door latch, thereby stably fixing the door latch to the holder 300.

[0076] Robot 200 can transfer door latches and multiple bolts picked up by gripper 300 to the fastening position on the vehicle body. That is, robot 200 can transfer door latches attracted by permanent magnet 320 and multiple bolts fastened by multiple nut tighteners 310 together to the fastening position.

[0077] The processor 100 can identify the fastening position based on the camera data acquired by the camera module 400. The camera module 400 can capture high-precision images of the fastening holes formed on the vehicle body and their surrounding shape, and provide the processor 100 with information about the coordinates of the fastening position.

[0078] The processor 100 can accurately identify the location of the fastening holes by analyzing camera data. Based on the identified positional relationship between the fastening holes and multiple bolts, the processor 100 can control the operation of the robot 200 or the gripper 300 to precisely move the door latch and multiple bolts to the fastening position.

[0079] The processor 100 can perform the operation of simultaneously tightening the door latch and multiple bolts fastened to the door latch to the vehicle body at their respective fastening positions. During this process, the multiple bolts can be tightened by multiple nut tighteners 310, while the door latch can be attracted by the permanent magnet 320. That is, while keeping the door latch and multiple bolts fixed together to the clamp 300, the processor 100 can tighten the multiple bolts to their fastening positions by controlling the rotation of the multiple nut tighteners 310. When the multiple bolts are tightened, the door latch itself can also be fixed to the vehicle body.

[0080] To achieve stable fastening, the clamp 300 may include a variable structure in which the vertical positions of the plurality of nut tighteners 310 are variable. Here, the variable structure can refer to a structure used to absorb the axial clamping force generated during the tightening of multiple bolts due to the clamping force generated during the process of the plurality of nut tighteners 310 picking up or tightening multiple bolts to the vehicle body. For example, the variable structure may include a telescopic structure and a spring structure. Specifically, the plurality of nut tighteners 310 may absorb the clamping force generated during the tightening operation due to positional errors or tightening resistance between the bolts and the vehicle body fastening holes through the spring structure. Furthermore, the spring structure may, while absorbing the clamping force, utilize a restoring force to elastically move the plurality of nut tighteners 310 along the height direction.

[0081] Figure 6 This is a flowchart illustrating a method for fastening a car door lock latch according to an embodiment of the present invention. The following refers to... Figure 6 The door lock fastening method of this embodiment will be described, omitting the specific descriptions of the parts that are repeated in the foregoing, and will be described in a time sequence configuration.

[0082] The clamp 300 can use multiple nut tighteners 310, configured to correspond to multiple bolts pre-assembled to the door latches, to tighten the bits to each bolt (S100). The processor 100 can simultaneously control the tightening operation of the multiple nut tighteners 310 and check in real time whether each bit of the multiple nut tighteners 310 is accurately engaged with the corresponding bolt. Furthermore, the processor 100 can determine whether tightening is complete based on whether the target tightening torque has been reached or the bit insertion status, etc. (S200).

[0083] When all bolts are accurately tightened to the multiple nut tighteners 310, the processor 100 can, while maintaining the tightened state, drive the permanent magnet 320 downward by controlling the cylinder 330. The permanent magnet 320 can contact the pickup surface of the door latch through the downward operation of the cylinder 330, and in the process, the door latch is magnetically attracted. In step S300, the door latch can be stably fixed by the permanent magnet 320, and the multiple bolts can remain tightened to the nut tighteners 310 and be completely picked up by the clamp 300 (S300).

[0084] The processor 100 can control the robot 200 to move multiple bolts fastened to the multiple nut tighteners 310 and door latches attracted by the permanent magnet 320 to the fastening position on the vehicle body. The robot 200 can be precisely driven according to the set movement path under the control of the processor 100, and stably transport the door latches and multiple bolts to the fastening position (S400).

[0085] When the robot 200 reaches the vicinity of the fastening position, the processor 100 can accurately identify the location of the vehicle body fastening hole by analyzing the camera data acquired by the camera module 400. The camera module 400 can detect the shape and position of the fastening hole using a high-precision 3D vision system, etc. (S500).

[0086] The processor 100 can perform fastening alignment based on data received from the camera module 400, the micro-drive robot 200, or the gripper 300.

[0087] Once the alignment is complete, the processor 100 can control multiple nut tighteners 310 to rotate and drive them, simultaneously tightening multiple bolts into the fastening holes of the vehicle body. At this time, the door latch remains attracted by the permanent magnet 320, so when all the bolts are tightened into the vehicle body, the door latch itself can also be fixed to the vehicle body (S600).

[0088] As described above, according to this embodiment, the present invention minimizes the fastening position error between the door latch and the vehicle body by simultaneously picking up the door latch and multiple bolts and moving them to the fastening position, and by accurately identifying the fastening position and performing the fastening operation through a camera module. This prevents separation or poor clearance during door opening and closing, thereby improving vehicle assembly quality.

[0089] Furthermore, during the tightening process, by driving the multiple nut tighteners included in the clamp in both forward and reverse directions, the alignment of multiple bolts with the tightening holes is optimized, and multiple bolts are tightened with a preset torque value, thereby maintaining uniform tightening strength and preventing deviations in tightening quality.

[0090] In addition, it can prevent uneven tightening quality that may be caused by differences in operator skill during manual tightening, as well as the possibility of scratches or damage to the vehicle body or door latches during the tightening process. By achieving full automation of the tightening process, it can significantly reduce repetitive work for operators, reduce operator fatigue, and improve the working environment.

[0091] The implementations described in this specification can be implemented, for example, as methods or procedures, apparatus, software programs, data streams, or signals. Even when discussed in the context of a single form of implementation (discussed only as a method), the features in question can be implemented in other forms (e.g., apparatus or program). Apparatus can be implemented using appropriate hardware, software, and firmware. Methods can be implemented in apparatuses such as processors, which generally refer to processing devices including computers, microprocessors, integrated circuits, or programmable logic devices. Processors can also include communication devices such as computers, mobile phones, portable / personal digital assistants ("PDAs"), and other devices that facilitate information communication between end users.

[0092] Although the present invention has been described above with reference to limited embodiments and accompanying drawings, the present invention is not limited thereto. It is obvious that those skilled in the art can make various modifications and variations within the equivalent scope of the technical concept and claims of the present invention.

Claims

1. A door lock fastening device, comprising: The clamp includes multiple nut tighteners and a permanent magnet, which simultaneously pick up the door latch and multiple bolts fastened to the door latch through the multiple nut tighteners and the permanent magnet; The robot picks up the door latch and the plurality of bolts via the gripper and moves them to the fastening positions on the vehicle body; and The processor, based on camera data acquired through the camera module, controls the drive of the robot or the gripper to fasten the door latch and the plurality of bolts to the fastening position.

2. The door lock fastening device according to claim 1, wherein, The clamp further includes a fixing part, the shape of which corresponds to the lug of the door latch. The clamp attracts and fixes the door latch through the fixing part and the permanent magnet.

3. The door lock fastening device according to claim 2, wherein, The fixing part is configured such that the lug of the door latch is disposed in the space between the plurality of nut tighteners.

4. The door lock fastening device according to claim 1, wherein, The processor controls the drive of the clamp to make the nut tightener rotate forward and reverse repeatedly at a preset speed, so as to tighten the nut tightener to the plurality of bolts.

5. The door lock fastening device according to claim 4, wherein, The clamp includes a cylinder for raising or lowering the permanent magnet. After the nut tightener is fastened to the plurality of bolts, the processor lowers the permanent magnet by driving the cylinder, thereby causing the permanent magnet to attract the door latch.

6. The door lock fastening device according to claim 1, wherein, The plurality of nut tighteners are arranged in a first direction consistent with the direction in which the plurality of bolts fastened to the door latch are positioned. The permanent magnet is arranged along a second direction that intersects the first direction, and attracts the door latch by contacting the pickup surface of the door latch.

7. The door lock fastening device according to claim 1, wherein, The clamp includes a variable structure such that the height position of the nut tightener changes according to the clamping force generated during the process of the plurality of nut tighteners picking up the plurality of bolts or tightening the plurality of bolts to the vehicle body.

8. The door lock fastening device according to claim 1, wherein, The processor identifies the fastening holes of the vehicle body through the camera data, and moves the robot or the gripper to the fastening position based on the positional relationship between the identified fastening holes and the plurality of bolts.

9. The door lock fastening device according to claim 1, wherein, The processor drives the plurality of nut tighteners with a preset torque value, thereby simultaneously fastening the door latch and the plurality of bolts to the vehicle body.

10. A door latch fastening system, which is an automatic fastening system for fastening door latches to the vehicle body, comprising: The parts supply department supplies door latches or multiple bolts; The clamp simultaneously picks up the door latch supplied from the component supply unit and the plurality of bolts inserted into the door latch and fastens them to the vehicle body; The robot picks up the door latch and the plurality of bolts through the gripper and moves them to the fastening position on the vehicle body; as well as The processor identifies the fastening position based on the camera data acquired by the camera module, and controls the operation of the robot or the gripper based on the identification result.

11. The door lock fastening system according to claim 10, wherein, The component supply unit includes: A feeder supplies the plurality of bolts; and The supply device arranges and supplies the plurality of bolts supplied from the feeder in sequence.

12. The door lock fastening system according to claim 10, wherein, The clamp includes: A nut tightener for picking up the plurality of bolts; A permanent magnet is used to pick up the door latch; and A cylinder is used to raise or lower the permanent magnet.

13. The door lock fastening system according to claim 12, wherein, The clamp causes the nut tightener to repeatedly rotate forward and backward at a preset speed to secure the nut tightener to the plurality of bolts. The processor drives the cylinder to lower the permanent magnet, thereby causing the permanent magnet to attract the door latch.

14. The door lock fastening system according to claim 10, wherein, The processor identifies the fastening holes of the vehicle body through the camera data, and moves the robot or the gripper to the fastening position based on the positional relationship between the identified fastening holes and the plurality of bolts.

15. The door lock fastening system according to claim 12, wherein, The processor drives the plurality of nut tighteners with a preset target torque value, thereby simultaneously fastening the door latch and the plurality of bolts to the vehicle body.

16. A method for fastening a vehicle door latch, comprising the steps of: The gripper simultaneously picks up the door latch and multiple bolts fastened to the door latch; The robot will move the picked-up door latches and the multiple bolts to the fastening positions on the vehicle body; Based on the positional relationship between the fastening holes and the plurality of bolts identified by the camera module, the processor moves the robot or the gripper to the fastening position; as well as The clamp secures the door latch and the plurality of bolts to the vehicle body. The clamp includes: A nut tightener for picking up the plurality of bolts; A permanent magnet is used to pick up the door latch; and A cylinder is used to raise or lower the permanent magnet.

17. The door lock fastening method according to claim 16, wherein, The picking process includes the following steps: The nut tightener is repeatedly rotated forward and backward at a preset speed to secure the nut tightener to the plurality of bolts; and The permanent magnet is lowered by driving the cylinder, thereby attracting the door latch.

18. The door lock fastening method according to claim 17, wherein, In the moving step, The processor moves the robot or the gripper to the fastening position while keeping the plurality of bolts tightened to the plurality of nut tighteners and the door latch attracted to the permanent magnet.

19. The door lock fastening method according to claim 16, wherein, In the tightening step, the clamp drives the plurality of nut tighteners with a preset torque value, thereby tightening the plurality of bolts to the vehicle body.

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