AUTOMATIC COMPONENT FASTENING DEVICE

Abstract

The present invention comprises a base frame (1); a holder (3) that can be raised / lowered with respect to the base frame (1); a circular magazine (5) that can rotate with respect to the base frame (1) and in which a plurality of component parts to be inserted into the holder (3) are circularly mounted; and a holder guide actuator (9) that can switch, on the top of the holder (3), between a state in which the displacement of a circular magazine holder is restricted and a state in which the holder (3) passes through.

Description

Technical area

[0001] The present disclosure relates to a device configured for automatically fastening components such as screws or nuts. Background technology

[0002] In automobile assembly lines, components such as screws, nuts and clamps are used to fasten various parts.

[0003] The fastening of the components as described above is a simple and repetitive task and is preferably performed automatically to reduce human errors and labor costs.

[0004] Furthermore, errors may occur during the automatic component attachment process, e.g., a component may not be attached correctly, and it would be desirable if the errors could be corrected automatically.

[0005] As the related art concerning the above description, KR 10-2021-0061131 A was disclosed.

[0006] The above description as a related art of the present disclosure is merely for the purpose of facilitating understanding of the background of the present disclosure and should not be construed as being included in the related art known to those skilled in the art. RevelationTechnical Problem

[0007] An object of the present disclosure is to provide an automatic component fastening device configured to automatically fasten various components such as screws and nuts to precisely fasten a component part to a fixture to reduce a fastening error and improve the normal mounting rate, to reduce the occurrence of errors in the fastening process, and, when an error occurs during the automatic fastening of the components, to automatically solve the problem so that an operation can be continued after fastening to improve productivity while increasing the operation rate. Technical solution

[0008] To achieve the above-described objective, an automatic component fastening device is provided, comprising: a base frame; a support adapted to be raised and lowered relative to the base frame; and a circular magazine which is arranged to be rotatable with respect to the base frame and in which a plurality of component parts to be inserted into the receptacle can be arranged in a circle, wherein the circular magazine may be provided to be slidable with respect to the base frame so that at least one of the attached plurality of component parts may be arranged at an upper portion of the receptacle.

[0009] The circular magazine may be provided to be slidable with respect to the base frame so that at least one of the plurality of mounted component parts can be removed from the upper portion of the receptacle.

[0010] The automatic component mounting apparatus may include: a holder guide actuator configured to switch, at an upper space of the receptacle, between a state in which the displacement of a holder of the circular magazine is restricted and a state in which the receptacle passes through.

[0011] The circular magazine may have: a disc; the holder having a seat portion with a magnet that fixes the component and is open to an exterior of the disc, the holder being elastically supported by the disc, thereby allowing the seat portion to rotate upwards with respect to the disc.

[0012] The circular magazine may be configured to be linearly displaceable with respect to the base frame so that the component coupled to the seat portion of the holder can be arranged between the receptacle and the holder guide actuator.

[0013] The automatic component fastening device may comprise: a sliding plate configured to be linearly displaceable with respect to the base frame; a displacement actuator configured to enable linear displacement of the displacement plate; and a rotary actuator configured to rotate the circular magazine with respect to the slide plate.

[0014] The disk of the circular magazine may have an attachment hole at a central portion thereof for attachment to or removal from the rotary actuator.

[0015] The base frame may include a separating block shaped to allow an upper end of the receptacle to pass therethrough and configured to separate the component of the receptacle from the receptacle when the receptacle is lowered and pressed.

[0016] The holder guide actuator may be provided above the separating block with the holder of the circular magazine located therebetween; and a finger of the holder guide actuator may be arranged at a regular distance from an upper surface of the holder.

[0017] The seat part of the holder may be formed with an opening part open to the outside of the disc so that a screw part of a screw can pass therethrough; and Two fingers of the guide actuator of the holder may have a finger groove to cover the screw part of the screw that sits in the seat part of the holder.

[0018] The magnet of the holder may comprise a plurality of magnets arranged around a curved portion of the opening part.

[0019] The receptacle may be connected to a torque delivery actuator that applies torque to secure the component; a lifting and lowering actuator may be provided to raise and lower the torque delivery actuator and the receiver with respect to the base frame; the base frame can be connected to a robot; and a control device may be provided, wherein, when an error is determined that the component can remain in the receptacle based on operation information when the torque providing actuator and the receptacle fix the component, the control device may control the robot to remove the component remaining in the receptacle.

[0020] The control device may be configured to compare the maximum torque or the maximum rotation angle when the torque providing actuator fastens the component with a predetermined reference torque or a predetermined reference angle to determine the error.

[0021] If the maximum torque is less than or greater than a predetermined reference torque range centered on a reference torque, the control device may determine that the component remaining in the receptacle fault occurs.

[0022] If the maximum rotation angle is smaller or larger than a predetermined reference angle range centered on a reference angle, the control device can determine that the error in which the component remains in the receptacle occurs.

[0023] If the control device determines the error that determines that the component remains in the holder, the control device can control the lifting and lowering actuator so that an upper end of the receptacle can be pressed into the separating block to separate the component from the receptacle; and the controller may operate the robot to assume a posture that allows the component to fall freely between the separating block and the holder guide actuator.

[0024] The control device may be configured to repeat a sequence of operations: Lifting the holder by the lifting and lowering actuator to couple the component sitting on the holder to the holder; Operating the shift actuator to move the shift plate to remove the circular magazine between the holder and the holder guide actuator; Opening the fingers of the holder guide actuator; Raising the fixture by the lifting and lowering actuator and rotating the fixture by the torque delivery actuator to attach the fixture component to a fastening target; Receiving operation information when the fixture is securing the component and if it is determined that there is no error assuming that the component remains in the fixture, lowering the fixture by the raising and lowering actuator and rotating the circular magazine by the rotating actuator to align another component part to be secured with the fixture; linear movement of the circular magazine towards the holder by the displacement actuator and positioning of the next component to be fastened between the holder and the holder guide actuator; and Closing the fingers of the holder guide actuator.

[0025] Further, in order to achieve the above-described object, there may also be provided a control method of an automatic component mounting apparatus, the method comprising: while closing the fingers of a holder guide actuator and constraining an upper portion of a seat portion of a holder, lifting the receptacle and coupling a component part located in the seat portion of the holder to the receptacle; by a slide actuator, moving a slide plate to remove a circular magazine between the holder and the holder guide actuator; Opening the fingers of the holder guide actuator; Raising the fixture with a lifting and lowering actuator, rotating the fixture with a torque delivery actuator and attaching the fixture component to a fastening target; Receiving operating information when the receptacle secures the component and, if a fault is detected that assumes that the component remains in the receptacle, operating the raising and lowering actuator to push the receptacle into the separator block to remove the component from the receptacle; and Operating a robot to assume a posture in which the component falls freely between the separator block and the holder guide actuator.

[0026] The method may comprise: after operating the robot to assume the posture in which the component freely falls, returning the posture of the robot to a previous posture; Rotating the circular magazine by a rotary actuator and aligning another component part to be fastened towards the holder; linearly moving the circular magazine towards the holder by the displacement actuator and arranging the component to be fastened between the holder and the holder guide actuator; while closing the fingers of the holder guide actuator and constraining an upper portion of the seat portion of the holder, lifting the receptacle and the component to be fastened, which is located in the seat portion of the holder, to the receptacle; by the shift actuator, moving the shift plate to remove the circular magazine between the holder and the holder guide actuator; Opening the fingers of the holder guide actuator; and Lifting the fixture by the lifting and lowering actuator, rotating the fixture by the torque delivery actuator and fastening the fixture component to be fastened to the fastening target.

[0027] The method may comprise: receiving the operation information when the holder is securing the component, and, if it is determined that there is no error assuming that the component remains in the holder, lowering the holder by the raising and lowering actuator and rotating the circular magazine by the rotating actuator to align the component to be secured with the holder; linearly moving the circular magazine towards the holder by the displacement actuator and arranging the fastening material to be fastened between the holder and the holder guide actuator; and Closing the fingers of the holder guide actuator. Beneficial effects

[0028] According to the present disclosure, the automatic component fastening device can automatically fasten various components such as screws and nuts, precisely fasten a component part to a fixture to reduce a fastening error and improve the normal mounting rate, so as to reduce the occurrence of errors in the fastening process, and, when an error occurs during the automatic fastening of the components, automatically solve the problem so that an operation can be continued after fastening to improve productivity while increasing the operation rate. Description of the drawings Fig. 1 is a view showing a main configuration of an automatic component mounting apparatus according to the present disclosure; Fig. 2 is a detailed view showing a main part of Fig. 1 shows; Fig. 3 is a view showing a circular magazine and a holder; Fig. 4 is a view showing a state immediately before a receptacle is coupled with a screw attached to the holder; Fig. 5 is a view showing a state in which the recording is made from the state of Fig. 4 is lifted and coupled with the screw; Fig. 6 is a view showing a state in which the circular magazine is removed from the state of Fig. 5 is moved backwards; Fig. 7 is a view showing a state in which the backward movement of the circular magazine is stopped after the state of Fig. 6 is completed; Fig. 8 is a view showing a state in which a failure occurs and a component part remains in the receptacle; Fig. 9 is a view showing a state in which the receptacle is pushed down into the separating block and the component part is removed from the receptacle; Fig. 10 is a view showing a state in which the component removed from the holder may fall out and a state in which the posture of a base frame by a robot from Fig. 9 is rotated by 180°; and Fig. 11 is a flowchart showing one embodiment of a method for controlling the automatic component mounting apparatus according to the present disclosure. Invention mode

[0029] Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings, and the same or similar components are given the same reference numerals regardless of the number of figures and will not be described repeatedly.

[0030] The suffixes “module” and “part” used in the following description for the components are used only to simplify the description and have no meaning or function of their own.

[0031] In the following description, if it is determined that the detailed description of known technologies to which the present disclosure relates obscures the subject matter of the embodiment described herein, the detailed description will be omitted. Furthermore, the accompanying drawings are for the sole purpose of facilitating the understanding of the embodiment disclosed in the description, and the technical spirit disclosed in the description is not limited by the accompanying drawings. All changes, equivalents, and substitutions should be understood to encompass the spirit and scope of the present disclosure.

[0032] Terms that have ordinal numbers such as "first," "second," etc., may be used to describe different components, but the components should not be construed as being limited to the terms. The terms are used only to distinguish one component from another.

[0033] It should be understood that when an element is described as being "connected to" or "coupled to" another element, it may be directly connected or coupled to another element, or it may be connected or coupled to another element with the other element intervening. On the other hand, it should be understood that when an element is described as being "directly connected to" or "directly coupled to" another element, it may be connected or coupled to another element without the other element intervening.

[0034] Singular forms are intended to indicate plural forms unless the context clearly indicates otherwise.

[0035] It is further understood that the terms "comprise" or "have" as used in this specification indicate the presence of the specified features, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0036] Furthermore, a unit or control unit included in names such as engine control unit (MCU), hybrid control unit (HCU), etc., is just a widely used term for a control device that controls a specific function of a vehicle and does not mean a generic functional unit.

[0037] The control device may include a communication device that communicates with other control devices or a sensor for controlling the assigned function, a memory for storing an operating system or a logical instruction and input / output information, and at least one process for determining, calculating, and deciding necessary for controlling the assigned function.

[0038] With reference to the Fig. 1 to 4, an embodiment of an automatic component mounting apparatus according to the present disclosure includes: a base frame 1; a receiver 3 installed to be movable up and down with respect to the base frame 1; and a circular magazine 5 rotatably mounted with respect to the base frame 1 and in which a plurality of components to be inserted into the receiver 3 are circularly mounted.

[0039] At this point, the circular magazine 5 is installed to be slidable with respect to the base frame 1 so that at least one of the mounted plurality of pieces of components is located at an upper portion of the receptacle 3.

[0040] Furthermore, the circular magazine 5 may be installed to be slidable with respect to the base frame 1 so that at least one of the mounted plurality of pieces of components is removed from the upper portion of the holder 3.

[0041] In other words, the circular magazine 5 is provided to be slidable with respect to the base frame 1 in order to position a component part in the upper portion of the holder 3 or to remove it from the upper portion of the holder 3.

[0042] Furthermore, the embodiment of the present disclosure includes a holder guide actuator 9 which can switch between a state in which the displacement of a holder 7 of the circular magazine 5 is restricted and a state in which the holder 3 passes through it on the top side of the holder 3.

[0043] Furthermore, the circular magazine 5 has a disk 11; and the holder 7 has a seat part 15 with a magnet 13 which fixes the components which are open outside the disk 11 and are elastically supported by the disk 11, the seat part 15 being rotatable upward with respect to the disk 11.

[0044] In other words, the present disclosure is configured to individually couple a plurality of component parts mounted on the circular magazine 5 to the receptacle 3 to attach the components to a mounting target. When the receptacle 3 is lifted toward the holder 7 to be coupled to the component, a finger 17 of the holder guide actuator 9 elastically restricts an upward rotation range of the seat part 15 of the holder 7. Accordingly, a posture favorable for the component to be coupled to the receptacle 3 is stably maintained, and the movement of the component is efficiently performed with a posture in which the friction between the receptacle 3 and the component is lower, ultimately enabling the component to be precisely and stably coupled to the receptacle 3.

[0045] For illustration purposes, Fig. 3, the holder 7 is elastically fastened to the disc 11 by a spring 19. Therefore, the seat part 15 remains parallel to the disc 11 in the free state, so that a screw head or a nut held by a magnetic force on the underside of the seat part 15 maintains a position in which it can be inserted into the receptacle 3 by linearly approaching the receptacle 3, and, when the receptacle 3 pushes the holder upward through the component, the holder can be rotated upward with respect to the disc 11, and a range in which the holder 7 can be rotated upward is restricted by the finger 17 of the holder guide actuator 9.

[0046] Therefore, when the holder 3 is lifted and the component is located on the holder 3, the seat part 15 can be rotated upward by a provided distance so that the component can be efficiently accommodated in the holder 3 compared to a structure with a fixed seat part 15.

[0047] The circular magazine 5 is installed to be linearly displaceable with respect to the base frame 1 so that the component coupled to the seat part 15 of the holder 7 is located between the receptacle 3 and the holder guide actuator 9.

[0048] In other words, by means of a slide plate 21 installed to be linearly displaceable with respect to the base frame 1 and a slide actuator 23 installed to linearly displace the slide plate 21, the holder 7 of the circular magazine 5 can be moved forward and backward between the receptacle 3 and the holder guide actuator 9.

[0049] In addition, the circular magazine 5 is rotated by a rotary actuator 25 installed to rotate the circular magazine 5 to the shift plate 21, thereby changing the holder 7 and the component entering between the receptacle 3 and the holder guide actuator 9.

[0050] Therefore, the circular magazine 5 can be arranged so that the components to be attached to a fastening target such as a vehicle, etc., are mounted on the holder 7 in sequence, and a suitable component part can be attached to the receptacle 3 in sequence.

[0051] For example, when component parts are fastened to the fastening target in the order of screw - screw - nut - screw, the component parts are attached to holders 7 arranged in the circumferential direction of the circular magazine 5 in the order of screw - screw - nut - screw, and the component parts are fed to the holder 3 by rotating the circular magazine 5 in this order, so that it is possible to fasten various types of components in sequence.

[0052] Of course, the circular magazine 5 can be arranged so that some type of component, such as a screw or a nut, is mounted and fed to the holder 3.

[0053] The disc 11 of the circular magazine 5 has a mounting hole 27 to which the rotary actuator 25 is attached or removed.

[0054] Therefore, when the components mounted on the circular magazine 5 are completely used, the used circular magazine 5 is removed from the rotary actuator 25, and a new circular magazine 5 loaded with components is coupled to the rotary actuator 25 via the mounting hole 27, so that the components required for the holder 3 are continuously supplied.

[0055] The replacement of the circular magazine 5 as described above can be done manually or automatically.

[0056] The base frame 1 has a separating block 29 which is designed for an upper end of the receptacle 3 to pass through and which, when the receptacle 3 is lowered and pressed, separates the component of the receptacle 3 from the receptacle 3.

[0057] In other words, the separator block 29 has a hole 31 into which the receptacle 3 is inserted and raised and lowered. The diameter of the hole 31 is smaller than the diameter of a washer that is part of the component seated in the receptacle 3. Therefore, when the receptacle 3 is lowered and pressed into the separator block 29, only the component remains on the separator block 29, and the separation between the receptacle 3 and the component is achieved.

[0058] Therefore, a screw B, a type of structural element, is inextricably coupled with a flange or washer whose diameter is larger than the diameter of a screw head. Similarly, a nut is integrated with a flange or washer whose diameter is larger than the diameter of the nut.

[0059] The holder guide actuator 9 is provided above the partition block 29 with the holder 7 of the circular magazine 5 therebetween, and the finger 17 of the holder guide actuator 9 is arranged to form a clearance with an upper surface of the holder 7.

[0060] In other words, as described above, when the receptacle 3 is moved toward the holder 7 to be coupled with the component, the distance can enable the component to be moved efficiently with a posture with less friction between the receptacle 3 and the component, and prevent the posture of the component from being excessively changed, and enable the component to stably maintain the posture favorable for coupling with the receptacle 3, and the distance can be designed through numerous experiments and analyses.

[0061] In the embodiment, the seat part 15 of the holder 7 is formed in an opening part open to the outside of the washer 11 to allow the screw part of the screw B to pass therethrough; and a finger groove 33 is formed in two fingers 17 of the holder guide actuator 9 to cover the screw part of the screw B seated in the seat part 15 of the holder 7.

[0062] In addition, the magnet 13 of the holder 7 has a plurality of magnets arranged around a curved portion of the opening part.

[0063] Therefore, before the holder 3 is coupled to the screw B attached to the bracket 7, as shown in Fig. 4, the head of the screw B is brought into close contact with a lower portion of the seat part 15 by a magnetic force, and the screw part of the screw B is located in the finger groove 33 through the seat part 15.

[0064] For illustration purposes, Fig. 4 the recording 3 from the state of Fig. 4 and the component is inserted into the finger groove 33, as shown in Fig. 5, and the circular magazine 5 is moved (backward) by the displacement actuator 23, as shown in Fig. 6. Therefore, the circular magazine 5 is completely spaced from the holder 3 and the holder guide actuator 9, as shown in Fig. 7. Thereafter, the holder 3 is lifted and rotated to the fastening target so that the component of the holder 3 is fastened to the fastening target.

[0065] Next, to attach another component part to the holder 3, the holder 3 is lowered, the circular magazine 5 is rotated by the rotary actuator 25, and a new component part is aligned to face the holder 3. Then, the shift actuator 23 is driven to allow a new component part attached to the holder 7 of the circular magazine 5 to enter (move forward) between the holder 3 and the holder guide actuator 9, and then the holder 3 is raised, and a new component part is coupled to the holder 3.

[0066] To illustrate, the holder guide actuator 9 is configured to switch between the open state in which the two fingers 17 are open from each other and the closed state in which the two fingers 17 are closed from each other. In the embodiment, in the closed state of the two fingers 17, the opposite upper portions of the opening part of the holder 7 are restricted by the two fingers, and in the open state, the receptacle 3 can pass through a gap between the two fingers.

[0067] The fixture 3 is connected to a torque providing actuator 35 that applies torque to fix the component; a lifting and lowering actuator 37 is installed to raise and lower the torque providing actuator 35 and the fixture 3 with respect to the base frame 1; and the base frame 1 is connected to a robot 39.

[0068] Therefore, the base frame 1 can assume a free spatial position and posture by the robot 39. When the robot 39 positions the base frame 1 under the fastening target, the raising and lowering actuator 37 raises the fixture 3, so that the component is coupled to the fixture 3. Then, when the raising and lowering actuator 37 further raises the fixture 3, the component of the fixture 3 is moved to a fastening position of the fastening target, and then, when the torque supply actuator 35 rotates the fixture 3, the component is fastened to the fastening position of the fastening target.

[0069] Meanwhile, the embodiment of the present disclosure includes a control device 41, and based on the operation information, when the torque providing actuator 35 and the receptacle 3 fix the component, an error that the component may remain in the receptacle 3 is determined, and the control device 41 controls the robot 39 to remove the component remaining in the receptacle 3.

[0070] The control device 41 may be configured to compare the maximum torque or the maximum rotation angle when the torque providing actuator 35 fastens the component with a predetermined reference torque or a predetermined reference angle, respectively, to determine the error.

[0071] For example, if the maximum torque is less than or greater than the predetermined reference torque range centered on the reference torque, the control device 41 may determine that the fault occurs in which the component remains in the receptacle 3.

[0072] At this point, the reference torque may be preset as a regular torque used to fasten the component to the fastening target, and the reference torque range may be preset as a range substantially larger or smaller than the reference torque, so that it is difficult to determine whether the component is normally fastened to the fastening target and can distinguish a situation in which the component is likely to remain in the receptacle 3.

[0073] For example, if a regular torque for fastening a component part to a fastening target is preset to 5 Nm, the reference torque is 5 Nm, and the reference torque range may be preset to a range from 2 Nm to 8 Nm. In this case, the control device may determine that the component remaining in the fixture 3 error occurs when the maximum torque when fastening the component by the torque providing actuator 35 is less than 2 Nm or more than 8 Nm.

[0074] In addition, when the maximum rotation angle is smaller or larger than the predetermined reference angle range centered on the reference angle, the control device 41 can determine that the error occurs in which the component remains in the receptacle 3.

[0075] At this point, the reference angle may be preset to a regular rotation angle designed for the attachment of the component, and the reference angle range may be preset to a range substantially larger or smaller than the reference angle, so that it is difficult to determine whether the component is normally attached to the attachment target and may distinguish a situation in which the component is likely to remain in the receptacle 3.

[0076] For example, if the regular rotation angle preset for fastening the component to the fastening target is 1000°, the reference angle is 1000°, and the reference angle range may be preset to a range of 500° to 1500°. In this case, the control device may determine that the component remaining in the receptacle 3 error occurs when the maximum rotation angle at which the torque delivery actuator 35 fastens the component is less than 500° or more than 1500°.

[0077] When the control device 41 determines that the error in which the component is assumed to remain in the holder 3 occurs, the control device 41 controls the lifting and lowering actuator 37 so that the upper end of the holder 3 is pressed into the separating block 29 from the state of Fig. 8 in the state of Fig. 9 is pressed, whereby the component is separated from the holder 3; and as in Fig. 10, controls the robot 39 to assume a posture in which the component falls freely between the separating block 29 and the holder guide actuator 9.

[0078] At this point, the attitude of the base frame 1 in which the component can fall freely can be determined, for example, as shown in Fig. 10, a state of rotation by 180° compared to Fig. 9. However, the present disclosure is not necessarily limited thereto and may include multiple postures. Therefore, to ensure that the component located above the separating block 29 is removed, the base frame 1 may be rotated by 90°, by 200°, and then by 90°.

[0079] The control device 41 is configured to lift the holder 3 by the lifting and lowering actuator 37 to couple the holder 3 to the component seated in the holder 7; to drive the slide actuator 23 to move the slide plate 21 so that the circular magazine 5 is removed from the holder 3 and the holder guide actuator 9; to open the fingers 17 of the holder guide actuator 9; and then lift the holder 3 by the lifting and lowering actuator 37 and rotate the holder 3 by the torque providing actuator 35 to fasten the component of the holder 3 to the fastening target.

[0080] Furthermore, the control device 41 is configured to receive the operation information when the holder 3 fixes the component, and lower the holder 3 by the raising and lowering actuator 37 when it is determined that there is no error in which the component is assumed to remain in the holder 3, and rotate the circular magazine 5 by the rotary actuator 25 to align a new component with the holder 3; move the circular magazine 5 linearly toward the holder 3 by the translation actuator 23 to position a new component between the holder 3 and the holder guide actuator 9; and close the fingers 17 of the holder guide actuator 9, and the control device is configured to repeat a series of operations.

[0081] The operation of the control device 41 as described above can be carried out as shown in the flowchart in Fig. 11 must be set up.

[0082] According to the present disclosure, the method for controlling the automatic component mounting apparatus comprises: As in Fig.11, while the fingers 17 of the holder guide actuator 9 are closed to restrict the top of the seat part 15 of the holder 7, lifting the receptacle 3 so that the component arranged on the seat part 15 of the holder 7 is coupled to the receptacle 3, S10; by the shift actuator 23, moving the shift plate 21 so that the circular magazine 5 between the receptacle 3 and the holder guide actuator 9 is removed, S20; opening the fingers 17 of the holder guide actuator 9, at S30; lifting the receptacle 3 by the lift and lower actuator 37 and rotating the receptacle 3 by the torque providing actuator 35 so that the component of the receptacle 3 is attached to the attachment target, at S40;Receiving the operation information when the holder 3 is holding the component, and if it is determined that the failure in which the component remains in the holder 3 occurs, driving the raising and lowering actuator 37 to push the holder 3 into the separating block 29 and separate the component from the holder 3 at S50; operating the robot 39 to assume a posture in which the component can freely fall between the separating block 29 and the holder guide actuator 9 at S60;

[0083] In addition, the control method further comprises: after operating the robot 39 to assume a posture in which the component can fall freely, S60, resetting the posture of the robot 39 to a previous posture, S70; rotating the circular magazine 5 by the rotary actuator 25 to align a new component part to be mounted toward the receptacle 3, at S80; linearly moving the circular magazine 5 toward the receptacle 3 by the translation actuator 23 and positioning the new component to be mounted between the receptacle 3 and the holder guide actuator 9, at S90; while closing the fingers 17 of the holder guide actuator 9 to restrict the top of the seat part 15 of the holder 7, lifting the receptacle 3 to couple the new component located on the seat part 15 of the holder 7 to the receptacle 3, at S100;Moving the slide plate 21 by the slide actuator 23 so that the circular magazine 5 is removed from between the holder 3 and the holder guide actuator 9 at S110; Opening the fingers 17 of the holder guide actuator 9 at S120; Lifting the holder 3 by the lifting and lowering actuator 37 and rotating the holder 3 by the torque providing actuator 35 to attach the new component of the holder 3 to the attachment target at S130.

[0084] At this point, in the course of the process of attaching a newly attached component to the attachment target, the component is not properly attached, and the error in which the component remains in the receptacle 3 occurs, the device can alert the manufacturer of the occurrence of the error and stop the operation.

[0085] Moreover, the control method may further comprise: receiving the operation information when the holder 3 is mounting the component, and, if it is determined that there is no failure in which the component can remain in the holder 3, lowering the holder 3 by the raising and lowering actuator 37 and rotating the circular magazine 5 by the rotating actuator 25 to align a component part to be mounted next toward the holder 3 at S140; linearly moving the circular magazine 5 toward the holder 3 by the shifting actuator 23 and positioning a component part to be mounted next between the holder 3 and the holder guide actuator 9 at S150; and closing the fingers 17 of the holder guide actuator 9 at S160.

[0086] Although the present disclosure has been provided above via certain embodiments shown in the drawings, it will be apparent to those skilled in the art that the present disclosure may be changed and modified in various ways without departing from the scope of the present disclosure as set forth in the following claims. [Description of reference symbols] 1 base frame 3 recording 5 circular magazine 7 holders 9 Holder guide actuator 11 discs 13 Magnet 15 Seat part 17 fingers 19 spring 21 Sliding plate 23 Displacement actuator 25 rotary actuator 27 Mounting hole 29 Separation block 31 holes 33 Finger groove 35 Torque delivery actuator 37 Lifting and lowering actuator 39 robots 41 Control device B screw QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] KR 10-2021-0061131 A

[0005]

Claims

[1] An automatic component fastening device, comprising: a base frame (1); a support (3) adapted to be raised and lowered relative to the base frame (1); and a circular magazine (5) which is arranged to be rotatable with respect to the base frame (1) and in which a plurality of component parts to be inserted into the receptacle (3) are mounted in a circular manner, wherein the circular magazine (5) is provided to be displaceable with respect to the base frame (1) so that at least one of the mounted plurality of component parts is located at an upper portion of the receptacle (3). [2] The automatic component mounting apparatus according to claim 1, wherein the circular magazine (5) is provided to be slidable with respect to the base frame (1) so that at least one of the mounted plurality of component parts is removed from the upper portion of the receptacle (3). [3] The automatic component fastening device according to claim 1, further comprising: a holder guide actuator (9) configured to switch at an upper space of the receptacle (3) between a state in which the displacement of a holder (7) of the circular magazine (5) is restricted and a state in which the receptacle (3) passes through. [4] The automatic component mounting device according to claim 3, wherein the circular magazine (5) comprises: a disc (11); the holder (7) having a seat part (15) with a magnet (13) for fixing the component, which is open to an exterior space of the disc (11), the holder (7) being elastically supported by the disc (11), thereby allowing the seat part (15) to rotate upwards with respect to the disc (11). [5] The automatic component fastening device according to claim 4, wherein the circular magazine (5) is arranged to be linearly displaceable with respect to the base frame (1) so that the component coupled to the seat part (15) of the holder (7) is located between the receptacle (3) and the holder guide actuator (9). [6] The automatic component fastening device according to claim 5, further comprising: a sliding plate (21) adapted to be linearly displaceable with respect to the base frame (1); a displacement actuator (23) configured to enable linear displacement of the displacement plate (21); and a rotary actuator (25) configured to rotate the circular magazine (5) with respect to the sliding plate (21). [7] The automatic component mounting apparatus according to claim 6, wherein the disk (11) of the circular magazine (5) has an attachment hole (27) at a central portion thereof for being attached to or removed from the rotary actuator (25). [8] The automatic component fastening device according to claim 6, wherein the base frame (1) has a separating block (29), and the separating block (29) is adapted to pass through the upper end of the holder (3), and when the holder (3) is lowered and pressed, is adapted to separate the component of the holder (3) from the holder (3). [9] The automatic component mounting apparatus according to claim 8, wherein the holder guide actuator (9) is provided above the partition block (29) with the holder (7) of the circular magazine (5) interposed therebetween; and a finger (17) of the holder guide actuator (9) is arranged at a regular interval from an upper surface of the holder (7). [10] The automatic component fastening device according to claim 9, wherein the seat part (15) of the holder (7) is formed with an opening part open to the outside of the disk (11) so that a screw part of a screw passes therethrough; and two fingers (17) of the holder guide actuator (9) have a finger groove (33) for covering the screw part of the screw seated in the seat part (5) of the holder (7). [11] The automatic component fastening device according to claim 10, wherein the magnet (13) of the holder (7) comprises a plurality of magnets arranged around a curved portion of the opening part. [12] The automatic component fastening device according to claim 8, wherein the receptacle (3) is connected to a torque providing actuator (35) which applies a torque for fastening the component; a lifting and lowering actuator (37) is provided to raise and lower the torque providing actuator (35) and the receptacle (3) with respect to the base frame (1); the base frame (1) is connected to a robot (39); and a control device (41) is provided, wherein, when an error is detected that the component is assumed to remain in the receptacle (3) based on operation information when the torque providing actuator (35) and the receptacle (3) fix the component, the control device (41) controls the robot (39) to remove the component remaining in the receptacle (3). [13] The automatic component fastening device according to claim 12, wherein the control device (41) is arranged to compare a maximum torque or a maximum rotation angle when the torque providing actuator (35) fastens the component with a predetermined reference torque or a predetermined reference angle to determine the error. [14] The automatic component fastening device according to claim 12, wherein the control device (41) determines that the error in which the component remains in the holder (3) occurs when the maximum torque is less than or greater than a predetermined reference torque range centered on a reference torque. [15] The automatic component mounting apparatus according to claim 12, wherein the control device (41) determines that the component remaining in the receptacle (3) error occurs when the maximum rotation angle is smaller or larger than a predetermined reference angle range centered on a reference angle. [16] The automatic component mounting device according to claim 12, wherein, when the control device (41) detects the error that the component remains in the receptacle (3), the control device (41) drives the lifting and lowering actuator (37) so that an upper end of the receptacle (3) is pressed into the separating block (29) to separate the component (3) from the receptacle (3); and the control device (41) drives the robot (39) to assume a posture in which the component can fall freely between the separating block (29) and the holder guide actuator (9). [17] The automatic component mounting device according to claim 12, wherein the control device (41) is arranged to repeat a series of operations: Lifting the holder (3) by the lifting and lowering actuator (37) in order to couple the component sitting on the holder (7) to the holder (3); Operating the shift actuator (23) to move the shift plate (21) so that the circular magazine (5) is removed from between the holder (3) and the holder guide actuator (9); Opening the fingers (17) of the holder guide actuator (9); Lifting the holder (3) by the lifting and lowering actuator (37) and rotating the holder (3) by the torque providing actuator (35) to fasten the component of the holder (3) to a fastening target; Receiving the operation information when the holder (3) is fixing the component, and, if it is determined that there is no error in which it is assumed that the component remains in the holder (3), lowering the holder (3) by the lifting and lowering actuator (37) and rotating the circular magazine (5) by the rotating actuator (23) to align another component part to be fixed with the holder (3); Moving the circular magazine (5) linearly in the direction of the holder (3) by the displacement actuator (23) and arranging the component to be fastened next between the holder (3) and the holder guide actuator (9); and closing the fingers (17) of the holder guide actuator (9). [18] A control method of an automatic component mounting apparatus, the method comprising: while closing fingers (17) of a holder guide actuator (9) and restricting an upper portion of a seat part (15) of a holder (7), lifting a receptacle (3) and coupling a component part located in the seat part (15) of the holder (7) to the receptacle (3); by a shift actuator (23), moving a shift plate (21) to remove a circular magazine (5) between the holder (3) and the holder guide actuator (9); Opening the fingers (17) of the holder guide actuator (9); Lifting the holder (3) with a lifting and lowering actuator (37), rotating the holder (3) with a torque providing actuator (35) and fastening the component of the holder (3) to a fastening target; Receiving operating information when the receptacle (3) secures the component and, if an error is detected, that the component is assumed to remain in the receptacle (3), operating the lifting and lowering actuator (37) to push the receptacle (3) into the separating block (29) to remove the component from the receptacle (3); and Operating a robot (39) to assume a posture in which the component falls freely between the separating block (29) and the holder guide actuator (9). [19] The method of claim 18, further comprising: after operating the robot (39) to assume the posture in which the component falls freely, returning the posture of the robot (39) to a previous posture; Rotating the circular magazine (5) by a rotary actuator (25) and aligning a further component part to be fastened in the direction of the holder (3); Moving the circular magazine linearly in the direction of the holder (3) by the displacement actuator (23) and arranging the component to be fastened next between the holder (3) and the holder guide actuator (9); while closing the fingers (17) of the holder guide actuator (9) and constraining an upper portion of the seat part (15) of the holder (7), lifting the receptacle (3) and the component to be fastened next, which is located in the seat part (15) of the holder (7), to the receptacle (3); by the shift actuator (23), moving the shift plate (21) to remove the circular magazine (5) between the holder (3) and the holder guide actuator (9); Opening the fingers (17) of the holder guide actuator (9); and Lifting the holder (3) by the lifting and lowering actuator (37), rotating the holder (3) by the torque provision actuator (35) and fastening the component of the holder (3) to be fastened next to the fastening target. [20] The method of claim 18, further comprising: Receiving the operation information when the holder (3) is fixing the component and if it is determined that there is no error in which it is assumed that the component remains in the holder (3), lowering the holder (3) by the lifting and lowering actuator (37) and rotating the circular magazine (5) by the rotating actuator (25) to align another component part to be fixed next towards the holder (3); Moving the circular magazine (5) linearly in the direction of the holder (3) by the displacement actuator (23) and arranging the component to be fastened next between the holder (3) and the holder guide actuator (9); and closing the fingers (17) of the holder guide actuator (9).

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