Hardware Automatic Fastening Device

Abstract

Provided is a fastening hardware automatic fastening device that can reduce mounting errors and continue the fastening operation after resolving the errors even if they occur. 【Solution means】The present invention comprises a base frame, a socket installed so as to be vertically movable with respect to the base frame, a circular magazine installed so as to be rotatable with respect to the base frame and having a number of hardware inserted into the socket mounted in a circular shape, and a holder guide actuator installed so as to be able to switch between a state of restricting displacement of the holder of the circular magazine and a state through which the socket passes, above the socket.

Description

Technical Field

[0001] The present invention relates to a technology for an apparatus that automatically fastens hardware such as bolts and nuts.

Background Art

[0002] In an automobile assembly line or the like, hardware such as bolts, nuts, and clips is used for fastening various components. The fastening of the hardware is a simple and repetitive operation, and it is preferably performed automatically to reduce human errors and labor costs. In addition, errors such as the hardware not being fastened properly may occur during the automatic fastening of the hardware, and it is more preferable if such errors can be automatically processed.

[0003] As a conventional technology related to this, Korean Patent Publication No. 10-2021-0061131 can be cited. The matters described as the background technology of the invention are only for enhancing the understanding of the background of the present invention, and it should not be accepted as admitting that they correspond to the conventional technology already known to those having ordinary knowledge in the technical field.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present invention can perform automatic fastening operations on various hardware such as bolts and nuts. Moreover, it ensures that the hardware is more accurately mounted in the socket, reduces mounting errors, improves the normal mounting rate, and reduces the occurrence of fastening operation errors. When an error occurs during the automatic fastening of the hardware, it can automatically resolve the error and continue to perform subsequent fastening operations automatically, thereby improving productivity by increasing the process operation rate. The purpose is to provide an automatic fastening device for fastening hardware that achieves this.

Means for Solving the Problems

[0006] The automatic fastening device for fastening hardware according to the present invention for achieving the above object includes a base frame, a socket installed to be vertically movable with respect to the base frame, and a circular magazine installed to be rotatable with respect to the base frame, on which a number of hardware inserted into the socket are mounted in a circular shape. The circular magazine is installed to be slidable with respect to the base frame so that at least one of the mounted a number of hardware can be positioned above the socket.

[0007] The circular magazine can be installed to be slidable with respect to the base frame so that at least one of the mounted a number of hardware can be detached from above the socket.

[0008] It can further include a holder guide actuator installed so as to be able to switch between a state of restricting the displacement of the holder of the circular magazine above the socket and a state through which the socket passes.

[0009] The circular magazine can be configured to include a disk and a holder that forms a state in which a mounting portion with a magnet for fixing the hardware opens toward the outside of the disk, and the mounting portion is elastically supported by the disk in a state rotatable upward with respect to the disk.

[0010] The circular magazine can be installed so as to be linearly slidable with respect to the base frame so that the hardware coupled to the mounting portion of the holder can be positioned between the socket and the holder guide actuator.

[0011] It can be configured to include a sliding plate installed so as to be linearly slidable with respect to the base frame, a sliding actuator installed to linearly slide the sliding plate, and a rotation actuator installed so as to be able to rotate the circular magazine with respect to the sliding plate.

[0012] A mounting hole can be formed in the center of the disk of the circular magazine so as to be detachable with respect to the rotation actuator.

[0013] The base frame can be formed so that the upper end portion of the socket can pass through, and can be provided with a separation block that causes the hardware of the socket to separate from the socket when the socket descends and sinks.

[0014] The holder guide actuator is installed above the separation block with the holder of the circular magazine sandwiched therebetween, and the fingers of the holder guide actuator can be arranged so as to form a certain clearance with the upper surface of the holder.

[0015] The mounting portion of the holder is formed as an opening that is open to the outside of the disk so that the threaded portion of the bolt can pass through. Finger grooves can be formed in the two fingers of the holder guide actuator so as to wrap around the threaded portion of the bolt mounted on the mounting portion of the holder.

[0016] A large number of magnets of the holder can be installed around the curved portion of the opening.

[0017] The socket is connected to a torque providing actuator that applies a torque for fastening the hardware. A lifting actuator is installed so as to lift and lower the torque providing actuator and the socket with respect to the base frame. The base frame is connected to a robot. When the controller determines an error estimated that the hardware remains in the socket based on the operation information when the torque providing actuator fastens the hardware, the controller can be provided to control the robot to remove the hardware remaining in the socket.

[0018] The controller can be configured to determine the error by comparing the maximum torque or the maximum rotation angle when the torque providing actuator fastens the hardware with a predetermined reference torque or reference angle, respectively.

[0019] The controller can be configured to determine that an error has occurred in which the hardware remains in the socket if the maximum torque is less than or exceeds a predetermined reference torque range centered on the reference torque.

[0020] The controller can be configured to determine that an error has occurred in which the hardware remains in the socket if the maximum rotation angle is less than or exceeds a predetermined reference angle range centered on the reference angle.

[0021] When the controller determines an error in which the hardware is presumed to remain in the socket, the lifting actuator is driven so that the upper end of the socket sinks into the separation block, separating the hardware from the socket, and the robot is driven so that the hardware between the separation block and the holder guide actuator forms a posture in which it can freely fall.

[0022] The controller raises the socket with the lifting actuator, couples it with the hardware mounted on the holder, drives the sliding actuator to move the sliding plate so that the circular magazine disengages from between the socket and the holder guide actuator, opens the fingers of the holder guide actuator, then raises the socket with the lifting actuator, rotates the socket with the torque providing actuator to fasten the hardware of the socket to the object to be fastened, receives the operation information when the socket fastens the hardware, and when it is determined that no error in which the hardware is presumed to remain in the socket has occurred, lowers the socket with the lifting actuator, rotates the circular magazine with the rotating actuator to align the next hardware to be fastened toward the socket, linearly moves the circular magazine toward the socket with the sliding actuator, positions the next hardware to be fastened between the socket and the holder guide actuator, and can be configured to repeat a series of processes of closing the fingers of the holder guide actuator.

[0023] The control method of the hardware automatic fastening device according to the present invention for achieving the above object includes: closing the fingers of the holder guide actuator to regulate the upper side of the mounting portion of the holder, raising the socket, and coupling the hardware located at the mounting portion of the holder to the socket; moving the sliding plate by the sliding actuator so that the circular magazine disengages from between the socket and the holder guide actuator; opening the fingers of the holder guide actuator; raising the socket by the lifting actuator and rotating the socket by the torque providing actuator to fasten the hardware of the socket to the object to be fastened; receiving the operation information when the socket fastens the hardware, and when it is determined that an error is generated in which the hardware is presumed to remain in the socket, driving the lifting actuator to cause the socket to sink into the separation block, thereby separating the hardware from the socket; driving the robot so as to form a posture in which the hardware between the separation block and the holder guide actuator can freely fall. It is characterized by being configured to include the above steps.

[0024] After the step of driving the robot so that the hardware forms a free-falling posture, the present invention includes the steps of returning the posture of the robot to the immediately previous posture; rotating the circular magazine by a rotary actuator to align the hardware to be fastened again toward the socket; linearly moving the circular magazine toward the socket by the sliding actuator to position the hardware to be fastened again between the socket and the holder guide actuator; closing the fingers of the holder guide actuator to regulate the upper side of the mounting portion of the holder, raising the socket, and coupling the hardware to be fastened again located on the mounting portion of the holder to the socket; moving the sliding plate by the sliding actuator so that the circular magazine disengages from between the socket and the holder guide actuator; opening the fingers of the holder guide actuator; raising the socket by the elevating actuator and rotating the socket by the torque-providing actuator to fasten the hardware to be fastened again in the socket to the object to be fastened.

[0025] Further, the present invention can be configured to further include the steps of receiving operation information when the socket fastens the hardware, and when it is determined that no error is occurring where the hardware is presumed to remain in the socket, lowering the socket by the elevating actuator, rotating the circular magazine by the rotary actuator to align the next hardware to be fastened toward the socket; linearly moving the circular magazine toward the socket by the sliding actuator to position the next hardware to be fastened between the socket and the holder guide actuator; and closing the fingers of the holder guide actuator.

Advantages of the Invention

[0026] The present invention can perform automatic fastening operations for various hardware such as bolts and nuts, enabling the hardware to be more accurately mounted in the socket, reducing mounting errors, improving the normal mounting rate, and reducing the occurrence of fastening operation errors. When an error occurs during the automatic fastening of the hardware, it can be automatically resolved, and the subsequent fastening operations can be automatically continued, thereby improving productivity by increasing the process operation rate.

Brief Description of the Drawings

[0027]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Embodiments for Carrying Out the Invention

[0028] Hereinafter, with reference to the drawings, the embodiments disclosed in this specification will be described in detail.

[0029] Regardless of the reference numerals, the same or similar components are denoted by the same reference numerals, and redundant descriptions thereof are omitted. The suffixes “module” and “section” for the components used in the following description are given or used interchangeably only for ease of preparing the specification, and do not have meanings or roles that distinguish them from each other by themselves.

[0030] In describing the embodiments disclosed in this specification, if it is determined that a specific description of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof is omitted. Also, the accompanying drawings are only for facilitating the understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the accompanying drawings, and it should be understood that all modifications, equivalents or alternatives included in the idea and technical scope of the present invention are included.

[0031] Terms including ordinal numbers such as “first” and “second” can be used to describe various components, but these components are not limited by these terms. These terms are used only for the purpose of distinguishing one component from another. When it is mentioned that a certain component is “connected to” or “coupled to” another component, it should be understood that it may be directly connected or coupled to the other component, or another component may be interposed therebetween. In contrast, when it is mentioned that a certain component is “directly connected to” or “directly coupled to” another component, it should be understood that no other component is interposed therebetween.

[0032] Singular expressions include plural expressions unless the context clearly indicates a different meaning. In this specification, terms such as "comprising" or "having" are intended to specify the presence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should not be construed as precluding the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0033] Also, units or control units included in names such as motor control unit (MCU) and hybrid control unit (HCU) are terms widely used in naming control devices (controllers) that control specific functions of a vehicle, and do not mean a generic function unit.

[0034] A controller can include a communication device that communicates with other controllers or sensors for controlling the functions it is responsible for, a memory that stores an operating system, logic instructions, input / output information, etc., and one or more processors that perform judgments, calculations, decisions, etc. necessary for controlling the functions it is responsible for.

[0035] Referring to FIGS. 1 to 4, an embodiment of the hardware automatic fastening device according to the present invention includes a base frame 1, a socket 3 installed so as to be movable up and down with respect to the base frame 1, and a circular magazine 5 installed so as to be rotatable with respect to the base frame 1 and on which a number of hardwares inserted into the socket 3 are mounted in a circular shape.

[0036] Here, the circular magazine 5 is slidably installed with respect to the base frame 1 so that at least one of the mounted hardwares can be positioned above the socket 3. In addition, the circular magazine 5 is slidably installed with respect to the base frame 1 so that at least one of the many pieces of hardware mounted thereon can be detached from above the socket 3. That is, the circular magazine 5 is provided so as to be slidable with respect to the base frame 1 so that the hardware can be positioned above the socket 3 or detached from above the socket 3.

[0037] In addition, an embodiment of the present invention further includes a holder guide actuator 9 installed so as to be able to switch between a state of restricting the displacement of the holder 7 of the circular magazine 5 above the socket 3 and a state through which the socket 3 passes. In addition, the circular magazine 5 includes a disk 11 and a holder 7 that forms a state in which a mounting portion 15 with a magnet 13 for fixing the hardware opens outward from the disk 11 and is elastically supported by the disk 11 in a state rotatable upward with respect to the disk 11.

[0038] That is, in the present invention, a large number of pieces of hardware mounted on the circular magazine 5 are coupled to the socket 3 one by one to fasten the hardware to the object to be fastened. However, in order to couple the hardware to the socket 3, when the socket 3 rises toward the holder 7, the range in which the mounting portion 15 of the holder 7 elastically rotates upward by the finger 17 of the holder guide actuator 9 is restricted, so that while stably maintaining an advantageous posture for the hardware to be coupled to the socket 3, the hardware can be easily floated in a posture with less friction between the socket 3 and the hardware, and finally the hardware can be coupled to the socket 3 more accurately and stably. For reference, in FIG. 3, the holder 7 is elastically supported by a spring 19 on the disk 11. In the free state, the mounting portion 15 maintains a state parallel to the disk 11, and the head of the bolt or nut held by magnetic force below the mounting portion 15 can be inserted by the linear approach of the socket 3. When the socket 3 presses upward through the hardware, it can rotate upward with respect to the disk 11, and the range in which the holder 7 can rotate upward is restricted by the finger 17 of the holder guide actuator 9.

[0039] Therefore, when the socket 3 rises to position the hardware in the socket 3, the mounting portion 15 can rotate upward by a predetermined clearance, so that the hardware can be more easily mounted in the socket 3 compared to the structure where the mounting portion 15 is fixed.

[0040] The circular magazine 5 is installed linearly slidably with respect to the base frame 1 so as to position the hardware coupled to the mounting portion 15 of the holder 7 between the socket 3 and the holder guide actuator 9. That is, the circular magazine 5 can be configured to be advanced or retracted between the socket 3 and the holder guide actuator 9 by a sliding plate 21 installed linearly slidably with respect to the base frame 1 and a sliding actuator 23 installed to linearly slide the sliding plate 21.

[0041] Further, the circular magazine 5 can be rotated by a rotation actuator 25 installed so as to be able to rotate the circular magazine 5 with respect to the sliding plate 21, thereby changing the holder 7 and the hardware entering between the socket 3 and the holder guide actuator 9. Therefore, in the circular magazine 5, the hardware to be fastened to an object to be fastened such as an automobile can be mounted on the holder 7 in order, and the appropriate hardware can be fastened to the socket 3 in accordance with the order.

[0042] For example, when the hardware is to be fastened to the object to be fastened in the order of bolt - bolt - nut - bolt, the hardware is sequentially mounted on the holder 7 arranged along the circumferential direction of the circular magazine 5 in the order of bolt - bolt - nut - bolt, and while rotating the circular magazine 5, by supplying the hardware to the socket 3 in the above order, it is also possible to perform the operation of fastening different types of hardware in accordance with the order. Of course, the circular magazine 5 can be configured to mount only one type of hardware such as bolts or nuts and supply it to the socket 3. The disk 11 of the circular magazine 5 is formed with a mounting hole 27 in the center so as to be detachable from the rotary actuator 25.

[0043] Therefore, when all the hardware mounted on the circular magazine 5 is exhausted, the circular magazine 5 that has been used is removed from the rotary actuator 25, and a new circular magazine 5 with the hardware mounting completed is coupled to the rotary actuator 25 using the mounting hole 27, so that the supply of the necessary hardware to the socket 3 can be continued.

[0044] As described above, the operation of replacing the circular magazine 5 can be performed manually or automatically. The base frame 1 is formed such that the upper end of the socket 3 can pass through it, and is provided with a separation block 29 that causes the hardware of the socket 3 to separate from the socket 3 when the socket 3 descends and sinks. That is, the separation block 29 is formed with a hole 31 through which the socket 3 can penetrate and move up and down, and the diameter of the hole 31 is smaller than the diameter of the washer portion of the hardware attached to the socket 3. Therefore, when the socket 3 descends and sinks inside the separation block 29, only the hardware remains above the separation block 29, and the socket 3 and the hardware are separated.

[0045] Therefore, as a type of the hardware, a bolt B to which a flange or washer having a diameter larger than the head of the bolt is inseparably coupled is used. Similarly, for a nut, a nut integrated with a flange or washer having a diameter larger than the diameter of the nut is used. The holder guide actuator 9 is installed above the separation block 29 with the holder 7 of the circular magazine 5 sandwiched therebetween, and the fingers 17 of the holder guide actuator 9 are arranged to form a certain clearance with the upper surface of the holder 7.

[0046] That is, as described above, when the socket 3 moves toward the holder 7 so as to be coupled to the hardware, the clearance is formed at a level that allows the hardware to move easily in a posture with less friction between the socket 3 and the hardware, while the posture of the hardware does not change excessively and can stably maintain a posture advantageous for coupling to the socket 3. This can be determined design-wise through a number of experiments and analyses.

[0047] In this embodiment, the mounting portion 15 of the holder 7 is formed as an opening that is open to the outside of the disk 11 so that the threaded portion of the bolt B can pass through. Finger grooves 33 are formed in the two fingers 17 of the holder guide actuator 9 so as to wrap around the threaded portion of the bolt B mounted on the mounting portion 15 of the holder 7. Further, a large number of magnets 13 of the holder 7 are installed around the curved portion of the opening. Therefore, immediately before the socket 3 is coupled to the bolt B mounted on the holder 7, as illustrated in FIG. 4, the head of the bolt B is in close contact with the lower side of the mounting portion 15 by magnetic force, and the threaded portion of the bolt B passes through the mounting portion 15 and is positioned between the finger grooves 33.

[0048] For reference, the socket 3 is raised in the state shown in FIG. 4 so that hardware is inserted into the socket 3 as shown in FIG. 5. The circular magazine 5 is moved (retracted) by the sliding actuator 23 as shown in FIG. 6 so that the circular magazine 5 is completely separated from the socket 3 and the holder guide actuator 9 as shown in FIG. 7. Then, the socket 3 is raised to the object to be fastened and rotated to fasten the hardware of the socket 3 to the object to be fastened.

[0049] Subsequently, when attempting to fasten other hardware to the socket 3, the socket 3 is lowered and the circular magazine 5 is rotated by the rotation actuator 25 so that the new hardware is aligned to face the socket 3. Then, the sliding actuator 23 is driven so that the new hardware mounted on the holder 7 of the circular magazine 5 enters (advances) between the socket 3 and the holder guide actuator 9. After that, the socket 3 is raised so that the socket 3 is coupled to the new hardware.

[0050] For reference, the holder guide actuator 9 is configured such that the two fingers 17 can switch between an open state in which the two fingers are open and a closed state in which they are narrowed. In the present embodiment, when the two fingers 17 are in the closed state, the two upper sides on both sides of the opening of the holder 7 are respectively restricted, and when in the open state, the socket 3 can pass between them.

[0051] The socket 3 is connected to a torque providing actuator 35 that applies a torque for fastening the hardware. A lifting actuator 37 is installed to lift and lower the torque providing actuator 35 and the socket 3 with respect to the base frame 1, and the base frame 1 is connected to the robot 39. Therefore, the base frame 1 can have a free position and orientation in space by the robot 39. When the robot 39 positions the base frame 1 below the object to be fastened, after the lifting actuator 37 raises the socket 3 to couple the hardware to the socket 3 and then further raises the socket 3, the hardware of the socket 3 will move to the fastening position of the object to be fastened. In this state, when the torque providing actuator 35 rotates the socket 3, the hardware is fastened to the fastening position of the object to be fastened.

[0052] On the other hand, an embodiment of the present invention includes a controller 41 that controls the robot 39 to remove the hardware remaining in the socket 3 when it determines an error estimated that the hardware remains in the socket 3 based on the operation information when the torque providing actuator 35 and the socket 3 fasten the hardware.

[0053] The controller 41 can be configured to determine the error by comparing the maximum torque or maximum rotation angle when the torque providing actuator 35 fastens the hardware with a predetermined reference torque or reference angle, respectively. For example, if the maximum torque is less than or exceeds a predetermined reference torque range centered on the reference torque, the controller 41 can be configured to determine that an error has occurred in which the hardware remains in the socket 3.

[0054] Here, the reference torque can be set to a normal torque that is designed to be determined to fasten the hardware to the object to be fastened. Since the reference torque range is significantly larger or smaller than the reference torque, it is difficult to recognize that the hardware has been normally fastened to the object to be fastened, and it can be set to a range that can distinguish a situation where the hardware is likely to remain in the socket 3.

[0055] For example, when the normal torque determined to fasten a certain piece of hardware to the object to be fastened is 5 Nm, the reference torque can be set to 5 Nm, and the reference torque range can be set to 2 Nm to 8 Nm. In this case, if the maximum torque when the torque-providing actuator 35 fastens the hardware is less than 2 Nm or exceeds 8 Nm, it can be determined that an error has occurred in which the hardware remains in the socket 3.

[0056] Further, if the maximum rotation angle is less than or exceeds a predetermined reference angle range centered on the reference angle, the controller 41 can be configured to determine that an error has occurred in which the hardware remains in the socket 3. Here, the reference angle can be set to a normal rotation angle that is designed to be applied in advance when fastening the hardware. Since the range of the reference angle is significantly larger or smaller than the reference angle, it is difficult to recognize that the hardware has been normally fastened to the object to be fastened, and it can be set to a range that can distinguish a situation where the hardware is likely to remain in the socket 3.

[0057] For example, when the normal rotation angle defined for fastening a certain piece of hardware to the object to be fastened is 1000°, the reference angle is 1000°, and the range of the reference angle can be set to 500° to 1500°. In this case, if the maximum rotation angle when the torque-providing actuator 35 fastens the hardware is less than 500° or exceeds 1500°, it can be determined that an error has occurred where the hardware remains in the socket 3.

[0058] When the controller 41 determines an error where the hardware is presumed to remain in the socket 3, from the state shown in FIG. 8, the lifting actuator 37 is driven so that the upper end of the socket 3 sinks into the inside of the separation block 29 as shown in FIG. 9, separating the hardware from the socket 3; and the robot 39 is configured to be driven so as to form a posture in which the hardware between the separation block 29 and the holder guide actuator 9 can freely fall as shown in FIG. 10.

[0059] Here, the posture of the base frame 1 in which the hardware can freely fall can be, for example, a state rotated 180° compared to FIG. 9 as illustrated in FIG. 10, but is not necessarily limited to this, and may also be a plurality of postures. For the sure removal of the hardware located above the separation block 29, it is also possible to drive the base frame 1 to rotate 90°, then rotate it up to 200°, and then rotate it back to 90°.

[0060] The controller 41 can be configured to raise the socket 3 with the lifting actuator 37 to engage it with the hardware mounted on the holder 7; drive the sliding actuator 23 to move the sliding plate 21 so that the circular magazine 5 disengages from between the socket 3 and the holder guide actuator 9; open the fingers 17 of the holder guide actuator 9; then raise the socket 3 with the lifting actuator 37 and rotate the socket 3 with the torque-providing actuator 35 to fasten the hardware in the socket 3 to the object to be fastened.

[0061] Further, when the controller 41 receives the operation information when the socket 3 fastens the hardware and determines that no error is estimated to occur in which the hardware remains in the socket 3, the lifting actuator 37 lowers the socket 3, and the rotary actuator 25 rotates the circular magazine 5 to align the next hardware to be fastened toward the socket 3; by linearly moving the circular magazine 5 toward the socket 3 with the sliding actuator 23, the next hardware to be fastened is positioned between the socket 3 and the holder guide actuator 9; a series of processes of closing the fingers 17 of the holder guide actuator 9 can be repeated.

[0062] The operation of the controller 41 can be configured as shown in the flowchart of FIG. 11. As shown in FIG. 11, the method for controlling the hardware automatic fastening device according to the present invention described above includes a step (S10) of raising the socket 3 with the fingers 17 of the holder guide actuator 9 closed to regulate the upper side of the mounting portion 15 of the holder 7 and coupling the hardware positioned on the mounting portion 15 of the holder 7 to the socket 3; a step (S20) of moving the sliding plate 21 with the sliding actuator 23 so that the circular magazine 5 is separated from between the socket 3 and the holder guide actuator 9; a step (S30) of opening the fingers 17 of the holder guide actuator 9; a step (S40) of raising the socket 3 with the lifting actuator 37 and rotating the socket 3 with the torque providing actuator 35 to fasten the hardware of the socket 3 to the object to be fastened; a step (S50) of driving the lifting actuator 37 to sink the socket 3 into the separation block 29 and separating the hardware from the socket 3 when it is determined that an error is estimated to occur in which the hardware remains in the socket 3 when the socket 3 fastens the hardware; and a step (S60) of driving the robot 39 so that the hardware between the separation block 29 and the holder guide actuator 9 forms a posture in which it can freely fall.

[0063] Further, after the step (S60) of driving the robot 39 so that the hardware forms a freely falling posture, this control method includes a step (S70) of returning the posture of the robot 39 to the immediately previous posture, a step (S80) of rotating the circular magazine 5 with the rotary actuator 25 to align the hardware to be fastened again toward the socket 3, a step (S90) of linearly moving the circular magazine 5 toward the socket 3 with the sliding actuator 23 to position the hardware to be fastened again between the socket 3 and the holder guide actuator 9, a step (S100) of raising the socket 3 with the fingers 17 of the holder guide actuator 9 closed to regulate the upper side of the mounting portion 15 of the holder 7 and coupling the hardware to be fastened again, which is positioned at the mounting portion 15 of the holder 7, to the socket 3, a step (S110) of moving the sliding plate 21 with the sliding actuator 23 so that the circular magazine 5 disengages from between the socket 3 and the holder guide actuator 9, a step (S120) of opening the fingers 17 of the holder guide actuator 9, and a step (S130) of raising the socket 3 with the lifting actuator 37 and rotating the socket 3 with the torque providing actuator 35 to fasten the hardware to be fastened again of the socket 3 to the object to be fastened.

[0064] Here, even in the process of fastening the hardware to be fastened again to the object to be fastened, if the hardware is not properly fastened and an error remains in the socket 3, in this case, it may be configured to warn the operator of the fact that an error has occurred and stop the operation.

[0065] Further, when the control method receives the operation information when the socket 3 fastens the hardware and determines that no error is estimated to occur in which the hardware remains in the socket 3, the lifting actuator 37 lowers the socket 3, and the rotary actuator 25 rotates the circular magazine 5 to align the next hardware to be fastened toward the socket 3 (step S140); the sliding actuator 23 linearly moves the circular magazine 5 toward the socket 3 to position the next hardware to be fastened between the socket 3 and the holder guide actuator 9 (step S150); and the fingers 17 of the holder guide actuator 9 are closed (step S160).

[0066] Although the present invention has been illustrated and described in connection with specific embodiments, it will be apparent to those of ordinary skill in the art that various improvements and changes can be made to the present invention without departing from the technical idea of the present invention provided by the following claims.

Explanation of Signs

[0067] 1 Base frame 3 Socket 5 Circular magazine 7 Holder 9 Holder guide actuator 11 Disk 13 Magnet 15 Mounting part 17 Finger 19 Spring 21 Sliding plate 23 Sliding actuator 25 Rotary actuator 27 Mounting hole 29 Separation block 31 Hole 33 Finger groove 35 Torque providing actuator 37 Lifting actuator 39 Robot 41 Controller B Bolt

Claims

1. A base frame, a socket installed so as to be able to move up and down with respect to the base frame, a circular magazine installed so as to be rotatable with respect to the base frame and having a number of hardwares inserted into the socket mounted in a circular shape, and is configured to include, The circular magazine is slidably installed with respect to the base frame so that at least one of the mounted number of hardwares can be positioned above the socket. A hardware automatic fastening device characterized by this.

2. The circular magazine is slidably installed with respect to the base frame so that at least one of the mounted number of hardwares can be detached from above the socket. The hardware automatic fastening device according to claim 1, characterized by this.

3. The hardware automatic fastening device according to claim 1, further comprising a holder guide actuator installed so as to be able to switch between a state of restricting displacement of the holder of the circular magazine above the socket and a state in which the socket passes through.

4. The circular magazine, a disk, A holder in which a mounting portion with a magnet for fixing the hardware forms an open state toward the outside of the disk and is elastically supported by the disk in a state rotatable upward with respect to the disk. The hardware automatic fastening device according to claim 3, characterized by this.

5. The circular magazine is linearly slidably installed with respect to the base frame so that the hardware coupled to the mounting portion of the holder can be positioned between the socket and the holder guide actuator. The hardware automatic fastening device according to claim 4, characterized by this.

6. A sliding plate slidably installed linearly with respect to the base frame, a sliding actuator installed to linearly slide the sliding plate, a rotation actuator installed so as to be able to rotate the circular magazine with respect to the sliding plate. The hardware automatic fastening device according to claim 5, characterized by this.

7. The hardware automatic fastening device according to claim 6, wherein the disk of the circular magazine is detachably attached to the rotary actuator, and a mounting hole is formed at the center thereof.

8. The hardware automatic fastening device according to claim 6, wherein the base frame is formed so that the upper end portion of the socket can pass therethrough, and a separation block is provided so that when the socket descends and sinks, the hardware of the socket is separated from the socket.

9. The holder guide actuator is installed above the separation block with the holder of the circular magazine interposed therebetween. The hardware automatic fastening device according to claim 8, wherein the fingers of the holder guide actuator are arranged so as to form a certain clearance from the upper surface of the holder.

10. The mounting portion of the holder is formed as an opening opened to the outside of the disk so that the threaded portion of the bolt can pass therethrough. The hardware automatic fastening device according to claim 9, wherein finger grooves are formed in the two fingers of the holder guide actuator so as to wrap around the threaded portion of the bolt mounted on the mounting portion of the holder.

11. The hardware automatic fastening device according to claim 10, wherein a plurality of magnets of the holder are installed around the curved portion of the opening.

12. The socket is connected to a torque providing actuator that applies a torque for fastening the hardware. A lifting actuator is installed to lift and lower the torque providing actuator and the socket with respect to the base frame. The base frame is connected to a robot. The hardware automatic fastening device according to claim 8, further comprising a controller that controls the robot to remove the hardware remaining in the socket when an error is estimated that the hardware remains in the socket based on the operation information when the torque providing actuator and the socket fasten the hardware.

13. The controller is configured to determine the error by comparing the maximum torque or the maximum rotation angle when the torque providing actuator fastens the hardware with a predetermined reference torque or reference angle, respectively. The hardware automatic fastening device according to claim 12.

14. The controller is configured to determine that an error has occurred in which the hardware remains in the socket if the maximum torque is less than or exceeds a predetermined reference torque range centered on the reference torque. The hardware automatic fastening device according to claim 12.

15. The controller is configured to determine that an error has occurred in which the hardware remains in the socket if the maximum rotation angle is less than or exceeds a predetermined reference angle range centered on the reference angle. The hardware automatic fastening device according to claim 12.

16. The controller When determining an error in which the hardware is presumed to remain in the socket, Drive the lifting actuator so that the upper end of the socket sinks into the separation block to separate the hardware from the socket, The robot is configured to be driven so as to form a posture in which the hardware between the separation block and the holder guide actuator can freely fall. The hardware automatic fastening device according to claim 12.

17. The controller Raise the socket with the lifting actuator and couple it with the hardware mounted on the holder, Drive the sliding actuator to move the sliding plate so that the circular magazine disengages from between the socket and the holder guide actuator, After opening the fingers of the holder guide actuator, Raise the socket with the lifting actuator, rotate the socket with the torque providing actuator to fasten the hardware of the socket to the object to be fastened, When receiving the operating information when the socket fastens the hardware and it is determined that no error in which the hardware is presumed to remain in the socket has occurred, lower the socket with the lifting actuator and rotate the circular magazine with the rotation actuator to align the next hardware to be fastened toward the socket. The circular magazine is linearly moved toward the socket by the sliding actuator, and the next hardware to be fastened is positioned between the socket and the holder guide actuator. The hardware automatic fastening device according to claim 12, characterized in that it is configured to repeatedly perform a series of processes of closing the fingers of the holder guide actuator.

18. Closing the fingers of the holder guide actuator to regulate the upper side of the mounting portion of the holder, raising the socket, and coupling the hardware positioned on the mounting portion of the holder to the socket; Moving the sliding plate by the sliding actuator so that the circular magazine disengages from between the socket and the holder guide actuator; Opening the fingers of the holder guide actuator; Raising the socket by the lifting actuator and rotating the socket by the torque providing actuator to fasten the hardware of the socket to the object to be fastened; When receiving the operation information when the socket fastens the hardware and determining that an error has occurred in which the hardware is estimated to remain in the socket, driving the lifting actuator to cause the socket to sink into the separation block to separate the hardware from the socket; A control method of a hardware automatic fastening device, comprising driving a robot so that the hardware between the separation block and the holder guide actuator forms a posture in which it can freely fall.

19. After the step of driving the robot so that the hardware forms a posture in which it can freely fall, returning the posture of the robot to the immediately previous posture; Rotating the circular magazine by a rotation actuator to align the hardware to be fastened again toward the socket; By linearly moving the circular magazine toward the socket by the sliding actuator, positioning the hardware to be fastened again between the socket and the holder guide actuator. Closing the fingers of the holder guide actuator to restrict the upper side of the mounting portion of the holder, raising the socket, and coupling the hardware to be re-fastened, which is located at the mounting portion of the holder, to the socket; Moving the sliding plate by the sliding actuator so that the circular magazine disengages from between the socket and the holder guide actuator; Opening the fingers of the holder guide actuator; Further comprising: raising the socket by the lifting actuator and rotating the socket by the torque providing actuator to fasten the hardware to be re-fastened of the socket to the object to be fastened. The control method of the hardware automatic fastening device according to claim 18, characterized in that it is configured as such.

20. When receiving the operation information when the socket fastens the hardware and determining that no error is estimated to occur in which the hardware remains in the socket, lowering the socket by the lifting actuator and rotating the circular magazine by the rotating actuator to align the next hardware to be fastened toward the socket; Linearly moving the circular magazine toward the socket by the sliding actuator and positioning the next hardware to be fastened between the socket and the holder guide actuator; Further comprising closing the fingers of the holder guide actuator. The control method of the hardware automatic fastening device according to claim 18, characterized in that it is configured as such.

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