Vision-based Automated Inspection and Fastening System

Abstract

The present invention relates to a vision recognition-based bolt loosening inspection and fastening system implemented to vibrate inspect the fastening state between a bolt and a nut fastened to an inspection object and to automatically re-fasten a bolt detected to be loose. The system comprises: a first support made of a profile for installing a sensor, a conveyor line, a slide, etc.; a first vision verification unit installed on the upper side of the first support and utilizing 3D vision sensing to determine the initial angle of a bolt fastened to an inspection object; a vibration generating unit installed on the lower side of the first support and generating vibration to inspect the fastening state between a bolt and a nut of an inspection object; a first timing belt slide in which two timing belt slides are synchronized and move in the Y-axis direction; a second timing belt slide connected to the upper side of the first timing belt slide and moving in the X-axis direction; a first ball screw slide vertically connected to the second timing belt slide and moving in the Z-axis direction; and a 3-axis orthogonal robot installed on the upper side of the first support and formed by the first timing belt slide, the second timing belt slide, and the first ball screw slide. A bolt fastening unit installed on the first ball screw slide and fastening a bolt when moved to the position of a bolt loosened by vibration inspection by the 3-axis orthogonal robot; a second vision verification unit connected to one end of the bolt fastening unit and utilizing 3D vision sensing to recognize a bolt loosened by vibration from the vibration generating unit and to determine the position, type, and misalignment angle of the said bolt; and a first conveyor line installed on the lower side of the first support so as to face the first vision verification unit, wherein two conveyor lines composed of an external-rotating motor, a timing belt, and a timing bearing operate in synchronization and are installed spaced apart by the width of the inspection object.A second conveyor line installed on the lower side of the first support to match the operating range of the vibration generating unit, comprising two conveyor lines consisting of an external-rotating motor, a timing belt, and a timing bearing that operate in synchronization and are installed spaced apart by the width of the inspection object; a third conveyor line installed on the lower side of the first support to match the operating range of the 3-axis Cartesian robot, comprising two conveyor lines consisting of an external-rotating motor, a timing belt, and a timing bearing that operate in synchronization and are installed spaced apart by the width of the inspection object; a first photosensor installed on the upper side of the first support to face the first conveyor line and detecting when the inspection object moves by the first conveyor line and is located within the sensing range of the first vision verification unit; and a second photosensor installed on the upper side of the first support to face the second conveyor line and detecting when the inspection object moves by the second conveyor line and is located above the vibration generating unit. A third photosensor installed on the upper side of the first support so as to face the third conveyor line, which detects when an inspection object moves by the third conveyor line and is located within the sensing range of the second vision verification unit; a fourth ball screw slide installed on one side of a support vertically connected to the first support in the vertical direction, in which two ball screw slides are synchronized and move in the Z-axis direction to fix the inspection object to the third conveyor line; a second contact frame installed on the upper outward surface of the fourth ball screw slide moving table, which fixes the inspection object by applying pressure by pressing it toward the upper direction of the third conveyor line; and an image processing unit that determines whether a bolt is properly fastened through comparative analysis using bolt sensing data received from the first vision verification unit and the second vision verification unit, and identifies the location, type, and misalignment angle of abnormally fastened bolts.and a main controller that controls the operation of the vibration generating unit, 3-axis orthogonal robot, bolt fastening unit, and conveyor line using information transmitted from the photosensor and the image processing unit;

Description

Technology Field

[0001] The present invention relates to a bolt loosening inspection and fastening system, and more specifically, to a bolt loosening inspection and fastening system implemented to vibrate-inspect the fastening state between a bolt and a nut fastened to an object to be inspected, and to automatically re-fasten a bolt in which loosening is detected. Background Technology

[0003] They are fastened together by the combination of bolts and nuts. Methods to determine the degree of fastening include visual inspection, feeling the connection force by rotating them directly with your hands or tools, or checking for loosening by applying vibration or impact.

[0004] However, since the degree of fastening cannot often be assessed using this method, bolts that were not fully tightened may come loose after assembly due to external vibrations, impacts, or various other reasons.

[0005] In such cases, early detection of loosening of bolts and nuts allows for a quick response by tightening the fastenings, thereby preventing accidents caused by loosening.

[0006] Conventional automated bolt fastening robots adopt a method of determining the degree of fastening by directly sensing the tightening torque of all bolts, but the inventor's present invention induces loosening of loosely fastened bolts and nuts through vibration inspection and automates the inspection process using machine vision technology, thereby creating effects such as reduced labor costs, reduced defective products, and improved production process efficiency. Prior art literature

[0008] Korean Registered Patent No. 10-1819711 (Published Jan. 29, 2018) Korean Registered Patent No. 10-2714988 (Published Oct. 11, 2024) Korean Published Patent No. 10-2023-0007665 (Published Jan. 13, 2023) Korean Registered Patent No. 10-2536635 (Published May 26, 2023) The problem to be solved

[0009] One aspect of the present invention provides a vision recognition-based bolt loosening inspection and fastening system that vibrates to inspect the fastening state between a bolt and a nut fastened to an inspection object and automatically re-fastens a bolt in which loosening is detected. means of solving the problem

[0011] To achieve the above goal, a vision recognition-based bolt loosening inspection and fastening system according to one embodiment of the present invention comprises: a first support made of a profile for installing a sensor, a conveyor line, a slide, etc.; a first vision verification unit installed on the upper side of the first support and utilizing 3D vision sensing to determine the initial angle of a bolt fastened to an inspection object; a vibration generating unit installed on the lower side of the first support and generating vibration to inspect the fastening state between a bolt and a nut of an inspection object; a first timing belt slide in which two timing belt slides are synchronized and move in the Y-axis direction; a second timing belt slide connected and installed on the upper side of the first timing belt slide and moving in the X-axis direction; a first ball screw slide vertically connected and installed to the second timing belt slide and moving in the Z-axis direction; and a 3-axis orthogonal robot installed on the upper side of the first support and formed by the first timing belt slide, the second timing belt slide, and the first ball screw slide. A bolt fastening unit installed on the first ball screw slide and fastening a bolt when moved to the position of a bolt loosened by vibration inspection by the 3-axis Cartesian robot; a second vision verification unit connected to one end of the bolt fastening unit and utilizing 3D vision sensing to recognize a bolt loosened by vibration from the vibration generating unit and to determine the position, type, and misalignment angle of the bolt; a first conveyor line installed on the lower side of the first support so as to face the first vision verification unit, consisting of two conveyor lines composed of an external-rotating motor, a timing belt, and a timing bearing, which operate in synchronization and are installed spaced apart by the width of the inspection object; and a second conveyor line installed on the lower side of the first support to match the operating range of the vibration generating unit, consisting of two conveyor lines composed of an external-rotating motor, a timing belt, and a timing bearing, which operate in synchronization and are installed spaced apart by the width of the inspection object.A third conveyor line installed on the lower side of the first support to match the operating range of the 3-axis Cartesian robot, comprising two conveyor lines composed of an external rotor motor, a timing belt, and a timing bearing that operate in synchronization and are installed spaced apart by the width of the inspection object; a first photosensor installed on the upper side of the first support to face the first conveyor line and detecting when the inspection object moves by the first conveyor line and is located within the sensing range of the first vision verification unit; a second photosensor installed on the upper side of the first support to face the second conveyor line and detecting when the inspection object moves by the second conveyor line and is located above the vibration generating unit; and a third photosensor installed on the upper side of the first support to face the third conveyor line and detecting when the inspection object moves by the third conveyor line and is located within the sensing range of the second vision verification unit. It may include: a fourth ball screw slide installed on one side of a support vertically connected in the up-and-down direction from the first support, wherein two ball screw slides are synchronized and move in the Z-axis direction to fix an inspection object to the third conveyor line; a second contact frame installed on the upper outward surface of the fourth ball screw slide moving table, wherein pressure is applied to fix the inspection object by pressing it toward the upper direction of the third conveyor line; an image processing unit that determines whether a bolt is properly fastened through comparative analysis using bolt sensing data received from the first vision verification unit and the second vision verification unit, and identifies the location, type, and misalignment angle of abnormally fastened bolts; and a main controller that controls the operation of the vibration generating unit, the 3-axis orthogonal robot, the bolt fastening unit, and the conveyor line using information transmitted from the photosensor and the image processing unit.

[0012] In one embodiment, the vibration generating unit may include: a second ball screw slide in which two ball screw slides are synchronized and move up and down in the Z-axis direction; a vibration plate that lifts an inspection object in the Z-axis direction to separate and isolate the inspection object from the second conveyor line; a vibration motor connected to the center of the bottom of the vibration plate and having a pair of single shafts attached along the rotation axis; a second support connected to the second ball screw slide and supporting the vibration plate to separate and isolate it from the second conveyor line; a plurality of compression springs connected between the second support and the vibration plate to prevent vibration from being transmitted to the system; a third ball screw slide installed at both ends of the left and right of the vibration plate, in which two ball screw slides are synchronized and move in the Y-axis direction to fix the inspection object to the vibration plate; and a first contact frame connected to the top of the third ball screw slide and fixing the inspection object by applying pressure in a manner that pushes the inspection object toward the direction of the right-angle protrusion of the vibration plate.

[0013] In one embodiment, the second support may include: a “—” shaped first horizontal frame installed on the upper outward surface of the moving table of the second ball screw slide; a “—” shaped second horizontal frame extended vertically from the first horizontal frame and installed at the left and right ends; and an “I” shaped first vertical frame installed at a certain interval at the center upper end of the second horizontal frame and connected to the lower ends of the plurality of compression springs to support the vibration plate. Effects of the invention

[0015] According to one aspect of the present invention described above, there is an effect of vibrationally inspecting the fastening state between a bolt and a nut fastened to an object for inspection and automatically re-fastening a bolt that is detected to be loose.

[0016] The effects of the present invention are not limited to those mentioned above, and various effects may be included within the scope obvious to a person skilled in the art as described below. Brief explanation of the drawing

[0018] FIG. 1 is a diagram showing the schematic configuration of a vision recognition-based bolt loosening inspection and fastening system according to one embodiment of the present invention. Figures 2 and 3 are drawings showing an example of vision sensing an inspection object in the first vision verification unit of Figure 1. Figure 4 is a drawing showing an example in which an inspection object is positioned above the vibration generating part of Figure 1. Figure 5 is a drawing showing an example of separating an inspection object from the second conveyor line and performing a vibration inspection at the vibration generating part of Figure 4. FIGS. 6 and 7 are drawings showing an example of vision sensing an inspection object in the second vision verification unit of FIG. 1 and re-tightening a bolt that is recognized as loose in the bolt fastening unit. Specific details for implementing the invention

[0019] The following detailed description of the invention refers to the accompanying drawings, which illustrate specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that various embodiments of the invention are different but need not be mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in relation to one embodiment. It should also be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the invention. Accordingly, the following detailed description is not intended to be limiting, and the scope of the invention is limited only by the appended claims, including all equivalents to those claimed therein, provided appropriately described. Similar reference numerals in the drawings refer to the same or similar functions across various aspects.

[0021] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the drawings.

[0023] FIG. 1 is a diagram showing the schematic configuration of a vision recognition-based bolt loosening inspection and fastening system according to one embodiment of the present invention.

[0024] Referring to FIG. 1, a vision recognition-based bolt loosening inspection and fastening system (10) according to one embodiment of the present invention includes a first support (100), a first vision verification unit (200), a second vision verification unit (201), a vibration generating unit (300), a 3-axis orthogonal robot (400), a bolt fastening unit (500), a first conveyor line (600), a first photosensor (700), an image processing unit (800), and a main controller (900).

[0025] The first support (100) is equipped with components such as a first vision verification unit (200), a second vision verification unit (201), a vibration generating unit (300), a 3-axis orthogonal robot (400), a first conveyor line (600), and a first photosensor (700).

[0026] The first vision verification unit (200) is installed on the upper side of the first support (100) and uses 3D vision sensing to determine the initial angle of a bolt fastened to an inspection object (O), and transmits the sensed sensing information to the image processing unit (800).

[0027] The second vision verification unit (201) is connected to one end of the bolt fastening unit (500) and uses 3D vision sensing to recognize a bolt that has been loosened due to vibration of the vibration generating unit (300), and to determine the position and type of the bolt and the angle of misalignment, and transmits the sensed sensing information to the image processing unit (800).

[0028] The vibration generating unit (300) is installed on the lower side of the first support (100) to generate vibrations to inspect the fastening state between the bolt and nut of the inspection object (O), and is driven by the main controller (900).

[0029] The 3-axis orthogonal robot (400) is formed with a first timing belt slide (401), a second timing belt slide (402), and a first ball screw slide (403) for moving a bolt fastening part (500) that re-fastens a bolt when the loosening of an inspection object (O) is recognized, and is installed on the upper side of the first support (100) and is driven by a main controller (900) so that it moves in the Y-axis direction by the first timing belt slide (401), moves in the X-axis direction by the second timing belt slide (402), and moves in the Z-axis direction by the first ball screw slide (403).

[0030] The bolt fastening part (500) is installed on the first ball screw slide (403) of the 3-axis orthogonal robot (400) and is driven by the main controller (900) to measure the fastening torque of the bolt using a hexagonal bit socket connected to the motor and fastens the bolt until it reaches a preset threshold torque value.

[0031] The first conveyor line (600) is installed on the lower side of the first support (100) so as to face the first vision verification unit (200), and is driven by the main controller (900) to perform an operation of temporarily stopping the operation of the first conveyor line (600) when the detection information of the inspection object (O) from the first photosensor (700) is transmitted to the main controller (900) in order to position the inspection object (O) within the sensing range of the first vision verification unit (200).

[0032] The first photosensor (700) is installed on the upper side of the first support (100) to sense an inspection object (O) on the upper side of the first conveyor line (600) and transmits the sensed information to the main controller (900).

[0033] In one embodiment, the first photosensor (700) is installed to ensure that an inspection object (O) is located within the sensing range of the first vision verification unit (200) while the first conveyor line (600) is in operation, and when the inspection object (O) approaches the sensor, the sensor sends a signal to the main controller (900) to temporarily stop the first conveyor line (600) and allow the first vision verification unit (200) to perform a vision sensing operation.

[0034] The image processing unit (800) determines whether the bolt is properly fastened through comparative analysis using sensing information transmitted from the first vision verification unit (200) and the second vision verification unit (201), identifies the location and type of abnormally fastened bolt and the angle of misalignment, and transmits information to the main controller (900) so that the bolt fastening unit (500) can fasten the bolt that has detected loosening.

[0035] In one embodiment, the image processing unit (800) may be a Windows-based PC and may have built-in software for monitoring work status, checking for bolt loosening, and setting up fastening operations.

[0036] The main controller (900) controls the operation of several conveyor lines, including the first conveyor line (600), using sensing information transmitted from several sensors, including the first photosensor (700), so that the inspection object (O) moves to an appropriate position for vision sensing, vibration inspection, and bolt fastening; controls the operation of the vibration generating unit (300) for vibration inspection; controls the 3-axis orthogonal robot (400) so that the bolt fastening unit (500) moves to an appropriate position where abnormal fastening bolts can be re-fastened; and controls the motor operation of the bolt fastening unit (500) so that the bolt can be fastened until the bolt reaches a preset threshold torque value.

[0037] A vision recognition-based bolt loosening inspection and fastening system (10) according to one embodiment of the present invention having the configuration described above can vibration inspect the fastening state between a bolt and a nut fastened to an inspection object (O) using a vibration plate on which a vibration motor is installed and a 3-axis orthogonal robot on which a torque sensing motor is installed, and can automatically re-fasten a bolt that is detected to be loose.

[0038] In addition, it can be utilized without safety fences, and by connecting, installing, and arranging additional equipment at the input and output ports according to the direction of movement of the conveyor line, it can also be used as part of a continuous inspection line.

[0040] Figures 2 and 3 are drawings showing an example of vision sensing an inspection object in the first vision verification unit of Figure 1.

[0041] Referring to FIGS. 2 and 3, several conveyor lines, including the first conveyor line (600), include an external type electric motor (610), a timing belt (620), and a timing bearing (630).

[0042] The external type motor (610) is installed on the lower side of the first support (100) and is installed by a linear shaft inserted into a shaft groove and a pair of shaft supports for fixing and supporting it.

[0043] The timing bearing (630) is installed on the lower side of the first support (100) and is installed on the upper part of a profile at a height corresponding to the difference between the half diameter of the external type motor (610) and the half diameter of the timing bearing (630) so that the timing belt (620) can be installed horizontally, and is installed by a linear shaft inserted into a shaft groove and a pair of shaft supports for fixing and supporting it.

[0044] The timing belt (620) is installed to be in contact with the external type motor (610) and the timing bearing (630), and is installed to engage with the teeth of the timing bearing (630), and operates with the power of the external type motor (610) to transport an inspection object (O) located at the top.

[0045] The inspection object (O) is positioned to match the left and right spaced width of the first conveyor line (600) and moves in the direction of the arrow (->) by the first conveyor line (600).

[0046] In one embodiment, when an inspection object (O) passes through a spaced groove between a first conveyor line (600) and a second conveyor line (601), the first conveyor line (600) and the second conveyor line (601) operate simultaneously in the same direction so that the object can pass through without getting caught in the spaced groove.

[0047] The first photosensor (700) sends a signal to the main controller (900) to temporarily stop the first conveyor line (600) when the upper end of the inspection object (O) is sensed while it is being moved by the first conveyor line (600).

[0048] The first vision verification unit (200) is installed on the upper side of the first support (100) and 3D vision-senses the initial angle of the bolt fastened to the inspection object (O) at the first vision verification unit sensing point (200a).

[0050] Figure 4 is a drawing showing an example in which an inspection object is positioned above the vibration generating part of Figure 1.

[0051] Referring to FIG. 4, the inspection object (O) is positioned to match the left and right spaced width of the second conveyor line (601) and moves in the direction of the arrow (->) by the second conveyor line (601).

[0052] In one embodiment, when an inspection object (O) passes through a spaced groove between a second conveyor line (601) and a third conveyor line (602), the second conveyor line (601) and the third conveyor line (602) operate simultaneously in the same direction so that the object can pass through without getting caught in the spaced groove.

[0053] The second photosensor (701) sends a signal to the main controller (900) when the upper end of the inspection object (O) is sensed while it is being moved by the second conveyor line (601), thereby temporarily stopping the second conveyor line (601) so that the inspection object (O) can be positioned above the vibration generating unit (300).

[0054] The third photosensor (702) sends a signal to the main controller (900) when the upper end of the inspection object (O) is sensed while it is being moved by the third conveyor line (602), and then temporarily stops the third conveyor line (602) after operating it for a certain period of time so that the inspection object (O) can be positioned within the sensing range of the second vision verification unit (201).

[0056] Figure 5 is a drawing showing an example of separating an inspection object from the second conveyor line and performing a vibration inspection at the vibration generating part of Figure 4.

[0057] Referring to FIG. 5, the vibration generating unit (300) includes a second ball screw slide (310), a vibration plate (320), a vibration motor (330), a single shaft (340), a second support (350), a plurality of compression springs (360), a third ball screw slide (370), and a first contact frame (380).

[0058] The second ball screw slide (310) is connected to the lower side of the first support (100) and moves the second support (350), which is installed on the upper outward surface of the moving table, up and down in the Z-axis direction.

[0059] In one embodiment, the second ball screw slide (310) is synchronized with a plurality of (preferably two) ball screw slides to move the inspection object (O) away from the second conveyor line (601) and stably move the vibration generating unit (300) and the inspection object (O) up and down.

[0060] The vibration plate (320) is the part where the inspection object (O) comes into contact with the vibration generating part (300), and serves to transmit the vibration generated by the vibration motor (330) to the bolt and nut of the inspection object (O) and to lift the inspection object (O) in the Z-axis direction to separate it from the second conveyor line (601).

[0061] A vibration motor (330) is connected and installed at the bottom center of the vibration plate (330), and a pair of single shafts (340) are attached along the rotation axis to generate vibration.

[0062] A pair of single shafts (340) are installed in the same direction on the rotation axis of the vibration motor (330), and generate vibration through the phenomenon where weight is shifted to one side when rotating along the rotation axis.

[0063] The second support (350) includes a first horizontal frame, a second horizontal frame, and a first vertical frame.

[0064] In one embodiment, the first horizontal frame is a horizontal frame in the shape of a “—” and is installed on the upper outward surface of the moving table of the second ball screw slide (310).

[0065] In one embodiment, the second horizontal frame is a horizontal frame in the shape of a “—” and extends vertically from the first horizontal frame and is installed at the left and right ends of the first horizontal frame.

[0066] In one embodiment, the first vertical frame is an “ㅣ” shaped vertical frame, and a plurality (preferably 2) of compression springs (360) are spaced apart at regular intervals at the upper end of the second horizontal frame and connected to the lower end of the second (preferably 8) compression springs (360) to support the vibration plate (320).

[0067] A plurality of compression springs (360) are connected and installed between the second support (350) and the vibration plate (320), preventing vibration from being transmitted to the system.

[0068] The third ball screw slide (370) is installed at both ends of the left and right sides of the vibration plate (320), and a plurality of (preferably 2) ball screw slides are synchronized and moved in the Y-axis direction to fix the inspection object (O) to the vibration plate (320).

[0069] The first contact frame (380) is connected to the top of the third ball screw slide (370) and fixes the inspection object (O) by applying pressure in a manner that pushes it toward the right-angle protrusion of the vibration plate (320).

[0071] FIGS. 6 and 7 are drawings showing an example of vision sensing an inspection object in the second vision verification unit of FIG. 1 and re-tightening a bolt that is recognized as loose in the bolt fastening unit.

[0072] Referring to FIGS. 6 and 7, the fourth ball screw slide (510) is installed on one side of a support that is vertically connected in the up-and-down direction from the first support (100), and the two ball screw slides are synchronized and moved in the Z-axis direction to fix the inspection object (O) to the third conveyor line (602).

[0073] The second contact frame (520) is installed on the upper outward surface of the fourth ball screw slide (510) moving table and fixes the inspection object (O) by applying pressure in the direction of the upper third conveyor line (602).

[0074] The second vision verification unit (201) is connected to one end of the bolt fastening unit (500) installed on the 3-axis orthogonal robot (400), and after moving to the second vision verification unit vision sensing point (201a) by the 3-axis orthogonal robot (400), it performs 3D vision sensing to identify the position and type of the bolt, the angle of deviation, etc., and transmits the sensed sensing information to the image processing unit (800).

[0075] The bolt fastening unit (500) moves to the position of the bolt (E) that is recognized as loose by the 3-axis orthogonal robot (400), and when the image processing unit (800) transmits the misaligned angle information of the bolt (E) that is recognized as loose to the main controller (900), the main controller (900) drives the angle of the hexagonal bit socket connected to the motor to match the misaligned angle of the bolt (E) that is recognized as loose, and inserts the hexagonal bit socket up to the head of the bolt to re-fasten the bolt until the bolt is properly fastened.

[0076] The fourth ball screw slide (510) and the second contact frame (520) having the configuration described above can stably fix the inspection object (O) when bolted.

[0077] The embodiments described above are for illustrative purposes only, and those skilled in the art will understand that the embodiments described above can be easily modified into other specific forms without altering the technical concept or essential features of the embodiments described above. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form.

[0078] The scope of protection sought through this specification is defined by the claims set forth below rather than by the detailed description above, and should be interpreted to include all modifications or variations derived from the meaning and scope of the claims and the concept of equivalents. Explanation of the symbols

[0080] 10: Vision Recognition-Based Bolt Loosening Inspection and Fastening System 100 : First support 200: 1st Vision Confirmation Department 201: 2nd Vision Confirmation Department 300 : Vibration generating unit 400 : 3-axis Cartesian robot 500: Bolt fastening part 600: 1st conveyor line 601: 2nd conveyor line 602: 3rd conveyor line 700: 1st photosensor 701: Second photosensor 702: 3rd photosensor 800 : Image processing unit 900: Main controller O : Inspection object E: Bolt detected as loose

Claims

Claim 1 A vision recognition-based bolt loosening inspection and fastening system comprises: a first support made of a profile for installing a sensor, a conveyor line, a slide, etc.; and a first vision verification unit installed on the upper side of the first support and utilizing 3D vision sensing to determine the initial angle of a bolt fastened to an inspection object. A vibration generating unit installed on the lower side of the first support and generating vibration to inspect the fastening status between a bolt and a nut of an inspection object; a first timing belt slide in which two timing belt slides are synchronized and move in the Y-axis direction; a second timing belt slide connected to the upper side of the first timing belt slide and moving in the X-axis direction; a first ball screw slide vertically connected to the second timing belt slide and moving in the Z-axis direction; a 3-axis orthogonal robot installed on the upper side of the first support and formed by the first timing belt slide, the second timing belt slide, and the first ball screw slide; a bolt fastening unit installed on the first ball screw slide and fastening a bolt when moved to the position of a bolt loosened by vibration inspection by the 3-axis orthogonal robot; a second vision verification unit connected to one end of the bolt fastening unit and utilizing 3D vision sensing to recognize a bolt loosened by the vibration of the vibration generating unit and to determine the position, type, and misalignment angle of the corresponding bolt; and on the lower side of the first support so as to face the first vision verification unit A first conveyor line installed and configured with two conveyor lines consisting of an external-rotating motor, a timing belt, and a timing bearing, which operate in synchronization and are spaced apart by the width of the inspection object; a second conveyor line installed on the lower side of the first support to match the operating range of the vibration generating unit, which consists of two conveyor lines consisting of an external-rotating motor, a timing belt, and a timing bearing, which operate in synchronization and are spaced apart by the width of the inspection object;A third conveyor line installed on the lower side of the first support to match the operating range of the 3-axis Cartesian robot, comprising two conveyor lines composed of an external-rotating motor, a timing belt, and a timing bearing that operate in synchronization and are installed spaced apart by the width of the inspection object; a first photosensor installed on the upper side of the first support to face the first conveyor line and detecting when the inspection object moves by the first conveyor line and is located within the sensing range of the first vision verification unit; a second photosensor installed on the upper side of the first support to face the second conveyor line and detecting when the inspection object moves by the second conveyor line and is located above the vibration generating unit; a third photosensor installed on the upper side of the first support to face the third conveyor line and detecting when the inspection object moves by the third conveyor line and is located within the sensing range of the second vision verification unit; and a support installed on one side that is vertically connected to the first support in the vertical direction, wherein two ball screw slides are synchronized and move in the Z-axis direction A vision recognition-based bolt loosening inspection and fastening system comprising: a fourth ball screw slide that moves to fix an inspection object to the third conveyor line; a second contact frame installed on the upper outward surface of the fourth ball screw slide moving table and fixing the inspection object by applying pressure in a manner that presses it toward the upper direction of the third conveyor line; an image processing unit that determines whether a bolt is properly fastened through comparative analysis using bolt sensing data received from the first vision verification unit and the second vision verification unit, and identifies the location, type, and misalignment angle of abnormally fastened bolts; and a main controller that controls the operation of the vibration generating unit, the 3-axis orthogonal robot, the bolt fastening unit, and the conveyor line using information transmitted from the photosensor and the image processing unit. Claim 2 In claim 1, the vibration generating unit comprises: a second ball screw slide in which two ball screw slides are synchronized and move up and down in the Z-axis direction; a vibration plate that lifts an inspection object in the Z-axis direction to separate and isolate the inspection object from the second conveyor line; a vibration motor connected to the center of the bottom of the vibration plate and having a pair of single shafts attached along the rotation axis; a second support connected to the second ball screw slide and supporting the vibration plate while separating it from the second conveyor line; a plurality of compression springs connected between the second support and the vibration plate to prevent vibration from being transmitted to the system; a third ball screw slide installed at both ends of the left and right of the vibration plate, in which two ball screw slides are synchronized and move in the Y-axis direction to fix the inspection object to the vibration plate; and a first contact frame connected to the top of the third ball screw slide and fixing the inspection object by applying pressure in a manner that pushes the inspection object toward the direction of the right-angle protrusion of the vibration plate. Claim 3 In claim 1, the bolt fastening unit rotates a motor by angle control using bolt angle data obtained from the second vision verification unit so that a hexagonal bit socket and a bolt can engage, measures the fastening torque of the bolt, and fastens the bolt until a preset threshold torque value is reached, a vision recognition-based bolt loosening inspection and fastening system. Claim 4 In claim 1, the image processing unit determines abnormal fastening bolts by comparing the angle of deviation and the vertical height of the bolt before and after vibration inspection using bolt sensing data received from the first vision verification unit and the second vision verification unit, a vision recognition-based bolt loosening inspection and fastening system. Claim 5 A vision recognition-based bolt loosening inspection and fastening system according to claim 1, wherein the main controller uses sensing data received in real time by the first photosensor to temporarily stop the first conveyor line and command the first vision verification unit to perform vision sensing when an inspection object moves along the first conveyor line and approaches the first photosensor; wherein the main controller uses sensing data received in real time by the second photosensor to temporarily stop the second conveyor line and command the vibration generating unit to perform operation when an inspection object moves along the second conveyor line and approaches the second photosensor; and wherein the main controller uses sensing data received in real time by the third photosensor to temporarily stop the third conveyor line after operating it for a certain period of time so that the inspection object can be positioned within the sensing range of the second vision verification unit and commands the second vision verification unit to perform vision sensing.

Images