Bolt and washer automatic alignment and supply system

Abstract

The present invention relates to an automatic bolt and washer alignment and supply system that automatically separates, aligns, and transports fastening parts, such as bolts and washers, and supplies them to a subsequent process. The automatic bolt and washer alignment and supply system according to the present invention comprises: a bolt storage unit that stores a plurality of bolts by specification and continuously supplies them; a bolt alignment unit that aligns the bolts in a certain direction; a bolt transport unit that transports the bolts aligned in the bolt alignment unit to a pickup position of a subsequent process; a washer separation unit that separates and supplies a plurality of washers one by one; a washer alignment unit that aligns the washers; a vision sensor or vision camera that recognizes the position of the aligned washer; and a washer transport unit including a SCARA robot that moves according to the position information of the washer recognized by the vision sensor or vision camera, picks up the washer by vacuum suction, and transports it to a pickup position of a subsequent process. The invention includes a control unit that controls the supply status of the bolt and washer; wherein the bolt storage unit and the washer separation unit are arranged in parallel to enable simultaneous supply, the bolt conveying unit is configured to supply aligned bolts to a pickup position of a subsequent process, and the washer conveying unit is configured to supply washers to the pickup position based on position information recognized by a vision sensor or a vision camera, and the control unit controls the bolt conveying unit and the washer conveying unit so that the bolt and washer are supplied to the subsequent process, either separately or simultaneously, from the pickup position, and controls the bolt and washer to maintain a multi-point arrangement structure in which a single or multiple bolts and washers are supplied simultaneously in an aligned state.

Description

Technology Field

[0001] The present invention relates to the field of automation equipment and parts supply technology, and more specifically, to an automatic bolt and washer alignment and supply system that automatically separates, aligns, and transports fastening parts such as bolts and washers to supply them to a subsequent process.

[0002] In particular, the present invention relates to an automatic alignment and supply system for bolts and washers that can stably separate bolts and washers stored in a mixed state in large quantities, align them in a certain direction and at intervals, and then precisely supply them to a pickup location for a subsequent process.

[0003] In addition, the present invention relates to an automatic alignment and supply system for bolts and washers capable of high-speed and high-precision supply of fastening parts, including vibration-based alignment, vision recognition-based position correction, and automatic transfer and control technologies. Background Technology

[0005] In general, fastening parts such as bolts, nuts, and washers are essential in the assembly processes of automobiles, electronic products, and industrial machinery, and these parts must be supplied to the correct position in the correct direction.

[0006] In particular, in automated assembly processes, the precision and stability of parts supply act as key factors determining the quality and productivity of the entire process.

[0007] The existing bolt and washer supply process has the following problems.

[0008] (1) Relying on manual or semi-automatic methods

[0009] - The worker aligns and supplies the parts.

[0010] Quality variations occur depending on the worker's skill level

[0011] -. Reduced productivity due to repetitive tasks

[0012] (2) Difficulty with alignment and direction control

[0013] Bolts have directionality (head / screw direction).

[0014] Washers are flat parts, so overlap and stacking occur.

[0015] - Difficulty with accurate posture alignment

[0016] (3) Washer separation (distacking) problem

[0017] Washers are thin and tend to stick together.

[0018] - Problem with multiple sheets being supplied simultaneously

[0019] Difficulty in supplying single parts

[0020] (4) Insufficient supply interval and positional precision

[0021] Difficulty maintaining a consistent interval

[0022] - Robot pickup position error occurs

[0023] - Causes defects in subsequent processes

[0024] (5) Lack of process integration

[0025] - Bolt and washer supplies are operated separately

[0026] - Lack of synchronization between processes

[0027] -. Decline in production efficiency

[0028] In some automated systems, parts are supplied using vibration feeders, but the following limitations exist.

[0029] - Single-part (bolt or washer) center supply structure

[0030] - Alignment function is available, but positional precision is lacking

[0031] - Lack of processing technology for flexible / lightweight parts such as washers

[0032] - Difficulty with simultaneous supply and precise control of multiple parts

[0033] In particular, the technology for aligning bolts and washers separately and simultaneously supplying them stably is limited, and there is a problem with a lack of connectivity with automatic pickup and assembly in subsequent processes.

[0034] Recently, there has been an increasing demand in the manufacturing industry for high-speed mass production, unmanned automated processes, and the implementation of smart factories.

[0035] Accordingly, automatic separation and alignment technology for fastening parts, automatic feeding technology based on precision position control, and integrated control technology for inter-process linkage are required.

[0036] Therefore, there is a need to develop a high-speed, high-precision automatic alignment and feeding system that can stably separate bolts and washers, align them in a consistent direction and at intervals, and precisely feed them to a pickup position for a subsequent process. Prior art literature

[0038] Republic of Korea Registered Patent No. 10-1181817 (Registration Date: September 5, 2012) Republic of Korea Registered Patent No. 10-2615153 (Registration Date: December 13, 2023) The problem to be solved

[0039] The present invention has been devised to solve the problems of the prior art as described above, and aims to solve the following problems.

[0040] First, the purpose is to minimize reliance on manual labor by automatically separating, aligning, and supplying bolts and washers, and to implement automation of the parts supply process.

[0041] Second, the purpose is to provide a supply structure capable of alignment and single separation (disstacking) so that bolts requiring directionality and washers prone to overlapping can be handled reliably, respectively.

[0042] Third, the purpose is to ensure the precision of the pickup position required in the subsequent process by supplying bolts and washers aligned in a constant direction and at regular intervals.

[0043] Fourth, the purpose is to implement a supply system that can flexibly respond to various automatic assembly processes by providing a structure that can supply bolts and washers separately or simultaneously.

[0044] Fifth, the purpose is to provide an automated system capable of stable and continuous supply by using sensors and a control unit to detect and control the location, presence, and supply status of parts in real time.

[0045] Sixth, the purpose is to improve productivity by configuring multiple supply devices in parallel so that parts can be supplied at high speed even in a mass production environment.

[0046] The problems solved by the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0048] As a means for solving the aforementioned technical problem, the automatic alignment and supply system for bolts and washers according to the present invention comprises: a bolt storage unit that stores a plurality of bolts by specification and continuously supplies them; a bolt alignment unit that aligns the bolts in a certain direction; a bolt transfer unit that transfers the bolts aligned in the bolt alignment unit to a pickup position of a subsequent process; a washer separation unit that separates and supplies a plurality of washers one by one; a washer alignment unit that aligns the washers; a vision sensor or vision camera that recognizes the position of the aligned washer; and a washer transfer unit including a SCARA robot that moves according to the position information of the washer recognized by the vision sensor or vision camera, picks up the washer by vacuum suction, and transfers it to a pickup position of a subsequent process. The invention includes a control unit that controls the supply status of the bolt and washer; wherein the bolt storage unit and the washer separation unit are arranged in parallel to enable simultaneous supply, the bolt conveying unit is configured to supply aligned bolts to a pickup position of a subsequent process, and the washer conveying unit is configured to supply washers to the pickup position based on position information recognized by a vision sensor or a vision camera, and the control unit controls the bolt conveying unit and the washer conveying unit so that the bolt and washer are supplied to the subsequent process, either separately or simultaneously, from the pickup position, and controls the bolt and washer to maintain a multi-point arrangement structure in which a single or multiple bolts and washers are supplied simultaneously in an aligned state.

[0049] The above bolt alignment unit is characterized by including a vibration feeder that aligns bolts in a certain direction by electromagnetic vibration.

[0050] The above-described bolt transfer unit is characterized by including a transfer rail and an eject device for transferring aligned bolts to a pickup position.

[0051] The washer separator described above is characterized by including a vibrating destacking device that separates stacked washers one by one.

[0052] delete

[0053] delete

[0054] delete Effects of the invention

[0056] The following effects can be obtained through the automatic alignment and supply system for bolts and washers according to the present invention.

[0057] First, as the separation, alignment, and supply processes of bolts and washers are automated, worker intervention is minimized, and labor cost reduction and production efficiency improvement can be achieved simultaneously.

[0058] Second, by reliably performing the directional alignment of the bolts and the single separation and planar alignment of the washers, problems of misalignment and duplicate supply occurring during the parts supply process can be effectively prevented.

[0059] Third, as bolts and washers are supplied aligned at regular intervals and positions, pickup accuracy in subsequent processes is improved and the assembly defect rate can be reduced.

[0060] Fourth, through a structure that can supply bolts and washers separately or simultaneously, it can respond to various process conditions and improve process flexibility.

[0061] Fifth, through sensor-based real-time detection and control functions, the supply status can be continuously monitored and immediate response to abnormalities can be made, thereby improving the stability and reliability of the process.

[0062] Sixth, by configuring multiple supply lines in parallel, stable high-speed supply is possible even in a mass production environment, and the throughput of the entire production line can be improved.

[0063] Seventh, the present invention is differentiated from existing simple supply devices by providing a structure that integrates alignment, separation, and transfer functions, and has the effect of improving the level of automation of the parts supply process by one step.

[0064] Eighth, since it can be applied to fastening parts of various shapes and specifications, it can be universally utilized in various industrial fields such as automobiles, electronics, and machinery.

[0065] Ninth, through the standardization and automation of the parts supply process, quality variations due to worker skill levels can be minimized, and a consistent quality level can be maintained.

[0066] Tenth, it is applicable to smart factories and unmanned production lines, providing industrial effects that can contribute to the intelligence and advancement of manufacturing processes.

[0067] The effects of the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description below. Brief explanation of the drawing

[0069] FIG. 1 is a schematic diagram illustrating the overall configuration of a curtain airbag bolt and washer automatic assembly system (100) using a multi-joint robot according to the present invention. FIGS. 2 and FIGS. 3 are drawings illustrating the plan and side configurations of a curtain airbag automatic loading / unloading device (200). FIG. 4 is a drawing illustrating the rear configuration of a curtain airbag bolt and washer automatic assembly system (100). Figure 5 is a diagram showing the state in which a curtain airbag is loaded. Figure 6 is a diagram showing the position alignment process (initial state) of the curtain airbag. Figure 7 is a diagram showing the position alignment process (intermediate state) of the curtain airbag. FIG. 8 is a drawing illustrating the configuration of a curtain airbag (10). Figure 9 is a drawing showing the state of the curtain airbag fixing part before operation. Figure 10 is a drawing showing the state after operation of the curtain airbag fixing part. FIG. 11 is a drawing illustrating the configuration of a gripper transfer device (250). FIGS. 12 to 21 are drawings illustrating the automatic assembly of curtain airbag bolts and washers using a multi-joint robot (710) and the loading and unloading states of the curtain airbag. FIGS. 22 and 23 are drawings illustrating the internal view of a curtain airbag bolt and washer automatic assembly system (100) using a multi-joint robot (710). FIGS. 24 to 27 are drawings illustrating the configuration of a multi-joint robot (710). FIGS. 28 to 36 are drawings illustrating the configuration of a multi-point bolt supply device (300). FIGS. 37 to 43 are drawings illustrating the configuration of a washer multi-point supply unit (600). FIGS. 44 to 47 are drawings illustrating the automatic assembly of curtain airbag bolts and washers using a multi-joint robot (710). Specific details for implementing the invention

[0070] Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement the invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the invention in the drawings, parts unrelated to the description have been omitted, and similar parts throughout the entire description of the invention are described using similar reference numerals.

[0071] Meanwhile, the terms used in this invention have been selected based on currently widely used general terms while considering their functions within the invention; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, the terms used in this invention should be defined not merely by their names, but based on their meanings and the overall content of the invention.

[0072] Furthermore, when a part of the specification is described as "including" a certain component, this means that, unless specifically stated otherwise, it does not exclude the following component but may include additional components.

[0073] Hereinafter, specific technical details to be implemented in the present invention will be described in detail with reference to the attached drawings.

[0074] FIG. 1 is a schematic diagram illustrating the overall configuration of a curtain airbag bolt and washer automatic assembly system (100) using a multi-joint robot according to the present invention. FIG. 2 and FIG. 3 are drawings illustrating the plan and side configurations of a curtain airbag automatic loading / unloading device (200). FIG. 4 is a drawing illustrating the rear configuration of the curtain airbag bolt and washer automatic assembly system (100). FIG. 5 is a drawing showing the state in which a curtain airbag is loaded. FIG. 6 is a drawing showing the position alignment process (initial state) of the curtain airbag. FIG. 7 is a drawing showing the position alignment process (intermediate state) of the curtain airbag. FIG. 8 is a drawing illustrating the configuration of a curtain airbag (10). FIG. 9 is a drawing showing the state of the curtain airbag fixing part before operation. FIG. 10 is a drawing showing the state of the curtain airbag fixing part after operation. FIG. 11 is a drawing illustrating the configuration of a gripper transfer device (250). FIGS. 12 to 21 illustrate the automatic assembly of curtain airbag bolts and washers using a multi-joint robot (710) and the loading and unloading states of the curtain airbag. FIGS. 22 and 23 illustrate the internal view of the automatic assembly system (100) for curtain airbag bolts and washers using a multi-joint robot (710). FIGS. 24 to 27 illustrate the configuration of the multi-joint robot (710). FIGS. 28 to 36 illustrate the configuration of the bolt multi-point supply device (300). FIGS. 37 to 43 illustrate the configuration of the washer multi-point supply unit (600). FIGS. 44 to 47 illustrate the automatic assembly of curtain airbag bolts and washers using a multi-joint robot (710).

[0075] As illustrated in FIGS. 1 to 47, the automatic assembly system (100) for curtain airbag bolts and washers using the multi-joint robot of the present invention may be largely configured to include an automatic loading / unloading device for curtain airbags (200), a bolt supply device (300), a washer supply device (400), and a multi-joint robot (700) for simultaneous fastening of bolts and washers.

[0076] The above curtain airbag automatic loading / unloading device (200) is a device that automatically transfers the curtain airbag (10) to a work position after loading it, and automatically transfers the curtain airbag (10) to an unloading position after completing the assembly of bolts and washers on the curtain airbag (10) by a multi-joint robot (700), and may be configured to include a loading unit, an unloading unit, a transfer unit, an alignment unit, a fixing unit, a lifting unit, a sensor unit, and a control unit.

[0077] The above curtain airbag automatic loading / unloading device (200) can be designed to automatically perform a series of processes including loading → alignment → fixing → bolt / washer supply → pickup → assembly → unloading (discharge), taking into account the flexibility and shape deformation characteristics of the curtain airbag (10).

[0078] The above loading section is a part where a curtain airbag is inserted by a worker or by an automatic feeding device. During loading, the curtain airbag (10) can be inserted in a folded state and then transferred to the next process by a transfer section.

[0079] The above transfer unit serves to move the loaded curtain airbag (10) to the alignment unit.

[0080] The above alignment unit is a device that aligns the fastening position of a curtain airbag to a reference position. The alignment unit performs alignment based on the fastening hole position, longitudinal alignment, and twist correction functions, and for this purpose includes a position alignment guide unit (221, 222) and a fixing jig (223).

[0081] The above fixing part secures the aligned curtain airbag (10) to prevent movement or deformation during assembly. The above fixing part includes an alignment guide part (221, 222) and a fixing jig (223).

[0082] In particular, since the curtain airbag (10) has a flexible fiber structure, a variable pressure clamping structure can be applied to prevent excessive pressure while enabling stable fixation.

[0083] The above lifting unit serves to adjust the height of the curtain airbag to align with the robot's working position.

[0084] The above lifting unit may be configured to include a servo motor-based lifting device, a pneumatic cylinder, and a ball screw type lifting structure. This enables compatibility with various vehicle models and airbag sizes.

[0085] The sensor unit detects the position and status of the curtain airbag.

[0086] The sensor unit described above may be configured to include a position sensor (proximity sensor, optical sensor), a vision sensor (camera), and a presence detection sensor, and determines the alignment status and input status to determine whether to proceed to the next process.

[0087] The above-mentioned unloading unit is a device that discharges the assembled curtain airbag.

[0088] The above control unit integrates and controls the operation of the entire device.

[0089] The above control unit can perform synchronization control of each component, sensor signal processing, interface with robots and assembly devices, work sequence control, error detection and stopping, production data management, etc.

[0090] The operation of the above curtain airbag automatic loading / unloading device (200) can include inserting the curtain airbag (10) into the loading section, moving it to the alignment section through the transfer section, performing position correction in the alignment section, fixing the airbag in the fixing section, aligning the work position through the lifting section, performing the bolt and washer assembly process (robot fastening), discharging the finished product from the unloading section, and separating defective products into a separate line.

[0091] Additionally, the curtain airbag automatic loading / unloading device (200) may be configured to include a first workpiece transfer platform (210), a second workpiece transfer platform (230), a gripper transfer device (250), and a curtain airbag discharge platform (270).

[0092] As shown in FIGS. 5 to 10, the first work transfer table (210) has a plurality of curtain airbag fixing units (220) installed in the longitudinal direction.

[0093] The above curtain airbag fixing unit (220) includes a position alignment guide part (221, 222), a fixing jig (223), and a bolt / washer assembly hole (224) on the upper part.

[0094] The above position alignment guides (221, 222) and the fixing jig (223) are installed opposite each other with a gap equal to the space where the curtain airbag (10) is installed, and the fixing jig (223) moves back and forth by the pneumatic cylinder (225) to fix and detach the curtain airbag (10).

[0095] The above pneumatic cylinder (225) automatically operates the fixing jig (223) by means of a sensor (not shown) that detects whether the curtain airbag (10) is installed, thereby stably fixing the curtain airbag (10). At this time, deformation of the flexible airbag is minimized through variable pressure control.

[0096] The above curtain airbag fixing unit (220) has a bolt / washer assembly hole (224) formed vertically through it on one side. A bolt fastening member (21) of a fixing member (20) installed on the curtain airbag (10) is installed facing the bolt / washer assembly hole (224).

[0097] For reference, the above curtain airbag (10) is an airbag that deploys downward from the upper side of the vehicle to protect the head and upper body of the occupant in the event of a side collision or rollover accident.

[0098] As shown in FIG. 8, the curtain airbag (10) has a fixing member (20) formed with a bolt fastening member (21) formed on the side of the curtain airbag and protruding in the longitudinal direction.

[0099] The second work transfer table (230) may be configured to include a curtain airbag fixing unit (240), a position alignment guide part (241, 242), a fixing jig (243), a bolt / washer assembly hole (244), and a pneumatic cylinder (255), similar to the first work transfer table (210). The second work transfer table (230) has the same configuration and operation as the first work transfer table (210).

[0100] The first and second work transfer platforms (210, 230) are operated to enable loading and unloading of the curtain airbag (10). That is, when one of the first and second work transfer platforms (210, 230) performs a loading operation, the other can be configured to perform an unloading operation.

[0101] The above gripper transfer device (250) may be configured to include a plurality of gripper units (Gripper Unit; 260). Each of the gripper units (260) includes a gripper (261) that picks and moves the curtain airbag (10).

[0102] The above gripper transfer device (250) picks up the curtain airbag (10), which has bolt and washer assembly completed by the above multi-joint robot (710), with the gripper (261) and moves it to the curtain airbag discharge unit (270).

[0103] The curtain airbag discharge unit (270) moves to the unloading position of the curtain airbag (10) when the curtain airbag (10) is delivered by the gripper transfer device (250), and discharges the curtain airbag (10) to the outside after the work is completed by a worker.

[0104] The above curtain airbag automatic loading / unloading device (200) further comprises a control unit that, when a curtain airbag is loaded onto the first work transfer platform (210) and / or the second work transfer platform (230), sequentially transfers the loaded work transfer platform to the bolt / washer assembly position of the multi-joint robot (710), and when the curtain airbag (10) for which bolt / washer assembly is completed by the multi-joint robot (710) is separated from the work transfer platform, transfers the separated work transfer platform to the loading position.

[0105] The above control unit is characterized by correcting the assembly position of the multi-joint robot according to the fastening position of the curtain airbag recognized through the vision sensor.

[0106] The above curtain airbag automatic loading / unloading device (200) enables precise automatic alignment and fixing of flexible curtain airbags, implements a fully automated process from loading to unloading, minimizes worker intervention to improve productivity and safety, and enables the implementation of a flexible production system capable of handling various vehicle types.

[0107] The above bolt supply device (300) is a device that supplies bolts (30) in the curtain airbag bolt and washer automatic assembly system (100) by aligning them in a certain direction and at intervals so that a multi-joint robot (710) can extract them.

[0108] The above bolt supply device (300) may be configured to include a hopper (310), a base (311), a vibratory feeder (320), a bolt alignment unit (321), a bolt transfer unit (330), a bolt supply position (340), a bolt ejector (350), a bolt transfer device (400), and a bolt pickup device (500).

[0109] The above bolt (30) may be configured with a metal washer assembled thereon.

[0110] The above hopper (310) is a device that stores a number of bolts in an automatic assembly facility and continuously supplies them to the next process (e.g., vibrating feeder, alignment track).

[0111] In particular, it serves as the starting point for a stable and uninterrupted bolt supply in automatic curtain airbag assembly systems.

[0112] The above hopper (310) operates in such a way that a plurality of bolts (30) are stored inside through an inlet, the bolts (30) move downward along a support (311) on an inclined surface by gravity, and are supplied to a vibratory feeder (320) through an outlet.

[0113] The above hopper (310) and vibrating feeder (320) may be arranged in two or more units to supply separately according to the specifications (length) of the bolt.

[0114] The above hopper (310) is characterized by guiding the bolt (30) toward the discharge port by gravity through an internal inclined structure.

[0115] The hopper (310) may be configured to include a vibration transmission unit to prevent bridging of the bolts and enable continuous supply. The hopper (310) may be configured to include a level sensor to detect the remaining amount of bolts and enable automatic supply control. Additionally, an over-supply prevention gate may be provided at the discharge port to ensure that only a certain amount of bolts are delivered to the downstream process.

[0116] The above-mentioned vibratory feeder (320) is a device that supplies small parts (bolts) in an automated facility in a consistent direction and at regular intervals. In particular, in a curtain airbag automatic assembly system (100), it is used as a core alignment device for a bolt supply device (300).

[0117] The above vibration feeder (320) may be configured to include a bowl-shaped feeder body in which parts are contained, a spiral track formed inside, a vibration generating part that generates vibration, a spring supporting part that supports it, and a driving part that uses electromagnetic force.

[0118] The above vibration feeder (320) moves the bolt (30) using electromagnetic vibration.

[0119] When an alternating current is applied to the electromagnet, periodic attraction / release occurs, generating micro-vibrations through the spring, and the bolt moves as if sliding due to the vibration, moving upward along the spiral track, and as a result, the bolt (30) moves while being aligned in one direction. At this time, as the bolt (30) moves along the spiral track, the direction of the bolt is automatically aligned.

[0120] The above vibration feeder (320) is characterized by moving a bolt along a spiral track using vibrations generated by an electromagnet drive. The above spiral track is characterized by including a structure that aligns the direction of the bolt and removes bolts in abnormal positions.

[0121] The above-mentioned vibrating feeder (320) may be configured to discharge aligned bolts at regular intervals in conjunction with a linear feeder. The bolts maintain their position while moving along a transfer track of a groove structure.

[0122] The controller of the above-mentioned vibration feeder (320) is configured to control the vibration intensity and supply speed to enable stable component supply.

[0123] The above bolt supply position (340) refers to the final position where the bolt aligned through the vibration feeder (320) and alignment track is accurately extracted by the bolt transfer device (400).

[0124] The above bolt supply position (360) may be configured to include a seating portion where the bolt (30) is placed accurately, a stopper that maintains a constant position, an alignment guide that maintains a direction, a spacing portion that maintains a constant spacing, and a sensor portion for position recognition.

[0125] The operation of the above bolt supply position (360) is such that a bolt (30) aligned from the vibration feeder (320) is supplied, and when the bolt (30) reaches the seating portion, it is fixed in position by a stopper, its direction is maintained by an alignment guide, a sensor checks for the presence of the bolt, and the bolt transfer device (400) picks up the bolt (30) at the corresponding position.

[0126] The above bolt supply position (360) is characterized by providing a reference position for the bolt transfer device (400) to extract the bolt (30).

[0127] The above bolt supply position (360) is configured to maintain the position and direction of the bolt constant by including a stopper and an alignment guide.

[0128] The bolt supply position (360) is characterized by including a sensor unit to detect the presence of a bolt, and accordingly, the operation of the bolt transfer device (400) is controlled. The bolt supply position (360) is characterized by including a position reference plane to ensure repeatability.

[0129] The above bolt ejector (350) refers to a device that accurately pushes (transfers) aligned bolts from the bolt supply position (360) to a pickup position, or discharges / removes defective or misaligned bolts. That is, it is a key driving element that actively delivers aligned bolts to a position where the bolt transfer device (400) can extract them.

[0130] The above bolt eject device (350) may be configured to include an eject pin that pushes out the bolt (30), a driving part that drives the pin, a guide block that guides the movement path, a return spring that returns it to its original position, and a sensor that detects the state.

[0131] When the bolt (30) reaches the alignment track or waiting position, the control unit outputs an eject signal, the pneumatic cylinder operates to advance the eject pin, pushes the bolt (30) to move it to the pickup position or discharge position, and returns it to its original position by a return spring after the operation is completed.

[0132] The above bolt eject device (350) is characterized by including an eject pin to push aligned bolts to a pickup position. The eject pin is characterized by being driven by a pneumatic cylinder to perform forward and backward movements.

[0133] The above bolt eject device (350) is characterized by including a sensor to detect the presence of a bolt, and the eject operation is controlled accordingly.

[0134] The above bolt eject device (350) may be configured to include a function for selectively ejecting misaligned bolts.

[0135] The above bolt transfer device (400) plays the role of stably transferring the bolt (30) to the pickup position of the bolt pickup device (500) by moving along the transfer rail (430) after picking up the bolt (30) from the bolt eject device (400).

[0136] The above bolt transfer device (400) may be configured to include three bolt seating units (410) and a transfer rail (430). The bolt seating unit (410) is provided with a bolt seating portion (420) having a groove structure for seating a bolt (30).

[0137] The above bolt pickup device (500) receives a bolt (30) from the above bolt transfer device (400), moves to the pickup position of the multi-joint robot (700), and then, when the multi-joint robot (700) moves to the pickup position, delivers the bolt (30) to the bolt attachment member (permanent magnet; 733) of the multi-joint robot (700).

[0138] The above bolt pickup device (500) may be configured to include three bolt pickup units (510) and a transfer rail (530). The bolt pickup unit (510) is equipped with a gripper (520) for securing a bolt (30).

[0139] Next, the washer supply device (600) is a device that separates and aligns the washer (40) from the curtain airbag bolt and washer automatic assembly system (100) so that the multi-joint robot (710) can extract it.

[0140] The washer supply device (600) may be configured to include a vibratory destacking device (610), a base (611), an alignment plate (620), a vision camera (630), a washer mounting stand (640), a SCARA robot (650), a washer gripper transfer device (660), a washer gripper unit (670), and a transfer rail (680).

[0141] The above vibratory destacking device (610) is a device that separates (destacking) parts (e.g., paper washers) supplied in a stacked (overlapping) state one by one and supplies them to the next process. It plays a key role in automated processes that handle flexible and easily sticking materials, such as paper washers.

[0142] The above-described vibratory destacking device (610) is characterized by separating stacked parts including a vibration generating part. At this time, the stacked washers are separated one by one by the vibratory destacking device (610).

[0143] The above vibrating destacking device (610) may be configured to include an air injection unit to relieve contact between parts and assist in separation.

[0144] The above-described vibrating destacking device (610) is characterized by being controlled to separate only a single part. It may also be configured to include a sensor to detect the separation state and control the operation accordingly.

[0145] The above-mentioned base (611) serves to transfer the paper washer (40) along the inclined surface from the vibrating destacking device (610) to the alignment plate (620).

[0146] The alignment plate (620) serves to align the paper washer (40) supplied from the vibrating destacking device (610) through the base (611) on a flat surface.

[0147] A vision camera (see 630 in FIG. 23) may be placed on the upper part of the alignment plate (620). The position information of the paper washer (40) arranged on the alignment plate (620) is transmitted to the SCARA robot (650) through the vision camera (630).

[0148] The above-mentioned SCARA robot (650) is an industrial robot that has a structure that moves flexibly in the horizontal direction (XY) while maintaining rigidity in the vertical direction (Z).

[0149] The above-mentioned SCARA robot (650) is equipped with two vacuum suction parts (652) that vacuum suction a paper washer (40) on the head part (651).

[0150] The above SCARA robot (650) moves according to the position information of the paper washer (40) received from the vision camera (630) and then vacuum-adsorbs the paper washer (40) to the vacuum suction part (652). Afterwards, the paper washer (40) is delivered to the washer mounting base (640).

[0151] The washer gripper transfer device (660) moves along the transfer rail (680) to the pickup position of the washer mounting stand (640) and then picks up the paper washer (40) with the gripper (671) of the washer gripper unit (670). Afterwards, the washer gripper transfer device (660) moves along the transfer rail (680) to the pickup position of the multi-joint robot (700).

[0152] The washer gripper transfer device (660) is equipped with three washer gripper units (670), and each washer gripper unit (670) is equipped with a gripper (671).

[0153] A washer is moved to a pickup position of a multi-joint robot (700) by the washer gripper transfer device (660), and a plurality of washers are supplied simultaneously through a multi-point array structure.

[0154] Furthermore, the automatic assembly system (100) for curtain airbag bolts and washers of the present invention is configured to include a multi-joint robot (700) for simultaneous fastening of two bolts and washers, as shown in FIGS. 2, 22 and 23.

[0155] The above-mentioned multi-joint robot (700) for simultaneous bolt and washer fastening is an automated robot system that picks up the bolt and washer separately or simultaneously and performs assembly on the bolt fastening member (20) of the curtain airbag (10).

[0156] The above-mentioned multi-joint robot (700) for simultaneous bolt and washer fastening can move to various positions and angles through multiple joints.

[0157] The above-mentioned multi-joint robot (700) for simultaneous bolt and washer fastening may be configured to include a multi-joint robot arm (710), a bolt and washer assembly head (720), and three bolt and washer assembly hand units (710), as shown in FIGS. 24 to 27.

[0158] The above bolt and washer assembly head part (720) shows an example in which three bolt and washer assembly hand units (710) are configured. The number of bolt and washer assembly hand units (710) can be adjusted to two or more as needed.

[0159] The above bolt and washer assembly hand unit (710) is connected by a guide rail (740, 741) and a ball screw (750) and is formed with a structure that allows for spacing adjustment while moving left and right.

[0160] The above bolt and washer assembly hand unit (710) may be configured to include a support frame (731), a pneumatic cylinder (732), a bolt attachment member (733), a bolt detection sensor (734), a vacuum suction fixing member (735), a washer detection sensor (736), and a servo motor (737).

[0161] A pneumatic cylinder (732) and a servo motor (737) may be configured on the upper part of the support frame (731). When the bolt-washer assembly hand unit (710) moves to the bolt-washer fastening position of the curtain airbag (10), the pneumatic cylinder (732) vertically lowers the bolt (30) of the bolt attachment member (733) to assemble the paper washer (40) of the vacuum suction fixing member (735). At this time, the paper washer (40) is assembled while a metal washer is fitted onto the bolt (30).

[0162] The above bolt attachment member (733) serves to fix the bolt (30) by attaching it with a permanent magnet.

[0163] The bolt detection sensor (734) detects whether the bolt (30) is mounted on the bolt attachment member (733) and controls the next operation accordingly.

[0164] The above vacuum suction fixing member (735) serves to suction and fix the paper washer (40) using vacuum pressure.

[0165] The washer detection sensor (736) detects whether a paper washer (40) is mounted on the vacuum suction fixing member (735) and controls the subsequent operation accordingly. Additionally, it determines defects by detecting the number of paper washers by measuring the thickness of the paper washer (40) when assembling to the bolt (30).

[0166] The above-mentioned multi-joint robot (700) for simultaneous bolt and washer fastening is characterized by being configured to include multiple joints to enable movement in various directions.

[0167] The curtain airbag (10), in which the assembly of the bolt and washer is completed by the above-mentioned multi-joint robot (700), is picked up by the gripper transfer device (250) and moved to the curtain airbag discharge unit (270) to perform the finished product discharge process. If necessary, defective products are separated separately.

[0168] The automatic assembly system (100) for curtain airbag bolts and washers according to the present invention is characterized by each component being organically linked to perform a fully automated continuous process.

[0169] In particular, this system performs a series of processes—loading → alignment → fixing → supply → pickup → joining → fastening → inspection → unloading—by synchronizing them in real time through an integrated control unit.

[0170] First, the curtain airbag (10) is fed into the loading position of the curtain airbag automatic loading / unloading device (200) by a worker or an automatic feeding device.

[0171] At this time, the curtain airbag (10) may be introduced in a folded or irregular state, and the sensor unit detects the presence of the curtain airbag and determines whether to perform the next process. The loaded curtain airbag (10) is moved to the alignment unit through the transfer unit.

[0172] The alignment unit described above can perform alignment based on the fastening hole position, longitudinal alignment, and twist correction. In particular, it recognizes the actual position of the curtain airbag through a vision sensor, calculates the error with reference coordinates, and automatically corrects it.

[0173] The aligned curtain airbag (10) is fixed by a fixing part. At this time, the fixing jig (223) is operated by a pneumatic cylinder (225), and a variable pressure clamping method is applied so that the flexible curtain airbag is stably fixed without deformation.

[0174] In addition, the working height is adjusted by the lifting unit and set to exactly match the working coordinates of the multi-joint robot (700).

[0175] At the same time, the bolt supply device (300) stores a number of bolts in the hopper (310), supplies them to the vibration feeder (320) by gravity and vibration, performs directional alignment in the vibration feeder, the aligned bolts reach the bolt supply position (340), confirms their position and presence through a sensor, and performs the process of transferring them to the pickup position by the bolt ejector (350).

[0176] In this process, alignment, spacing maintenance, and defect removal are performed simultaneously.

[0177] The washer supply device (600) separates stacked washers one by one from a vibrating destacking device (610), aligns them flatly on an alignment plate (620), a vision camera (630) acquires position information, a SCARA robot (650) picks up the washer by vacuum suction, places it on a washer mounting stand (640), and a washer gripper transfer device (660) performs a movement operation to the robot position after picking up.

[0178] In particular, the key is the single separation and precise positioning of the flexible material (paper washer).

[0179] The above multi-joint robot (700) takes out a bolt from the bolt pickup device (500) and a washer from the washer supply location to fix it.

[0180] At this time, the bolt and washer can be removed simultaneously or sequentially, and multiple items can be removed simultaneously through a multi-point pickup structure.

[0181] The above multi-joint robot (700) fixes the bolt with a permanent magnet, fixes the washer with vacuum suction, and performs a lowering motion using a pneumatic cylinder.

[0182] During this process, automatic assembly (Pre-Assembly) is performed with the bolt and washer in a coaxial alignment state.

[0183] The above multi-joint robot (700) moves to the fastening position of the curtain airbag and assembles the bolt and washer.

[0184] At this time, the problem of position deformation of flexible materials is solved by performing vision or coordinate-based position correction and automatic correction of fine position errors.

[0185] The above bolt and washer are assembled by lowering the bolt by the pneumatic cylinder (732) and inserting it together with the washer into the bolt fastening member (21) of the curtain airbag fixing member (20).

[0186] In the assembly process of the above bolt and washer, the bolt is checked for mounting status through the bolt detection sensor (734), and the presence and thickness of the washer are measured through the washer detection sensor (736).

[0187] In particular, defects are automatically detected by determining the number of washers based on the washer thickness.

[0188] The present invention enables simultaneous operation of multiple fastening parts through multiple hand units, and allows two or more multi-joint robots to operate in parallel to maximize productivity.

[0189] Additionally, the curtain airbag (10) that has been secured is picked up by the gripper transfer device (250), moved to the curtain airbag discharge unit (270), and discharged at the unloading position. At this time, defective products can be separated into a separate line.

[0190] All of the above processes are integrated and managed by the control unit.

[0191] The control functions of the above-mentioned control unit may include synchronization between devices, sensor data processing, robot control, process sequence control, error detection and stoppage, and production data management.

[0192] In other words, this system can implement a fully automated smart production process.

[0193] As illustrated in FIGS. 1 to 47, the present invention provides excellent industrial effects that can simultaneously achieve high-speed production, high-precision fastening, quality uniformity, and process automation by performing the entire process in conjunction with a single integrated automation system rather than performing each process individually.

[0194] As described above, the bolt and washer automatic alignment and supply system according to the present invention can minimize reliance on manual labor by automatically separating, aligning, and supplying bolts and washers, and can realize automation of the parts supply process.

[0195] In addition, a supply structure capable of alignment and single separation (destacking) is provided so that bolts requiring directionality and washers prone to overlapping can be processed stably, and by supplying bolts and washers aligned in a constant direction and at intervals, the precision of the pickup position required in subsequent processes can be secured.

[0196] The preferred embodiments of the present invention described above are disclosed to solve technical problems, and a person with ordinary knowledge in the technical field to which the present invention belongs (a person skilled in the art) may make various modifications, changes, and additions within the spirit and scope of the present invention, and such modifications and changes should be considered to fall within the scope of the following claims. Industrial applicability

[0198] The present invention relates to a system for automatically separating, aligning, and transporting fastening parts such as bolts and washers, and can be widely applied in various manufacturing industries, including the automobile manufacturing industry.

[0199] First, the present invention is directly applicable to the automatic assembly process of vehicle parts and is particularly suitable for supplying high-speed, high-precision parts required in the fastening process of curtain airbags, body parts, and interior materials. Since the supply precision of fastening parts directly affects the quality and productivity of the entire assembly process, the automatic alignment and supply system according to the present invention has high industrial utility value.

[0200] In addition, since the present invention can stably separate bolts and washers and supply them aligned in a certain direction and at intervals, it can effectively solve the problem of precise supply of small fastening parts and flexible parts that were difficult to process in existing automated equipment.

[0201] In particular, the present invention is applicable to various industrial fields such as the following.

[0202] - Automatic supply of fastening components in the automobile body and interior assembly process

[0203] - Assembly process of small components for electronic and home appliances

[0204] - Fastening process of structural components for aircraft and railway vehicles

[0205] - Automatic fastening process for industrial machinery and equipment

[0206] - Supply process for fastening components combined with flexible parts such as films, sheets, and panels

[0207] In addition, the present invention enables inter-process linkage through a structure that integrates alignment, separation, and transfer functions of bolts and washers, and improves interoperability with subsequent processes, thereby enabling the construction of an automated line capable of continuous production.

[0208] Furthermore, since it is configured to accommodate parts of various specifications and shapes based on sensor and control technologies, it allows for flexible adaptation to product changes and offers excellent versatility and scalability.

[0209] Furthermore, the present invention allows for the configuration of multiple supply devices in parallel, enabling stable high-speed supply even in mass production environments and providing effects of improved productivity and increased process efficiency.

[0210] In addition, the present invention can improve the working environment and enhance safety by minimizing worker intervention, while simultaneously achieving the effects of reducing labor costs and standardizing quality.

[0211] Therefore, the present invention can be widely utilized in various manufacturing industries, including the automotive industry, and is an invention with very high industrial applicability as a high value-added technology applicable to the construction of smart factories and unmanned production lines.

[0212] No content Explanation of the symbols

[0213] 10 : Curtain airbag 20 : Fixing member 21 : Bolt fastener 30 : Bolt 40 : Washer 100: Automatic assembly system for curtain airbag bolts and washers using a multi-joint robot 200 : Curtain airbag automatic loading / unloading device 210: 1st Workpiece Transfer Platform 220: Curtain Airbag Fixing Unit 221, 222: Position alignment guide section 223: Fixing jig 224 : Bolt / washer assembly hole 225 : Pneumatic cylinder 230: 2nd Workpiece Transfer Platform 240: Curtain Airbag Fixing Unit 241, 242: Position alignment guide section 243: Fixing jig 244 : Bolt / washer assembly hole 245 : Pneumatic cylinder 250: Gripper transfer device 260: Gripper unit 261: Gripper 270: Curtain airbag ejector 300 : Bolt feeder 310 : Hopper 311 : Stand 320 : Vibratory Feeder 321: Bolt alignment section 330: Bolt transfer section 340 : Bolt Supply Position 350 : Bolt Ejector 400: Bolt transfer device 410: Bolt seating unit 420 : Bolt seating part 430 : Transfer rail 500: Bolt pickup device 510: Bolt pickup unit 520 : Gripper 530 : Transfer rail 600 : Washer supply unit 610 : Vibratory Destacking Device 611 : Base 620 : Alignment plate 630: Vision Camera 640: Washer Mount 650: SCARA Robot 651: Head unit 652: Vacuum suction unit 660: Washer gripper transfer device 670: Washer gripper unit 671: Gripper 680: Transfer rail 700: Multi-joint robot for simultaneous bolt and washer fastening 710: Jointed robot arm 720: Bolt and washer assembly head 730: Bolt / Washer Assembly Hand Unit 731: Support Frame 732 : Pneumatic cylinder 733 : Bolt attachment member 734: Bolt detection sensor 735: Vacuum suction fixing member 736 : Washer detection sensor 737 : Serve motor 740, 741: Guide rail 750: Ball screw

Claims

Claim 1 A system for automatically aligning and supplying bolts and washers comprises: a bolt storage unit that stores a plurality of bolts by specification and continuously supplies them; a bolt alignment unit that aligns the bolts in a predetermined direction; a bolt transfer unit that transfers the bolts aligned in the bolt alignment unit to a pickup position of a subsequent process; a washer separation unit that separates and supplies a plurality of washers one by one; a washer alignment unit that aligns the washers; a vision sensor or vision camera that recognizes the position of the aligned washer; and a washer transfer unit including a SCARA robot that moves according to the position information of the washer recognized by the vision sensor or vision camera, picks up the washer by vacuum suction, and transfers it to a pickup position of a subsequent process. A bolt and washer automatic alignment and supply system comprising: a control unit for controlling the supply status of the bolt and washer; wherein the bolt storage unit and the washer separation unit are arranged in parallel to enable simultaneous supply, the bolt conveying unit is configured to supply aligned bolts to a pickup position of a subsequent process, the washer conveying unit is configured to supply washers to the pickup position based on position information recognized by a vision sensor or a vision camera, and the control unit controls the bolt conveying unit and the washer conveying unit so that the bolt and washer are supplied to the subsequent process, either separately or simultaneously, from the pickup position, and controls to maintain a multi-point arrangement structure in which a single or multiple bolts and washers are supplied simultaneously in an aligned state. Claim 2 A bolt and washer automatic alignment and supply system according to claim 1, wherein the bolt alignment unit includes a vibrating feeder that aligns the bolt in a certain direction by electromagnetic vibration, and the bolt conveying unit includes a conveying rail and an ejecting device that conveys the aligned bolt to a pickup position. Claim 3 delete Claim 4 A bolt and washer automatic alignment and supply system according to claim 1, wherein the washer separator comprises a vibrating destacking device for separating stacked washers one by one. Claim 5 delete

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