KR20130000631A - Auto conclusion apparatus for bolt - Google Patents

Abstract

PURPOSE: An automatic bolt fastening device is provided to fasten many bolts in a short time by simultaneously fastening multiple bolts to a target fastening member with a fastening unit, thereby reducing personnel costs. CONSTITUTION: An automatic bolt fastening device comprises a bolt feeding unit(10), a target assembly feeding unit(30), a fastening unit(50), a moving robot(70), and a controller(90). The bolt feeding unit feeds bolts from different directions and aligns the bolts at a set position. The target assembly feeding unit successively feeds target assemblies(a) from one side to the other side. The fastening unit simultaneously grips multiple bolts positioned at the set position and fastens the bolts to the target assemblies. The moving robot reciprocates the fastening unit from the set position to the position of the target assemblies. The controller controls the bolt feeding unit, the target assembly feeding unit, the fastening unit, and the moving robot.

Description

Auto conclusion apparatus for bolt}

The present invention relates to an automatic bolt fastening device capable of simultaneously fastening a plurality of bolts to an assembly.

In general, the bolt has a hexagonal head portion and a body portion or threaded portion extending below the head portion and having a thread formed therein. Such bolts are typical as appliances for fastening structures.

This bolt is fastened to the assembly by an operator. In other words, the operator has been commonly used to tighten the bolt directly to the assembly using a screwdriver.

However, since the worker picks up the bolt one by one and fastens it to the assembly, there is a problem that it takes not only a long time to fasten the bolt, but also a lot of working time, which is not suitable for mass production.

In addition, because a large number of workers have to work for mass production, labor costs not only increase, but there is a problem in that quality deterioration occurs due to skilled and unskilled workers.

The present invention has been made to solve this problem, by holding a plurality of bolts on the fastening member supplied from one side and simultaneously fastening a plurality of bolts to the fastening member, while being able to fasten a large number of bolts in a short time It is an object of the present invention to provide an automatic bolt fastening device that can not only improve quality but also reduce labor costs.

The present invention for achieving the above object, the bolt supply means for aligning the supplied bolts so as to supply the bolts in different directions and each of the supplied bolts in a set position; An assembly supply means for sequentially supplying an assembly to which the bolt is fastened from one side to the other side; Fastening means for simultaneously gripping a plurality of bolts positioned at the set position and fastening to the assembly; A mobile robot reciprocating the fastening means from the set position to the position where the assembly is located; And a controller for controlling the bolt supply means, the assembly supply means, the fastening means, and the mobile robot.

The bolt supply means is controlled by the controller, the bolt supply unit for sequentially supplying the bolt; An inclined guide path connected to one side of the bolt supply part in an inclined state to guide the bolt by sliding in an upward state; A horizontal guide path for guiding the bolts guided from the inclined guide path to the set position in a horizontal state; And a stopper for stopping the bolt that is provided and moved at the set position.

The guide is characterized in that it has a gap smaller than the diameter of the bolt head and larger than the diameter of the bolt shaft so that the head of the bolt is moved in the spanned state.

The stopper may further include a volt sensor that detects the volt moved by the horizontal guide path and transmits the sensed detection signal to the controller.

The stopper may further include a position sensor that detects when the fastening means is located at a position where the bolt is gripped and transmits the detected position signal to the controller.

The assembly supply means is characterized in that the conveyor belt for continuously moving the assembly on which the assembly is seated and seated from one side to the other side.

The fastening means may include: a main cylinder configured to expand and contract the main shaft while being fixed to the mobile robot; A first gripping member which grips the bolts in the state fixed to the main shaft and fastens the gripped bolts to the assembly; An auxiliary cylinder configured to expand and contract the auxiliary shaft while being fixed to the main shaft; A second gripping member which lifts each of the bolts while ascending and descending the auxiliary shaft and fastens the held bolts to the assembly (a); And a rotator rotating the second gripping member in a forward or reverse direction while being fixed to the auxiliary shaft.

The first holding member, the first case is fixed to one side of the lower end of the main shaft; A plurality of holders formed in a cap shape so as to be rotatably spaced in the first case and rotatably provided to the heads of the bolts to support the outer surface of the bolt heads; A restraining portion provided in the holder to restrain the head of the bolt to prevent the head of the bolt from being separated from the holder; And a rotating member for simultaneously rotating the holders such that the bolts are screwed to the assembly.

The holder is characterized in that a plurality of opposing surfaces are formed on the inner side so as to be supported in contact with both side surfaces of the bolt head.

The rotating member may include a plurality of pinions integrally fixed to the holders, respectively; A plurality of connecting pinions that mate with the pinions; And a motor axially coupled to either the pinion or the connection pinion to provide rotational force such that the pinions and the connection pinion rotate simultaneously.

The mobile robot, the moving member is fixed to the fastening means; A guide rail for guiding the movement of the movable member; And a driving member for moving the moving member along the guide rail.

The present invention can be fastened a large number of bolts in a short time by fastening the plurality of bolts to the fastening member at the same time by holding a plurality of bolts to the fastening member supplied from one side by the assembly supply means, In addition to improving labor costs, labor costs can be reduced.

1 is a perspective view showing the configuration of the present invention.
Figure 2a is a sectional view showing the main part of the present invention.
Figure 2b is a sectional view showing the operating state of Figure 2a.
Figure 3 is a view showing the lower portion of the fastening means applied to the present invention.
Figure 4 is a perspective view showing an operating state of the fastening means applied to the present invention.
5 is a perspective view of FIG. 2A;
Figure 6 is a block diagram showing the configuration of the present invention.
7 to 16 are front views showing the operating states of the present invention in order.

Hereinafter, the present invention will be described with reference to the accompanying drawings.

The present invention is a bolt supply means 10 as shown in Figures 1 to 5; Assembly supply means (30); Fastening means (50); Mobile robot 70; And a controller 90.

The bolt supply means 10 is composed of a plurality of as shown in Figure 1 for supplying the bolts in different directions and to arrange the supplied bolts so that the supplied bolts are gathered in a set position, for example, A bolt supply part 11 as shown in 2a; Inclined guideway 13; Horizontal guideway 15; And a stopper 17.

The bolt supply unit 11 is controlled by the controller 90 to sequentially supply the bolts individually.

The inclined guide path 13 may be configured to be arranged side by side while being spaced apart at a predetermined interval so that the inclined state is connected to one side of the bolt supply unit 11 to guide by sliding the head of the bolt upward.

The horizontal guide path 15 may be configured to be arranged side by side while being spaced apart a plurality of flat plates as shown in Figure 1 to guide the bolts guided in the inclined guide 13 to a position set in a horizontal state. Therefore, the bolt can be slid in a state in which the head spans the inclined guide path 13.

Here, the inclined guideway 13 and the horizontal guideway 15 are smaller than the diameter of the bolt head d1 and larger than the diameter of the bolt shaft d2 such that the head of the bolt is moved in a spanned state as shown in FIG. 5. It is preferable to have (d3).

In addition, the horizontal guideway 15 is formed in three directions on the flat plate as shown in Figure 5, the inclined guideway 13 shown in Figure 2a is composed of three to each of the end of the horizontal guideway (15) It is preferred to be connected.

The stopper 17 is formed in a hexahedron as shown in FIGS. 2A and 5 to stop the bolts provided in the center of the flat plate, which is a predetermined position of the flat plate, and are moved in three directions. Thus, the stopper 17 can concentrate the bolts to the center. The stopper 17 further includes a bolt sensor S1 that detects the bolt moved by the horizontal guide path 15 and transmits the detected detection signal to the controller 90. The bolt sensor S1 is configured as a contact sensor or a proximity sensor, and is provided in three and disposed on three surfaces of the stopper 17 to detect bolts respectively transferred from the horizontal guide paths 15.

In addition, the stopper 17 may further include a lifter LT as shown in FIGS. 2A and 2B. Such a lifter LT is for raising the bolts sensed by the bolt sensor S1 to a set height, but various embodiments may be proposed. For example, the lifter LT includes a pedestal LT1 and a lifting member LT2.

Pedestal (LT1) is composed of a plurality of caps are formed in the shaft of the bolt to support the bolt.

The elevating member LT2 may be configured as a hydraulic (pneumatic) cylinder which is operated by a sensing signal transmitted from the bolt sensor S1 to elevate the pedestal LT1.

Therefore, the lifter LT raises three bolts sensed by the bolt sensors S1 to a height higher than the other bolts, so that the fastening means 50 can easily grip the raised bolts.

In addition, the stopper 17 further includes a position sensor S2 that detects when the fastening means 50 is located at a position where the bolt is held and transmits the detected position signal to the controller 90. Such a position sensor S2 is a camera that photographs and recognizes an optical sensor or a point P that senses light reflected from a point P provided in the fastening means 50, as shown in FIGS. 3 and 4. Can be configured. Here, the point P may be composed of a reflective member that reflects light to the optical sensor or a member whose color is printed to provide color to the camera.

The assembly supply means 30 is for supplying the assembly (a) to which the bolt is fastened sequentially from one side to the other side as shown in FIG. 1, the assembly (a) on which the assembly (a) is seated and seated ) Is preferably composed of a conveyor belt for continuously moving from one side to the other side.

The fastening means 50 is for fastening a plurality of bolts positioned at a set position as shown in FIG. 4 at the same time and fastening the assembly a, the main cylinder 51; A first gripping member 53; Auxiliary cylinder 55; A second gripping member 57; And rotator 59; is configured to include.

The main cylinder 51 stretches the main shaft 52 in a fixed state to the mobile robot 70.

The first gripping member 53 grips the bolts in the state fixed to the main shaft 52 and fastens the gripped bolts to the assembly a shown in FIG. 1, as shown in FIGS. 3 and 4. As shown, the first case 53a; Holder 53b; Restriction 53c; And a rotating member 53d.

The first case 53a is fixed to one side of the lower end of the main shaft 52, and a space is provided therein so that the rotating member 53d described later is embedded therein.

Holder 53b is formed in the form of a cap formed of a plurality of rotatably spaced at a predetermined interval on the first case (53a) are respectively rotatably fitted to the head of the bolts to support the outer surface of the bolt head. Such a holder 53b is preferably formed with a plurality of opposing surfaces inside to support the holder 53b in contact with both sides of the bolt head. That is, the holder 53b may be fitted to the head of the bolt by forming an inner surface of the holder 53b or a hexagonal angle so as to correspond to the case where the head of the bolt is formed of four or six angles as shown in an enlarged view of FIG. 4. . Therefore, when the holder 53b is rotated by the rotating member 53d, the holder 53b can rotate the bolt to fasten the bolt to the assembly a shown in FIG.

The restraint part 53c is provided in the holder 53b to restrain the head of the bolt to prevent the head of the bolt from being detached from the holder 53b. It can be composed of permanent magnets. Constraining portion 53c is a projection that is elastically supported on the elastic member (not shown) to be protruded laterally inside the holder (53b) is installed inside the holder (53b) to press one side of the bolt head unlike shown It may be composed of members. Therefore, since the restraining part 53c restrains the head of the bolt by the process of inserting the head of the bolt into the holder 53b, the following operation for the restraint is not necessary.

The rotating member 53d is for simultaneously rotating the holders 53b so that the bolts are screwed to the assembly (a), and the pinion 53d-1; Connecting pinion 53d-2; And a motor 53d-3.

The pinion 53d-1 is configured in plural and is integrally fixed to the holders 53b, respectively.

The connecting pinion 53d-2 is composed of a plurality of bites and engages with the pinions 53d-1.

The motor 53d-3 is axially coupled to either the pinion 53d-1 or the connecting pinion 53d-2 such that the pinions 53d-1 and the connecting pinion 53d-2 are rotated at the same time, thereby providing rotational force. to provide. Therefore, when the motor 53d-3 provides a rotational force to either the pinion 53d-1 or the connection pinion 53d-2, the pinions 53d-1 and the connection pinion 53d-2 simultaneously. Is rotated. At this time, since the pinions 53d-1 are rotated in the same one direction, the bolts can be screwed to the assembly (a).

The auxiliary cylinder 55 expands and contracts the auxiliary shaft 54 while being fixed to the main shaft 52. Such, the auxiliary cylinder 55 may be installed perpendicular to the center of the main shaft 52 or may be installed slightly to the side.

The second gripping member 57 is symmetrical with the above-described first gripping member 53 to lift and hold the bolts and fasten the gripped bolts to the assembly a while lifting as the auxiliary shaft 54 moves up and down. It is provided in the form and can be configured in the same configuration as the first holding member 53, the description of the configuration is omitted.

The rotator 59 may be configured as a motor to rotate the second gripping member 57 in the forward or reverse direction while being fixed to the auxiliary shaft 54.

The mobile robot 70 is for reciprocating the fastening means 50 from the stopper 17 which is the set position as shown in FIG. 1 to the position where the assembly a is located, for example, the moving member 71; Guide rails 73; And a driving member 75.

One end of the fastening means 50 is fixed to the moving member 71.

The guide rails 73 are used to guide the movement of the moving member 71, and both ends of the guide rails 73 are fixed to the plurality of bars 73a standing on both sides of the plate in the state of crossing the plate apart from the upper portion of the plate. .

The driving member 75 is for moving the moving member 71 along the guide rail 73, and may be composed of a hydraulic (pneumatic) cylinder, a ball screw or a linear motor.

As shown in FIG. 6, the controller 90 receives the sensing signal of the bolt sensor S1 and the position signal of the position sensor S2 while supplying the bolt supply means 10, the assembly supply means 30, and the fastening means ( 50) and to control the mobile robot 70, and comprises a control unit. The control unit may be configured as a circuit board on which electronic components are mounted, or may be configured as a program when the controller 90 is a PC.

Hereinafter, the operation and operation of the present invention.

First, the bolt supply means 10 supplies the bolts in three directions of the flat plate as shown in FIG. Then, the stopper 17 stops the bolts to be conveyed as shown in FIG. Here, the bolts are conveyed in a state in which the heads are in close contact with each other, and thus the heads are fixed in contact with the stopper 17 while being conveyed in a state of facing in a predetermined direction. In this case, the bolt sensors S1 detect three bolts in contact with the stopper 17 and transmit a detection signal to the controller 90 shown in FIG. 6 as shown in FIGS. 2A and 5.

Here, since the bolts are in contact with the three surfaces of the stopper 17 in a constant direction as shown in Fig. 5, it is preferable to be preset in the same direction as the bolts. In addition, the holder 53b is preferably formed with a rounded taper on the inlet side into which the head of the bolt is inserted, as shown enlarged in FIG.

Then, the fastening means 50 is moved to the upper portion of the stopper 17 by the mobile robot 70 controlled by the controller 90 as shown in FIG. At this time, the position sensor S2 detects the position of the point P of the fastening means 50 shown in FIGS. 3 and 4 and transmits a position signal to the controller 90.

Subsequently, as shown in FIG. 8, the main cylinder 561 lowers the main shaft 52 to lower the first and second gripping members 53 and 57 to the upper portion of the stopper 17.

In addition, the holders 53b of the first holding member 53 hold three bolts as shown in FIG. 9. The restraining part 53C restrains the bolt inserted in the holder 53b. At this time, the main cylinder 561 raises the main shaft 52. Thus, the holders 53b are raised with the bolts held.

Subsequently, the second gripping member 57 is lowered below the first gripping member 53 by driving the auxiliary cylinder 55 as shown in FIG. 10, and then the auxiliary shaft (as shown in FIG. 11). It is rotated by the rotator 59 fixed to 54 is positioned below the first holding member (53). Then, the mobile robot 70 moves the fastening means 50 in the reverse direction until the position sensor S2 detects the point P, as shown in FIG. At this time, the position sensor S2 detects the position of the point P shown in FIGS. 3 and 4 again and transmits the position signal of the fastening means 50 to the controller 90. The controller 90 controls the mobile robot 70 to stop the fastening means 50.

Subsequently, the second gripping member 57 is lowered by the driving of the auxiliary cylinder 55 as shown in FIG. 13, and then grips the other three bolts in the same manner as the first gripping member 53 described above. .

Subsequently, the second holding member 57 is rotated in the reverse direction by the driving of the rotator 59 fixed to the auxiliary shaft 54 as shown in FIG. 14, and then the auxiliary cylinder 55 as shown in FIG. 15. It is raised to the original position by the driving of. The first and second gripping members 53 and 57 are formed in a semicircular shape as shown in FIG. 4, and are integrated in a circular shape as shown in FIG. 3, thereby minimizing volume.

Finally, the fastening means 50 is transferred to the upper portion of the member to be fastened by the mobile robot 70 as shown in FIG. 16 and then driven by the rotation member 53d as shown in FIG. 3. The six bolts are screwed to the fastening member (a).

As described above, the present invention is discharged to the other side in a state in which six bolts are sequentially coupled to the plurality of fastening members (a) introduced from one side as shown in FIG.

Therefore, the present invention can fasten a plurality of bolts to one fastening member (a) at the same time.

Since the above-described embodiments are merely illustrative of the preferred embodiments of the present invention, the scope of application of the present invention is not limited to the above, and appropriate modifications are possible within the scope of the same idea. Therefore, since the shape and structure of each component shown in the embodiment of the present invention can be carried out by deformation, it is natural that the modification of the shape and structure belong to the appended claims of the present invention.

10: bolt supply means
30: assembly supply means
50: fastening means
70: mobile robot
90: controller

Claims (5)

Bolt supply means (10) for aligning the supplied bolts so that the bolts are supplied in different directions and the supplied bolts are collected at a set position; An assembly supply means (30) which sequentially supplies the assembly (a) to which the bolt is fastened from one side to the other side; Fastening means (50) for simultaneously gripping a plurality of bolts positioned at the set position and fastening to the assembly (a); A mobile robot (70) for reciprocating the fastening means (50) from the set position to the position where the assembly (a) is located; And a controller (90) for controlling the bolt supply means (10), the assembly supply means (30), the fastening means (50), and the mobile robot (70). The method of claim 1,
The bolt supply means 10 is controlled by the controller 90, the bolt supply unit for sequentially supplying the bolt (11); An inclined guide path 13 connected to one side of the bolt supply part 11 in an inclined state to guide the head of the bolt by sliding upward; A horizontal guide path 15 for guiding the bolts guided by the inclined guide path 13 to the set position in a horizontal state; And a stopper 17 for stopping the bolt that is provided and moved at the set position, wherein the inclined guide path 13 and the horizontal guide path 15 of the bolt head are moved in a state in which the head of the bolt is spread. It has a spacing d3 smaller than the diameter d1 and larger than the diameter d2 of the bolt shaft, and the stopper 17 detects the bolt moved by the horizontal guideway 15 and receives the detected detection signal. It further comprises a bolt sensor (S1) for transmitting to the controller 90, or the position sensor for detecting when the fastening means 50 is located in the position to hold the bolt and transmits the detected position signal to the controller (90) (S2); Automatic bolt fastening apparatus further comprising. The method of claim 1,
The assembly supply means 30 is a bolt automatic fastening device, characterized in that the assembly (a) is a conveyor belt for continuously moving the assembly (a) is seated and seated from one side to the other side. The method of claim 1,
The fastening means 50, the main cylinder 51 for stretching the main shaft 52 in a fixed state to the mobile robot 70; A first gripping member 53 holding each of the bolts in a state of being fixed to the main shaft 52 and fastening the held bolts to the assembly (a); An auxiliary cylinder 55 that expands and contracts the auxiliary shaft 54 while being fixed to the main shaft 52; A second gripping member (57) for lifting and holding the bolts and fastening the held bolts to the assembly (a) while lifting and lowering as the auxiliary shaft (54) moves up and down; And a rotator 59 for rotating the second gripping member 57 in the forward or reverse direction while being fixed to the auxiliary shaft 54. The first gripping member 53 includes the main shaft ( 52, a first case 53a fixed to one side of the lower end; A plurality of holders 53b which are rotatably spaced apart from the first case 53a and rotatably provided to be capped to the heads of the bolts to support the outer surface of the bolt heads; A restraining part 53c provided in the holder 53b to restrain the head of the bolt to prevent the head of the bolt from being separated from the holder 53b; And a rotating member 53d for simultaneously rotating the holders 53b such that the bolts are screwed to the assembly (a), wherein the holders 53b are in contact with both sides of the bolt head. A plurality of opposing surfaces are formed inside to support the rotating member, and the rotating member 53d includes: a plurality of pinions 53d-1 integrally fixed to the holders 53b, respectively; A plurality of connecting pinions 53d-2 that mate with the pinions 53d-1; And the pinion 53d-1 and the connection pinion 53d-2 are axially coupled to either the pinion 53d-1 or the connection pinion 53d-2 to provide rotational force. Bolt auto fastening device comprising a motor (53d-3). The method of claim 1,
The mobile robot 70, the moving member 71 to which the fastening means 50 is fixed; A guide rail 73 for guiding the movement of the movable member 71; And a driving member (75) for moving the movable member (71) along the guide rail (73).

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