KR20230027961A - Method And Apparatus for Mounting And Detaching Battery - Google Patents

Abstract

Disclosed are a device for attachment and detachment of a battery, and a control method thereof. According to one embodiment of the present disclosure, the device for attachment and detachment of a battery, which enables a battery to be mounted in or separated from an end part of a fastening tool, comprises: an attachment and detachment frame; a charger disposed inside the attachment and detachment frame; a battery transfer unit transferring the battery to be mounted in an end part of the fastening tool by movement of the battery from the charger to the end part of the fastening tool or be mounted in the charger by movement of the battery from the end part of the fastening tool to the charger; and a first unlock rod disposed in one longitudinal end of the attachment and detachment frame to push the battery toward the battery transfer unit when separated from the battery mounted in the end part of the fastening tool.

Description

Battery attachment and detachment device and method {Method And Apparatus for Mounting And Detaching Battery}

The present disclosure relates to an apparatus and method for attaching and detaching a battery.

The content described in this section simply provides background information for the present disclosure and does not constitute prior art.

Smart Factory Field The content described in this section simply provides background information for the present disclosure and does not constitute prior art.

The smart factory concept is being applied across industries. Even when assembling each part of the product, it is automated and assembled by robots. A robot that assembles a product is generally composed of a loading robot, an assembly robot, and a part providing robot. Here, the loading robot performs a role of gripping module components and moving and aligning them to the fastening position of the fastening target. The fastening robot serves to fasten the module parts aligned by the loading robot to the fastening target. The parts supply robot plays a role of supplying parts to be gripped by the loading robot from the outside.

The assembly robot uses an assembly tool to fasten module parts to an assembly target. Power must be supplied to operate the fastening tool. When power is supplied to the fastening tool by connecting the wire to the fastening tool, the operating radius of the fastening robot is limited by the wire. Therefore, instead of connecting wires to the fastening tool for free movement within the working radius of the fastening robot, the battery is mounted on the fastening robot. In general, when a battery is mounted on a fastening tool and used, a worker must manually replace the battery. When a worker manually replaces the battery, there is a problem that downtime occurs because the robot must be stopped to replace the battery.

A battery attachment/detachment device according to an embodiment may automatically mount or detach a battery mounted on a fastening tool without manual intervention.

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

According to one embodiment of the present disclosure, a battery attachment/detachment device for attaching or detaching a battery to an end of a fastening tool, comprising: a detachable frame; A charger placed in the detachable frame; a battery transfer unit for transporting the battery so that the battery is moved from the charger to the end of the fastening tool and mounted on the end of the fastening tool, or the battery moves from the end of the fastening tool to the charger and is mounted on the charger; and Provided is a battery attachment/detachment device including a first unlocking rod disposed at one end of the detachable/detachable frame in a longitudinal direction so as to push the battery in the direction of the battery transfer unit when releasing the battery mounted at the end of the fastening tool.

also, A control method of a battery attachment/detachment device for removing a battery mounted on an end of a fastening tool connected to a fastening robot and attaching the battery to a charger, the method comprising: moving a battery mounted on the end of the fastening tool to a battery attachment/detachment position; A release process of releasing the fixing pin of the battery using the first unlocking rod disposed at the battery attachment/detachment position; And a transfer process of transferring the battery to the charger using a battery transfer unit that moves between the charger and the battery attachment/detachment position. It provides a control method for a battery attachment/detachment device comprising a.

In addition, in the control method of the battery detachable device for separating the charged battery from the charger and attaching it to the end of the fastening tool connected to the fastening robot, using a second unlocking rod disposed adjacent to the charger to release the fixing pin of the battery release process; and a transfer process of transferring the battery to the charger using a battery transfer unit moving between the charger and the battery attachment/detachment position.

According to one embodiment, the battery changer has an effect of shortening the battery replacement time by automatically replacing the battery mounted on the fastening tool.

1 is a perspective view of a parts fastening system using a collaborative robot according to an embodiment of the present disclosure.
2 is a block diagram of a component fastening system using a collaborative robot according to an embodiment of the present disclosure.
3 is a perspective view of the jig of FIG. 1 according to an embodiment of the present disclosure.
4 is a perspective view of a gripper connected to an end of the loading robot of FIG. 1 according to an embodiment of the present disclosure.
5 is a cross-sectional view taken along line AA of FIG. 4;
6 is a cross-sectional view taken along line BB of FIG. 4;
7 is a side view illustrating a state in which a gripper grips a circular module component.
8 and 9 are flowcharts of a method for assembling parts using a collaborative robot according to an embodiment of the present disclosure.
10 is a side view of a fastening tool according to an embodiment of the present disclosure.
11 is a cross-sectional view of the telescoper of FIG. 10;
12 is a view for explaining a process of attaching a fastening tool to a bolt according to an embodiment of the present disclosure.
13 is a perspective view of a socket changer according to an embodiment of the present disclosure.
14 is a front view of a socket changer according to an embodiment of the present disclosure.
15A to 15D are views for explaining a process in which a socket mounted on a fastening tool is replaced by a socket changer.
16 is a flowchart of a socket replacement method using a socket changer according to an embodiment of the present disclosure.
17 is a perspective view of a battery changer according to an embodiment of the present disclosure.
18 is a side view of a battery attachment/detachment device according to an embodiment of the present disclosure.
19A to 19D are diagrams illustrating a process of detaching a battery mounted at an end of a fastening tool using a battery detachment device.
20 is a flowchart illustrating a process of detaching a battery mounted at an end of a fastening tool and attaching the battery to a charger in a method of controlling a battery attachment/detachment device according to an embodiment of the present disclosure.
21A to 21C are diagrams illustrating a process of mounting a battery to an end of a fastening tool using a battery attachment/detachment device.
22 is a flowchart illustrating a process of detaching a battery from a charger and attaching it to an end of a fastening tool in a method of controlling a battery attachment/detachment device according to an embodiment of the present disclosure.
23 is a perspective view of a weight compensation robot according to an embodiment of the present disclosure.
24 is a side view of a weight compensation robot according to an embodiment of the present disclosure.
FIG. 25 is a view for explaining a process in which the weight compensation robot of FIG. 24 connects the weight compensation module to the gripper.
26 is a diagram for explaining a process of operating the loading robot after connecting the weight compensation module of FIG. 25 to the gripper.
27 is a perspective view of a weight compensation robot according to a second embodiment of the present disclosure.

Hereinafter, some embodiments of the present disclosure will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible, even if they are displayed on different drawings. In addition, in describing the present disclosure, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present disclosure, the detailed description will be omitted.

In describing the components of the embodiment according to the present disclosure, symbols such as first, second, i), ii), a), and b) may be used. These codes are only for distinguishing the component from other components, and the nature or sequence or order of the corresponding component is not limited by the codes. In the specification, when a part is said to 'include' or 'include' a certain component, it means that it may further include other components, not excluding other components unless explicitly stated otherwise. .

1 is a perspective view of a parts fastening system using a collaborative robot according to an embodiment of the present disclosure. 2 is a block diagram of a component fastening system using a collaborative robot according to an embodiment of the present disclosure. Here, the collaborative robot includes a loading robot 14 and an assembly robot 15.

The part fastening system 10 using a collaborative robot includes a base 11, a part providing robot 12, a jig 13, a loading robot 14, a fastening robot 15, and a battery changer. (battery changer, 17), socket changer (socket changer, 19), gripper mounting unit 50, fastening tool mounting unit 40, and all or part of the control device (control device, 1).

The controller 1 is configured to control overall operations of the loading robot 14, the fastening robot 15, the parts supplying robot 12, the socket changer 19, and the battery changer 17. The controller 1 includes a loading robot controller for controlling the operation of the loading robot 14, a fastening robot controller for controlling the operation of the fastening robot 15, and a parts supply robot controller for controlling the operation of the parts supply robot 12. can include Each control unit may be disposed adjacent to each other, but may be disposed spaced apart from each other so as to be adjacent to each corresponding robot. Meanwhile, control of each control unit may be performed within one control device 1 .

The loading robot 14 grips the modular component 132 fixedly loaded on the jig 13 to move and align the modular component 132 to a fastening area where the fastening target 21 is fastened. The fastening object 21 is moved by a device such as a conveyor belt 20 and is placed in the fastening area. Here, the fastening area is an area on the conveyor belt 20 within the moving radius of the loading robot 14 and the fastening robot 15, where the module parts 132 are fastened by the loading robot 14 and the fastening robot 15. means possible location.

The loading robot 14 may include a second manipulator 141 , a second camera 142 and a gripper 16 . One end of the second manipulator 141 is connected to the gripper 16, and the other end is fixed to the rotation support 145.

The second manipulator 141 and the gripper 16 are configured to be separable from each other. The loading robot 14 may use different types of grippers 16 according to the shape of the module component 132 .

The gripper 16 is replaceable. At least one type of gripper 16 detachably attached to one end of the second manipulator 141 is mounted on the gripper holder 50 . Depending on the shape of the module component 132 to be gripped, the corresponding gripper 16 may be mounted on the loading robot 14. The gripper mounting portion 50 is mounted at a mounting position determined according to the type of gripper 16 . The control device 1 may store information on each predetermined holding position according to the type of gripper 16 .

The second camera 142 is disposed to capture an image in a direction toward the gripper 16 . The second camera 142 provides vision to the loading robot 14 so that the loading robot 14 can precisely grip the module component 132 loaded on the jig 13 when it grips it. make it possible For example, the loading robot 14 may align the module component 132 to the fastening target 21 based on the vision information obtained from the second camera 142 . In other words, in two different processes, for example, the gripping process (S320, see FIG. 9) and the alignment process (S340, see FIG. 9), the control of the loading robot 14 is placed in the loading robot 14. It may be performed based on the vision information obtained using the same second camera 142 as the image.

Meanwhile, the second camera 142 may be omitted in the loading robot 14 . In this case, the loading robot 14 may grip the module component 132 on the jig 13 using position-based control instead of vision-based control. A control method when the second camera 142 is omitted will be described later.

Under the loading robot 14, an elevating and/or rotatable loading robot support 60 may be disposed. By disposing the loading robot support 60 under the loading robot 14, the working radius of the loading robot 14 can be expanded.

The fastening robot 15 fastens the fastening target 21 and the module component 132 . The fastening robot 15 may include a first manipulator 151 , a first camera 153 and a fastening tool 152 . One end of the first manipulator 151 is connected to the fastening tool 152 .

The fastening robot 15 may align the fastening tool 152 within the fastening area using the vision provided by the first camera 153 . The first camera 153 may be arranged to photograph the direction in which the fastening tool 152 faces. The fastening robot 15 may drive the first manipulator 151 to move the fastening tool 152 to the fastening area to fasten the fastening object 21 and the module component 132 together.

The fastening tool 152 is replaceable. Several types of replaceable fastening tools 152 are disposed in the fastening tool holder 40 . The control device 1 may mount a fastening tool 152 of a required shape to the fastening robot 15 according to circumstances. The fastening tool holder 40 is disposed at a position determined according to the type of fastening tool 152 . The control device 1 may store information about a unique position determined according to the type of fastening tool 152 .

An elevating and/or rotatable fastening robot support 70 may be disposed under the fastening robot 15 . As the fastening robot support 70 is disposed under the fastening robot 15, the working radius of the fastening robot 15 can be expanded.

The loading robot 14 is controlled by a loading robot controller. In order to fasten the module component 132 to the fastening target 21, the loading robot control unit grips the module component 132 loaded on the jig 13 using position-based control and moves the module component 132 to the fastening area. It controls the moving process. The loading robot 14 can more quickly move the module component 132 on the jig 13 to the fastening area by performing location-based control without using a camera.

When the loading robot 14 moves the module component 132 to the fastening area, the loading robot controller may perform control using the first camera 153 disposed on the fastening robot 15 . In order to fasten the module component 132 to the fastening target 21, the module component 132 needs to be aligned in an accurate position in an accurate direction. For precision, the first camera 153 of the fastening robot 15 is used to Align parts 132. At this time, the fastening robot 15 is driven so that the first camera 153 can provide vision of the fastening target side.

After the loading robot 14 moves the module component 132 to the fastening area, the fastening robot control unit moves the module component 132 to the fastening target 21 using the first camera 153 disposed on the fastening robot 15. ) to perform control.

The loading robot 14 is located in the first intermediate region away from the drive radius of the parts supplying robot 12 so as not to physically interfere with the operation of the parts supplying robot 12 before being driven by the loading robot controller. Here, the first intermediate region means a region existing between the region where the loading robot 14 grips the module component 132 and the fastening region among the driving ranges of the loading robot 14 .

After the loading robot 14 moves the module component 132 to the fastening area, the fastening robot control unit uses the first camera 153 disposed on the fastening robot 15 to move the module component 132 to the fastening target ( 21) to perform control.

The component supply robot 12 receives the module component 132 from the outside and positions the module component 132 at a predetermined position on the jig 13 . The component supply robot 12 may include a third manipulator 121 , a third camera 122 and a supply gripper 123 . A supply gripper 123 is disposed at one end of the third manipulator 121 . The component supplying robot 12 grips the module component 132 at the supplying unit E using the supplying gripper 123 and places it on the jig 13 at a predetermined position. When the component supply robot 12 grips the module component 132 in the supply unit E, the vision of the third camera 122 may be used.

3 is a perspective view of the jig of FIG. 1 according to an embodiment of the present disclosure.

The module component 132 is positioned at a predetermined position on the jig 13. As shown in FIG. 3 , the type and shape of the module component 132 fastened to the fastening target 21 may vary. The shape of the module component 132 shown in FIG. 3 is illustrative and not limited thereto.

The jig 13 is formed to fit the shape of each module component 132 so that the first to fifth module components 132a to 132e can be placed at designated positions. That is, the jig 13 is formed to be disposed at different predetermined positions according to the shape of the module component 132 . The first module component 132a is disposed at the first position 133a, the second module component 132b is disposed at the second position 133b, and the third module component 132c is disposed at the third position 133c. , the fourth module component 132d is disposed at the fourth position 133d, and the fifth module component 132e is disposed at the fifth position 133e. When the second camera 142 is omitted from the loading robot 14 and position-based control is performed, the feature of the jig 13 allows the module component 132 to be held at a desired angle at a predetermined position.

In order for the loading robot 14 to grip the module component 132 using position-based control, information on the positions where the first to fifth module components 132a to 132e should be gripped is provided by the controller 1 can be stored in advance.

The jig 13 may include a proximity sensor 134 that detects whether the module component 132 is loaded on the jig 13 . A plurality of proximity sensors 134 may be respectively disposed at the first position 133a to the fifth position 133e. The controller 1 may determine whether the module component 132 is loaded at a predetermined position on the jig 13 by receiving a detection signal from the proximity sensor 134 .

4 is a perspective view of a gripper connected to an end of the loading robot of FIG. 1 according to an embodiment of the present disclosure. 5 is a cross-sectional view taken along line A-A of FIG. 4; FIG. 6 is a cross-sectional view taken along line BB of FIG. 4 . The gripper shown in FIGS. 4 to 6 is a gripper used to grip the module components 132b or 132c of various shapes (eg, circular) in the present disclosure, and grippers having other shapes may also be used as the second manipulator 141. It can be used by connecting to the end of Hereinafter, a case in which the cross section corresponding to the surface in contact with the gripper of the module component 132b or 132c is circular will be described as an example.

Here, the circular module component 132b or 132c may have a cylindrical shape or a spherical shape, but is not limited thereto, and when the gripper 16 grips the component, if the portion corresponding to the grip finger 162 has a certain radius of curvature enough The circular module components 132b or 132c shown in FIG. 1 are illustrative and not limited thereto.

4 to 6, the gripper 16 includes a robot connector 161, a grip finger 162, an elastic pressure part 163, and a driving part 165. can include

The grip finger 162 may include a gripping portion 1622 . The gripper 16 includes two gripping fingers 162 , and the two gripping fingers 162 may be disposed symmetrically with respect to an X-Z plane located in the center of the gripper 16 .

Specifically, the grip finger 162 is a support portion 1621 that contacts the body 164 and receives power from the drive unit 165, and a first gripping groove extending from one end of the support portion 1621 in the longitudinal direction of the body 164. 1621a formed therein, and a second gripping part 1622b formed with a second gripping groove 1621b extending in the longitudinal direction of the body 164 from the other end of the support part 1621. can Here, the longitudinal direction of the body 164 means the X-axis direction of FIG. 4 . The first gripping groove 1621a and the second gripping groove 1621b may have the same radius of curvature.

A gripping groove 1621 may be formed in the gripping portion 1622 . For example, the shape of the gripping groove 1621 may correspond to the shape of a portion where the circular module component 132b or 132c comes into contact with the grip finger 162 . For example, each of the first gripping groove 1621a and/or the second gripping groove 1622a may have a curvature of a predetermined radius.

The elastic pressing portion 163 is disposed adjacent to one end of the body 164 between the two grip fingers 162 . The elastic pressing unit 163 may include a plurality of elastic members 1632 and a pressing plate. Here, the elastic member 1632 may be a spring.

The plurality of elastic members 1632 may be disposed such that one end contacts the body 164 of the gripper 16 and the other end contacts one surface of the pressure plate. When the elastic pressing part 163 is pressed toward the body 164 of the gripper 16, the plurality of elastic members 1632 provide elastic force in the opposite direction to the body 164.

The pressure plate may be coupled to one end of the elastic member 1632 to press the circular module component 132b or 132c. For example, the pressure plate may have a pressure groove 1631 having a specific shape (eg, an arc shape, a triangle shape, a square shape, etc.). The shape of the pressing groove 1631 may have an arc shape corresponding to the shape of a portion where the circular module component 132b or 132c comes into contact with the elastic pressing portion 163 . Specifically, it may correspond to the shape of a portion of the elastic pressing unit 163 in contact with the pressing plate. For example, as shown in FIG. 3 , when the central portion of the circular module components 132b and 132c has a larger diameter and a smaller end portion, the radius of curvature of the pressing groove 1631 is It may be formed larger than the radius of curvature of the gripping grooves 1621a and 1621b.

The pressing grooves 1631 are spaced at predetermined intervals in the height direction of the grip finger 162, and the plurality of line grooves 1631a extend in a direction perpendicular to the height direction of the grip finger 162 to form grooves. do. Here, the height direction of the grip finger 162 means the Y-axis direction in FIG. 4 , and the direction perpendicular to the height direction of the grip finger 162 means the Z-axis direction in FIG. 4 . According to the above-described line grooves 1631a, by further improving the gripping force of the grip fingers 162, it is possible to more effectively prevent the misalignment caused by slipping of the module components during the transfer and/or fastening process.

When the gripper 16 grips the circular module component 132b or 132c, the elastic pressing portion 163 contacts a portion of the circular module component 132b or 132c and is pressed toward the body 164 side. At this time, the pressing plate presses the circular module component 132b or 132c by the elastic force of the elastic pressing unit 163 . The circular module component 132b or 132c may be fixed without rotation within the gripper 16 by pressing.

The robot connection unit 161 is adjacent to the other end of the body 164 and is disposed at one end so as to be connected to the loading robot 14 . One end of the second manipulator 141 of the loading robot 14 is also configured to be connectable to the robot connector 161.

The drive unit 165 is disposed within the body 164 to move the two grip fingers 162 . The driving unit 165 may move the two grip fingers 162 away from or closer to each other in an outward direction of the body 164 . For example, as shown in FIG. 5 , the two grip fingers may move away from or close to each other in the Z-axis direction.

Before the gripper 16 grips the circular module component 132b or 132c, the loading robot control unit controls the driving unit 165 to increase the distance between the two gripping fingers 162. When the gripper 16 grips the circular module component 132b or 132c, the loading robot control unit controls the driving unit 165 to control the distance between the two gripping fingers 162 to become closer. When the circular module components 132b or 132c are seated and fixed in the gripping grooves 1621 of the two grippers 16, the circular module components 132b or 132c press the elastic pressing part 163 to rotate the circular shape. Also fixed.

7 is a side view illustrating a state in which a gripper grips a circular module component.

When the gripper 16 grips the circular module component 132b or 132c, it can hold the circular module component 132b or 132c in a diagonal direction forming a certain angle A with the direction of gravity G of the circular module component 132b or 132c. According to this structure, as shown in FIG. 7, by securing a sufficient space for the fastening robot 15 to perform fastening work without being interfered with by the loading robot 14, it is possible to smoothly perform the fastening work. can Therefore, in order to avoid interference with surrounding structures, fastening work can be performed using fastening tools of various shapes without having to manufacture the fastening tools of the fastening robot 15 in a specific shape.

Among the cooperative robots, the loading robot 14 may grip the circular module components 132b and 132c by mounting the grippers according to the above-described FIGS. 4 to 6 , and then move to and fix them to a fastening area. Among the cooperative robots, the fastening robot 15 may fasten the circular module parts 132b and 132c fixed by the loading robot 14 .

8 and 9 are flowcharts of a method for assembling parts using a collaborative robot according to an embodiment of the present disclosure.

The flowchart shown in FIG. 8 is a flowchart showing one of several control processes from holding the module component 132 from the outside to fastening it to the fastening target 21.

Under the control of the control device 1, the component supply robot 12 loads the module component 132 at a predetermined position on the jig 13 (S81). For example, as shown in FIG. 3 , the component supply robot 12 loads the first module component 132a at the first position 133a.

The controller 1 determines whether the module component 132 is loaded on the jig 13 at a predetermined position (S82). A proximity sensor 134 capable of detecting whether or not the module component 132 is loaded in a predetermined position may be included in the jig 13 itself or its surroundings. The controller 1 may receive a detection signal from the proximity sensor 134 to determine whether the module component 132 is loaded on the jig 13 at a predetermined position.

When it is determined that the module component 132 is loaded in a predetermined position on the jig 13, the controller 1 performs position-based control on the loading robot 14 to grip the module component 132. It does (S83). Here, the location-based control refers to a control of holding the module component 132 based on the stored location information by previously storing a position to be held for each module component 132 without using the vision of the camera. Meanwhile, this is just one example, and the loading robot 14 may grip and transport the module component 132 based on the vision of the second camera 142 .

After the loading robot 14 grips the module component 132, the loading robot 14 under the control of the control device 1 uses the first camera 153 disposed on the fastening robot 15 for the module component ( 132) operates the loading robot 14 so that it is aligned in the fastening area (S84). The control device 1 controls the motion of the fastening robot 15 so that the first camera 153 mounted on the fastening robot 15 provides vision on the fastening area. For example, the first camera 153 may be (i) a 3D vision camera capable of capturing a stereoscopic image or (ii) a 2.5D vision camera equipped with a depth recognition function in addition to a 2D image. According to this configuration, in order to adjust the line of sight of the first camera 153, it is necessary to obtain sufficient information required for the loading operation and/or the fastening operation without moving the fastening robot 15. possible.

After the module parts 132 are aligned in the fastening area, the controller 1 controls the fastening robot so that the module parts 132 are fastened to the fastening target 21 using the vision of the first camera 153. (S85). According to this operation, it is possible to reduce manufacturing cost and labor required for maintenance by reducing the total number of cameras.

FIG. 9 is a flow chart showing the control process of each component separately in the process of operating the parts fastening system using the collaborative robot.

Referring to FIG. 9, the control device 1 is S110 to S120 for the parts supply robot 12, S210 and S230 to S250 for the jig 13, S310 to S340 for the loading robot 14, and fastening robot For (15), the control process of S410 to S430 may be repeatedly performed. Hereinafter, the control device 1 is divided into a parts supply robot control unit, a loading robot control unit, and a fastening robot control unit.

The component supply robot controller controls the component supply robot 12 to grip the module component 132 from the outside (S110). After the component supply robot 12 grips the module component 132 from the outside, the component supply robot control unit controls the module component 132 to be transferred to the jig 13 (S120).

The component supply robot controller controls the component supply robot 12 so that the module component 132 transferred to the jig 13 is seated at a predetermined position on the jig 13 (S210). After that, the proximity sensor 134 is used to determine whether the module component 132 has been detected (S230). If the proximity sensor 134 does not detect the module component 132, a misplacement error of the module component 132 is alarmed (S250). When the proximity sensor 134 detects the module component 132, the detection signal of the proximity sensor 134 is transmitted to the loading robot controller (S240).

Before the detection signal for the module component 132 is received, the loading robot controller makes the loading robot 14 stand by in the first intermediate area (S310). Here, the first intermediate region means a region existing between the region where the loading robot 14 grips the module component 132 and the fastening region among the driving ranges of the loading robot 14 .

After the loading robot controller receives the module component 132 detection signal, it controls the loading robot 14 to grip the module component 132 loaded on the jig 13 using position-based control (S320). After the loading robot 14 grips the module component 132, the loading robot control unit controls the loading robot 14 to transfer the module component 132 to the fastening area where the fastening target 21 is located (S330).

When moving the module component 132 to the fastening area, the loading robot controller transmits a fastening signal to the fastening robot controller.

The fastening robot control unit waits the fastening robot 15 in the waiting area before receiving the fastening signal (S410). Here, the waiting area means an area that does not interfere with the drive radius of the loading robot 14 when the fastening robot 15 is not operating.

When the fastening robot control unit receives the fastening signal, it moves the fastening robot 15 to the second middle area so that the vision of the first camera 153 disposed on the fastening robot 15 is directed toward the fastening target 21. The posture of the robot 15 is controlled (S420). Here, the second intermediate area within the drive range of the fastening robot 15 means an area between the waiting area and the fastening area.

After step S420, based on the vision of the first camera of the fastening robot 15, the loading robot controller precisely controls the loading robot 14 to position the module component 132 on the fastening target 21 (S440).

In a state in which the module component 132 is positioned on the fastening target 21 and the alignment of the loading robot 14 is completed, the fastening robot control unit controls the fastening robot 15 to perform the fastening operation (S430).

For example, in performing steps S340 and S430, in a state in which the loading robot 14 aligns the module component 132 with the fastening target 21, the fastening robot 15, the module component 132 And at least one fastening part among a plurality of fastening parts connecting the fastening target 21 may be fastened. For example, in a state in which the fastening robot 15 has fastened only some of the plurality of fastening parts (partial fastening process), the loading robot 14 retreats from the fastening area (retreat process), and the fastening robot 15 fastens the rest. The part can be fastened (the rest of the fastening process). According to this configuration and process, it is possible to efficiently secure a space for fastening work of the fastening robot 15 .

For example, while the alignment process (S340) and/or the fastening process (S430) is performed, the loading process (S210) is performed, and the waiting process (S310) is omitted after the alignment process (S340), and the gripping process is performed immediately. By allowing (S320) to be performed, the time required for the standby process (S310) can be reduced.

10 is a side view of a fastening tool according to an embodiment of the present disclosure.

Referring to FIG. 10 , the fastening tool 152 includes all or part of a fastening robot coupling part 1524, a nut runner 1522, a telescoper 155, a battery 154, and a socket 156.

The fastening tool 152 is coupled to the free end of the fastening robot 15 and includes a fastening robot coupling part 1524 for being coupled with the fastening robot 15 . The fastening robot coupler 1524 may include a connection terminal provided to be electrically connected to the fastening robot 15 and a pneumatic connector provided to receive air pressure from the fastening robot 15. there is.

The nutrunner 1522 has an output shaft at one end. As the output shaft rotates, the bolt may be inserted into the fastening object 21 by rotating the socket directly or indirectly coupled to the output shaft. The nutrunner 1522 is a device that quickly tightens or loosens bolts or nuts using electric power or compressed air. When the battery 154 is mounted on one end of the nutrunner 1522, the nutrunner 1522 may be driven in a wireless manner. The output shaft may be rotated by rotating a motor inside the nutrunner 1522 by power supplied from the battery 154 . The battery 154 mounted on one end of the nutrunner 1522 may be automatically replaced using a battery changer (17, see FIG. 17). A detailed description of the battery changer 17 will be described in detail with reference to FIGS. 17 to 22 .

The nutrunner 1522 may be provided in a straight type or an angle type, but is not limited thereto. The nutrunner 1522 of the fastening tool 152 shown in FIG. 10 is an angle type nutrunner 1522, and in the case of a straight type nutrunner 1522, the rotational axis of the output shaft is parallel to the longitudinal direction of the nutrunner 1522.

The telescoper 155 has one end connected to the output shaft and is configured to have a variable length. A replaceable socket 156 may be mounted on the other end of the telescoper 155 . That is, the telescoper 155 may be disposed between the socket 156 and the nutrunner 1522.

The socket 156 includes a bolt insertion groove 1562a for inserting the head of a bolt at one end and a socket insertion groove 1552b for mounting to the telescoper 155 or an output shaft at the other end. One of several types of sockets 156 may be mounted on the fastening tool 152 . Several types of sockets 156 may be sockets 156 having lengths such as 50 mm, 80 mm, 100 mm, 120 mm, and 200 mm. Therefore, the control device 1 can fasten the module component 132 to the fastening target 21 by replacing the socket 156 with an appropriate length as needed.

The diameter of the bolt insertion groove 1562a may have various diameters depending on the type of bolt. For example, when using bolts having heads of 8 mm, 10 mm, 12 mm, 14 mm, and 17 mm in diameter, the size of the bolt insertion groove 1562a of the socket 156 corresponds to the size of the head of the bolt. may be provided.

11 is a cross-sectional view of the telescoper of FIG. 10;

Referring to FIG. 11 , the telescoper 155 includes a first connecting member 1552, an elastic member 1553, and a second connecting member 1551.

The first connection member 1552 includes a socket insertion portion 1552a having one end opened and having a hollow portion penetrating at least a portion of the first connection member 1552 and connected to the socket 156 at the other end. The socket insertion portion 1552a has a polygonal column shape. The socket insertion portion 1552a is inserted into the socket insertion groove 1552b of the socket 156, and the shape of the socket insertion groove 1552b corresponds to the shape of the socket insertion portion 1552a. For example, when the socket insertion portion 1552a has the shape of a square pillar, at least a portion of the socket 156 of the socket insertion groove 1552b may be formed in the shape of a square pillar.

At least a part of the second connecting member 1551 is disposed within the hollow portion of the first connecting member 1552 and is connected to the output shaft of the nutrunner 1522 .

At least a portion of the elastic member 1553 is disposed in the hollow portion of the first connection member 1552 . One end of the elastic member 1553 is in contact with the first connection member 1552 and the other end is in contact with the second connection member 1551 .

12 is a view for explaining a process of attaching a fastening tool to a bolt according to an embodiment of the present disclosure.

Referring to (a) of FIG. 12, the control device 1 includes a fastening robot 15 so that the bolt insertion groove 1562a of the socket 156 is inserted into the head 31 of the bolt 30 to be fastened. The operation of the fastening tool 152 is controlled. When the nutrunner 1522 is driven while the end face 1562b of the socket 156 is not attached to the wing portion 32 of the bolt 30, the head portion 31 of the bolt 30 is damaged or the module component A fastening defect between the fastening object 132 and the fastening target 21 may occur.

Therefore, after the bolt insertion groove 1562a is inserted into the head portion 31 of the bolt 30, the process of FIG. 12 (b) is further performed, and the wing portion 32 of the bolt 30 and the socket 156 The fastening tool 152 is pressed toward the side of the bolt 30 so that the end face 1562b of ) is contacted. At this time, the telescoper 155 can improve the contact state between the wing portion 32 of the bolt 30 and the end face 1562b of the socket 156.

The telescoper 155 is compressed when the control device 1 presses the fastening tool 152 in the direction of the bolt 30, and the internal elastic member 1553 is also compressed together to provide expansion force to the bolt 30. can do. Accordingly, the socket 156 can be effectively brought into close contact with the wing portion 32 of the bolt 30 by the expansion force of the elastic member 1553 .

13 is a perspective view of a socket changer according to an embodiment of the present disclosure. 14 is a front view of a socket changer according to an embodiment of the present disclosure.

13 and 14, the socket changer 19 includes a socket changer frame 191, a socket detachable unit 192, a flow prevention unit 193, a guide rail 194, a first drive cylinder 195, and All or part of the second drive cylinder 196 is included.

The socket changer frame 191 has a lower face, two side faces extending vertically upward from both ends of the lower face, and an upper face connecting the two side faces horizontally. The socket changer frame 191 includes a plurality of first engaging grooves 1911 on an upper surface. The first locking groove 1911 is a groove for fixing the movement of the fastening tool 152 when the fastening robot 15 mounts or leaves the socket of the fastening tool 152 . A part of the telescoper 155 or a part of the nutrunner 1522 of the fastening tool 152 may be caught in the first locking groove 1911 and the movement may be fixed.

The plurality of first locking grooves 1911 may be formed at a predetermined interval and may have the same shape as each other. The shape of the first locking groove 1911 may be a semicircular shape, but is not limited thereto.

The socket detachable unit 192 is disposed between both sides of the socket changer frame 191. The socket detachable unit 192 is provided to move up and down in the socket detachable unit 192 . A guide rail 194 is disposed between both sides of the socket detachable unit 192 and the socket changer frame 191 . The guide rails 194 are disposed on inner walls of both sides of the socket changer frame 191 to guide a path in which the socket changer frame 191 ascends and descends.

The socket detachable unit 192 includes a plurality of second locking grooves 1921 . The socket 156 may include a locking portion 1561 corresponding to the shape of the second locking groove 1921 . When the telescoper 155 or the nutrunner 1522 is caught in the first locking groove 1911 to allow the fastening tool 152 to leave the socket 156, the locking part 1561 of the socket 156 locks the second locking groove 1911. It is caught in the locking groove (1921).

The number of second locking grooves 1921 may be formed to correspond to the number of first locking grooves 1911 . The first locking groove 1911 and the second locking groove 1921 may be arranged in a line in the vertical direction as shown in FIG. 14 . The shape of the second locking groove 1921 may be a semicircular shape, but is not limited thereto.

The first driving cylinder 195 is provided to drive the socket detachable unit 192 in the vertical direction. The first driving cylinder 195 is provided to vertically move the socket detachable unit 192 between a first position and a second position lower than the first position.

A motor is provided in the first drive cylinder 195 . The first driving cylinder 195 can move the socket detachable unit 192 in the vertical direction by converting the rotational motion of the motor into linear motion. The first driving cylinder 195 may contact a part of the lower surface of the socket detachable unit 192 and pass through at least a part of the lower surface of the socket changer frame 191 .

After the fastening tool 152 is placed in contact with the first locking groove 1911 and the second locking groove 1921 to release the socket 156, the socket detachable unit 192 is moved from the first position to the second position. By doing so, the socket 156 can be separated from the fastening tool 152. Alternatively, after the fastening tool 152 is placed in contact with the first locking groove 1911 to mount the socket 156, the socket 156 is moved by moving the socket detachable unit 192 from the second position to the first position. It can be mounted on the fastening tool 152.

When the flow prevention unit 193 further includes a telescoper 155 configured to have a variable length by including an elastic member 1553 inside the fastening tool 152 (see FIGS. 11 and 12), the socket 156 ) It is provided to prevent the telescoper 155 from moving during attachment and detachment. The flow prevention unit 193 is disposed between the upper surface of the socket changer frame 191 and the socket detachable unit 192, and includes a plurality of third locking grooves 1931.

The plurality of third locking grooves 1931 are formed such that a part of the top of the telescoper 155 is caught therein. Specifically, in order to attach and detach the socket 156 from the fastening tool 152, the fastening tool 152 is moved so that the second connecting member 1551 of the telescoper 155 comes into contact with the third locking groove 1931. . Therefore, while the flow prevention unit 193 descends, the flow by the elastic member 1553 can be prevented by pressing the first connection member 1552 .

The plurality of third locking grooves 1931 are spaced apart from each other by a predetermined distance. The third locking groove 1931 may have a semicircular shape, but is not limited thereto. The first locking groove 1911, the second locking groove 1921, and the third locking groove 1931 are arranged in a line in the vertical direction.

The second driving cylinder 196 is provided to drive the flow prevention unit 193 in the vertical direction. A motor is provided in the second driving cylinder 196, and the flow prevention unit 193 can be moved in a vertical direction by converting a rotational motion of the motor into a linear motion. The first driving cylinder 195 may contact a part of the upper surface of the flow prevention unit 193 and pass through a part of the upper surface of the socket changer frame 191 .

15A to 15D are views for explaining a process in which a socket mounted on a fastening tool is replaced by a socket changer. Hereinafter, in FIGS. 15A to 15D, a method of attaching and detaching the socket of the fastening tool 152 equipped with the telescoper 155 will be described.

15A illustrates a process of moving the fastening tool 152 so as to be caught by the socket detachable unit 192 of the socket changer 19 in order to separate the socket 156 mounted on the fastening tool 152.

Referring to FIG. 15A, the control device 1 controls the fastening robot 15 and the fastening tool 152 so that the hooking part 1561 of the socket 156 mounted on the fastening tool 152 becomes the second hooking groove. (1921). There are various types of sockets 156, and a unique position can be determined for each type. The control device 1 stores position data designated for each type of socket 156, and based on the stored data, it is possible to determine which second locking groove 1921 to move to among the plurality of second locking grooves 1921. can

As described above, since the first locking groove 1911, the second locking groove 1921, and the third locking groove 1931 are arranged in a row in the vertical direction, the socket 156 mounted on the fastening tool 152 When the locking part 1561 is caught in the second locking groove 1921, the nutrunner 1522 or the telescoper 155 is also caught in the first locking groove 1911, and a part of the top of the telescoper 155 is also hooked. It is caught in the third locking groove (1931). Therefore, the output shaft and the socket 156 are fixed in line in the vertical direction.

15B shows a process of lowering the flow prevention unit 193 to prevent the movement of the telescoper 155.

Referring to FIG. 15B, the controller 1 controls the second drive cylinder 196 to lower the flow prevention unit 193. When the flow prevention unit 193 is lowered, the first connecting member 1552 of the telescoper 155 is pressed down. Therefore, even if the elastic member 1553 disposed inside the first connecting member 1552 moves while the socket 156 is being installed or removed, the first connecting member 1552 remains pressed downward. It is fixed. Therefore, when the socket detachable unit 192 on which the socket 156 is hung is moved, the socket 156 can be stably attached to or detached from the fastening tool 152 without affecting the elastic member 1553 .

15C illustrates a process of lowering the socket detachable unit 192 to separate the socket 156 from the fastening tool 152.

Referring to FIG. 15C , the controller 1 controls the first drive cylinder 195 to lower the socket attachment/detachment unit 192 . The nutrunner 1522 and the telescoper 155 lower the socket 156 caught in the second locking groove 1921 while being fixed by the first locking groove 1911 and the third locking groove 1931. By doing so, the fastening tool 152 and the socket 156 are separated. After the socket 156 is separated from the fastening tool 152, the controller 1 controls the second driving cylinder 196 to raise the anti-flow unit 193, and then fastens the fastening tool 152. It is moved to the position where the desired socket 156 is located.

15D shows a process of mounting the socket 156 to the fastening tool 152.

Referring to FIG. 15D, as described in FIG. 15A, the control device 1 first includes a first locking groove 1911 corresponding to a place where a socket to be fastened (hereinafter, referred to as a 'socket to be fastened') is located and a second 3 Fix the fastening tool 152 to the locking groove 1931. After that, the controller 1 lowers the flow prevention unit 193 as described in FIG. 15B to prevent flow that may occur when the socket 156 is mounted.

After the flow prevention unit 193 is lowered, the socket detachable unit 192 is raised and the socket insertion groove 1552b of the socket 156 is inserted into the socket insertion part 1552a of the telescoper 155 to insert the socket 156 ) is mounted on the fastening tool 152. At this time, the socket insertion groove 1552b and the socket insertion portion 1552a have polygonal cross-sections corresponding to each other. When the socket insertion groove 1552b and the socket insertion portion 1552a are coupled, measures to match the shapes are additionally taken. need. As an example of such a measure, when the socket detachable unit 192 is raised, the control device 1 drives the fastening tool 152 to rotate the socket insertion portion 1552a. After the shape of the socket insertion portion 1552a is adjusted to be inserted into the socket insertion groove 1552b, the socket 156 also rotates to complete the coupling.

16 is a flowchart of a socket replacement method using a socket changer according to an embodiment of the present disclosure. Hereinafter, in FIG. 16, a method of attaching and detaching the socket of the fastening tool 152 equipped with the telescoper 155 will be described. Hereinafter, descriptions of portions overlapping with those described in FIGS. 15A to 15D are omitted.

The controller 1 performs control to move the fastening tool 152 so as to be hooked on the socket detachable unit 192 of the socket changer 19 (S160). Process S160 corresponds to the content described with respect to FIG. 15A.

The controller 1 controls to lower the flow prevention unit 193 in order to prevent the flow generated by the elastic member 1553 in the telescoper 155 (S161). Process S161 corresponds to the description of FIG. 15B. Process S161 is a process that can be omitted if the fastening tool 152 does not include the telescoper 155.

The control device 1 moves the socket detachable unit 192 from the first position to a second position lower than the first position to perform control to separate the socket 156 from the fastening tool 152 (S162). Process S162 corresponds to the content described with respect to FIG. 15C.

The controller 1 performs control to move the fastening tool 152 to the place where the socket to be replaced is located (S164).

The control device 1 lifts the socket detachable unit 192 from the second position to the first position to perform control to attach the replacement socket 156 to the fastening tool 152 (S166). Process S166 corresponds to the content described with respect to FIG. 15D.

17 is a perspective view of a battery changer according to an embodiment of the present disclosure.

The battery changer 17 is a device provided to automatically replace the battery 154 of the fastening tool 152 disposed at the end of the fastening robot 15. The battery changer 17 may include two battery attachment/detachment devices 17a and 17b.

The battery attachment/detachment devices 17a and 17b are configured to mount and detach the battery 154 of the fastening tool 152 . Specifically, the battery attachment/detachment devices 17a and 17b separate the battery 154 disposed at the end 1521 of the fastening tool 152 and transfer it to a charger in the battery attachment/detachment devices 17a and 17b, or the charger 176 ) Mount the fully charged battery 154 coupled to the end 1521 of the fastening tool 152.

The battery changer 17 includes at least a first battery detachment device and a second battery detachment device 17a and 17b. When the control device 1 determines that the remaining charge of the battery 154 mounted on the fastening tool 152 has fallen below a preset value, the controller 1 controls the movement of the fastening robot 15 to move the battery 154 to the battery attachment/detachment area. (P) can be moved. After the battery 154 is moved to the battery mounting area P, the controller 1 may perform a process of replacing the battery 154 with a fully charged battery 154.

Here, the battery attachment/detachment area P means a position where the battery 154 is mounted or detached from the end 1521 of the fastening tool 152 within the battery attachment/detachment devices 17a and 17b. Coordinate information about the battery attachment/detachment area P is pre-stored in the control device 1, so that the fastening tool 152 can be moved to a predetermined position without a vision sensor such as a separate camera.

In order to replace the battery 154, the control device 1 moves the battery 154 to a place where the battery 154 is not being charged in the charger 176 among the first battery detachment device and the second battery detachment device 17a and 17b. . That is, the controller 1 moves the battery 154 mounted on the end 1521 of the fastening tool 152 to the battery attachment/detachment area P where the battery 154 is not coupled to the charger 176. . For example, when the controller 1 moves the battery 154 mounted on the end 1521 of the fastening tool 152 to the battery attachment area P of the first battery attachment/detachment device 17a, the first battery attachment/detachment In the device 17a, the battery 154 mounted on the end 1521 of the fastening tool 152 is removed and moved to the charger 176. After that, the controller 1 moves the end 1521 of the fastening tool 152 to be positioned in the battery attachment/detachment area P of the second battery attachment/detachment device 17b. In the second battery attachment/detachment device 17b, the control device 1 performs control to mount the fully charged battery 154 coupled with the charger 176 to the end 1521 of the fastening tool 152.

18 is a side view of a battery attachment/detachment device according to an embodiment of the present disclosure.

Referring to FIG. 18, the battery detaching devices 17a and 17b include an attaching/detaching frame 171, an assembly tool fixing part 172, a first unlock rod 173, All or part of the second unlocking rod 174, a battery transport unit 175, and a charger 176 are included.

The charger 176 is disposed within the detachable frame 171. The charger 176 may be disposed such that the charging terminal 1762 faces upward.

The fastening tool fixing part 172 is disposed above the detachable frame 171 and adjacent to the battery detachable area P. The fastening tool fixing unit 172 is a device for fixing the flow of the fastening tool 152 when the battery mounted on the fastening tool 152 is installed or removed.

The fastening tool fixing part 172 is configured to advance in a direction toward the fastening tool 152 after the fastening tool 152 is disposed in the battery detachable area P. A fixing groove 1721 having a shape corresponding to the cross-sectional shape of the fastening tool 152 is provided at the free end of the fastening tool fixing part 172 . For example, the fixing groove 1721 may have a semicircular shape for fixing the fastening tool 152 having a circular cross section.

When the fastening tool fixing part 172 is not disposed in the battery detachable area P, the fastening tool 172 is maintained in a backward state toward the outside of the detachable frame 171. The fastening tool fixing part 172 may move forward or backward by a pneumatic cylinder, but is not limited thereto.

The first unlocking rod 173 may be disposed at one end of the longitudinal direction of the detachable frame 171 . This is to push the battery 154 toward the battery transfer unit 175 when the battery mounted on the end 1521 of the fastening tool 152 is removed. The first unlocking rod 173 is disposed to push the battery 154 mounted on the end 1521 of the fastening tool 152 by advancing toward the inside of the detachable frame 171 .

The first unlocking rod 173 may move forward and push the battery 154 in the battery attachment/detachment area P to release the fixing pin fixing the coupling between the battery 154 and the fastening tool 152 . After the fixing pin is released, the battery 154 coupled to the end 1521 of the fastening tool 152 is released in a sliding manner. The separated battery 154 moves in the direction of the standby battery transfer unit 175.

The first unlock rod 173 may move forward or backward by a pneumatic cylinder, but is not limited thereto.

The second unlock rod 174 is disposed at the other end of the detachable frame 171 in the longitudinal direction. The second unlocking rod 174 holds the battery 154 coupled to the charger 176 when the battery 154 is coupled to the charger 176 instead of the end 1521 of the fastening tool 152 and is being charged. arranged to depart. That is, when moving the battery 154 coupled to the charger 176 to the battery transfer unit 175, the second unlocking rod 174 is provided to push the battery 154 toward the battery transfer unit 175 side. The second unlocking rod 174 is disposed to push the battery 154 coupled to the charger 176 by advancing toward the inside of the detachable frame 171 .

The second unlocking rod 174 may move forward and push the battery 154 in the charger 176 to release the fixing pin fixing the coupling between the battery 154 and the charger 176 . After the fixing pin is released, the battery 154 coupled to the charger 176 is separated in a sliding manner. The separated battery 154 moves in the direction of the standby battery transfer unit 175. The second unlock rod 174 may move forward or backward by a pneumatic cylinder, but is not limited thereto.

The battery transfer unit 175 is a device that transfers the battery 154 while moving between the end 1521 of the fastening tool 152 and the charger 176 as a movement path. Specifically, the battery transfer unit 175 moves the battery 154 from the charger 176 to the end 1521 of the fastening tool 152 and is mounted on the end 1521 of the fastening tool 152, or the battery 154 A device for transporting the battery 154 so that it moves from the end 1521 of the fastening tool 152 to the charger 176 and is mounted on the charger 176.

The battery attachment/detachment devices 17a and 17b may be disposed on the same plane as the base 11 of the parts fastening system 10 using the collaborative robot. Therefore, when the fastening tool 152 is located in the battery mounting area P, the terminal 1541 of the battery 154 must face upward to mount the battery 154 on the end 1521 of the fastening tool 152. do.

Conversely, since the charger 176 has the charging terminal 1762 facing upward, the terminal 1541 of the battery 154 must face downward in order for the battery 154 to be mounted on the charger 176. Therefore, when the battery transfer unit 175 transfers the battery 154 between the end 1521 of the fastening tool 152 and the charger 176, the battery 154 is rotated to connect the terminal 1541 of the battery 154. A separate driving unit may be provided to upside down the position. For example, the battery transfer unit 175 may be configured to rotate the battery 154 by 180 degrees so that the direction in which the terminal 1541 of the battery 154 faces is vertically reversed.

The driving unit may be provided in a manner using an electric motor or a pneumatic cylinder. The battery transfer unit 175 can adjust the degree of rotation of the battery 154 according to the position of the end of the fastening tool 152 and the position of the charging terminal 1762 of the charger 176, and must rotate the battery 154 180 degrees. It is not necessary to rotate and reverse the position of the terminal 1541 of the battery 154 upside down.

19A to 19D are diagrams illustrating a process of detaching a battery mounted at an end of a fastening tool using a battery detachment device.

FIG. 19A illustrates a process in which the fastening tool 152 is disposed in the battery attachment/detachment area P and the movement is fixed by the fastening tool fixing part 172. Referring to FIG.

Referring to FIG. 19A, after the control device 1 moves the fastening tool 152 and the battery 154 mounted on the end 1521 of the fastening tool 152 to the battery mounting area P, the fastening tool fixing part 172 moves forward in the direction of the fastening tool 152 to fix the movement of the fastening tool 152.

19B illustrates a process in which the battery 154 mounted on the end 1521 of the fastening tool 152 is separated by the first unlocking rod 173.

Referring to FIG. 19B, the first unlocking rod 173 advances toward the battery 154 side by means of a pneumatic cylinder. The battery transfer unit 175 stands by at a predetermined position near the battery attachment/detachment area P in order to receive the detached battery 154 . The advanced first unlocking rod 173 releases the fixing pin fixing the coupling between the battery 154 and the end 1521 of the fastening tool 152, and then separates the battery 154 and heads toward the battery transfer unit 175. convey

19C illustrates a process in which the separated battery 154 is transferred to the charger 176 by the battery transfer unit 175.

Referring to FIG. 19C , the terminal 1541 of the battery 154 separated from the end 1521 of the fastening tool 152 is disposed to face upward. In order to mount the battery 154 to the charger 176, the charging terminal 1762 of the charger 176 and the terminal 1541 of the battery 154 need to be coupled to each other. Accordingly, the control device 1 controls the battery transfer unit 175 to rotate the terminal 1541 of the battery 154 from the top to the bottom. The battery transfer unit 175 rotates the battery 154 at a position between the end 1521 of the fastening tool 152 and the charger 176 . After the terminal 1541 of the battery 154 is inverted upside down, the battery transfer unit 175 moves toward the charger 176.

19D shows a process in which the battery 154 is mounted on the charger 176.

Referring to FIG. 19D , as the battery transfer unit 175 is moved toward the charger 176, the battery 154 in the battery transfer unit 175 is mounted on the charger 176. While the battery 154 is mounted on the charger 176 in a sliding manner, the terminal 1541 of the battery 154 and the charging terminal 1762 of the charger 176 contact each other so that the battery 154 can be charged. When the battery 154 is slidably mounted on top of the charger 176, a coupling between the battery 154 and the charger 176 may be fixed by a fixing pin of the battery 154.

20 is a flowchart illustrating a process of detaching a battery mounted at an end of a fastening tool and mounting the battery in a charger in a method of controlling a battery attachment/detachment device according to an embodiment of the present disclosure.

The controller 1 controls to move the battery 154 mounted on the end 1521 of the fastening tool 152 to the battery attachment/detachment area P (S200). The controller 1 may control the fastening tool 152 to face upward and the battery 154 to face downward in the battery attachment/detachment area P.

Coordinate information about the battery mounting area P is pre-stored in the control device 1, so when the control device 1 moves the fastening tool 152 to the battery mounting area P, a vision sensor such as a camera is used. It is not required, but is not limited thereto.

The control device 1 moves the fastening tool fixing part 172 forward in the direction of the fastening tool 152 to perform control to fix the movement of the fastening tool 152 (S201). The controller 1 may control the forward or backward movement of the fastening tool fixture 172 by controlling the pneumatic pressure of the pneumatic cylinder connected to the fastening tool fixture 172 . The controller 1 may advance the fastening tool fixing unit 172 toward the fastening tool 152 until the fastening groove 1721 of the fastening tool fastening unit 172 comes into contact with the fastening tool 152 .

The controller 1 performs a control to release the fixing pin of the battery 154 using the first unlocking rod 173 disposed in the battery attachment/detachment area P (S202). After releasing the fixing pin by advancing the first unlocking rod 173 toward the battery 154, the controller 1 can release the battery 154 from the end 1521 of the fastening tool 152 in a sliding manner. there is. The separated battery 154 moves toward the battery transfer unit 175 side. After the battery 154 is detached from the fastening tool 152, the controller 1 may release the fixing of the fastening tool 152 by retracting the fastening tool fixing part 172.

The controller 1 controls the transfer of the battery 154 to the charger 176 by using the battery transfer unit 175 moving between the charger 176 and the battery attachment/detachment area P (S203). At this time, the position of the terminal 1541 of the battery 154 when separated from the end 1521 of the fastening tool 152 and the position of the terminal 1541 of the battery 154 to be coupled to the charger 176 are can be different. Accordingly, the controller 1 may perform control to change the position of the terminal 1541 of the battery 154 by rotating the battery 154 in the battery transfer unit 175 . For example, the terminal 1541 of the battery 154 may be moved from the top to the bottom by rotating the battery 154 in the battery transfer unit 175 by 180 degrees.

The control device 1 controls the process of mounting the battery 154 to the charger 176 in a sliding manner (S204). The control device 1 may move the battery transfer unit 175 toward the charger 176 so that the terminal 1541 of the battery 154 is easily attached to the charging terminal 1762 of the charger 176. When the battery 154 is mounted on the charger 176, the coupling is fixed by a fixing pin.

21A to 21C are diagrams illustrating a process of mounting a battery to an end of a fastening tool using a battery attachment/detachment device.

21A illustrates a process in which the battery 154 mounted in the charger 176 is separated by the second unlocking rod 174.

Referring to FIG. 21A , the second unlocking rod 174 advances toward the battery 154 by a pneumatic cylinder. The battery transfer unit 175 stands by at a predetermined location near the charger 176 to receive the separated battery 154 . The advanced second unlocking rod 174 releases the fixing pin fixing the coupling between the battery 154 and the charger 176, and then separates the battery 154 and transfers it to the battery transfer unit 175 side.

FIG. 21B shows a process in which the separated battery 154 is transferred to the end 1521 of the fastening tool 152 by the battery transfer unit 175 .

Referring to FIG. 21B , the terminal 1541 of the battery 154 separated from the charger 176 is disposed to face downward. In order to mount the battery 154 to the end 1521 of the fastening tool 152, the terminal 1541 of the battery 154 should be mounted in contact with the end 1521 of the fastening tool 152. Therefore, the control device 1 controls the battery transfer unit 175 to rotate the terminal 1541 of the battery 154 from the bottom to the top. The battery transfer unit 175 rotates the battery 154 at a position between the end 1521 of the fastening tool 152 and the charger 176 . After the terminal 1541 of the battery 154 is inverted upside down, the battery transfer unit 175 moves toward the end 1521 of the fastening tool 152 .

21C shows the process in which the battery 154 is mounted to the end 1521 of the fastening tool 152.

Referring to FIG. 21C , as the battery transfer unit 175 is moved toward the end 1521 of the fastening tool 152, the battery 154 in the battery transfer unit 175 is mounted on the end 1521 of the fastening tool 152. . The battery 154 is mounted on the end 1521 of the fastening tool 152 in a sliding manner so that the terminal 1541 of the battery 154 and the end 1521 of the fastening tool 152 come into contact. When the battery 154 is slidably mounted on the end 1521 of the fastening tool 152, a coupling between the battery 154 and the fastening tool 152 may be fixed by a fixing pin of the battery 154.

22 is a flowchart illustrating a process of detaching a battery from a charger and attaching it to an end of a fastening tool in a method of controlling a battery attachment/detachment device according to an embodiment of the present disclosure.

The controller 1 performs control to release the fixing pin of the battery 154 using the second unlocking rod 174 disposed adjacent to the charger 176 (S220). The controller 1 advances the second unlocking rod 174 toward the battery 154 disposed on the charger 176 to release the fixing pin, and then slides the battery 154 away from the charger 176. can make it The separated battery 154 moves toward the battery transfer unit 175 side.

The control device 1 controls the transfer of the battery 154 to the charger 176 using the battery transfer unit 175 moving between the charger 176 and the battery attachment/detachment area P (S221). At this time, the position of the terminal 1541 of the battery 154 when separated from the end 1521 of the fastening tool 152 and the position of the terminal 1541 of the battery 154 to be coupled to the charger 176 are can be different. Accordingly, the controller 1 may perform control to change the position of the terminal 1541 of the battery 154 by rotating the battery 154 in the battery transfer unit 175 . For example, the terminal 1541 of the battery 154 may be moved from the bottom to the top by rotating the battery 154 in the battery transfer unit 175 by 180 degrees.

The control device 1 moves the fastening tool fixing part 172 forward in the direction of the fastening tool 152 to perform control to fix the movement of the fastening tool 152 (S222). The controller 1 may control the forward or backward movement of the fastening tool fixture 172 by controlling the pneumatic pressure of the pneumatic cylinder connected to the fastening tool fixture 172 . The controller 1 may advance the fastening tool fixing unit 172 toward the fastening tool 152 until the fastening groove 1721 of the fastening tool fastening unit 172 comes into contact with the fastening tool 152 . Process S222 does not necessarily have to be performed after processes S220 and S221, but may be performed before process S220, between process S220 and process S221, or simultaneously with process S220 or process S221.

The controller 1 performs control to mount the battery 154 to the end 1521 of the fastening tool 152 in a sliding manner (S223). The controller 1 is mounted so that the terminal 1541 of the battery 154 easily comes into contact with the end 1521 of the fastening tool 152 by moving the battery transfer unit 175 toward the end 1521 of the fastening tool 152. can make it When the battery 154 is mounted on the charger 176, the coupling is fixed by a fixing pin. After the battery 154 is coupled to the fastening tool 152, the control device 1 may release the fixing of the fastening tool 152 by retracting the fastening tool fixing part 172.

The battery changer 17 may include a first battery attachment/detachment device and a second battery attachment/detachment device 17a and 17b. Therefore, when replacing the battery 154 mounted on the fastening tool 152, one of the first battery detachment device 17a and the second battery detachment device 17b is a battery mounted on the fastening tool 152 ( 154), and the other one performs a process of mounting the fully charged battery 154 to the fastening tool 152.

Hereinafter, a process of detaching the battery 154 mounted on the fastening tool 152 is performed in the first battery attachment/detachment device 17a, while the fully charged battery 154 is fastened in the second battery attachment/detachment device 17b. A case in which a process of being mounted on the tool 152 is performed will be described as an example.

In the first battery attachment/detachment device 17a, steps S130 to S134 of FIG. 20 are performed, so that the battery 154 mounted on the fastening tool 152 is detached and mounted on the charger 176. In the second battery attachment/detachment device 17b, the fully charged battery 154 is mounted on the fastening tool 152 by performing steps S220 to S223 of FIG. 22 .

Hereinafter, in the battery changer 17, additional parts besides the control process shown in FIGS. 20 and 22 described above will be described in detail.

After the battery 154 is separated from the end 1521 of the fastening tool 152 in step S132 in the first battery attachment/detachment device 17a, the control device 1 removes the fastening tool fixing part 172. It moves backward and controls the fastening tool 152 to move to the battery attachment/detachment area P of the second battery attachment/detachment devices 17a and 17b. The first battery attachment/detachment device 17a performs the remaining steps S133 and S134 after the fastening tool 152 is moved to the battery attachment/detachment area P of the first battery attachment/detachment device 17a. Unlike this, the controller 1 may move the fastening tool 152 to the battery attachment area P of the second battery attachment/detachment device 17b after completing steps S133 and S134 in the first battery attachment/detachment device 17a. can After the fastening tool 152 and the battery 154 are separated from the first battery attachment/detachment device 17a, the control device 1 always uses the fastening tool 152 as the second battery regardless of whether steps S133 and S134 are performed. It can be moved to the battery attachment/detachment area P of the battery attachment/detachment device 17b.

In the second battery attachment/detachment device 17b, after steps S220 and S221 are performed, the fastening tool 152 is disposed on the second battery attachment/detachment device 17b, or the fastening tool 152 is placed on the second battery attachment/detachment device 17b. After being placed in the process S220 and process S221 may be performed. On the other hand, after processes S220 and S221 are performed regardless of precedence and the fastening tool 152 is placed in the battery attachment/detachment area P of the second battery attachment/detachment device 17b, steps S222 and S223 are performed to fully charge the battery. A battery 154 may be mounted to the end 1521 of the fastening tool 152 .

As described above, the battery 154 installed in the fastening tool 152 operating wirelessly is automatically replaced without a manual operation by using the battery changer 17 composed of the first and second battery attachment/detachment devices 17a and 17b. can do.

23 is a perspective view of a weight compensation robot according to an embodiment of the present disclosure. 24 is a side view of a weight compensation robot according to an embodiment of the present disclosure.

Referring to FIGS. 23 and 24 , the weight compensation robot includes a loading robot 14 , a weight compensation module 80 and a control device 1 . The control device 1 may control overall operations of the loading robot 14 and the weight compensation module 80 . A detailed description of the loading robot 14 will be omitted below.

The weight compensation module 80 includes all or part of the support 81, the boom 82, the wire 83, the weight compensation unit 85, and the gripper coupling unit 84. The weight compensation module 80 is connected to a part of the loading robot 14 to reduce the weight of the module component 132 when the module component 132 that is greater than or equal to the preset limit weight of the loading robot 14 is gripped and moved. can assist

The post 81 extends from the rotation support 145 of the loading robot 14 and is disposed. The support 81 extends from the rotation support 145 upward in a vertical direction and is disposed.

The boom stand 82 is coupled to the top of the support 81. The boom stand 82 is coupled to the top of the support 81 so as to be perpendicular to the support 81 . The boom stand 82 may be arranged to extend in a direction parallel to the direction in which the loading robot 14 extends from the rotation support 145 . The boom stand 82 may have a hollow structure. The boom unit 82 may include a plurality of booms having different cross-sectional areas. A plurality of booms are extended or contracted in a telescopic manner, so that the length of the boom stand 82 can be varied.

The boom stand 82 may rotate together with the rotation support 145 . That is, when the loading robot 14 rotates around the axis of rotation of the rotation support 145, the support 81 may also rotate together.

The wire 83 passes through the boom rod 82 and is disposed to extend from one end of the boom rod 82 in the direction of gravity. A roller 86 may be disposed at one end of the boom 82 to guide the movement of the wire 83 .

One end of the wire 83 is fixed as a fixed end 831, and the other end is formed as a free end. At the free end of the wire 83, a gripper coupling portion 84 provided to be coupled to the coupling ring 168 of the gripper 16 is coupled and disposed. The weight compensation unit 85 is connected to the fixed end 831 of the wire 83. Here, the weight compensation unit 85 may be a spring balancer. The gripper coupling part 84 is connected to the coupling ring 168 of the gripper 16, and the weight compensation connected to the fixed end 831 of the wire 83 when the loading robot 14 grips the module component 132. Part 85 may assist part of the weight of module component 132.

The length of the wire 83 may be extended or contracted so as to descend or rise in the direction of gravity at one end of the boom stand 82 . The controller 1 can control the length of the wire 83 to adjust the elevation of the gripper coupling part 84 coupled to the free end of the wire 83 .

FIG. 25 is a view for explaining a process in which the weight compensation robot of FIG. 24 connects the weight compensation module to the gripper. 26 is a view for explaining a process of operating the loading robot after connecting the weight compensation module of FIG. 25 to the gripper. The control device 1 can generally control the operation of each of the electronic equipment shown in FIG. 1, but the case of controlling the operation of the loading robot 14 and the weight compensation module 80 will be described below as an example. do.

The controller 1 lowers the gripper coupling part 84 by adjusting the length of the wire 83. At this time, the control device 1 controls the coupling ring 168 of the gripper 16 to be located in the movement line along which the gripper coupling part 84 descends. Information about the position where the coupling ring 168 of the gripper 16 is coupled to the gripper coupling part 84 may be stored in the control device 1 in advance. The control device 1 may control the position of the gripper 16 using previously stored information.

Grippers 16 of various shapes may be mounted at the end of the loading robot 14, and the position of the coupling ring 168 may be different for each gripper 16. In this case, the control device 1 may store information about a position for coupling with the gripper coupler 84 according to the type of the gripper 16 .

After the controller 1 lowers the gripper coupling part 84 and engages it with the coupling ring 168 of the gripper 16, it controls the loading robot 14 to grip the module component 132.

The controller 1 may determine whether to couple the gripper coupling part 84 to the coupling ring 168 of the gripper 16 according to the weight of the module component 132 . For example, when the control device 1 determines that the loading robot 14 loads the first module component having a weight less than a preset limit, the gripper coupling part 84 is not coupled to the coupling ring 168 . Here, the predetermined limit weight may be set to the maximum weight that the loading robot 14 can load the module component 132 by itself, and may vary according to the specifications of the loading robot 14 without being limited thereto.

When the control device 1 determines that the loading robot 14 loads the second module component having a preset limit weight, the controller 1 controls coupling of the gripper coupling part 84 to the coupling ring 168 of the gripper 16. carry out The coupling of the gripper coupling part 84 and the coupling ring 168 is performed before the gripper 16 grips the second module component. The control device 1 controls the operation of the loading robot 14 so that the coupling ring 168 is positioned at a preset coupling position. Thereafter, the control device 1 couples the gripper coupling portion 84 and the coupling ring 168 by lowering the gripper coupling portion 84 . Here, the preset coupling position may be located on a path along which the gripper coupling part 84 descends in the direction of gravity.

Referring to FIG. 26 , after the gripper coupling part 84 and the coupling ring 168 are coupled, the controller 1 controls the operation of the loading robot 14 to load the second module component. Some of the weight of the second module component is transferred to the wire 83 connected to the gripper coupling part 84, and the weight is assisted by the weight compensation unit 85 coupled to the fixed end 831 of the wire 83. can

In addition, after the gripper coupling part 84 and the coupling ring 168 are coupled, the weight compensation module 80 moves along with the movement of the loading robot 14. When the gripper 16 is controlled to move away from the rotation support 145, the boom 82 is also lengthened accordingly. When the gripper 16 is controlled to come closer to the rotation support 145, the boom 82 is also shortened. That is, the length of the boom stand 82 may be varied according to the operating position of the gripper 16 .

After finishing the loading of the second module component 132, when the control device 1 determines that the assistance of the weight compensation module 80 is no longer required, moves the gripper 16 to the preset coupling position again, and then the gripper The coupling part 84 and the coupling ring 168 are separated.

27 is a perspective view of a weight compensation robot according to a second embodiment of the present disclosure. Descriptions of overlapping parts with the foregoing will be omitted.

The weight compensation robot according to the second embodiment further includes a guide cap 88 at the free end of the boom 82. The guide cap 88 has a hollow inside, one end is coupled to the free end of the boom bar 82, and the other end is configured to fix the movement of the gripper coupling part 84. The wire 83 is disposed through the inside of the guide cap 88.

The cross-sectional shape of the other end of the guide cap 88 corresponds to the cross-sectional shape of the gripper coupling part 84 . Therefore, the gripper coupling part 84 can be partially inserted into the other end of the guide cap 88 by being pulled by the weight compensating part 85 . A part of the gripper coupling part 84 is inserted into the other end of the guide cap 88 to prevent shaking or movement.

In the second embodiment, after the control device 1 moves the gripper 16 to a preset position, the wire 83 is lowered so that the gripper coupling part 84 is not coupled to the coupling ring 168. Conversely, as shown in FIG. 27 , the controller 1 controls the loading robot 14 to move the coupling ring 168 of the gripper 16 toward the gripper coupling part 84 . At this time, since the gripper coupling portion 84 is inserted into the guide cap 88 and its movement is fixed, the coupling ring 168 of the gripper 16 can be stably coupled to the gripper coupling portion 84 .

The above description is merely an example of the technical idea of the present embodiment, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical idea of the present embodiment, but to explain, and the scope of the technical idea of the present embodiment is not limited by these embodiments. The scope of protection of this embodiment should be construed according to the claims below, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of rights of this embodiment.

11: base 12: parts supply robot
13: jig 14: loading robot
15: fastening robot 154: battery
16: gripper 17: battery changer
17a: first battery attachment/detachment device 17b: second battery attachment/detachment device
19: battery changer 20: conveyor belt
21: Target

Claims (14)

A battery attachment/detachment device for attaching a charged battery to the end of a fastening tool or separating and charging a discharged battery,
detachable frame;
a charger disposed within the detachable frame;
a battery transport unit transporting the battery along a moving path between the charger and the fastening tool; and
A first unlocking rod disposed at one end of the detachable frame in the longitudinal direction so as to push the battery toward the battery transfer unit when releasing the battery mounted at the end of the fastening tool.
A battery attachment and detachment device including a. According to claim 1,
When the battery mounted on the fastening tool is installed or detached,
A battery detachable device further comprising a fastening tool fixing part disposed on the detachable frame to fix the movement of the fastening tool. According to claim 1,
The battery transfer unit,
When the battery is moved to the charger, the battery is rotated so that a terminal of the battery is coupled to a terminal of the charger. According to claim 1,
When moving the battery coupled to the charger to the battery transfer unit,
Further comprising a second unlocking rod disposed at the other longitudinal end of the detachable frame to push the battery toward the battery transfer unit. According to claim 4,
The battery transfer unit,
When the battery is moved to the end of the fastening tool, the battery is rotated so that the terminal of the battery is coupled to the end of the fastening tool. According to claim 1,
Further comprising a control device for performing overall control of the operation of the battery detachment device and the fastening tool,
Wherein the control device moves the battery mounted on the fastening tool to a position adjacent to the first unlocking rod when the charge amount of the battery mounted on the fastening tool falls below a predetermined value. In the control method of a battery detachment device for removing a battery mounted at the end of a fastening tool connected to a fastening robot and attaching it to a charger,
moving a battery mounted on an end of the fastening tool to a battery attachment/detachment position;
a separation process of releasing the fixing pin of the battery using a first unlocking rod disposed at the battery attachment/detachment position; and
A transfer process of transferring the battery to the charger using a battery transfer unit moving between the charger and the battery attachment/detachment position
Control method of a battery attachment and detachment device comprising a. According to claim 7,
In the process of leaving,
The control method of the battery detachable device, wherein the battery is separated from the end of the fastening tool in a sliding manner by extending the first unlocking rod to the battery detachable position and pushing the battery. According to claim 7,
In the transfer process,
A method of controlling a battery attachment/detachment device, wherein the battery is rotated so that a terminal of the battery is coupled to a terminal of the charger. According to claim 7,
Further comprising the step of mounting the battery to the charger in a sliding manner. In the control method of a battery detachment device for separating a charged battery from a charger and attaching it to the end of a fastening tool connected to a fastening robot,
releasing a fixing pin of the battery using a second unlocking rod disposed adjacent to the charger; and
A transfer process of transferring the battery to the charger using a battery transfer unit moving between the charger and the battery attachment/detachment position
Control method of a battery attachment and detachment device comprising a. According to claim 11,
In the release process,
The control method of the battery detachable device, wherein the battery is separated from the charger in a sliding manner by extending the second unlock rod to bush the battery. According to claim 11,
In the transfer process,
A method of controlling a battery attachment/detachment device of rotating the battery disposed in the battery transfer unit so that a terminal of the battery is coupled to an end of the fastening tool. According to claim 11,
The control method of the battery detachable device further comprising the step of mounting the battery to the end of the fastening tool in a sliding manner.

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