KR20230079658A - Exchange apparatus for nut runner socket - Google Patents

Abstract

A nut runner socket exchange apparatus is disclosed. In accordance with one embodiment of the present disclosure, the nut runner socket exchange apparatus includes: a coupling robot (i) having at least nut runner mounted at the front end of a robot arm; a socket coupling member (ii) fixed to a driving end of the at least one nut runner; a socket alignment unit (iii) installed in a jig frame to align a plurality of sockets having different sizes; a joint alignment unit (iv) installed in the jig frame, and aligning a plurality of joint members, which are made to couple the socket coupling member with each of the plurality of sockets, in a set direction; and a joint pickup unit installed in the jig frame to be movable in a multiaxial direction, and clamping and unclamping the plurality of joint members. Therefore, the present invention is capable of improving component assembly productivity.

Description

Nut Runner Socket Exchange Device {EXCHANGE APPARATUS FOR NUT RUNNER SOCKET}

An embodiment of the present invention relates to a nut runner socket exchange device, and more particularly, in a process of assembling parts through fastening members such as bolts and nuts, to exchange a socket mounted on a nut runner It relates to a nut runner socket exchange device.

In general, a fastening member including a bolt and a nut is representative of a mechanical element for combining two or more parts. Such a fastening member is used in various machinery industries including the automobile manufacturing field.

A fastening process for assembling parts is provided in a manufacturing plant for various products. In the past, this fastening process often depended on the manual work of a worker using an electric screwdriver, but in recent years, it is common to be performed by an automated facility according to the development of automation technology.

For example, in a fastening process of assembling design parts such as engines, transmissions, suspensions, etc. during the automobile manufacturing process, fastening target parts and related parts are fastened with fastening members of bolts and nuts using fastening robots.

In this fastening process, the fastening member is loaded into the fastening part of the fastening target part and the related part through the fastening member supply robot, and the nut runner is moved to the fastening part of the fastening target part and the related part through the fastening robot. By applying a rotational force to the fastening member through, and fastening the fastening target part and the relevant part with the fastening member of the bolt and nut.

Here, when the size of the fastening member is different according to the specification of the fastening target part and the related part (hereinafter referred to as the assembly target part for convenience), it is necessary to replace the socket of the nut runner mounted on the arm end of the fastening robot.

However, in the prior art, since the work of replacing the socket corresponding to the size of the fastening member from the nut runner is performed manually, the cycle time for assembling the parts to be assembled may increase, resulting in a decrease in productivity. .

Matters described in this background art section are prepared to enhance understanding of the background of the invention, and may include matters that are not prior art already known to those skilled in the art to which this technique belongs.

Embodiments of the present invention are intended to provide a nut runner socket exchange device capable of automatically replacing sockets of nut runners configured to fix fastening members of different sizes according to specifications of parts to be assembled.

A nut runner socket exchange device according to an embodiment of the present invention includes: i) a fastening robot having at least one nut runner mounted on a front end of a robot arm, and ii) a socket coupling member fixed to a driving end of the at least one nut runner and, iii) a socket aligning unit installed on the jig frame to align a plurality of sockets having different sizes, and iv) installed on the jig frame and fastening each of the plurality of sockets to the socket coupling member. It may include a joint alignment unit that aligns a plurality of joint members along a set direction, and v) a joint pick-up unit that is movably installed in the jig frame in multi-axis directions and clamps and unclamps the plurality of joint members. .

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the fastening robot couples the socket coupling member to one of the plurality of sockets in a horizontal direction, and is coupled to one of the plurality of sockets The socket coupling member may be separated in a horizontal direction.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the joint pick-up unit clamps one of the plurality of joint members aligned with the joint aligning unit, and the socket coupling member coupled to each other One of the plurality of joint members may be coupled to one of the plurality of sockets in a vertical direction and unclamping may be performed.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the joint pick-up unit clamps one of the plurality of joint members fastened to the socket coupling member and one of the plurality of sockets, One of the plurality of joint members may be separated from the socket coupling member and one of the plurality of sockets, one of the plurality of joint members may be unclamped, and the joint alignment unit may be loaded.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the socket coupling member is integrally formed with a block-shaped socket coupling projection fixed to the driving end of the at least one nut runner and the socket coupling projection It may include at least one socket coupling boss formed.

In addition, in the nut runner socket exchanging device according to an embodiment of the present invention, the at least one socket coupling boss portion may be respectively disposed on both sides of the socket coupling protrusion with the socket coupling protrusion interposed therebetween.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, each of the plurality of sockets is formed integrally with the socket body and the socket body, and the runner coupling protrusion coupled with the socket coupling protrusion and at least one pair of runner coupling bosses integrally formed with the runner coupling protrusion and respectively disposed above and below the runner coupling boss so that the at least one socket coupling boss is coupled therebetween.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, joint coupling holes may be formed in the at least one socket coupling boss portion and the at least one pair of runner coupling boss portions, respectively.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, a runner coupling groove opened in a horizontal direction may be formed in the runner coupling protrusion.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the socket coupling protrusion may be coupled to the coupling groove in a horizontal direction.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the at least one socket coupling boss portion may be coupled between the at least one pair of runner coupling boss portions in a horizontal direction.

In addition, in the nut runner socket exchanging device according to an embodiment of the present invention, the at least one pair of runner coupling bosses may be respectively disposed on upper and lower portions of both sides of the runner coupling protrusion with the runner coupling protrusion interposed therebetween.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the socket alignment unit includes a rotary table rotatably installed on a base frame spaced apart from an upper surface of the jig frame in an upward direction, and the base It may include a servo motor installed on a lower surface of the frame and connected to the rotation table, a plurality of support blocks radially disposed on the rotation table, and a socket clamper installed on each of the plurality of support blocks. .

In addition, in the nut runner socket exchanging device according to an embodiment of the present invention, the socket clamper may prevent movement of the plurality of sockets in a horizontal direction while permitting movement of the plurality of sockets in a vertical direction.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the joint alignment unit is fixed to a base frame disposed to be spaced apart from the upper surface of the jig frame in an upward direction, and the plurality of joint members are fitted A joint alignment block having a plurality of alignment grooves may be included.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, each of the plurality of joint members is integrally connected to a head portion supporting an upper surface of the joint alignment block and the head portion, and the plurality of joint members are integrally connected to the head portion. It may include a shank portion fitted into the alignment grooves of the.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the at least one pair of runner coupling bosses may include a ball coupling groove formed along an inner circumferential direction on an inner circumferential surface of the joined coupling hole.

In addition, in the nut runner socket exchanging device according to an embodiment of the present invention, the plurality of joint members may further include a plurality of balls coupled to the ball coupling groove by an elastic force of a spring.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the joint pick-up unit includes a first guide rail member disposed on an upper surface of the jig frame along a direction in which the plurality of joint members are aligned, and the first 1 connected to a first driving unit installed on a guide rail member, a first moving member slidably coupled to the first guide rail member, and a second guide rail member disposed on the first moving member in a vertical direction; It may include a second movable member connected to a second driving unit installed on the second guide rail member and slidably coupled to the second guide rail member, and a joint gripper installed on the second movable member.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the joint gripper is connected to the gripper cylinder installed on the second movable member, and may be moved in a direction away from or closer to each other.

In addition, in the nut runner socket exchange device according to an embodiment of the present invention, the joint pick-up unit is a first guide rail member disposed along a direction perpendicular to the alignment direction of the plurality of joint members on the upper surface of the jig frame And, a first moving member connected to a first driving unit installed on the first guide rail member and slidably coupled to the first guide rail member, and an alignment direction of the plurality of joint members to the first moving member. A second guide rail member disposed along, a second moving member connected to a second driving unit installed on the second guide rail member, and coupled to the second guide rail member in a sliding manner, and A third guide rail member disposed in the vertical direction, a third moving member connected to a third driving unit installed on the third guide rail member, and coupled to the third guide rail member in a sliding manner, the third movement member A joint gripper installed on the member may be included.

In addition, in the nut runner socket exchanging device according to an embodiment of the present invention, the joint gripper is connected to the gripper cylinder installed on the third movable member, and may be moved in a direction away from or closer to each other.

Embodiments of the present invention can automatically replace sockets of nut runners for fixing fastening members of different sizes according to the specifications of parts to be assembled, thereby reducing cycle time for assembling parts to be assembled with fastening members. Accordingly, it is possible to further improve part assembly productivity.

In addition, effects that can be obtained or predicted due to the embodiments of the present invention will be directly or implicitly disclosed in the detailed description of the embodiments of the present invention. That is, various effects expected according to an embodiment of the present invention will be disclosed within the detailed description to be described later.

Since these drawings are for reference in explaining exemplary embodiments of the present invention, the technical idea of the present invention should not be construed as being limited to the accompanying drawings.
1 is a perspective view showing a nut runner socket exchange device according to an embodiment of the present invention.
Figure 2 is a perspective view showing a socket coupling member applied to the nut runner socket exchange device according to an embodiment of the present invention.
3 is a perspective view showing a socket applied to a nut runner socket exchange device according to an embodiment of the present invention.
4 and 5 are views showing a socket alignment unit applied to a nut runner socket exchange device according to an embodiment of the present invention.
6 is a view showing a joint alignment unit applied to a nut runner socket exchange device according to an embodiment of the present invention.
7 is a view showing a joint pickup unit applied to a nut runner socket exchange device according to an embodiment of the present invention.
8 to 13 are views for explaining the operation and operation of the nut runner socket exchange device according to an embodiment of the present invention.
14 is a view schematically illustrating a modified example of a socket coupling member and a socket fastening structure applied to a nut runner socket exchange device according to an embodiment of the present invention.
15 is a view showing a modified example of a joint pickup unit applied to a nut runner socket exchange device according to an embodiment of the present invention.
It should be understood that the drawings referenced above are not necessarily drawn to scale, and present rather simplified representations of various preferred features illustrating the basic principles of the present invention. The specific design features of the present invention, including, for example, specific dimensions, orientation, location, and shape, will be determined in part by the specific intended application and environment of use.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein.

The terminology used herein is for the purpose of describing specific embodiments and is not intended to limit the present invention. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly dictates otherwise. The terms 'comprise' and/or 'comprising' as used herein indicate the presence of specified features, integers, steps, operations, elements and/or components, but not one or more other features, integers, steps, or steps. It should also be understood that does not exclude the presence or addition of s, operations, components, and/or groups thereof.

As used herein, the term "and/or" includes any one or all combinations of one or more of the associated listed items. And, as used herein, the term 'coupled' indicates a physical relationship between two components in which the components are directly connected to each other or indirectly connected through one or more intermediate components.

“Vehicle”, “vehicle”, “automotive vehicle” or other similar terms as used herein generally refers to passenger vehicles including sports cars, sport utility vehicles (SUVs), buses, trucks, automobiles including various commercial vehicles. (passenger automobiles), including hybrid vehicles, electric vehicles, hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (eg, fuels derived from resources other than petroleum).

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a nut runner socket exchange device according to an embodiment of the present invention.

Referring to FIG. 1 , the nut runner socket exchanging device 100 according to an embodiment of the present invention may be applied to a design part assembly process of assembling various design parts among automobile assembly processes.

Furthermore, the nut runner socket exchanging device 100 according to an embodiment of the present invention may be applied to a process of assembling chassis design parts such as an engine, a transmission, and a suspension in an automobile design part assembly process.

Furthermore, in the nut runner socket exchanging device 100 according to an embodiment of the present invention, in the process of assembling automotive design parts, parts to be fastened and related parts of chassis design parts (hereinafter referred to as parts to be assembled for convenience) are coupled with bolts. It can be applied to a process of fastening with a fastening member (not shown) such as a nut.

As described above, it should not be understood that the scope of protection of the present invention is limited to the process of fastening automotive chassis design parts, and the technical concept of the present invention can be applied to any process of fastening various structures through fastening members.

Conventionally, in the art, the transport direction (front and rear direction) of the vehicle body is referred to as the T direction, the vehicle width direction (left and right direction) as the L direction, and the vehicle body height direction (vertical direction) as the H direction. However, in the embodiment of the present invention, the LTH direction as described above is not used as a reference, but the forward/backward, left/right, and up/down directions are used as a reference.

The definition of the direction as described above is a relative meaning, and since the direction may vary depending on the reference position of the device 100, the reference direction is not necessarily limited to the reference direction of the present embodiment.

Furthermore, in this specification, 'top', 'upper', 'top' or 'upper face' of a component indicates an end, portion, end, or face of a component that is relatively upper in the drawing, and a component The 'lower end', 'bottom', 'lower end' or 'lower face' of represents the end, portion, end, or face of a component that is relatively lower in the drawing.

In addition, in this specification, an end of a component (eg, one end or another end) indicates an end of a component in any one direction, and an end of the component (eg, one end or another end) etc.) denotes a portion of the component including its end.

Meanwhile, in the nut runner socket exchanging device 100 according to an embodiment of the present invention, a fastening member may be fastened to a component to be assembled using the nut runner 1 in an automobile design component assembly process.

In the above, the nut runner 1 is also referred to as a bolt runner in the art, and a socket 3 configured to fix a fastening member may be mounted or detached from the nut runner 1. Since this nut runner 1 rotates the socket 3 to which the fastening member is fixed by the driving force of the motor, and is a power tool well known to those skilled in the art to fasten the fastening member to the part to be assembled, further detailed description herein will be omitted.

The nut runner socket exchange device 100 according to an embodiment of the present invention can automatically replace the socket 3 of the nut runner 1 to fix fastening members of different sizes according to the specifications of the parts to be assembled. It consists of a structure with

To this end, the nut runner socket exchange device 100 according to an embodiment of the present invention basically includes a fastening robot 10, a socket coupling member 20, a jig frame 30, a socket alignment unit 40, and a joint alignment It is configured to include a unit 60 and a joint pickup unit 70, which will be described for each configuration as follows.

In an embodiment of the present invention, the fastening robot 10 is a handling robot designed to fasten parts to be assembled with fastening members, and is installed on the floor of a process workshop. The fastening robot 10 may operate as a robot along a set teaching path within a working radius. That is, the fastening robot 10 is controlled by a robot controller (not shown), and can operate with a torque set by the robot controller.

The fastening robot 10 may move the robot arm 11 along the set teaching path and apply the set force along the teaching path through the robot arm 11 . For example, the fastening robot 10 has a force control (compliance control) and attitude control function capable of applying a set force in a direction set by a robot controller, a position detection function of a tool center point, etc. It can be equipped with a multi-joint robot with 6 axes or more.

Since the fastening robot 10 as described above is composed of an articulated robot well known to those skilled in the art, further detailed description will be omitted.

Here, at least one nut runner 1 is mounted on the end of the robot arm 11 of the fastening robot 10 . The at least one nut runner (1) includes a drive end (5) capable of attaching and detaching the socket (3). The drive end 5 may be rotated in a forward and reverse direction by a driving force of a motor.

Figure 2 is a perspective view showing a socket coupling member applied to the nut runner socket exchange device according to an embodiment of the present invention.

Referring to FIGS. 1 and 2 , the socket coupling member 20 according to an embodiment of the present invention is coupled to a socket 3 to be described later. The socket engaging member (20) is fixed to the drive end (5) of the at least one nut runner (1). The socket coupling member 20 includes socket coupling protrusions 21 and at least one socket coupling boss 23 connected to each other (integrally).

The socket coupling protrusion 21 is fixed to the driving end 5 of the at least one nut runner 1, and may be provided in a block shape, for example.

The at least one socket coupling boss 23 is integrally formed with the socket coupling protrusion 21 . The at least one socket coupling boss portion 23 may be respectively disposed on both sides of the socket coupling protrusion portion 21 . Here, a first joint fastening hole 27 is formed in the at least one socket coupling boss portion 23 along a vertical direction based on the drawing.

Referring to FIG. 1 , the jig frame 30 according to an embodiment of the present invention is for mounting various components to be described below and is installed on the floor of a process workshop. The jig frame 30 may be provided as a single frame or a process frame in which two or more frames are connected.

The jig frame 30 may include accessory elements such as various brackets, support blocks, plates, housings, covers, and collars. Since the above-mentioned accessory elements are for installing various components to be described below on the jig frame 30, in the embodiment of the present invention, the above-mentioned accessory elements are collectively referred to as the jig frame 30 except for exceptional cases.

Here, the jig frame 30 includes a base frame 33 disposed to be spaced apart in an upward direction through a plurality of supports 31 on its upper surface. The base frame 33 may include a single base plate or a frame in which two or more base plates are combined.

Referring to FIG. 1 , the socket aligning unit 40 according to an embodiment of the present invention is configured to align a plurality of sockets 3 having different sizes to fix fastening members of different sizes. The socket alignment unit 40 is installed on the base frame 33 of the jig frame 30 .

On the other hand, as described above, each of the plurality of sockets 3 having different sizes, as shown in FIG. 3, includes a socket body 41, a runner coupling protrusion 42, and at least one pair of runner couplings. Bosses 43 are included.

The socket body 41 is a part to which the coupling member is coupled and fixed, and forms a fixing groove (not shown) into which the coupling member is inserted and fixed.

The runner coupling protrusion 42 is coupled with the socket coupling protrusion 21 of the socket coupling member 20 . The runner coupling protrusion 42 is integrally formed on the upper portion of the socket body portion 41 .

In one example, the runner coupling protrusion 42 is provided in a substantially C shape, and the runner coupling protrusion 42 has a runner coupling groove 44 opened in a horizontal direction (left and right direction with reference to the drawing) is formed Here, the socket coupling protrusion 21 of the socket coupling member 20 may be coupled to the runner coupling groove 44 in a horizontal direction.

Also, the at least one pair of runner coupling boss portions 43 are integrally formed with the runner coupling protrusion 42 . The at least one pair of runner coupling bosses 43 are respectively disposed above and below the runner coupling protrusion 42 so that at least one socket coupling boss portion 23 of the socket coupling member 20 is coupled therebetween.

Here, in one example, the at least one pair of runner coupling boss portions 43 may be disposed on upper and lower portions of both sides of the runner coupling protrusion 42 interposed therebetween. Furthermore, at least one socket coupling boss portion 23 of the socket coupling member 20 as described above may be coupled between at least one pair of runner coupling boss portions 43 in a horizontal direction. Furthermore, based on the drawing, second joint fastening holes 45 are formed in the at least one pair of runner coupling boss portions 43 along the vertical direction.

The second joint fastening hole 45 has at least one socket coupling boss portion in a state where the at least one socket coupling boss portion 23 is horizontally coupled between the at least one pair of runner coupling boss portions 43. It is connected to the first joint fastening hole 27 of (23) in the vertical direction (up and down vertical direction).

4 and 5 are views showing a socket alignment unit applied to a nut runner socket exchange device according to an embodiment of the present invention.

4 and 5 together with FIG. 1 , the socket aligning unit 40 according to an embodiment of the present invention includes a rotation table 47, a first servo motor 49, a plurality of support blocks ( 51), and a socket clamper 53.

The rotation table 47 is provided in the shape of a disc and is rotatably installed on the base frame 33 of the jig frame 30 .

The first servo motor 49 is a driving unit configured to provide rotational driving force to the rotation table 47, and is installed on the lower surface of the base frame 33 and is connected to the rotation table 47. The first servo motor 49 may be connected to the rotary table 47 through a motor shaft 49a. The first servo motor 49 may be provided with a servo motor of known technology capable of servo control of rotation speed and rotation direction.

The plurality of support blocks 51 are provided at the edge of the rotation table 47 and are radially arranged.

And, the socket clamper 53 clamps (fixes) each socket body part 41 of the plurality of sockets 3 . The socket clamper 53 is installed on each of the plurality of support blocks 51 . Here, the socket clamper 53 can prevent the movement of the plurality of sockets 3 in the horizontal direction while allowing the movement in the vertical direction.

Referring to FIG. 1 , the joint aligning unit 60 according to an embodiment of the present invention includes a plurality of joints configured to fasten each of the socket coupling member 20 and the plurality of sockets 3 as described above. It is adapted to align the members 61 along a set direction. The joint alignment unit 60 is installed on the base frame 33 of the jig frame 30 .

On the other hand, each of the plurality of joint members 61 as described above has a head portion 62 and a shank portion integrally connected to the head portion 62 having an outer diameter smaller than the outer diameter of the head portion 62 (63) is included.

6 is a view showing a joint alignment unit applied to a nut runner socket exchange device according to an embodiment of the present invention.

Referring to FIGS. 1 and 6 , the joint alignment unit 60 according to an embodiment of the present invention includes a joint alignment block 65 .

The joint alignment block 65 is provided in the form of a square block, fixed to the upper surface of the base frame 33, and disposed along the front-back direction. In the joint alignment block 65, a plurality of alignment grooves 67 into which the plurality of joint members 61 are inserted in the vertical direction are formed spaced apart from each other at set intervals along the front-back direction.

Here, each of the head portions 62 of the plurality of joint members 61 as described above supports the upper surface of the joint alignment block 65, and the shank portion 63 is fitted into the plurality of alignment grooves 67. can lose

Referring to FIGS. 1 and 6 , the joint pickup unit 70 according to the embodiment of the present invention clamps and unclamps each of a plurality of joint members 61 . The joint pickup unit 70 is installed on the jig frame 30 to be movable in multi-axis directions.

Here, the joint pick-up unit 70 may clamp one of the plurality of joint members 61 aligned to the joint align block 65 of the joint align unit 60 . The joint pick-up unit 70 can perform unclamping by fastening one of the plurality of joint members 61 to one of the socket coupling member 20 and the plurality of sockets 3 coupled to each other in the vertical direction. .

In addition, the joint pick-up unit 70 may clamp one of the plurality of joint members 61 fastened to the socket coupling member 20 and one of the plurality of sockets 3 . The joint pickup unit 70 may separate one of the plurality of joint members 61 from the socket coupling member 20 and one of the plurality of sockets 3 . The joint pickup unit 70 may unclamp one of the plurality of joint members 61 and load it into one of the plurality of alignment grooves 67 of the joint alignment block 65 .

7 is a view showing a joint pickup unit applied to a nut runner socket exchange device according to an embodiment of the present invention.

1, 6 and 7, the joint pickup unit 70 according to an embodiment of the present invention includes a first guide rail member 71, a first moving member 73, and a second guide rail member ( 75), a second moving member 77, and a joint gripper 79.

The first guide rail member 71 is disposed along the alignment direction of the plurality of joint members 61 on the upper surface of the jig frame 30 . That is, the first guide rail member 71 is installed on the upper surface of the jig frame 30 along the longitudinal direction of the joint alignment block 65 (the forward and backward direction when referring to the drawing).

The first movable member 73 is connected to the first driving unit 81 installed on the first guide rail member 71 and coupled to the first guide rail member 71 to be slidably movable along the front and rear directions.

In the above, the first driving unit 81 is configured to move the first moving member 73 in the forward and backward directions through the first guide rail member 71 . In one example, the first driving unit 81 may include a second servo motor 83 connected to the first moving member 73 . A lead screw (not shown) or a ball screw (not shown) is coupled to the motor shaft of the second servo motor 83, and the lead screw or ball screw can be screwed to the first moving member 73. there is.

The second guide rail member 75 is disposed on the first moving member 73 in the vertical direction. The second guide rail member 75 is fixedly installed to the first movable member 73 .

The second movable member 77 is connected to the second driving unit 85 installed on the second guide rail member 75 and is coupled to the second guide rail member 75 to be slidably movable along the vertical direction.

Here, the second driving unit 85 moves the second moving member 77 in the vertical direction through the second guide rail member 75 . In one example, the second driving unit 85 may include a third servo motor 87 connected to the second moving member 77 . A lead screw (not shown) or a ball screw (not shown) is coupled to the motor shaft of the third servo motor 87, and the lead screw or ball screw can be screwed to the second moving member 77. there is.

Also, the joint gripper 79 clamps and unclamps one of the plurality of joint members 61 . The joint gripper 79 is installed on the second movable member 77 .

In one example, the joint gripper 79 is provided as a pair and is connected to the gripper cylinder 89 installed on the second moving member 77, and moves away from each other by the forward and backward operation of the gripper cylinder 89. It is installed to be movable in the approaching direction. That is, the joint gripper 79 may clamp or unclamp one of the plurality of joint members 61 while moving in a direction away from or closer to each other by the forward and backward operation of the gripper cylinder 89 .

Hereinafter, the operation and operation of the nut runner socket exchange device 100 according to an embodiment of the present invention configured as described above will be described in detail with reference to FIGS. 1 to 7 and the accompanying drawings.

8 to 13 are views for explaining the operation and operation of the nut runner socket exchange device according to an embodiment of the present invention.

Referring to FIGS. 1 to 7 , first, a plurality of sockets 3 having different sizes corresponding to fastening members of different sizes are connected to the socket clampers of the plurality of support blocks 51 in the socket alignment unit 40. (53) is in the aligned state.

Here, one of the plurality of sockets 3 aligned with the socket clamper 53 is a socket exchange point (not shown) set while the rotary table 47 rotates in one direction by driving the first servo motor 49. not) is located.

Also, the plurality of joint members 61 are aligned in the plurality of alignment grooves 67 of the joint alignment block 65 of the joint alignment unit 60 along the front-back direction. At this time, each shank portion 63 of the plurality of joint members 61 is in a state of being vertically fitted into the plurality of alignment grooves 67, and the head portion 62 is the upper surface of the joint alignment block 65 is supporting

Furthermore, at least one nut runner 1 is mounted on the end of the robot arm 11 of the fastening robot 10, and the socket coupling member 20 is fixed to the driving end 5 of the nut runner 1. has been

In this state, in the embodiment of the present invention, as shown in FIG. 8 , the first moving member 73 of the joint pick-up unit 70 is driven by the first driving unit 81 to the first guide rail member ( 71) to the side of the joint alignment block 65.

Then, in the embodiment of the present invention, in a state in which the second moving member 77 is moved upward along the second guide rail member 75 by the driving of the second driving unit 85, the second driving unit 85 ) moves the second moving member 77 downward along the second guide rail member 75 by the driving of .

Accordingly, the joint gripper 79 installed on the second movable member 77 is located on one of the plurality of joint members 61 arranged on the joint alignment block 65, and the joint gripper 79 is a gripper cylinder. They are in a state of being moved in directions away from each other by the driving of (89).

Next, in the embodiment of the present invention, by driving the gripper cylinder 89, the joint gripper 79 is moved in a direction closer to each other, and the head portion 62 of one of the plurality of joint members 61 is clamped. do.

In this state, in the embodiment of the present invention, as shown in FIG. 9 , the second moving member 77 is moved upward along the second guide rail member 75 again by the driving of the second driving unit 85. move

Then, in the embodiment of the present invention, the first moving member 73 is moved toward the socket aligning unit 40 along the first guide rail member 71 by driving the first driving unit 81 .

Next, in the embodiment of the present invention, the socket coupling member 20 is located at a set socket exchange point among the plurality of sockets 3 arranged in the socket alignment unit 40 by the robot operation of the fastening robot 10. join one horizontally.

Specifically, as shown in FIG. 10, in an embodiment of the present invention, the socket coupling member 20 fixed to the drive end 5 of at least one nut runner 1 is coupled to the fastening robot 10. ) is moved in the horizontal direction for the robot operation, and the socket coupling protrusion 21 of the socket coupling member 20 is coupled to one runner coupling protrusion 42 of the plurality of sockets 3.

At the same time, at least one socket coupling boss portion 23 of the socket coupling member 20 is coupled between at least one pair of runner coupling boss portions 43 of one of the plurality of sockets 3 in the horizontal direction. .

Here, the first joint coupling hole 27 of the at least one socket coupling boss portion 23 and the second joint coupling hole 45 of the at least one pair of runner coupling boss portions 43 are vertically connected.

Next, in the embodiment of the present invention, the second moving member 77 is moved downward along the second guide rail member 75 by the driving of the second driving unit 85 .

Then, in the embodiment of the present invention, as shown in FIG. 11, one of the plurality of joint members 61 clamped to the joint gripper 79 has a first joint fastening hole 27 and a second joint fastening hole. 45 in the vertical direction, and at least one socket coupling boss portion 23 coupled to each other and at least one pair of runner coupling boss portions 43 of one of the plurality of sockets 3 are fastened.

Subsequently, in the embodiment of the present invention, the joint gripper 79 is moved in a direction away from each other by driving the gripper cylinder 89, and the head portion 62 of one of the plurality of joint members 61 is unclamped. .

Then, in the embodiment of the present invention, the second moving member 77 is moved upward along the second guide rail member 75 by the driving of the second driving unit 85, and the second moving member 77 The joint gripper 79 is moved upward through

Next, in the embodiment of the present invention, at least one nut runner 1 is moved upward by the robot operation of the fastening robot 10, and one of the plurality of sockets 3 is attached to the socket coupling member 20 Since is coupled, one of the plurality of sockets 3 also moves upward while being separated from the socket clamper 53.

In this state, among the above-described processes, a series of processes of the joint pick-up unit 70 are repeated, and another one of the plurality of joint members 61 is clamped through the joint gripper 79 .

Then, in the embodiment of the present invention, at least one nut runner 1 is moved downward by the robot operation of the fastening robot 10, and the plurality of sockets 3 coupled with the socket coupling member 20 One of them is coupled to the socket clamper (53).

Subsequently, in the embodiment of the present invention, as shown in FIG. 12, in a state in which the drive end 5 of the at least one nut runner 1 is rotated in one direction, the joint pick-up unit 70 as described above Repeat the series of steps.

Then, in the embodiment of the present invention, as shown in FIG. 13 , the other one of the plurality of joint members 61 is connected to the first joint fastening hole 27 of the at least one socket coupling boss 23 and at least one joint member 61 . It is inserted into the second joint fastening hole 45 of the pair of runner coupling boss portions 43, and at least one pair of at least one socket coupling boss portion 23 coupled to each other and one of the plurality of sockets 3 Fasten the runner coupling boss part 43.

Even during this process, in the embodiment of the present invention, the joint gripper 79 is moved in a direction away from each other by driving the gripper cylinder 89, and the head portion 62 of the other one of the plurality of joint members 61 is unmoved. clamping.

Then, in the embodiment of the present invention, the second moving member 77 is moved upward along the second guide rail member 75 by the driving of the second driving unit 85, and the second moving member 77 The joint gripper 79 is moved upward through

Therefore, in the embodiment of the present invention, in a state in which the socket coupling member 20 and one of the plurality of sockets 3 are fastened to two of the plurality of joint members 61 as described above, the fastening robot 10 At least one nut runner 1 is moved upward by the robot operation of , and one of the plurality of sockets 3 is separated from the socket clamper 53 and moved to a component to be assembled.

Thus, in the embodiment of the present invention, the driving end 5 is rotated in one direction by driving the nut runner 1 while the fastening member is fixed to one of the plurality of sockets 3 . Then, in the embodiment of the present invention, as one of the plurality of sockets 3 coupled to the socket coupling member 20 is rotated by the driving end 5, the fastening member is fastened to the component to be assembled.

On the other hand, in order to fasten the parts to be assembled with fastening members of different sizes, in the embodiment of the present invention, the socket coupling member 20 and the plurality of joint members 61 are attached to the drive end 5 of the nut runner 1 One of the plurality of sockets (3) fastened by one of them can be replaced with another one.

First, in an embodiment of the present invention, one and the other of the plurality of joint members 61 fastened to one of the socket coupling member 20 and the plurality of sockets 3 are coupled to the joint pickup unit 70 as described above. ) to clamp.

Next, in an embodiment of the present invention, one and the other of the plurality of joint members 61 are separated from the socket coupling member 20 and one of the plurality of sockets 3 by the joint pick-up unit 70. .

Then, in the embodiment of the present invention, one and the other of the plurality of joint members 61 are unclamped by the joint pick-up unit 70, and among the plurality of alignment grooves 67 of the joint alignment block 65 Loading into one and the other.

Then, in the embodiment of the present invention, the socket coupling member 20 coupled to one of the plurality of sockets 3 is separated in the horizontal direction by the robot operation of the fastening robot 10 .

Finally, in the embodiment of the present invention, another socket 3 having a different size among the plurality of sockets 3 and the socket coupling member 20 are connected to a plurality of joint members ( 61), it is possible to replace (mount and detach) the plurality of sockets 3 from the nut runner 1.

14 is a view schematically illustrating a modified example of a socket coupling member and a socket fastening structure applied to a nut runner socket exchange device according to an embodiment of the present invention.

Referring to FIG. 14 , according to a modified example of the socket coupling member 20 and the socket 3 coupling structure according to an embodiment of the present invention, at least one pair of runner coupling boss portions 43 of the plurality of sockets 3 ) includes a ball coupling groove 91 formed along the inner circumferential direction on the inner circumferential surface of the second joint fastening hole 45.

Furthermore, the plurality of joint members 61 include a plurality of balls 95 coupled to the ball coupling groove 91 by the elastic force of the spring 93 .

Here, the plurality of balls 95 may be installed to partially protrude from the outer circumferential surface of the plurality of joint members 61 while being supported by the spring 93 installed inside the plurality of joint members 61. there is. Since the coupling structure of the plurality of balls 95 is well known to those skilled in the art, a detailed description thereof will be omitted herein.

Therefore, in this modified example, the plurality of joint members 61 are coupled to the first joint fastening hole 27 of the at least one socket coupling boss portion 23 and the second joint of the at least one pair of runner coupling boss portions 43. In the process of being inserted into the fastening hole 45, the plurality of balls 95 are coupled to the ball coupling groove 91 and at least one socket coupling boss 23 and one of the plurality of sockets 3 are coupled to each other. At least one pair of runner coupling bosses 43 may be fastened with a strong fastening force.

According to the nut runner socket exchanging device 100 according to an embodiment of the present invention as described so far, the socket 3 of the nut runner 1 is to fix fastening members of different sizes according to the specifications of the parts to be assembled. ) can be automatically replaced.

Therefore, in the embodiment of the present invention, the cycle time for assembling the parts to be assembled into the fastening member can be reduced, and thus the productivity of parts assembling can be further improved.

15 is a view showing a modified example of a joint pickup unit applied to a nut runner socket exchange device according to an embodiment of the present invention. In the drawings, the same reference numerals are assigned to the same components as those of the previous embodiment.

Referring to FIG. 15 , in a modified example, the joint pickup unit 170 according to an embodiment of the present invention may be installed on the jig frame 30 to be movable in multi-axis directions (eg, 3-axis directions).

The joint pickup unit 170 according to this modified example includes a first guide rail member 101, a first moving member 103, a second guide rail member 105, a second moving member 107, and a third guide. It includes a rail member 109, a third movable member 111, and a joint gripper 113.

The first guide rail member 101 is disposed along a direction perpendicular to the alignment direction of the plurality of joint members 61 on the upper surface of the jig frame 30 . That is, the first guide rail member 101 is formed on the upper surface of the jig frame 30 in a direction perpendicular to the longitudinal direction (front and rear directions when referring to the drawings) of the joint alignment block 65 (left and right directions when referring to the drawings). ) is installed according to

The first movable member 103 is connected to the first driving unit 121 installed on the first guide rail member 101 and coupled to the first guide rail member 101 to be slidably movable along the left and right directions.

In the above, the first driving unit 121 moves the first moving member 103 in the left and right directions through the first guide rail member 101 . In one example, the first driving unit 121 may include a servo motor 122 connected to the first moving member 103 . A lead screw (not shown) or a ball screw (not shown) may be coupled to the motor shaft of the servo motor 122 , and the lead screw or ball screw may be screwed to the first moving member 103 .

The second guide rail member 105 is disposed along the alignment direction of the plurality of joint members 61 to the first moving member 103 . That is, the second guide rail member 105 is installed on the upper surface of the jig frame 30 along the longitudinal direction of the joint alignment block 65 (front and rear directions when referring to the drawings).

The second movable member 107 is connected to the second driving unit 123 installed on the second guide rail member 105 and coupled to the second guide rail member 105 to be slidably movable along the front and rear directions.

In the above, the second driving unit 123 is configured to move the second moving member 107 in the forward and backward direction through the second guide rail member 105 . In one example, the second driving unit 123 may include a servo motor 124 connected to the second moving member 107 . A lead screw (not shown) or a ball screw (not shown) may be coupled to the motor shaft of the servo motor 124 , and the lead screw or ball screw may be screwed to the second moving member 107 .

The third guide rail member 109 is vertically disposed on the second moving member 107 . The third guide rail member 109 is fixedly installed to the second movable member 107 .

The third movable member 111 is connected to the third driving unit 125 installed on the third guide rail member 109 and coupled to the third guide rail member 109 to be slidably movable along the vertical direction.

Here, the third driving unit 125 moves the third moving member 111 in the vertical direction through the third guide rail member 109 . In one example, the third driving unit 125 may include a servo motor 126 connected to the third moving member 111 . A lead screw (not shown) or a ball screw (not shown) may be coupled to the motor shaft of the servo motor 126 , and the lead screw or ball screw may be screwed to the third moving member 111 .

Also, the joint gripper 113 clamps and unclamps one of the plurality of joint members 61 . The joint gripper 113 is installed on the third movable member 111 .

In one example, the joint gripper 113 is provided as a pair and is connected to the gripper cylinder 131 installed on the third moving member 111, and moves away from each other by the forward and backward operation of the gripper cylinder 131. It is installed so as to be movable in the approaching direction. That is, the joint gripper 113 may clamp or unclamp one of the plurality of joint members 61 while moving in a direction away from or closer to each other by the forward and backward operation of the gripper cylinder 131 .

Accordingly, the joint pick-up unit 170 according to the modified example configured as described above may be moved in a multi-axis direction (eg, a 3-axis direction) on the jig frame 30 .

Although the embodiments of the present invention have been described above, the technical idea of the present invention is not limited to the embodiments presented in this specification, and those skilled in the art who understand the technical idea of the present invention can configure within the scope of the same technical idea. Other embodiments can be easily proposed by adding, changing, deleting, or adding elements, but this will also fall within the scope of the present invention.

1: nut runner 3: socket
5: driving end 10: fastening robot
11: robot arm 20: socket coupling member
21: socket coupling protrusion 23: socket coupling boss
27: first joint fastening hole 30: jig frame
31: support 33: base frame
40: socket alignment unit 41: socket body
42: runner coupling protrusion 43: runner coupling boss
44: runner coupling groove 45: second joint coupling hole
47: rotary table 49: first servo motor
49a: motor shaft 51: support block
53: socket clamper 60: joint alignment unit
61: joint member 62: head portion
63: shank portion 65: joint alignment block
67 Alignment groove 70 Joint pickup unit
71: first guide rail member 73: first moving member
75: second guide rail member 77: second moving member
79: joint gripper 81: first driving unit
83: second servo motor 85: second driving unit
87: third servo motor 89: gripper cylinder
91: ball coupling groove 93: spring
95: ball 100: nut runner socket exchange device

Claims (20)

a fastening robot equipped with at least one nut runner at the front end of the robot arm;
a socket coupling member fixed to the driving end of the at least one nut runner;
A socket alignment unit installed on the jig frame to align a plurality of sockets having different sizes;
a joint aligning unit installed on the jig frame and aligning a plurality of joint members coupled to the socket coupling member and each of the plurality of sockets along a set direction; and
a joint pick-up unit installed on the jig frame to be movable in multi-axis directions and clamping and unclamping the plurality of joint members;
Nut runner socket exchange device comprising a. According to claim 1,
The fastening robot,
coupling the socket coupling member to one of the plurality of sockets in a horizontal direction;
A nut runner socket exchange device for horizontally separating the socket coupling member coupled to one of the plurality of sockets. According to claim 1,
The joint pickup unit,
clamping one of the plurality of joint members aligned with the joint alignment unit;
A nut runner socket exchange device for fastening and unclamping one of the plurality of joint members to one of the socket coupling member and the plurality of sockets coupled to each other in a vertical direction. According to claim 3,
The joint pickup unit,
clamping one of the plurality of joint members fastened to the socket coupling member and one of the plurality of sockets;
Separating one of the plurality of joint members from the socket coupling member and one of the plurality of sockets;
A nut runner socket exchange device for unclamping one of the plurality of joint members and loading the joint alignment unit. According to claim 1,
The socket coupling member,
A block-shaped socket coupling protrusion fixed to the drive end of the at least one nut runner;
At least one socket coupling boss portion integrally formed with the socket coupling protrusion
Nut runner socket exchange device comprising a. According to claim 5,
The at least one socket coupling boss portion,
A nut runner socket exchange device disposed on both sides of the socket coupling protrusion interposed therebetween. According to claim 5,
Each of the plurality of sockets,
a socket body,
a runner coupling protrusion integrally formed with the socket body portion and coupled with the socket coupling protrusion;
at least one pair of runner coupling bosses integrally formed with the runner coupling protrusion and respectively disposed on upper and lower portions of the runner coupling boss portion so that the at least one socket coupling boss portion is coupled therebetween;
Nut runner socket exchange device comprising a. According to claim 7,
The nut runner socket exchange device wherein joint fastening holes are formed in the at least one socket coupling boss portion and the at least one pair of runner coupling boss portions, respectively. According to claim 7,
A runner coupling groove open in a horizontal direction is formed on the runner coupling protrusion,
The socket coupling protrusion is coupled to the coupling groove in a horizontal direction nut runner socket exchange device. According to claim 7,
The at least one socket coupling boss portion,
A nut runner socket exchange device coupled in a horizontal direction between the at least one pair of runner coupling boss portions. According to claim 7,
The at least one pair of runner coupling bosses,
A nut runner socket exchange device disposed on the upper and lower portions of both sides of the runner coupling protrusion between them. According to claim 1,
The socket alignment unit,
A rotary table rotatably installed on a base frame spaced apart from the upper surface of the jig frame in an upward direction;
A servo motor installed on the lower surface of the base frame and connected to the rotary table;
A plurality of support blocks radially disposed on the rotary table;
Socket clampers installed on each of the plurality of support blocks
Nut runner socket exchange device comprising a. According to claim 12,
The socket clamper,
A nut runner socket exchange device that blocks movement of the plurality of sockets in a horizontal direction while allowing movement in a vertical direction. According to claim 1,
The joint alignment unit,
A joint alignment block fixed to a base frame spaced apart from the upper surface of the jig frame in an upward direction and having a plurality of alignment grooves into which the plurality of joint members are inserted.
Nut runner socket exchange device comprising a. According to claim 14,
Each of the plurality of joint members,
a head portion supporting an upper surface of the joint alignment block;
A shank portion integrally connected to the head portion and fitted into the plurality of alignment grooves
Nut runner socket exchange device comprising a. According to claim 8,
The at least one pair of runner coupling bosses include a ball coupling groove formed along an inner circumferential direction on an inner circumferential surface of the joint coupling hole,
The plurality of joint members further include a plurality of balls coupled to the ball coupling groove by an elastic force of a spring. According to claim 1,
The joint pickup unit,
A first guide rail member disposed on the upper surface of the jig frame along the alignment direction of the plurality of joint members;
A first moving member connected to a first driving unit installed on the first guide rail member and coupled to the first guide rail member in a sliding manner;
A second guide rail member disposed in the vertical direction on the first moving member;
A second movable member connected to a second driving unit installed on the second guide rail member and slidably coupled to the second guide rail member;
Joint gripper installed on the second moving member
Nut runner socket exchange device comprising a. According to claim 17,
The joint gripper,
A nut runner socket exchange device that is connected to the gripper cylinder installed on the second moving member and moves in a direction away from or closer to each other. According to claim 1,
The joint pickup unit,
A first guide rail member disposed on the upper surface of the jig frame along a direction perpendicular to the alignment direction of the plurality of joint members;
A first moving member connected to a first driving unit installed on the first guide rail member and slidably coupled to the first guide rail member;
a second guide rail member disposed along a direction in which the plurality of joint members are aligned with the first moving member;
A second movable member connected to a second driving unit installed on the second guide rail member and slidably coupled to the second guide rail member;
A third guide rail member disposed in the vertical direction on the second moving member;
A third moving member connected to a third driving unit installed on the third guide rail member and slidably coupled to the third guide rail member;
Joint gripper installed on the third movable member
Nut runner socket exchange device comprising a. According to claim 19,
The joint gripper,
A nut runner socket exchange device that is connected to the gripper cylinder installed on the third moving member and moves in a direction away from or closer to each other.

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