# US 11,027,376 B2 · Automatic plug mounting system for vehicle body > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,376 B2 - Document ID: US11027376B2 - Status: Granted - Kind: B2 - Application number: 16/394,206 - Filed: 2019-04-25 - Published: 2019-10-31 - Granted: 2021-06-08 - Earliest claimed: 2018-04-26 - Assignees: Hyundai Motor Company; Kia Motors Corporation - Applicants: Hyundai Motor Company; Kia Motors Corporation - Inventors: Sangkyu Park - Web page: https://patentgrep.com/patent/US11027376B2 ## CPC - B23P 19/02: for connecting objects by press fit or for detaching same (B23P19/10 takes precedence) - B23P 19/002: {orientating the articles} - B23P 19/12: Alignment of parts for insertion into bores - B25J 11/005: {Manipulators for mechanical processing tasks} - B25J 15/0033: {with gripping surfaces having special shapes} - B25J 15/0057: {mounted on a turret} - B62D 25/24: Superstructure sub-units with access {or drainage} openings having movable or removable closures; {Sealing means therefor}(inlet covers for vehicle fuel tanks B60K15/05) - B23P 2700/50: Other automobile vehicle parts, i.e. manufactured in assembly lines - B25J 19/021: {Optical sensing devices} - B23P: METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS (arrangements for copying or controlling B23Q) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract An automatic plug mounting system for a vehicle body is disclosed to automatically mount plugs into exhaust holes in the vehicle body being transferred along a transfer line. The automatic plug mounting system includes: a handling robot which operates along a teaching path set to correspond to the exhaust holes; and a plug mounting tool which is installed at an arm of the handling robot and, when a cylinder is actuated, places the plugs into the correct positions at the exhaust holes while at least one of the plugs is restrained. ## Claims ### Claim 1 An automatic plug mounting system for a vehicle body, which is for automatically mounting a plurality of plugs into exhaust holes in a vehicle body being transferred along a transfer line, the system comprising: a handling robot configured to operate along a teaching path set to correspond to the exhaust holes; and a plug mounting tool installed at an arm of the handling robot and configured to respectively place the plurality of plugs into corresponding positions at the exhaust holes by actuating a cylinder of the plug mounting tool while at least one of the plurality of plugs is restrained, wherein the handling robot is configured to apply a set torque to the plug mounting tool and the plug mounting tool is configured to mount the plurality of plugs restrained by the plug mounting tool into the exhaust holes by the torque applied by the handling robot. ### Claim 2 (depends on 1) The automatic plug mounting system of claim 1, wherein the plug mounting tool comprises a socket module configured to move forward and backward through a punch rod which operates when the cylinder is actuated. ### Claim 3 (depends on 2) The automatic plug mounting system of claim 2, wherein the socket module comprises a socket member which restrains a flange portion of a plug of the plurality of plugs by force-fitting. ### Claim 4 (depends on 3) The automatic plug mounting system of claim 3, wherein the socket member comes in and out of contact with a circumference of the exhaust holes in the vehicle body by an action of the handling robot, and is configured to reciprocate elastically along an axis of the punch rod. ### Claim 5 An automatic plug mounting system for a vehicle body, which is for automatically mounting a plurality of plugs into exhaust holes in a vehicle body being transferred along a transfer line in an upper section of a workplace, the system comprising: a handling robot configured to operate along a teaching path set to correspond to the exhaust holes; a base frame fixed to a front end of an arm of the handling robot; a mount frame connected to the base frame through a plurality of supports, at a given distance from the base frame; a driving motor fixed to the mount frame; a rotational frame connected to a drive axis of the driving motor; a plurality of punch rods configured to penetrate a circumference of the rotational frame and placed at given intervals along a rotational direction of the rotational frame; a socket module installed at a first end of a corresponding punch rod of the plurality of punch rods configured to penetrate the rotational frame, the socket module configured to reciprocate elastically along an axis of the corresponding punch rod of the plurality of punch rods; a balance spring portion fitted to the corresponding punch rod and placed between the rotational frame and a second end of the corresponding punch rod; and a driving cylinder fixed to the base frame and configured to push the second end of the corresponding punch rod through an actuating rod. ### Claim 6 (depends on 5) The automatic plug mounting system of claim 5, wherein the handling robot is slidably installed on a guide rail in a longitudinal direction of the vehicle body by a driving part on a floor of the workplace. ### Claim 7 (depends on 5) The automatic plug mounting system of claim 5, wherein rod guides are installed on the rotational frame and configured to receive the plurality of punch rods so as to guide strokes of the plurality of punch rods. ### Claim 8 (depends on 5) The automatic plug mounting system of claim 5, wherein the socket module comprises: a socket member fitted into the first end of the corresponding punch rod of the plurality of punch rods and configured to move along the axis of the corresponding punch rod and restrain a flange portion of a plug of the plurality of plugs by force-fitting; and a return spring installed at the first end of the corresponding punch rod and configured to exert an elastically repelling force to the socket member. ### Claim 9 (depends on 8) The automatic plug mounting system of claim 8, wherein a snap ring is installed at the first end of the corresponding punch rod and configured to support the return spring. ### Claim 10 (depends on 8) The automatic plug mounting system of claim 8, wherein a supporting member supporting the plug and the socket member is installed at the first end of the corresponding punch rod, wherein the supporting member comprises: a first portion supporting a center of the flange portion of the plug; and a second portion placed at a different elevation from the first portion and configured to support an inside bottom surface of the socket member and a circumference of the flange portion. ### Claim 11 (depends on 10) The automatic plug mounting system of claim 10, wherein the socket member is formed with a through-hole in the inside bottom surface through which the first end of the corresponding punch rod passes, a first supporting ridge supporting the second portion and a second supporting member supporting a circumferential edge of the flange portion of the plug are formed on an inside wall surface of the socket member. ### Claim 12 (depends on 5) The automatic plug mounting system of claim 5, wherein the balance spring portion comprises: a first spring supporting the second end of the corresponding punch rod; and a second spring having a higher elastic coefficient than the first spring and supporting the rotational frame. ### Claim 13 (depends on 5) The automatic plug mounting system of claim 5, wherein a pusher configured to push the second end of the corresponding punch rod is installed at a leading edge of the actuating rod. ### Claim 14 (depends on 5) The automatic plug mounting system of claim 5, wherein a vision sensor is installed on the base frame through a mounting bracket. ### Claim 15 An automatic plug mounting system for a vehicle body, which is for automatically mounting plugs into exhaust holes in a vehicle body being transferred along a transfer line, the system comprising: a handling robot configured to operate along a teaching path set to correspond to the exhaust holes; a plug mounting tool installed at an arm of the handling robot and configured to place the plugs into positions at the exhaust holes when a cylinder of the plug mounting tool is actuated, while at least one of the plugs is restrained, the plug mounting tool configured to mount the plugs to the exhaust holes by a set torque applied to the plug mounting tool by the handling robot; and a plug transfer unit configured to transfer plugs with different specifications fed through at least a pair of feeders to the plug mounting tool. ### Claim 16 (depends on 15) The automatic plug mounting system of claim 15, wherein the plug transfer unit comprises: a transfer frame; a plug pick-up cylinder which is installed on the transfer frame at a position corresponding to ends of feeding lines transferring the plugs fed from each feeder, the plug pick-up cylinder configured to pick up at least one of the plugs in an upward direction; a swivel member including a pick-up socket configured to restrain a flange portion of the at least one plug picked up by the plug pick-up cylinder by force-fitting, the swivel member rotatably installed on the transfer frame by a first actuator; a plug unloading cylinder installed on the swivel member and configured to unload the at least one plug restrained by the pick-up socket in a downward direction; and a rotating plate including a plurality of attachment members configured to load the at least one plug unloaded by the plug unloading cylinder, the rotating plate rotatably installed on the transfer frame by a second actuator. ### Claim 17 (depends on 16) The automatic plug mounting system of claim 16, wherein the plug pick-up cylinder comprises a pick-up punch installed at a leading edge of an actuating rod, the pick-up punch configured to pick up at least one of the plugs positioned below one of the feeding lines in an upward direction. ### Claim 18 (depends on 16) The automatic plug mounting system of claim 16, wherein the plug unloading cylinder comprises an unloading punch installed at a leading edge of an actuating rod penetrating the pick-up socket and configured to unload at least one of the plugs positioned above the plurality of attachment members. ### Claim 19 (depends on 16) The automatic plug mounting system of claim 16, wherein the plurality of attachment members includes an attachment surface corresponding to a shape of an insert portion of the plugs. ### Claim 20 (depends on 16) The automatic plug mounting system of claim 16, wherein the plug mounting tool comprises a socket member configured to restrain the flange portion of the at least one plug by force-fitting, and the handling robot moves the plug mounting tool toward the rotating plate and transfers the plugs loaded on the plurality of attachment members to the socket members by a set torque.