JP2013215865A - Fastening working device and method of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an efficient fastening working device that supports an accurate fastening work and also eliminates the need for an inspection process of a fastening position, and to provide a method of the same.SOLUTION: A fastening working device S includes: a measurement information acquisition unit 20 for acquiring fastening position information 405 being the information during actual fastening work and fastening condition information 402 from measurement devices 14 and 15; a position comparison determination unit 25 for determining whether a position of a fastening work is as instructed, by comparing the fastening position information 405 with instruction information 404 of the fastening position stored in an instruction information memory 1 beforehand just after or before the fastening work; a condition comparison determination unit 24 for determining whether the fastening work is performed as instructed, by comparing the fastening condition information 402 with the instruction informations 401 of the fastening condition stored in the instruction information memory 1 beforehand just after the fastening work; and a result information output unit 21 that outputs determination results 403, 406 of the fastening work.

Description

  The present invention relates to a fastening device and a method for fastening a screw in a product manufacturing process.

Conventionally, with regard to the fastening work of screw fastening of products, the function built in and attached to the fastening device is used to check the technology that supports the work that satisfies the preset fastening conditions and whether the fastening result satisfies the fastening conditions. The technology is well known.
As known examples of the prior art of these applications, there are Patent Documents 1 to 3.

  Patent Document 1 is a technique for assisting fastening work, and is a technique for providing a torque check of a torque driver of an automatic driver used for fastening (screw fastening) of a screw or bolt in a factory or the like with a small-scale device.

  Patent Document 2 is a technique for inspecting a fastening operation. After screw tightening (fastening), a screw tightening torque check is performed, and a mechanism for ejecting ink is installed, so that screw tightening that satisfies a set torque condition is performed. This is a technique for providing a torque driver that injects ink onto a screw fastening portion and applies a mark.

  Patent Document 3 is a technique for inspecting a fastening operation as in Patent Document 2, and is not affected by the variation in the depth of the cross hole of the screw head of the male screw and the vibration generated during the screw tightening operation. A screw fastening quality determination method and apparatus for inspecting an angle are described.

JP 2011-36958 A Japanese Patent Laid-Open No. 10-128678 JP-A-6-320357

  By the way, any of the conventional techniques is a technique specialized in determining the tightening torque and the tightening direction inclination as a fastening condition, and whether the fastening position is specified and the target fastening position (place) is appropriate. It cannot be determined. Accordingly, even when the fastening is performed at a place different from the place (place) where the fastening should be originally performed, if the fastening condition is satisfied, it is determined that the fastening operation is good, and there is a possibility of causing a fastening failure.

  As described above, in any of the techniques of Patent Documents 1 to 3 relating to the fastening work, in order to perform an accurate and reliable fastening work without an error in accordance with the fastening work instruction, the position of the fastening part and the position of the fastened part are determined. It was necessary to provide a separate inspection process, which was difficult to say efficient.

  SUMMARY OF THE INVENTION In order to solve the above-described problems, an object of the present invention is to provide an efficient fastening work apparatus and method that support accurate fastening work and eliminate the need for a fastening position inspection process.

  In order to achieve the above object, the present invention has work instruction information of the fastening position and the fastening condition stored in advance in the work instruction information storage unit, and measures the fastening position and the fastening condition immediately after or immediately before the fastening work. A fastening work device and method for supporting a fastening work by comparing a result of information and work instruction information.

  According to the present invention, it is possible to realize an efficient fastening work apparatus and method that support accurate fastening work and that do not require a fastening position inspection step.

It is a conceptual diagram of the specific structural example of the fastening operation | work apparatus of embodiment concerning this invention. It is a figure which shows an example of the system configuration | structure of the fastening work apparatus of embodiment. It is a figure which shows the example of the input screen in the fastening work apparatus of embodiment. It is a figure which shows the example of the setting instruction | indication screen of the reference point for calculating the front-end | tip coordinate of an electric driver. It is a figure which shows the example of the setting instruction | indication screen of the reference point at the time of setting the 2nd reference point. It is a figure which shows the example of the setting instruction | indication screen of the reference point at the time of setting the 3rd reference point. It is a figure which shows the example of the reset confirmation screen of a reference point. It is a figure which shows the example of a fastening work instruction | indication screen. It is a figure which shows the example of the fastening operation instruction | indication screen at the time of the process result of a driver torque value information comparison and determination part at the time of a pass determination. It is a figure which shows the example of the fastening operation instruction | indication screen when the process result of a driver tip coordinate information comparison / determination part is a pass determination. It is a figure which shows the example of the fastening work instruction | indication screen at the time of the process result of a driver torque value information comparison / determination part at the time of a failure determination. It is a figure which shows the example of the fastening operation instruction | indication screen at the time of the process result of a driver tip coordinate information comparison / determination part at the time of a failure determination. It is a figure which shows an example of the flowchart of the information processing of a fastening work apparatus.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 shows a conceptual diagram of a specific configuration example of a fastening work device according to an embodiment of the present invention.
The fastening work device S of the embodiment according to the present invention realizes simplification of a screw fastening work (fastening work) process in a product manufacturing process.
In particular, the fastening device S has many screw holes threaded in advance on the parts constituting the product 11, and performs various screw tightening operations on different screw holes for each product 11. Fits the case of manufacturing 11. It can be applied to other cases.

The operator 13 holds the electric screwdriver 5 and sequentially performs screw tightening (fastening) work on the parts to be screw tightened on the workbench 12 or the product 11 in the component assembly state according to information from the personal computer p1. Carry out.
The work table 12 is a work table on which the product 11 to be screwed is placed during the screw tightening operation.

The electric driver 5 is an electric tool used by the operator 13 for fastening (screw fastening) work.
The electric driver 5 is internally provided with a driver torque measuring device 14 (see FIG. 2) that measures torque during fastening (screw fastening).
The tip position of the electric driver 5 is appropriately measured by the driver tip coordinate measuring device 15. Examples of the driver tip coordinate measuring device 15 include a known three-dimensional measuring machine. The driver tip coordinate measuring device 15 (see FIG. 2) may be integrated with the electric driver 5.
The electric driver 5 is connected to a personal computer p1 for giving a work instruction for a fastening (screw fastening) work or obtaining actual measurement information of a result of the screw fastening (fastening) work.

  The personal computer p1 includes a CPU (Central Processing Unit) (not shown) and a memory such as a main storage device and an auxiliary storage device such as an HDD, and the operator 13 inputs an input to the personal computer p1. 13 is connected to an output device 6 such as a liquid crystal screen for viewing the information of the fastening operation.

In FIG. 2, an example of the system configuration | structure of the fastening work apparatus S of embodiment is shown.
A program for performing the fastening work device S is stored in the auxiliary storage device of the memory, and the CPU loads the program into the main storage device and executes it to control the fastening work device S (see FIG. 2). Each function of the information processing unit 9 shown in FIG.

The personal computer p1 has a product information database 1 in which screw tightening operation instruction information 3 is stored in advance via a network n1, a work performance database 2 in which screw tightening actual measurement information 4 at the time of fastening (screw tightening) is stored, It is connected to the.
The screw tightening operation instruction information 3 is instruction information at the time of screw tightening work such as the tip position of the electric screwdriver 5 at the time of screw tightening work and screw tightening torque.
The screw tightening actual measurement information 4 includes torque information of the electric driver 5 obtained from the driver torque measuring device 14, information on the tip position of the electric driver 5 obtained from the driver tip coordinate measuring device 15 (see FIG. 2), and the like. Yes.

The electric driver 5 and the barcode reader 8 are connected to the personal computer p1, and signals are transmitted and received between them.
The bar code reader 8 describes a bar code indicating product, model, and product number (product identification information), which is identification information of the product 11 when starting the fastening (screw fastening) operation of the product 11 on the work table 12. It is used to read the information in the bar code list 7 by product type. In other words, the product type bar code list 7 has information for calling the screw tightening instruction information 3 for each product type from the product information database 1, and the product number (1) of each product for identifying one product. Product identification information). The barcode may be one-dimensional as well as one-dimensional.

  The electric driver 5 receives the signal of the screw tightening operation instruction information 3 of the tightening torque (driver torque target value 401) from the personal computer p1 (information processing unit 9), and at the same time, the actual tightening torque (driver torque actual measured value of the screw tightening operation). 402) is transmitted to the personal computer p1 (information processing unit 9).

The driver tip coordinate measuring device 15 transmits a signal of actual measurement information of the tightening work position to the personal computer p1 (information processing unit 9).
When the bar code reader 8 is not used, the operator 13 inputs using the input device 10 and searches for and acquires screw tightening operation instruction information from the product information database 1 instead of the bar code reader 8. Alternatively, in an automated line or the like, the system may be configured to search the screw tightening operation instruction information from the product information database 1 by the system instead of the barcode reader 8 and acquire it.

<System configuration of fastening device S>
The fastening work device S that realizes the specific configuration example of FIG. 1 has the following configuration shown in FIG.
As described above, the fastening work device S includes the electric driver 5, the driver torque measuring device 14 having the torque value measuring means of the electric driver 5, and the driver tip coordinate measuring device 15 having the tip position measuring means of the electric driver 5. With.

  The fastening device S includes an input device 10 and an output device 6 of the personal computer p1, an input / output interface for exchanging input / output signals to / from the personal computer p1, and an information processing unit in the personal computer p1 (see FIG. 1). 9 and. As described above, the information processing section 9 is realized by executing a program on the personal computer p1.

  The personal computer p1 includes a product information database 1 storing screw tightening instruction information 3 and a screw tightening work actual measurement via a network interface 16r such as a router or a hub and a network n1 such as a LAN, WAN, dedicated line, or the Internet. It is connected to a work performance database 2 that stores information 4. The network n1 is not particularly limited as long as security is maintained.

The product information database 1 has the data shown in Table 1. The product name and product model are represented by 2 bytes, but each has coded text information and is a key data item of the product information database 1.

The work performance report database 2 has the data shown in Table 2. The product name, product model, and product number are represented by 2 bytes or 1 byte, but each has encoded text information and is a key data item of the work performance report database 2.

The information processing unit 9 includes an input unit 19, a screw tightening work instruction information search / acquisition unit 20, an information output unit 21, a driver torque value information input unit 22, a driver torque value information comparison / determination unit 24, a driver A tip coordinate information comparison / determination unit 25 and a control unit 26 are provided.
The input unit 19 receives information input by the user of the input device 10, for example, the worker 13, information input from the barcode reader 8, and the like.

The screw tightening work instruction information retrieval / acquisition unit 20 stores the information (product name and model) input from the input device 10 or the barcode reader 8 through the input / output interface 16 in the product information database 1. The screw tightening operation instruction information 3 is retrieved and acquired.
The driver torque value information input unit 22 receives torque information of the electric driver 5 acquired from the driver torque measuring device 14.
The driver tip coordinate actual value input unit 23 receives information on the tip position of the electric driver 5 obtained from the driver tip coordinate measuring device 15.

The driver torque value information comparison / determination unit 24 compares the torque value information of the electric driver 5 included in the screw tightening operation instruction information 3 with the torque value information of the electric driver 5 obtained from the driver torque measuring device 14, The consistency is determined whether or not they match. The difference (subtraction value) between the two is acquired as a driver torque error value 402g (see Table 2).
The driver tip coordinate information comparison / determination unit 25 includes the tip position information of the electric driver 5 included in the screw tightening work instruction information 3 which is target screw tightening work information, and the actually operated electric motor obtained from the driver tip coordinate measuring device 15. The tip position information of the driver 5 is compared, and consistency is determined as to whether or not they match. The difference (subtraction value) between the two is acquired as a driver tip coordinate error value 405g (see Table 2).

The information output unit 21 includes screw tightening instruction information 3, torque information of the electric driver 5 obtained from the driver torque measuring device 14, information on the tip position of the electric driver 5 obtained from the driver tip coordinate measuring device 15, and a driver. The processing result information of the torque value information comparison / determination unit 24 and the processing result information of the driver tip coordinate information comparison / determination unit 25 are output.
Further, the information output unit 21 generates and outputs screw tightening work instruction information to be described later.

Further, the information output unit 21 is also responsible for outputting a screen described later to the input device 10.
The control unit 26 performs processing of the information processing unit 9 other than that described.
The processing result information of the driver torque value information comparison / determination unit 24 and the processing result information of the driver tip coordinate information comparison / determination unit 25 are stored in the operation result database 2 as screw tightening operation actual measurement information 4 by the information output unit 21. The

<Screen used for fastening work device S>
The example of the input screen G1 in the fastening operation | work apparatus of embodiment is shown in FIG.
The input screen G1 includes an implementation date / time display 201 on which the date and time when the screw tightening operation is performed, an operator information display 202 having an operator ID (Identifier) for identifying the operator 13 and an operator name. A product information display 203 having the product name and product type of the product 11 to be manufactured, and a screw tightening work instruction information list display 204 for displaying a list of screw tightening work instruction information of the product 11 to be manufactured. Configured.

  The screw tightening work instruction information list display 204 includes a work number (serial No.) for identifying the screw tightening work, a driver torque target value (401) of a target value of the screw tightening torque of the electric driver 5 during the screw tightening work, and a product. 11 includes data of a driver tip coordinate target value (404) indicating coordinates of target position information of the screw tightening work in No. 11. The coordinates of the driver tip coordinate target value (404) have a two-dimensional XY coordinate in the horizontal direction and a Z coordinate in the vertical direction.

FIG. 4 is an example of a reference point setting instruction screen G2 for calculating the tip coordinates of the electric driver 5.
On the reference point setting instruction screen G2 for calculating the tip coordinates of the electric driver 5, reference points 1 to 3 are displayed and a setting confirmation display 302 for each reference point is output. The reference point setting confirmation display 302 displays “reference point number” for identifying the reference point, and “OK” (see FIG. 5) when set, and “−” when not set. And “Remarks” data items in which the XYZ coordinates of the origin of the reference points are displayed.

The positions of the reference points 1 to 3 in the product 11 are set in advance at the design stage. That is, in the product information database 1, the driver tip coordinate target value 404 (see Table 1) of the coordinates of the reference points 1 to 3 at the design stage is stored in advance.
The reference points 1 to 3 are set by using the reference point setting instruction screen G2 to set the positions of the reference points 1 to 3 of the product 11 in the three-dimensional space during the screw tightening operation. The instruction information is used for matching with the coordinates at the design stage of the driver tip coordinate target value 404, that is, used for coordinate conversion.

FIG. 5 is an example of a reference point setting instruction screen G3 when setting the second reference point.
When setting the second reference point 2 on the reference point setting instruction screen G3, since the setting of the first reference point 1 has been completed, the display of the reference point 1 is deleted from the displayed figure. In addition, “OK” is displayed in the “setting” column of the reference point 1 on the reference point setting confirmation display 302.

FIG. 6 is an example of a reference point setting instruction screen G4 when setting the third reference point.
In setting the third reference point 3 on the reference point setting instruction screen G4, since the setting of the first reference point 1 and the second reference point 2 has been completed, The display of the reference points 1 and 2 is deleted, and “OK” is displayed in each “setting” column of the setting confirmation display 302 of the reference points 1 and 2. In this case, since the reference point 3 is set from now on, “-” is displayed in the “setting” column.

FIG. 7 shows an example of a reference point resetting confirmation screen G5.
Since the reference points 1, 2, and 3 have already been set on the reference point resetting confirmation screen G5, “OK” is displayed in each “setting” column of the reference point numbers 1 to 3 on the setting confirmation display 302. Is displayed.
In addition to this display, a display 303 of “Do you want to reset? Yes / No” is displayed 303. The user can select “Yes / No” according to whether or not to reset the reference point. 7 shows a case where “No” of “Yes / No” is selected.

FIG. 8 is an example of a fastening work instruction screen G6.
On the fastening work instruction screen G6, the driver torque target value 401, which is a display item of the torque information of the electric driver 5 included in the screw tightening work instruction information 3, and the torque information of the electric driver 5 acquired from the driver torque measuring device 14 are displayed. The display includes a driver torque actual measurement value 402 that is a display item and a driver torque value determination result 403 that is a display item of a processing result of the driver torque value information comparison / determination unit 24 (see FIG. 2).

  Further, on the fastening work instruction screen G6, the driver tip coordinate target value 404, which is the target position of the screw fastening position, which is the display item of the tip position information of the electric driver 5 included in the screw fastening work instruction information 3, the driver tip coordinate measurement. Driver tip coordinate actual measurement value 405 of the actual screw tightening position, which is a display item of the tip position information of the electric driver 5 obtained from the device 15, and driver tip position, which is a display item of the processing result of the driver tip coordinate information comparison / determination unit 25. A determination result 406 is displayed. In the driver tip coordinate target value 404 and the driver tip coordinate measured value 405, the XYZ coordinates of the instruction information are displayed. The XYZ coordinates in the coordinates of the set reference points 1 to 3 may be displayed.

FIG. 9 shows an example of the fastening work instruction screen G7 when the processing result of the driver torque value information comparison / determination unit 24 is determined to be acceptable.
In the fastening operation instruction screen G7, the processing result of the driver torque value information comparison / determination unit 24 is a pass determination, so “OK” is displayed on the display of the result 403 of the driver torque value determination.

FIG. 10 shows an example of a fastening work instruction screen G8 when the processing result of the driver tip coordinate information comparison / determination unit 25 is determined to be acceptable.
In the fastening work instruction screen G8, the processing result of the driver tip coordinate information comparison / determination unit 25 is a pass judgment, and therefore “OK” is displayed on the display of the driver tip position judgment result 406. In this case, the processing result of the driver torque value information comparison / determination unit 24 is a pass determination, and “OK” is displayed on the display of the driver torque value determination result 403.

FIG. 11 shows an example of a fastening work instruction screen G9 when the processing result of the driver torque value information comparison / determination unit 24 is determined to be unacceptable.
In the fastening work instruction screen G9, the processing result of the driver torque value information comparison / determination unit 24 is a failure determination, so “NG” is displayed in the display of the result 403 of the driver torque value determination.

FIG. 12 shows an example of a fastening work instruction screen G10 when the processing result of the driver tip coordinate information comparison / determination unit 25 is determined to be unacceptable.
In the fastening work instruction screen G10, the processing result of the driver tip coordinate information comparison / determination unit 25 is unacceptable, so “NG” is displayed in the display of the driver tip position determination result 406. In FIG. 12, the processing result of the driver torque value information comparison / determination unit 24 has already passed, and “OK” is displayed in the display of the driver torque value determination result 403.

<Information Processing of Fastening Device S>
In FIG. 13, an example of the flowchart of the information processing of the fastening work apparatus S is shown.
The processing procedure of the fastening work device S will be described with reference to the flowchart of FIG.
As described above, the process of the fastening work device S is performed by the information processing unit 9 shown in FIG.
First, when the fastening work device S is activated, an input screen G1 shown in FIG. 3 is displayed (step S100).

  Subsequently, the operator 13 reads the barcode of the product 11 to be screwed with the barcode reader 8 from the barcode in the product type-specific barcode list 7. As described above, information including a product name, a model, and a product number (or product ID: product identification information) indicating which product 11 is described in the barcode.

  Then, the screw tightening work instruction information search / acquisition unit 20 uses the product name and model read by the screw tightening work instruction information 3 for the product 11 corresponding to the barcode information read by the barcode reader 8. A search is made from the product database 1 (step S101). In the case of an automated line, step S100 replaces system processing, and steps S100 and S101 are automatically performed.

From the acquired screw tightening work instruction information 3, the information output unit 21 displays the reference point setting instruction screen G2 in FIG. 4 urging the setting of the reference point (step S102).
Here, the reference points have at least three settings, and the reference points 1 to 3 are set on the product 11. As described above, the reference point set on the product 11 is such that the relative positional relationship between the screw tightening instruction information 3 stored in the product information database 1 and the position of the reference point of the product 11 is known. To do. For example, when the screw tightening operation instruction information 3 is determined, the same position as the reference point position of the product 11 set in advance is set, or an emboss is formed in advance at the reference point position of the product 11 and the reference point And so on.
The reason why at least three reference points (reference points 1 to 3) are used is that a three-dimensional space serving as a reference for the product 11 placed on the work table 12 is uniquely determined.

  The reference points 1 to 3 are set by the operator 13 touching the reference point of the product 11 placed on the workbench 12 with the tip of the electric driver 5, and the position of the reference point 1 to 3 is set from the information processing unit 9 using a signal of this timing as a trigger A detection signal is transmitted to the driver tip coordinate measuring device 15, and the driver tip coordinate measuring device 15 detects the position of the reference point (position of the tip of the electric driver 5).

Alternatively, the electric driver 5 may be provided with a push button and a switch that are pressed at the timing when the reference point is set. As a result of these pressing operations, a position detection signal is transmitted from the information processing unit 9 to the driver tip coordinate measuring device 15, and the driver tip coordinate measuring device 15 determines the position of the reference point (the tip position of the electric driver 5). taking measurement.
Thereby, irrespective of the direction of the product 11 placed on the work table 12, the tip position of the electric driver 5 is calculated by coordinate conversion relative to the reference points 1 to 3.

Further, the reference point set first (reference point 1 shown in FIG. 45) is defined as the origin. After the setting of the first reference point 1 is completed, “OK” is displayed on the reference point setting confirmation display 302b shown in FIG.
Subsequently, the control unit 26 determines whether or not all the reference point settings have been completed (step S103).

  If there is a reference point that has not been set (No in step S103), the information output unit 21 sets the second reference point in FIG. 5 according to the reference point that has not been set. A reference point setting instruction screen G3 or a reference point setting instruction screen G4 for setting the third reference point in FIG. 6 is output (step S104). Thereafter, the process proceeds to step S103.

  When all the reference point settings have been completed (Yes in step S103), the reference point reset confirmation screen G5 in FIG. 7 is displayed, and the reference point reset confirmation display 303 is output. When “Yes” is selected on the reference point reset confirmation display 303 in FIG. 7 (No in step S103), the operator 13 has selected to reset the reference point. The reference point setting instruction screen G2 is output (step S104).

On the other hand, if “No” is selected in the reference point reset confirmation display 303 on the reference point reset confirmation screen G5 in FIG. 7 (Yes in step S103), the setting of the reference points 1 to 3 is completed, so the driver The screw tightening operation instruction screen G6 shown in FIG. 8 characterized by displaying the torque target value 401 and the driver tip coordinate target value 404 is output (step S105).
The operator 13 visually observes the image G6a displayed on the screw tightening operation instruction screen G6 and performs the screw tightening operation with the electric driver 5 in accordance with the display 404 of the driver tip coordinate target value. The image G6a displays an image corresponding to the screw tightening operation of the product 1. For example, a 3D (three dimensions) image at the design stage is displayed.

After the screw tightening (fastening) operation, the driver torque measurement value 402 is measured by the driver torque measuring device 14 in conjunction with the switch of the electric driver 5 at the time of the screw tightening operation by the electric driver 5, and the driver torque value information input unit 22 is driven by the driver. Information on the actually measured torque value 402 is acquired (step S106).
Subsequently, the driver torque value information comparison / determination unit 24 determines whether or not the acquired actual driver torque value 402 has reached the driver torque target value 401 (see Table 1) (step S107).

  If the actual driver torque value 402 does not reach the driver torque target value 401 (No in step S107), it is determined as unacceptable, an alarm is generated with a warning sound or the like, and on the screw tightening operation instruction screen G9 shown in FIG. “NG” is displayed in the display of the driver torque value determination result 403 (step S111). In this case, when the operator 13 visually checks the “NG” information displayed on the result 403 of the driver torque value determination on the screw tightening work instruction screen G9 in FIG. 11 and redoes the screw tightening work, the process proceeds to step S106 again. .

On the other hand, if the driver torque actual measurement value 402 has reached the driver torque target value 401 in step S107 (Yes in step S107), it is determined to be acceptable and the driver torque value determination on the screw tightening instruction screen G7 shown in FIG. The result 403 is displayed as “OK”, and the process proceeds to the measurement of the driver tip coordinate actual measurement value 405 by the driver tip coordinate measuring device 15 in step S108.
The measurement of the driver tip coordinate actual measurement value 405 is information having three components of the XYZ coordinate system, and the driver tip coordinate measuring device 15 outputs information obtained by calculating the tip position of the electric driver 5 relative to the origin (step S108). ).

Subsequently, the driver tip coordinate information comparison / determination unit 25 compares the driver tip coordinate actual measurement value 405 and the driver tip coordinate target value 404 to determine whether or not the values match (step S109).
If the actual measured driver tip coordinate value 405 does not match the driver tip coordinate target value 404 (No in step S109), the driver tip coordinate target value 404 is determined to be unacceptable, and an alarm is issued with a warning sound or the like on the screw tightening work instruction screen G10 shown in FIG. “NG” is displayed in the display of the result 406 of the driver tip coordinate value determination (step S111). In this case, when the operator 13 visually checks the “NG” information of the driver tip coordinate value determination 406 on the screw tightening work instruction screen G10 in FIG. 12 and redoes the screw tightening work, the process again proceeds to step S106.

When the driver tip coordinate actual measurement value 405 matches the driver tip coordinate target value 404 (Yes in step S109), “OK” is displayed in the display of the driver tip coordinate value determination result 406 on the screw tightening work instruction screen G8 in FIG. Is displayed.
Then, the information output unit 21 stores the product number, the actual driver torque value 402, and the driver torque which is the difference between the actual driver torque value 402 and the driver torque target value 401 as the screw tightening operation result information in the work result database 2. Error value 402g, driver torque value determination result 403, driver tip coordinate measured value 405, driver tip coordinate error value 405g, driver tip coordinate value determination result 406, screw tightening work date / time 201 The screw tightening worker information 202 and the like are stored (step S110).

  Subsequently, the control unit 26 compares the number of screw tightenings stored in the product database 1 with the number of screw tightening operations completed stored in the work performance database 2 (step S112a), and whether or not they match, that is, all It is determined whether or not the screw tightening operation has been completed (step S112b).

When the number of screw tightening and the number of screw tightening work completion do not match (No in step S112b), the information output unit 21 generates the next screw tightening work instruction information 3 (step S113), the process proceeds to step S105, and FIG. The screw tightening work instruction screen G6 is output.
On the other hand, when the number of screw tightening matches the number of screw tightening work completion (Yes in step S112), all the work is completed and the screw tightening work (instruction) is finished.

  According to the above configuration, it is possible to instruct the fastening position using the coordinate information of the fastening (screw fastening) position determined in the design stage, and to detect the fastening (screw fastening) work at the wrong position immediately after the work. Therefore, while improving the reliability of the fastening operation, it is possible to eliminate the inspection process that has been conventionally performed.

As a result, for products with many fastening (screw fastening) locations, it is possible to significantly reduce the inspection work time and the inspection cost.
Thus, by determining the fastening position and the fastening condition immediately after the fastening work in accordance with the fastening work instruction, an efficient fastening work method that supports accurate fastening work and does not require the fastening position inspection process, and the method An apparatus can be realized.

<< Other Embodiments >>
In FIG. 13 of the embodiment, the case where the determination of the driver torque value is performed prior to the determination of the driver tip coordinate value is exemplified. However, the driver tip coordinate value is determined first to determine the driver torque value. It may be done later. Or it is good also as a structure which processes both in parallel processing, ie, the same timing, The order is not limited.
In the embodiment, the case where the screw tightening position is measured immediately after the fastening operation is completed is exemplified. However, the following method may be adopted instead of the configuration described above.

In other words, the electric driver 5 is provided with a position detection switch that outputs a signal serving as a position detection trigger. Then, when the operator 13 starts tightening the screw with the electric driver 5, the position detection switch is turned “ON” by half-pressing the screw tightening switch, and this is used as a trigger signal by the control unit 26. The position of the tip of the driver 5 is measured by the driver tip coordinate measuring device 15.
Thereafter, the driver tip coordinate information comparison / determination unit 25 may determine whether or not the screw tightening position matches the instruction information, and the determination result may be displayed on the screen immediately before the screw tightening operation of the operator 13.
According to this configuration, it is possible to detect the fastening operation at an incorrect position immediately before the operation and notify the operator 13, so that the retightening operation of the operator 13 due to an error in the screw tightening position can be suppressed and eliminated. it can.

  In the above embodiment, the torque information and the position information of the fastening condition are exemplified as the fastening work instruction information. However, information on the inclination of the screw may be added, or other information may be added. Alternatively, the position information alone or the position information and other information may be included as the fastening work instruction information.

In the embodiment, the database is exemplified as the storage unit. However, a storage unit other than the database such as a temporary file (work file) may be applied.
In the embodiment, the product information database 1 and the work performance database 2 are illustrated as being connected to the personal computer p1 via the network n1, but the product information database 1 and the work performance database 2 are connected to the personal computer p1. It may be stored in the auxiliary storage device of the memory. In this case, a DBMS (DataBase Management System) is stored in the auxiliary storage device.

In addition, although the case where the information of the product 11 is read from the barcode is illustrated in the embodiment, the information of the product 11 may be recorded on the IC tag and read from the IC tag.
In the above embodiment, the case where the worker 13 performs the fastening operation is illustrated. However, the present invention can be effectively applied to the fastening operation performed by an automatic machine such as a robot.
Further, in the embodiment, the case where the program of the information processing unit 9 is stored in the personal computer p1 is illustrated, but the program of the information processing unit 9 is stored in the server via the network n1 with the personal computer p1 as a terminal device. Then, the fastening work device S may be controlled from the server via the personal computer p1 of the terminal device. Alternatively, if the security can be maintained, the fastening work device S may be controlled by cloud computing, and the embodiment thereof can be variously selected and is not limited.

  While embodiments of the present invention have been described above, the description is intended to be exemplary. Accordingly, various modifications and changes can be made within the scope of the present invention. That is, the present invention can be arbitrarily changed as appropriate without departing from the spirit of the invention.

1 Product information database (instruction information storage)
3 Screw tightening work instruction information (fastening condition instruction information work instruction information, fastening position instruction information)
4 Screw tightening measurement information (fastening condition information, work information, fastening position information)
14 Driver torque measuring device (measuring device)
15 Driver tip coordinate measuring device (measuring device)
20 Screw tightening work instruction information retrieval / acquisition part (actual measurement information acquisition part, work instruction information acquisition part)
21 Information output unit (result information output unit, work instruction information generation unit, instruction information output unit)
24 Driver torque value information comparison / determination unit (condition comparison determination unit, comparison determination unit)
25 Driver tip coordinate information comparison / determination unit (position comparison determination unit, comparison determination unit)
26 control unit (work end determination unit, work instruction information generation unit, instruction information output unit)
204 Screw tightening work instruction information list display (fastening condition instruction information, work instruction information)
401 Driver torque target value (engagement condition instruction information, work instruction information)
402 Actual value of driver torque (fastening condition information, work information)
403 Driver torque value judgment result (fastening work judgment result)
404 Driver tip coordinate target value (fastening position instruction information, work instruction information)
405 Actual value of driver tip coordinates (fastening position information, work information)
406 Driver tip coordinate value determination result (fastening work determination result)
G6 Screw tightening work instruction screen (work instruction information)
S fastening work device

Claims (4)

An actual measurement information acquisition unit for acquiring fastening position information and fastening condition information, which is information at the time of actual fastening work, by a measuring device;
Position comparison for determining whether or not the position of the fastening work is in accordance with the instruction by comparing the fastening position information with the instruction information of the fastening position stored in the instruction information storage unit in advance or immediately before the fastening work. A determination unit;
Immediately after the fastening work, the fastening condition information is compared with the fastening condition instruction information stored in advance in the instruction information storage unit to determine whether or not the fastening work has been performed according to the work instruction. A condition comparison and determination unit;
A fastening information device comprising: a result information output unit that outputs a determination result of the fastening work. A work instruction information storage unit for storing work instruction information in advance;
A work result information obtaining unit for obtaining actual work information corresponding to the work instruction by a measuring device;
Immediately before or immediately before the fastening operation, the comparison determination unit that compares the information on the work instruction with the acquired work information and determines whether the fastening operation is in accordance with the instruction;
A result information output unit that outputs a determination result of the fastening operation;
A work end determination unit that determines whether or not a predetermined fastening work has been completed;
Based on the determination result of the fastening work end, a work instruction information generating unit that generates a work instruction of a work to be performed next,
A fastening work device comprising: an instruction information output unit that outputs the generated work instruction information. The actual measurement information acquisition unit acquires the fastening position information and the fastening condition information, which are information at the time of actual fastening work, by the measuring device,
Immediately before or immediately after the fastening operation, the condition comparison / determination unit compares the fastening condition information with the instruction information of the fastening condition stored in advance in the instruction information storage unit, so that the fastening operation is performed according to the work instruction. The position comparison and determination unit compares the fastening position information with the fastening position instruction information stored in the instruction information storage unit in advance, so that the position of the fastening work is in accordance with the work instruction. Whether or not
A result information output unit outputs a determination result of the fastening work. The work instruction information acquisition unit stores information on the work instruction of the set fastening work in the instruction information storage unit,
The actual measurement information acquisition unit acquires actual work information corresponding to the work instruction by the measurement device,
Immediately before or immediately before the fastening work, the comparison determination unit compares the information on the work instruction with the acquired work information, and determines whether the fastening work is in accordance with the instruction.
The result information output unit outputs the determination result of the fastening work,
The work end determination unit determines whether or not the predetermined fastening work has ended,
The work instruction information generation unit generates work instruction information of a work to be performed next based on the determination result of the fastening work end,
A fastening work method, wherein the instruction information output unit outputs information of the generated work instruction.

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