JP2017140681A - Management device and management system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine whether or not fastening work of a torque wrench is normal only by using a feature part provided in a work.SOLUTION: A management device (40) for managing fastening work when fastening a plurality of fastening members in predetermined order to a work (10) having a feature part (M) by using a torque wrench (20), comprises a determination part (42) for determining whether or not the fastening work is normal on the basis of an imaging image (I) when imaging parts (30 and 31) fixed to the torque wrench image a predetermined area of including the feature part. The determination part determines that the fastening work is normal when at least a part of the feature part is positioned in detection frames (FA-FD) set according to fastening positions of the fastening members in the imaging image.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a management device and a management system for managing torque wrench tightening work.

  In Patent Document 1, an origin marker attached to a workpiece and an inspection marker attached to a torque wrench are imaged, and the three-dimensional position of the inspection marker with respect to the three-dimensional position of the origin marker is calculated. Then, based on the three-dimensional position of the inspection marker, it is determined whether or not the screw tightening operation is performed at the correct position.

  In Patent Document 2, an adapter with a plurality of identification means is attached to a work object, and the work object is imaged when a tightening operation using a torque wrench is performed on the work object. Since one identification means is hidden by a torque wrench when performing a tightening operation, the position of the tightening operation is specified by specifying the identification means hidden by the torque wrench in the captured image.

JP2013-13236A JP 2014-096068 A

  In Patent Document 1, in order to determine whether or not the screw tightening operation is performed at a correct position, markers (origin markers and inspection markers) must be provided on both the workpiece and the torque wrench. Moreover, in patent document 2, you have to provide an identification means for every position of a fastening operation | work.

  A first invention of the present application is a management device that manages a tightening operation when a plurality of fastening members are fastened to a workpiece having a characteristic portion in a predetermined order using a torque wrench, and is an image pickup fixed to the torque wrench. A determination unit configured to determine whether or not the tightening operation is normal based on a captured image obtained when the unit captures a predetermined area including the characteristic portion; The determination unit determines that the tightening operation is normal when at least a part of the characteristic portion is located in the detection frame set according to the tightening position of the fastening member in the captured image.

  According to the present invention, the tightening operation of the torque wrench can be performed only by imaging a predetermined area including the characteristic portion provided on the workpiece and determining that at least a part of the characteristic portion is located in the detection frame. Can be determined to be normal. Further, since the detection frame is set for each tightening position, the above determination at each tightening position can be performed with high accuracy.

  The determination unit can determine that the tightening operation is normal when the torque wrench is operated within the range of the predetermined swing angle and at least a part of the characteristic portion is located in the detection frame. While operating the torque wrench, it is possible to improve the accuracy of the normality determination of the tightening work by confirming that the characteristic portion is located in the detection frame.

  The determination unit can determine that the tightening operation is abnormal when at least a part of the feature is not located in the detection frame. Moreover, the notification part which notifies the information which shows that fastening operation | work is normal or abnormal using at least one of a sound and light can be provided. By the notification of the notification unit, the operator of the torque wrench can grasp whether the tightening operation is normal or abnormal.

  A second invention of the present application is a management device that manages a tightening operation when a plurality of fastening members are fastened to a workpiece having a characteristic portion by using a torque wrench, and an imaging unit fixed to the torque wrench is a characteristic portion And a determination unit that determines the position of the tightening operation based on a captured image when a predetermined area including the image is captured. The determination unit sets any one of the plurality of detection frames corresponding to the tightening positions of the plurality of fastening members in the captured image, and when at least a part of the feature is located in the detection frame, It is determined that a tightening operation is being performed at the tightening position corresponding to the detection frame.

  According to the second invention of the present application, it is possible to perform the tightening operation only by imaging a predetermined area including the characteristic portion provided on the workpiece and determining that at least a part of the characteristic portion is located in the detection frame. The position (clamping position) being performed can be specified. Moreover, since the detection frame is provided for each tightening position, the tightening position can be easily specified.

  The determination unit changes the detection frame when at least a part of the feature is not located in the set detection frame. Thereby, in a plurality of detection frames, a detection frame in which at least a part of the feature portion is located can be specified.

  The plurality of detection frames corresponding to the plurality of tightening positions can be set at positions that do not overlap each other in the captured image. Thereby, it can be determined for each tightening position whether or not the characteristic portion is located within the detection frame.

  The characteristic portion can be provided at a position where the distances from the plurality of tightening positions are equal to each other. Accordingly, the feature portion can be included in any of the plurality of captured images at the plurality of tightening positions, and the normality determination of the tightening operation described above can be easily performed. The imaging unit can be included in the management device, and the management device can be fixed to a torque wrench.

  A third invention of the present application is a management system for managing a tightening operation when a plurality of fastening members are fastened to a workpiece having a characteristic portion in a predetermined order using a torque wrench, and includes an imaging device and a management device. Have. The imaging device is fixed to a torque wrench and images a predetermined area including a characteristic portion. The management device determines whether or not the tightening operation is normal based on the captured image of the imaging device. Here, the management device determines that the tightening operation is normal when at least a part of the characteristic portion is located in the detection frame set according to the tightening position of the fastening member in the captured image. To do. In the third invention of the present application, the same effect as that of the first invention of the present application can be obtained.

  A fourth invention of the present application is a management system that manages a tightening operation when a plurality of fastening members are fastened to a workpiece having a characteristic portion using a torque wrench, and includes an imaging device and a management device. The imaging device is fixed to a torque wrench and images a predetermined area including a characteristic portion. The management device determines the position of the tightening operation based on the captured image of the imaging device. Here, the management device sets one of a plurality of detection frames corresponding to the tightening positions of the plurality of fastening members in the captured image, and at least a part of the feature portion is located in the detection frame. At this time, it is determined that the tightening operation is being performed at the tightening position corresponding to the detection frame. Also in the fourth invention of the present application, the same effect as that of the second invention of the present application can be obtained.

It is a front view of a workpiece. It is a side view of the torque wrench with which the imaging device was attached. It is a figure which shows the swing angle of a torque wrench. It is Blocks which shows the structure of a management system. It is a flowchart which shows operation | movement of a management apparatus. It is a figure explaining the position and size of a detection frame in a captured image. It is a figure which shows a captured image when the characteristic part is contained in the detection frame. It is a figure which shows a captured image when the characteristic part is contained in the detection frame. It is a figure which shows a captured image when the characteristic part is contained in the detection frame. It is a figure which shows a captured image when the characteristic part is not contained in the detection frame. It is a figure which shows a captured image when the characteristic part is not contained in the detection frame. It is a figure which shows a captured image when the characteristic part is not contained in the detection frame. In a modification, it is a flowchart which shows operation | movement of a management apparatus. In another modification, it is a flowchart which shows operation | movement of a management apparatus.

  In the present embodiment, a tightening operation when a fastening member such as a bolt or a screw is fastened to a workpiece using a torque wrench is managed.

  First, the structure of the workpiece will be described with reference to FIG.

  Fastening bolts 11 </ b> A to 11 </ b> D are attached to the work 10. The fastening bolts 11A to 11D are provided at different positions.

  The fastening bolts 11 </ b> A to 11 </ b> D can be fastened to the workpiece 10 by using a torque wrench described later. When fastening the fastening bolts 11A to 11D, the fastening bolts 11A to 11D are fastened in a predetermined order. For example, the fastening bolt 11A, the fastening bolt 11B, the fastening bolt 11C, and the fastening bolt 11D can be tightened in this order. In this embodiment, the order of this tightening work is managed.

  In the present embodiment, four fastening bolts 11A to 11D are provided on the workpiece 10, but the number (plurality) of fastening bolts can be determined as appropriate. Here, the several fastening bolt should just be provided in the mutually different position.

  A feature portion M is provided at the center of the workpiece 10. The characteristic part M is provided in the position where the distance from each fastening bolt 11A-11D is mutually equal. In other words, the fastening bolts 11 </ b> A to 11 </ b> D are arranged side by side on a circle (on the imaginary line) centered on the position where the characteristic portion M is provided. The fastening bolts 11A to 11D only need to be provided at different positions, and the positions at which the fastening bolts 11A to 11D are provided can be determined as appropriate.

  The feature part M includes a first feature part Ma and a second feature part Mb. In this embodiment, the characteristic part M becomes a part which connects a shaft (not shown), and the 1st characteristic part Ma is comprised by the through-hole which penetrates a shaft. Moreover, the 2nd characteristic part Mb is comprised by the sealing member which contacts the flange part provided in the shaft.

  In the present embodiment, the portion that connects the shafts is the feature portion M, but is not limited thereto. As will be described later, it is only necessary to determine the shape of the feature portion M when the feature portion M is imaged, and the feature portion M can be determined in consideration of this point. The characteristic part M can be formed integrally with the workpiece 10 or can be detachably attached to the workpiece 10.

  Moreover, the characteristic part M needs to be contained in the picked-up image imaged when tightening fastening bolt 11A-11D so that it may mention later. In consideration of this point, the position where the characteristic portion M is provided can be determined. As in the present embodiment, by providing the feature portion M at positions where the distances from the fastening bolts 11A to 11D are equal to each other, it is easy to include the feature portion M in the captured image captured when the fastening bolts 11A to 11D are tightened. Become.

  Next, the structure of the torque wrench will be described with reference to FIG.

  The torque wrench 20 has a grip portion 21 provided at one end in the longitudinal direction and a head portion 22 provided at the other end in the longitudinal direction. The grip portion 21 is held by an operator who performs a tightening operation using the torque wrench 20. A base end portion 23a of a socket 23 is detachably attached to the head portion 22. The tip 23b of the socket 23 is engaged with the fastening member.

  As the internal structure of the torque wrench 20, a known structure having a toggle mechanism or the like can be employed. In the torque wrench 20, when the tightening torque of the fastening member reaches the set torque, the limit switch is turned on by operating the toggle mechanism. By confirming that the limit switch is on, it can be determined that the tightening operation has been completed.

  An imaging device 30 is attached to the head unit 22. The imaging device 30 includes a mounting portion 30a and a holder 30b. The mounting portion 30a is used for detachably mounting the imaging device 30 to the head portion 22. In the present embodiment, the imaging device 30 can be attached to and detached from the head unit 22, but the imaging device 30 and the head unit 22 can also be configured integrally.

  In the present embodiment, the imaging device 30 is attached to the head unit 22, but the imaging device 30 can also be attached to the portion of the torque wrench 20 excluding the head unit 22 so as to be integrated or detachable. The position where the imaging device 30 is attached to the torque wrench 20 can be determined as appropriate in consideration of the fact that the imaging device 30 can capture a predetermined imaging region, as will be described later.

  When fastening the fastening bolts 11A to 11D to the workpiece 10, the torque wrench 20 is operated as shown in FIG. Since the socket 23 attached to the head portion 22 engages with the fastening member, the torque wrench 20 rotates around the head portion 22 when the fastening member is tightened.

  In the present embodiment, during the tightening operation, the grip portion 21 is moved between the position P1 and the position P2 with the head portion 22 as the center. Here, the movement range of the grip part 21, that is, the swing angle of the torque wrench 20 is defined as the predetermined angle θ. The predetermined angle θ can be set within a range equal to or less than the maximum swing angle (assumed value) when the torque wrench 20 is actually operated.

  The position P0 is a reference position before the socket 23 is engaged with the fastening member and the fastening member is tightened. Here, the swing angle of the torque wrench 20 between the positions P0 and P1 is equal to the swing angle of the torque wrench 20 between the positions P0 and P2. Depending on how the torque wrench 20 is used, the reference position before tightening the fastening member may deviate from the position P0, and the swing angle of the torque wrench 20 between the positions P0 and P1 and the torque between the positions P0 and P2 may be different. The swing angle of the wrench 20 may be different.

  Next, the configuration of the management system according to the present embodiment will be described with reference to FIG. The management system 50 according to the present embodiment includes an imaging device 30 and a management device 40.

  The imaging device 30 includes an imaging unit 31 and a transmission unit 32. The imaging unit 31 includes a photoelectric conversion element and an imaging optical system. The imaging unit 31 can capture a still image or a moving image at a predetermined frame rate.

  When the imaging device 30 is attached to the head unit 22, the imaging unit 31 images a predetermined imaging area in the work 10. The angle of view of the imaging unit 31 is set so that the characteristic part M is included in the predetermined imaging region. In the present embodiment, the angle of view of the imaging unit 31 is fixed, and the imaging area is constant.

  The transmission unit 32 transmits data from the imaging device 30 to the management device 40 via wired or wireless. For example, the transmission unit 32 can transmit captured image data generated by the imaging unit 31 to the management device 40. Further, the transmission unit 32 can transmit information indicating that the limit switch provided in the torque wrench 20 is ON to the management device 40.

  The management device 40 includes a reception unit 41, a determination unit 42, a memory 43, and a notification unit 44. The reception unit 41 receives data transmitted from the transmission unit 32 of the imaging device 30. The determination unit 42 determines whether the tightening operation of the torque wrench 20 is normal based on the captured image transmitted from the imaging device 30. Specific processing contents of the determination unit 42 will be described later.

  The memory 43 stores information necessary for the determination unit 42 to perform a predetermined process. The notification unit 44 emits at least one of sound and light to the outside of the management device 40. In the case of making a sound, the notification unit 44 may be configured by a speaker. In the case of emitting light, the notification unit 44 may be constituted by a light emitting element.

  Next, operation | movement of the management system 50 when tightening fastening bolt 11A-11D using the torque wrench 20 is demonstrated using the flowchart shown in FIG. When the process shown in FIG. 5 is started, the socket 23 is engaged with a predetermined fastening bolt (any one of the fastening bolts 11A to 11D).

  In step S101, the determination unit 42 sets a detection frame F that is used to determine whether or not the tightening operation of the torque wrench 20 is normal. The detection frame F is used for detecting the feature M provided on the workpiece 10 in the captured image generated by the imaging device 30.

  As described above, when the imaging device 30 images the workpiece 10, the captured image includes the characteristic portion M. For this reason, when the characteristic part M is located inside the detection frame F, the characteristic part M can be detected.

  The detection frame F is determined in advance according to the position (tightening position) where the torque wrench 20 is tightened, in other words, the position of the fastening bolts 11A to 11B. Specifically, as the detection frame F, detection frames FA to FD shown in FIG. 6 are determined in advance. As shown in FIG. 6, the positions and sizes of the four detection frames FA to FD are determined in advance within a frame that defines the captured image I. The detection frames FA to FD are provided at different positions within the frame that defines the captured image I. The four detection frames FA to FD include a plurality of detection frames having different sizes.

  The detection frame FA is set in the captured image I when the fastening bolt 11A is tightened. Here, while the fastening bolt 11A is tightened, at least a part of the characteristic portion M is positioned in the detection frame FA.

  As described with reference to FIG. 3, when the torque wrench 20 is operated at a predetermined swing angle θ, the imaging region of the imaging device 30 moves and the captured image I changes. Thus, even if the captured image I changes, the position and size of the detection frame FA in the captured image I are determined in advance so that at least a part of the feature M is positioned in the detection frame FA. Information regarding the position and size of the detection frame FA can be stored in the memory 43.

  7 to 9 show a captured image I when the fastening bolt 11 </ b> A is tightened using the torque wrench 20. FIG. 7 is a captured image I when the torque wrench 20 is at the position P0 shown in FIG. FIG. 8 is a captured image I when the torque wrench 20 is at the position P1 shown in FIG. FIG. 9 is a captured image I when the torque wrench 20 is at the position P2 shown in FIG.

  As shown in FIGS. 7 to 9, when the torque wrench 20 is operated within the range of the swing angle θ, at least a part of the feature M is positioned in the detection frame FA regardless of the attitude of the torque wrench 20. doing. Note that the shape of the feature portion M located in the detection frame FA differs depending on the posture of the torque wrench 20.

  The detection frame FB shown in FIG. 6 is set in the captured image I when the fastening bolt 11B is tightened. Here, while tightening the fastening bolt 11B, in other words, while operating the torque wrench 20 within the range of the swing angle θ, at least a part of the feature M is kept located in the detection frame FB. In addition, the position and size of the detection frame FB in the captured image I are determined in advance. Information regarding the position and size of the detection frame FB can be stored in the memory 43.

  The detection frame FC shown in FIG. 6 is set in the captured image I when the fastening bolt 11C is tightened. Here, while tightening the fastening bolt 11C, in other words, while operating the torque wrench 20 within the range of the swing angle θ, at least a part of the feature M is kept located in the detection frame FC. In addition, the position and size of the detection frame FC in the captured image I are determined in advance. Information regarding the position and size of the detection frame FC can be stored in the memory 43.

  The detection frame FD shown in FIG. 6 is set in the captured image I when the fastening bolt 11D is tightened. Here, while tightening the fastening bolt 11D, in other words, while operating the torque wrench 20 within the range of the swing angle θ, at least a part of the feature portion M is kept located in the detection frame FD. In addition, the position and size of the detection frame FD in the captured image I are determined in advance. Information regarding the position and size of the detection frame FD can be stored in the memory 43.

  As shown in FIGS. 10 to 12, when the fastening bolt 11 </ b> A is tightened, the feature portion M is not included in any of the detection frames FB, FC, and FD. Here, the captured image I shown in FIGS. 10 to 12 corresponds to the captured image I shown in FIGS. Thus, when the fastening bolt 11A is tightened, the characteristic portion M is included only in the detection frame FA.

  As described above, the fastening bolts 11A to 11D are tightened in a predetermined order. Therefore, detection frames FA to FD shown in FIG. 6 are set in this order. Information regarding the order in which the detection frames FA to FD are set can be stored in the memory 43 in advance. When performing the tightening work in the order of the fastening bolts 11A, 11B, 11C, and 11D, and when performing the tightening work for the first time, the determination unit 42 sets the detection frame FA.

  As described above, when the detection frame F is set in the process of step S101 illustrated in FIG. 5, the determination unit 42 acquires the captured image I generated by the imaging device 30 in step S102.

  While the torque wrench 20 is tightened, the imaging device 30 can capture a plurality of still images or a moving image. When the imaging device 30 captures a plurality of still images, the determination unit 42 can acquire each still image as a captured image I in step S102. When the imaging device 30 captures a moving image, the determination unit 42 can acquire an arbitrary still image constituting the moving image as the captured image I in step S102.

  In step S103, the determination unit 42 determines whether at least a part of the feature M is located in the detection frame F set in the process of step S101 in the captured image I acquired in the process of step S102. Determine.

  Specifically, the determination unit 42 extracts an image located in the detection frame F in the captured image I. Then, the determination unit 42 compares the extracted image (referred to as an extracted image) with the entire image of the feature portion M, and determines whether or not the extracted image matches at least a part of the entire image. As this discrimination process, a known matching process can be performed.

  Here, it is preferable to prepare an entire image of the feature M for each tightening position. This is because when the tightening position is different, the direction in which the feature portion M is imaged is different, and the entire image of the feature portion M changes according to the tightening position. For example, when tightening the fastening bolt 11A, the extracted image in the detection frame FA is compared with the entire image of the feature portion M according to the tightening position of the fastening bolt 11A, and the extracted image is at least a part of the entire image. It can be determined whether or not they match.

  When the extracted image matches at least a part of the entire image, the determination unit 42 determines that at least a part of the feature M is located in the detection frame F. Further, when the extracted image does not match at least a part of the entire image, the determination unit 42 determines that at least a part of the feature part M is not located in the detection frame F.

  When at least a part of the feature M is located in the detection frame F, the determination unit 42 performs the process of step S104. In step S104, the determination unit 42 determines whether or not a limit switch provided in the torque wrench 20 is on. When the limit switch is not on, the determination unit 42 returns to the process of step S102.

  When the limit switch is on, the determination unit 42 determines that the tightening operation of the torque wrench 20 has been completed normally, and performs the process of step S105. In step S <b> 105, the determination unit 42 operates the notification unit 44 to emit sound and light to notify the torque wrench operator that the tightening operation of the torque wrench 20 has been completed normally.

  In the process of step S103 shown in FIG. 5, when at least a part of the characteristic portion M is not located in the detection frame F, the determination unit 42 determines that the tightening operation of the torque wrench 20 is abnormal, and the step The process of S106 is performed. In step S <b> 106, the determination unit 42 operates the notification unit 44 to emit sound and light, thereby notifying the torque wrench operator that the current tightening operation is abnormal.

  When the notification unit 44 is operated when the tightening operation is both normal and abnormal, it is necessary to change the contents of sound and light. Further, the notification unit 44 can be operated only when the tightening operation is abnormal.

  When the normal tightening operation of the fastening bolt 11A is completed, the tightening operation of the fastening bolt 11B is performed, and the process shown in FIG. 5 is repeated. At this time, in step S101 shown in FIG. 5, the determination unit 42 sets a detection frame FB. And the determination part 42 determines whether the fastening operation | work of the fastening bolt 11B is normal or abnormal.

  When the normal tightening work of the fastening bolt 11B is completed, the fastening work of the fastening bolt 11C is performed, and the process shown in FIG. 5 is repeated. At this time, in step S101 shown in FIG. 5, the determination unit 42 sets the detection frame FC. And the determination part 42 determines whether the fastening operation | work of the fastening bolt 11C is normal or abnormal.

  When the normal tightening operation of the fastening bolt 11C is completed, the tightening operation of the fastening bolt 11D is performed, and the process shown in FIG. 5 is repeated. At this time, in step S101 shown in FIG. 5, the determination unit 42 sets a detection frame FD. And the determination part 42 determines whether the fastening operation | work of the fastening bolt 11D is normal or abnormal.

  By performing the processing described above, all the fastening bolts 11A to 11D can be tightened in a predetermined order. When all the fastening bolts 11A to 11D are normally tightened, the determination unit 42 can notify the operator of the torque wrench that all the tightening operations are completed by operating the notification unit 44. The operator continues the tightening operation until all the tightening operations are completed. An operator who is notified that the tightening work is abnormal can resume normal tightening work by changing the tightening work.

  When the tightening operation is normally completed, information on the tightening position and information on the tightening torque of the fastening member can be stored in the memory 43. If the information on the tightening position is stored in the memory 43, the position where the tightening operation has been normally performed can be managed. When storing the tightening torque information in the memory 43, it is preferable to store the tightening torque information in the memory 43 in association with the tightening position information.

  According to the present embodiment, the tightening operation of the torque wrench can be performed only by acquiring the captured image I including the feature M and determining that at least a part of the feature M is located in the detection frame F. Can be determined to be normal. Further, since the detection frames FA to FD are set for each position of the fastening bolts 11A to 11D (that is, the tightening position), the above determination at each tightening position can be performed with high accuracy.

  Next, a modification of this embodiment will be described.

  In the process shown in FIG. 5, the captured image I is acquired until the limit switch is turned on, and based on the captured image I, it is determined whether the tightening operation is normal or abnormal. In this modification, when the limit switch is turned on, the captured image I is acquired, and based on the captured image I, it is determined whether the tightening operation is normal or abnormal. This determination process will be described with reference to the flowchart shown in FIG.

  In step S201, the determination unit 42 determines whether or not a limit switch provided in the torque wrench 20 is on. The determination unit 42 waits until the limit switch is turned on. When the limit switch is turned on, the determination unit 42 performs the process of step S202.

  In step S <b> 202, the determination unit 42 acquires the captured image I generated by the imaging device 30. In step S203, the determination unit 42 sets a detection frame F corresponding to the tightening position. As described above, since the fastening bolts 11A to 11D are tightened in a predetermined order, the detection frames FA to FD shown in FIG. 6 are set along this order.

  In step S204, the determination unit 42 determines whether or not at least a part of the feature M is located in the detection frame F set in the process of step S203 in the captured image I acquired in the process of step S202. Determine.

  When at least a part of the characteristic part M is located in the detection frame F, the determination part 42 determines that the tightening operation of the torque wrench 20 is normal, and performs the process of step S205. In step S205, the determination unit 42 operates the notification unit 44 to emit sound and light, thereby notifying the torque wrench operator that the tightening operation of the torque wrench 20 has been completed normally.

  On the other hand, in the process of step S204, when at least a part of the characteristic portion M is not located in the detection frame F, the determination unit 42 determines that the tightening operation of the torque wrench 20 is abnormal, and the process of step S206. Process. In step S206, the determination unit 42 operates the notification unit 44 to emit sound and light, thereby notifying the torque wrench operator that the current tightening operation is abnormal.

  According to this modification, the captured image I may be acquired after the limit switch is turned on, and there is no need to acquire the captured image I until the limit switch is turned on as in the present embodiment. . Thereby, in the captured image I, the number of processes for determining whether or not at least a part of the feature portion M is located in the detection frame F can be reduced, and the calculation load of the determination portion 42 can be reduced. it can.

  In the processing described with reference to FIGS. 5 and 13, the detection frames FA to FD shown in FIG. 6 are set along this order on the assumption that the fastening bolts 11A to 11D are tightened in a predetermined order. The present invention is not limited to the setting of such detection frames FA to FD.

  Hereinafter, another setting method of the detection frames FA to FD will be described with reference to the flowchart shown in FIG. The process shown in FIG. 14 specifies the current tightening position while changing the detection frames FA to FD.

  In step S <b> 301, the determination unit 42 acquires the captured image I generated by the imaging device 30. In step S302, the determination unit 42 sets any one of the detection frames FA to FD.

  In step S303, the determination unit 42 determines whether or not at least a part of the feature M is located in the detection frame F set in the process of step S302 in the captured image I acquired in the process of step S301. Determine. When at least a part of the feature M is not located in the detection frame F, the determination unit 42 performs the process of step S304. When at least a part of the feature portion M is located within the detection frame F, the determination unit 42 performs the process of step S305.

  In step S304, the determination unit 42 changes the detection frame F. Specifically, the determination unit 42 sets a detection frame F that is different from the detection frame F set in the process of step S302. After the detection frame F is changed, the process of step S303 is performed.

  In step S305, the determination unit 42 specifies a tightening position corresponding to the detection frame F in which at least a part of the feature M is located. As described with reference to FIG. 6, each detection frame FA to FD is set for each tightening position of the fastening bolts 11 </ b> A to 11 </ b> D, so that the detection frame F in which at least a part of the feature M is located is specified. By doing so, the tightening position corresponding to this detection frame F can be specified.

  According to the process shown in FIG. 14, even if the fastening bolts 11 </ b> A to 11 </ b> D are tightened in any order, the captured image I including the feature portion M is acquired, and at least a part of the feature portion M is located in the detection frame F. The current tightening position can be specified simply by determining that it is working. Here, since the detection frames FA to FD are provided for each tightening position of the fastening bolts 11A to 11D, the tightening position can be easily specified.

  In the present embodiment, as shown in FIG. 3, the imaging device 30 and the management device 40 are prepared separately, but the present invention is not limited to this. For example, the imaging device 30 and the management device 40 can be configured integrally. In this case, a device in which the imaging device 30 and the management device 40 are integrally configured can be attached to the torque wrench 20. In addition, the imaging device 30, the management device 40, and the torque wrench 20 can be integrally configured.

  In the present embodiment, when the limit switch is turned on, the end of the tightening operation is determined. However, the present invention is not limited to this. With the signal type torque wrench 20, it can be determined that the tightening torque of the fastening member has reached the set torque based on the feel and sound during operation. Further, in the torque wrench 20 using the strain gauge, the operator is notified by light or sound that the tightening torque of the fastening member has reached the set torque. When these torque wrenches 20 are used, the operator can input information indicating the end of the tightening operation to the management device 40.

  In the present embodiment, the angle of view of the imaging unit 31 is fixed, but the angle of view can also be changed. When changing the angle of view, it is necessary to change the positions and sizes of the detection frames FA to FD shown in FIG. 6 in accordance with this change. Specifically, when the angle of view is narrowed (when the captured image is enlarged), the sizes of the detection frames FA to FD can be enlarged without changing the positional relationship shown in FIG. Further, when the angle of view is widened (when the captured image is reduced), the sizes of the detection frames FA to FD can be reduced without changing the positional relationship shown in FIG.

  In this embodiment, when at least a part of the characteristic portion M is located in the detection frame F from when the fastening member starts to be tightened until the limit switch is turned on, the tightening operation is normal. Although it is determined that there is, it is not limited to this. That is, when at least a part of the feature portion M is located in the detection frame F, it can be determined that the tightening operation is normal. In this case, it is only necessary to determine that at least a part of the feature M is located in the detection frame F, and it is possible to quickly determine whether the tightening operation is normal or abnormal.

  On the other hand, when the positions and sizes of the plurality of detection frames F are set according to the plurality of tightening positions, depending on the posture of the torque wrench 20 when tightening the fastening member, although the tightening operation is abnormal, There is a possibility that at least a part of the feature M is temporarily positioned in the detection frame F. In this case, there is a risk of erroneously determining whether the tightening operation is normal or abnormal.

  For example, when the detection frame FB is set and the fastening bolt 11D is about to be tightened, there is a possibility that at least a part of the feature portion M is located in the detection frame FB. Thus, if it is determined only that at least a part of the feature M is located in the detection frame FB, it is determined that the tightening operation is normal even though the tightening operation is incorrect. There is.

  If it is confirmed that at least a part of the feature M is located in the detection frame F from the start of tightening of the fastening member until the limit switch is turned on as in this embodiment, It is possible to prevent such an erroneous determination from being made. When the detection frame FB is set and the fastening bolt 11D is to be tightened, the posture of the torque wrench 20 changes even if at least a part of the feature portion M is temporarily positioned in the detection frame FB. By doing so, the feature M is deviated from the detection frame FB. Therefore, when the torque wrench 20 is operated within the range of the swing angle θ, if it is confirmed that at least a part of the feature portion M is located in the detection frame F, the tightening operation can be determined with high accuracy. It can be carried out.

10: Work, 11A to 11D: Fastening bolt, 20: Torque wrench, 21: Grip part,
22: head unit, 23: socket, 30: imaging device, 31: imaging unit, 32: transmission unit,
40: management device, 41: reception unit, 42: determination unit, 43: memory, 44: notification unit,
50: Management system, M: Feature, I: Captured image, F1 to F4: Detection frame

Claims (11)

A management device for managing a tightening operation when a plurality of fastening members are tightened in a predetermined order on a workpiece provided with a feature using a torque wrench,
A determination unit configured to determine whether or not the tightening operation is normal based on a captured image obtained when the imaging unit fixed to the torque wrench images a predetermined region including the characteristic part;
The determination unit is normal when the at least part of the characteristic portion is located in a detection frame set in accordance with the tightening position of the fastening member in the captured image. A management device characterized by determining that   The determination unit determines that the tightening operation is normal when the torque wrench is operated within a range of a predetermined swing angle and at least a part of the feature is located in the detection frame. The management apparatus according to claim 1, wherein:   The management according to claim 1, wherein the determination unit determines that the tightening operation is abnormal when at least a part of the feature is not located in the detection frame. apparatus.   The management apparatus according to claim 3, further comprising a notification unit that notifies information indicating that the tightening operation is normal or abnormal by using at least one of sound and light. A management device that manages a tightening operation when tightening a plurality of fastening members to a workpiece having a feature using a torque wrench,
A determination unit that determines a position of the tightening operation based on a captured image when an imaging unit fixed to the torque wrench images a predetermined area including the feature;
The determination unit sets one of a plurality of detection frames corresponding to the tightening positions of the plurality of fastening members in the captured image, and at least a part of the feature unit is located in the detection frame. And determining that the tightening operation is being performed at the tightening position corresponding to the detection frame.   The management device according to claim 5, wherein the determination unit changes the detection frame when at least a part of the feature is not located in the set detection frame.   7. The determination unit according to claim 1, wherein the determination unit sets a plurality of the detection frames corresponding to the plurality of tightening positions at positions that do not overlap with each other in the captured image. Management device.   The management device according to claim 1, wherein the feature portion is provided at a position where the distances from the plurality of tightening positions are equal to each other.   The management apparatus according to claim 1, wherein the management apparatus includes the imaging unit and is fixed to the torque wrench. A management system for managing a tightening operation when a plurality of fastening members are tightened in a predetermined order on a workpiece having a characteristic portion using a torque wrench,
An imaging device that is fixed to the torque wrench and images a predetermined area including the feature;
A management device that determines whether or not the tightening operation is normal based on a captured image of the imaging device;
In the management device, when at least a part of the characteristic portion is located in a detection frame set in accordance with the fastening position of the fastening member in the captured image, the fastening operation is normal. Management system characterized by determining. A management system for managing a tightening operation when a plurality of fastening members are tightened to a workpiece having a characteristic portion using a torque wrench,
An imaging device that is fixed to the torque wrench and images a predetermined area including the feature;
A management device that determines a position of the tightening operation based on a captured image of the imaging device;
The management device sets one of a plurality of detection frames corresponding to the tightening positions of the plurality of fastening members in the captured image, and at least a part of the feature portion is located in the detection frame. And determining that the tightening operation is being performed at the tightening position corresponding to the detection frame.

Images