JP2023067632A - riveting support device - Google Patents

Abstract

To suitably support riveting work of an operator.SOLUTION: A riveting support device includes a riveting tool for riveting an object to be riveted, a contact board to be brought into contact with an opposite side of the riveting tool across the object to be riveted, a first position detector for detecting the position of the riveting tool, a second position detector for detecting the position of the contact board, a sound detector for detecting riveting sound during riveting, a notification part for notifying an operator performing riveting, and a control part for executing processing based on the first position detector, the second position detector and the sound detector. The control part derives a relative position between the riveting tool and the contact board on the basis of a detection result of the first position detector and a detection result of the second position detector, and the notification part notifies the operator of the derived relative position and sound information of the riveting sound based on a detection result of the sound detector in real time.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a riveting assist device.

2. Description of the Related Art Conventionally, there is known a skill comparison device that compares a reference person's and a target person's skills related to a predetermined task of handling a predetermined object, which is performed by body movements (see, for example, Patent Literature 1). This skill comparison device measures the motion of the subject, obtains a target value based on the measured body motion of the subject after completion of the motion of the subject, and outputs the target value together with the reference value of the referee.

Japanese Unexamined Patent Application Publication No. 2021-15225

The skill comparison device of Patent Document 1 compares the motions of the referrer and the target based on the target value and the reference value after the motion of the target is finished, so it is difficult to compare the skills during the motion. . By the way, as an operation performed by the target person, there is a riveting work. In the riveting operation, a pressing plate is placed on the other side of the object, and riveting is performed from one side of the object with a riveting tool. Here, it is common to judge whether the riveting work of the trainee is good or bad based on the experience of the expert. For this reason, it is not possible to quantitatively evaluate the quality of riveting during and after riveting. was required.

Accordingly, an object of the present disclosure is to provide a riveting assist device that can favorably assist the riveting operation of the operator.

A riveting assist device according to the present disclosure includes a riveting tool for riveting an object to be riveted; A first position detector for detecting the position, a second position detector for detecting the position of the abutting plate, a sound detector for detecting a riveting sound during riveting, and a worker who is riveting. and a control unit that performs processing based on the first position detector, the second position detector, and the sound detector, wherein the control unit performs the first Based on the detection result of the position detector and the detection result of the second position detector, the relative position between the riveting tool and the pressing plate is derived, and the relative position derived by the reporting unit The operator is informed in real time of the position and the sound information of the riveting sound based on the detection result of the sound detector.

According to the present disclosure, it is possible to favorably assist the worker's riveting work.

FIG. 1 is a schematic configuration diagram of a riveting assist device according to the present embodiment. FIG. 2 is a diagram of a screen displayed on the first display unit. FIG. 3 is a diagram of a screen displayed on the second display unit. FIG. 4 is an explanatory diagram of detection information stored in a storage unit. FIG. 5 is a flowchart relating to the processing of the riveting assist device.

EMBODIMENT OF THE INVENTION Below, embodiment which concerns on this invention is described in detail based on drawing. In addition, this invention is not limited by this embodiment. In addition, components in the following embodiments include components that can be easily replaced by those skilled in the art, or components that are substantially the same. Furthermore, the components described below can be combined as appropriate, and when there are multiple embodiments, each embodiment can be combined.

[Embodiment]
A riveting assist device 10 according to the present embodiment is a device for riveting an object W while assisting a worker in riveting work. The riveting assist device 10 may be applied, for example, to a riveting training device for training a worker in riveting work, or to a riveting device for performing riveting work as actual work. In this embodiment, a case where the riveting assist device 10 is applied to a riveting training device will be described.

Here, the riveting operation will be described. The riveting operation is a riveting operation to an object W to be riveted. In the riveting work, two workers are arranged with the object W sandwiched therebetween, and one worker applies a pressing board to the riveted part on one side (for example, the back side) of the object W, and the object W On the other side (for example, the front side), the other worker is driving a riveter using the riveting tool 21 at the riveting location.

FIG. 1 is a schematic configuration diagram of a riveting assist device according to the present embodiment. FIG. 2 is a diagram of a screen displayed on the first display unit. FIG. 3 is a diagram of a screen displayed on the second display unit. FIG. 4 is an explanatory diagram of detection information stored in a storage unit. FIG. 5 is a flowchart relating to the processing of the riveting assist device.

(Rivet driving support device)
The riveting assist device 10 includes a riveting tool 21, a platen 22, a first position detector 24, a second position detector 25, a sound level meter (sound detector) 27, and a first pressure sensor. A meter 28 , a second pressure gauge 29 , a first display section 31 , a second display section 32 , and a control device 35 are provided.

The riveting tool 21 is a tool for riveting a riveted portion from the other side of the object W, and for example, a tool such as an air hammer having a stroke axis I1 (see FIG. 4) is used. The riveting tool 21 is pressed against the object W through the rivet so that the stroke axis I1 forms a predetermined angle with respect to the object W. As shown in FIG. The stroke axis I1 is an axis that moves in the stroke direction in which the workpiece W is moved toward or away from the workpiece W when the riveting is performed, and is integrated with the tip of the tool to be hammered into the workpiece W. ing. The riveting tool 21 is also provided with a trigger 23 for activation.

The pressing platen 22 is a member that is pressed from one side of the object W to the riveted portion. The pressing platen 22 has a support shaft I2 (see FIG. 4) perpendicular to the pressing surface to be pressed against the object W. It is pressed against the target object W so as to form an angle.

A first position detector 24 detects the position of the riveting tool 21 . Specifically, the first position detector 24 detects, as the position of the riveting tool 21, the position, direction, and attitude of the riveting tool 21 with respect to the object W to be measured. A motion capture system, for example, is used for the first position detector 24 .

The first position detector 24 includes a plurality of markers 41 attached to the riveting tool 21 and a plurality of cameras 42 for imaging the plurality of markers 41 . A plurality of markers 41 are attached to the riveting tool 21 and provided at locations where the position, direction and orientation of the riveting tool 21 can be detected. The plurality of markers 41 are also provided on the target object W, and are provided at locations where the position of the target object W can be detected. The multiple cameras 42 are provided at positions where the multiple markers 41 can be imaged. The plurality of cameras 42 acquire image information of the plurality of markers 41 by imaging the plurality of markers 41 . The multiple cameras 42 of the first position detector 24 are connected to the controller 35 . The control device 35 performs image processing based on the image information of the plurality of markers 41 to detect the position, direction and orientation of the riveting tool 21 .

A second position detector 25 detects the position of the pressing platen 22 . Specifically, the second position detector 25 detects the position, direction, and orientation of the pressing platen 22 when the object W is used as a reference as the position of the pressing platen 22 . As with the first position detector 24, the second position detector 25 uses, for example, a motion capture system.

The second position detector 25 is the same as the first position detector 24, and includes a plurality of markers 43 attached to the contact plate 22 and a plurality of cameras 44 that capture images of the markers 43. I'm in. A plurality of markers 43 are attached to the contact plate 22 and provided at locations where the position, direction and orientation of the contact plate 22 can be detected. A plurality of markers 43 are also provided on the target object W, and are provided at locations where the position of the target object W can be detected. A plurality of cameras 44 are provided at positions capable of imaging the plurality of markers 43 . The plurality of cameras 44 acquire image information of the plurality of markers 43 by imaging the plurality of markers 43 . A plurality of cameras 44 of the second position detector 25 are connected to the controller 35 . The control device 35 executes image processing based on the image information of the plurality of markers 43 to detect the position, direction and orientation of the pressing plate 22 .

Also, the first position detector 24 and the second position detector 25 detect the position of the object W to be inspected. The control device 35 detects the position of the target object W by executing image processing based on the image information of the markers 41 and 43 . Note that the position of the target object W may be detected using either one of the first position detector 24 and the second position detector 25 .

A sound level meter 27 detects a riveting sound during riveting. Specifically, the sound level meter 27 detects the sound pressure level of the riveting sound at the time of riveting as sound information. The sound level meter 27 is connected to the controller 35 . The control device 35 acquires and records the sound pressure level detected by the sound level meter 27 as sound information. In this embodiment, the sound pressure level is acquired as the sound information, but it is not particularly limited, and the frequency or the like may be acquired.

The first pressure gauge 28 detects the pressure of the riveting tool 21 against the workpiece W. As shown in FIG. The first pressure gauge 28 is provided on the riveting tool 21 and outputs the detected pressure to the control device 35 by wireless communication. The control device 35 acquires and records the pressure detected by the first pressure gauge 28 .

The second pressure gauge 29 detects the pressure of the pressing platen 22 against the object W to be inspected. The second pressure gauge 29 is provided on the pressing platen 22 and outputs the detected pressure to the control device 35 by wireless communication. The control device 35 acquires and records the pressure detected by the second pressure gauge 29 .

The first display unit 31 notifies the worker and displays a notification screen G1 for providing information to be notified. The first display unit 31 is, for example, a display device such as a display. Note that the first display unit 31 is not particularly limited, and may be a display device such as a wearable display. The first display section 31 provides information to the operator using the riveting tool 21 .

Here, the notification screen G1 displayed on the first display unit 31 will be described with reference to FIG. As information to be provided to the operator using the riveting tool 21, the notification screen G1 provides information about the position of the riveting tool 21 and information about riveting sound.

Information on the position of the riveting tool 21 includes a position P1 of the riveting tool 21 with respect to the object W and a predetermined position index P2 indicating that riveting is appropriate. The position P1 of the riveting tool 21 is the attitude of the riveting tool 21 with respect to the object W. Specifically, the surface of the object W to be riveted and the stroke axis I1 of the riveting tool 21 are aligned. It is an angle (tilt angle) to make. The angle of inclination is, for example, the angle formed by the vertical axis and the stroke axis I1, with the vertical axis that intersects the surface of the workpiece W to be riveted as a reference axis. Note that the reference axis is not limited to a vertical axis, and may be an axis having an arbitrary angle. The information about the position of the riveting tool 21 displayed on the notification screen G1 is not particularly limited to the above. There may be. The position P1 of the riveting tool 21 is derived in real time based on the previously detected position of the object W and the detection result of the first position detector 24 . The position index P2 is a predetermined range in which riveting is appropriate. angle range (tilt angle range). Similar to the inclination angle, the inclination angle range is a predetermined angle range formed by the reference axis and the stroke axis I1, for example, with a vertical axis that intersects the surface of the workpiece W to be riveted as a reference axis. there is The position index P2 is displayed as a circular ring (dotted line) with a predetermined angular range centered on the stroke axis I1 (so-called radar chart display), and the angular range can be arbitrarily set.

The information about the riveting sound includes sound information P3 of the riveting sound and a predetermined sound index P4 indicating that riveting is appropriate. The sound information P3 of the riveting sound is the sound pressure level of the riveting sound detected by the sound level meter 27 and derived in real time. The sound index P4 is a range defined in advance in which riveting is considered appropriate, specifically, a range of sound pressure levels. The sound index P4 is displayed by an arc-shaped scale bar, and both a predetermined range in which the riveting sound is appropriate and a predetermined range in which the riveting sound is not appropriate are both displayed.

The second display section 32 notifies the operator, similarly to the first display section 31, and displays a notification screen G2 for providing information to be notified. The second display unit 32 is, for example, a display device such as a display. Note that the second display unit 32 is not particularly limited, and may be a display device such as a wearable display, like the first display unit 31 . The second display section 32 provides information to the operator using the pressing platen 22 .

Here, the notification screen G2 displayed on the second display unit 32 will be described with reference to FIG. Information relating to the position of the pressing platen 22 is provided on the notification screen G2 as information to be provided to the worker using the pressing platen 22 .

Information about the position of the pressing plate 22 includes a position P5 of the pressing plate 22 with respect to the object W and a predetermined position index P6 indicating that riveting is appropriate. The position P5 of the pressing platen 22 is the posture of the pressing platen 22 with respect to the object W. Specifically, the angle ( angle of inclination). The angle of inclination is the angle formed by the reference axis and the support axis I2, for example, with the vertical axis that intersects the riveted surface of the workpiece W as the reference axis. Note that the reference axis is not limited to a vertical axis, and may be an axis having an arbitrary angle. Information about the position of the pressing platen 22 displayed on the notification screen G2 is not particularly limited to the above. may be The position P2 of the pressing platen 22 is derived in real time based on the previously detected position of the object W and the detection result of the second position detector 25 . The position index P6 is a predetermined range in which riveting is appropriate. It is an angle range (tilt angle range). Similar to the inclination angle range of the riveting tool 21, the inclination angle range has, for example, a reference axis perpendicular to the surface of the workpiece W to be riveted, and a predetermined angle between the reference axis and the support axis I2. angle range. The position index P6 is displayed as a circular ring (dotted line) with a predetermined angular range centered on the support axis I2 (so-called radar chart display), and the angular range can be arbitrarily set.

Information on the position of the pressing plate 22 includes information on a relative position. The relative position P7 is the relative angle of the riveting tool 21 with respect to the pressing platen 22, specifically, the angle formed by the support axis I2 of the pressing platen 22 and the stroke axis I1 of the riveting tool 21. ing. The relative position P7 is derived in real time based on the detection result of the first position detector 24 and the detection result of the second position detector 25. FIG. The relative position P7 is displayed using symbol images simulating the object W, the riveting tool 21, and the pressing platen 22. FIG.

The control device 35 controls each part of the riveting assist device 10 . The control device 35 includes a first position detector 24, a second position detector 25, a sound level meter 27, a first pressure gauge 28, a second pressure gauge 29, a first display section 31 and a second display. are connected to the portions 32 respectively.

The control device 35 has a control section 46 , a storage section 47 and a communication section 48 . The control unit 46 includes, for example, an integrated circuit such as a CPU (Central Processing Unit). The control unit 46 performs control for providing information to the operator via the display units 31 and 32 based on information input from various instruments. The memory unit 47 is an arbitrary memory device such as a semiconductor memory device and a magnetic memory device. The storage unit 47 stores various information. The storage unit 47 has detection information shown in FIG. 4 as information to be stored. The communication unit 48 is a wireless communication module, and acquires detection results output from the first pressure gauge 28 and the second pressure gauge 29 by wireless communication.

Here, as shown in FIG. 4, the detection information is detected by the first position detector 24, the second position detector 25, the sound level meter 27, the first pressure gauge 28 and the second pressure gauge 29. It is information that has been Specifically, the detected information includes the above-described inclination angle of the stroke axis I1 of the riveting tool 21 . The tilt angle of the stroke axis I1 is the angle formed by the reference axis and the stroke axis I1, as described above. At this time, the tilt angle of the stroke axis I1 includes tilt angles D1 and D2 in two orthogonal directions centered on the reference axis in a plane orthogonal to the reference axis. Further, the detection information includes the movement amount D3 of the riveting tool 21 in the axial direction of the stroke axis I1. The tilt angles D1 and D2 in the two directions and the movement amount D3 are derived based on the detection results of the first position detector 24. FIG. Furthermore, the detection information includes the vibration D4 of the riveting tool 21 and the pressure D5. The vibration D4 is the vibration of the riveting tool 21 when it is pressed against the object W. FIG. The vibration D<b>4 is derived based on the acceleration of the riveting tool 21 detected by the first position detector 24 . The pressure D5 is the pressure when the riveting tool 21 is pressed against the object W. FIG. The pressure D5 is the pressure detected by the first pressure gauge 28 . Further, the detected information is the above relative position D6 (P7) and includes the relative angle of the riveting tool 21 with respect to the pressing platen 22 .

The detected information includes the above-described inclination angle of the support shaft I2 of the pressing platen 22 . The inclination angle of the support axis I2 is the angle formed by the reference axis and the support axis I2, as described above. At this time, the tilt angle of the support axis I2 includes tilt angles D7 and D8 in two orthogonal directions about the reference axis in a plane orthogonal to the reference axis. Further, the detection information includes the movement amount D9 of the support shaft I2 of the pressing platen 22 in the axial direction. The tilt angles D7 and D8 in the two directions and the movement amount D9 are derived based on the detection result of the second position detector 25. FIG. Furthermore, the detection information includes the vibration D10 of the pressing platen 22 and the pressure D11. The vibration D10 is the vibration of the pressing platen 22 when it is pressed against the object W. FIG. The vibration D10 is derived based on the acceleration of the riveting tool 21 detected by the second position detector 25. FIG. The pressing force D11 is the pressure when the pressing platen 22 is pressed against the object W. FIG. The pressure D11 is the pressure detected by the second pressure gauge 29 . The detection information is the sound information D12 (P3), which includes the sound pressure level of the riveting sound.

Next, referring to FIG. 5, the process related to assisting the riveting work by the riveting assistance device 10 will be described. Before starting the riveting work, the riveting assistance device 10 obtains the position of the object W using the first position detector 24 and the second position detector 25 . In the riveting assist device 10, the control device 35 determines whether or not the operator is ready to operate the trigger 23 for operating the riveting tool 21, by determining whether or not the start switch has been turned on. (Step S1). When the control device 35 determines that the start switch has been turned on (step S1: Yes), it determines whether or not a predetermined time has elapsed (step S2). In step S2, the process waits for a predetermined time after the start switch is turned on until the riveting operation by the riveting tool 21 is completed. If the control device 35 determines in step S1 that the start switch is not turned on (step S1: No), the process ends without executing the process related to assisting the riveting work.

When the control device 35 determines in step S2 that the predetermined time has elapsed (step S2: Yes), it emits an alarm sound and changes the inclination angle, pressure, movement amount and acceleration of the riveting tool 21 and the inclination of the pressing platen 22. Information on the angle, pressure, amount of movement, and acceleration is acquired and recording is started (step S3). An electronic sound is used as the alarm sound in step S3. Also, instead of the alarm sound, a warning light such as a lamp may be lit or blinked. After executing step S3, the control device 35 displays the acquired various data on the first display section 31 and the second display section 32 (step S4). That is, in step S4, the information included in the notification screen G1 is displayed on the first display section 31, and the information included in the notification screen G2 is displayed on the second display section 32. FIG.

Further, when the control device 35 determines in step S2 that the predetermined time has elapsed (step S2: Yes), the control device 35 acquires the riveting sound and starts recording (step S5). After executing step S5, the control device 35 displays the acquired riveting sound data on the first display unit 31 (step S6). That is, in step S6, the sound information included in the notification screen G1 is displayed on the first display section 31. FIG.

After executing steps S4 and S6, the control device 35 determines whether or not the riveting tool 21 has retreated from the object W by a predetermined amount based on the amount of movement of the riveting tool 21 along the stroke axis I (step S7). In step S7, it is detected whether or not the riveting operation by the riveting tool 21 is completed by determining that the riveting tool 21 has retreated from the target object W. When the control device 35 determines in step S7 that the riveting tool 21 has retreated from the object W (step S7: Yes), it ends the recording in steps S3 and S5 (step S8). On the other hand, when the controller 35 determines in step S7 that the riveting tool 21 has not retreated from the workpiece W (step S7: No), the process proceeds to steps S3 and S5 again, and the riveting tool Steps S3 to S7 are repeatedly executed until the object 21 retreats from the object W. FIG.

After executing step S8, the control device 35 displays the recorded various data on one of the first display section 31, the second display section 32, and other display sections (step S9). After that, the control device 35 associates the recorded various data with the images corresponding to the various data, and displays the images on the first display unit 31, the second display unit 32, and other display units. It is displayed as an evaluation result (step S10). The evaluation of the riveting operation is comprehensively judged from the relative positions of the riveting tool 21 and the pressing platen 22, riveting sound, pressure, and the like. After executing step S10, the control device 35 ends the process related to assisting the riveting work. The evaluation result displayed in step S10 can be used to evaluate the riveting quality itself or can be used as an evaluation factor for riveting quality.

In this embodiment, a motion capture system including markers 41, 43 and cameras 42, 44 is applied as the first position detector 24 and the second position detector 25 applied to the riveting training device. , is not particularly limited. When the riveting assist device 10 is used in actual work, the first position detector 24 and the second position detector 25 may be acceleration sensors such as triaxial gyro sensors.

Further, in this embodiment, when the start switch is turned ON, recording of various data is started after a predetermined period of time has passed, and the operation of the riveting tool 21 is started by the operation of the trigger 23 by the operator. is not particularly limited to For example, after turning on the start switch, it may be detected that the riveting tool 21 has approached the object W within a predetermined range, and recording of various data may be started. In addition, it may be detected that the contact platen 22 has approached the object W within a predetermined range, and recording of various data may be started. On the other hand, when it is detected that the contact platen 22 is not close to the object W within the predetermined amount, any one of the first display section 31, the second display section 32 and the other display section is displayed. may display a warning.

As described above, the riveting assist device 10 according to the present embodiment is understood as follows, for example.

A riveting assist device 10 according to a first aspect includes a riveting tool 21 for riveting an object W, and an abutting tool 21 that is applied to the opposite side of the riveting tool 21 with the object W interposed therebetween. A board 22, a first position detector 24 for detecting the position of the riveting tool 21, a second position detector 25 for detecting the position of the riveting board 22, and a riveting sound during riveting. A sound detector (sound level meter 27), a notification unit (display units 31 and 32) for notifying the worker who is driving the riveting, the first position detector 24, the second position detector 25 and a control unit 46 that executes processing based on the sound detector, the control unit 46 depending on the detection result of the first position detector 24 and the detection result of the second position detector 25. Based on this, the relative position P7 between the riveting tool 21 and the pressing platen 22 is derived, and the notifying unit informs the hammering based on the derived relative position P7 and the detection result of the sound detector. The tack sound information P3 is notified to the worker in real time.

According to this configuration, the operator can be informed of the relative position P7 and the sound information P3 during the riveting operation. Therefore, the appropriate state of the riveting tool 21 and the pressing platen 22 can be notified, and the appropriate riveting stop timing can be ascertained from the riveting sound. As a result, the quality of the riveting work performed by the worker can be improved, and the riveting work of the worker can be favorably supported.

As a second aspect, the notification unit is the display units 31 and 32, the sound information is set with a predetermined sound indicator indicating that riveting is appropriate, and the control unit controls the display In the section, the derived relative position P7 is displayed together with the detected sound information P3 and the sound index P4.

According to this configuration, the relative position P7 can be easily grasped visually, and the quality of the sound information P3 based on the sound index P4 can be judged visually.

As a third aspect, the first position detector 24 and the second position detector 25 are motion capture systems including markers and cameras.

According to this configuration, the positions of the riveting tool 21 and the pressing platen 22 can be accurately measured.

As a fourth aspect, a first pressure gauge 28 for detecting the pressure of the riveting tool 21 pressed against the object W and the pressure of the pressing platen 22 against the object W are detected. and a second pressure gauge 29 that

According to this configuration, the pressing of the riveting tool 21 against the object W and the pressing of the pressing platen 22 against the object W can be used in evaluating the riveting operation.

As a fifth aspect, a storage unit 47 for storing detection results of the first position detector 24, the second position detector 25 and the sound detector as detection information, and an output for outputting the detection information. section (display sections 31 and 32).

According to this configuration, the riveting operation can be evaluated after the riveting operation.

REFERENCE SIGNS LIST 10 riveting support device 21 riveting tool 22 pad 24 first position detector 25 second position detector 27 sound level meter (sound detector)
28 first pressure gauge 29 second pressure gauge 31 first display section 32 second display section 35 control device 41, 43 marker 42, 44 camera 46 control section 47 storage section 48 communication section W target object

Claims (5)

a riveting tool for riveting an object;
a pressing plate that is applied to the opposite side of the riveting tool with the object being sandwiched therebetween;
a first position detector for detecting the position of the riveting tool;
a second position detector that detects the position of the pressing plate;
a sound detector for detecting a riveting sound during riveting;
a notification unit that notifies the worker who drives the riveting;
a control unit that executes processing based on the first position detector, the second position detector, and the sound detector;
The control unit
Based on the detection result of the first position detector and the detection result of the second position detector, the relative position between the riveting tool and the pressing plate is derived, and is derived by the reporting unit. A riveting support device for notifying the worker of the relative position and the sound information of the riveting sound based on the detection result of the sound detector in real time. The notification unit is a display unit,
A predetermined sound index indicating that riveting is appropriate is set in the sound information,
2. The riveting assist device according to claim 1, wherein the control unit displays the derived relative position on the display unit together with the detected sound information and the sound index. The riveting assist device according to claim 1 or 2, wherein the first position detector and the second position detector are motion capture systems including markers and cameras. a first pressure gauge for detecting pressure of the riveting tool pressed against the object;
4. The riveting assist device according to any one of claims 1 to 3, further comprising a second pressure gauge for detecting pressure of said pressing platen pressed against said object. a storage unit that stores detection results of the first position detector, the second position detector, and the sound detector as detection information;
The riveting assist device according to any one of claims 1 to 4, further comprising an output unit that outputs the detection information.

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