JP4821811B2 - Bolt tightening judgment device - Google Patents

Description

  The present invention relates to a bolt tightening determination device, and more specifically, a bolt tightening determination for determining whether or not an operator has tightened a bolt with a tightening tool into a specified bolt hole among a plurality of bolt holes formed in a workpiece. Relates to the device.

Conventionally, this type of bolt tightening determination device includes three receiving antennas for receiving ultrasonic pulses from an ultrasonic transmitter attached to a torque wrench for tightening a bolt, and a data processing device attached to a torque wrench. Coordinate position of the bolt hole being tightened by the principle of triangulation based on the receiver that receives the tightening torque data, the memory in which the coordinate position of each bolt hole is stored in advance, and the propagation time of the received ultrasonic pulse A calculation processing unit that calculates the bolt position, a bolt number determination unit that compares the calculated coordinate position with the stored coordinate position to determine which position (number) the bolt is tightened, and the determined bolt number And a tightening determination unit for determining which position of the bolt has been tightened based on the received tightening torque data It has been proposed (e.g., see Patent Document 1).
JP 2005-121132 A

  In the above-described bolt tightening determination device, some errors may occur in the calculation of the coordinate position based on the propagation time of the ultrasonic pulse, and therefore, when the distance between the bolt holes is narrow, the bolt hole being tightened may be erroneously determined. is there. In addition, since the coordinate position is calculated based on the principle of triangulation, three receiving antennas must be installed, and the configuration of the apparatus is complicated.

  The main object of the bolt tightening determination apparatus of the present invention is to enable accurate determination with a simple configuration that a bolt has been tightened into a designated bolt hole.

  The bolt tightening determination apparatus of the present invention employs the following means in order to achieve the main object described above.

The bolt tightening determination device of the present invention is
A bolt tightening determination device that determines whether or not an operator has tightened a bolt using a tightening tool in a specified bolt hole among a plurality of bolt holes formed in a workpiece,
Moving means for moving the moving object in the horizontal direction;
It comprises a light emitting part attached to the moving means as the clamping tool or the moving object and a light receiving part attached to the moving means as the clamping tool or the moving object, and the clamping tool is located below the moving object. An optical sensor to which the light emitting part and the light receiving part are attached so that the light receiving part can receive light from the light emitting part when positioned within a predetermined range;
An operating state detecting means attached to the tightening tool for detecting the operating state of the tightening tool;
Control means for controlling the moving means so that the moving object is moved to a predetermined upper position corresponding to the designated bolt hole;
It is determined whether or not the bolt has been tightened based on the detected operating state of the tightening tool, and when it is determined that the tightening has been performed, the light receiving unit receives light from the light emitting unit. Determination means for determining that the bolt is normally tightened in the designated bolt hole, and for determining that the bolt is not tightened in the designated bolt hole when the light receiving portion is not receiving light from the light emitting portion. The gist is to provide and.

  In this bolt tightening determination device of the present invention, the moving means is controlled so that the moving object is moved to a predetermined upper position corresponding to the designated bolt hole, and is detected by the operating state detecting means attached to the tightening tool. It is determined whether or not the bolt has been tightened based on the operating state of the tightening tool. When it is determined that the tightening has been performed, the light receiving unit attached to the moving means as the tightening tool or the moving object is used as the tightening tool or the moving object. When receiving light emitted from the light emitting unit attached to the moving means, it is determined that the bolt is properly tightened in the designated bolt hole, and when the light receiving unit is not receiving light emitted from the light emitting unit, the designated bolt is determined. It is determined that the bolt was not tightened in the hole. Thereby, it can be accurately determined with a simple configuration that the bolt is tightened in the designated bolt hole.

  In such a bolt tightening determination device of the present invention, the light emitting portion and the light receiving portion are attached to the moving means as the moving object, and the light from the light emitting portion is directed toward the light receiving portion on the tightening tool. A reflection plate to be reflected may be attached. In this case, it is not necessary to attach the light emitting unit and the light receiving unit to the tightening tool, and the workability of the tightening operation is not deteriorated by the wiring of the optical sensor. In the bolt tightening determination device according to the aspect of the present invention, the light emitting unit emits light through the first polarizing filter that allows only the vibration in the vertical direction or the horizontal direction to pass, and the light receiving unit includes the first light filter. The light is received through a second polarizing filter that passes only light having a vibration direction different from that of the first polarizing filter, and the reflecting plate reflects light having a vibration direction different from at least the vibration direction before reflection. It can also be. By doing so, the light receiving unit does not receive the light reflected by other than the reflector such as the workpiece surface, and it can be reliably determined that the tightening tool is on the designated bolt hole. Further, in the bolt tightening determination device according to the present invention of this aspect, the reflector is cylindrical so that light from the light emitting unit can be reflected only when the tightening tool is positioned substantially directly below the light emitting unit. An incident / exit angle limiting filter that limits the incident / exit angle of light that is formed may be attached. In this way, the light receiving unit does not receive the reflected light when the tightening tool is at a position that is substantially deviated from the light emitting unit, and it is more reliable that the tightening tool is on the specified bolt hole. Can be determined.

  In the bolt tightening determination device of the present invention, the light emitting unit may be attached to the moving unit as the moving object and emit visible light. If it carries out like this, an operator can confirm easily which bolt hole is what was designated among several bolt holes.

  Furthermore, in the bolt tightening determination apparatus of the present invention, the control means may be means for controlling the moving means so that the moving object is moved according to a predetermined bolt tightening order.

  Next, the best mode for carrying out the present invention will be described using examples.

  FIG. 1 is an explanatory view showing a state where a bolt tightening operation is performed using a bolt tightening determination apparatus as an embodiment of the present invention, and FIG. 2 is a top view of a work table 24 on which the bolt tightening operation is performed. 3 shows an X-axis direction moving mechanism 40 and a Y-axis direction moving mechanism that move the laser sensor 30 constituting the bolt tightening determination device in the X-axis direction (front-rear direction in the figure) and the Y-axis direction (left-right direction in the figure). FIG. 4 is a configuration diagram showing an outline of a configuration of a torque wrench 60 used by an operator for bolt tightening work. As shown in FIG. 1, the bolt tightening operation of the embodiment is an operation in which an operator tightens bolts B with a torque wrench 60 in a plurality of bolt holes A formed in a workpiece W (for example, a case covered with a cover). A work table 24 attached to a gate-shaped main body frame 22 standing vertically from the work floor, a laser sensor 30 for receiving and emitting laser light, and the laser sensor 30 in the X-axis direction and the Y-axis direction. An X-axis direction moving mechanism 40 and a Y-axis direction moving mechanism 50 to be moved, an operation panel 80 including a power switch 82 and various operation switches 84 for turning the power on and off, and a display 90 for displaying work instructions and warnings to the worker. And the controller 100 that controls the entire apparatus.

  As shown in FIG. 2A, the work table 24 is configured as a rectangular table, and a plurality of positioning stoppers 26 for determining the position of the workpiece W in the Y-axis direction with the lower surface in the drawing as a reference surface. And a plurality of positioning stoppers 28 for determining the position of the workpiece W in the X-axis direction with the right side surface in the figure as a reference surface. An intersection of straight lines along the reference planes of the positioning stoppers 26 and 28 is defined as a reference point (the origin of the XY coordinates). Then, as shown in FIG. 2B, when the operator sets the workpiece W so that the upper side surface in the drawing is pressed against the positioning stopper 26 and the left side surface in the drawing is pressed against the positioning stopper 28. The positions of a plurality of bolt holes A formed in the workpiece W coincide with the position coordinates of the bolt holes A that are determined in advance with reference to the reference point and stored in the ROM 104 of the controller 100. For example, the bolt hole A1 in the figure is located at a distance X1 from the reference point in the X-axis direction and a distance Y1 in the Y-axis direction, and the position coordinates of the bolt hole A1 stored in the ROM 104 are coordinates (X1, Y1). ).

  As shown in FIG. 3, the laser sensor 30 includes a housing 30a attached to the Y-axis direction moving mechanism 50, and laser light (for example, a visible semiconductor laser having a wavelength of 650 nm) disposed in the housing 30a as visible light. It is configured as a reflective sensor having a light emitting unit 32 that emits light, and a light receiving unit 34 that is disposed adjacent to the light emitting unit 32 in the housing 30a and receives laser light emitted from the light emitting unit 32 and reflected. . When the light receiving unit 34 is receiving laser light, the laser sensor 30 transmits a light reception signal L indicating that the light is received to the controller 100. Further, the light emitting unit 32 is provided with a polarizing filter 32a that allows only the laser beam whose vibration direction is the horizontal direction (Y-axis direction) to pass through, and the light receiving unit 34 has the vibration direction of the vertical direction (X A polarizing filter 34a that passes only the laser beam in the axial direction is attached to the light-receiving surface, which will be described later.

  The X-axis direction moving mechanism 40 and the Y-axis direction moving mechanism 50 have the same configuration. For convenience of description, the Y-axis direction moving mechanism 50 will be described, and the description of the X-axis direction moving mechanism 40 will be omitted. As shown in FIGS. 1 and 3, the Y-axis direction moving mechanism 50 includes a housing 51 in which a guide rail 52 is laid, and a slide block 54 to which a Y-axis moving table 53 is attached and which can slide on the guide rail 52. A ball screw 56 screwed into a nut in the slide block 54 and rotatably supported on the housing 51 via bearings 55a and 55b, and a servo motor 58 connected to the ball screw 56 via a coupling 57. The Y-axis moving table 53 is reciprocated in the Y-axis direction by driving the servo motor 58. The Y-axis direction moving mechanism 50 is mounted on the X-axis moving table 43 of the X-axis direction moving mechanism 40 mounted on the upper part of the main body frame 22, and the Y-axis direction moving mechanism 50 has a laser on the Y-axis moving table 53. A housing 30a of the sensor 30 is attached. Therefore, the laser sensor 30 can be moved in the X axis direction and the Y axis direction by driving the X axis direction moving mechanism 40 and the Y axis direction moving mechanism 50. It is assumed that the laser sensor 30 stands by at a position immediately above the reference point illustrated in FIG. 2B in an initial state such as when the power is turned on.

  As shown in FIG. 4, the torque wrench 60 includes a torque wrench main body 62, a reflection plate 64 that is attached to the upper portion of the torque wrench main body 62 and reflects the laser light emitted from the light emitting unit 32 of the laser sensor 30, and a reflection The cylindrical member 66 which is attached to the upper part of the plate 64 and limits the incident / exit angle of the laser beam, and the tightening torque T detected by detecting the tightening torque T during the bolt tightening operation is equal to or higher than a preset specified torque Tref. And a torque sensor 68 that transmits a torque arrival signal TD indicating this to the controller 100. The reflection plate 64 is configured to change the direction of vibration when the laser beam is reflected. FIG. 5 is an explanatory diagram showing a state in which the laser light emitted from the light emitting unit 32 of the laser sensor 30 is reflected by the reflecting plate 64 while changing the direction of vibration and is received by the light receiving unit 34. As described above, since the light emitting unit 32 is provided with the polarizing filter 32a that allows only the laser beam whose vibration direction is the horizontal direction to pass, the laser beam whose vibration direction is the horizontal direction is emitted as illustrated. The Here, the reflecting plate 64 has fine triangular pyramids 64a having three reflecting surfaces made of right-angled isosceles triangles arranged on the surface thereof without any gap. As shown in the enlarged view in the figure, the emitted laser beam is emitted. Is reflected as the final reflected light after sequentially reflecting the three reflecting surfaces of the triangular pyramid 64a. When the three reflecting surfaces are reflected, the vibration direction of the light changes from the horizontal direction to the vertical direction, so that the laser beam whose vibration direction is the vertical direction is reflected toward the light receiving unit 34. Thereby, the laser light reflected by the reflecting plate 64 can pass through the polarizing filter 34 a that allows only the laser light whose vibration direction is the vertical direction to pass, and can be received by the light receiving unit 34. As described above, in order to be received by the light receiving unit 34, it is necessary to reflect on the reflecting plate 64. For example, in the reflected light simply reflected on the workpiece W, the vibration direction is changed in the horizontal direction. Therefore, it is possible to reliably determine whether or not the torque wrench 60 is at a predetermined position below the laser sensor 30. Since the light emitting unit 32 and the light receiving unit 34 are attached to the Y-axis direction moving mechanism 50 and only the reflector 64 is attached to the torque wrench 60, the workability is not significantly deteriorated by the wiring of the laser sensor 30 or the like. . In addition, when the cylindrical member 66 is attached to the reflector 64, the torque wrench 60 is designated when the bolt B is tightened in the bolt hole A different from the bolt hole A designated by the operator. It is possible to prevent erroneous determination as being over the bolt hole A. FIG. 6 is an explanatory diagram showing a state in which the operator mistakenly tightens the bolt B into the bolt hole A2 different from the designated bolt hole A1. When the torque wrench 600 to which the tubular member 66 is not attached is used, the laser light is reflected when the torque wrench 600 is tilted and the reflector 64 is positioned just below the light emitting unit 32 as shown in FIG. May be received by the light receiving unit 34. On the other hand, in the present embodiment, as shown in FIG. 6B, in the inclined state, the laser beam hits the cylindrical member 66 and does not reach the reflection plate 64, so that it is not received by the light receiving unit 34. Thereby, when the bolt B is tightened in the bolt hole A2 different from the designated bolt hole A1, it is possible to prevent erroneous determination that the torque wrench 60 is on the designated bolt hole A1.

  The controller 100 is configured as a microprocessor centered on the CPU 102, and has internal communication that enables communication between the ROM 104 storing various processing programs and the like, the RAM 106 temporarily storing various data, and the operation panel 80. The interface 108 is connected so that signals can be exchanged with each other. The controller 100 inputs an operation signal generated in response to an operation of the operation panel 80, a light reception signal L from the laser sensor 30, a torque arrival signal TD from the torque sensor 68, and the like, and a light emission signal to the light emitting unit 32 of the laser sensor 30. And a drive signal is output to the servo motor 48 of the X-axis direction moving mechanism 40 and the servo motor 58 of the Y-axis direction moving mechanism 50.

  Here, the hardware configuration of the bolt tightening determination device of the embodiment corresponds to the laser sensor 30, the X-axis direction moving mechanism 40, the Y-axis direction moving mechanism 50, the reflector 64, the cylindrical member 66, and the torque sensor 68.

  Next, a normal tightening operation in which the bolt B is tightened by an operator according to a predetermined tightening order using the bolt tightening determination device of the embodiment will be described. FIG. 7 is a flowchart showing an example of a normal work time control routine executed by the controller 100. This routine is executed when the work W is set on the work table 24 by the operator and the start button is pressed by operating the various operation buttons 82 on the operation panel 80.

  When the normal operation control routine is executed, the CPU 102 of the controller 100 first outputs a light emission signal to the light emitting unit 32 so that the laser light is emitted from the laser sensor 30 (step S100), and is stored in advance in the ROM 104. The laser sensor 30 is moved to a position substantially above the bolt hole A as a predetermined upper position corresponding to the designated bolt hole A based on the determined bolt tightening order (step S110). Here, the case where the bolt hole A designated based on the bolt tightening order is the bolt hole A1 shown in FIG. 2B will be described. In this case, a drive signal is output to the servo motor 48 of the X-axis direction moving mechanism 40 so as to move by the movement amount X1 in the X-axis direction, and the servo of the Y-axis direction moving mechanism 50 so as to move by the movement amount Y1 in the Y-axis direction. A drive signal is output to the motor 58. As described above, since the laser light emitted from the light emitting unit 32 is visible light, the operator can easily confirm the bolt hole A1.

  Thus, when the laser sensor 30 is moved, it waits to receive the torque arrival signal TD from the torque sensor 68 (step S120). When the torque arrival signal TD is received, it is determined whether or not the light reception signal L is input from the laser sensor 30 (step S130). When the light reception signal L is input, the torque wrench 60 is in the position of the bolt hole A1 and the tightening torque T has reached the specified torque Tref. Therefore, the bolt B is normally tightened in the designated bolt hole A1. It is determined whether or not the tightening of all the bolts B has been completed (step S140). If not completed, the process returns to step S110 to repeat the process, and if completed, this routine is terminated. Thus, it can be determined that the bolt B is normally tightened in the designated bolt hole A1 based on the torque arrival signal TD from the torque sensor 68 and the light reception signal L from the laser sensor 30.

  In step S130, when the light reception signal L is not input, the torque wrench 60 is in a position other than the designated bolt hole A1 and the tightening torque T has reached the specified torque Tref. Is determined that the bolt B has not been tightened, the designated bolt hole A1 is registered in the RAM 106 as a tightening failure (step S150), and the operator confirms that the work is not being performed as instructed. Then, a warning is given to resume the work (step S160), and this routine is terminated. Thus, it can be determined that the bolt B has not been tightened in the designated bolt hole A1 based on the torque arrival signal TD from the torque sensor 68 and the light reception signal L from the laser sensor 30.

  According to the tightening operation using the bolt tightening determination apparatus of the embodiment described above, the X-axis direction moving mechanism 40 and the Y-axis direction are moved so that the laser sensor 30 is moved to a position substantially directly above the designated bolt hole A1. When the moving mechanism 50 is controlled and it is determined that the bolt B is tightened based on the torque arrival signal TD from the torque sensor 68, the specified bolt hole A1 when the light reception signal L from the laser sensor 30 is input. When the light receiving signal L is not input, it is determined that the bolt B is not tightened in the designated bolt hole A1, and therefore the bolt B is placed in the designated bolt hole A1. The tightening can be accurately determined with a simple configuration.

  In the bolt tightening work of the embodiment, the work of manually tightening all the bolts B has been described. However, the present invention is not limited to this. For example, a tightening failure (for example, a specified torque is reached by an automatic bolt tightening machine not shown). If the bolt B needs to be tightened again by the operator, the bolt tightening may be reworked. FIG. 8 is a flowchart illustrating an example of a rework work control routine executed by the controller 100. This routine is executed when a work W that needs to be reworked by the operator is set on the work table 24, a rework work is selected by operating various operation buttons 82 on the operation panel 80, and the start button is pressed. When the reworking control routine is executed, the CPU 102 of the controller 100 first reads out bolt position information that needs to be reworked due to poor tightening (step S10). Here, it is assumed that the bolt position information that needs to be reworked is previously transmitted by communication from an unillustrated automatic machine controller that controls the automatic bolt tightening machine and stored in the RAM 106. When the bolt position information is read, a light emission signal is output to the light emitting unit 32 so that the laser light is emitted from the laser sensor 30 (step S100), and the bolt hole A designated based on the read bolt position information is substantially true. The laser sensor 30 is moved to the upper position (step S110a). When the laser sensor 30 is moved, the same processing as steps S120 to S160 of the normal operation control routine shown in FIG. 7 is performed, and this routine is terminated. As in the above-described embodiment, based on the torque arrival signal TD from the torque sensor 68 and the light reception signal L from the laser sensor 30, it is determined whether or not the reworking operation has been performed reliably in the bolt hole A that needs to be reworked. It can be determined with high accuracy.

  In the bolt tightening determination apparatus of the embodiment, the light emitting unit 32 of the laser sensor 30 emits visible light, but it may not be visible light, and may emit laser light in the ultraviolet region or infrared region. .

  In the bolt tightening determination apparatus according to the embodiment, the polarizing filter 32a of the light emitting unit 32 passes laser light whose vibration direction is horizontal, and the polarizing filter 34a of the light receiving unit 34 passes laser light whose vibration direction is vertical. However, the present invention is not limited to this, and the polarizing filter 32a may pass laser light whose vibration direction is vertical, and the polarizing filter 34a may pass laser light whose vibration direction is horizontal. In addition, the reflection plate 64 reflects only the laser beam having a vibration direction different from that before the reflection. For example, laser light in the same vibration direction as before reflection is included, or laser light in various vibration directions is included, not limited to the vertical and horizontal directions. It is good also as what is.

  In the bolt tightening determination device of the embodiment, the polarizing filters 32a and 34a are attached to the light emitting unit 32 and the light receiving unit 34. However, such a polarizing filter may not be attached. In this case, the reflecting plate 64 may be one that simply reflects without changing the direction of vibration. Further, although the cylindrical member 68 is attached to the reflecting plate 64, it may not be attached. In order to reliably detect that the torque wrench 60 is within a predetermined range below the laser sensor 30, the polarizing filters 32a and 34a and the cylindrical member 68 are attached as in the present embodiment. preferable.

  In the bolt tightening determination device of the embodiment, the light emitting unit 32 and the light receiving unit 34 are attached to the Y-axis direction moving mechanism 50 and the reflection plate 64 is attached to the torque wrench 60. However, the present invention is not limited to this. The light emitting unit 32 and the light receiving unit 34 may be attached to the torque wrench 60 and the reflection plate 64 may be attached to the Y-axis direction moving mechanism 50. In addition, although the light-emitting unit 32 and the light-receiving unit 34 are formed as a reflective sensor in which the light-emitting unit 32 and the light-receiving unit 34 are opposed to each other, the so-called transmissive sensor is provided. In this case, the light emitting unit 32 may be attached to the Y-axis direction moving mechanism 50 and the light receiving unit 34 may be attached to the torque wrench 60, or the light emitting unit 32 may be attached to the torque wrench 60 and the light receiving unit 34 may be Y. It may be attached to the axial movement mechanism 50. In addition, when attaching the light emission part 32 and the light-receiving part 34 to the torque wrench 60, since wiring, a transmitter, etc. for transmitting / receiving a signal between the controllers 100 are needed separately, it may lead to deterioration of workability | operativity. It is preferable that the light emitting unit 32 and the light receiving unit 34 are attached to the Y-axis direction moving mechanism 50 and the reflector 64 is attached to the torque wrench 60 as in the present embodiment.

  In the bolt tightening determination device of the embodiment, the torque arrival signal TD is transmitted when the tightening torque T detected by the torque sensor 68 reaches the specified torque Tref. However, the present invention is not limited to this, and the detected tightening torque is not limited thereto. T may be transmitted and the controller 100 may determine whether or not the specified torque Tref has been reached. The tightening operation is not limited to the torque wrench 60 and may be performed using another tightening tool such as an impact wrench.

  Here, the correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. The X-axis direction moving mechanism 40 and the Y-axis direction moving mechanism 50 of the present embodiment correspond to “moving means” of the present invention, and the laser sensor 30 having the light emitting unit 32 and the light receiving unit 34 corresponds to “optical sensor”. The servo motor 48 of the X-axis direction moving mechanism 40 and the servo of the Y-axis direction moving mechanism 50 are moved so that the laser sensor 30 is moved to a position almost directly above the designated bolt hole A based on a predetermined bolt tightening order. The controller 100 that executes the process of step S110 of the normal operation control routine of FIG. 7 that outputs a drive signal to the motor 58 corresponds to “control means”, is attached to the torque wrench 60, detects the tightening torque T, and tightens the torque. A torque sensor 68 that transmits a torque arrival signal TD when T reaches the specified torque Tref corresponds to the “operation state detection means”. When it is determined that the bolt B is tightened based on the torque arrival signal TD from the torque sensor 68, the bolt B is normally tightened into the designated bolt hole A1 when the light receiving signal L from the laser sensor 30 is input. When the light reception signal L is not inputted, it is determined that the bolt B is not tightened in the designated bolt hole A1. The controller 100 executes the processing of steps S120 to S160 of the normal operation control routine of FIG. Corresponds to “control means”. Further, the cylindrical member 66 that is attached to the upper portion of the reflection plate 64 and limits the incident / exit angle of the laser beam corresponds to an “entrance / exit angle limiting filter”. In the present embodiment, an example of the bolt tightening determination device of the present invention is also clarified by describing the bolt tightening operation. The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problem is the same as that of the embodiment described in the column of means for solving the problem. It is an example for specifically explaining the best mode for doing so, and does not limit the elements of the invention described in the column of means for solving the problem. That is, the interpretation of the invention described in the column of means for solving the problems should be made based on the description of the column, and the examples are those of the invention described in the column of means for solving the problems. It is only a specific example.

  The best mode for carrying out the present invention has been described with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the gist of the present invention. Of course, it can be implemented in the form.

  INDUSTRIAL APPLICABILITY The present invention can be used in the manufacturing industry, the automobile industry, etc. in which parts are assembled by manually tightening bolts.

It is explanatory drawing which shows a mode that a bolt fastening operation | work is performed using the bolt fastening determination apparatus as one Example of this invention. It is a top view of the work table 24 in which a bolt fastening operation is performed. 3 is a perspective view of an X-axis direction moving mechanism 40 and a Y-axis direction moving mechanism 50. FIG. It is a block diagram which shows the outline of a structure of the torque wrench 60 which an operator uses for a bolt fastening operation | work. FIG. 4 is an explanatory diagram showing a state in which laser light emitted from a light emitting unit 32 of the laser sensor 30 is reflected by a reflecting plate 64 while changing the direction of vibration and is received by a light receiving unit 34. It is explanatory drawing which shows a mode when the operator is fastening bolt B to bolt hole A2 different from bolt hole A1 designated accidentally. 4 is a flowchart illustrating an example of a normal operation control routine executed by a controller 100. 4 is a flowchart illustrating an example of a rework work control routine executed by a controller 100.

Explanation of symbols

  22 body frame, 24 work table, 26, 28 positioning stopper, 30 laser sensor, 30a housing, 32 light emitting part, 32a, 34a polarizing filter, 34 light receiving part, 40 X-axis direction moving mechanism, 41 housing, 43 moving table, 44 Slide block, 48 servo motor, 50 Y axis direction moving mechanism, 51 housing, 52 guide rail, 53 moving table, 54 slide block, 55a, 55b bearing, 56 ball screw, 57 coupling, 58 servo motor, 60, 600 Torque wrench, 62 Torque wrench main body, 64 reflector, 64a triangular pyramid, 66 cylindrical member, 68 torque sensor, 80 operation panel, 82 power switch, 84 various operation buttons, 90 display, 100 controller, 102 PU, 104 ROM, 106 RAM, 108 interface, A, A1, A2 bolt hole, B volts, W workpiece.

Claims (5)

A bolt tightening determination device that determines whether or not an operator has tightened a bolt using a tightening tool in a specified bolt hole among a plurality of bolt holes formed in a workpiece,
Moving means for moving the moving object in the horizontal direction;
Consists of a pre-Symbol said mounted on moving means clamping the light-emitting portion you emit visible light Engineering again and again mounting is receiving unit as the moving object, located within a predetermined range below said clamping tool the moving object An optical sensor to which the light emitting unit and the light receiving unit are attached so that the light receiving unit can receive light from the light emitting unit,
An operating state detecting means attached to the tightening tool for detecting the operating state of the tightening tool;
Control means for controlling the moving means so that the moving object is moved to a predetermined upper position corresponding to the designated bolt hole;
It is determined whether or not the bolt has been tightened based on the detected operating state of the tightening tool, and when it is determined that the tightening has been performed, Determination means for determining that the bolt is normally tightened in the designated bolt hole, and for determining that the bolt is not tightened in the designated bolt hole when the light receiving portion is not receiving light from the light emitting portion. And a bolt tightening determination device. A bolt tightening determination device that determines whether or not an operator has tightened a bolt using a tightening tool in a specified bolt hole among a plurality of bolt holes formed in a workpiece,
Moving means for moving the moving object in the horizontal direction;
Consists receiving portion attached and before Symbol said moving means visible light mounted on the moving means as a moving target object as the light emitting portion and the front Symbol moving object you emission, the fastening tool is below said moving object An optical sensor to which the light emitting part and the light receiving part are attached so that the light receiving part can receive light from the light emitting part when positioned within a predetermined range;
A reflector that is attached to the clamping tool and reflects light from the light emitting part toward the light receiving part;
An operating state detecting means attached to the tightening tool for detecting the operating state of the tightening tool;
Control means for controlling the moving means so that the moving object is moved to a predetermined upper position corresponding to the designated bolt hole;
It is determined whether or not the bolt has been tightened based on the detected operating state of the tightening tool, and when it is determined that the tightening has been performed, Determination means for determining that the bolt is normally tightened in the designated bolt hole, and for determining that the bolt is not tightened in the designated bolt hole when the light receiving portion is not receiving light from the light emitting portion. And a bolt tightening determination device. The bolt tightening determination device according to claim 2,
The light emitting unit emits light through a first polarizing filter that allows only a light having a vibration direction to pass in a vertical direction or a horizontal direction,
The light receiving unit receives light through a second polarizing filter that passes only light having a vibration direction different from that of the first polarizing filter;
The reflection plate reflects at least light in a vibration direction different from the vibration direction before reflection.   The reflection plate is formed in a cylindrical shape so as to be able to reflect the light from the light emitting part only when the tightening tool is located almost directly below the light emitting part, and the light incident / exit angle limit is limited. The bolt tightening determination apparatus according to claim 2 or 3, wherein a filter is attached. The bolt tightening determination apparatus according to any one of claims 1 to 4 , wherein the control means is a means for controlling the moving means so that the moving object is moved in accordance with a predetermined bolt tightening order.

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