JP5344243B2 - Electric driver attitude monitoring device and electric driver with attitude monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely avoid careless screwing operation with an electric screwdriver tilted exceeding allowance. <P>SOLUTION: An attitude monitoring device 200 of the electric screwdriver includes an acceleration sensor 211; a distance sensor 220; a one-chip microcomputer 213; a buzzer driving section 215; and a buzzer 216. The tilt and height of the electric screwdriver are measured by the acceleration sensor 211 and the distance sensor 220. The one-chip microcomputer 213 determines whether the tilt of the electric screwdriver is a tilt of a threshold angle or more, and whether the height of the electric screwdriver is a height approaching a screwing object within a threshold height. The buzzer driving section 215 and the buzzer 216 issue an alarm sound upon the fact that the electric screwdriver is tilted exceeding the threshold angle, and approaches the screwing object within the threshold height. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present case relates to an attitude monitoring device that monitors the attitude of an electric driver and an electric driver with such an attitude monitoring device.

  In the product assembling work, screwing work using screws is performed for assembling the housing and attaching components to the housing. For the screwing operation, an electric screwdriver is used in addition to a driver and a wrench (for example, refer to Patent Document 1) that perform screw tightening manually (for example, refer to Patent Document 2 and Patent Document 3).

  The electric screwdriver tightens the screw by rotating a shaft having its tip engaged with the groove of the screw head with a built-in motor. If an electric screwdriver is used, the operator only has to apply power to the built-in motor by placing the tip of the electric screwdriver against the head of the screw. For this reason, screwing work using an electric screwdriver is widely performed in factories and the like where mass production is performed because the work load is low and the work speed is fast.

JP-A-6-210574 Japanese Patent Laid-Open No. 2002-036136 JP 2006-31224 A

  Here, in the screwing work using the electric screwdriver, an operator may work while holding the electric screwdriver by hand. In this case, a situation in which the screwing operation is performed with the electric screwdriver tilted with respect to the screw may occur due to carelessness of the operator. In the screwing operation in such a state, when the shaft of the electric driver is rotated, the tip of the shaft may be lifted from the groove at the head of the screw due to the rotational force. In that case, the screw is rotated in a state where the tip of the shaft of the electric driver is not sufficiently engaged with the groove at the head of the screw. As a result, tightening failure may occur such as insufficient tightening of the screw or damage to the groove at the head of the screw.

  The poor tightening of the screw may cause the screw to loosen after the screwing operation or after the product is shipped, which may cause malfunction of the product. Therefore, there is a demand for reliable avoidance of screwing work due to carelessness when the electric screwdriver is tilted more than allowable.

  In view of the above circumstances, the present invention provides an attitude monitoring device for an electric driver and an electric driver with an attitude monitoring device that can surely avoid screwing work due to carelessness when the electric driver is tilted more than allowable. It is intended.

  The basic form of the attitude monitoring device for an electric driver that achieves the above object includes a measurement unit, a determination unit, and an alarm unit.

  A measurement part measures the inclination and height of an electric driver.

  The determination unit determines whether the inclination of the electric driver measured by the measurement unit is equal to or greater than a threshold angle, and the height of the electric driver measured by the measurement unit is screwed in the height direction. It is determined whether the height is close to the object within the threshold height.

  The warning unit issues a warning in response to the determination by the determination unit that the electric driver is inclined more than a threshold angle and approaches the screwed object within a threshold height.

  Moreover, the basic form of the electric driver with the attitude | position monitoring apparatus which achieves the said objective is equipped with the electric driver and the said attitude | position monitoring apparatus.

  According to this case, it is possible to surely avoid screwing work due to carelessness when the electric driver is tilted more than allowable.

It is a figure which shows the electric driver of 1st Embodiment. It is a block diagram which shows the attitude | position monitoring apparatus of FIG. 1 in detail. It is a flowchart which shows the flow of the attitude | position monitoring process in the attitude | position monitoring apparatus of FIG. It is a figure which shows a mode that each XY axis | shaft of an acceleration sensor has made | formed the angle which shifted | deviated slightly from 90 degree | times with the driver axis | shaft due to the mounting error of a circuit board. It is a figure which shows the correction jig | tool used in order to orient a driver axis | shaft in performing a zero correction | amendment. It is a figure which shows a mode that the driver shaft of the electric screwdriver was inserted in the long hole of the correction jig | tool placed on the horizontal surface of the work bench for screwing work. It is a figure which shows the procedure of a screwing operation | work. It is explanatory drawing explaining a threshold height. It is a figure which shows the electric driver of 2nd Embodiment. It is explanatory drawing explaining the measuring method of the height of the electric driver in 2nd Embodiment.

  Hereinafter, specific embodiments of the electric driver attitude monitoring device and the electric driver with the attitude monitoring device described above with reference to the basic embodiment will be described with reference to the drawings.

  First, the first embodiment will be described.

  FIG. 1 is a diagram illustrating the electric driver according to the first embodiment.

  In the present embodiment, the electric driver 10 shown in FIG. 1 corresponds to a specific embodiment of the electric driver with a posture monitoring device described above for the basic mode.

  The electric driver 10 includes a driver main body 100 and an attitude monitoring device 200. The driver main body 100 corresponds to an example of the electric driver in the basic form described above. The attitude monitoring apparatus 200 corresponds to a specific embodiment of the attitude monitoring apparatus for an electric driver described above for the basic mode.

  The driver main body 100 includes a grip portion 110 that is gripped by an operator, and a driver shaft 120 that is engaged with a groove in the head of a screw and rotated by a motor in the grip portion 110. In addition, the grip portion 110 includes an energization button 111 that energizes an internal motor.

  In this embodiment, the driver main body 100 is used with the driver shaft 120 standing in a substantially vertical direction during screwing work.

  The attitude monitoring device 200 monitors the attitude of the driver main body 100, that is, the electric driver 10, and includes a circuit board 210 and a distance sensor 220 that execute various processes for attitude monitoring. The circuit board 210 is attached to the upper side of the side surface of the grip part 110. Further, the distance sensor 220 is attached to the lower side of the side surface of the grip portion 110.

  FIG. 2 is a block diagram showing in detail the posture monitoring apparatus of FIG.

  As shown in FIG. 2, the attitude monitoring device 200 includes a circuit board 210 and a distance sensor 220 also shown in FIG. The circuit board 210 includes an acceleration sensor 211, a distance sensor input circuit 212, a one-chip microcomputer (one-chip microcomputer) 213, a zero correction button 214, a buzzer driving unit 215, and a buzzer 216. A combination of the acceleration sensor 211 and the distance sensor 220 corresponds to an example of the measurement unit in the basic form described above. Further, the one-chip microcomputer 213 corresponds to an example of the determination unit in the basic form described above. A combination of the buzzer driving unit 215 and the buzzer 216 corresponds to an example of the alarm unit in the basic form described above.

  In the present embodiment, power is supplied to the one-chip microcomputer 213 of the circuit board 210 from the DC power source 112 built in the driver main body 200. Power is distributed from the one-chip microcomputer 213 to each component of the circuit board 210 and the distance sensor 220.

  The acceleration sensor 211 measures an acceleration component of each axis of XYZ preset in the acceleration sensor. Since the acceleration sensor 211 is attached to the grip 110 of the driver main body 100, the acceleration component of each axis of the XYZ in the electric driver 10 is measured. In the present embodiment, the circuit board 210 is attached to the driver main body 100 so that the Z axis of the acceleration sensor 211 is generally along the driver shaft 120 of FIG.

  Here, the acceleration component of each axis of XYZ measured by the acceleration sensor 211 includes a component of each axis of XYZ of gravitational acceleration which is acceleration acting in the vertical direction. The acceleration sensor 211 measures the inclination of the electric driver 10 with respect to the vertical direction by measuring the acceleration components of the XYZ axes in the electric driver 10. The measurement result of the acceleration sensor 211 is sent to the one-chip microcomputer 213.

  The distance sensor input circuit 212 is a circuit to which a measurement result from the distance sensor 220 attached to the grip portion 110 of the driver main body 100 is input. The distance sensor 220 is attached to the grip 110 of the driver main body 100, and measures the distance between the driver main body 100 and a surface located on the lower side of the driver main body 100. That is, the distance sensor 220 measures the height of the electric driver 10 from the surface located on the lower side of the electric driver 10. The measurement result of the distance sensor 220 is input to the distance sensor input circuit 212 and sent to the one-chip microcomputer 213 by the distance sensor input circuit 212.

  The one-chip microcomputer 213 determines whether or not the inclination of the electric driver 10 is equal to or greater than the threshold angle based on the measurement result obtained by the acceleration sensor 211.

Here, in this embodiment, determination about the inclination of the electric driver 10 is performed as follows. As described above, the Z axis of the acceleration sensor 211 is generally along the driver axis 120 of FIG. In addition, the electric screwdriver 10 is used with the driver shaft 120 oriented substantially in the vertical direction during the screwing operation. When the electric driver 10 is stationary, the measurement result of the acceleration sensor 211 is a value derived from the gravitational acceleration. At this time, it is assumed that the driver shaft 120 is oriented in the vertical direction and the inclination of the electric driver 10 is zero. Then, the Z axis of the acceleration sensor 211 is generally oriented in the vertical direction, and each XY axis is at an angle of approximately 90 degrees with respect to the vertical direction. As a result, the acceleration component of the Z axis is a value close to “9.8 m / sec ² ”, and the acceleration component of each XY axis is a value close to “0 m / sec ² ”. When the driver shaft 120 tilts with respect to the vertical direction, the Z-axis acceleration component decreases from the value when the tilt is zero. On the other hand, the absolute value of the acceleration component of each axis of XY increases from the value when the inclination is zero by the component of each axis of gravity acceleration.

  In the present embodiment, the value of the acceleration component of each XY axis when the inclination of the electric driver 10 is zero is used as a reference value, and the absolute value of the difference from the reference value is equal to or greater than the value corresponding to the above threshold angle. The inclination is determined by determining whether or not.

  Furthermore, the one-chip microcomputer 213 determines whether the height of the electric driver 10 is as follows based on the measurement result of the distance sensor 220. That is, it is determined whether or not the height of the electric screwdriver 10 is close to the screwing target placed on the lower side of the electric screwdriver 10 within the threshold height. The one-chip microcomputer 213 is provided with a program memory that stores a processing program for executing various processes including the determination of the inclination and height as described above in the one-chip microcomputer 213. The one-chip microcomputer 213 performs the determination about the inclination and the height according to this processing program. The determination result regarding the inclination and height in the one-chip microcomputer 213 is passed to the buzzer driving unit 215.

  The zero correction button 214 is a button for an operator to instruct the one-chip microcomputer 213 to execute the following zero correction. Zero correction is a process of setting the acceleration component when the electric driver 10 is installed in a correction jig (described later) that directs the driver shaft 120 of FIG. 1 in the vertical direction to the reference value. This zero correction will be described in detail later.

  When the determination result in the one-chip microcomputer 213 indicates that the electric driver 10 is tilted more than the threshold angle, and the buzzer driving unit 215 has approached the screwed object within the threshold height, An alarm sound is generated in the buzzer 216.

  Next, a flow of posture monitoring processing in the posture monitoring device 200 will be described in detail.

  FIG. 3 is a flowchart showing a flow of posture monitoring processing in the posture monitoring apparatus of FIG.

  The attitude monitoring process shown in the flowchart of FIG. 3 starts when a power button (not shown) of the electric driver 10 is turned on.

  When the attitude monitoring process starts, first, measurement of an acceleration component for use in the zero correction is started in the acceleration sensor 211 (step S101).

  Here, in the present embodiment, as described above, on the assumption that the screwing operation is performed in a state where the Z axis of the acceleration sensor 211 is substantially in the vertical direction, Measurement results for the XY axes of the acceleration sensor 211 are used. In response to this, the zero correction is performed only for the XY axes of the acceleration sensor 211. For this reason, in step S101, only the measurement results for the XY axes among the measurement results of the acceleration sensor 211 are left, and unnecessary Z-axis measurement results are discarded.

  Next, the one-chip microcomputer 213 determines whether or not the zero correction button 214 in FIG. 2 is turned on (step S102). If the zero correction button 214 is ON (YES determination in step S102), zero correction, which will be described in detail below, is executed in the one-chip microcomputer 213 (step S103).

  Hereinafter, the zero correction will be described in detail.

  Strictly speaking, the XY axes of the acceleration sensor 211 are at an angle slightly shifted from 90 degrees with respect to the driver shaft 120 due to an attachment error of the circuit board 210.

  FIG. 4 is a diagram illustrating a state in which each of the XY axes of the acceleration sensor is slightly deviated from 90 degrees with respect to the driver axis due to a mounting error of the circuit board.

  In FIG. 4, the XY axes of the acceleration sensor 211 mounted on the circuit board 210 and the center axis D of the driver shaft 120 are indicated by a one-dot chain line. As shown in FIG. 4, due to the mounting error of the circuit board 210, the angle formed by the XY axes of the acceleration sensor 211 and the center axis D of the driver shaft 120 is slightly different from 90 degrees.

  In the zero correction in step S103 of FIG. 3, the driver shaft 120 is directed in the vertical direction in such a state that the angle formed between the XY axes of the acceleration sensor 211 and the center axis D of the driver shaft 120 deviates from 90 degrees. The measurement result for each XY axis is set to the reference value.

  In the present embodiment, the following correction jig is used to direct the driver shaft 120 in the vertical direction when performing zero correction.

  FIG. 5 is a diagram showing a correction jig used to orient the driver shaft in the vertical direction when performing zero correction.

  As shown in FIG. 5, the correction jig 501 is a rectangular parallelepiped block in which a long hole 501a perpendicular to the bottom surface is opened from the top surface. When the correction jig 501 is placed on a horizontal surface of a work table for screwing work, which will be described later, the long hole 501a faces in the vertical direction.

  When executing the zero correction, the driver shaft 120 of the electric driver 10 is inserted into the elongated hole 501a of the correction jig 501 placed on the horizontal plane of the work table.

  FIG. 6 is a view showing a state where the driver shaft of the electric driver is inserted into the elongated hole of the correction jig placed on the horizontal surface of the work table for screwing work.

  FIG. 6 shows a part of a work table 502 for screwing work. As shown in FIG. 6, the driver shaft 120 is oriented in the vertical direction by inserting the driver shaft 120 into the elongated hole 501 a of the correction jig 501.

  The zero correction button 214 shown in FIG. 2 is turned on with the electric driver 10 placed as shown in FIG. Then, zero correction in step S103 in FIG. 3 is executed.

  In the zero correction in step S103, the acceleration component values measured for each of the XY axes after the start of step S101 and the determination of YES in step S102 are the reference values (X0, Y0). Is stored in the program memory 213a of FIG.

  Thus, when the zero correction is completed by storing the acceleration component values of the XY axes as the reference values (X0, Y0) in the program memory 213a, the process returns to step S101 and the measurement by the acceleration sensor 211 and the step The determination in S102 is performed. As a result, in the present embodiment, zero correction is repeatedly executed while the zero correction button 214 in FIG. 2 is ON. The reference values (X0, Y0) in the program memory 213a in FIG. 2 are updated each time this zero correction is executed.

  After the zero correction is performed in this way, in this embodiment, the screwing operation is performed in the following procedure. And the process after step S104 mentioned later in the flowchart of FIG. 3 will be performed during the operation | work of the screwing operation | work.

  FIG. 7 is a diagram showing a procedure of screwing work.

  FIG. 7 shows a work table 502 for screwing work partially shown in FIG. In FIG. 7, the XYZ axes of the acceleration sensor 211 are shown superimposed on the work table 502. The work table 502 includes a first table 502a having a horizontal surface on which the object to be screwed 503 is mounted, and a second table 502b on which a screw box 504 in which screws are stored is mounted. .

  In the present embodiment, the electric driver 10 is suspended at a predetermined suspension position when not in use. Then, during the screwing operation, as shown by the arrow (1) in the figure, the operator lowers the suspension position.

  Here, at the time of the zero correction for the electric driver 10, the correction jig 501 is placed on the first table 502a. Then, the electric driver 10 is installed in the correction jig 501, the zero correction button 214 is turned on, and zero correction is executed. The corrected electric screwdriver 10 is returned to the above-described hanging position, or is used as it is for screwing work.

  Further, the zero correction does not need to be executed every time the screwing operation is performed, and the corrected electric driver 10 can be used for the screwing operation without the zero correction. However, the measurement result of the acceleration sensor 211 may include an offset component that changes with time. Therefore, it is desirable that the zero correction is periodically performed even if it is not performed every time the screwing operation is performed.

  When the electric driver 10 is lowered from the hanging position, the tip of the driver shaft 120 is applied to the head of the screw accommodated in the screw box 504. Then, as the electric driver 10 is moved from the screw box 504 as indicated by the arrow (2) in the figure, the screw is taken out from the screw box 504. Thereafter, the electric driver 10 is carried over the screwing position of the screwing object 503 as indicated by the arrow (3) in the figure. And the electric screwdriver 10 is lowered | hung as the arrow of (4) in a figure shows in the screwing position carried. At this point, the energizing button 111 in FIG. 1 is turned on by the operator and screwing is performed.

  The operations described by the arrows from (2) to (4) described above are repeatedly executed by the operator by the number of screwing points. And when screwing about all the places is complete | finished, as the arrow of (5) in a figure shows, the electric screwdriver 10 will be returned to said hanging position.

  Then, the posture monitoring process for the electric driver 10 performing the screwing operation shown in FIG. 7 is executed when it is determined in step S102 in FIG. 3 that the zero correction button 214 is OFF (NO determination).

  In this case, the acceleration sensor 211 measures the acceleration component again (step S104). Then, in the one-chip microcomputer 213, the reference values (X0, Y0) set by the zero correction are subtracted from the acceleration components (X, Y) of the XY axes obtained in step S103 (step S105). ). This subtraction result is a value indicating how much the driver shaft 120 is tilted in each of the XY directions since the zero correction.

  Then, it is determined by the one-chip microcomputer 213 whether or not the absolute value of each subtraction result of each of the XY axes is equal to or greater than a value corresponding to the threshold angle with respect to the inclination of the driver shaft 120 that can be permitted by the screwing operation ( Step S106).

  When each subtraction result of each XY axis is less than the value corresponding to the above threshold angle (NO determination in step S106), the one-chip microcomputer 213 permits the power supply to the built-in motor in the electric driver 10 (step S107). ). In this embodiment, when the energization button 111 in FIG. 1 is turned on in this state, the driver shaft 120 is rotated by the built-in motor.

  At this time, the driving of the buzzer 216 by the buzzer driving unit 215 is prohibited by the one-chip microcomputer 213 (step S108). Thereafter, the process returns to step S102 described above.

  On the other hand, when the absolute value of the subtraction result is equal to or greater than the value corresponding to the threshold angle (YES determination in step S106), the distance sensor 220 in FIGS. Distance Z1 is measured (step S109). Then, it is determined whether or not the measured distance Z1 is a height approaching within the following threshold height Zth (step S110).

  FIG. 8 is an explanatory diagram for explaining the threshold height.

  FIG. 8 shows a threshold height Zth for the screwed object 503 placed on the work table 502 in FIG. The threshold height Zth is a height at which when the electric driver 10 approaches the screw fastening object 503 up to a height within the threshold height Zth, the electric driver 10 can be considered to be tightening the screw. It is. For this reason, when the height of the electric driver 10 exceeds the threshold height Zth, it can be considered that the electric driver 10 is in a state such as moving in a place other than the screwing position, for example. It will be.

  If it is determined in step S110 of FIG. 3 that the measured distance Z1 is not a height approaching within the threshold height Zth (NO determination), the process proceeds to step S108. In this case, since the screw is not being tightened, no alarm sound is generated.

  On the other hand, when it is determined that the measured distance Z1 is close to the threshold height Zth (YES in step S110), the buzzer driving unit 215 drives the buzzer 216 according to an instruction from the one-chip microcomputer 213. (Step S111). As a result, an alarm sound is generated to inform the operator that the screwdriver is about to be screwed in a state where the electric driver 10 is tilted more than allowable. Further, the one-chip microcomputer 213 cuts off the power supply to the built-in motor in the electric driver 10 (step S112). Thereby, even if the operator ignores the warning sound and the energization button 111 in FIG. 1 is turned on, the rotation of the driver shaft 120 is stopped. Thereafter, the process returns to step S102 described above.

  In the present embodiment, the series of processes described above are repeatedly executed until the electric driver 10 is powered off. Thus, during the screwing operation of the electric driver 10 shown in FIG. 7, the inclination and height of the electric driver 10 are always monitored. When the electric screwdriver 10 is to be screwed in a state where the electric driver 10 is tilted more than allowable, an alarm sound is emitted as described above.

  As a result, the operator is alerted to the inclination of the electric screwdriver 10, so that the screwing operation due to carelessness when the electric screwdriver 10 is tilted more than allowable is reliably avoided.

  In the present embodiment, when the electric screwdriver 10 is to be screwed in a state where the electric driver 10 is tilted more than allowable, the rotation of the driver shaft 120 is stopped as described above in addition to the alarm sound. As a result, it is possible to avoid a situation in which an operator exceeds carelessness such as ignoring the alarm sound and forcibly fixing the screw.

  This means that the application modes described below are preferable to the basic mode described above. In this application mode, the determination by the determination unit that the electric driver is inclined more than a threshold angle and has approached the screwed object within a threshold height, and stops the rotation of the electric driver. And a rotation control unit.

  The one-chip microcomputer 213 in FIG. 2 also serves as an example of a rotation control unit in this application mode.

  In the present embodiment, the inclination of the electric driver 10 is measured by a value obtained by the acceleration sensor, and the height of the electric driver 10 is measured by a value obtained by the distance sensor. Thus, in this embodiment, by providing dedicated sensors for each of the inclination and the height, each of the inclination and the height can be measured with high accuracy.

  This means that the application modes described below are preferable to the basic mode described above. In this application mode, the measurement unit has an acceleration sensor and a distance sensor directed downward. The measuring unit measures the inclination of the electric driver based on the value obtained by the acceleration sensor, and measures the height of the electric driver based on the value obtained by the distance sensor.

  A combination of the acceleration sensor 211 and the distance sensor 220 of the present embodiment also corresponds to an example of a measurement unit in this application mode.

  Next, a second embodiment will be described.

  The second embodiment is different from the first embodiment described above in that the height of the electric driver is also measured based on the value obtained by the acceleration sensor. In the following, the second embodiment will be described by paying attention to differences from the first embodiment.

  FIG. 9 is a diagram illustrating the electric driver according to the second embodiment.

  In FIG. 9, the same components as those of the electric driver 10 of the first embodiment shown in FIG. 1 are denoted by the same reference numerals as those in FIG. Description is omitted.

  In the present embodiment, the driver main body 20 shown in FIG. 9 corresponds to a specific embodiment of the electric driver with a posture monitoring device described above for the basic mode.

  The electric driver 20 includes a driver main body 100 and a posture monitoring circuit board 300. The posture monitoring circuit board 300 corresponds to a specific embodiment of the posture monitoring device for an electric driver described above for the basic mode.

  In the present embodiment, the posture monitoring circuit board 300 measures the inclination of the electric driver 20 and the height from the object to be screwed based on the measurement result of the acceleration sensor. Since the inclination measuring method is the same as the inclination measuring method in the first embodiment described above, the duplicate description is omitted here.

  Hereinafter, a method for measuring the height in the present embodiment will be described.

  FIG. 10 is an explanatory diagram for explaining a method of measuring the height of the electric driver in the second embodiment.

  FIG. 10 shows a work table 502, a screwing object 503, and a screw box 504, which are also used for screwing work by the electric driver 10 of the first embodiment described above, also shown in FIG. Yes.

  Part (A) of FIG. 10 shows the operation of the electric driver 20 when the screw housed in the screw box 504 is attached to the lower end of the drive shaft 120 of the electric driver 20 and the screw is taken out from the screw box 504. (2) indicated by arrows. The operation indicated by the arrow (2) is equivalent to the operation indicated by the arrow (2) in FIG.

  Further, in part (B) of FIG. 10, an operation in which the electric screwdriver 20 is carried over the screwing position of the object 503 to be screwed and lowered in the vertical direction at the screwing position to perform screwing ( This is indicated by arrows 3) and (4). The operations indicated by the arrows (3) and (4) are the same as the operations indicated by the arrows (3) and (4) in FIG.

  In this embodiment, first, the operation when the screw is taken out from the screw box 504 indicated by the arrow (2) in part (A) of FIG. 2 is based on the measurement result of the acceleration sensor of the posture monitoring circuit board 300. Is detected by a one-chip microcomputer as follows. In this operation, the electric driver 20 is largely moved in the “−” direction with respect to the Y axis of the acceleration sensor, as indicated by the arrow (2). The one-chip microcomputer of the posture monitoring circuit board 300 has the above-mentioned (2) when the measurement result of the acceleration component of the Y-axis by the acceleration sensor is “−” and the absolute value exceeds a predetermined threshold. It is determined that the action indicated by the arrow has occurred. In the present embodiment, the operation when the screw is taken out from the screw box 504 is actually repeatedly executed, and the value obtained empirically from the measurement result of the acceleration sensor obtained at that time for the Y axis is the above value. It is adopted as the threshold value.

  When the movement indicated by the arrow (2) is detected in this way, the one-chip microcomputer of the posture monitoring circuit board 300 regards the height of the electric driver 20 as being at the reference height Z2 as follows. Hesitate. The reference height Z2 is the height of the electric driver 20 when taking out the screw from the screw box 504, which is calculated based on the actual height of the screw box 504 on the work table 502.

  When such an inspection is performed for the height of the electric driver 20, the one-chip microcomputer of the posture monitoring circuit board 300 determines the Z-axis direction of the electric driver 20 from the measurement result of the Z-axis by the subsequent acceleration sensor. Is calculated at regular time intervals. A value with a “+” sign is obtained for the movement amount in the “+” direction with respect to the Z axis, and a value with a “−” sign is obtained for the movement amount in the “−” direction. Then, the one-chip microcomputer adds the obtained movement amount to the reference height Z2 so that the electric driver 20 in operation indicated by the arrows (3) and (4) is operated at the predetermined time intervals. Height Z1 is required.

  When the height Z1 of the electric driver 20 is close to the object to be screwed within the threshold height and the electric driver 20 is tilted more than the threshold angle, an alarm sound is generated and the driver shaft is rotated. The process to stop is the same as the process in the first embodiment described above.

  Needless to say, in the second embodiment described above, similarly to the first embodiment described above, it is possible to reliably avoid inadvertent screwing work in a state where the electric driver is tilted more than allowable. .

  Moreover, in this embodiment, the height of the electric driver 20 is calculated | required based on the measurement result in an acceleration sensor as mentioned above. As a result, a sensor for directly measuring the height is not required, and the number of parts is reduced, and as a result, the manufacturing cost is reduced.

  This means that the application modes described below are preferable to the basic mode described above. In this applied form, the measurement unit has an acceleration sensor, and measures both the inclination and the height of the electric driver based on the value obtained by the acceleration sensor.

  A combination of the acceleration sensor and the one-chip microcomputer of the posture monitoring circuit board 300 in FIG. 9 corresponds to an example of a measurement unit in this application mode.

  Further, in the present embodiment, it is assumed that the electric driver 20 at the time of taking out the screw from the screw box 504 is at the reference height obtained from the dimensions of the worktable as described above, and thus after the operation. Is easily obtained from the measurement result of the acceleration sensor.

  This means that the application mode described below is more suitable for the above-described application mode in which both the inclination and the height are measured based on the value obtained by the acceleration sensor. In this application mode, the measurement unit detects the following operation of the electric driver based on the value obtained by the acceleration sensor. That is, the measuring unit detects the operation of the electric driver when the screw housed in the screw box placed at a predetermined height is attached to the lower end of the electric driver and the screw is taken out from the screw box. . Then, the measurement unit considers that the electric driver at the time of the operation is at the reference height, and measures the height of the electric driver after the operation.

  A combination of the acceleration sensor and the one-chip microcomputer of the posture monitoring circuit board 300 in FIG. 9 corresponds to an example of a measurement unit in this application mode.

  In the above description, as a specific embodiment of the attitude monitoring device described above with respect to the basic form, the form attached to the side surface of the driver main body is illustrated. However, the posture monitoring apparatus described above with respect to the basic form is not limited to this form. The attitude monitoring device described above with respect to the basic configuration may be incorporated in a driver main body, for example.

  Moreover, in the above, as an example of the alarm unit in the basic form described above, a combination of the buzzer 216 that emits an alarm sound and the buzzer drive unit 215 that drives the buzzer 216 is illustrated. However, the alarm unit in the basic form described above is not limited to this. The alarm unit in this basic form may be, for example, one that emits light or vibration as an alarm.

  Hereinafter, the following additional remarks are disclosed regarding various forms including the basic form described above.

(Appendix 1)
A measurement unit for measuring the inclination and height of the electric driver;
Whether the inclination of the electric driver measured by the measurement unit is an inclination equal to or greater than a threshold angle, and the height of the electric driver measured by the measurement unit is a threshold value for the screwed object in the height direction A determination unit for determining whether or not the height approaches within the height;
The determination unit includes an alarm unit that issues an alarm in response to the determination that the electric driver is inclined more than a threshold angle and approaches the screwed object within a threshold height. Electric driver attitude monitoring device.

(Appendix 2)
A rotation control unit configured to stop the rotation of the electric driver in response to the determination by the determination unit that the electric driver is inclined more than a threshold angle and has approached the screwed object within a threshold height. The attitude monitoring device for an electric driver according to appendix 1, further comprising:

(Appendix 3)
The measurement unit has an acceleration sensor and a downward distance sensor, measures the inclination of the electric driver based on the value obtained by the acceleration sensor, and based on the value obtained by the distance sensor The attitude monitoring device for an electric driver according to appendix 1 or 2, wherein the height of the electric driver is measured.

(Appendix 4)
Any one of Supplementary notes 1 to 3, wherein the measurement unit includes an acceleration sensor and measures both the inclination and the height of the electric driver based on a value obtained by the acceleration sensor. The attitude monitoring device for an electric driver according to claim 1.

(Appendix 5)
Based on the value obtained by the acceleration sensor, the measuring unit attaches a screw housed in a screw box placed at a predetermined height position to the lower end of the electric screwdriver and removes the screw from the screw box. The operation of the electric driver at the time of taking out is detected, the electric driver at the time of the operation is regarded as being at a reference height, and the height of the electric driver is measured after the operation. The attitude monitoring device for an electric driver as set forth in appendix 4, wherein:

(Appendix 6)
An electric driver and an attitude monitoring device that monitors the attitude of the electric driver, the attitude monitoring device,
A measuring unit for measuring the inclination and height of the electric driver;
Whether the inclination of the electric driver measured by the measurement unit is an inclination equal to or greater than a threshold angle, and the height of the electric driver measured by the measurement unit is a threshold value for the screwed object in the height direction A determination unit for determining whether or not the height approaches within the height;
The determination unit includes an alarm unit that issues an alarm in response to the determination that the electric driver is inclined more than a threshold angle and approaches the screwed object within a threshold height. Electric driver with posture monitoring device.

(Appendix 7)
The posture monitoring device is
A rotation control unit configured to stop the rotation of the electric driver in response to the determination by the determination unit that the electric driver is inclined more than a threshold angle and has approached the screwed object within a threshold height. The electric driver with an attitude monitoring device according to appendix 6, further comprising:

(Appendix 8)
The measurement unit has an acceleration sensor and a downward distance sensor, measures the inclination of the electric driver based on the value obtained by the acceleration sensor, and based on the value obtained by the distance sensor The electric driver with an attitude monitoring device according to appendix 6 or 7, wherein the electric driver measures the height of the electric driver.

(Appendix 9)
Any one of Supplementary notes 6 to 8, wherein the measurement unit includes an acceleration sensor and measures both the inclination and the height of the electric driver based on a value obtained by the acceleration sensor. An electric driver with an attitude monitoring device as set forth in claim 1.

(Appendix 10)
Based on the value obtained by the acceleration sensor, the measuring unit attaches a screw housed in a screw box placed at a predetermined height position to the lower end of the electric screwdriver and removes the screw from the screw box. The operation of the electric driver at the time of taking out is detected, the electric driver at the time of the operation is regarded as being at a reference height, and the height of the electric driver is measured after the operation. An electric driver with an attitude monitoring device according to appendix 9, characterized in that.

DESCRIPTION OF SYMBOLS 10,20 Electric driver 100 Driver main body 110 Holding part 111 Energizing button 112 DC power supply 120 Driver shaft 200 Attitude monitoring device 210 Circuit board 211 Acceleration sensor 212 Distance sensor input circuit 213 1-chip microcomputer (1-chip microcomputer)
213a Program memory 214 Zero correction button 215 Buzzer drive unit 216 Buzzer 220 Distance sensor 300 Posture monitoring circuit board 501 Correction jig 501a Slot 502 Work table 502a First table 502b Second table 503 Screwed object 504 Screw box

Claims (5)

A measurement unit for measuring the inclination and height of the electric driver;
Whether the inclination of the electric driver measured by the measurement unit is an inclination equal to or greater than a threshold angle, and the height of the electric driver measured by the measurement unit is a threshold value for the screwed object in the height direction A determination unit for determining whether or not the height approaches within the height;
The determination unit includes an alarm unit that issues an alarm in response to the determination that the electric driver is inclined more than a threshold angle and approaches the screwed object within a threshold height. Electric driver attitude monitoring device.   A rotation control unit configured to stop the rotation of the electric driver in response to the determination by the determination unit that the electric driver is inclined more than a threshold angle and has approached the screwed object within a threshold height. The attitude monitoring device for an electric driver according to claim 1, further comprising:   The measurement unit has an acceleration sensor and a downward distance sensor, measures the inclination of the electric driver based on the value obtained by the acceleration sensor, and based on the value obtained by the distance sensor The attitude monitoring device for an electric driver according to claim 1 or 2, wherein the height of the electric driver is measured.   The said measurement part has an acceleration sensor, and measures both the inclination and height of the said electric driver based on the value obtained by this acceleration sensor, Any one of Claim 1 to 3 characterized by the above-mentioned. An attitude monitor for an electric driver according to claim 1. An electric driver and an attitude monitoring device that monitors the attitude of the electric driver, the attitude monitoring device,
A measuring unit for measuring the inclination and height of the electric driver;
Whether the inclination of the electric driver measured by the measurement unit is an inclination equal to or greater than a threshold angle, and the height of the electric driver measured by the measurement unit is a threshold value for the screwed object in the height direction A determination unit for determining whether or not the height approaches within the height;
The determination unit includes an alarm unit that issues an alarm in response to the determination that the electric driver is inclined more than a threshold angle and approaches the screwed object within a threshold height. Electric driver with posture monitoring device.

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