JP6589541B2 - Tightening support system and tightening support method - Google Patents

Description

  The present invention relates to a tightening support system and a tightening support method.

  2. Description of the Related Art Conventionally, there are tightening devices that can tighten screws such as bolts and nuts at arbitrary positions (Patent Document 1, etc.). For example, the fastening device is used when a battery pack is manufactured by connecting a plurality of battery modules. When manufacturing an in-vehicle battery or the like, a large number of screws may be tightened in order to connect many battery modules in order to obtain necessary power.

  In order to ensure the safety and performance of the vehicle, it is important that there is no screw tightening error (defect). In view of this, it is necessary to inspect all the places where tightening has been performed by the tightening device, and when a tightening error is found, it is necessary to correct the tightening of the error section in a subsequent process. For example, information indicating the location where the tightening error has occurred is displayed on a display or the like, and the operator who performs the correction work looks at the display and corrects the tightening of the error location.

JP 2012-135847 A

  However, even if a step for correcting the error location is provided, the operator may correct tightening at a location different from the error location displayed on the display. When such a human error occurs, there is a possibility that the process of correcting the error part may be terminated without correcting the tightening of the error part that should be corrected. In that case, a step of further checking by another worker is required.

  The present invention has been made in view of the above circumstances. That is, an object of the present invention is to provide a tightening support system and a tightening support method that can reliably correct an error part without a check work by another operator.

The present invention that achieves the above object is a tightening support system that supports a tightening device that tightens screws at a plurality of locations of a workpiece, and includes an error teaching unit, a tightening correction unit, a correction control unit, Is provided. The error teaching unit teaches an error location when an error occurs in tightening by the tightening device. The tightening correction unit is used to correct the tightening of the error portion taught by the error teaching unit. The correction control unit controls the tightening correction unit so that the tightening other than the error portion taught by the error teaching unit cannot be corrected. The tightening correction portion is output from a nut runner having a tightening portion that rotates by driving of a rotational drive source at a tip, an encoder that outputs information according to the position of the tightening portion of the nut runner, and the encoder. A position specifying part that specifies the position of the tightening part of the nut runner based on the information, and when the position of the specified tightening part is not in the error location, the position specifying part An instruction to restrict the tightening unit from rotating is sent to the correction control unit.

Another aspect of the present invention that achieves the above object is a tightening support method for supporting a tightening device that tightens screws at a plurality of positions of a work, and includes an error teaching step and a correction control step. In the error teaching step, when an error occurs in tightening by the tightening device, an error location is taught. In the correction control step, when the tightening of the error location taught in the error teaching step is corrected using the tightening correction unit for correcting the tightening, the tightening other than the error location cannot be corrected. Control the corrector. The tightening correction portion is output from a nut runner having a tightening portion that rotates by driving of a rotational drive source at a tip, an encoder that outputs information according to the position of the tightening portion of the nut runner, and the encoder. A position specifying part that specifies the position of the tightening part of the nut runner based on the information, and when the position of the specified tightening part is not in the error location, the position specifying part An instruction to restrict the tightening unit from rotating is sent to the correction control unit.

  According to the present invention, the tightening correcting portion (such as a nut runner) is controlled so that tightening other than the taught error portion cannot be corrected. Thus, the tightening of the error location that should be corrected is not corrected, and the process of correcting the error location is prevented from being completed, and the error location can be reliably corrected without a check operation by another operator. As a result, the safety and performance of the finished product (vehicle, etc.) can be ensured.

It is a figure for demonstrating each operation | work process implemented by the fastening apparatus and fastening assistance system which concern on this embodiment. It is a figure which shows the example of a workpiece | work. It is a figure which shows the schematic structural example of a clamping device and a clamping assistance system. (A) It is a figure which shows an error teaching screen (1st surface). (B) It is a figure which shows an error teaching screen (2nd surface). It is a figure which shows the schematic data structure example of a conversion table. It is a figure which shows the conventional clamping device and the clamping assistance system. (A) It is a figure which shows the conventional error teaching screen (1st surface). (B) It is a figure which shows the conventional error teaching screen (2nd surface).

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. In addition, the dimensional ratios in the drawings are exaggerated for convenience of explanation, and may be different from the actual ratios.

  FIG. 1 is a diagram for explaining each work process (a tightening process and a tightening support process) performed by the tightening apparatus 1 and the tightening support system 2 according to the present embodiment. FIG. 2 is a diagram illustrating an example of the workpiece W. Hereinafter, with reference to FIG. 1, 2, the whole structure of the clamping device 1 and the clamping assistance system 2 which concern on this embodiment is demonstrated.

(1) Overall Configuration As shown in FIG. 1, the tightening device 1 and the tightening support system 2 are installed in a production line where assembly work of products (vehicles, etc.) and parts (vehicle-mounted batteries, etc.) is performed. The

  The clamping device 1 is an automatic clamping device that automatically performs a “clamping process” on the workpiece W conveyed by the belt conveyor B from the upstream side. The tightening support system 2 is a system that supports the tightening device 1. The tightening support system 2 further performs a “tightening support process” on the workpiece W on which the tightening process has been performed.

  As shown in FIG. 2, the work W is an assembled battery in which a plurality of battery modules are connected, and is used as an in-vehicle battery.

  In the “tightening process”, the fastening device 1 fastens screws to a plurality of locations on the workpiece W. For example, the tightening device 1 tightens screws on the white circle shown in FIG. Thereby, a plurality of battery modules are fixed by a plurality of fixing members (gray members shown in Drawing 2), and an assembled battery is constituted. A tightening sequence number indicating a tightening order is assigned to each portion of the workpiece W to which the screws are tightened, and the tightening device 1 performs tightening of the screws at the respective portions in the order of the numbers.

  After the completion of the tightening process by the tightening device 1, the belt conveyor B conveys the workpiece W downstream as shown in FIG.

  In the “tightening support process”, an operator U as shown in FIG. 1 uses the tightening support system 2 to correct a tightening error generated in the tightening process. For example, the worker U looks at the display (screen) provided in the error teaching unit 10 to confirm the work contents, and operates the tightening correction unit 20 including a nut runner or the like to correct the tightening error. Details of the error teaching unit 10 and the tightening correction unit 20 will be described later. The tightening error includes loosening, deformation, bending, and disconnection of screws.

  The belt conveyor B transports the workpiece W further downstream when the error portion to be corrected disappears and the tightening support process using the tightening support system 2 is completed.

  By performing the tightening process and the tightening support process as described above, it is possible to provide the workpiece W with no tightening error.

  Next, the details of the tightening device 1 and the tightening support system 2 will be described with reference to FIGS.

  FIG. 3 is a diagram illustrating a schematic configuration example of the tightening device 1 and the tightening support system 2. 4A and 4B are diagrams showing error teaching screens. FIG. 5 is a diagram illustrating a schematic data structure example of the conversion table.

(2) Fastening device 1
The tightening device 1 shown in FIG. 3 includes a general screw tightening machine (not shown) that rotates screws by an electric motor or an air motor, and a controller (not shown) that controls the screw tightening machine. The screwing machine may be any type of screwing machine such as a handy, a robot, or a driver. The controller also supplies a tightening control signal (such as current) for rotating the screws with a torque necessary for tightening to the screw tightening machine.

  The tightening device 1 detects a tightening error portion after tightening screws at a plurality of locations on the workpiece W. Various sensors can be used to detect the error location. For example, a torque sensor that measures the tightening torque of screws can be used. If a torque sensor is used, when there is an abnormality in the tightening torque value, that portion can be detected as an error portion. It is also possible to detect a tightening error by a method such as image recognition by photographing a tightened portion of screws with a camera or the like. Alternatively, without using a special sensor or the like, an operator of the tightening device 1 may visually find a tightening error and input information indicating the error portion to a controller or the like.

  After detecting the error location, the tightening device 1 sends the tightening result information indicating “OK” or “NG” to the tightening support system 2 for each tightening location of the screws (the white circle portion shown in FIG. 2). The error is transmitted to the error teaching unit 10. Here, “OK” indicates that the error location is not detected, and “NG” indicates that the error location is detected. The tightening device 1 transmits the tightening sequence numbers ("1" to "24" shown in FIG. 2) assigned to the respective tightening locations in association with the tightening result information. The tightening device 1 and the error teaching unit 10 are communicably connected, and are connected to each other via, for example, a wired LAN, a wireless LAN, or a USB cable.

  In addition, the tightening device 1 notifies the conveyance control device (not shown) of the belt conveyor B that the tightening process has been completed after the screws are tightened at all the planned locations. In response to this notification, the conveyance control device starts conveyance of the belt conveyor B, and conveys the workpiece W that has been tightened to the front of the operator U in the tightening support process.

(3) Tightening support system 2
As shown in FIG. 3, the tightening support system 2 includes an error teaching unit 10, a tightening correction unit 20, and a correction control unit 30.

  The error teaching unit 10 is configured by a general computer device including an input device 11 such as a keyboard and a mouse and an output device 12 such as a display. The error teaching unit 10 teaches the error location to the operator U when an error occurs in tightening by the tightening device 1.

  Specifically, when the error teaching unit 10 receives the tightening sequence number and the tightening result information from the tightening device 1, the error teaching unit 10 sets the tightening sequence number assigned to each position of the workpiece W to the actual tightening position. Displayed on the output device 12 according to the layout. That is, the tightening sequence numbers “1” to “24” are displayed in a layout as shown in FIGS. The tightening sequence number is determined in advance by the tightening location, and the error teaching unit 10 is designed so that the display position can be specified by referring to the tightening sequence number.

  Then, as shown in FIGS. 4A and 4B, the error teaching unit 10 displays a tightening sequence number associated with the tightening result information indicating a location that is not an error location, that is, “OK”. The position background is displayed in green. In addition, the error teaching unit 10 displays the background of the display position of the tightening sequence number associated with the error location, that is, the tightening result information indicating “NG” in red and displays the cursor C in an overlapping manner. . In this manner, the error teaching unit 10 can selectively highlight only the error location and teach the operator U the tightening location to be corrected.

  Note that the screen transition from the error teaching screen (first surface) shown in FIG. 4 (A) to the error teaching screen (second surface) shown in FIG. 4 (B) is tightened for all error points being displayed. Designed to be done automatically when the correction is complete.

  Returning to FIG. 3, the error teaching unit 10 is associated with the tightening result number indicating “NG” in the tightening sequence number (that is, “NG”) of the tightening sequence number received from the tightening device 1. The tightening sequence number) is notified to the position specifying unit 24 of the tightening correcting unit 20 described later. The error teaching unit 10 notifies the position specifying unit 24 of one error location tightening sequence number. Therefore, when there are a plurality of error locations, after the tightening correction is completed for one error location, the tightening sequence numbers of the remaining error locations are sequentially notified to the position specifying unit 24.

  The tightening correction unit 20 is used to correct the tightening of the error location taught by the error teaching unit 10. The tightening correction unit 20 includes a nut runner 21, an arm 22, an encoder 23, and a position specifying unit 24.

  The nut runner 21 is a screw tightening machine having a tightening portion T that rotates by driving of a rotation drive source (an electric motor or an air motor) at the tip. For the tightening portion T, a bit or a socket may be employed. Further, the tightening portion T may be exchanged according to the type of screws to be tightened.

  The arm 22 is a movable arm that supports the nut runner 21 and moves integrally with the nut runner 21.

  The encoder 23 includes a plurality of rotary encoders, and is configured to output information (such as a rotation amount) according to the position of the tightening portion T of the nut runner 21 in the three-dimensional space.

  The position specifying unit 24 specifies the position (X coordinate, Y coordinate, Z coordinate) of the tightening part T of the nut runner 21 based on the information output from the encoder 23.

  Note that the operator U needs to teach the position specifying unit 24 of the position information of all scheduled tightening points prior to performing the tightening support process. For this purpose, the operator U operates the nut runner 21 to move it to the tightening position of the sample work (corresponding to the tightening position of the work W), and specifies from the information output from the encoder 23 at that time. The position of the tightening portion T to be performed is recorded in the position specifying portion 24. Thereby, the position specifying unit 24 can acquire in advance the position information (X coordinate, Y coordinate, Z coordinate) of the location where the tightening portion T should be positioned when the nut runner 21 corrects the tightening. Further, the position specifying unit 24 obtains the position information of the position where the tightening part T should be located when the tightening is corrected and the tightening sequence number assigned to the position in the conversion table shown in FIG. As shown in FIG.

  Thereafter, the tightening support process is started, and when the tightening sequence number of the error location is notified from the error teaching unit 10 to the position specifying unit 24 as shown in FIG. 3, the position specifying unit 24 Reference is made to the position information associated with the tightening sequence number. Specifically, the error teaching unit 10 reads out a program separately prepared for each tightening sequence number, and position information (X coordinate, Y coordinate) associated with the tightening sequence number of the notified error location. (Coordinate, Z coordinate) are extracted from the conversion table shown in FIG.

  Subsequently, when the worker U moves the nut runner 21 to the error location of the workpiece W and starts the tightening correction operation, the position specifying unit 24 acquires information output from the encoder 23 at that time. And the position specific | specification part 24 specifies the present position (X coordinate, Y coordinate, Z coordinate) of the fastening part T of the nut runner 21 based on the acquired information.

  At this time, the position specifying part 24 determines whether or not the position of the tightening part T specified by the information output from the encoder 23 is in an error location to be corrected. Specifically, the position specifying unit 24 compares the position information of the error location extracted from the conversion table with the current position of the tightening unit T specified based on the information output from the encoder 23. The position specifying unit 24 determines that the position of the tightening unit T is in an error location to be corrected when both the positions are within a predetermined range in the three-dimensional space. On the other hand, the position specifying unit 24 determines that the position of the tightening portion T is not in the error location to be corrected when the positions of both are not within the predetermined range.

  Then, when the position of the tightening portion T is not in the error location to be corrected, the position specifying unit 24 issues an instruction (a restriction instruction shown in FIG. 3) for restricting the tightening portion T from rotating. 30 is notified. Specifically, the position specifying unit 24 sends a signal (non-permission signal) not permitting rotation of the tightening unit T to the correction control unit 30 when the position of the tightening unit T is not in the error location to be corrected. Supply. If the position of the tightening portion T is at an error location to be corrected, a signal (permit signal) for permitting rotation of the tightening portion T is supplied to the correction control portion 30.

  The correction control unit 30 controls the tightening correction unit 20 so that the tightening other than the error portion taught by the error teaching unit 10 cannot be corrected. Specifically, the correction control unit 30 determines whether or not to rotate the tightening unit T of the nut runner 21 according to the regulation instruction notified from the position specifying unit 24. For example, when the permission signal is supplied from the position specifying unit 24, the correction control unit 30 outputs a tightening control signal (current or the like) for rotating the tightening unit T with a torque necessary for correction of tightening. Supply to the runner 21. On the other hand, when the non-permission signal is supplied from the position specifying unit 24, the correction control unit 30 does not supply the tightening control signal to the nut runner 21 and does not rotate the tightening unit T.

  Further, the correction control unit 30 acquires a tightening torque value (torque information) output from a torque sensor (not shown) provided in the nut runner 21. The correction control unit 30 refers to the acquired torque information and notifies the error teaching unit 10 of a completion notification when the correction of tightening is completed normally. At this time, on the error teaching screen displayed on the output device 12, the error teaching unit 10 changes the background of the display position of the tightening sequence number where the tightening has been corrected from red to green.

  In addition, if there is still an uncorrected error location, the error teaching unit 10 notifies the position specifying unit 24 of the tightening sequence number of the remaining error location as described above. In this case, the error teaching unit 10 automatically moves the position of the cursor C to the error location to be corrected next on the error teaching screen displayed on the output device 12.

  When the correction of tightening has been completed for all error locations, the error teaching unit 10 notifies the conveyance control device (not shown) of the belt conveyor B that the tightening support process has been completed. In response to this notification, the conveyance control device resumes conveyance of the belt conveyor B, and conveys the work W whose tightening correction has been completed further downstream.

(4) Effects of the present embodiment Next, the conventional tightening device 1 and the tightening support system 2 are shown, and the effects of the present embodiment will be described by comparing with the present embodiment.

  FIG. 6 is a diagram showing a conventional fastening device 1 and a fastening support system 2. FIGS. 7A and 7B are diagrams showing conventional error teaching screens.

  As shown in FIG. 6, the conventional tightening support system 2 is different from the present embodiment in the configuration of the tightening correction unit 20. Specifically, the point that the tightening correction unit 20 does not have the position specifying unit 24 is mainly different from the present embodiment. Therefore, in the conventional tightening support system 2, the current position of the tightening portion T of the nut runner 21 cannot be grasped, and the operator U corrects the tightening at a location different from the error location taught by the error teaching portion 10. May end up. Then, the tightening of the error portion that should be corrected is not corrected, and the tightening correction process ends.

  On the other hand, the tightening support system 2 of the present embodiment has a position specifying unit 24 as shown in FIG. 3, and based on the information output from the encoder 23, the current tightening unit T of the nut runner 21. I know the position. Then, the correction control unit 30 of the present embodiment refers to the grasped current position of the tightening unit T, and the tightening correcting unit so that the tightening other than the error portion taught by the error teaching unit 10 cannot be corrected. 20 is controlled. For this reason, it is possible to prevent the operator U from correcting the tightening at a location different from the error location taught by the error teaching unit 10. Accordingly, the tightening of the error portion that should be corrected is not corrected and the tightening correction process is prevented from being completed, and the error portion can be reliably corrected without a check operation by another operator. As a result, safety and performance of the finished product (vehicle battery, vehicle, etc.) can be secured.

  In the tightening support system 2 of the present embodiment, a tightening sequence number is assigned to each tightening location of the workpiece W, and the error teaching unit 10 positions the tightening sequence number assigned to the error location. The specifying unit 24 is notified. Therefore, exchange of position information (such as three-dimensional coordinates) regarding the tightening location and the error location is not required between the tightening device 1 and the error teaching unit 10 and between the error teaching unit 10 and the position specifying unit 24. As a result, the data link and control method can be simplified. Further, the position specifying unit 24 only needs to refer to the position information associated with the tightening sequence number of the error location notified from the error teaching unit 10, and determines whether the tightening unit T is in the error location. Processing is speeded up.

  As shown in FIGS. 7A and 7B, in the conventional tightening support system 2, the tightening order assigned to each part of the workpiece W is the same as the error teaching unit 10 of the present embodiment. The number is displayed on the output device 12 according to the layout of the actual tightening location. That is, the tightening sequence numbers “1” to “24” are displayed in a layout as shown in FIGS.

  However, in the conventional tightening support system 2, it is necessary for the operator C to move the cursor C to the display position of the tightening sequence number assigned to the error location before the operator U starts the correction work for tightening the error location. there were. This is a specification for confirming whether the operator U can correctly recognize the error part. Therefore, in the example of FIG. 7A, the operator U operates the switch and moves the cursor C one by one from the display position of the tightening sequence number “1” to the display position of “7”. I was letting. Similarly, in the example of FIG. 7B, the worker U has moved the cursor C one by one from the display position of the tightening sequence number “17” to the display position of “22”.

  In the tightening support system 2 having such a specification, the worker U may start the correction work without moving the cursor C to an appropriate position. In this case, even if the tightening of the error portion taught by the error teaching unit 10 is actually corrected correctly, the error teaching unit 10 determines that the tightening is not properly corrected. For this reason, the worker U has to redo the correction work after correcting the position of the cursor C, which is a complicated work.

  On the other hand, in the tightening support system 2 of the present embodiment, as shown in FIGS. 4A and 4B, when the correction work is normally completed for one error location, the operator U operates the switch and the like. None, the cursor C is automatically moved to the position of the error location to be corrected next. Therefore, in the tightening support system 2 of the present embodiment, the cursor C is not displayed at a position other than the error location due to an operator's operation error or the like, and is displayed only at the error location. For this reason, not only the operation for moving the cursor C is unnecessary, but also the rework of the correction work based on the operator's operation mistake or the like becomes unnecessary, and the worker U can efficiently perform the tightening support process.

(5) Modification Moreover, said embodiment intends to illustrate the summary of this invention and does not limit this invention. Many alternatives, modifications, and variations will be apparent to those skilled in the art.

  For example, in the above embodiment, the position specifying unit 24 reads a program prepared for each tightening sequence number, and extracts position information of an error location to be corrected from the conversion table shown in FIG. At this time, the position specifying unit 24 only has to read out the program associated with the tightening sequence number notified from the error teaching unit 10 in advance. Speeds up the process of determining whether there is an error. However, in the present invention, it is not always necessary to prepare a program for each tightening sequence number, and it is not necessary to use the conversion table shown in FIG. Other methods may be adopted as long as similar results can be obtained.

  Moreover, in said embodiment, the value of an XYZ coordinate system is used as information showing the position of the fastening part T, etc. However, the present invention is not limited to this, and values of other coordinate systems such as an rθz coordinate system may be used.

  Moreover, in said embodiment, the workpiece | work W is an assembled battery used as a vehicle-mounted battery. Since in-vehicle batteries have many screw tightening points, the number of error points to be corrected by the tightening support system 2 tends to increase. If the tightening support system 2 of the above embodiment is used, even if the number of error points to be corrected increases, the screw tightening of all error points can be reliably corrected. Therefore, the tightening support system 2 of the above-described embodiment can effectively prevent the tightening correction process from being completed without the tightening of the error portion being corrected as the number of tightening portions of the screws increases. The error part can be corrected reliably without checking by the worker. However, the workpiece W of the present invention is not limited to an in-vehicle battery or the like as long as screws can be tightened at a plurality of locations.

  In the above embodiment, an example in which tightening is corrected using the nut runner 21 is described. By using such an existing nut runner 21, the development cost for the tightening correction unit 20 can be suppressed. However, the present invention is not limited to this. Any form of tools and equipment may be used in place of the nut runner 21 as long as screws can be tightened.

  In the above embodiment, the error teaching unit 10 displays the error location on the output device 12 to teach the operator U the tightening location to be corrected. However, the present invention may employ other methods (sound, vibration, etc.) as long as the error location can be notified to the worker U.

  As described above, the above-described embodiments and modification examples have the following effects.

  (A) As shown in FIG. 3, the tightening support system 2 includes a position specifying unit 24, and grasps the current position of the tightening unit T of the nut runner 21 based on information output from the encoder 23. Yes. Then, the correction control unit 30 controls the tightening correction unit 20 so that the tightening other than the error portion taught by the error teaching unit 10 cannot be corrected while referring to the grasped current position of the tightening unit T. . For this reason, it is possible to prevent the operator U from correcting the tightening at a location different from the error location taught by the error teaching unit 10. Accordingly, the tightening of the error portion that should be corrected is not corrected and the tightening correction process is prevented from being completed, and the error portion can be reliably corrected without a check operation by another operator. As a result, safety and performance of the finished product (vehicle battery, vehicle, etc.) can be secured.

  (B) Further, in the tightening correction step, the tightening is corrected using the nut runner 21. By using such an existing nut runner 21, the development cost for the tightening correction unit 20 can be suppressed.

  (C) In the tightening support system 2, a tightening sequence number is assigned to each tightening location of the workpiece W, and the error teaching unit 10 locates the tightening sequence number allocated to the error location. To the unit 24. Therefore, exchange of position information (such as three-dimensional coordinates) regarding the tightening location and the error location is not required between the tightening device 1 and the error teaching unit 10 and between the error teaching unit 10 and the position specifying unit 24. As a result, the data link and control method can be simplified. Further, the position specifying unit 24 only needs to refer to the position information associated with the tightening sequence number of the error location notified from the error teaching unit 10, and determines whether the tightening unit T is in the error location. Processing is speeded up.

  (D) Further, in the tightening support system 2, as shown in FIGS. 4A and 4B, when the correction work is normally completed for one error location, the operator U does not operate the switch or the like, Next, the cursor C is automatically moved to the position of the error location to be corrected. Therefore, in the tightening support system 2 of the present embodiment, the cursor C is not displayed at a position other than the error location due to an operator's operation error or the like, and is displayed only at the error location. For this reason, not only the operation for moving the cursor C is unnecessary, but also the rework of the correction work based on the operator's operation mistake or the like becomes unnecessary, and the worker U can efficiently perform the tightening support process.

  (E) The work W is an assembled battery used as a vehicle-mounted battery. If the tightening support system 2 is used, the screw tightening of all error locations can be reliably corrected even for a workpiece W having many error locations to be corrected, such as an in-vehicle battery. Accordingly, the tightening support system 2 can effectively prevent the tightening correction process from being completed without correcting the tightening of the error portion as the number of tightening portions of the screws increases. The error part can be corrected without any work.

1 tightening device,
2 Tightening support system,
10 Error teaching part,
11 input device,
12 output devices,
20 Tightening correction part,
21 Nutrunner,
22 arms,
23 Encoder,
24 position specifying part,
30 correction control unit,
B belt conveyor,
T tightening part,
U worker,
W Work.

Claims (6)

A tightening support system for supporting a tightening device for tightening screws at a plurality of positions of a workpiece,
An error teaching unit for teaching an error location when an error occurs in tightening by the tightening device;
A tightening correction unit used to correct the tightening of the error point taught by the error teaching unit;
A correction control unit that controls the tightening correction unit so that the tightening other than the error part taught by the error teaching unit cannot be corrected , and
The tightening correction portion is output from a nut runner having a tightening portion that rotates by driving of a rotational drive source at a tip, an encoder that outputs information according to the position of the tightening portion of the nut runner, and the encoder. A position specifying part for specifying the position of the tightening part of the nut runner based on the information,
The said position specific | specification part is a tightening assistance system which notifies the instruction | indication which regulates that the said fastening part does not rotate when the position of the specified said fastening part does not exist in the said error location . The correction control unit
2. The control according to claim 1, wherein when the position of the tightening portion specified by the position specifying portion is outside the error location taught by the error teaching portion, control is performed so that the tightening portion does not rotate. Tightening support system. A tightening sequence number indicating a tightening sequence is assigned to each part of the workpiece to which screws are tightened by the tightening device,
The error teaching unit is
Notifying the position specifying unit of the tightening sequence number assigned to the error location,
The position specifying unit includes:
Preliminarily associating position information of a position where the tightening portion should be positioned when performing tightening correction by the nut runner and a tightening sequence number assigned to the position;
When the tightening sequence number of the error location is notified from the error teaching unit, it is specified by the information output from the encoder with reference to the positional information associated with the notified tightening sequence number. Determining whether the position of the tightening portion is at the error location,
The tightening support system according to claim 2, wherein when the position of the tightening unit is not at the error location, an instruction to restrict the tightening unit from rotating is sent to the correction control unit.   The tightening support system according to any one of claims 1 to 3, wherein the error teaching unit includes a display that displays a cursor only at the error location.   The tightening support system according to any one of claims 1 to 4, wherein the work includes an in-vehicle battery. A tightening support method for supporting a tightening device for tightening screws at a plurality of positions of a work,
An error teaching step for teaching an error location when an error occurs in tightening by the tightening device;
When correcting the tightening of the error location taught in the error teaching step using the tightening correction portion for correcting the tightening, the tightening correction portion is controlled so that the tightening other than the error location cannot be corrected. possess a correction control step, the,
The tightening correction portion identifies the position of the tightening portion of the nut runner based on the information corresponding to the position of the tightening portion that is rotated at the tip of the nut runner and driven by the rotation drive source. A tightening support method of notifying an instruction for restricting the tightening portion from rotating when the position of the tightened portion is not in the error location .