JP6929537B2 - How to assemble work assistance system, work assistance device, and valve - Google Patents

Description

The present invention relates to a work assist system, a work assist device, and a method of assembling a valve.

In the tightening torque management system disclosed in Patent Document 1, when an operator tries to tighten a bolt at an arbitrary tightening point with a torque wrench, the tightening point is specified by a camera, and the specified tightening point is specified. The specified value of is sent from the computer to the torque wrench. Then, the operator tightens the bolt so that the tightening torque value of the torque wrench is within the specified value range, and this tightening torque is sent from the transmitter to the computer, and is the tightening torque the specified value in the computer? I'm judging whether or not. In this way, the tightening torque of the bolt is managed.

Japanese Unexamined Patent Publication No. 2013-151043

However, in the tightening torque management system disclosed in Patent Document 1, the fastening force (axial force) actually generated on the bolt depends on the angle of the torque wrench with respect to the bolt, the rotation speed of the torque wrench, the proficiency level of the operator, and the like. Because of the change, even if the detection torque detected by the torque wrench is within a predetermined range, the fastening force of the bolt varies, and the bolt cannot be fastened with the predetermined fastening force.

Further, when the technique of Patent Document 1 is applied to the assembly of a valve in which the bonnet is fastened to the body with a torque wrench and the actuator is attached to the body, even if the torque detected by the torque wrench is within a predetermined range. Similarly, the fastening force of the bonnet to the body varies due to the difference in the angle and rotation speed of the torque wrench. Therefore, if the fastening force is insufficient, the diaphragm arranged between the body and the bonnet cannot be sufficiently narrowed and a leak occurs, and if the fastening force is excessive, the diaphragm is forced more than necessary. This causes a decrease in valve durability.

Therefore, an object of the present invention is to provide a technique capable of assisting a worker in work and fastening a member to be worked in a desired state.

In order to solve the above object, the work assist system according to one aspect of the present invention includes a camera that captures a work member and a tool for performing work on the work member, and an image taken by the camera. Based on the above, an angle determination unit that determines whether or not the angle of the tool at the start of work and during work with respect to the member to be worked is within a predetermined angle range, and when the angle is within a predetermined angle range, the above. It includes a display control unit that creates information indicating the working operation of the tool, and a display device that displays the information created by the display control unit.

Further, a work end detection unit that detects whether or not the work has been completed is provided based on the state of the tool, and the display control unit indicates the end of the work when the work end detection unit detects the end of the work. Information may be created and displayed on the display device.

Further, the tool is a torque wrench, and the information indicating the working operation of the tool may be information indicating the rotation speed of the torque wrench.

Further, the torque wrench has an arm-shaped lever and a head attached to the tip of the lever, and is configured so that the positional relationship between the head and the lever changes when the tightening torque reaches a specified torque. The work end detection unit detects the positional relationship between the lever and the head, and the display control unit detects that the work end detection unit has changed the positional relationship between the lever and the head. In this case, information indicating the end of work may be created and displayed on the display device.

Further, the working member is a valve having a body, an actuator connected to the body and the actuator and rotated by the torque wrench, and a diaphragm in which an outer peripheral edge portion is pressed by the body and the actuator. There may be.

Further, the camera may be installed on the ceiling of a clean room at a position that does not block the air flow.

Further, the display device displays an image taken by the camera, and the display control unit creates information indicating the start of work by the tool and information indicating the work operation of the tool, and the display device May display the information created by the display control unit on the image.

In the work assisting device according to one aspect of the present invention, the angle of the tool with respect to the work member is determined based on an image taken by a camera that takes a picture of the work member and the tool for performing work on the work member. An angle determination unit that determines whether or not the tool is within the predetermined angle range, and a display control that creates information indicating the working operation of the tool in order to display on the display device when the angle is within the predetermined angle range. It has a part and.

The valve assembly method according to one aspect of the present invention uses the work assist system described above.

According to the present invention, it is possible to provide a technique capable of assisting a worker in work and fastening a member to be worked in a desired state.

The block diagram of the work assistance system which concerns on embodiment of this invention is shown. The schematic diagram of the work state of the worker in the work assistance system is shown. The plan view of the torque wrench is shown. The front view of the valve is shown. It is a flowchart which shows the procedure of work auxiliary processing. The display of (a) the actual working state and (b) the display device at the time of tightening the bonnet of the valve with a torque wrench is shown. The external view of the head-mounted display is shown.

The work assist system 1 and the work assist device 10 according to the embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows a configuration diagram of a work assistance system 1 according to the present embodiment. FIG. 2 shows a schematic diagram of the working state of the worker A in the work assisting system 1 according to the present embodiment.

The work assist system 1 and the work assist device 10 according to the present embodiment are systems and devices that assist the tightening work of the valve 30 which is a member to be worked by the torque wrench 20 which is a tool.

First, the configurations of the torque wrench 20 and the valve 30 will be described.

FIG. 3 shows a plan view of the torque wrench 20.

As shown in FIG. 3, the torque wrench 20 has an arm-shaped lever 21 and a head 22 provided at the tip of the lever 21. The lever 21 is a portion where the operator A grips the torque wrench 20, and two angle markers 23 for detecting the angle of the torque wrench 20 with respect to the valve 30 are formed. The head 22 is attached to the tip of the lever 21 and is configured so that the positional relationship between the head 22 and the lever 21 changes when the tightening torque reaches a specified torque. The head 22 is formed with three position markers 24 for detecting a change in the positional relationship between the head 22 and the lever 21.

FIG. 4 shows a front view of the valve 30.

As shown in FIG. 4, the valve 30 has an outer peripheral edge sandwiched between the body 31, the actuator 32, the bonnet 33 connected to the body 31 and the actuator 32 and rotated by the torque wrench 20, and the body 31 and the bonnet 33. It is provided with a diaphragm 34 to be pressed.

Next, the configuration of the work assistance system 1 will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the work assistance system 1 includes a camera 2, a display device 3, and a work assistance device 10, which are configured to be able to communicate by wire or wirelessly.

The camera 2 is, for example, a video camera capable of capturing an image, and is installed on a mesh-like ceiling 41 of a clean room 40. The camera 2 photographs the torque wrench 20 on the work table 43 arranged on the mesh floor 42 and the valve 30 fixed to the fixture 44, and transmits the captured images to the work assist device 10. Here, the image includes a still image and a moving image.

The display device 3 has an LED panel or the like, and displays an image transmitted from the work assist device 10.

The work assist device 10 includes a CPU (Central Processing Unit) 11, a storage unit 12, and a communication unit 13, which are connected to each other by a bus.

The CPU 11 controls the entire work assistance system 1 by reading and executing the program stored in the storage unit 12.

The storage unit 12 stores a program related to the work assist processing described later, and when the program is read out by the CPU 11 and executed, the functions of the processing units 14 to 18 of the CPU 11 are realized. Further, the storage unit 12 stores information on the valve 30, the shape of the torque wrench 20, the angle marker 23, and the position marker 24.

The communication unit 13 communicates with the camera 2 and the display device 3, receives the moving image transmitted from the camera 2, and transmits the information from the display control unit 14 of the CPU 11 to the display device 3.

The CPU 11 includes a display control unit 14, a central axis detection unit 15, an angle determination unit 16, a separation detection unit 17, and a tightening detection unit 18.

The display control unit 14 transmits the moving image received from the camera 2 and data related to work assistance to the display device 3.

The central axis detection unit 15 detects the central axis of the valve 30 based on the moving image received from the camera 2. For example, information about the valve 30 is stored in the storage unit 12, and based on the stored information, the valve 30 is recognized from the moving image and the central axis of the valve 30 is detected.

The angle determination unit 16 detects whether or not a predetermined time has elapsed while the angle of the torque wrench 20 with respect to the valve 30 is within a predetermined angle range. The angle referred to here is the angle formed by the central axis of the lever 21 of the torque wrench 20 and the central axis of the valve 30, and this angle is within the range of 90 ± 2 ° in order for the torque wrench 20 to correctly measure the torque. It is desirable to have. For example, the angle determination unit 16 detects that the torque wrench 20 is in a tightenable state based on the positions of the three position markers 24 and the valve 30 of the head 22 of the torque wrench 20, and then the lever 21 of the torque wrench 20. The distance between the two angle markers 23 is calculated to determine whether or not the angle of the torque wrench 20 with respect to the central axis of the valve 30 is within a predetermined angle range and the state has elapsed for a predetermined time.

The separation detection unit 17 determines whether or not the torque wrench 20 has separated from the valve 30 before the tightening operation is started and completed. For example, the separation detection unit 17 detects whether or not the torque wrench 20 is separated from the valve 30 based on the positions of the three position markers 24 and the valve 30 of the head 22 of the torque wrench 20. When the body 31 of the bonnet 33 is loosely tightened by hand and the rotation angle required for tightening with the torque wrench 20 is large, it is necessary to reattach the torque wrench 20. In this case, since the angle determination unit 16 needs to determine the angle again, the separation detection unit 17 detects whether or not the torque wrench 20 is separated from the valve 30.

The tightening detection unit 18 determines whether or not the tightening torque of the torque wrench 20 has reached the specified torque and the tightening work by the torque wrench 20 has been completed. For example, the tightening detection unit 18 changes the positional relationship between the head 22 and the lever 21 when the tightening torque reaches a specified torque based on the positions of the three position markers 24 and the valve 30 of the head 22 of the torque wrench 20. Detect what you have done. For example, in the case of a mechanical torque wrench, when the tightening torque reaches a specified torque, a mechanism is provided in which the lock between the lever 21 and the head 22 is released and the angle is changed. As a result, the end of work can be detected from the state of the tool.

The work assist device 10 of the work assist system 1 of the present embodiment having the above configuration performs the work assist process according to the procedure described below.

FIG. 5 is a flowchart showing the procedure of work assist processing.

FIG. 6 shows (a) the actual working state and (b) the display of the display device 3 when the bonnet 33 of the valve 30 is tightened by the torque wrench 20. In FIG. 6, the hand of the worker A is not shown.

The work assist process executed by the CPU 11 of the work assist device 10 is started, for example, when the display control unit 14 recognizes the valve 30 and the torque wrench 20 in the moving image sent from the camera 2.

The display control unit 14 causes the display device 3 to display the moving image sent from the camera 2 (step S1). At this time, as shown in FIGS. 6 (b)-(1), the valve 30 may be recognized and information (part number, tightening size, tightening torque) related to the valve 30 may be displayed on the display device 3. ..

Next, the central axis detection unit 15 detects the central axis of the valve 30 based on the moving image received from the camera 2 (step S2).

The angle determination unit 16 is in a state where the head 22 of the torque wrench 20 is engaged with the valve 30 and the torque wrench 20 can be tightened based on the positions of the three position markers 24 and the valve 30 of the head 22 of the torque wrench 20. Whether or not it is determined (step S3). If it is determined that the tightening is not possible (step S3: NO), the determination is repeated.

On the other hand, when it is determined that the tightening is possible (step S3: YES), the angle determination unit 16 calculates the distance between the two angle markers 23 of the lever 21 of the torque wrench 20 (step S4), and the valve The angle formed by the central axis of 30 and the central axis of the lever 21 of the torque wrench 20 is detected, and it is determined whether or not the angle is within a predetermined angle range (for example, 90 ± 2 °) (step S5). When the angle is within the predetermined angle range (step S5: YES), the display control unit 14 displays "angle: OK" as shown in FIGS. 6 (b)-(2) (step S6). If the angle is not within the predetermined angle range (step S5: NO), "angle: NG" is displayed (step S7). In step S7, the display device 3 may display an angle correction instruction in addition to "angle: NG".

Next, the angle determination unit 16 determines whether or not a predetermined time (for example, several seconds) has elapsed while the angle of the torque wrench 20 with respect to the central axis of the valve 30 is within a predetermined angle range (step S8). If the predetermined time has not elapsed (step S8: NO), the determination is repeated.

On the other hand, when the predetermined time has elapsed (step S8: YES), the display control unit 14 displays the tightening start instruction H1 and the torque wrench 20 in the rotation direction H2, as shown in FIGS. And the guide H3 regarding the rotation speed of the torque wrench 20 is displayed on the display device 3 (step S9). The guide H3, for example, has a strip shape, extends in the radial direction of the valve 30, and rotates around the valve 30 at a predetermined speed. Then, by rotating the torque wrench 20 according to the guide H3, the torque wrench 20 can be rotated at a desired rotation speed.

Next, the separation detection unit 17 determines whether or not the torque wrench 20 has separated from the valve 30 before the tightening operation is started and completed (step S10). When the torque wrench 20 is separated from the valve 30 (step S10: YES), the process returns to step S3 and the processes after step S3 are repeated.

On the other hand, when the torque wrench 20 is not separated from the valve 30 (step S10: NO), the tightening detection unit 18 tightens based on the positions of the three position markers 24 and the valve 30 of the head 22 of the torque wrench 20. Is determined (step S11). If it is determined that the tightening is not completed (step S11: NO), the process returns to step S10. When it is determined that the tightening is completed (step S11: YES), the display control unit 14 displays on the display device 3 that the tightening is completed, as shown in FIGS. 6 (b)-(4) (step S11: YES). Step S12).

In this way, information on work assistance is displayed on the display device 3 on the moving image of the torque wrench 20 and the valve 30 in the actual working state shown in FIGS. 6 (a)-(1) to 6 (3) taken by the camera from 2. Will be done.

According to the work assist device 10 of the work assist system 1 as described above, when the angle of the torque wrench 20 with respect to the valve 30 is within a predetermined angle range, information indicating the work operation by the torque wrench 20, for example, the torque wrench Information indicating the rotation speed of 20 is displayed on the moving image displayed on the display device 3. As a result, the torque wrench 20 can tighten the bonnet 33 with respect to the valve 30 within a predetermined angle range and at a desired rotation speed. Therefore, the bonnet 33 can be fastened to the body 31 with a desired fastening force, and the diaphragm 34 can be narrowed with a desired force. Thereby, it is possible to provide the valve 30 which does not depend on the proficiency level of the operator and the like and has no individual difference.

Further, since the position and angle of the torque wrench 20 and the positional relationship between the lever 21 and the head 22 are detected by the angle marker 23 and the position marker 24 formed on the torque wrench 20, parts and the like are added to the torque wrench 20. It is not necessary, and the work assist system 1 and the work assist device 10 can be realized at low cost.

Further, since the camera 2 is provided on the ceiling 41 of the clean room 40, the work assist system 1 and the work assist device 10 can be realized without blocking the air flow F of the clean room 40. Therefore, it is desirable that the camera 2 is installed in a place where the mesh-like ceiling of the clean room is avoided from the mesh opening. By installing the camera 2 above the workbench 43, it is possible to prevent the angle of view of the camera from being obstructed by an operator, a device, or the like, but the installation location does not necessarily have to be directly above the workbench 43. good.

The present invention is not limited to the above-described examples. A person skilled in the art can make various additions and changes within the scope of the present invention.

For example, the angle marker 23 is formed on the torque wrench 20 to detect the angle of the torque wrench 20 with respect to the valve 30, but the torque wrench 20 is equipped with a gyro sensor, and the angle of the torque wrench 20 is detected by the gyro sensor. The angle with respect to the valve 30 may be detected. Further, the shapes of the lever 21 and the head 22 of the torque wrench 20 may be stored in the storage unit 12, and the angle with respect to the valve 30 may be detected based on the shapes. Further, the torque wrench is not limited to the shape shown in FIG. 3, and the head may have a monkey wrench-like structure or a socket wrench-like structure.

Further, the camera 2 and the display device 3 may be a tablet terminal 4 (FIG. 1) integrally configured, and the tablet terminal is arranged between the worker A and the valve 30 to take a picture with the camera 2. The displayed image may be displayed on the display device 3 to assist the work. Further, the work assist device 10, the camera 2, and the display device 3 may be integrally configured.

Further, as shown in FIG. 7, the camera 2 and the display device 3 may be a head-mounted display 5 integrally configured. In this case, the central axis detection unit 15 and the angle determination unit 16 recognize the angle of the line of sight of the operator A, and based on the angle, detect the central axis of the valve 30 and the angle of the torque wrench 20 with respect to the valve 30. .. Further, the display device 3 is configured to display information related to work assistance without displaying an image taken by the camera 2. For example, an AR marker is formed on the work table 43, the valve 30 and the like so that the information on the work assistance is displayed on the AR marker, and the information on the work assistance is superimposed on the valve 30 and the like visually observed by the worker A. May be displayed. Further, the work assisting device 10 may be mounted on the head-mounted display 5.

Further, although one camera 2 and the display device 3 are connected to the work assist device 10, a plurality of cameras 2 and the display device 3 may be connected.

1: Work assistance system, 2: Camera, 3: Display device, 4: Tablet terminal, 5: Head-mounted display, 10: Work assistance device, 11: CPU, 12: Storage unit, 13: Communication unit, 14: Display control Unit, 15: Central axis detection unit, 16: Angle determination unit, 17: Separation detection unit, 18: Tightening detection unit, 20: Torque wrench, 21: Lever, 22: Head, 23: Angle marker, 24: Position marker , 30: Valve, 31: Body, 32: Actuator, 33: Bonnet, 34: Diaphragm

Claims (6)

A camera that photographs the member to be worked and the tools for performing work on the member to be worked, and
An angle determination unit that determines whether or not the angle of the tool at the start of work and during work with respect to the member to be worked is within a predetermined angle range based on the image taken by the camera.
A display control unit that creates information indicating the working operation of the tool when the angle is within a predetermined angle range.
A display device that displays information created by the display control unit, and
It is provided with a work end detection unit that detects whether or not the work has been completed based on the state of the tool.
When the work end detection unit detects the end of work, the display control unit creates information indicating the end of work and displays it on the display device.
The tool is a torque wrench
The information indicating the working operation of the tool is information indicating the rotation speed of the torque wrench.
The torque wrench has an arm-shaped lever and a head attached to the tip of the lever, and is configured so that the positional relationship between the head and the lever changes when the tightening torque reaches a specified torque.
The work end detection unit detects the positional relationship between the lever and the head, and detects the positional relationship between the lever and the head.
The display control unit is a work assistance system that creates information indicating the end of work and displays it on the display device when the work end detection unit detects that the positional relationship between the lever and the head has changed. The working member is a valve having a body, an actuator rotated by the torque wrench and connected to the body, and a diaphragm in which an outer peripheral edge portion is pressed by the body and the actuator. Work assistance system described in. The work assistance system according to claim 1 or 2, wherein the camera is installed on the ceiling of a clean room at a position that does not block the air flow. The display device displays an image taken by the camera and displays the image.
The display control unit creates information indicating the working operation of the tool, and creates information.
The work assist system according to any one of claims 1 to 3, wherein the display device displays information created by the display control unit on the image. It is determined whether or not the angle of the tool with respect to the member to be worked is within a predetermined angle range based on the image taken by the camera that photographs the member to be worked and the tool for performing the work on the member to be worked. Angle judgment unit and
A display control unit that creates information indicating the start of work by the tool and information indicating the work operation of the tool in order to display on the display device when the angle is within a predetermined angle range.
It is provided with a work end detection unit that detects whether or not the work has been completed based on the state of the tool.
When the work end detection unit detects the end of work, the display control unit creates information indicating the end of work.
The tool is a torque wrench
The information indicating the working operation of the tool is information indicating the rotation speed of the torque wrench.
The torque wrench has an arm-shaped lever and a head attached to the tip of the lever, and is configured so that the positional relationship between the head and the lever changes when the tightening torque reaches a specified torque.
The work end detection unit detects the positional relationship between the lever and the head, and detects the positional relationship between the lever and the head.
The display control unit is a work assisting device that creates information indicating the end of work when the work end detection unit detects that the positional relationship between the lever and the head has changed. A method for assembling a valve using the work assistance system according to claim 2.

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