JP7538655B2 - Machining work support device and method, machining work training method, machining work method - Google Patents

Description

This disclosure relates to a processing work support device and method for supporting processing work using processing tools, as well as a processing work training method and a processing work method.

For example, there is a processing task in which a worker uses a drill as a processing tool to drill holes in a plate material as a workpiece. In this drilling task, holes are formed in the plate material at a specified position and in a specified direction. In this case, since it is difficult for beginners to perform the hole drilling task with high precision, it is necessary for an experienced person to act as an instructor and provide training in the hole drilling task. However, training tasks under the guidance of an instructor are difficult for workers to understand, and it takes a long time for them to understand. There is a technology that solves this problem, as described in the following patent document. The technology described in this patent document acquires the processing movements of a beginner worker by motion capture, and evaluates the processing work by the worker by comparing the acquired movements with model processing movements.

JP 2002-333826 A JP 2006-171184 A JP 2019-200241 A

However, it is difficult to grasp the factors that prevent machining from being performed with high precision simply by comparing and evaluating the machining movements of a worker captured by motion capture with model machining movements. When a worker holds a machining tool and performs machining work, it is difficult to understand when to press the tool and when to reduce the pressure.

The present disclosure aims to solve the above-mentioned problems, and to provide a processing work support device and method, a processing work training method, and a processing work method that enable accurate support for workers performing processing work using processing tools.

To achieve the above object, the processing operation support device disclosed herein includes a position detection device that detects the relative position between the workpiece and the processing tool, a pressing force detection device that detects the pressing force applied by the operator to the processing tool against the workpiece, a display device that can display information, and a control device that correlates the relative position and the pressing force and displays them on the display device.

The machining operation support method disclosed herein also includes a step of detecting the relative position between the workpiece and the machining tool, a step of detecting the pressure applied by the operator to press the machining tool against the workpiece, and a step of displaying the relative position and the pressure in relation to each other.

In addition, the machining work training method disclosed herein implements the machining work support method when a worker is training in the machining work.

In addition, the processing work method disclosed herein implements the processing work support method while the worker is performing the processing work.

The machining work support device and method, machining work training method, and machining work method disclosed herein can provide accurate support to workers performing machining work using machining tools.

FIG. 1 is a schematic diagram showing the configuration of a machining operation support device according to the present embodiment. FIG. 2 is a side view showing the machining tool. FIG. 3 is a plan view showing the machining tool. FIG. 4 is a flowchart showing the machining operation support method of this embodiment. FIG. 5 is a schematic diagram showing a screen displaying acquired data during processing. FIG. 6 is a schematic diagram showing a screen displaying the processed acquired data. FIG. 7 is a schematic diagram showing an evaluation screen for the machining work after machining.

Below, a preferred embodiment of the present disclosure will be described in detail with reference to the drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes configurations that combine the various embodiments. Furthermore, the components in the embodiments include those that a person skilled in the art would easily imagine, those that are substantially the same, and those that are within the so-called equivalent range.

The machining support device of this embodiment supports a drilling operation (machining operation) when a worker uses a drill (machining tool) to drill holes in a plate material (workpiece). However, the type of machining tool, the material and shape of the workpiece, and the type of machining operation are not limited to those described above.

[Configuration of machining tools]
FIG. 2 is a side view showing the machining tool, and FIG. 3 is a plan view showing the machining tool.

The drill 50 is an air drill. However, it may be an electric drill. The drill 50 includes a drill body 51, a chuck 53, a cutting tool 54, and a switch 55. The drill body 51 is integrally provided with a grip 52. In the following description, the direction in which the cutting tool 54 attached to the drill 50 is pressed against the plate material 60 is referred to as the forward direction, and the direction in which the cutting tool 54 is moved away from the plate material 60 is referred to as the rearward direction.

The drill body 51 is provided with a grip 52 integrally at the rear side (left side in Figs. 2 and 3). The motor is disposed inside the drill body 51. The drill body 51 is provided with a chuck 53 at the front side. The cutting tool 54 can be attached and detached to the chuck 53. When the motor is driven with the cutting tool 54 attached to the chuck 53, the cutting tool 54 can be rotated via the chuck 53. A switch 55 is provided on the grip 52. When the operator operates the switch 55, power can be supplied to the motor. On the other hand, the plate material 60 is, for example, a metal plate such as aluminum, and has a predetermined thickness T.

[Configuration of the machining operation support device]
FIG. 1 is a schematic diagram showing the configuration of a machining operation support device according to the present embodiment.

In this embodiment, as shown in FIG. 1, the machining support device 10 supports an operator in drilling a plate material 60 with a drill 50. The machining support device 10 includes an optical sensor (position detection device) 11, a surface pressure sensor (pressure detection device) 12, a monitor (display device) 13, a control device 14, a start switch 15, a database 16, a recording unit 17, and a power source 18.

The optical sensor 11 has, for example, a plurality of cameras 21, 22, and 23 (three in this embodiment). The cameras 21, 22, and 23 are not limited to the cameras 21, 22, and 23. The cameras 21, 22, and 23 are arranged on the support member 24 at a predetermined distance. The optical sensor 11 detects the relative position between the drill 50 and the plate material 60. The optical sensor 11 detects the relative position between the drill 50 and the plate material 60 using motion tracking technology. The drill 50 is provided with marks (e.g., reflectors) M1, M2, and M3 at positions separated by a predetermined distance. The plate material 60 is supported by a plurality of support members 61. The support member 61 is provided with marks (e.g., reflectors) M11, M12, and M13 at positions separated by a predetermined distance. The marks M11, M12, and M13 may be provided directly on the plate material 60. The number of marks M1, M2, M3, M11, M12, and M13 is not limited to three. The optical sensor 11 is connected to the control device 14 by wire or wirelessly. The optical sensor 11 (cameras 21, 22, and 23) outputs the acquired position information of the marks M1, M2, and M3 of the drill 50 and the position information of the marks M11, M12, and M13 of the plate material 60 to the control device 14.

In the above description, multiple cameras 21, 22, and 23 are used as the optical sensor 11, multiple marks (reflectors) M1, M2, and M3 are provided on the drill 50, and multiple marks (reflectors) M11, M12, and M13 are provided on the support member 61, but this configuration is not limited to the above. For example, a monocular camera may be used as the optical sensor 11, and one LED light emitter may be provided on the drill 50 or the support member 61. In other words, multiple reflectors may be used as one LED light emitter, and 3D position coordinates may be calculated in real time using one camera.

The surface pressure sensor 12 detects the pressure applied by the operator to press the drill 50 against the plate material 60. The surface pressure sensor 12 is provided on the grip 52 of the drill 50. The surface pressure sensor 12 is disposed on the rear side of the grip 52, on the central axis of rotation of the cutting tool 54. When the operator uses the drill 50, he/she grips the grip 52. The operator can press the cutting tool 54 against the plate material 60 by moving the drill 50 forward while holding the grip 52. At this time, the operator presses the surface pressure sensor 12 of the grip 52 with his/her hand, so that the surface pressure sensor 12 can detect the pressure applied by the operator to press the drill 50 against the plate material 60. The surface pressure sensor 12 is connected to the control device 14 by wire or wirelessly. The surface pressure sensor 12 outputs the detected pressure to the control device 14.

The monitor 13 is connected to the control device 14. The control device 14 can display various information, which will be described later, on the monitor 13. Note that the display device is not limited to the monitor 13, and may be another display device, such as a glass display.

The control device 14 correlates the position information of the marks M1, M2, and M3 of the drill 50 and the position information of the marks M11, M12, and M13 of the plate material 60 acquired by the optical sensor 11 with the pressing force detected by the surface pressure sensor 12 and displays them on the monitor 13. That is, the control device 14 calculates the machining angles A and B of the drill 50 with respect to the plate material 60 and the machining stroke S of the drill 50 with respect to the plate material 60 based on the position information of the marks M1, M2, and M3 of the drill 50 and the position information of the marks M11, M12, and M13 of the plate material 60. Then, the control device 14 correlates the machining angles A and B of the drill 50 with the machining stroke S and displays them on the monitor 13.

At this time, the control device 14 displays the drilling angles A, B and the machining stroke S of the drill 50 on the monitor 13 during the hole drilling operation. In addition, after the hole drilling operation, the control device 14 displays the drilling angles A, B, the machining stroke S and the pressing force of the drill 50 on the monitor 13. At this time, the control device 14 displays the drilling angles A, B, the machining stroke S and the pressing force of the drill 50 on the monitor 13 along the time axis.

That is, the control device 14 receives input of the positions (three-dimensional coordinates) of the marks M1, M2, and M3 relative to the three-dimensional shape of the drill 50 and the positions (three-dimensional coordinates) of the marks M11, M12, and M13 relative to the three-dimensional shape of the plate material 60. The optical sensor 11 (cameras 21, 22, and 23) arranged at different positions performs three-dimensional measurements of the marks M1, M2, and M3 of the drill 50 and the marks M11, M12, and M13 of the plate material 60. The control device 14 converts the positions of the marks M1, M2, and M3 of the drill 50 and the marks M11, M12, and M13 of the plate material 60 into coordinate data with the same reference point to generate three-dimensional data. The control device 14 calculates the machining angles A and B and the machining stroke S of the drill 50 based on the three-dimensional data of the drill 50 and the plate material 60.

2 and 3, the drilling angle A of the drill 50 is the error angle between the normal drilling direction in the plate material 60 and the entry direction of the cutting tool 54 of the drill 50 with respect to the horizontal direction. The drilling angle B of the drill 50 is the error angle between the normal drilling direction in the plate material 60 and the entry direction of the cutting tool 54 of the drill 50 with respect to the vertical direction. Here, the normal drilling direction in the plate material 60 is a direction that is 90 degrees (perpendicular) to the surface 60a of the plate material 60, but is not limited to 90 degrees. In addition, the processing stroke S is the distance from the surface 60a of the plate material 60 to the tip of the cutting tool 54 that has penetrated the back surface 60b when the tip of the cutting tool 54 of the drill 50 enters from the surface 60a of the plate material 60 and penetrates the back surface 60b.

When the worker holding the grip 52 performs drilling work, the control device 14 A/D converts the voltage detected by the surface pressure sensor 12 and obtains it as the pressing force of the worker. In other words, this pressing force P is the pressing force P that the worker applies when pressing the drill 50 against the plate material 60. At this time, the worker receives a reaction force Pa from the plate material 60 that is equal to the pressing force P.

The control device 14 then displays on the monitor 13 the work data of the machining angles A and B, the machining stroke S, and the pressing force when the worker performs a drilling operation using the drill 50, as well as displaying on the monitor 13 preset model data for the machining angles A and B, the machining stroke S, and the pressing force. This model data for the machining angles A and B, the machining stroke S, and the pressing force is, for example, the machining angles A and B, the machining stroke S, and the pressing force acquired in advance by an expert when performing a drilling operation using the drill 50. The model data may also be created by simulating a drilling operation using the drill 50.

The start switch 15 can be operated by an operator. The start switch 15 is connected to the control device 14. When the operator operates the start switch 15, a signal to start the processing operation is output to the control device 14. When the start signal is input from the start switch 15, the control device 14 starts detection by the optical sensor 11 and the surface pressure sensor 12 after a preset time (e.g., 2 to 5 seconds) has elapsed.

The database 16 stores data on the positions (three-dimensional coordinates) of the marks M1, M2, and M3 relative to the three-dimensional shape of the drill 50, and data on the positions (three-dimensional coordinates) of the marks M11, M12, and M13 relative to the three-dimensional shape of the plate material 60. The database 16 also stores model data on the machining angles A and B, the machining stroke S, and the pressing force. In addition, the database 16 stores programs such as the support method implemented by the machining operation support device 10. The recording unit 17 records the detection results by the optical sensor 11 and the surface pressure sensor 12. The control device 14 can display the detection results by the optical sensor 11 and the surface pressure sensor 12 recorded in the recording unit 17 on the monitor 13. The power supply 18 is connected to the control device 14 and supplies power to the optical sensor 11, the surface pressure sensor 12, the monitor 13, the control device 14, the start switch 15, and the like.

[Support method using a support device for machining work]
Figure 4 is a flowchart showing the method of supporting processing work in this embodiment, Figure 5 is a schematic diagram showing a screen displaying acquired data during processing, Figure 6 is a schematic diagram showing a screen displaying acquired data after processing, and Figure 7 is a schematic diagram showing a processing work support screen after processing.

The machining operation support method of this embodiment includes a process of detecting the relative position between the workpiece 60 and the drill 50, a process of detecting the pressure applied by the operator to press the drill 50 against the workpiece 60, and a process of displaying the relative position and the pressure in relation to each other.

The machining work support method of this embodiment can be applied as a machining work training method implemented when training an unskilled worker in machining work. Also, the machining work support method of this embodiment can be applied as a machining work method implemented by a worker during actual machining work.

In the machining support method of this embodiment, as shown in Figs. 1 and 4, the worker holds the drill 50 in his hand and prepares for machining in front of the workpiece 60. When the preparation for machining is complete, the worker operates (ON) the start switch 15. In step S11, the control device 14 determines whether the worker has operated the start switch 15, that is, whether a start signal has been input from the start switch 15. If it is determined that a start signal has not been input (No), the routine exits without doing anything. On the other hand, if it is determined that a start signal has been input (Yes), the process proceeds to step S12.

In step S12, it is determined whether a predetermined time has elapsed since the operator operated the start switch 15, that is, since the start signal was input from the start switch 15. If it is determined that the predetermined time has not elapsed (No), the process waits in this state. On the other hand, if it is determined that the predetermined time has elapsed (Yes), the process proceeds to step S13. In step S13, the control device 14 starts detection by the optical sensor 11 and the surface pressure sensor 12, and records the detection results in the recording unit 17. Then, in step S14, the control device 14 displays the detection results on the monitor 13.

As shown in FIG. 5, the control device 14 calculates the machining angles A and B of the drill 50 relative to the plate material 60 based on the position information of the marks M1, M2, and M3 of the drill 50 and the position information of the marks M11, M12, and M13 of the plate material 60 during the drilling operation. The control device 14 displays the machining angles A and B of the drill 50 and the machining stroke S of the drill 50 relative to the plate material 60 on the monitor 13. Here, the machining angles A and B and the machining stroke S of the drill 50 during the drilling operation are displayed on the numerical display units 31, 32, and 33. In addition, the machining angles A and B of the drill 50 are displayed as the machining point 35 on the machining state display unit 34. Furthermore, the posture (tilt) of the drill 50 during the drilling operation is displayed in real time on the image display unit 36 by animation.

1 and 4, in step S15, the control device 14 determines whether the cutting tool 54 of the drill 50 has retreated a predetermined amount (e.g., 3 to 10 cm). The operator advances the cutting tool 54 of the drill 50, and when the tip penetrates the plate material 60, the drilling operation is completed. The operator then retreats the cutting tool 54 of the drill 50 and removes the tip from the plate material 60. The control device 14 estimates the completion of the drilling operation when the cutting tool 54 of the drill 50 has retreated a predetermined amount. Here, if it is determined that the cutting tool 54 of the drill 50 has not retreated a predetermined amount (No), the processing continues. On the other hand, if it is determined that the cutting tool 54 of the drill 50 has retreated a predetermined amount (Yes), in step S16, the detection by the optical sensor 11 and the surface pressure sensor 12 is terminated, and the recording of the detection results in the recording unit 17 is terminated. Then, in step S17, the control device 14 displays the detection results on the monitor 13.

As shown in FIG. 6, the control device 14 records the drilling angles A and B of the drill 50, the drilling stroke S of the drill 50, and the pressing force in the recording unit 17. After the drilling operation, the control device 14 displays the drilling angles A and B, the drilling stroke S, and the pressing force of the drill 50 recorded in the recording unit 17 on the monitor 13. At this time, the control device 14 displays the drilling angles A and B, the drilling stroke S, and the pressing force of the drill 50 along the time axis on the graph display unit 41 of the monitor 13.

After that, in step S18, the process returns to Figs. 1 and 4, and the operator's evaluation of the drilling operation is displayed on the monitor 13. Fig. 7 shows the relationship between the machining angles A and B, the machining stroke S, and the pressing force relative to the tip position of the cutting tool 54 of the drill 50. Here, the solid line in Fig. 7 is the operator data, and the dotted line in Fig. 7 is the model data.

As shown in FIG. 7, from time t0 when the worker starts drilling the plate material 60 with the drill 50 to time t2 when the tip of the cutting tool 54 of the drill 50 penetrates the plate material 60 beyond time t1, the worker's processing angles A and B are within the appropriate ranges α and β. However, after time t2 when the tip of the cutting tool 54 of the drill 50 penetrates the plate material 60, the worker's processing angles A and B fall outside the appropriate ranges α and β. Also, from time t0 to time t2, the worker's processing stroke S is equal to or less than the upper limit value Sa. However, after time t2 when the tip of the cutting tool 54 of the drill 50 penetrates the plate material 60, the worker's processing stroke S greatly exceeds the upper limit value Sa.

The model data of the pressing force from time t0 to time t2 shows that the pressing force gradually decreases during the processing period ta immediately before time t2 when the tip of the cutting tool 54 of the drill 50 penetrates the plate material 60. On the other hand, the operator data of the pressing force from time t0 to time t2 shows that the pressing force gradually increases during the processing period ta immediately before time t2 when the tip of the cutting tool 54 of the drill 50 penetrates the plate material 60. For example, a structure such as wiring may be present near the back surface 60b of the plate material 60. In this case, if the tip of the cutting tool 54 of the drill 50 protrudes a large amount after penetrating the plate material 60, the cutting tool 54 may damage the structure. Therefore, it is necessary to suppress the protrusion amount of the cutting tool 54 after penetrating the plate material 60 to an upper limit value Sa or less.

In the model data for the pressing force, the pressing force is gradually reduced during the processing period ta immediately before time t2 when the tip of the cutting tool 54 of the drill 50 penetrates the plate material 60, so the model data for the processing stroke S after time t2 is suppressed to below the upper limit value Sa. On the other hand, in the worker data for the pressing force, the pressing force is gradually increased during the processing period ta immediately before time t2 when the tip of the cutting tool 54 of the drill 50 penetrates the plate material 60, so the worker data for the processing stroke S after time t2 exceeds the upper limit value Sa. It can be inferred that because the worker pressed the tip of the cutting tool 54 of the drill 50 against the plate material 60 with a high pressing force, when the tip of the cutting tool 54 of the drill 50 penetrates the plate material 60, the reaction force Pa from the plate material 60 disappears, causing the processing stroke S to exceed the upper limit value Sa.

In this way, after the worker has performed the drilling operation, the worker data and model data for the drilling angles A and B, the drilling stroke S, and the pressing force of the drill 50 are displayed for comparison, making it possible to evaluate the worker's drilling operation.

The processing operation support method of the present embodiment described above can be used to judge the pass/fail of processing operation training by an operator or the pass/fail of the quality of the processed plate material 60. In judging the pass/fail of the training, if at least one of the following items exceeds a specified range, the training is deemed to be failed.
1. Processing angle A≦α
2. Processing angle B≦β
3. Machining stroke ≦ Sa
4. Pressing force≦Sa (during processing period ta)
In addition, the quality of the processing is judged as pass or fail if at least one of the following items is outside the specified range.
1. Processing angle A≦α
2. Processing angle B≦β
3. Machining stroke ≦ Sa

[Effects of this embodiment]
The support device for processing operations in the first aspect includes an optical sensor (position detection device) 11 that detects the relative position between a plate material (workpiece) 60 and a drill (processing tool) 50, a surface pressure sensor (pressing force detection device) 12 that detects the pressing force with which an operator presses the drill 50 against the plate material 60, a monitor (display device) 13 that can display information, and a control device 14 that correlates the relative position and the pressing force and displays it on the monitor 13.

The processing operation support device according to the first aspect correlates the relative positions of the plate material 60 and the drill 50 with the pressure force with which the drill 50 is pressed against the plate material 60 and displays them on the monitor 13, allowing the worker to grasp the state of the processing operation using the drill 50. This allows the worker to be appropriately supported in the processing operation using the drill 50.

In the machining support device according to the second aspect, the optical sensor 11 detects the machining angles A and B of the drill 50 relative to the plate material 60 and the machining stroke S of the drill 50 relative to the plate material 60. As a result, when a worker performs machining work using the drill 50, the machining angles A and B and the machining stroke S of the drill 50 can be displayed, and appropriate support for the machining work can be provided.

In the machining operation support device according to the third aspect, the control device 14 displays the machining angles A and B and the machining stroke S of the drill 50 on the monitor 13 during machining operation. This makes it possible to correct the machining angles A and B during machining operation.

In the fourth embodiment of the machining support device, the control device 14 displays the machining angles A and B, the machining stroke S, and the pressing force of the drill 50 on the monitor 13 after the machining operation. This makes it possible to evaluate the machining operation by the worker after the machining operation, quantitatively identify factors such as defects, and also grasp the progress of the worker's proficiency in the machining operation.

In the machining support device according to the fifth aspect, the control device 14 displays the machining angles A and B, machining stroke S, and pressing force of the drill 50 on the monitor 13 along the time axis. This makes it possible to grasp the relationship between the machining angles A and B, machining stroke S, and pressing force during a given progress of the machining operation, and quantitatively identify factors such as defects in the machining operation by the worker.

In the sixth aspect of the machining support device, the control device 14 displays the machining angles A and B, machining stroke S, and pressing force of the drill 50 on the monitor 13, and also displays preset model data for the machining angles A and B, machining stroke S, and pressing force on the monitor 13. This makes it possible to accurately identify factors such as defects in the machining work performed by the operator by comparing the model data with the machining data by the operator.

The machining support device according to the seventh aspect has a start switch 15 that outputs a start signal for machining, and when the start signal is input, the control device 14 starts detection by at least the optical sensor 11 and the surface pressure sensor 12 after a preset predetermined time has elapsed. This allows data on the machining work performed by the worker to be properly recorded, and by ensuring the predetermined time, it is possible to prevent the worker from losing his/her working posture when operating the start switch 15.

The method of supporting machining operations according to the eighth aspect includes a step of detecting the relative position between the workpiece 60 and the drill 50, a step of detecting the pressure with which the worker presses the drill 50 against the workpiece 60, and a step of displaying the relative position and the pressure in relation to each other. This allows the worker to grasp the state of the machining operations using the drill 50. Therefore, it is possible to provide accurate support to the worker performing the machining operations using the drill 50.

The machining work training method according to the ninth aspect implements a machining work support method when a worker is training in the machining work. This allows the worker to receive appropriate support for the machining work using the drill 50, and enables the worker to quickly become proficient in the machining work.

In the machining operation method according to the tenth aspect, a machining operation support method is implemented when the worker is performing the machining operation. This allows the worker to grasp the status of the machining operation using the drill 50. This allows the worker to provide accurate support for the machining operation using the drill 50, thereby improving the machining accuracy during the machining operation.

In the above embodiment, the optical sensor 11 and the surface pressure sensor 12 are configured to start detection a predetermined time after the worker operates the start switch 15, but the present invention is not limited to this configuration. For example, the optical sensor 11 and the surface pressure sensor 12 may be configured to automatically start detection when the worker assumes a predetermined working posture. In this case, the working posture of the worker may be detected by a camera.

10 Processing operation support device 11 Optical sensor (position detection device)
12 Surface pressure sensor (pressure detection device)
13 Monitor (display device)
14 Control device 15 Start switch 16 Database 17 Recording unit 18 Power supply 21, 22, 23 Camera 24 Support member 31, 32, 33 Numerical display unit 34 Machining state display unit 35 Machining point 41 Graph display unit 50 Drill 51 Drill body 52 Grip 53 Chuck 54 Cutting tool 55 Switch 60 Plate material 60a Front surface 60b Back surface A, B Machining angle S Machining stroke Sa Upper limit value P Pressing force Pa Reaction force M1, M2, M3, M11, M12, M13 Mark t1, t2 Time ta Machining period α, β Appropriate range

Claims (8)

a position detection device for detecting a relative position between a workpiece and a processing tool;
a pressing force detection device that detects a pressing force applied by an operator to the processing tool against the workpiece;
A display device capable of displaying information;
a control device that displays the relative position and the pressing force on the display device in association with each other;
Equipped with
The processing tool is a drill that performs a hole drilling operation to penetrate the workpiece,
The control device displays the drilling angle and the drilling stroke on a numerical display unit of the display device, and plots and displays the drilling points on a drilling state display unit of the display device, which is an area having the drilling angle relative to the horizontal direction and the drilling angle relative to the vertical direction on the horizontal and vertical axes, respectively .
Support equipment for processing operations. The control device displays the processing angle, the processing stroke, and the pressing force on the display device after a processing operation.
The processing operation support device according to claim 1. The control device displays the processing angle, the processing stroke, and the pressing force on the display device along a time axis.
3. The machining operation support device according to claim 1 or 2. the control device displays the processing angle, the processing stroke, and the pressing force on the display device, and also displays preset model data for the processing angle, the processing stroke, and the pressing force on the display device.
The processing operation support device according to any one of claims 1 to 3. a start switch that outputs a start signal for starting a processing operation, and the control device starts detection by at least the position detection device and the pressing force detection device after a preset predetermined time has elapsed when the start signal is input;
The processing operation support device according to any one of claims 1 to 4. detecting a relative position between a workpiece and a machining tool;
detecting a pressing force applied by an operator to the processing tool against the workpiece;
a step of displaying the relative position and the pressing force in relation to each other;
having
The processing tool is a drill that performs a hole drilling operation to penetrate the workpiece,
The drilling angle and the drilling stroke are displayed on a numerical display section, and the drilling points are plotted and displayed on a drilling state display section, which is an area having the drilling angle relative to the horizontal direction and the drilling angle relative to the vertical direction on the horizontal and vertical axes, respectively .
How to support processing operations. A machining work training method in which the machining work support method described in claim 6 is implemented during machining work training by an operator. A processing operation method in which the processing operation support method described in claim 6 is implemented during processing by an operator.

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