JP7780914B2 - Fastener driving support device - Google Patents

Description

This disclosure relates to a fastener driving assistance device.

A skill comparison device is known that compares the skills of a reference person and a subject person in relation to a specific task performed through physical movements and involving the handling of a specific object (see, for example, Patent Document 1). This skill comparison device measures the subject person's movements, and after the subject person has completed their movements, calculates a target value based on the measured physical movements of the subject person and outputs it together with the reference value of the reference person.

Japanese Patent Application Laid-Open No. 2021-15225

The skill comparison device in Patent Document 1 compares the movements of the reference person and the subject based on the target value and reference value after the subject has completed their movement, making it difficult to compare skills while the movement is in progress. One movement performed by the subject is riveting. Riveting involves placing a backing plate on the other side of the object and driving rivets from one side of the object using a riveting tool. The quality of a trainee's riveting work is generally determined based on the experience of an expert. As a result, it is not possible to quantitatively evaluate the quality of riveting during or after the work, and trainees who perform riveting work require time to master the proper riveting technique.

The present disclosure aims to provide a nail driving support device that can effectively support workers in their nail driving work.

The riveting support device disclosed herein comprises a riveting tool that drives riveting into a workpiece, a backing plate that is placed on the opposite side of the riveting tool across the workpiece, a first position detector that detects the position of the riveting tool, a second position detector that detects the position of the backing plate, a sound detector that detects the riveting sound produced during riveting, a notification unit that notifies the worker performing the riveting, and a control unit that executes processing based on the first position detector, the second position detector, and the sound detector. The control unit derives the relative position between the riveting tool and the backing plate based on the detection results of the first position detector and the second position detector, and notifies the worker of the derived relative position and sound information of the riveting sound based on the detection results of the sound detector in real time via the notification unit.

This disclosure provides optimal support for workers' riveting work.

FIG. 1 is a schematic diagram of a riveting support device according to this embodiment. FIG. 2 is a diagram showing a screen displayed on the first display unit. FIG. 3 is a diagram showing a screen displayed on the second display unit. FIG. 4 is an explanatory diagram of the detection information stored in the storage unit. FIG. 5 is a flowchart showing the processing of the fastener driving assist device.

Embodiments of the present invention are described in detail below with reference to the drawings. However, the present invention is not limited to these embodiments. Furthermore, the components in the following embodiments include those that are easily replaceable by those skilled in the art, or those that are substantially identical. Furthermore, the components described below can be combined as appropriate, and if there are multiple embodiments, the respective embodiments can also be combined.

[Embodiment]
The rivet driving assistance device 10 according to this embodiment is an apparatus for assisting a worker in driving rivets into an object W. The rivet driving assistance device 10 can be used, for example, as a rivet driving training device for training workers in rivet driving, or as a rivet driving device for performing actual rivet driving work. In this embodiment, the rivet driving assistance device 10 will be described as being used as a rivet driving training device.

Now, we will explain the riveting work. The riveting work involves driving rivets into the workpiece W, which is the target of the riveting work. During the riveting work, two workers are positioned on either side of the workpiece W, with one worker on one side (e.g., the back side) of the workpiece W placing a backing plate against the riveting location, and the other worker on the other side (e.g., the front side) of the workpiece W using a riveting tool 21 to drive the rivet into the riveting location.

Figure 1 is a schematic diagram of the riveting support device according to this embodiment. Figure 2 is a diagram of a screen displayed on the first display unit. Figure 3 is a diagram of a screen displayed on the second display unit. Figure 4 is an explanatory diagram of the detection information stored in the memory unit. Figure 5 is a flowchart of the processing of the riveting support device.

(Rack driving support device)
The rivet driving support device 10 includes a rivet driving tool 21, a backing plate 22, a first position detector 24, a second position detector 25, a noise meter (sound detector) 27, a first pressure gauge 28, a second pressure gauge 29, a first display unit 31, a second display unit 32, and a control device 35.

The riveting tool 21 is a tool used to drive a rive into the riveting location from the other side of the workpiece W. For example, a tool such as an air hammer with a stroke axis I1 (see Figure 4) is used. The riveting tool 21 is pressed against the workpiece W via a rive so that the stroke axis I1 is at a predetermined angle relative to the workpiece W. The stroke axis I1 is an axis that moves in a stroke direction, which moves toward or away from the workpiece W when driving a rive, and is integrated with the tip of the tool that is driven into the workpiece W. The riveting tool 21 is also provided with a trigger 23 for activation.

The backing plate 22 is a component that is pressed against the riveting location from one side of the workpiece W. The support axis I2 (see Figure 4) of the backing plate 22 is perpendicular to the pressing surface that presses against the workpiece W, and the backing plate 22 is pressed against the workpiece W so that the support axis I2 is at a predetermined angle relative to the workpiece W.

The first position detector 24 detects the position of the rivet driving tool 21. Specifically, the first position detector 24 detects the position, direction, and posture of the rivet driving tool 21 relative to the workpiece W. The first position detector 24 is, for example, a motion capture system.

The first position detector 24 includes multiple markers 41 attached to the rivet driving tool 21 and multiple cameras 42 that capture images of the multiple markers 41. The multiple markers 41 are attached to the rivet driving tool 21 and are provided at locations where the position, direction, and attitude of the rivet driving tool 21 can be detected. The multiple markers 41 are also provided on the object W and are provided at locations where the position of the object W can be detected. The multiple cameras 42 are provided at locations where they can capture images of the multiple markers 41. The multiple cameras 42 capture images of the multiple markers 41 to obtain image information of the multiple markers 41. The multiple cameras 42 of the first position detector 24 are connected to the control device 35. The control device 35 performs image processing based on the image information of the multiple markers 41 to detect the position, direction, and attitude of the rivet driving tool 21.

The second position detector 25 detects the position of the contact plate 22. Specifically, the second position detector 25 detects the position, direction, and posture of the contact plate 22 relative to the object W as the reference position. As with the first position detector 24, the second position detector 25 may be, for example, a motion capture system.

The second position detector 25 is similar to the first position detector 24 and includes multiple markers 43 attached to the backing plate 22 and multiple cameras 44 that capture images of the multiple markers 43. The multiple markers 43 are attached to the backing plate 22 and are provided at locations where the position, direction, and attitude of the backing plate 22 can be detected. Multiple markers 43 are also provided on the object W and are provided at locations where the position of the object W can be detected. The multiple cameras 44 are provided at locations where they can capture images of the multiple markers 43. The multiple cameras 44 capture images of the multiple markers 43 to obtain image information of the multiple markers 43. The multiple cameras 44 of the second position detector 25 are connected to the control device 35. The control device 35 performs image processing based on the image information of the multiple markers 43 to detect the position, direction, and attitude of the backing plate 22.

The first position detector 24 and the second position detector 25 detect the position of the object W. The control device 35 performs image processing based on the image information of the multiple markers 41, 43 to detect the position of the object W. Note that the position of the object W may be detected using either the first position detector 24 or the second position detector 25.

The sound level meter 27 detects the sound of the riveting operation. Specifically, the sound level meter 27 detects the sound pressure level of the riveting operation as sound information. The sound level meter 27 is connected to the control device 35. The control device 35 acquires and records the sound pressure level detected by the sound level meter 27 as sound information. In this embodiment, the sound information acquired is the sound pressure level, but this is not limited to this, and frequency, etc., may also be acquired.

The first pressure gauge 28 detects the pressure of the riveting tool 21 against the workpiece W. The first pressure gauge 28 is provided on the riveting tool 21 and outputs the detected pressure to the control device 35 via wireless communication. The control device 35 acquires and records the pressure detected by the first pressure gauge 28.

The second pressure gauge 29 detects the pressure of the contact plate 22 against the object W. The second pressure gauge 29 is provided on the contact plate 22 and outputs the detected pressure to the control device 35 via wireless communication. The control device 35 acquires and records the pressure detected by the second pressure gauge 29.

The first display unit 31 notifies the worker and displays a notification screen G1 that provides the notified information. The first display unit 31 is, for example, a display device such as a display. Note that the first display unit 31 is not particularly limited and may be a display device such as a wearable display. The first display unit 31 provides information to the worker using the riveting tool 21.

Now, with reference to Figure 2, we will explain the notification screen G1 displayed on the first display unit 31. The notification screen G1 provides information to the worker using the nail driving tool 21, including information about the position of the nail driving tool 21 and information about the nail driving sound.

Information regarding the position of the rivet driving tool 21 includes the position P1 of the rivet driving tool 21 relative to the workpiece W and a predetermined position indicator P2 that indicates appropriate rivet driving. The position P1 of the rivet driving tool 21 is the attitude of the rivet driving tool 21 relative to the workpiece W. Specifically, it is the angle (tilt angle) between the surface of the workpiece W to be riveted and the stroke axis I1 of the rivet driving tool 21. The tilt angle is, for example, based on a reference axis that is a perpendicular axis intersecting the surface of the workpiece W to be riveted, and is the angle between the perpendicular axis and the stroke axis I1. Note that the reference axis is not limited to a perpendicular axis and may be an axis having any angle. Note that the information regarding the position of the rivet driving tool 21 displayed on the notification screen G1 is not limited to the above and may, for example, be information regarding the positional deviation in the in-plane direction of the surface of the workpiece W to be riveted. The position P1 of the riveting tool 21 is calculated in real time based on the previously detected position of the workpiece W and the detection results of the first position detector 24. The position indicator P2 is a predetermined range within which riveting is appropriate; specifically, it is a predetermined angular range (tilt angle range) between the surface of the workpiece W to be riveted and the stroke axis I1 of the riveting tool 21. Like the tilt angle, the tilt angle range is determined by using a reference axis that is perpendicular to the surface of the workpiece W to be riveted, and is a predetermined angular range between the reference axis and the stroke axis I1. This position indicator P2 is displayed as a circular ring (dotted line) within a predetermined angular range centered on the stroke axis I1 (a so-called radar chart display), and the angle range can be set arbitrarily.

The information related to the riveting sound includes riveting sound information P3 and a predefined sound index P4 that indicates whether the riveting sound is appropriate. The riveting sound information P3 is the sound pressure level of the riveting sound at the time of riveting detected by the sound level meter 27 and is derived in real time. The sound index P4 is a predefined range within which riveting is appropriate, specifically a range of sound pressure levels. This sound index P4 is displayed as an arc-shaped scale bar, and shows both the predetermined range within which the riveting sound is appropriate and the predetermined range within which the riveting sound is inappropriate.

Like the first display unit 31, the second display unit 32 notifies the worker and displays a notification screen G2 that provides the notified information. The second display unit 32 is, for example, a display device such as a display. Note that, like the first display unit 31, the second display unit 32 is not particularly limited and may be a display device such as a wearable display. The second display unit 32 provides information to the worker using the contact plate 22.

Now, with reference to Figure 3, we will explain the notification screen G2 displayed on the second display unit 32. The notification screen G2 provides information about the position of the contact plate 22 to the worker using the contact plate 22.

Information regarding the position of the backing plate 22 includes the position P5 of the backing plate 22 relative to the workpiece W and a predetermined position indicator P6 that indicates appropriate riveting. The position P5 of the backing plate 22 is the orientation of the backing plate 22 relative to the workpiece W. Specifically, it is the angle (tilt angle) between the surface of the workpiece W to be riveted and the support axis I2 of the backing plate 22. The tilt angle is, for example, determined based on a reference axis that is perpendicular to the surface of the workpiece W to be riveted, and is the angle between the reference axis and the support axis I2. Note that the reference axis is not limited to a perpendicular axis and may be an axis having any angle. Note that the information regarding the position of the backing plate 22 displayed on the notification screen G2 is not limited to the above and may, for example, be information regarding the in-plane positional deviation of the surface of the workpiece W to which the backing plate 22 is applied. The position P2 of the backing plate 22 is derived in real time based on the previously detected position of the workpiece W and the detection results of the second position detector 25. Position indicator P6 is a pre-defined range within which riveting is appropriate; specifically, it is the specified angular range (tilt angle range) between the surface of the workpiece W to be riveted and the support axis I2 of the backing table 22. Similar to the tilt angle range of the riveting tool 21, the tilt angle range is set, for example, using a perpendicular axis that intersects with the surface of the workpiece W to be riveted as the reference axis, and is the specified angular range between the reference axis and the support axis I2. This position indicator P6 is displayed as a circular ring (dotted line) within the specified angular range, centered on the support axis I2 (so-called radar chart display), and the angle range can be set as desired.

Information relating to the position of the backing plate 22 also includes information relating to the relative position. The relative position P7 is the relative angle of the rivet driving tool 21 with respect to the backing plate 22, and more specifically, the angle between the support axis I2 of the backing plate 22 and the stroke axis I1 of the rivet driving tool 21. The relative position P7 is derived in real time based on the detection results of the first position detector 24 and the second position detector 25. The relative position P7 is displayed using symbol images that resemble the workpiece W, the rivet driving tool 21, and the backing plate 22.

The control device 35 controls each part of the fastener driving assistance device 10. The control device 35 is connected to the first position detector 24, the second position detector 25, the sound level meter 27, the first pressure gauge 28, the second pressure gauge 29, the first display unit 31, and the second display unit 32.

The control device 35 has a control unit 46, a memory unit 47, and a communication unit 48. The control unit 46 includes an integrated circuit such as a CPU (Central Processing Unit). The control unit 46 executes control to provide information to the operator via the display units 31 and 32 based on information input from various instruments. The memory unit 47 is any memory device such as a semiconductor memory device or a magnetic memory device. The memory unit 47 stores various types of information. The information stored in the memory unit 47 includes the detection information shown in Figure 4. The communication unit 48 is a wireless communication module that acquires the detection results output from the first pressure gauge 28 and the second pressure gauge 29 via wireless communication.

As shown in FIG. 4, the detection information includes information detected by the first position detector 24, the second position detector 25, the sound level meter 27, the first pressure gauge 28, and the second pressure gauge 29. Specifically, the detection information includes the above-mentioned tilt angle of the stroke axis I1 of the riveting tool 21. As described above, the tilt angle of the stroke axis I1 is the angle between the reference axis and the stroke axis I1. In this case, the tilt angle of the stroke axis I1 includes tilt angles D1 and D2 in two orthogonal directions centered on the reference axis within a plane perpendicular to the reference axis. The detection information also includes the amount of movement D3 in the axial direction of the stroke axis I1 of the riveting tool 21. The tilt angles D1 and D2 in the two directions and the amount of movement D3 are derived based on the detection results of the first position detector 24. The detection information also includes the vibration D4 and pressure D5 of the riveting tool 21. Vibration D4 is the vibration of the rivet driving tool 21 when it is pressed against the workpiece W. Vibration D4 is derived based on the acceleration of the rivet driving tool 21 detected by the first position detector 24. Pressing force D5 is the pressure when the rivet driving tool 21 is pressed against the workpiece W. Pressing force D5 is the pressure detected by the first pressure gauge 28. The detection information also includes the above-mentioned relative position D6 (P7), which is the angle of the rivet driving tool 21 relative to the backing plate 22.

The detection information includes the above-mentioned tilt angle of the support axis I2 of the backing plate 22. As described above, the tilt angle of the support axis I2 is the angle between the reference axis and the support axis I2. In this case, the tilt angle of the support axis I2 includes tilt angles D7 and D8 in two orthogonal directions centered on the reference axis within a plane perpendicular to the reference axis. The detection information also includes a movement amount D9 in the axial direction of the support axis I2 of the backing plate 22. The two tilt angles D7 and D8 and the movement amount D9 are derived based on the detection results of the second position detector 25. The detection information also includes a vibration D10 and a pressure D11 of the backing plate 22. The vibration D10 is the vibration of the backing plate 22 when pressed against the workpiece W. The vibration D10 is derived based on the acceleration of the riveting tool 21 detected by the second position detector 25. The pressure D11 is the pressure when the backing plate 22 is pressed against the workpiece W. The pressure D11 is the pressure detected by the second pressure gauge 29. The detected information is the sound information D12 (P3) described above, which includes the sound pressure level of the nail-driving sound.

Next, referring to Figure 5, the process for assisting the riveting operation by the riveting support device 10 will be described. Before starting the riveting operation, the riveting support device 10 acquires the position of the workpiece W using the first position detector 24 and the second position detector 25. In the riveting support device 10, the control device 35 determines whether the operator is ready to operate the trigger 23 for activating the riveting tool 21 by determining whether the start switch has been turned ON (Step S1). If the control device 35 determines that the start switch has been turned ON (Step S1: Yes), it then determines whether a predetermined time has elapsed (Step S2). In Step S2, the control device 35 waits a predetermined time from when the start switch was turned ON until the riveting operation by the riveting tool 21 is complete. If the control device 35 determines in Step S1 that the start switch has not been turned ON (Step S1: No), it ends the process for assisting the riveting operation without executing the process for assisting the riveting operation.

If the control device 35 determines in step S2 that the predetermined time has elapsed (step S2: Yes), it sounds an alarm and acquires and begins recording information on the tilt angle, pressure, movement amount, and acceleration of the riveting tool 21 and the tilt angle, pressure, movement amount, and acceleration of the backing plate 22 (step S3). The alarm sound in step S3 may be an electronic sound. Alternatively, a warning light such as a lamp may be turned on or flashed. After executing step S3, the control device 35 displays the acquired data on the first display unit 31 and the second display unit 32 (step S4). That is, in step S4, the first display unit 31 displays the information contained in the notification screen G1, and the second display unit 32 displays the information contained in the notification screen G2.

Furthermore, if the control device 35 determines in step S2 that the predetermined time has elapsed (step S2: Yes), it acquires and begins recording the riveting sound (step S5). After executing step S5, the control device 35 displays the acquired riveting sound data on the first display unit 31 (step S6). That is, in step S6, the sound information included in the notification screen G1 is displayed on the first display unit 31.

After executing steps S4 and S6, the control device 35 determines whether the rivet driving tool 21 has retracted a predetermined amount from the workpiece W based on the amount of movement of the rivet driving tool 21 on the stroke axis I (step S7). In step S7, by determining retraction from the workpiece W, it is detected whether the rivet driving operation by the rivet driving tool 21 has been completed. If the control device 35 determines in step S7 that the rivet driving tool 21 has retracted from the workpiece W (step S7: Yes), it ends recording in steps S3 and S5 (step S8). On the other hand, if the control device 35 determines in step S7 that the rivet driving tool 21 has not retracted from the workpiece W (step S7: No), it proceeds again to steps S3 and S5, repeatedly executing steps S3 to S7 until the rivet driving tool 21 has retracted from the workpiece W.

After executing step S8, the control device 35 displays the various recorded data on either the first display unit 31, the second display unit 32, or another display unit (step S9). The control device 35 then links the various recorded data with the images corresponding to the data and displays the evaluation results on either the first display unit 31, the second display unit 32, or another display unit (step S10). The evaluation of the riveting work is made comprehensively based on the relative positions of the riveting tool 21 and the backing plate 22, the riveting sound, the pressure, etc. After executing step S10, the control device 35 terminates processing related to assisting the riveting work. The evaluation results displayed in step S10 can be used to evaluate the riveting quality itself or as evaluation factors for riveting quality.

In this embodiment, a motion capture system including markers 41, 43 and cameras 42, 44 is used as the first position detector 24 and second position detector 25 applied to the riveting training device, but this is not particularly limited. When the riveting support device 10 is used in actual work, the first position detector 24 and second position detector 25 may be an acceleration sensor such as a three-axis gyro sensor.

In addition, in this embodiment, when the start switch is turned ON, recording of various data begins after a predetermined time has elapsed, and the operator operates the trigger 23 to start operation of the riveting tool 21, but this configuration is not particularly limited. For example, after the start switch is turned ON, recording of various data may begin when it is detected that the riveting tool 21 has come within a predetermined range of the workpiece W. In addition, recording of various data may begin when it is detected that the backing plate 22 has come within a predetermined range of the workpiece W. On the other hand, if it is detected that the backing plate 22 is not within a predetermined range of the workpiece W, a warning may be displayed on one of the first display unit 31, the second display unit 32, or another display unit.

As described above, the riveting support device 10 described in this embodiment can be understood, for example, as follows:

The riveting support device 10 according to the first aspect comprises a riveting tool 21 that drives riveting into the workpiece W, a backing plate 22 that is placed on the opposite side of the riveting tool 21 across the workpiece W, a first position detector 24 that detects the position of the riveting tool 21, a second position detector 25 that detects the position of the backing plate 22, a sound detector (sound level meter 27) that detects the sound of riveting during riveting, an alarm unit (display units 31, 32) that notifies the worker performing the riveting, and a sound detector (sound level meter 27) that detects the sound of riveting during riveting. and a control unit 46 that executes processing based on the first position detector 24, the second position detector 25, and the sound detector. The control unit 46 derives the relative position P7 between the riveting tool 21 and the backing plate 22 based on the detection results of the first position detector 24 and the second position detector 25, and notifies the worker in real time of the derived relative position P7 and sound information P3 of the riveting sound based on the detection results of the sound detector via the notification unit.

This configuration allows the worker to be notified of the relative position P7 and sound information P3 during the riveting operation. This notifies the worker of the proper state of the riveting tool 21 and the backing plate 22, and the riveting sound allows the worker to determine the appropriate time to stop riveting. This improves the quality of the riveting operation performed by the worker, and provides optimal support for the worker's riveting operation.

In a second aspect, the notification unit is a display unit 31, 32, and the sound information is set to a predefined sound indicator indicating that the fastener is being driven properly. The control unit displays the derived relative position P7 on the display unit, along with the detected sound information P3 and sound indicator P4.

This configuration makes it easy to visually grasp the relative position P7, and also makes it possible to visually determine whether the sound information P3 is good or bad based on the sound indicator P4.

In a third aspect, the first position detector 24 and the second position detector 25 are motion capture systems including markers and a camera.

This configuration allows the positions of the riveting tool 21 and the backing plate 22 to be measured with high precision.

In a fourth aspect, the device further includes a first pressure gauge 28 that detects the pressure of the riveting tool 21 pressed against the workpiece W, and a second pressure gauge 29 that detects the pressure of the backing plate 22 pressed against the workpiece W.

This configuration makes it possible to use the pressure of the riveting tool 21 against the workpiece W and the pressure of the backing plate 22 against the workpiece W in evaluating the riveting work.

A fifth aspect includes a memory unit 47 that stores the detection results of the first position detector 24, the second position detector 25, and the sound detector as detection information, and an output unit (display units 31, 32) that outputs the detection information.

This configuration allows evaluation of the riveting work after it has been performed.

10 riveting support device 21 riveting tool 22 backing plate 24 first position detector 25 second position detector 27 sound level meter (sound detector)
28 First pressure gauge 29 Second pressure gauge 31 First display unit 32 Second display unit 35 Control device 41, 43 Marker 42, 44 Camera 46 Control unit 47 Memory unit 48 Communication unit W Object

Claims (5)

a rivet driving tool for driving rivets into the object;
a support plate that is placed on the opposite side of the riveting tool across the object;
a first position detector that detects a position of the fastening tool;
a second position detector for detecting the position of the contact plate;
a sound detector that detects the sound of riveting when riveting;
a notification unit that notifies a worker who is performing riveting;
a control unit that executes processing based on the first position detector, the second position detector, and the sound detector,
The control unit
a riveting support device that derives the relative position of the riveting tool and the backing plate based on the detection results of the first position detector and the detection results of the second position detector, and notifies the worker in real time of the derived relative position and sound information of the riveting sound based on the detection results of the sound detector by the alarm unit. the notification unit is a display unit,
The sound information includes a predetermined sound indicator indicating that the fastener has been driven properly.
The fastener driving assist device according to claim 1 , wherein the control unit displays the derived relative position, the detected sound information, and the sound indicator on the display unit. The fastener driving assistance device according to claim 1 or 2, wherein the first position detector and the second position detector are motion capture systems including markers and a camera. a first pressure gauge that detects a pressure of the driving tool pressed against the object;
The fastener driving assist device according to claim 1 , further comprising: a second pressure gauge that detects a pressure of the fastener driving plate pressed against the object. a storage unit that stores detection results of the first position detector, the second position detector, and the sound detector as detection information;
The fastener driving assist device according to claim 1 , further comprising: an output unit that outputs the detection information.