Fastening machine

Abstract

The fastening machine of the present invention is characterized in that it comprises: a mobile receiving unit (20) which receives a positioning signal (GNSS signal) from a positioning mechanism (GNSS satellite (Sa)); a geomagnetic sensor (30) which detects the direction of a sleeve portion (41) starting from the mobile receiving unit (20); and a control unit which receives the positioning signal received by the mobile receiving unit (20) and the positioning signal received by the fixed receiving unit (22) at a fixed position separated from a torque wrench (110) as the fastening machine, and corrects the three-dimensional position of the mobile receiving unit (20) based on these positioning signals, and the control unit calculates the three-dimensional sleeve position of the sleeve portion (41) of the torque wrench (110) as the fastening machine based on the correction result and the direction of the sleeve portion (41) detected by the geomagnetic sensor (30).

Description

Technical Field

[0001] The present invention relates to a tightening machine such as a torque wrench and a nut runner, and more particularly to a tightening machine capable of detecting the position of a sleeve portion engaged with a bolt or a nut. Background Art

[0002] A torque wrench, which is a tightening machine for tightening or loosening bolts or nuts, has a sleeve portion that fits with the bolt or nut, and a main body portion (arm portion) that extends linearly from the sleeve portion. An operator supports the main body portion with his hands, fits the sleeve portion with the bolt or nut, and rotates the main body portion, thereby tightening or loosening the bolt or nut.

[0003] Recently, from the perspective of error avoidance and traceability, digital torque wrenches that can display and record the target tightening torque range value (lower limit value and upper limit value), tightening times, tightening year, month and date, etc., starting with the tightening torque value when tightening the bolt or nut, are becoming popular (see non-patent document 1). By managing the tightening torque value read from the digital torque wrench to the personal computer side wirelessly or wired through spreadsheet software and dedicated applications, it is possible to provide tightening support functions such as appropriate tightening torque of bolts or nuts, prevention of forgetting to tighten, and prevention of secondary tightening.

[0004] Prior Art Literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 06-339867

[0007] Patent Document 2: Japanese Patent Application Laid-Open No. 07-080778

[0008] Patent Document 3: Japanese Patent No. 6071146

[0009] Non-patent literature

[0010] Non-patent document 1: Internet website “Compound torque wrench HTW series” (retrieved on April 30, 2021): http: / / www.smartautomationjp / cetop / htw / Summary of the invention

[0011] Problems to be solved by the invention

[0012] As is well known, personal computer software is used to manage the tightening torque value of bolts or nuts, etc. (see Patent Documents 1 and 2). In addition, a positioning system capable of detecting the position (three-dimensional position) of a movable object (power wrench 12) in a vehicle body assembly line has also been proposed (Patent Document 3). In this positioning system, the position of the power wrench is detected by a communication module, and the position is compared with the position of the bolt to be tightened and the tightening data applied to the bolt, thereby evaluating whether the power wrench is performing an allowable tightening operation on each bolt. However, the detection accuracy of the power wrench position is not sufficient, so malfunction may occur.

[0013] Therefore, an object of the present invention is to provide a fastening machine capable of detecting the position of a sleeve portion with sufficient detection accuracy.

[0014] Solutions to Solve Problems

[0015] In order to solve the above-mentioned problem, the fastening machine of the present invention is a fastening machine that rotates a sleeve portion engaged with a bolt or a nut to tighten or loosen the bolt or the nut, and is characterized in that the fastening machine comprises: a mobile receiving portion that receives a positioning signal from a positioning mechanism; a geomagnetic sensor that detects the direction of the sleeve portion starting from the mobile receiving portion; and a control portion that receives the positioning signal received by the mobile receiving portion and the positioning signal received by the fixed receiving portion at a fixed position separated from the fastening machine, and corrects the three-dimensional position of the mobile receiving portion based on these positioning signals, and the control portion calculates the three-dimensional sleeve position of the sleeve portion of the fastening machine based on the correction result and the direction of the sleeve portion detected by the geomagnetic sensor.

[0016] In addition, the fastening machine of the present invention is a fastening machine that rotates a sleeve portion engaged with a bolt or a nut to tighten or loosen the bolt or the nut, and is characterized in that the fastening machine has: a first movable receiving portion and a second movable receiving portion, which are arranged at a specified interval in the length direction of a main body portion connected to the sleeve portion, and are used to receive a positioning signal from a positioning mechanism; and a control portion, which receives the positioning signals received by the first movable receiving portion and the second movable receiving portion, and the positioning signals received by the fixed receiving portion at a fixed position separated from the fastening machine, and corrects the three-dimensional positions of the first movable receiving portion and the second movable receiving portion based on these positioning signals, and the control portion calculates the three-dimensional sleeve position of the sleeve portion of the fastening machine based on the correction result.

[0017] Effects of the Invention

[0018] According to the present invention, the three-dimensional sleeve position of the sleeve portion of the tightening machine can be detected with sufficient detection accuracy, so the position of the bolt or nut to be tightened or loosened can be accurately associated with its tightening torque value and recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of a bolt tightening operation using a torque wrench according to an embodiment of the present invention.

[0020] Figure 2A It is a schematic diagram of a first torque wrench according to an embodiment of the present invention.

[0021] Figure 2B It is a schematic diagram of a second torque wrench according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] Hereinafter, a first torque wrench 110 and a second torque wrench 120 as a fastening machine according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 FIG. 2 shows a state where a bolt B is being tightened using torque wrenches 110 and 120. Figure 2A , Figure 2B As shown, the torque wrenches 110 and 120 include grip portions 111 and 121 , body portions 112 and 122 , a head portion 40 , and a sleeve portion 41 .

[0023] (·The first torque wrench)

[0024] Figure 2A The first torque wrench 110 has a mobile receiving part 20 at the base end side of a body part 112 extending in the lateral direction. The mobile receiving part 20 is used to receive a positioning signal (GNSS signal) from a positioning satellite (GNSS satellite Sa) as a positioning mechanism, and the distance from the mobile receiving part 20 to the head 40 at the front end of the body part 112 or to the sleeve part 41 is set to a predetermined length 1.

[0025] On the other hand, a geomagnetic sensor 30 is built into the grip 111. The geomagnetic sensor 30 is a three-axis geomagnetic sensor that can detect the direction of the head 40 or sleeve 41 starting from the mobile receiving part 20. The "direction" here includes azimuth and elevation angle.

[0026] The three-axis geomagnetic sensor 30 can be specifically used by using a three-axis geomagnetic sensor using an MR (magneto-resistive) element, an MI (magneto-impedance) element, or a Hall element. In addition, in order to correct the detection result of the three-axis geomagnetic sensor 30, a built-in acceleration sensor (gravity sensor) and an angular velocity sensor (gyro sensor) can also be added to the grip 111.

[0027] Regarding these acceleration sensors and angular velocity sensors, only one of them may be built-in, or both of them may be built-in. The acceleration sensor can adopt the so-called electrostatic capacitance detection method, the piezoelectric resistance method, the thermal detection method, etc., and the measurement method is not particularly limited. Similarly, the angular velocity sensor can use the so-called vibration method using a piezoelectric vibrator or a silicon vibrator.

[0028] In addition, a display unit 10 is provided at a middle position between the movement receiving unit 20 and the gripping unit 111. The display unit 10 has a control unit 11 described later built therein, and the control unit 11 can display the tightening torque value and the like on the display unit 10.

[0029] (· Second torque wrench)

[0030] Figure 2B The second torque wrench 120 has a first mobile receiving part 20 at the base end side of the main body 122 and a second mobile receiving part 21 at the front end side. The first mobile receiving part 20 and the second mobile receiving part 21 are used to receive GNSS signals from GNSS satellites, and the interval 11 between the mobile receiving parts 20 and 21 is set to a certain length along the length direction of the main body 122. In addition, the distance from the second mobile receiving part 21 to the head 40 or to the sleeve part 41 is set to a predetermined length 12 on the extension line of the length direction of the main body 122.

[0031] (·Calculation of three-dimensional sleeve position)

[0032] exist Figure 1 In the present invention, a fixed receiving unit 22 for receiving GNSS signals from a GNSS satellite Sa is provided at a fixed position separated by a distance d from a mobile receiving unit 20 of a torque wrench 110 or 120 supported by an operator. The fixed receiving unit 22 is connected to a computer 50 such as a personal computer, and the position of the sleeve 41 of the torque wrench 110 or 120 is recorded by the computer 50. The fixed receiving unit 22 and the computer 50 constitute a reference station 3.

[0033] The GNSS signal received by the fixed receiving unit 22 is transmitted to Figure 2A The control unit 11 corrects the three-dimensional position of the mobile receiving unit 20 based on the GNSS signals of both the fixed receiving unit 22 and the mobile receiving unit 20 .

[0034] And, in Figure 2A In the first torque wrench 110, the control unit 11 calculates the three-dimensional sleeve position of the sleeve 41 of the first torque wrench 110 based on the correction result and the direction of the sleeve 41 with the movement receiving unit 20 as the starting point detected by the geomagnetic sensor 30. The calculated three-dimensional sleeve position is not only displayed on the display unit 10, but also transmitted to the computer 50 via a wireless LAN or the like.

[0035] On the other hand, Figure 2B In the second torque wrench 120, similarly to the above, the GNSS signal received by the fixed receiving unit 22 is also transmitted to the Figure 2B The control unit 11 corrects the three-dimensional positions of the mobile receiving units 20 and 21 based on the GNSS signals of the fixed receiving unit 22 and the first mobile receiving unit 20 and the second mobile receiving unit 21.

[0036] Then, based on the correction result, the control unit 11 calculates the three-dimensional sleeve position of the sleeve portion 41 of the torque wrench 110, 120. The calculated three-dimensional sleeve position is displayed on the display unit 10 and is transmitted to the computer 50 via the wireless LAN.

[0037] Since the three-dimensional sleeve position of the sleeve portion 41 of the torque wrenches 110 and 120 is calculated in this way, the position of the bolt or nut to be tightened or loosened can be associated with the tightening torque value and recorded in the computer 50 .

[0038] That is, the three-dimensional working positions of multiple bolts or nuts to be tightened or loosened are saved in a non-volatile memory (first storage unit) such as a flash memory built into the torque wrench 110, 120, and the control unit 11 compares the three-dimensional working positions with the three-dimensional socket positions, thereby being able to identify the bolts or nuts engaged in the socket portion 41 as objects to be tightened or loosened.

[0039] The control unit 11 is used to compare the specified torque value displayed on the display unit 10 with the tightening torque value of the bolt or nut that has been tightened to determine whether the tightening torque value is appropriate. When the tightening torque value is excessive or insufficient, the display unit 10 can flash, the gripping parts 111 and 121 can vibrate, and a warning sound can be emitted from the built-in speaker to draw the operator's attention.

[0040] In addition, the three-dimensional operation completion position of the tightened bolt or nut is stored in a non-volatile memory (second storage unit) such as a flash memory built into the torque wrench 110, 120, and the control unit 11 compares the three-dimensional operation completion position with the three-dimensional sleeve position, thereby preventing the secondary tightening of the bolt or nut. That is, when the bolt or nut is to be tightened again, the warning of the secondary tightening can be flashed on the display unit 10, the gripping unit 111, 121 can be vibrated, and a warning sound can be emitted from the built-in speaker to arouse the operator's attention to perform the secondary tightening.

[0041] In addition, a sound generator (speaker, buzzer, etc.) operated by the control unit 11 may be provided at any position of the main body 112, 122, and the direction and distance of the three-dimensional working position of the bolt or nut to be tightened or loosened next may be indicated by at least two of the interval, size (sound pressure) and frequency of the intermittent sound emitted from the sound generator. For example, if the operator slowly swings the main body 112, 122 of the torque wrench 110, 120 in the left and right directions while maintaining a horizontal state, when the direction of the head 40 in front of the main body 112, 122 approaches the direction of the bolt or nut to be tightened or loosened next, the sound pressure of the emitted sound increases.

[0042] Furthermore, as the head 40 approaches the bolt or nut, the interval between the alarm sounds becomes shorter, and when the head 40 is closest, the alarm sound becomes a continuous sound. Thus, the operator can easily grasp the three-dimensional working position of the bolt or nut to be tightened or loosened next, which can improve the working efficiency. In addition, the direction and distance of the three-dimensional working position of the bolt or nut to be tightened or loosened next can also be shown by arrows and numbers (in meters) displayed on the display unit 10. In addition, the display by the arrows and numbers (in meters) and the aforementioned alarm sound can also be used together.

[0043] Similarly, a vibration generator (vibrator, vibration motor, etc.) operated by the control unit 11 may be provided at any position of the main body 112, 122, and the direction and distance of the three-dimensional working position of the bolt or nut to be tightened or loosened next may be revealed by at least two of the interval, size (amplitude) and frequency of the intermittent vibration generated by the vibration generator. For example, if the operator slowly swings the main body 112, 122 of the torque wrench 110, 120 in the left and right directions while maintaining a horizontal state, when the direction of the head 40 in front of the main body 112, 122 approaches the direction of the bolt or nut to be tightened or loosened next, the vibration of the vibration generator becomes larger.

[0044] Furthermore, as the head 40 approaches the bolt or nut, the interval of the intermittent vibration becomes shorter, and when the head 40 is closest, it becomes continuous vibration. Thus, the operator can easily grasp the three-dimensional working position of the bolt or nut to be tightened or loosened next, which can improve the working efficiency. In addition, the above-mentioned intermittent vibration can also be used while the display unit 10 displays the arrow and number (in meters) indicating the direction and distance of the three-dimensional working position of the bolt or nut to be tightened or loosened next.

[0045] The above describes the embodiments of the present invention, but the present invention is not limited to the embodiments and can be variously modified. For example, the present invention is not limited to torque wrenches, but can also be applied to nut runners (mainly battery-powered electric nut runners) and power wrenches. In addition, as a positioning mechanism, in addition to the GNSS satellite Sa, multiple wireless LAN access points can also be used indoors. In addition, the locations of the mobile receiving units 20, 21 and the geomagnetic sensor 30 are illustrative and are not limited to the locations shown in the figure. They can be arranged at any position in the length direction of the torque wrenches 110, 120.

[0046] [Description of Reference Numerals]

[0047] 3: Base station

[0048] 10: Display unit

[0049] 11: Control Department

[0050] 20: Mobile receiving unit (first mobile receiving unit)

[0051] 21: Mobile receiving unit (second mobile receiving unit)

[0052] 22: Fixed receiving unit

[0053] 30: Geomagnetic sensor

[0054] 40: Head

[0055] 41: Sleeve

[0056] 50: Computer

[0057] 110: First torque wrench (tightening machine)

[0058] 120: Second torque wrench (tightening machine)

[0059] 111, 121: Grip

[0060] 112, 122: Main body

[0061] B: Bolt

[0062] Sa: GNSS satellite (positioning agency).

Claims

1. A tightening machine which is a tightening machine which tightens or loosens a bolt or a nut by rotating a sleeve portion engaged with the bolt or the nut, characterized in that: The fastening machine has: A mobile receiving unit receives a positioning signal from the positioning mechanism; a geomagnetic sensor for detecting a direction of the sleeve portion with the movement receiving portion as a starting point; as well as A control unit receives the positioning signal received by the mobile receiving unit and the positioning signal received by the fixed receiving unit at a fixed position separated from the fastener, and corrects the three-dimensional position of the mobile receiving unit based on these positioning signals. The control unit calculates the three-dimensional sleeve position of the sleeve part of the fastener based on the correction result and the direction of the sleeve part detected by the geomagnetic sensor.

2. The fastening machine according to claim 1, characterized in that In addition to the geomagnetic sensor, at least one of an acceleration sensor and an angular velocity sensor is provided, and the detection result of the geomagnetic sensor is corrected using the acceleration sensor or the angular velocity sensor.

3. The fastening machine according to claim 1 or 2, characterized in that: The positioning mechanism is a GNSS satellite, and the positioning signal is a GNSS signal.

4. The fastening machine according to claim 1 or 2, characterized in that: It has a first storage unit capable of storing the three-dimensional working positions of multiple bolts or nuts for tightening or loosening, and the control unit compares the three-dimensional working positions with the three-dimensional sleeve positions, thereby being able to identify the bolts or nuts engaged in the sleeve portion as objects to be tightened or loosened.

5. The fastening machine according to claim 4, characterized in that A display unit for displaying the three-dimensional working position is provided, and the display unit can display a prescribed torque value of the bolt or nut in addition to the three-dimensional working position.

6. The fastening machine according to claim 5, characterized in that The control unit compares the prescribed torque value with a tightening torque value of the bolt or nut that has been tightened, and determines whether the tightening torque value is appropriate.

7. The fastening machine according to claim 6, characterized in that The display unit can display the result of the determination.

8. The fastening machine according to any one of claims 5 to 7, characterized in that The display unit can display a three-dimensional operation position of the bolt or nut to be tightened or loosened next.

9. The fastening machine according to any one of claims 5 to 7, characterized in that The display unit can display the direction and distance of the three-dimensional working position of the bolt or nut to be tightened or loosened next by arrows and numbers.

10. The fastening machine according to any one of claims 5 to 7, characterized in that A sound generator controlled by the control unit is provided, which indicates the direction and distance of the three-dimensional working position of the bolt or nut to be tightened or loosened next by at least two of the interval, sound pressure and frequency of the intermittent sound emitted from the sound generator.

11. The fastening machine according to any one of claims 5 to 7, characterized in that A vibration generator controlled by the control unit is provided, and the direction and distance of the three-dimensional working position of the bolt or nut to be tightened or loosened next are revealed by at least two of the interval, amplitude and frequency of the intermittent vibration generated by the vibration generator.

12. The fastening machine according to any one of claims 5 to 7, characterized in that A second storage unit is provided for storing the three-dimensional work completion position of the bolt or nut that has been tightened. The control unit compares the three-dimensional work completion position with the three-dimensional sleeve position, thereby being able to display the secondary tightening of the bolt or nut on the display unit.

13. A tightening machine which rotates a sleeve portion engaged with a bolt or a nut to tighten or loosen the bolt or the nut, characterized in that: The fastening machine has: a first movement receiving portion and a second movement receiving portion, which are arranged at predetermined intervals in the length direction of the main body portion connected to the sleeve portion and are used to receive a positioning signal from the positioning mechanism; and A control unit receives the positioning signals received by the first mobile receiving unit and the second mobile receiving unit, and the positioning signals received by the fixed receiving unit at a fixed position separated from the fastening machine, and corrects the three-dimensional positions of the first mobile receiving unit and the second mobile receiving unit based on these positioning signals. The control unit calculates the three-dimensional sleeve position of the sleeve part of the fastening machine based on the correction result.

14. The fastening machine according to claim 13, characterized in that The positioning mechanism is a GNSS satellite, and the positioning signal is a GNSS signal.

15. The fastening machine according to claim 13 or 14, characterized in that It has a first storage unit capable of storing the three-dimensional working positions of multiple bolts or nuts for tightening or loosening, and the control unit compares the three-dimensional working positions with the three-dimensional sleeve positions, thereby being able to identify the bolts or nuts engaged in the sleeve portion as objects to be tightened or loosened.

16. The fastening machine according to claim 15, characterized in that A display unit for displaying the three-dimensional working position is provided, and the display unit can display a prescribed torque value of the bolt or nut in addition to the three-dimensional working position.

17. The fastening machine according to claim 16, characterized in that The control unit compares the prescribed torque value with a tightening torque value of the bolt or nut that has been tightened, and determines whether the tightening torque value is appropriate.

18. The fastening machine according to claim 17, characterized in that The display unit can display the result of the determination.

19. The fastening machine according to any one of claims 16 to 18, characterized in that The display unit can display a three-dimensional operation position of the bolt or nut to be tightened or loosened next.

20. The fastening machine according to any one of claims 16 to 18, characterized in that The display unit can display the direction and distance of the three-dimensional working position of the bolt or nut to be tightened or loosened next by arrows and numbers.

21. The fastening machine according to any one of claims 16 to 18, characterized in that A sound generator controlled by the control unit is provided, which indicates the direction and distance of the three-dimensional working position of the bolt or nut to be tightened or loosened next by at least two of the interval, sound pressure and frequency of the intermittent sound emitted from the sound generator.

22. The fastening machine according to any one of claims 16 to 18, characterized in that A vibration generator controlled by the control unit is provided, and the direction and distance of the three-dimensional working position of the bolt or nut to be tightened or loosened next are revealed by at least two of the interval, amplitude and frequency of the intermittent vibration generated by the vibration generator.

23. The fastening machine according to any one of claims 16 to 18, characterized in that A second storage unit is provided for storing the three-dimensional work completion position of the bolt or nut that has been tightened. The control unit compares the three-dimensional work completion position with the three-dimensional sleeve position, thereby being able to display the secondary tightening of the bolt or nut on the display unit.

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