Fastening system and fastening method

Abstract

The application provides a fastening system and a fastening method. The fastening system (10) for fastening a fastener to a workpiece (120) has a mobile trolley (12), a coordinate detecting unit (60), a storage device (96) and a reinforcing fastening device (74), wherein the mobile trolley (12) is used for placing the workpiece; the coordinate detecting unit (60) detects the position of the fastener pre-fastened to the workpiece as a coordinate of a coordinate system of the mobile trolley; the storage device (96) stores the coordinate detected by the coordinate detecting unit; the reinforcing fastening device (74) determines the position of the fastener according to the coordinate stored in the storage device, and reinforces the fastening of the fastener at the determined position. Accordingly, the increase of the operation amount can be suppressed.

Description

TECHNICAL FIELD

[0001] The present application relates to a fastening system and a fastening method for fastening a fastener to a workpiece. BACKGROUND

[0002] Japanese Patent Laying-Open No. 2001-162462 shows an automatic nut fastening device. The nut fastening device reinforces fastening of a nut that is pre-fastened to a workpiece by the following steps. The workpiece is fixed to a prescribed position of a table. The table is arranged at a prescribed position of a front surface of the nut fastening device. The nut fastening device moves a nut fastening device to reinforce fastening of the nut that is pre-fastened to the workpiece. SUMMARY

[0003] In the nut fastening device of Japanese Patent Laying-Open No. 2001-162462, each workpiece needs to be fixed to a prescribed position of a table each time reinforcement fastening is performed. In order to fix the workpiece to the prescribed position of the table, the workpiece needs to be accurately positioned on the table. Therefore, the amount of work increases. Therefore, a technique that can automatically reinforce fastening of a fastener regardless of the position of a workpiece on a table is desired.

[0004] An object of the present application is to solve the above-described technical problem.

[0005] A first aspect of the present application is a fastening system for fastening a fastener to a workpiece, including a mobile cart for placing the workpiece, a coordinate detecting portion for detecting a position of the fastener that is pre-fastened to the workpiece as a coordinate of a coordinate system of the mobile cart, a storage device for storing the coordinate detected by the coordinate detecting portion, and a reinforcement fastening device for determining a position of the fastener based on the coordinate stored in the storage device and reinforcing fastening the fastener at the determined position.

[0006] A second aspect of the present application is a fastening method for fastening a fastener to a workpiece placed on a mobile cart, including a coordinate detecting process in which a coordinate detecting portion detects a position of the fastener that is pre-fastened to the workpiece as a coordinate of a coordinate system of the mobile cart, a storage process in which a storage device stores the coordinate, and a reinforcement fastening process in which a reinforcement fastening device determines a position of the fastener based on the coordinate stored in the storage device and reinforces fastening the fastener at the determined position.

[0007] According to the present application, an increase in the amount of work can be suppressed.

[0008] The above objects, features and advantages will be easily understood from the following description of the embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 is a plan view of the fastening area.

[0010] Figure 2 is a schematic view of the mobile trolley and the pre-fastening unit.

[0011] Figure 3 is a schematic view of the mobile trolley and the reinforcement fastening unit.

[0012] Figure 4 is a block diagram of the fastening system.

[0013] Figure 5 is a graph representing work data.

[0014] Figure 6 is a flowchart of the pre-fastening process.

[0015] Figure 7 is a flowchart of the reinforcement fastening process. DETAILED DESCRIPTION

[0016] [1Fastening area 100]

[0017] Figure 1 is a plan view of the fastening area 100. The fastening area 100 is an area in which a work of fastening a fastener to a workpiece 120 is performed. The fastening area 100 is provided in a factory. The fastening area 100 is adjacent to a pre-process area (not shown) in which a work of a process before the fastening process is performed. The fastening area 100 is adjacent to a post-process area (not shown) in which a work of a process after the fastening process is performed.

[0018] The fastening area 100 has a disassembly area 102, a pre-fastening area 104, and a reinforcement fastening area 106. A guide path 108 of the mobile car 12 is laid on the floor of the fastening area 100. The guide path 108 is formed by, for example, a magnetic marker, a magnetic tape, or the like. One end of the guide path 108 is a departure point 110. The other end of the guide path 108 is a destination point 112. The departure point 110 is connected to a guide path of a preceding process area. The destination point 112 is connected to a guide path of a subsequent process area. The mobile car 12 travels from the guide path of the preceding process area to the departure point 110. The mobile car 12 travels along the guide path 108 from the departure point 110 to the destination point 112. The mobile car 12 travels from the destination point 112 to the guide path of the subsequent process area. A plurality of mobile cars 12 can move on the guide path 108 from the departure point 110 to the destination point 112 at the same time. The guide path 108 crosses the disassembly area 102, the pre-fastening area 104, and the reinforcement fastening area 106.

[0019] The disassembly area 102 is an area in which a connection work of the pre-fastening unit 14 and the mobile car 12 is performed. Also, the disassembly area 102 is an area in which a separation work of the pre-fastening unit 14 and the mobile car 12 is performed. The pre-fastening area 104 is an area in which a work of pre-fastening the fastener to the workpiece 120 is performed. The work is referred to as a pre-fastening work. The reinforcement fastening area 106 is an area in which a work of reinforcement fastening of the fastener is performed. The work is referred to as a reinforcement fastening work.

[0020] Also, in the present specification, the fastener is a nut. The nut is fastened to a bolt arranged on the workpiece 120. However, the fastener is not necessarily a nut. For example, the fastener can be a bolt, a screw, or the like.

[0021] [2 Structure of the fastening system 10]

[0022] Figure 2 is a schematic view of the mobile car 12 and the pre-fastening unit 14. Figure 3 is a schematic view of the mobile car 12 and the reinforcement fastening unit 16. Figure 4 is a functional block diagram of the fastening system 10. The fastening system 10 is provided in the fastening area 100. The fastening system 10 has at least one mobile car 12, at least one pre-fastening unit 14, at least one reinforcement fastening unit 16, and a server 18.

[0023] [2-1 Mobile car 12]

[0024] Use Figure 2The mobile trolley 12 will be described. The mobile trolley 12 is an automated guided vehicle. The mobile trolley 12 carries the workpiece 120 inside the fastening area 100. The mobile trolley 12 is capable of autonomous travel along the guide path 108. The mobile trolley 12 starts from the start point 110, passes through the disassembly area 102, the pre-fastening area 104, the disassembly area 102, the reinforcement fastening area 106, and reaches the end point 112. The mobile trolley 12 has a trolley portion 22, a worktable 24, and a plurality of pins 26.

[0025] The trolley portion 22 has various devices for autonomous travel. For example, the trolley portion 22 has a main body, a battery, a motor, a drive device, a wheel, a steering device, a sensor for detecting the guide path 108, a processor, and the like.

[0026] The worktable 24 is fixed to the upper portion of the trolley portion 22. The workpiece 120 is placed on the worktable 24. The fasteners are fastened to the workpiece 120 at the pre-fastening area 104 and the reinforcement fastening area 106. A label 28 is attached to a prescribed position of the worktable 24. The label 28 records an identification (ID) of the mobile trolley 12. For example, the ID is represented by a one-dimensional code, a two-dimensional code, or the like. Each of the mobile trolleys 12 is assigned a different ID.

[0027] The plurality of pins 26 protrude from the side surface of the trolley portion 22. The plurality of pins 26 are components for connecting the mobile trolley 12 and the pre-fastening unit 14. Also, the plurality of pins 26 are components for connecting the mobile trolley 12 and the reinforcement fastening unit 16. One of the plurality of pins 26 is a reference pin 26-1. The position of the reference pin 26-1 is a reference position of the coordinate system of the mobile trolley 12.

[0028] The coordinate system of the mobile trolley 12 is a TBH coordinate system. Both the T-axis and the B-axis extend in the horizontal direction. The T-axis extends in the direction of travel when the mobile trolley 12 travels straight. The B-axis is orthogonal to the T-axis. The H-axis extends in the vertical direction. The H-axis is orthogonal to the T-axis and the B-axis.

[0029] [2-2 Pre-fastening Unit 14]

[0030] Use Figure 2 And Figure 4The pre-fastening unit 14 is described. The pre-fastening unit 14 collects data relating to the pre-fastening work and transmits it to the server 18. The pre-fastening unit 14 is a device that can be connected to and detached from the mobile trolley 12. The pre-fastening unit 14 is placed in the disassembly area 102. The pre-fastening unit 14 moves in the pre-fastening area 104 together with the mobile trolley 12 after being connected to the mobile trolley 12 in the disassembly area 102. In addition, the pre-fastening unit 14 is detached from the mobile trolley 12 in the disassembly area 102 after moving in the pre-fastening area 104 together with the mobile trolley 12. The pre-fastening unit 14 detached from the mobile trolley 12 is placed in the disassembly area 102 again. The pre-fastening unit 14 has a slave trolley (work trolley) 30, a plurality of first connecting portions 32, a support portion 34, a moving mechanism 36, a first tool 38 (pre-fastening device), a first position detection device 40, a torque detection device 42, a first scanner 44, a first controller 46, and a monitor 48.

[0031] The slave trolley 30 is a trolley on which a worker can ride. The slave trolley 30 has a main body, wheels, and the like. The plurality of first connecting portions 32 are formed in the main body of the slave trolley 30. The pre-fastening unit 14 and the mobile trolley 12 are connected by the respective first connecting portions 32 and the respective pins 26 being connected to each other. When the pre-fastening unit 14 and the mobile trolley 12 are connected to each other, the pre-fastening unit 14 is positioned on the mobile trolley 12. The pre-fastening unit 14 and the mobile trolley 12 are detached from each other by the respective first connecting portions 32 and the respective pins 26 being detached from each other. The slave trolley 30 does not have a driving source such as a motor. Therefore, the pre-fastening unit 14 is pulled by the mobile trolley 12.

[0032] The support portion 34 is fixed to an upper portion of the slave trolley 30. The support portion 34 has a set of longitudinal members and a transverse member. One of the set of longitudinal members extends upward from a front portion of the slave trolley 30. The other of the set of longitudinal members extends upward from a rear portion of the slave trolley 30. The transverse member is fixed to upper portions of the respective longitudinal members. The support portion 34 divides a work space in which a worker performs the pre-fastening work. The support portion 34 supports the moving mechanism 36, the first controller 46, and the monitor 48.

[0033] The moving mechanism 36 is fixed to the upper portion of the support portion 34. The moving mechanism 36 has a first linear guide portion 36-1, a second linear guide portion 36-2, and an extension portion 36-3. The first linear guide portion 36-1 supports the second linear guide portion 36-2. The first linear guide portion 36-1 extends along the T-axis in a state where the pre-fastening unit 14 is positioned at the mobile dolly 12. Therefore, the second linear guide portion 36-2, the extension portion 36-3, and the first tool 38 are movable along the T-axis. The second linear guide portion 36-2 supports the extension portion 36-3. The second linear guide portion 36-2 extends along the B-axis in a state where the pre-fastening unit 14 is positioned at the mobile dolly 12. Therefore, the extension portion 36-3 and the first tool 38 are movable along the B-axis. The extension portion 36-3 supports the first tool 38. The extension portion 36-3 is extendable and retractable along the H-axis. Therefore, the first tool 38 is movable along the H-axis.

[0034] The first tool 38 is a tool that fastens the fastener to the workpiece 120. The first tool 38 can be, for example, an impact wrench, a nut fastener, or the like. The first tool 38 has a contact portion 38-1 that contacts the fastener. The contact portion 38-1 is, for example, a socket. The first tool 38 is operated by the worker. That is, the worker holds the first tool 38 and moves the first tool 38 to the pre-fastening position. After that, the worker operates the lever of the first tool 38 and pre-fastens the fastener to the workpiece 120.

[0035] The first position detection device 40 is provided to the moving mechanism 36. The first position detection device 40 detects the position of the first tool 38 in the TBH coordinate system. The first position detection device 40 has a plurality of position detectors. The position detectors can be, for example, linear encoders. The first linear encoder detects the position of the second linear guide portion 36-2 with respect to the first linear guide portion 36-1. The second linear encoder detects the position of the extension portion 36-3 with respect to the second linear guide portion 36-2. The third linear encoder detects the position of the first tool 38 with respect to the extension portion 36-3. Each of the position detectors transmits the detection value to the first controller 46.

[0036] In addition, the first position detection device 40 can also have a camera. In the case where the first position detection device 40 has the camera, the camera transmits the image data to the first controller 46. The first control device 52 performs image recognition based on the image data and determines the position of the first tool 38.

[0037] The torque detection device 42 is attached to the rotation axis portion of the first tool 38. The torque detection device 42 detects the torque acting on the rotation axis portion of the first tool 38. The torque detection device 42 transmits the detection value to the first controller 46.

[0038] The first scanner 44 is detachably attached to the support section 34. The first scanner 44 can be, for example, an image scanner. The first scanner 44 is operated by the worker. The first scanner 44 reads the code written on the label 28. The first scanner 44 determines the ID indicated by the code or the like. The first scanner 44 transmits the ID to the first controller 46.

[0039] The first controller 46 is fixed to the driven cart 30 or the support section 34. As shown in the figure, the first controller 46 has a first control device 52, a first storage device 54, and a first communication device 56. Figure 4

[0040] The first control device 52 has a processing circuit. The processing circuit can also be a processor such as a CPU. The processing circuit can also be an integrated circuit such as an ASIC or an FPGA. The processor can perform various processes by executing a program stored in the first storage device 54. The first control device 52 functions as a coordinate detection section 60, a torque detection section 62, a data creation section 64, and a first communication section 66. The coordinate detection section 60 determines the TBH coordinate of the fastener that has been pre-tightened, based on data acquired from the first position detection device 40. The first position detection device 40 determines the coordinate with the reference pin 26-1 as the reference. The torque detection section 62 determines the torque generated when the fastener is pre-tightened, based on data acquired from the torque detection device 42. This torque is referred to as the pre-tightening torque. The data creation section 64 creates work data 122 shown in the figure, based on various data. Figure 5

[0041] The first storage device 54 has a volatile memory and a non-volatile memory. The volatile memory can be, for example, a RAM or the like. The non-volatile memory can be, for example, a ROM, a flash memory, or the like. The volatile memory temporarily stores, for example, data acquired from the outside, data calculated by the first control device 52, or the like. The non-volatile memory stores, for example, a prescribed program, prescribed data, or the like. At least a part of the first storage device 54 can also be provided to the above-described processor, integrated circuit, or the like.

[0042] The first communication device 56 has a communication circuit for performing close-range wireless communication. The close-range wireless communication can be, for example, Wi-Fi (registered trademark), Bluetooth (registered trademark), infrared communication, or the like. The first communication device 56 transmits the work data 122 created by the data creation section 64 to the server 18.

[0043] The monitor 48 is fixed to the driven cart 30 or the support section 34. The monitor 48 is disposed at the height of the line of sight of the worker. The monitor 48 displays, for example, the steps of the pre-tightening work. The monitor 48 can also display other information related to the pre-tightening work.​​

[0044] [2-3 Reinforcing fastening unit 16]

[0045] Use Figure 3 and Figure 4 The reinforcing fastening unit 16 is described. The reinforcing fastening unit 16 automatically performs a reinforcing fastening work. The reinforcing fastening unit 16 is a device capable of being connected to and separated from the mobile trolley 12. At least one reinforcing fastening unit 16 is arranged in the reinforcing fastening area 106. The reinforcing fastening unit 16 has a base 70, a plurality of second connecting portions 72, at least one reinforcing fastening device 74, at least one second position detection device 78, a second scanner 80, and a second controller 82.

[0046] The base 70 is fixed to the floor of the factory. The plurality of second connecting portions 72 are formed in the base 70. The reinforcing fastening unit 16 and the mobile trolley 12 are connected by connecting each second connecting portion 72 and each pin 26. When the reinforcing fastening unit 16 and the mobile trolley 12 are connected, the reinforcing fastening unit 16 is positioned to the mobile trolley 12. The reinforcing fastening unit 16 and the mobile trolley 12 are separated by separating each second connecting portion 72 and each pin 26.

[0047] The reinforcing fastening device 74 is fixed to the base 70. In the present embodiment, a plurality of reinforcing fastening devices 74 are fixed to the base 70. The reinforcing fastening device 74 is, for example, an orthogonal robot. The orthogonal robot is capable of performing a reinforcing fastening work according to a work instruction output from the second controller 82. The orthogonal robot has three slide axis portions. The first slide axis portion extends along the T-axis. The second slide axis portion extends along the B-axis. The third slide axis portion extends along the H-axis. The reinforcing fastening device 74 supports the second tool 76. The reinforcing fastening device 74 is capable of moving the second tool 76 along the T-axis, the B-axis, and the H-axis. Also, the reinforcing fastening device 74 is capable of reinforcing a fastener by the second tool 76. In addition, the reinforcing fastening device 74 can also be a multi-joint robot having a plurality of joints.

[0048] The second tool 76 is a tool that fastens a fastener to the workpiece 120. The second tool 76 can be, for example, an impact wrench, a nut fastener, or the like. The second tool 76 has a contact portion 76-1 that contacts the fastener. The contact portion 76-1 is, for example, a socket.

[0049] The second position detection device 78 is provided to the reinforcing fastening device 74. The second position detection device 78 detects the position of the second tool 76 in the TBH coordinate system. The second position detection device 78 has a plurality of position detectors. The position detectors can be, for example, linear encoders, rotary encoders. Each position detector transmits a detection value to the second controller 82.

[0050] In addition, the second position detection device 78 can also have a camera. In the case where the second position detection device 78 has a camera, the camera transmits image data to the second controller 82. The second control device 84 performs image recognition based on the image data, and determines the position of the second tool 76.

[0051] The second scanner 80 is fixed at a prescribed position of the reinforcement fastening unit 16. The second scanner 80 can be, for example, an image scanner. The second scanner 80 and the label 28 face each other in a state where the reinforcement fastening unit 16 is connected to the mobile trolley 12. The second scanner 80 reads the code written on the label 28. The second scanner 80 determines the ID indicated by the code or the like. The second scanner 80 transmits the ID to the second controller 82.

[0052] The second controller 82 is provided at an arbitrary position of the reinforcement fastening unit 16. As shown in FIG. 1, the second controller 82 has a second control device 84, a second storage device 86, and a second communication device 88. Figure 4

[0053] The second control device 84 has a processing circuit. The processing circuit can also be a processor such as a CPU. The processing circuit can also be an integrated circuit such as an ASIC or an FPGA. The processor can perform various processing by executing a program stored in the second storage device 86. The second control device 84 functions as a fastening control section 90 and a second communication section 92. The fastening control section 90 controls the operation of the reinforcement fastening device 74 based on the work data 122 acquired from the server 18. The second communication section 92 controls the second communication device 88.

[0054] The second storage device 86 has a volatile memory and a non-volatile memory. The volatile memory can be, for example, a RAM or the like. The non-volatile memory can be, for example, a ROM, a flash memory, or the like. The volatile memory stores, for example, data acquired from the outside, data calculated by the second control device 84, or the like. The non-volatile memory stores, for example, prescribed programs, prescribed data, or the like. At least a part of the second storage device 86 can also be provided to the above-described processor, integrated circuit, or the like.

[0055] The second communication device 88 has a communication circuit for performing near field wireless communication. The near field wireless communication can be, for example, Wi-Fi (registered trademark), Bluetooth (registered trademark), infrared communication, or the like. The second communication device 88 transmits the ID determined by the second scanner 80 to the server 18. In addition, the second communication device 88 acquires the work data 122 from the server 18.

[0056] [2-4 Server 18]

[0057] Use Figure 4 ​The description will be made of the server 18. The server 18 is a computer. The server 18 stores the work data 122 acquired from the first controller 46 of the pre-fastening unit 14. The server 18 has a server control device 94, a server storage device 96, and a server communication device 98.

[0058] The server control device 94 has a processing circuit. The processing circuit can also be a processor such as a CPU. The processing circuit can also be an integrated circuit such as an ASIC or an FPGA. The processor can perform various processing by executing a program stored in the server storage device 96.

[0059] The server storage device 96 has a volatile memory and a non-volatile memory. The volatile memory can be exemplified by a RAM or the like, for example. The non-volatile memory can be exemplified by a ROM, a flash memory, or the like, for example. The volatile memory stores data acquired from the outside, data calculated by the server control device 94, and the like, for example. The volatile memory stores the work data 122 shown in the drawing. The non-volatile memory stores prescribed programs, prescribed data, and the like, for example. At least a part of the server storage device 96 can also be provided to the above-described processor, integrated circuit, or the like. Figure 5

[0060] The server communication device 98 has a communication circuit for performing near field wireless communication. The near field wireless communication can be exemplified by Wi-Fi (registered trademark), Bluetooth (registered trademark), infrared communication, or the like, for example. The server communication device 98 acquires the work data 122 from the first controller 46 of the pre-fastening unit 14. The server communication device 98 acquires the ID from the second controller 82 of the reinforcement fastening unit 16. The server communication device 98 transmits the work data 122 corresponding to the ID to the second controller 82 of the reinforcement fastening unit 16.

[0061] [3 Fastening work]

[0062] The description will be made of the work of fastening a nut to a bolt as the fastening work. The workpiece 120 has a plurality of bolts. The fastening system 10 fastens a nut as a fastening member to each of the bolts.

[0063] The mobile trolley 12 is arranged at the departure point 110. At this time point, the workpiece 120 is placed at an arbitrary position on the workbench 24. The mobile trolley 12 autonomously travels from the departure point 110. The mobile trolley 12 enters the disassembly area 102. The work personnel connects the pre-fastening unit 14 and the mobile trolley 12 in the disassembly area 102. After the connection, the work personnel gets on the driven trolley 30.

[0064] ​The mobile cart 12 travels out of the disassembly area 102 and into the pre-fastening area 104. During the travel of the mobile cart 12 and the driven cart 30 in the pre-fastening area 104, the worker performs the pre-fastening work on the driven cart 30. Specifically, the worker operates the first tool 38 to perform the pre-fastening of the nut. During the pre-fastening work, the respective parts of the pre-fastening unit 14 perform the pre-fastening processing shown in FIG. 8. The worker ends the pre-fastening work in the pre-fastening area 104. The mobile cart 12 and the driven cart 30 travel out of the pre-fastening area 104 and into the disassembly area 102 again. The worker separates the pre-fastening unit 14 from the mobile cart 12 in the disassembly area 102. Figure 6

[0065] The mobile cart 12 travels out of the disassembly area 102 and into the pre-fastening area 104. During the travel of the mobile cart 12 and the driven cart 30 in the pre-fastening area 104, the worker performs the pre-fastening work on the driven cart 30. Specifically, the worker operates the first tool 38 to perform the pre-fastening of the nut. During the pre-fastening work, the respective parts of the pre-fastening unit 14 perform the pre-fastening processing shown in FIG. 8. The worker ends the pre-fastening work in the pre-fastening area 104. The mobile cart 12 and the driven cart 30 travel out of the pre-fastening area 104 and into the disassembly area 102 again. The worker separates the pre-fastening unit 14 from the mobile cart 12 in the disassembly area 102. Figure 7

[0066] [3-1 Pre-fastening processing]

[0067] Figure 6 is a flowchart of the pre-fastening processing. As described above, during the pre-fastening work, the respective parts of the pre-fastening unit 14 perform the pre-fastening processing shown in FIG. 8. Figure 6

[0068] In step S1, the worker moves the first scanner 44 to the front of the label 28. The first scanner 44 reads the code of the label 28 and determines the ID of the mobile cart 12. The first storage device 54 stores the ID. When step S1 ends, the processing proceeds to step S2.

[0069] In step S2, the coordinate detection section 60 determines whether the nut is pre-fastened. For example, the coordinate detection section 60 determines that the nut is pre-fastened when the detection value of the torque detection device 42 reaches a threshold value or more. The coordinate detection section 60 can also determine that the nut is pre-fastened when it detects that the operation lever of the first tool 38 is operated. In the case where the nut is pre-fastened (step S2: YES), the processing proceeds to step S3. On the other hand, in the case where the nut is not pre-fastened (step S2: NO), the determination of step S2 is repeated.

[0070] ​​​In step S3, the coordinate detection unit 60 determines the coordinates of the socket (contact portion 38-1) of the first tool 38. The coordinate detection unit 60 converts each detection value from the first position detection device 40 into coordinates in the TBH coordinate system using a predetermined conversion formula. The predetermined conversion formula is stored in the first storage device 54. The socket coordinates correspond to the coordinates of the pre-tightening position. Furthermore, the coordinate detection unit 60 performs coordinate detection and counts the sequence of pre-tightening operations performed on the socket. The first storage device 54 stores the socket coordinates and the pre-tightening sequence. Additionally, the first storage device 54 stores the detection value from the torque detection device 42 as the pre-tightening torque. When step S3 ends, the process proceeds to step S4.

[0071] In step S4, the data generation unit 64 generates job data 122. For example... Figure 5 As shown, the work data 122 is data that establishes a correspondence between the ID of the moving trolley 12, the coordinates of the pre-tightening position, the pre-tightening torque, and the pre-tightening sequence. The data generation unit 64 establishes a correspondence between the ID obtained in step S1, the coordinates, torque, and sequence obtained in step S3, and generates the work data 122. When step S4 ends, the process proceeds to step S5.

[0072] In step S5, the coordinate detection unit 60 determines whether the pre-tightening of all nuts has ended. For example, the coordinate detection unit 60 determines that pre-tightening is complete at the time point when a predetermined number of pre-tightening operations have ended. The coordinate detection unit 60 may also determine that pre-tightening is complete at the time point when the operator operates a switch (not shown). If all pre-tightening is complete (step S5: Yes), the process proceeds to step S6. On the other hand, if pre-tightening is not complete at any position (step S5: No), the process returns to step S2.

[0073] In step S6, the first communication unit 66 controls the first communication device 56 to send the job data 122 to the server 18. The server control device 94 obtains the job data 122 through the server communication device 98. The server storage device 96 stores the job data 122 obtained by the server control device 94. When step S6 ends, the pre-tightening process is completed.

[0074] [3-2 Reinforced Fastening]

[0075] Figure 7 This is a flowchart of the reinforcement and tightening process. As described above, during the reinforcement and tightening operation, each part of the reinforcement and tightening unit 16 is... Figure 7 The reinforced fastening treatment shown.

[0076] In step Sll, when the mobile cart 12 and the reinforcement fastening unit 16 are connected, the second scanner 80 is positioned in front of the label 28. The second scanner 80 reads the code of the label 28, and determines the ID of the mobile cart 12. The second storage device 86 stores the ID. When step Sll ends, the process proceeds to step S12.

[0077] In step S12, the second communication section 92 controls the second communication device 88, and transmits the ID to the server 18. The server control device 94 acquires the ID through the server communication device 98. The server control device 94 uses the ID to search the server storage device 96, and acquires the job data 122 that matches the ID. When step S12 ends, the process proceeds to step S13.

[0078] In step S13, the server control device 94 transmits the job data 122 to the second controller 82 through the server communication device 98. The second communication section 92 acquires the job data 122 through the second communication device 88. The second storage device 86 stores the job data 122 acquired by the second communication section 92. When step S13 ends, the process proceeds to step S14.

[0079] In step S14, the fastening control section 90 controls the reinforcement fastening device 74 based on the job data 122. The fastening control section 90 selects a coordinate for which reinforcement fastening has not ended, from among the coordinates recorded in the job data 122. Also, the fastening control section 90 selects a coordinate with a small order number, from among the coordinates for which reinforcement fastening has not ended. The fastening control section 90 moves the second tool 76, and arranges the contact portion 76-1 (socket) at the selected coordinate. The fastening control section 90 performs position alignment of the second tool 76 through feedback control using the detection value of the second position detection device 78. The fastening control section 90 performs reinforcement fastening of the nut after the position alignment of the second tool 76. The fastening control section 90 can also control the torque of the reinforcement fastening with reference to the torque that corresponds to the coordinate. When step S14 ends, the process proceeds to step S15.

[0080] In step S15, the fastening control section 90 determines whether reinforcement fastening of all of the nuts has ended. In the case where reinforcement fastening of all of the nuts has ended (step S15: YES), the reinforcement fastening process ends. On the other hand, in the case where reinforcement fastening has not ended at any position (step S15: NO), the process returns to step S14.

[0081] In the present embodiment, the pre-fastening unit 14 and the reinforcement fastening unit 16 each use the TBH coordinate system that takes the reference pin 26-1 as a reference position. According to the present embodiment, the coordinate detection section 60 can detect the coordinates of the workpiece 120 even if the workpiece 120 is not placed at the prescribed position of the table 24. Also, the fastening control section 90 can perform reinforcement fastening in accordance with the coordinates detected by the coordinate detection section 60 even if the workpiece 120 is not placed at the prescribed position of the table 24. In this way, according to the present embodiment, reinforcement fastening can be performed automatically even if the workpiece 120 is not placed at the prescribed position of the table 24.

[0082] In the present embodiment, the pre-fastening unit 14 is positioned on the mobile cart 12 by being connected to the reference pin 26-1 via the first connecting portion 32. Therefore, the coordinate detection section 60 can recognize the TBH coordinate system of the mobile cart 12 by previously recognizing the first connecting portion 32 as a reference position. In the present embodiment, the reinforcement fastening unit 16 is positioned on the mobile cart 12 by being connected to the reference pin 26-1 via the second connecting portion 72. Therefore, the fastening control section 90 can recognize the TBH coordinate system of the mobile cart 12 by previously recognizing the second connecting portion 72 as a reference position.

[0083] [4 Other Embodiments]

[0084] [4-1 Other Embodiment 1]

[0085] Alternatively, each mobile cart 12 can have a control device, a storage device, and a communication device. Also, the second communication device 88 and the communication device of each mobile cart 12 can communicate. In this case, when the mobile cart 12 and the reinforcement fastening unit 16 are connected, the control device of the mobile cart 12 sends the work data 122 to the second controller 82 via the communication device. The second communication section 92 acquires the work data 122 via the second communication device 88.

[0086] [4-2 Other Embodiment 2]

[0087] In the case where the height of the table 24 of each mobile cart 12 is assumed to be known, the coordinate of the H-axis of the fastening position is known. Therefore, the first position detection device 40 and the second position detection device 78 can not detect the height position of the fastener. Also, the coordinate detection section 60 can not determine the coordinate of the H-axis. That is, the coordinate detection section 60 can determine only the coordinates of the T-axis and the B-axis. In this case, any of the storage devices can previously store the coordinate of the H-axis. The coordinate of the H-axis corresponds to the height position obtained by adding the height of the fastening position to the height of the table 24.

[0088] [4-3 Other Embodiment 3]

[0089] The server control device 94 can also have the function of the first control device 52. For example, the server control device 94 can have at least one of the coordinate detection section 60, the torque detection section 62, and the data creation section 64. The server control device 94 can also have the function of the second control device 84. For example, the server control device 94 can have the tightening control section 90.

[0090] [5Invention obtainable according to the embodiment]

[0091] The invention obtainable according to the above-described embodiment will be described below.

[0092] A first aspect of the invention is a tightening system (10) for tightening a fastener to a workpiece (120), comprising a mobile cart (12) for placing the workpiece, a coordinate detection section (60) for detecting a position of the fastener preliminarily tightened to the workpiece as a coordinate of a coordinate system of the mobile cart, a storage device (96) for storing the coordinate detected by the coordinate detection section, and a reinforcement tightening device (74) for determining a position of the fastener based on the coordinate stored in the storage device and reinforcing and tightening the fastener at the determined position.

[0093] According to the above-described structure, reinforcement tightening can be automatically performed even if the workpiece is not placed at a prescribed position of the workbench. Therefore, the workpiece does not need to be accurately positioned on the workbench. Therefore, according to the above-described structure, an increase in the amount of work can be suppressed.

[0094] In the first aspect of the invention, a preliminarily tightening device (38) operated by an operator and preliminarily tightening the fastener to the workpiece in response to an operation of the operator can be included. The preliminarily tightening device can include a contact section (38-1) in contact with the fastener, and the coordinate detection section can detect the coordinate of the contact section.

[0095] According to the above-described structure, the position of the preliminarily tightened fastener can be easily determined.

[0096] In the first aspect of the invention, a scanner (44) for detecting an identifier assigned to the mobile cart can be included, and the storage device can store the coordinate and the identifier in a corresponding relationship.

[0097] According to the above-described structure, the mobile cart can be identified. Therefore, the workpiece can be identified.

[0098] In the first aspect of the application, the storage device can store the coordinates and the order in which the fasteners are fastened in correspondence with the positions at which the fasteners are fastened.

[0099] In the first aspect of the application, the storage device can store the coordinates and the order in which the fasteners are fastened in correspondence with the positions at which the fasteners are fastened.

[0100] In the first aspect of the application, the storage device can store the coordinates and the order in which the fasteners are fastened in correspondence with the positions at which the fasteners are fastened.

[0101] The second aspect of the application is a fastening method for fastening fasteners to a workpiece placed on a mobile cart, including a coordinate detection process, a storage process, and a reinforcement fastening process. In the coordinate detection process, a coordinate detection unit detects the positions of fasteners that are pre-fastened to the workpiece as coordinates of a coordinate system of the mobile cart. In the storage process, a storage device stores the coordinates. In the reinforcement fastening process, a reinforcement fastening device determines the positions of the fasteners based on the coordinates stored in the storage device, and reinforces the fasteners at the determined positions.

[0102] In addition, the present application is not limited to the above-described aspects of the application, and various structures can be employed without departing from the spirit of the present application.

Claims

1. A fastening system for fastening fasteners to a workpiece, characterized in that, It has a mobile trolley, a pre-fastening device, a coordinate detection unit, a storage device, and a reinforcing fastening device, among which, The mobile trolley is used to carry the workpiece; The pre-tightening device is operated by a worker and, in response to the worker's operation, pre-tightens the fastener to the workpiece. The coordinate detection unit detects the position of the fastener as the coordinate of the coordinate system of the moving trolley, wherein the fastener is pre-fastened to the workpiece. The storage device stores the coordinates detected by the coordinate detection unit; The reinforcing fastening device determines the position of the fastener based on the coordinates stored in the storage device, and reinforces and fastens the fastener located at the determined position. The pre-tightening device has a contact portion that contacts the fastener. The coordinate detection unit detects the coordinates of the contact portion.

2. The fastening system according to claim 1, characterized in that, It includes a scanner for detecting the identifier assigned to the mobile trolley. The storage device establishes a correspondence between the coordinates and the identifier for storage.

3. The fastening system according to claim 1, characterized in that, When multiple fasteners are fastened to the workpiece, the storage device establishes a correspondence between the coordinates and the order in which the fasteners are fastened according to the position where the fasteners are fastened.

4. The fastening system according to claim 1, characterized in that, It includes a torque detection device for detecting the torque applied to the fastener by the pre-tightening device. The storage device stores the coordinates and the torque in a corresponding relationship.

5. The fastening system according to claim 1, characterized in that, It has a work trolley for carrying the pre-tightening device. The mobile trolley has a reference pin that serves as the reference position for the coordinate system. The work trolley has a first connecting part that connects to the reference pin. The reinforcing fastening device has a second connecting portion that connects to the reference pin.

6. A fastening method for fastening fasteners to a workpiece placed on a moving trolley, characterized in that, It includes a pre-tightening process, a coordinate detection process, a storage process, and a reinforcing fastening process, among which, In the pre-tightening process, the fastener is pre-tightened to the workpiece in response to the operator's operation on the pre-tightening device; In the coordinate detection process, the coordinate detection unit detects the position of the fastener as the coordinate of the coordinate system of the moving trolley, wherein the fastener is pre-fastened to the workpiece. In the storage process, the storage device stores the coordinates; In the strengthening and fastening process, the strengthening and fastening device determines the position of the fastener based on the coordinates stored in the storage device, and strengthens and fastens the fastener located at the determined position. In the coordinate detection process, the coordinates of the contact portion of the pre-tightening device that is in contact with the fastener are detected.

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