Rotational processing support device

Abstract

To suitably support work related to rotation processing of an operator.SOLUTION: A rotation processing support device includes a rotation tool for performing rotation processing of a targeted object provided at a narrow part, a distance measuring sensor for measuring a distance between the rotation tool and the targeted object, an inertia sensor for measuring a shift with respect to a prescribed position of the rotation tool, an actuation detection sensor for detecting actuation of the rotation tool, a notification part for performing notification to an operator performing rotation processing, and a control part for executing processing based on the distance measuring sensor, the inertia sensor and the actuation detection sensor. The control part executes the steps of: deriving a relative position between the rotation tool and the targeted object to perform notification by the notification part before actuating the rotation tool; determining whether the rotation tool is actuated; and deriving the relative position between the rotation tool and the targeted object to perform notification by the notification part in the case of determining that the rotation tool is actuated.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a rotary machining support device. [Background technology]

[0002] A skill comparison device is known that compares the skills of a reference person and a subject person in relation to a predetermined task that is performed by physical movements and that handles a predetermined object (see, for example, Patent Document 1). This skill comparison device measures the subject person's movements, and after the subject person has finished moving, it 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. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-15225 Summary of the Invention [Problem to be solved by the invention]

[0004] In the skill comparison device of Patent Document 1, the actions of the reference person and the subject based on the target value and the reference value are compared after the subject has finished their action, so it is difficult to compare skills while they are in action. Incidentally, the actions performed by the subject include work related to rotary processing such as drilling. The object to be processed may be placed in a narrow area. In this case, the quality of the hole drilled in the drilling work is generally judged based on the experience of an expert. Also, in a narrow area, it is necessary to check whether the rotary processing is being performed appropriately during and after the work. Therefore, it takes time for trainees to learn how to perform the rotary machining work properly.

[0005] Therefore, an object of the present disclosure is to provide a rotary machining support device that can suitably support a worker in performing work related to rotary machining. [Means for solving the problem]

[0006] The rotary machining support device of the present disclosure comprises a rotary tool that performs rotary machining on a workpiece provided in a narrow portion, a ranging sensor that measures the distance between the rotary tool and the workpiece, an inertial sensor that measures deviation of the rotary tool from a predetermined position, an operation detection sensor that detects the operation of the rotary tool, an alarm unit that issues an alarm to an operator performing rotary machining, and a control unit that executes processing based on the ranging sensor, the inertial sensor, and the operation detection sensor, and the control unit performs the following steps: before the operation of the rotary tool, deriving the relative position between the rotary tool and the workpiece based on the measurement result of the ranging sensor and notifying the alarm unit; based on the detection result of the operation detection sensor, determining whether the rotary tool has operated; and if it is determined that the rotary tool has operated, deriving the relative position between the rotary tool and the workpiece based on the measurement result of the inertial sensor and notifying the alarm unit. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to preferably assist a worker in performing work related to rotary machining. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram of a rotary machining support device according to this embodiment. [Figure 2] FIG. 2 is a diagram showing an example of a notification screen displayed on the display unit. [Figure 3] FIG. 3 is a diagram showing an example of a notification screen displayed on the display unit. [Figure 4] FIG. 4 is a flowchart relating to the processing of the rotary machining support device. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described in detail 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 when there are multiple embodiments, the respective embodiments can also be combined.

[0010] [Embodiment] The rotary machining support device 10 according to this embodiment is a device for performing rotary machining on a workpiece W while supporting a worker in work related to rotary machining (rotary machining work). The rotary machining support device 10 may be applied, for example, to a rotary machining training device for training workers in rotary machining work, or to a rotary machining device for performing rotary machining work as actual work. Note that in this embodiment, a case where the rotary machining support device 10 is applied to a rotary machining training device will be described. Furthermore, rotary machining work includes various rotary machining work such as drilling and countersinking, but in this embodiment, the device will be described as being applied to hole making work using drilling.

[0011] Here, the drilling operation will be described. The drilling operation is an operation of drilling a hole in a workpiece W that is an object to be processed. In the drilling operation, a worker drills a hole at a drilling location from one side of the workpiece W using a rotary tool 21.

[0012] Furthermore, the workpiece W is provided in a narrow space, and the worker performs rotary machining on the workpiece provided in the narrow space. The narrow space is a small space in which it is difficult to visually grasp the working status of the rotary machining operation by the rotary tool 21.

[0013] Fig. 1 is a schematic diagram of the rotary machining support device according to this embodiment. Fig. 2 and Fig. 3 are diagrams showing examples of notification screens displayed on a display unit. Fig. 4 is a flowchart showing processing by the rotary machining support device.

[0014] (Rotational processing support device) The rotary machining support device 10 includes a rotary tool 21, a distance measurement sensor 23, an inertial sensor 24, a touch sensor 25, an operation detection sensor 26, a display unit (notification unit, output unit) 31, and a control device 35.

[0015] The rotary tool 21 is a tool that performs drilling by rotating a drill relative to the workpiece W, and for example, a rotary tool having a rotation axis I1 is used. The rotary tool 21 is pressed against the workpiece W so that the rotation axis I1 forms a predetermined angle with respect to the workpiece W. The rotation axis I1 is an axis that rotates in the rotation direction, and is integrated with the tip of a tool such as a drill that is pressed against the workpiece W.

[0016] The distance measurement sensors 23 measure the distance between the rotary tool 21 and the workpiece W, and multiple distance measurement sensors 23 are attached to the rotary tool 21. The distance measurement sensors 23 are provided on the tip side of the rotary tool 21, and multiple distance measurement sensors 23 are provided at predetermined intervals in the circumferential direction. In this embodiment, for example, three distance measurement sensors 23 are used, and they are arranged at equal intervals in the circumferential direction. Each of the multiple distance measurement sensors 23 measures the distance between the rotary tool 21 and the workpiece W. The multiple distance measurement sensors 23 are connected to the control device 35 via wireless communication. The control device 35 detects the position, direction, and attitude of the rotary tool 21 based on the distance information of the multiple distance measurement sensors 23.

[0017] The inertial sensor 24 is attached to the rotary tool 21 and measures the deviation of the rotary tool 21 from a predetermined position. The predetermined position is a reference position measured by the distance measurement sensor 23, where the rotary tool 21 and the workpiece W have a reference positional relationship. In other words, the inertial sensor 24 measures the deviation of the rotary tool 21 from the reference position. For example, a gyro sensor is used as the inertial sensor 24. The inertial sensor 24 is connected to the control device 35 via wireless communication, and the control device 35 detects deviations in the position, direction, and attitude of the rotary tool 21 based on the deviation of the rotary tool 21 from the reference position acquired by the inertial sensor 24. Note that, although a gyro sensor is used as the inertial sensor 24 in this embodiment, there is no particular limitation, and an acceleration sensor may also be used.

[0018] The touch sensor 25 detects the start of operation of the rotary tool 21 and is attached to the surface of the operation trigger of the rotary tool 21. That is, the touch sensor 25 detects that the operator has touched the operation trigger. The touch sensor 25 is connected to the control device 35 via wireless communication, and the control device 35 detects the start of operation of the rotary tool 21 based on the detection result of the touch sensor 25.

[0019] The actuation detection sensor 26 detects the actuation of the rotary tool 21 and is attached to an operation trigger of the rotary tool 21. That is, the actuation detection sensor 26 detects that the operator has operated the operation trigger. The actuation detection sensor 26 is connected to the control device 35 via wireless communication, and the control device 35 detects the actuation of the rotary tool 21 based on the detection result of the actuation detection sensor 26.

[0020] The display unit 31 notifies the worker and displays a notification screen G1 shown in FIG. 2 and a notification screen G2 shown in FIG. 3 that provide the notified information. The display unit 31 is, for example, a display device such as a display. The display unit 31 is not particularly limited and may be a display device such as a wearable display. The display unit 31 provides information to the worker who uses the rotary tool 21.

[0021] 2, the notification screen G1 displayed on the display unit 31 will be described. The notification screen G1 provides information about the position of the rotary tool 21 as information to be provided to an operator using the rotary tool 21. The notification screen G1 is also displayed based on the plurality of distance measurement sensors 23.

[0022] Information regarding the position of the rotary tool 21 includes a position P1 of the rotary tool 21 relative to the workpiece W and a predetermined position index P2 that indicates that rotary machining is appropriate. The position P1 of the rotary tool 21 is the angle of the rotary tool 21 relative to the workpiece W, specifically, the angle (tilt angle) between the surface of the workpiece W to be machined and the rotation axis I1 of the rotary tool 21. The position of the rotary tool 21 is derived in real time based on the previously detected position of the workpiece W and the detection results of the multiple distance measuring sensors 23. The position index P2 is a predetermined range that indicates that rotary machining is appropriate, specifically, a predetermined angular range between the surface of the workpiece W to be machined and the rotation axis I1 of the rotary tool 21. This position index P2 is displayed as a circular ring (thick line) that is centered on the rotation axis I1 and has a predetermined angular range (so-called radar chart display), and the angle range can be set arbitrarily. In addition, an arrow indicating the direction of the tilt angle is displayed on the notification screen G1. Note that, instead of the arrow indicating the direction of the tilt angle, an arrow indicating the direction to return to a predetermined angle (for example, perpendicular to the object W) may be displayed on the notification screen G1.

[0023] Next, a notification screen G2 displayed on the display unit 31 will be described with reference to Fig. 3. The notification screen G2 provides information about the position of the rotary tool 21 as information to be provided to an operator using the rotary tool 21. The notification screen G2 is displayed based on the inertial sensor 24.

[0024] Information regarding the position of the rotary tool 21 includes a position P5 of the rotary tool 21 relative to the workpiece W and a predetermined position index P6 that indicates that rotary machining is appropriate. The position P5 of the rotary tool 21 is the angle of the rotary tool 21 relative to the workpiece W, specifically, the angle between the surface of the workpiece W to be machined and the rotation axis I1 of the rotary tool 21. The position of the rotary tool 21 is derived in real time based on the previously detected position of the workpiece W and the detection results of the inertial sensor 24. Specifically, the position P5 of the rotary tool 21 is derived by taking into account the deviation from the position P1 (reference position) of the rotary tool 21, using the position P1 of the rotary tool 21 as a reference. Furthermore, the position P5 of the rotary tool 21 is derived by converting it using a moving average value of at least two points. The position index P6 is a predetermined range that indicates that rotary machining is appropriate, specifically, a predetermined angular range formed by the surface of the workpiece W to be machined and the rotation axis I1 of the rotary tool 21. This position indicator P6 is displayed in a rectangular shape (dash-dotted line) that has a predetermined angular range centered on the rotation axis I1, and the angular range can be set arbitrarily.

[0025] The control device 35 controls each part of the rotary machining support device 10. The control device 35 is connected to the distance measurement sensor 23, the inertial sensor 24, the touch sensor 25, the operation detection sensor 26, and the display unit 31, respectively.

[0026] 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 unit 31 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 FIG. 1. The communication unit 48 is a wireless communication module and acquires detection results output from the distance measurement sensor 23, the inertial sensor 24, the touch sensor 25, and the operation detection sensor 26 via wireless communication.

[0027] As shown in FIG. 1 , the detection information is information detected by the distance measurement sensor 23 and the inertial sensor 24. Specifically, the detection information includes the tilt angle of the rotation axis I1 of the rotary tool 21. The tilt angle includes tilt angles D1 and D2 in two orthogonal directions centered on the rotation axis I1 within a plane perpendicular to the rotation axis I1. The tilt angles D1 and D2 are relative angles of the rotation axis I1 of the rotary tool 21 with respect to the workpiece W, but are not particularly limited thereto. For example, the angles of the workpiece W and the rotation axis I1 of the rotary tool 21 with respect to the absolute coordinates may be derived, and the angle of the rotation axis I1 of the rotary tool 21 with respect to the workpiece W may also be derived. The detection information also includes the amount of movement in the axial direction of the rotation axis I1 of the rotary tool 21. The tilt angles and movement amounts in the two directions are derived based on the detection results of the distance measurement sensor 23 and the inertial sensor 24.

[0028] Next, with reference to FIG. 4, a process for supporting a rotary machining operation by the rotary machining support device 10 will be described. In the rotary machining support device 10, the control device 35 determines whether the operator has touched the trigger of the rotary tool 21 based on the detection result of the touch sensor 25, as 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), the control device 35 measures the distance between the rotary tool 21 and the workpiece W using the multiple distance measuring sensors 23 (step S2). In step S2, distance information measured by the multiple distance measuring sensors 23 is output to the control device 35 via wireless communication. Upon acquiring the distance information, the control device 35 calculates and derives inclination angles D1 and D2 of the rotary tool 21 based on the distance information from the multiple distance measuring sensors 23 (step S3). In addition, in steps S2 and S3, the control device 35 stores the measured information and information such as the derived inclination angles D1 and D2 in the storage unit 47.

[0029] After executing step S3, the control device 35 displays the derived data of the tilt angles D1 and D2 on the display unit 31 (step S4). That is, in step S4, the information included in the notification screen G1 is displayed on the display unit 31. As a result, in step S4, before the operation of the rotary tool 21, the position of the rotary tool 21 with respect to the workpiece W is derived based on the measurement result of the distance measurement sensor 23, and is notified to the operator via the display unit 31.

[0030] The control device 35 determines whether the rotary tool 21 and the workpiece W have a predetermined positional relationship (step S5). In step S5, the predetermined positional relationship is determined by determining whether the rotation axis I1 of the rotary tool 21 is perpendicular to the machining surface of the workpiece W, that is, whether the tilt angle is perpendicular. In step S5, if the control device 35 determines that the tilt angle is perpendicular (step S5: Yes), it notifies the worker via the display unit 31 that the tilt angle is perpendicular (step S5: No). On the other hand, if the control device 35 determines that the tilt angle is not perpendicular (step S5: No), it notifies the worker via the display unit 31 that the tilt angle is not perpendicular (step S5b). The worker visually checks the display unit 31, determines that the operation of the rotary tool 21 should be started, and operates the trigger of the rotary tool 21 to an actuated state. Then, the control device 35 detects that the operation detection sensor 26 has been turned on (step S6).

[0031] Subsequently, after the detection in step S6, the control device 35 measures the deviation of the position of the rotary tool 21 using the inertial sensor 24 (gyro sensor) (step S7). In step S7, deviation information of the deviation measured by the inertial sensor 24 is output to the control device 35 via wireless communication. Upon acquiring the deviation information, the control device 35 derives the position P5 of the rotary tool 21 by taking into account the deviation from position P1 (reference position) based on the deviation information, and derives the tilt angles D1 and D2 of the rotary tool 21 by calculation. In addition, in step S7, the control device 35 stores the measured information and information such as the derived tilt angles D1 and D2 in the memory unit 47.

[0032] After executing step S7, the control device 35 displays the derived data of the tilt angles D1 and D2 on the display unit 31 (step S8). That is, in step S8, the information included in the notification screen G2 is displayed on the display unit 31. As a result, in step S8, after the operation of the rotary tool 21, the position of the rotary tool 21 with respect to the workpiece W is derived based on the measurement result of the inertial sensor 24, and the position is notified to the operator via the display unit 31.

[0033] Next, the control device 35 determines whether the operation detection sensor 26 has been turned OFF (step S9). The operator releases the trigger operation of the rotary tool 21, and the control device 35 determines that the operation detection sensor 26 has been turned OFF (step S9: Yes). If the control device 35 determines that the operation detection sensor 26 has been turned OFF, it stops storing (recording) the information measured by the distance measurement sensor 23 and the inertial sensor 24 and the derived information such as the tilt angles D1 and D2 in the storage unit 47 (step S10). On the other hand, the operator maintains the trigger operation of the rotary tool 21, and the control device 35 determines that the operation detection sensor 26 has not been turned OFF (step S9: No). If the control device 35 determines that the operation detection sensor 26 has not been turned OFF, the process proceeds to step S7, and the operator repeatedly executes steps S7 to S9 until the rotation processing is completed (the operation detection sensor 26 is turned OFF).

[0034] After executing step S10, the control device 35 displays the various recorded data on either the display unit 31 or another display unit (step S11). Thereafter, the control device 35 associates the various recorded data with images corresponding to the various data, and displays them as evaluation results on either the display unit 31 or another display unit (step S12). The evaluation of the rotary machining work is comprehensively determined based on factors such as the position of the rotary tool 21 relative to the workpiece W. After executing step S12, the control device 35 ends the processing related to supporting the rotary machining work.

[0035] In this embodiment, the position of the rotary tool 21 relative to the workpiece W is measured using multiple distance measuring sensors 23, but this is not particularly limited. The rotary tool 21 may further be provided with a position regulating jig that regulates the position of the rotary tool 21 to a predetermined position relative to the workpiece W. The position regulating jig is a jig that regulates the position of the rotary tool 21 so that the rotation axis I1 of the rotary tool 21 is perpendicular to the machining surface of the workpiece W, for example.

[0036] As described above, the rotary machining support device 10 according to this embodiment can be understood, for example, as follows.

[0037] The rotary machining support device 10 according to the first aspect includes a rotary tool 21 that performs rotary machining on a workpiece W that is provided in a narrow portion, a distance measurement sensor 23 that measures the distance between the rotary tool 21 and the workpiece W, an inertial sensor 24 that measures the deviation of the rotary tool 21 from a predetermined position, an operation detection sensor 26 that detects the operation of the rotary tool 21, a notification unit (display unit 31) that notifies an operator performing rotary machining, and a control unit 46 that executes processing based on the distance measurement sensor 23, the inertial sensor 24, and the operation detection sensor 26, and the control The control unit 46 executes the following steps before the operation of the rotary tool 21: step S4 of deriving the position of the rotary tool 21 relative to the workpiece W based on the measurement results of the distance measurement sensor 23 and notifying the same via the notification unit; step S6 of determining whether the rotary tool 21 has operated based on the detection results of the operation detection sensor 26; and step S8 of deriving the position of the rotary tool 21 relative to the workpiece W based on the measurement results of the inertial sensor 24 and notifying the same via the notification unit if it is determined that the rotary tool 21 has operated.

[0038] According to this configuration, even in a narrow area, the notification unit can notify the worker of the position of the rotary tool 21 relative to the workpiece W, thereby providing suitable support for the worker's work related to rotary machining.

[0039] In a second aspect, the notification unit is a display unit 31, and predetermined position indicators P2 and P6 indicating that rotational processing is appropriate are set at the position of the rotary tool 21, and the control unit 46 displays the derived positions P1 and P5 of the rotary tool 21 together with the position indicators P2 and P6 on the display unit 31.

[0040] According to this configuration, it is possible to easily visually determine whether the positions P1, P5 of the rotary tool 21 are appropriate.

[0041] As a third aspect, the rotary tool 21 further includes a position regulating jig that is provided on the rotary tool 21 and regulates the position of the rotary tool 21 relative to the workpiece W to a predetermined position.

[0042] According to this configuration, the position of the rotary tool 21 relative to the workpiece W can be restricted to a predetermined position by the position restricting jig, and therefore the worker's work relating to rotary machining can be more suitably supported.

[0043] As a fourth aspect, a storage unit 47 that stores the measurement results of the distance measurement sensor 23 and the detection results of the inertial sensor 24 as detection information, and an output unit (display unit 31) that outputs the detection information are provided.

[0044] According to this configuration, the rotary machining operation can be evaluated after the rotary machining operation has been completed. [Explanation of symbols]

[0045] 10 Rotational processing support device 21 Rotation Tool 23 Distance measurement sensor 24 Inertial Sensor 25 Touch Sensor 26 Operation detection sensor 31 Display section 35 Control device 46 Control Unit 47 Memory section 48 Communications Department W Object

Claims

1. a rotary tool that performs rotary processing on an object to be processed and is provided in the narrow space; a distance measuring sensor that measures the distance between the rotary tool and the object; an inertial sensor that measures a deviation of the rotary tool relative to a predetermined position; an operation detection sensor that detects operation of the rotary tool; a touch sensor that detects the start of an operation of the rotary tool; a notification unit that notifies an operator performing the rotary processing; a control unit that executes processing based on the distance measurement sensor, the inertial sensor, the operation detection sensor, and the touch sensor, The control unit When the touch sensor detects the start of an operation before the operation of the rotary tool, the tilt angle of the rotary tool with respect to the object is derived based on the measurement result of the distance measuring sensor, and the notification unit notifies the tilt angle. determining whether the rotary tool has been operated based on a detection result of the operation detection sensor; and when it is determined that the rotary tool has been activated, deriving the tilt angle of the rotary tool relative to the workpiece based on the measurement results of the inertial sensor and notifying the tilt angle by the notification unit.

2. the notification unit is a display unit, A predetermined position index that indicates that rotation processing is appropriate is set for the tilt angle of the rotary tool, The rotary machining support device according to claim 1 , wherein the control unit displays the derived tilt angle of the rotary tool and the position index together on the display unit.

3. The rotary machining support device according to claim 1 or 2, further comprising a position regulating jig provided on the rotary tool for regulating an inclination angle of the rotary tool with respect to the workpiece to a predetermined position.

4. a storage unit that stores the measurement results of the distance measuring sensor and the detection results of the inertial sensor as detection information; The rotary machining support device according to claim 1 , further comprising: an output unit that outputs the detection information.

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