Electric tool and tool system equipped with same

Abstract

The purpose of the present disclosure is to reduce the possibility that work is performed in an inappropriate posture with respect to a work object. An electric tool (10) according to the present disclosure comprises a tool body, an output shaft, a tip tool, a detection unit (111), a determination unit (112), and a notification unit (113). The tool body is held by a robotic arm. The output shaft is rotatably supported on the tool body. The output shaft rotates in response to the rotation of a motor. The tip tool can be attached to the output shaft. The detection unit (111) detects the orientation of the output shaft in a state where the output shaft has moved to a work position as a result of movement of the robotic arm. The determination unit (112) determines the inclination angle of the orientation of the output shaft, which has been detected by the detection unit (111), with respect to the setting direction at the work position. The notification unit (113) notifies the result of the determination made by the determination unit (112).

Description

Power tool and tool system including the same

[0001] The present disclosure relates to a power tool and a tool system including the same. More particularly, the present disclosure relates to a power tool held by a robot arm and a tool system including the same.

[0002] Patent Document 1 discloses an automatic hole-punching device that includes an end effector for punching holes and an industrial robot that holds the end effector on its arm.

[0003] Patent Document 1 describes a technique called direct teaching, in which an operator teaches an industrial robot by holding and moving the arm of the industrial robot. If the orientation of the end effector held by the arm of the industrial robot is tilted relative to the direction of drilling during teaching, the robot may not be able to teach correctly. Furthermore, if the orientation of the end effector is tilted relative to the direction of drilling during teaching, the robot may be performing the work in an inappropriate posture relative to the work object.

[0004] Japanese Utility Model Application Laid-Open Publication No. 4-51315

[0005] An object of the present disclosure is to provide a power tool that can reduce the possibility of performing work in an inappropriate posture relative to a work object, and a tool system that includes the power tool.

[0006] An electric power tool according to one aspect of the present disclosure includes a tool body, an output shaft, a tool tip, a detection unit, a determination unit, and a notification unit. The tool body is held by a robot arm. The output shaft is rotatably supported by the tool body and rotates in response to rotation of a motor. The tool tip is attachable to the output shaft. The detection unit detects the orientation of the output shaft when the output shaft is moved to a work position by moving the robot arm. The determination unit determines the inclination angle of the orientation of the output shaft detected by the detection unit with respect to a set direction at the work position. The notification unit notifies the determination result of the determination unit.

[0007] A tool system according to one aspect of the present disclosure includes the power tool and a robot having an articulated robot arm, the power tool being held by the robot arm.

[0008] An electric power tool according to one aspect of the present disclosure includes a tool body, an output shaft, a tool bit, a detection unit, a determination unit, and a notification unit. The output shaft is rotatably supported by the tool body and rotates in response to rotation of a motor. The tool bit is attachable to the output shaft. The detection unit detects the orientation of the output shaft when the tool bit is positioned at a work position. The determination unit determines the inclination angle of the orientation of the output shaft detected by the detection unit with respect to a set direction at the work position. The notification unit notifies the user of the determination result of the determination unit.

[0009] FIG. 1 is a schematic block diagram of a tool system including a power tool according to a first embodiment of the present disclosure. FIG. 2 is an external perspective view of a robot to which the power tool is attached. FIG. 3 is a sequence diagram illustrating the operation of the tool system. FIG. 4 is a side view showing the posture of the power tool when performing direct teaching in the tool system. FIG. 5 is a side view showing the working state of a tool system of a comparative example. FIG. 6 is a side view showing the posture of the power tool when performing direct teaching in the tool system. FIG. 7 is a side view showing the posture of the power tool when performing direct teaching in the tool system. FIG. 8 is a side view showing the working posture using the power tool according to a second embodiment of the present disclosure. FIG. 9 is a side view showing the working posture using the power tool.

[0010] Hereinafter, power tools and tool systems according to embodiments will be described in detail with reference to the drawings. However, the drawings described in the following embodiments are schematic diagrams, and the dimensional ratios of the sizes of the components do not necessarily reflect the actual dimensional ratios. Furthermore, the configurations described in the following embodiments are merely examples of the present disclosure. The present disclosure is not limited to the following embodiments, and various modifications are possible depending on the design, etc., as long as the effects of the present disclosure can be achieved.

[0011] (First Embodiment) (1) Overview Fig. 1 is a schematic block diagram of a tool system 100 including a power tool 10 according to this embodiment. Fig. 2 is a perspective view showing an external appearance of a robot 50 that holds the power tool 10.

[0012] The power tool 10 includes a tool body 21 , an output shaft 22 , a tool tip 23 (see FIG. 5 ), a detection unit 111 , a determination unit 112 , and a notification unit 113 .

[0013] The tool body 21 is held by a robot arm 51 .

[0014] The output shaft 22 is rotatably supported by the tool body 21. The output shaft 22 rotates in response to the rotation of the motor M1 (see FIG. 4).

[0015] The tool bit 23 can be attached to the output shaft 22 .

[0016] The detection unit 111 detects the orientation of the output shaft 22 when the output shaft 22 is moved to the working position by the movement of the robot arm 51 .

[0017] The determination unit 112 determines the inclination angle of the direction of the output shaft 22 detected by the detection unit 111 with respect to the set direction at the work position.

[0018] The notification unit 113 notifies the determination result of the determination unit 112 .

[0019] Here, the working position refers to the position of the output shaft 22 when the tool bit 23 attached to the output shaft 22 is ready to perform a task on a work object. The working position is not limited to the position of the output shaft 22 when the tool bit 23 is in contact with the work object, but may also include the position of the output shaft 22 when the tool bit 23 is moved slightly toward the work object to perform a task. The state in which the output shaft 22 is moved to the working position by moving the robot arm 51 refers to, for example, a state in which an operator moves the robot arm 51 by hand to move the output shaft 22 to the working position when teaching a robot 50 having the robot arm 51. Note that direct teaching is performed when the tool bit 23 is attached to the output shaft 22, but may also be performed when the tool bit 23 is not attached to the output shaft 22. Furthermore, the orientation of the output shaft 22 refers to the direction along the axial direction of the output shaft 22, that is, the direction in which the tip of the output shaft 22 is facing. Furthermore, teaching may be performed by remote control, such as by specifying coordinates using the operation unit 57.

[0020] In the power tool 10 of this embodiment, the detection unit 111 detects the orientation of the output shaft 22 while the output shaft 22 is moved to the work position by moving the robot arm 51, and the determination unit 112 determines the tilt angle of the orientation of the output shaft 22 with respect to the set direction. The notification unit 113 then notifies the user of the determination result of the determination unit 112, thereby reducing the possibility that the output shaft 22 of the power tool 10 held by the robot arm 51 will deviate from the set direction during teaching work. Therefore, it is possible to provide a power tool 10 that reduces the possibility that an inappropriate posture will be taught to the robot 50 during teaching work, and that reduces the possibility of working in an inappropriate posture relative to a work target.

[0021] The tool system 100 also includes the power tool 10 and a robot 50 having an articulated robot arm 51, and the power tool 10 is held by the robot arm 51.

[0022] The tool system 100 includes the power tool 10, and therefore can reduce the possibility that the output shaft 22 of the power tool 10 held by the robot arm 51 will deviate from the set direction when teaching the robot 50. Therefore, the tool system 100 can reduce the possibility that work will be performed in an inappropriate posture relative to the work target.

[0023] (2) Details The power tool 10 and the tool system 100 according to this embodiment will be described in detail below with reference to the drawings.

[0024] (2.1) Configuration As described above, the tool system 100 includes the power tool 10 and the robot 50. The tool system 100 of this embodiment further includes a receiver 30, a centralized control unit 40, and a control device 60.

[0025] Here, the robot 50 is, for example, an industrial robot installed in a factory. The power tool 10 is held by a robot arm 51 of the robot 50. The power tool 10 is a tool that performs tightening work, for example, tightening a fastening member such as a bolt on a work object. Because the power tool 10 is held by the articulated robot arm 51, it can perform tightening work on the work object from any direction.

[0026] The power tool 10, the robot 50, the receiver 30, the centralized control unit 40, and the control device 60 included in the tool system 100 will be described in detail below with reference to the drawings.

[0027] (2.1.1) Robot The robot 50 is, for example, an industrial robot that performs a tightening operation of tightening a tightening member such as a bolt onto a workpiece W1 that is a work target (see FIG. 2).

[0028] As shown in FIG. 2, the robot 50 is installed on a workbench 500, and performs a tightening operation on a workpiece W1 placed on the upper surface of the workbench 500. The robot 50 has an articulated robot arm 51. The robot arm 51 has, for example, six degrees of freedom. The robot arm 51 has six arms 511 to 516, which are rotatably connected via joints. Motors are incorporated in the joints, and the arms 511 to 516 are configured to rotate individually by rotating the motors.

[0029] 1, the robot 50 includes a control unit 52, a communication unit 53, a posture detection unit 54, a load detection unit 55, and an arm drive unit 56. The robot 50 also includes an operation unit 57.

[0030] The control unit 52 mainly comprises a computer system having one or more processors and a memory. The functions of the control unit 52 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0031] The communication unit 53 can communicate with the second communication unit 16 of the power tool 10 via wired communication or wireless communication.

[0032] The attitude detection unit 54 includes, for example, a plurality of rotary encoders that detect the rotation angles of the arms 511 to 516 of the robot arm 51, and a plurality of angular velocity sensors that detect the angular velocity of each of the arms 511 to 516. The attitude detection unit 54 detects the position, orientation, etc. of the arm 516 at the tip based on the detection results of the plurality of rotary encoders and the detection results of the plurality of angular velocity sensors, for example.

[0033] The load detection unit 55 includes, for example, a force sensor attached to the tip arm 516 and detects the magnitude of the load applied to the tip arm 516 or the impact force applied to the tip arm 516 .

[0034] The arm driving unit 56 includes a plurality of motors that rotate the arms 511 to 516, respectively, and a plurality of driver circuits that drive the plurality of motors, respectively. The arm driving unit 56 rotates the plurality of motors based on a control command input from the control unit 52, thereby moving the arm 516 at the tip to a position specified by the control command.

[0035] The operation unit 57 includes an interface device such as an operation button or a touch panel provided on the robot 50. The operation unit 57 receives operation information input by the user and outputs it to the control unit 52.

[0036] (2.1.2) Control Device The control device 60 controls the operation of the robot 50. The control device 60 is installed, for example, in a factory where the robot 50 to be controlled is installed.

[0037] The control device 60 includes a control unit 61 , a communication unit 62 , and a storage unit 63 .

[0038] The communication unit 62 can communicate with the communication unit 53 of the robot 50 and the communication unit 42 of the centralized control unit 40 via wired communication or wireless communication.

[0039] The memory unit 63 stores information such as the work position where the robot 50 performs work on the work object and posture information related to the posture of the robot arm 51 at the work position. The posture information related to the posture of the robot arm 51 includes, for example, information such as the position and orientation of the arm 516 to which the power tool 10 is attached. If there are multiple work positions for the workpiece on which the robot 50 performs work, the memory unit 63 stores posture information related to the posture of the robot arm 51 at each of the multiple work positions. Furthermore, if the robot 50 performs work on multiple types of workpieces W1, posture information related to the posture of the robot arm 51 may be stored for each of the multiple types of workpieces W1.

[0040] The control unit 61 controls the operation of the robot 50 to cause the power tool 10 held by the robot 50 to perform work on a work object. Based on the work position and the posture information of the robot arm 51 at the work position stored in the memory unit 63, the control unit 61 moves the power tool 10 to the work position and causes the power tool 10 to perform work on the work object.

[0041] (2.1.3) Power tool The power tool 10 includes a processing unit 11, an inclination sensor 12, a torque sensor 13, a tool driving unit 14, a first communication unit 15, a second communication unit 16, an alarm unit 17, and a power supply unit 18, and the tool driving unit 14 includes a motor M1.

[0042] The power tool 10 includes a tool body 21 that houses a processing unit 11, an inclination sensor 12, a torque sensor 13, a tool drive unit 14, a first communication unit 15, a second communication unit 16, a notification unit 17, and a power supply unit 18. The tool body 21 is formed in the shape of an elongated rectangular tube. The tool body 21 is attached to an arm 516 at the tip of a robot arm 51 of a robot 50. An output shaft 22 protrudes from one end face in the longitudinal direction of the tool body 21. The output shaft 22 is held in a rotatable state relative to the tool body 21.

[0043] The first communication unit 15 is capable of communicating with the first communication unit 32 of the receiver 30 via a wireless communication system.

[0044] The second communication unit 16 is capable of communicating with the communication unit 53 of the robot 50 via wired communication or wireless communication.

[0045] The processing unit 11 is mainly composed of a computer system having one or more processors and a memory. The functions of the processing unit 11 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0046] The processing unit 11 has the functions of the above-mentioned detection unit 111, determination unit 112, and notification unit 113. The processing unit 11 also has the functions of a torque calculation unit 114 and a tool control unit 115. Note that the detection unit 111, determination unit 112, notification unit 113, torque calculation unit 114, and tool control unit 115 merely indicate functions realized by the processing unit 11, and do not necessarily indicate actual configurations.

[0047] The tilt sensor 12 includes, for example, a three-axis acceleration sensor housed inside the tool body 21. The tilt sensor 12 detects the gravitational acceleration acting on the tool body 21, thereby being able to detect the tilt angle of the tool body 21 with respect to the direction of gravity.

[0048] The detection unit 111 detects the orientation of the output shaft 22 based on the detection result of the tilt sensor 12 in a state where the output shaft 22 is moved to a working position by, for example, moving the robot arm 51 .

[0049] The determination unit 112 compares the orientation of the output shaft 22 detected by the detection unit 111 with the set orientation of the output shaft 22 at the work position to determine the inclination angle θ1 of the output shaft 22 with respect to the set orientation, and determines whether the magnitude of the inclination angle θ1 is equal to or smaller than the allowable angle. That is, the determination unit 112 determines whether the magnitude of the inclination angle θ1 is equal to or smaller than the allowable angle. The allowable angle is, for example, a value (e.g., 3 degrees) that can be considered an error, but the value of the allowable angle can be changed as appropriate.

[0050] The notification unit 113 performs processing to notify the determination result of the determination unit 112. The notification unit 113 outputs an informing command according to the determination result of the determination unit 112 to the informing unit 17, causing the informing unit 17 to perform an informing operation.

[0051] The alarm unit 17 issues an alarm using sound or light in response to an alarm command from the notification unit 113. The alarm unit 17 includes, for example, a buzzer 171 housed inside the tool body 21 and an indicator light 172 visibly arranged on the surface of the tool body 21. The indicator light 172 includes, for example, an LED capable of emitting light in two colors, red and green. The notification unit 113 changes the type of sound emitted by the buzzer 171 and the light color of the indicator light 172 depending on whether the magnitude of the tilt angle θ1 is equal to or smaller than the allowable angle or the magnitude of the tilt angle θ1 exceeds the allowable angle.

[0052] For example, when the tilt angle θ1 is equal to or smaller than the allowable angle, the notification unit 113 shortens the time interval at which the buzzer 171 continuously emits a sound compared to when the tilt angle θ1 exceeds the allowable angle. Here, the notification unit 113 may gradually shorten the time interval at which the buzzer 171 emits a sound as the tilt angle θ1 increases, allowing the magnitude of the tilt angle θ1 to be determined from the time interval between sounds emitted by the buzzer 171. In this manner, in this embodiment, the notification unit 113 notifies the operator of the determination result of the determination unit 112 by sound, allowing the operator to auditorily grasp the determination result of the determination unit 112. Furthermore, the notification unit 113 changes the manner of the sound output depending on the magnitude of the tilt angle θ1, allowing the operator to grasp the magnitude of the tilt angle from the manner of the sound. The manner of the sound output may be, for example, the time interval between successive sounds, but may also be the tone or volume of the sound.

[0053] Furthermore, for example, the notification unit 113 illuminates the indicator light 172 in green when the tilt angle θ1 is equal to or smaller than the allowable angle, and illuminates the indicator light 172 in red when the tilt angle θ1 exceeds the allowable angle. In this way, the notification unit 113 notifies the operator of the determination result of the determination unit 112 using light, allowing the operator to visually grasp the determination result of the determination unit 112. The notification unit 113 may change the manner of the light output depending on the magnitude of the tilt angle θ1. For example, the notification unit 113 may change the time interval at which the indicator light 172 blinks depending on the magnitude of the tilt angle θ1, and may shorten the time interval at which the indicator light 172 blinks when the tilt angle θ1 exceeds the allowable angle compared to when the tilt angle θ1 is equal to or smaller than the allowable angle. The notification unit 113 may gradually shorten the time interval at which the indicator light 172 blinks as the tilt angle θ1 increases, allowing the operator to determine the magnitude of the tilt angle θ1 based on the time interval at which the indicator light 172 blinks.

[0054] The torque sensor 13 detects the torque applied to the output shaft 22 when, for example, a tightening operation of a tightening member is performed using the power tool 10 .

[0055] The torque calculation unit 114 calculates the tightening torque of the tightening member by the tool bit 23 based on the detection result of the torque sensor 13 .

[0056] Based on the tightening torque calculation result by the torque calculation unit 114, the tool control unit 115 generates a control command to control the rotation of the motor M1 so that the tightening torque of the tightening member becomes the set torque, and outputs the generated control command to the tool driving unit 14.

[0057] The tool driving unit 14 includes a motor M1 (see FIG. 4 ) housed in the tool body 21, a drive circuit that drives the motor M1, and a transmission mechanism that transmits the rotational force of the motor M1 to the output shaft 22. The tool driving unit 14 rotates the motor M1 in response to a control command from the tool control unit 115, thereby rotating the tool tip 23 attached to the output shaft 22.

[0058] The power supply unit 18 receives power from an external power supply 90 such as a commercial AC power supply and generates an operating voltage for the power tool 10 .

[0059] (2.1.4) Receiver The receiver 30 is installed in a location where wireless communication with the first communication unit 15 of the power tool 10 is possible. The receiver 30 has a function of relaying communication between the power tool 10 and the centralized control unit 40.

[0060] The receiver 30 includes a control unit 31 , a first communication unit 32 , and a second communication unit 33 .

[0061] The first communication unit 32 is capable of communicating with the first communication unit 15 of the power tool 10 via wireless communication.

[0062] The second communication unit 33 is capable of communicating with the communication unit 42 of the centralized control unit 40 via a network NT such as the Internet or a LAN.

[0063] The control unit 31 mainly comprises a computer system having one or more processors and a memory. The functions of the control unit 31 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0064] When the first communication unit 32 receives a signal from the power tool 10, the control unit 31 causes the second communication unit 33 to transmit the signal from the power tool 10 to the centralized management unit 40. When the second communication unit 33 receives a signal from the centralized management unit 40, the control unit 31 causes the first communication unit 32 to transmit the signal from the centralized management unit 40 to the power tool 10.

[0065] (2.1.5) Centralized Control Unit The centralized control unit 40 manages the power tool 10. Here, managing the power tool 10 includes at least one of managing the work content of the work using the power tool 10 and managing the operating status of the power tool 10. Managing the work content includes at least one of setting a tightening torque setting for the power tool 10 and acquiring work result information related to the work results of the work performed by the power tool 10 on the work target (e.g., the actual tightening torque value, the rotation speed during the tightening work, etc.). Managing the operating status of the power tool 10 also includes at least one of measuring the operating time of the power tool 10, notifying the power tool 10 when maintenance is required, and accumulating error signals output by the power tool 10 to notify of abnormalities.

[0066] The centralized management unit 40 includes a control unit 41 , a communication unit 42 , and a storage unit 43 .

[0067] The communication unit 42 is configured to be able to communicate with the second communication unit 33 of the receiver 30 and the communication unit 62 of the control device 60 via wired communication or wireless communication.

[0068] The storage unit 43 includes an internal memory such as a random access memory (RAM), a read-only memory (ROM), or an electrically erasable programmable read-only memory (EEPROM), and an external storage device such as a hard disk drive or an SSD. The storage unit 43 stores setting information such as a tightening torque setting value to be set in the power tool 10, work result information obtained from the power tool 10, error signals obtained from the power tool 10, etc.

[0069] The control unit 41 mainly comprises a computer system having one or more processors and a memory. The functions of the control unit 41 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0070] The control unit 41 causes the communication unit 42 to transmit the setting information stored in the storage unit 43 to the power tool 10 via the receiver 30, and sets the setting information in the power tool 10. When the communication unit 42 receives work result information from the power tool 10, the control unit 41 causes the storage unit 43 to store the work result information received by the communication unit 42.

[0071] (2.2) Description of Operation The operation of the tool system 100 of this embodiment will be described with reference to FIGS. 2 to 7 . The sequence diagram of FIG. 3 shows the operation in which the operator OP1 of the tool system 100 teaches the robot 50 how to tighten a fastening member, and then causes the robot 50 to perform the tightening operation. Note that the operation of the tool system 100 shown in the sequence diagram of FIG. 3 is an example, and the order of the processes may be changed as appropriate, and processes may be added or omitted as appropriate. Also, although the tool bit 23 is not shown in FIGS. 2 , 4 , 6 , and 7 , the operator OP1 teaches the robot 50 with the tool bit 23 attached to the output shaft 22. Note that the operator OP1 may also teach the robot 50 with the tool bit 23 not attached to the output shaft 22.

[0072] First, the operator OP1 operates the operation unit 57 provided on the robot 50 to input a start command to start the power tool 10 attached to the robot 50 (step ST1). When the start command is input from the operation unit 57, the control unit 52 executes a start process (step ST2) and transmits the start command from the communication unit 53 to the power tool 10 (step ST3).

[0073] When the second communication unit 16 of the power tool 10 receives the start command from the robot 50, the processing unit 11 performs a start process in response to the start command (step ST4). When the start process is completed, the processing unit 11 causes the first communication unit 15 to transmit a start notification signal indicating the completion of start to the centralized control unit 40 via the receiver 30 (step ST5).

[0074] When the communication unit 42 of the centralized management unit 40 receives the start-up notification signal via the receiver 30, the control unit 41 causes the communication unit 42 to transmit a reception completion signal to the power tool 10 via the receiver 30, notifying that reception of the start-up notification signal has been completed (step ST6).

[0075] Thereafter, when the operator OP1 operates the operation unit 57 provided on the robot 50 to instruct the start of the teaching work (step ST7), the control unit 52 of the robot 50 changes the operation mode of the robot 50 to the teaching mode (step ST8), stops the arm driving unit 56, and makes the robot arm 51 operable by hand by the operator OP1.

[0076] Furthermore, when the operator OP1 operates the operation unit 57 to input a mode switching instruction to switch the operation mode of the power tool 10 to the attitude notification mode (step ST9), the control unit 52 causes the communication unit 53 to transmit the mode switching instruction to the power tool 10. When the second communication unit 16 of the power tool 10 receives the mode switching instruction to the attitude notification mode from the robot 50, the processing unit 11 switches the operation mode to the attitude notification mode (step ST10). Here, based on a switching signal input from an external source, the processing unit 11 switches the operation mode to either the attitude notification mode in which the notification unit 113 provides notification or the silent mode in which notification by the notification unit 113 is stopped. The processing unit 11 can switch to the silent mode when notification by the notification unit 113 is not required. Note that the switching signal input from an external source is, for example, a mode switching instruction input by the operator OP1 using the operation unit 57, but the switching signal may also be a signal input from the robot 50 or the centralized management unit 40.

[0077] Next, the processing unit 11 causes the first communication unit 15 to transmit a transmission request for requesting transmission of the set direction of the output shaft 22 to the receiver 30, and this transmission request is transmitted from the receiver 30 to the centralized control unit 40 (step ST11). When the communication unit 42 of the centralized control unit 40 receives the transmission request from the power tool 10, the control unit 41 causes the communication unit 42 to transmit setting information regarding the set direction at the work position to the receiver 30, and this setting information is transmitted from the receiver 30 to the power tool 10 (step ST12).

[0078] When the processing unit 11 of the power tool 10 switches the operation mode to the attitude notification mode, the processing unit 11 outputs a notification command to the notification unit 17 from the notification unit 113 to notify that the operation mode has been switched to the attitude notification mode. The notification unit 17 notifies that the operation mode has been switched to the attitude notification mode by, for example, making the buzzer 171 emit a sound corresponding to the notification command or by making the indicator light 172 blink in a blinking pattern corresponding to the notification command.

[0079] When the operator OP1 confirms that the power tool 10 has switched to the attitude notification mode, he or she manually moves the robot arm 51 to move the output shaft 22 of the power tool 10 attached to the arm 516 to the work position, thereby performing a teaching operation to teach the work position to the robot 50 (step ST13). In the attitude notification mode, the detection unit 111 of the power tool 10 detects the orientation of the output shaft 22. The determination unit 112 then calculates the inclination angle θ1 of the orientation of the output shaft 22 detected by the detection unit 111 with respect to the set direction, and determines whether the magnitude of the inclination angle θ1 is equal to or smaller than the allowable angle. The notification unit 113 then performs a notification process to notify the robot 50 of the determination result of the determination unit 112.

[0080] 4 and 6 show a state in which a work position P1 for fastening a clamping member B1 to a workpiece W1 is being taught to the robot 50. The set direction DR1 at this work position P1 is vertically downward. Fig. 4 shows a state in which the tilt angle θ1 of the direction DR2, which is the direction of the output shaft 22, with respect to the set direction DR1 exceeds the allowable angle, and Fig. 6 shows a state in which the direction DR2, which is the direction of the output shaft 22, coincides with the set direction DR1, i.e., a state in which the tilt angle θ1 is zero.

[0081] The detection unit 111 detects the direction DR2, which is the orientation of the output shaft 22, based on the detection result of the tilt sensor 12, and the determination unit 112 determines the tilt angle θ1 of the direction DR2 of the output shaft 22 with respect to the set direction DR1. The determination unit 112 determines, for example, whether the magnitude of the tilt angle θ1 is equal to or smaller than an allowable angle (e.g., 3 degrees), and the notification unit 113 outputs a notification command to the notification unit 17 according to the determination result of the determination unit 112.

[0082] When the determination unit 112 determines that the tilt angle θ1 exceeds the allowable angle, the notification unit 113 outputs a notification command to the notification unit 17 to notify that the posture of the power tool 10 is poor. At this time, the buzzer 171 sounds continuously, for example, at a cycle T1, and the indicator light 172 lights up, for example, in red.

[0083] On the other hand, if the determination unit 112 determines that the tilt angle θ1 is equal to or smaller than the allowable angle, the notification unit 113 outputs a notification command to the notification unit 17 to notify that the posture of the power tool 10 is good. At this time, the buzzer 171 sounds continuously with a cycle T2 longer than the cycle T1, and the indicator light 172 lights up in green, for example.

[0084] The operator OP1 can determine whether the posture of the power tool 10 at the work position P1 is good or bad based on the buzzer sound emitted by the buzzer 171 and the light color of the indicator light 172, and can adjust the orientation of the arm 516 of the robot arm 51 so that the posture of the power tool 10 is determined to be good.

[0085] If the posture of the power tool 10 is incorrect when the robot 50 is taught the work position P1, when the robot 50 actually performs work at the work position P1, the work will be performed in a state where the inclination angle θ1 of the direction DR2 of the output shaft 22 relative to the set direction DR1 exceeds the allowable angle (see FIG. 5 ). In the example of FIG. 5 , a holder 24 is attached to the output shaft 22 of the power tool 10, and a tool tip 23 such as a socket is attached to this holder 24 via a coil spring 25. If the inclination angle θ1 of the direction DR2 of the output shaft 22 relative to the set direction DR1 exceeds the allowable angle, when the robot arm 51 attempts to move the power tool 10 upward after performing the tightening work on the tightening member B1, the tool tip 23 may get caught on the tightening member B1, generating an excessive reaction force. This may cause the robot 50 to detect the excessive reaction force and stop.

[0086] In the tool system 100 of this embodiment, the orientation of the power tool 10 can be adjusted so that the tilt angle θ1 of the direction DR2 of the output shaft 22 relative to the set direction DR1 is equal to or less than the allowable angle at the work position P1. Therefore, after performing the tightening operation on the clamping member B1, the robot arm 51 can move the power tool 10 upward to smoothly remove the tool bit 23 from the clamping member B1. This reduces the possibility of the robot 50 stopping due to excessive reaction force generated when removing the tool bit 23 from the clamping member B1.

[0087] When the determination unit 112 determines that the magnitude of the tilt angle θ1 is equal to or less than the allowable angle as a result of the operator OP1 manually moving the robot arm 51 at the work position P1, the operator OP1 operates the operation unit 57 to input that the teaching work at this work position P1 has been completed. As a result, notification information notifying that the teaching work at the work position P1 has been completed is input from the operation unit 57 to the control unit 52 (step ST14), and the control unit 52 outputs posture information indicating the posture of the robot arm 51 at this time (for example, information on the position and orientation of the arm 516) from the communication unit 53 to the control device 60 and the power tool 10 (step ST15).

[0088] When the communication unit 62 of the control device 60 receives the posture information of the robot arm 51 at the work position P1 from the robot 50, the control unit 61 stores the received posture information in the storage unit 63. As a result, when the robot 50 performs work on a work object at the work position P1, the control device 60 controls the posture of the robot arm 51 at the work position based on the posture information stored in the storage unit 63, so that the robot 50 can perform work on the work object in an appropriate posture.

[0089] When the second communication unit 16 of the power tool 10 receives the posture information, the processing unit 11 causes the first communication unit 15 to transmit the posture information to the centralized control unit 40 via the receiver 30 (step ST16). When the communication unit 42 of the centralized control unit 40 receives the posture information from the power tool 10, the control unit 41 associates the received posture information with information about the work position P1 and stores the information in the memory unit 43 (step ST17). Since the posture information at the work position P1 is stored in the memory unit 43 of the centralized control unit 40, when the robot 50 performs work on a work object at the work position P1, the orientation of the output shaft 22 of the power tool 10 detected by the detection unit 111 can be compared with the posture information at the work position P1 stored in the memory unit 43 to determine whether the posture of the power tool 10 is good or bad when actually performing work.

[0090] When the operator OP1 performs teaching work at another work position, the operator OP1 issues an instruction to start the teaching work at the other work position using the operation unit 57. When the instruction to start the teaching work at the other work position is input, the control unit 52 of the robot 50 outputs a start notification notifying the start of the teaching work at the other work position from the communication unit 53 to the power tool 10. When the processing unit 11 of the power tool 10 receives the start notification via the second communication unit 16, it acquires the set direction of the output shaft 22 at the other work position from the centralized control unit 40 (the processing of steps ST11 and ST12 described above).

[0091] When the operator OP1 manually moves the robot arm 51 to another work position and adjusts the orientation of the output shaft 22 of the power tool 10, the detection unit 111 detects the orientation of the output shaft 22, the determination unit 112 determines the tilt angle θ1 of the output shaft 22 with respect to the set direction, and the notification unit 113 notifies the user of the determination result. Based on the notification operation of the notification unit 17, the operator OP1 adjusts the orientation of the power tool 10 so that the tilt angle θ1 is equal to or smaller than the allowable angle even at the other work position (the process of step ST13 described above).

[0092] When the teaching operation at the other work position is completed, the operator OP1 operates the operation unit 57 to input that the teaching operation at the other work position has been completed. This causes the operation unit 57 to input notification information notifying the control unit 52 that the teaching operation at the other work position has been completed, and the control unit 52 outputs posture information indicating the posture of the robot arm 51 at this time from the communication unit 53 to the control device 60 and the power tool 10. When the communication unit 62 of the control device 60 receives the posture information of the robot arm 51 at the other work position from the robot 50, the control unit 61 stores the received posture information in the memory unit 63. Furthermore, when the second communication unit 16 of the power tool 10 receives the posture information, the processing unit 11 causes the first communication unit 15 to transmit the posture information to the centralized control unit 40 via the receiver 30. The control unit 41 of the centralized control unit 40 associates the received posture information with the work position information and stores it in the memory unit 43.

[0093] Then, when the teaching work at all the work positions is completed, the operator OP1 inputs the fact that the teaching work at all the work positions is completed by operating the operation unit 57. As a result, notification information notifying that the teaching work at all the work positions is completed is input from the operation unit 57 to the control unit 52 (step ST18), and the control unit 52 ends the teaching mode (step ST19).

[0094] Next, when the operator operates the operation unit 57 to input a command to end the attitude notification mode, operation information instructing the controller 52 to end the attitude notification mode is input from the operation unit 57 to the controller 52 (step ST20). When the operation information instructing the controller 52 to end the attitude notification mode is input from the operation unit 57, the controller 52 transmits an end command instructing the controller 52 to end the attitude notification mode from the communication unit 53 to the power tool 10 (step ST21). When the second communication unit 16 of the power tool 10 receives the end command from the robot 50, the processor 11 switches from the attitude notification mode to the non-notification mode (step ST22), and the process in which the notifier 113 notifies the determination result of the determiner 112 is terminated.

[0095] When the teaching mode is ended and work is to be performed on a work object at one or more work positions, the operator OP1 operates the operation unit 57 to input task information related to the work (task) to be performed by the robot 50 (step ST23). When the task information is input from the operation unit 57 to the control unit 52 of the robot 50, the task information related to the work to be performed is set in memory (step ST24).

[0096] Thereafter, when the operator operates the operation unit 57 to input an execution command instructing execution of the task, the operation unit 57 inputs the task execution command to the control unit 52 of the robot 50 (step ST25). The control unit 52 controls the robot arm 51 based on the task execution command to move the output shaft 22 of the power tool 10 to the work position (step ST26), and then causes the communication unit 53 to transmit a work command instructing the power tool 10 to perform a tightening operation (step ST27). When the second communication unit 16 of the power tool 10 receives the work command from the robot 50, the tool control unit 115 controls the tool driving unit 14 based on the work command to perform the tightening operation on the work object (step ST28). When the power tool 10 performs the tightening operation on the work object, the torque calculation unit 114 calculates the tightening torque, and the detection unit 111 detects posture information of the power tool 10 during the tightening operation. The processing unit 11 then transmits the tightening torque calculation result and the posture information from the first communication unit 15 to the centralized control unit 40 via the receiver 30 (step ST29). When the communication unit 42 of the centralized control unit 40 receives the tightening torque calculation result and posture information from the power tool 10 via the receiver 30, the control unit 41 stores the received tightening torque calculation result and posture information in the memory unit 43 (step S30), and can manage the history of work performed by the robot 50 equipped with the power tool 10.

[0097] (3) Modifications The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved.

[0098] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations. Hereinafter, the above embodiment may also be referred to as the basic configuration.

[0099] The entity that executes the operations of the power tool 10 and the tool system 100 in the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program stored in the memory of the computer system to realize the functions of the entity that executes the operations of the power tool 10 and the tool system 100 in the present disclosure (e.g., the processing unit 11 or the control unit 52). The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, an optical disk, or a hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integration (VLSI), and ultra-large-scale integration (ULSI). Furthermore, a field-programmable gate array (FPGA), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be employed as a processor. Multiple electronic circuits may be integrated into a single chip or distributed across multiple chips. Multiple chips may be integrated into a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits, including a semiconductor integrated circuit or a large-scale integrated circuit.

[0100] Furthermore, it is not essential for the power tool 10 and the tool system 100 that multiple functions of the power tool 10 and the tool system 100 are integrated into a single housing, and components of at least one of the power tool 10 and the tool system 100 may be distributed across multiple housings. Furthermore, at least some of the functions of the power tool 10 and the tool system 100, for example, the function of the determination unit 112, may be realized by cloud computing or the like.

[0101] The robot 50 has a robot arm 51 with six degrees of freedom, but it may also be a multi-joint robot arm 51 having two or more joints.

[0102] One power tool 10 is attached to one robot 50, but multiple power tools 10 may be attached to one robot 50, in which case teaching work can be performed for each of the multiple power tools 10.

[0103] In the example of Figure 1, the tip tool 23 is a tool that performs fastening work by fastening a fastening member, but the type of tip tool 23 can be changed as appropriate, and the tip tool 23 may also be a drill for drilling holes, etc.

[0104] In the example of Figure 1, the tool system 100 has only one robot 50 with one power tool 10 attached, but it may also have multiple robots 50 with one or more power tools 10 attached to each robot.

[0105] In the above-described embodiment, the set direction DR1 of the orientation of the output shaft 22 at the work position was vertically downward, but the set direction DR1 can be changed as appropriate depending on the work being performed at the work position. The set direction DR1 may be vertically upward, horizontal, or 45-degree upward, and can be set in any direction. Figure 7 shows a case where the tightening operation of the tightening member B2 is performed at a work position P2 where the normal direction of the surface of the workpiece W1 is inclined 45 degrees from the vertically downward direction. In this case, the set direction DR1 of the orientation of the output shaft 22 is inclined 45 degrees from the vertically upward direction.

[0106] In the determination of the tilt angle θ1 by the determination unit 112 of the power tool 10, "less than" may be replaced with "less than." In other words, whether or not the comparison of two values ​​includes a case where the two values ​​are equal can be arbitrarily changed depending on the setting of the reference value, etc., so there is no technical difference between "less than" and "less than." Similarly, "exceeding" may be replaced with "greater than or equal to."

[0107] In the power tool 10 of the first embodiment, the notification unit 113 notifies the determination result of the determination unit 112 by both sound and light, but the notification may be by either sound or light alone. The notification unit 113 may also notify the determination result of the determination unit 112 to an external device (for example, a mobile terminal or wearable terminal carried by the operator, or the centralized management unit 40, etc.).

[0108] Second Embodiment A power tool 10A according to a second embodiment will be described with reference to FIGS. 8 and 9. FIG.

[0109] The second embodiment differs from the first embodiment in that the power tool 10A is a portable tool that can be held by the operator.

[0110] The power tool 10A of the second embodiment includes a tool body 21A, an output shaft 22A, a tool tip 23, a detection unit 111, a determination unit 112, and a notification unit 113. The output shaft 22A is rotatably supported by the tool body 21A and rotates in response to rotation of the motor M1. The tool tip 23 can be attached to the output shaft 22A. The detection unit 111 detects the orientation of the output shaft 22A when the tool tip 23 is located at the working position. The determination unit 112 determines the inclination angle of the orientation of the output shaft 22A detected by the detection unit 111 with respect to the set direction at the working position. The notification unit 113 notifies the user of the determination result of the determination unit 112.

[0111] The power tool 10A of the second embodiment differs from the power tool 10 of the first embodiment in that the tool body 21A is formed to a portable size and operates using a battery as a power source. Note that in the power tool 10A of the second embodiment, components common to the power tool 10 described in the first embodiment are designated by the same reference numerals and will not be described again.

[0112] The tool body 21A of the power tool 10A has a cylindrical tubular portion 26 that houses the motor M1 and other components, a grip portion 27 that protrudes radially from the circumferential surface of the tubular portion 26, and an attachment portion 28 provided at the tip of the grip portion 27. A battery pack 29 equipped with a secondary battery is detachably attached to the attachment portion 28. The power tool 10A operates using power supplied from the battery pack 29.

[0113] A case will be described in which an operator uses the power tool 10A to perform a fastening operation in which the fastening member B3 is fastened to the workpiece W2.

[0114] The power tool 10A acquires the set direction DR1 of the output shaft 22A when performing the tightening operation of the clamping member B3, for example, from the centralized control unit 40. When performing the tightening operation of the clamping member B3, the detection unit 111 detects the direction DR2 of the output shaft 22A, and the determination unit 112 determines the inclination angle θ1 of the direction DR2 of the output shaft 22A detected by the detection unit 111 with respect to the set direction DR1. In the examples of Figures 8 and 9, the set direction DR1 when performing the tightening operation of the clamping member B3 is set to be vertically downward.

[0115] The determination unit 112 determines whether the tilt angle θ1 of the orientation DR2 of the output shaft 22A detected by the detection unit 111 with respect to the set direction DR1 is equal to or less than an allowable angle (e.g., 3 degrees). FIG. 8 is an explanatory diagram showing a case where the tilt angle θ1 exceeds the allowable angle, and FIG. 9 is an explanatory diagram showing a case where the tilt angle θ1 is equal to or less than the allowable angle. If the determination unit 112 determines that the tilt angle θ1 is equal to or less than the allowable angle, the notification unit 113 notifies the user that the attitude of the power tool 10 is good. If the determination unit 112 determines that the tilt angle θ1 exceeds the allowable angle, the notification unit 113 notifies the user that the attitude of the power tool 10 is bad.

[0116] This allows the operator of the power tool 10A to know whether the posture of the power tool 10A when tightening the clamping member B3 is good or not, based on the notification from the notification unit 17. Therefore, if the posture of the power tool 10A is determined to be bad as shown in Fig. 8, the operator can correct the position of the power tool 10A and tighten the clamping member B3 in a state where the posture of the power tool 10A is determined to be good as shown in Fig. 9. Therefore, the power tool 10A of this embodiment has the advantage of allowing the operator to tighten the clamping member B3 in a good posture, thereby improving the quality of the work.

[0117] (Summary) The above-described embodiments and the like disclose the following aspects.

[0118] A power tool (10) of a first aspect includes a tool body (21), an output shaft (22), a tool tip (23), a detection unit (111), a determination unit (112), and a notification unit (113). The tool body (21) is held by a robot arm (51). The output shaft (22) is rotatably supported by the tool body (21) and rotates in response to rotation of a motor (M1). The tool tip (23) can be attached to the output shaft (22). The detection unit (111) detects the orientation of the output shaft (22) when the output shaft (22) is moved to a work position by moving the robot arm (51). The determination unit (112) determines the inclination angle of the orientation of the output shaft (22) detected by the detection unit (111) with respect to a set direction at the work position. The notification unit (113) notifies the user of the determination result of the determination unit (112).

[0119] According to this aspect, it is possible to provide a power tool (10) that can reduce the possibility of performing work in an inappropriate posture relative to the work object.

[0120] In the power tool (10) of the second aspect, in the first aspect, the determination unit (112) determines whether the magnitude of the tilt angle is equal to or less than the allowable angle.

[0121] According to this aspect, the tilt angle of the output shaft (22) relative to the set direction can be adjusted to be equal to or smaller than the allowable angle.

[0122] In the power tool (10) of the third aspect, in the first or second aspect, the notification unit (113) notifies the determination result of the determination unit (112) by sound.

[0123] According to this aspect, the operator can auditorily grasp the determination result of the determination unit (112).

[0124] In the power tool (10) of the fourth aspect, in the third aspect, the notification unit (113) changes the manner of the sound to be output depending on the magnitude of the tilt angle.

[0125] According to this aspect, the operator can grasp the magnitude of the tilt angle from the type of sound.

[0126] In the power tool (10) of the fifth aspect, in any one of the first to fourth aspects, the notification unit (113) notifies the determination result of the determination unit (112) by light.

[0127] According to this aspect, the operator can visually grasp the determination result of the determining unit (112).

[0128] The power tool (10) of the sixth aspect is any of the first to fifth aspects and includes a processing unit (11) that switches between an attitude notification mode in which the notification unit (113) issues a notification and a non-notification mode in which the notification unit (113) stops notifying based on a switching signal input from the outside.

[0129] According to this aspect, the processing unit (11) can stop the notification by the notification unit (113) by switching from the notification mode to the non-notification mode.

[0130] A tool system (100) of a seventh aspect includes the power tool (10) of any one of the first to sixth aspects and a robot (50) having an articulated robot arm (51). The power tool (10) is held by the robot arm (51).

[0131] According to this aspect, a tool system (100) can be provided that can reduce the possibility of work being performed in an inappropriate posture relative to the work object.

[0132] The power tool (10A) of an eighth aspect includes a tool body (21A), an output shaft (22A), a tool tip (23), a detection unit (111), a determination unit (112), and a notification unit (113). The output shaft (22A) is rotatably supported on the tool body (21A) and rotates in response to rotation of the motor (M1). The tool tip (23) is attachable to the output shaft (22A). The detection unit (111) detects the orientation of the output shaft (22A) when the tool tip (23) is located at the work position. The determination unit (112) determines the inclination angle of the orientation of the output shaft (22A) detected by the detection unit (111) with respect to the set direction at the work position. The notification unit (113) notifies the user of the determination result of the determination unit (112).

[0133] According to this aspect, it is possible to provide a power tool (10A) that can reduce the possibility of performing work in an inappropriate posture relative to a work object.

[0134] The configurations according to the second to sixth aspects are not essential for the power tool (10) and may be omitted as appropriate.

[0135] REFERENCE SIGNS LIST 10, 10A Power tool 11 Processing unit 21, 21A Tool body 22, 22A Output shaft 23 Tool tip 50 Robot 51 Robot arm 100 Tool system 111 Detection unit 112 Determination unit 113 Notification unit M1 Motor

Claims

1. An electric tool comprising: a tool body held by a robot arm; an output shaft rotatably supported by the tool body and rotating in response to rotation of a motor; a tool tip attachable to the output shaft; a detection unit that detects the orientation of the output shaft when the output shaft is moved to a work position by moving the robot arm; a determination unit that determines the inclination angle of the orientation of the output shaft detected by the detection unit with respect to a set direction at the work position; and a notification unit that notifies the result of the determination by the determination unit.

2. The power tool according to claim 1, wherein the determination unit determines whether or not the magnitude of the tilt angle is equal to or smaller than an allowable angle.

3. The power tool according to claim 1 or 2, wherein the notification unit notifies the user of the determination result of the determination unit by sound.

4. The power tool according to claim 3, wherein the notification unit changes the type of sound output according to the magnitude of the tilt angle.

5. The power tool according to any one of claims 1 to 4, wherein the notification unit notifies the determination result of the determination unit by light.

6. An electric power tool as claimed in any one of claims 1 to 5, further comprising a processing unit that switches between an attitude notification mode in which the notification unit provides notification and a non-notification mode in which the notification unit stops notifying, based on a switching signal input from the outside.

7. A tool system comprising: an electric power tool according to any one of claims 1 to 6; and a robot having the multi-joint type robot arm, wherein the electric power tool is held by the robot arm.

8. An electric power tool comprising: a tool body; an output shaft rotatably supported by the tool body and rotating in response to rotation of a motor; a tool tip attachable to the output shaft; a detection unit that detects an orientation of the output shaft when the tool tip is located at a working position; a determination unit that determines the inclination angle of the orientation of the output shaft detected by the detection unit with respect to a set direction at the working position; and a notification unit that notifies the result of the determination by the determination unit.

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