JP2020049630A - Work support system, work support method, and computer program - Google Patents

Abstract

To evaluate whether or not screwing has been properly carried out in all screw holes requiring screwing, in work for screwing parts onto a base component among assembly processes of an integrated type gas box.SOLUTION: In a work support system 1, a coordinate system construction part 12 constructs a coordinate system in which screw holes are specified, for a photographic image of a base component generated by an imaging part 11. Accompanying the start of the screwing work, when the screwing work using a torque driver 2 is photographed by the imaging part 11, a tip of the torque driver is identified by an identification part 13. Torque data related to the screwing work is transmitted from the torque driver 2, and a predetermined coordinate where the tip of the torque driver 2 is positioned, and the torque data for the predetermined coordinate are stored in association with each other in a work information storage part 1B. An evaluation part 14 evaluates the screwing work of parts to a base component, on the basis of the coordinate system and the torque data for the predetermined coordinate.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for assisting in assembling an integrated gas box, particularly for screwing a base block to a base metal plate.

  In the assembly process of the integrated gas box, there are a process of screwing a part such as a base block on a base sheet metal, and a process of screwing an upper device on the part. Although many screws are used in the integrated gas box, in recent years, the integrated gas box has been downsized, and fastening failures such as forgetting to tighten the screws are likely to occur. Also, various types of integrated gas boxes are manufactured, but parts are shared for cost reduction and the like, and different parts may be attached to the same place on the base sheet metal, This also causes the screw to be forgotten to be tightened.

In this regard, Patent Document 1 discloses a communication unit that communicates with a tool used in an operation of fastening a fastening part and an imaging device that images an operation location where the operation is performed, A processing unit that performs a determination process of determining whether or not the work is performed normally based on a tightening torque given to the fastening component and a captured image captured by the imaging device. A control device characterized by the above-mentioned. Has been proposed.
Patent Document 2 discloses a tightening operation support device that supports a tightening operation of tightening a tightening part with a tightening tool at a plurality of tightening positions of a workpiece, wherein an identification mark provided on the tightening tool is provided. A camera for photographing a tightening work area including the plurality of tightening positions of the work to generate image data, and an image generated by photographing the identification mark with the camera before the tightening work An identification data storage unit that obtains and stores identification data indicating the identification mark from data, and the tightening operation of the workpiece positioned so that a relative position with respect to the camera becomes constant before the tightening operation. For image data generated by photographing an area with the camera, the identification data is detected at a position corresponding to each of the plurality of tightening positions. A dedicated detection area for each of the tightening positions A detection area setting unit to be set, and, during the tightening operation, all the tightening operation areas of the positioned work set by the detection area setting unit in image data generated by photographing the tightening operation area by the camera. There has been proposed a fastening work support device including an identification data determination unit that determines whether the identification data is detected in the detection area.

JP 2015-229210 A Japanese Patent No. 5836659

  In the invention described in Patent Document 1, it is determined whether the screw fastening operation is performed normally. However, when there are a plurality of screw holes, and when the screw fastening operation itself is forgotten about any one of them, , This cannot be determined. Also, in the invention described in Patent Document 2, the design data of the screw hole in the work is input in advance, and this design data is used for confirming the screw tightening work. However, the design data must be prepared in advance. Is troublesome, and it is often impossible to prepare perfect design data at the time of work. For example, when a custom-made product is only a minor modification from an existing design, a case where a modified part is added to an existing drawing is used.

  Therefore, one of the objects of the present invention is to support the work of screwing parts to the base part in the process of assembling the integrated gas box, and to properly screw all the screw holes that need to be screwed. Evaluate whether this was done.

  In order to achieve the above object, a work support system according to one aspect of the present invention is a work support system that supports a screwing work of screwing a part to a base part provided with a screw hole, For a captured image of a part, a coordinate system constructing means for constructing a coordinate system, an identification means for identifying the tip of the torque driver in a screwing operation by the torque driver, and A torque data receiving unit for receiving torque data relating to a screwing operation; predetermined coordinates at which the tip of the torque driver is located; work information storage means for storing torque data at the predetermined coordinates in association with each other; And screwing the part to the base part based on the torque data at the predetermined coordinates. Having a first evaluation means for evaluating the.

  Further, the coordinate system construction means specifies a screw hole from the captured image of the base component, and the first evaluation means determines whether or not a part is screwed to the screw hole with a predetermined torque. Thereby, the work of screwing the parts to the base part may be evaluated.

  Further, the first evaluation means may evaluate the screwing operation of the part to the base component by determining whether or not the screwing operation has been performed for a predetermined screw hole a plurality of times. Good.

  Further, a second evaluation means for evaluating a work of screwing the part to the base component based on a captured image of the base component to which the part is screwed may be further provided.

  In addition, the first evaluation means may determine that the coordinates at which the tip of the torque driver is out of a predetermined range from the time when the torque detected by the torque driver exceeds a predetermined value for the screwing operation of the predetermined screw. By the time the screwing work of the predetermined screw is completed, by measuring the rotation angle related to the angle at which the torque driver has rotated, by determining whether the rotation angle is within a predetermined range, The work of screwing a part to the base part may be evaluated.

  Further, the second evaluation means measures the number of screws that are screwed from a photographed image of the base part to which the parts are screwed, and compares the number with the number to be used at the time of completion, thereby obtaining the base. The work of screwing a part to a part may be evaluated.

  Further, the base component may be illuminated with illumination light from a direction perpendicular to a depth direction of the screw hole when the part is screwed.

  A system for supporting a screwing operation in an assembling process of an integrated gas box, wherein the base component is a base metal plate, and the base metal plate is fixed in a state in which the plate surface is vertically aligned. May be used.

  Further, a work support method according to another aspect of the present invention is a method for supporting a screwing operation of screwing a part to a base part provided with a screw hole, wherein a computer captures an image of the base part. About the process of constructing a coordinate system, the process of identifying the tip of the torque driver in the screwing operation by the torque driver, and the torque data on the screwing operation from the torque driver during the screwing operation by the torque driver. Receiving the torque data at a predetermined coordinate where the tip of the torque driver is located, and storing the torque data at the predetermined coordinate in the work information storage means, and the torque data at the coordinate system and the predetermined coordinate. A process of evaluating a work of screwing the part to the base part based on the above.

A computer program according to still another aspect of the present invention is a computer program for supporting a screwing operation of screwing a part to a base part provided with a screw hole. For a captured image of a part, a process of constructing a coordinate system, a process of identifying the tip of the torque driver, and a process of receiving torque data related to a screwing operation from the torque driver during the screwing operation by the torque driver. A predetermined coordinate at which the tip of the torque driver is located, a process of associating the torque data at the predetermined coordinate with the work information storage means, and, based on the coordinate system and the torque data at the predetermined coordinate, And a process of evaluating the work of screwing the part to the base part.
Note that the computer program can be provided by download via a network such as the Internet, or can be provided by being recorded on various computer-readable recording media such as a CD-ROM.

  ADVANTAGE OF THE INVENTION According to this invention, in the assembly | attachment process of an integrated gas box, in the operation | work which screws a part to a base part, even if design data is incomplete at the time of operation | work, all the screws which need screwing are required. It can be evaluated whether or not the holes are properly screwed.

It is a functional block diagram showing a function of a work support system concerning a first embodiment of the present invention. FIG. 4 is a plan view showing a base metal plate of an integrated gas box to be worked in the work support system according to the embodiment. FIG. 4 is a perspective view illustrating a state where the base block is screwed to the base sheet metal in the work support system according to the embodiment. It is the top view which showed the base sheet metal with which the base block was screwed in the work support system which concerns on this embodiment. FIG. 4 is a diagram illustrating an example of data stored in a base component information storage unit in the work support system according to the embodiment. FIG. 4 is a diagram illustrating an example of data stored in a work information storage unit in the work support system according to the embodiment. FIG. 6 is a sequence diagram illustrating a flow of a process performed by the work support system according to the embodiment.

Hereinafter, a work support system according to an embodiment of the present invention will be described.
The work support system according to the present embodiment is a system that supports a work of screwing a base block on a base sheet metal in an assembly process of an integrated gas box.
As shown in FIG. 1, the work support system 1 according to the present embodiment is configured to be able to communicate with a torque driver 2 via a network NW, and acquires torque data at the time of screwing from the torque driver 2. Evaluate the screwing operation based on the torque data.

Here, first, the outline of the screwing operation of the base block constituting the assembly process of the integrated gas box will be described with reference to FIGS. 2 to 4.
The integrated gas box is manufactured by screwing a plurality of base blocks 31, which are one of the parts, on a base metal plate 3, which is a base part, and then screwing parts such as fluid control devices on the base block 31. The base block 31 has a V-shaped flow path (not shown) and serves to connect flow paths between a plurality of fluid control devices.

  As shown in FIG. 2, the base sheet metal 3 is a sheet metal provided with a plurality of circular screw holes 3a at locations where the base block 31 and other predetermined parts are screwed. The work of screwing parts such as the base block 31 to the base sheet metal 3 is performed by leaning the base sheet metal 3 against a wall, suspending the base sheet metal 3 from above, or supporting the base sheet metal 3 on a predetermined support base. The fixing is performed in a vertical state, that is, a state in which the plate surface is substantially along the vertical direction.

Further, the base sheet metal 3 is irradiated with illumination light from a direction substantially perpendicular to the depth direction of the screw hole 3a, for example, from above, and the work is performed in this state. As a result, when the screw hole 3a is identified from the captured image of the base metal plate 3, the screw hole 3a becomes darker than the periphery, and the contrast between the screw hole 3a and the periphery is emphasized to identify the screw hole 3a. It will be easier. In addition, particles generated during the screwing operation naturally fall down, and the particles can be prevented from being mixed with the completed product of the integrated gas box.
In the description of the present embodiment, the screw hole 3a generically refers to both a through hole and a non-through hole. Further, the work can be performed by disposing the base sheet metal 3 substantially parallel to the floor surface without making the base sheet metal 3 vertical.

While maintaining the base metal plate 3 in such a state, as shown in FIG. 3, the operator presses the base block 31 at a predetermined position of the base metal plate 3, and inserts a screw hole 31 a provided in the base block 31. The screw 3b is screwed into the screw hole 3a of the base sheet metal 3 through. When the base block 31 is screwed into all the predetermined screw holes 3a of the base metal plate 3, the state shown in FIG. 4 is reached, and the screwing operation is completed.
In addition, parts other than the base block 31 are appropriately screwed to the base sheet metal 3. In the following description, a case where the base block 31 is screwed to the base sheet metal 3 as one of the parts will be described.

● Work support system 1
The work support system 1 is realized by an arithmetic device such as a CPU (Central Processing Unit), a memory such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and a computer program executed by the CPU. As shown, a functional block including an imaging unit 11, a coordinate system construction unit 12, an identification unit 13, an evaluation unit 14, a communication processing unit 15, a base component information storage unit 1A, and a work information storage unit 1B is configured.

The work support system 1 is configured to be able to communicate with the torque driver 2 via a wireless network NW such as a wireless LAN, Bluetooth (registered trademark), IrDA, or Zigbee (registered trademark).
In this example, the network NW that enables the work support system 1 and the torque driver 2 to communicate with each other is wirelessly configured to facilitate the operation of the torque driver 2, but the present invention is not limited to this, and the ease of operation of the torque driver 2 is sacrificed. If it does not matter, it may be configured by a wired connection.

The photographing unit 11 is a processing unit that performs photographing with the base sheet metal 3 before the base block 31 is screwed or the base sheet metal 3 being screwed using the torque driver 2 as a subject. The photographing unit 11 obtains from a lens for forming a subject image on the light receiving surface of the image sensor, an image sensor such as a CMOS image sensor for capturing an image of the subject formed by the lens and outputting an image signal to the control unit, and an image sensor. It is configured by a control unit or the like that generates a captured image from the obtained image signal, and can generate a captured image of a capturing target. Further, the photographing unit 11 can photograph a subject at a predetermined frame rate.
Note that a plurality of photographing units 11 may be provided, and the accuracy such as identification of the tip position of the torque driver 2 may be enhanced by photographing the base metal plate 3 as a subject from the horizontal direction and the vertical direction.

  The coordinate system construction unit 12 constructs a coordinate system in which the screw holes 3a are specified for the captured image of the base metal plate 3. Specifically, a black or dark circle of a predetermined size on a plate surface is identified as a screw hole 3a using a Hough transform or a learned neural network for a captured image of the base sheet metal 3, and a predetermined hole is formed. The coordinates of each screw hole 3a are determined with reference to the marker. Information on the coordinate system from which the coordinates of the screw hole 3a are obtained is stored in the base component information storage unit 1A.

The marker is an index serving as a reference when constructing a coordinate system, and also serves as a reference when obtaining the coordinates of the tip of the torque driver 2.
This marker can be constituted by, for example, a predetermined image affixed or printed on the base sheet metal 3 or a part such as a base block 31 attached to a predetermined location. By using this marker as a reference, the coordinates of a predetermined location on the base plate 3 and the coordinates of the tip of the torque driver 2 that performs the screwing operation on the base plate 3 can be specified in the same coordinate system. it can.

The identification unit 13 identifies the tip of the torque driver 2 at the time of screwing work by the torque driver 2. The tip of the torque driver 2 can be identified, for example, by storing in advance information relating to the tip position of the torque driver 2 with respect to a plurality of marker positions provided to the torque driver 2 and performing image recognition based on the data to obtain a torque The driver 2 and the position of its tip are identified.
Alternatively, a predetermined pattern may be provided on the surface of the torque driver 2 so that the rotation of the torque driver 2 can be detected by the identification unit 13.

  The evaluation unit 14 evaluates the screwing operation of the base block 31 to the base sheet metal 3 based on the screw holes 3a in the base sheet metal 3 and torque data that can grasp the result of the screwing operation at predetermined coordinates.

Here, in an example of a method of evaluating screwing, it is determined whether or not the base block 31 is screwed into the screw hole 3a with a predetermined torque. That is, the torque data for each predetermined coordinate stored in the work information storage unit 1B and the coordinates of the screw holes 3a of the base sheet metal 3 stored in the base component information storage unit 1A are illuminated, and each screw hole 3a is It is determined whether or not the screw 3b has been tightened with a predetermined torque. As a result, if it is understood that all the screw holes 3a to be screwed have been screwed with a predetermined torque, it is evaluated that an appropriate screwing operation has been performed. On the other hand, if it is determined that there is a screw hole 3a that has not been screwed with a predetermined torque in spite of the screw hole 3a to be screwed, the screwing operation is in an inappropriate state. Evaluate.
In cases where screwing is not performed with a predetermined torque, no torque is applied.Therefore, in addition to cases where screwing is not performed, cases where torque is applied in a loose manner and cases where torque is incomplete, and torque Includes cases where too much is applied or torque is applied multiple times. The appropriate amount of torque may be held in a predetermined table and referred to.

  In another example of the method of evaluating screwing, the success or failure of screwing is determined based on the rotation angle of the torque driver 2 after the detected torque reaches a predetermined value. This is because, depending on the screwing position of the integrated gas box, the gasket may be crushed as the screws are screwed in, and it may be determined that the screwing is completed when a predetermined crushing amount is reached. In this case, since the change in torque at the stage when the gasket is crushed is small, it is necessary to determine the completion of screwing based on the rotation amount of the torque driver 2.

  Specifically, at the timing when the torque detected by the torque driver 2 exceeds a predetermined value, the tip position is recorded. While the tip position of the torque driver 2 continues to be within a predetermined range from the recorded position, the identification unit 13 keeps calculating how many times the torque driver 2 has rotated around its long axis direction. When the tip position goes out of the predetermined range, that is, when the bit of the torque driver 2 separates from the head of the screw 3b and the screwing operation is completed, whether the accumulated rotation number is within the predetermined range or not. Then, the success or failure of screwing is determined.

  More preferably, before the above-described evaluation based on the rotation angle of the torque driver 2, whether or not all necessary screwing portions of the base block 31 to be mounted have been screwed with a weak predetermined torque. You may evaluate whether. This corresponds to checking whether temporary fixing with a weak torque has been performed before the gasket is crushed, and prevents a specific screw 3b from being tightened too much among a plurality of screws 3b for stopping the gasket. .

  It should be noted that the fact that all the screw holes 3a are screwed with the predetermined torque in this way not only evaluates that the proper screwing work on the base metal plate 3 has been performed, but also that a plurality of the screw holes 3a Times, it is also determined whether or not the screwing operation has been performed. If it is determined that the same screw hole 3a has been subjected to the torque a plurality of times, it is determined that the appropriate screwing operation has not been performed. You can also evaluate.

  The communication processing unit 15 is configured to be able to transmit and receive information with the torque driver 2 via a wireless network NW such as a wireless LAN, Bluetooth (registered trademark), IrDA, or Zigbee (registered trademark).

The base component information storage unit 1A is a storage unit that stores information on the base sheet metal 3 as a base component.
For example, as shown in FIG. 5, information on the coordinates of the screw hole 3a with reference to the marker is stored in the base component information storage unit 1A.

The work information storage unit 1B is a storage unit that stores information related to work in which the base block 31 is screwed to the base metal plate 3 by the torque driver 2.
For example, as shown in FIG. 6, the work information storage unit 1B stores predetermined coordinates where the tip of the torque driver 2 is located with reference to the marker and torque data at the predetermined coordinates in association with each other. .

● Torque driver 2
The torque driver 2 is a driver used when screwing the base block 31 to the base plate 3. The torque driver 2 detects and measures the torque applied when screwing the base block 31, and supplies the torque to the work support system 1. Can be.
The torque driver 2 constitutes a functional unit including a measuring unit 21 and a communication processing unit 22.
The torque driver 2 has a structure or a function necessary for screwing separately from a functional unit including a measuring unit 21 and a communication processing unit 22 required for evaluation of screwing work. A corresponding bit, a ratchet mechanism for idling the bit when a predetermined torque is reached, and the like are provided.

The measuring unit 21 is realized by a torque sensor capable of detecting the torque and measuring the magnitude thereof, and measures the torque required when the screw hole 3a on the base metal plate 3 is screwed, and measures the torque. Generate torque data consisting of the measured values of
Note that the torque sensor detects, for example, distortion generated on the output shaft when torque is applied to the output shaft transmitting the output of the motor to the bit, or by measuring the magnitude of the distortion, It enables the detection and measurement of torque during screwing work.

  The communication processing unit 22 is a functional unit that enables communication with the work support system 1 via the network NW. The communication processing unit 22 can transmit the torque data generated by the measuring unit 21 from the torque driver 2 to the work support system 1.

  The torque driver 2 may include, in addition to these functional units, a limiter that limits excessive torque, a display that allows an operator to recognize the torque applied during the screwing operation, and the like.

Next, the flow of processing by the work support system 1 according to the present embodiment will be described with reference to FIG.
First, an operator constructs a coordinate system of the base sheet metal 3 as preparation for screwing work. That is, the worker photographs the base sheet metal 3 by the photographing unit 11 of the work support system 1 (S101). When the base sheet metal 3 is photographed and a photographed image is generated, the coordinate system construction unit 12 specifies the screw hole 3a from the photographed image and constructs a coordinate system based on a predetermined marker (S102). . The information of the constructed coordinate system is stored in the base part information storage unit 1A (S103).

  When the preparation for constructing the coordinate system of the base sheet metal 3 is completed, the photographing unit 11 starts photographing the screwing work (S104), and the operator screws the base block 31 to the base sheet metal 3 accordingly. It goes (S105).

In response to the start of the screwing operation by the operator, the work support system 1 identifies the tip of the torque driver 2 in the captured image by the identification unit 13 while imaging the screwing operation by the torque driver 2 by the imaging unit 11. (S106).
On the other hand, the torque driver 2 measures the torque required for screwing by the measuring unit 21 and transmits information on the measured value to the work support system 1 as torque data (S107).

Upon receiving the torque data from the torque driver 2, the work support system 1 stores the torque data in the work information storage unit 1B in association with the coordinates where the tip of the torque driver 2 is located when the torque data is received (S108). .
The processing of S106 to S108 is continuously executed until all the base blocks 31 are screwed to the base sheet metal 3 (S109).

When all the base blocks 31 are screwed to the base plate 3 and the screwing operation is completed (S109), the evaluation unit 14 evaluates the screwing operation (S110).
In the process of evaluating the screwing operation, in the coordinate system based on the predetermined marker, the torque data for each predetermined coordinate stored in the operation information storage unit 1B and the base data stored in the base component information storage unit 1A. The coordinates of the screw holes 3a of the sheet metal 3 are compared with each other, and it is determined whether or not the screws 3b are fastened to the respective screw holes 3a with a predetermined torque. As a result, if it is understood that a predetermined torque has been applied to all the screw holes 3a to be screwed, it is evaluated that proper screwing has been performed, and the screw holes 3a to be screwed are determined to be appropriate. Nevertheless, if it is determined that there is a screw hole 3a to which no torque is applied, it is evaluated that screwing is in an inappropriate state.

  The result of the evaluation can be output on a predetermined computer or a paper medium, etc., and whether or not the screwing work has been properly performed. Information is output as to whether proper screwing has not been performed on 3a.

  According to the work support system 1 according to the above-described embodiment, in the work of screwing the base block 31 to the base sheet metal 3 in the assembly process of the integrated gas box, all the screw holes 3a that need to be screwed are screwed. It can be evaluated whether or not screwing has been properly performed. In addition, since the design data of the base sheet metal 3 is not required for the evaluation, there is no trouble in preparing the design data, which is convenient.

In the above-described embodiment, after the screwing operation is completed, the base plate 31 is screwed and the base sheet metal 3 is photographed, and the appropriateness of the screwing operation is evaluated based on a photographed image obtained by photographing. You may make it.
In this case, after the screwing operation is completed, the base sheet metal 3 to which the screwing has been performed by the imaging unit 11 is photographed again to generate a photographed image. In response, the evaluation unit 14 evaluates the work of screwing the parts to the base block 31 based on the captured image. An example of a specific evaluation by the evaluation unit 14 is to measure the number of screws 3b screwed from a captured image and compare it with the number to be used at the time of completion, and evaluate that the number is appropriate if the numbers match. If they do not match, it is evaluated as inappropriate.

  In the work support system 1 according to the present embodiment described above, all the screw holes 3a provided in the base sheet metal 3 are identified, and whether the appropriate screwing work has been performed on all the screw holes 3a. Whether or not all the screw holes 3a are not necessarily used for reasons such as common use of components may be evaluated only for the screw holes 3a to be used. In this case, for example, when a coordinate system in which the screw holes 3a are specified is constructed for the base metal plate 3, whether or not each of the screw holes 3a is the screw hole 3a to be used is registered. Keep it. Then, it is determined whether or not an appropriate torque is applied only to the screw hole 3a to be used, and if the appropriate torque is applied, it is evaluated that an appropriate screwing operation has been performed. It is determined whether or not torque has been applied to the screw holes 3a registered as unscheduled, and if torque has been applied to the screw holes 3a which are not to be used, this is not determined. You may make it evaluate appropriate.

Further, the work support system 1 according to the above-described embodiment can be configured as one device such as a server, or can be configured by appropriately distributing each functional unit.
For example, the photographing unit 11 included in the work support system 1 may be configured by a fixed point camera, and may be connected to a system including other functional units via a predetermined network.

REFERENCE SIGNS LIST 1 work support system 11 imaging unit 12 coordinate system construction unit 13 identification unit 14 evaluation unit 15 communication processing unit 1A base component information storage unit 1B work information storage unit 2 torque driver 21 measurement unit 22 communication processing unit 3 base metal plate 3a screw hole 3b Screw 31 Base block 31a Screw hole NW Network

Claims (10)

A work support system that supports a screwing operation of screwing a part to a base part provided with a screw hole,
Coordinate system construction means for constructing a coordinate system for the captured image of the base component,
In screwing work by the torque driver, identification means for identifying the tip of the torque driver,
During the screwing operation by the torque driver, from the torque driver, torque data receiving means for receiving torque data relating to the screwing operation,
Predetermined coordinates where the tip of the torque driver is located, and work information storage means for storing torque data at the predetermined coordinates in association with each other;
Based on the coordinate system and the torque data at the predetermined coordinates, based on first evaluation means for evaluating the work of screwing the part to the base part,
Work support system. The coordinate system construction means specifies a screw hole from a captured image of the base component,
The first evaluation means evaluates the work of screwing the part to the base part by determining whether or not the part is screwed to the screw hole with a predetermined torque.
The work support system according to claim 1. The first evaluation means evaluates the screwing operation of the part to the base component by determining whether or not the screwing operation has been performed for a predetermined screw hole a plurality of times,
The work support system according to claim 1. The first evaluation means, for the screwing work of a predetermined screw, from the time when the torque detected by the torque driver exceeds a predetermined value, the coordinates where the tip of the torque driver is located out of a predetermined range, By the time when the screwing operation of the predetermined screw is completed, the rotation angle of the torque driver is measured and the rotation angle is determined to determine whether the rotation angle is within a predetermined range. Evaluate the work of screwing parts to parts,
The work support system according to claim 1. Based on a captured image of the base part to which the part is screwed, a second evaluation unit that evaluates the work of screwing the part to the base part, further comprising:
The work support system according to claim 1. The second evaluation means measures the number of screws that are screwed from a captured image of the base part to which the parts are screwed, and compares the number with the number to be used at the time of completion, to the base part. Evaluate the screwing work of the parts,
The work support system according to claim 5. The base component is irradiated with light of illumination from a direction perpendicular to a depth direction of the screw hole at the time of screwing the part,
The work support system according to claim 1. A system that supports screwing work in an assembly process of an integrated gas box,
The base component is a base sheet metal,
The base sheet metal is fixed in a state where the plate surface is along the vertical direction,
The work support system according to claim 1. A method for supporting a screwing work of screwing a part to a base part provided with a screw hole,
By computer
A process of constructing a coordinate system for the captured image of the base component;
In the screwing work by the torque driver, a process of identifying the tip of the torque driver,
During the screwing operation by the torque driver, a process of receiving torque data related to the screwing operation from the torque driver,
Predetermined coordinates at which the tip of the torque driver is located, and processing for storing the torque data at the predetermined coordinates in the work information storage means in association with each other;
Based on the coordinate system and the torque data at the predetermined coordinates, a process of evaluating a screwing operation of the part to the base part is executed.
Work support method. A computer program for supporting a screwing operation of screwing a part to a base part provided with a screw hole,
For the computer
A process of constructing a coordinate system for the captured image of the base component;
In the screwing work by the torque driver, a process of identifying the tip of the torque driver,
During the screwing operation by the torque driver, a process of receiving torque data related to the screwing operation from the torque driver,
Predetermined coordinates at which the tip of the torque driver is located, and processing for storing the torque data at the predetermined coordinates in the work information storage means in association with each other;
Based on the coordinate system and the torque data at the predetermined coordinates, a process of evaluating a work of screwing a part to the base part is executed.
Computer program.

Images