WO2014034194A1

WO2014034194A1 - Assembly management system

Info

Publication number: WO2014034194A1
Application number: PCT/JP2013/064207
Authority: WO
Inventors: 康古家
Original assignee: 本田技研工業株式会社
Priority date: 2012-09-03
Filing date: 2013-05-22
Publication date: 2014-03-06
Also published as: JP2014046429A; JP5806184B2

Abstract

[Problem] To provide a system capable of specifying a tightening site on a moving vehicle and of centrally managing the torque set for said tightening site and the actually tightened torque at said tightening site. [Solution] Four markers (6) provided on a loading section (2) capable of adjusting the height of a moving cart (1) and markers (6) provided at other sites are imaged with a camera (30). By sending same to a computer (40), the three-dimensional position of the vehicle (W) loaded and secured on the cart (1) is calculated by the computer (40). The three-dimensional position of a member to be tightened on the vehicle (W) is also determined by said calculation. When a worker goes to tighten a bolt at a selected tightening site using a torque wrench (10), said tightening site is specified by the camera (30) and the prescribed value for the specified tightening site is sent to the torque wrench (1) from the computer (40). The worker makes adjustments so that the tightening torque of the torque wrench (10) fits within the range of the prescribed value.

Description

Assembly management system

The present invention relates to a system for automatically managing a tightening torque at each tightening position when tightening a screw or bolt of a moving vehicle using a torque wrench with a constant force.

Since torque wrenches can tighten components with a predetermined tightening force, torque wrenches are conventionally used when attaching automobile parts to a vehicle body.

As a torque wrench that uses a torque wrench that can transmit and receive, receives an appropriate standard value, transmits a tightening torque to a computer etc., and can determine whether the tightening torque is within the standard or not. 1 has been proposed.

However, even with the torque wrench having the transmission / reception function described above, the position of a member to be tightened such as a bolt is left to the operator, and there is a case where tightening is forgotten or tightening is made with an incorrect torque.
Therefore, in order to improve the above, proposals have been made in Patent Literatures 2 to 6 to confirm the position of a torque wrench or the like.

In Patent Document 2, a light emitting device which emits light when tightening is completed is attached to a torque wrench, the light emission is detected by a camera, and the bolt position which is completely tightened by the torque wrench is memorized in a computer. The disclosed configuration is disclosed.

In Patent Document 3, a reference position transmitter is attached to a vehicle body to be transported, and a fastener transmitter is attached to an impact wrench, and a three-dimensional position of a tightening portion is set as a reference position three-dimensional position of the reference position transmitter. It is disclosed to convert the three-dimensional position of the coordinate system of the vehicle body.

In Patent Document 4, the ultrasonic wave and the electromagnetic wave are transmitted from the tool, the ultrasonic wave and the ultrasonic wave are received by a receiving apparatus fixed at a predetermined position of the work place, and the tool position is calculated from the time difference between the received ultrasonic wave and the electromagnetic wave. Is disclosed.

In Patent Document 5, an optical fiber sensor for detecting twisting and bending is provided at a plurality of locations of a deformable band plate-like tape member, and the reference position and a tightening tool are connected with this tape member, and the optical fiber sensor It is disclosed to calculate the three-dimensional position of the clamping tool from the overall shape of the tape member based on the signal.

In Patent Document 6, a working tool is provided with a transmitter, and a signal from the transmitter is received by a plurality of receivers which move in synchronization with the work, thereby specifying a work site and for each work site. A management system has been proposed in which work contents are combined and performed.

WO2008 / 155993 JP, 2010-042491, A JP, 2006-098186, A Unexamined-Japanese-Patent No. 2006-293765 JP, 2010-085390, A Japanese Patent Application Publication No. 2004-258855

In the systems disclosed in Patent Documents 1 to 6, since the tightening position can be detected, it is possible to prevent the forgetting of tightening but setting tightening torque at each tightening position and the tightening position Can not be unified management of the tightening torque.

Further, even if the light emitter is attached to the torque wrench as in Patent Document 2, although the approximate position of the torque wrench can be confirmed, it is difficult to accurately detect the head portion of the lever tip of the torque wrench. In particular, when the head part is behind a part, it is difficult to specify the position.

Moreover, in patent document 3, two transmitters, a reference position transmitter and a fastener transmitter, are needed, and processing of a signal is also troublesome. In Patent Document 4, an apparatus for measuring the time difference between ultrasonic waves and electromagnetic waves is required, resulting in an expensive system. Further, in Patent Document 5, since the fastening tool and the reference position are connected by the band plate-like tape member, the fastening tool always drags the tape member, which is disadvantageous in terms of workability.

Further, in Patent Document 6, although it is possible to know the position of the moved workpiece, it is not possible to properly perform the operation while moving.

In order to solve the above-mentioned problems, an assembly management system according to the present invention comprises a carriage moving along an assembly line, a torque wrench for tightening a member to be tightened of a vehicle placed on the carriage, and a camera for position confirmation. , The torque wrench and the computer capable of transmitting to and receiving from the camera, the carriage and the torque wrench are provided with a marker whose position is confirmed by the camera, and the torque wrench transmits means for tightening torque, and tightening means A display means of torque and a change means of set tightening torque are provided, and the computer determines the three-dimensional position of the tightening head at the tip of the torque wrench and the three-dimensional position of the carriage based on the signal from the camera. Calculated and transmitted to the torque wrench the set tightening torque for each member to be tightened and transmitted from the torque wrench Receiving a biasing torque, the tightening torque applied to the member with the object to be tightened and the torque with the fastening is to perform the determination of whether or not within the specifications.

The heights of motorcycles differ depending on the model. Therefore, there is a case where a height adjustable structure is adopted for the mounting portion of the carriage. In such a case, even if a marker for position confirmation is provided at a location other than the mounting portion of the carriage, the position of the carriage can be confirmed but the height position of the motorcycle can not be confirmed.
Therefore, when the carriage is provided with the mounting portion capable of height position adjustment, it is preferable to provide the mounting portion with a marker for position confirmation.

According to the assembly management system of the present invention, even in a moving vehicle, the tightening position can be confirmed in parallel with the tightening operation, and it is possible to control which portion has been torqued up. In addition, the operator does not work with the wrong constant torque wrench, and moreover, it becomes possible to perform tracer management for one car or two-wheeled motor vehicle.

Overall view of the assembly management system according to the present invention Top view of the dolly Longitudinal sectional view of a marker portion for position confirmation provided on a carriage Top view of a torque wrench constituting an assembly management system according to the present invention Side view of the same torque wrench Longitudinal sectional view of a marker portion for position confirmation provided on a torque wrench The figure which shows an example of the screen of the computer which comprises the assembly management system which concerns on this invention.

Embodiments of the present invention will be described below based on the attached drawings. The assembly management system according to the present invention is constituted by a truck 1 moving along a line with a vehicle W mounted thereon such as a motorcycle, a torque wrench 10, a transmitting / receiving means 20, a camera 30 and a computer 40.

The carriage 1 comprises a front portion 1a, a rear portion 1b, and a narrow intermediate portion 1c connecting the front portion 1a and the rear portion 1b. A mounting portion 2 for fixing the front wheels of the vehicle W is provided at the front portion 1a, and a mounting portion 3 for fixing the rear wheels of the vehicle W is provided at the rear portion 1b. It is assumed.

Further, bolt insertion holes for attaching members are formed in the front surface 1a of the carriage, the upper surface of the intermediate portion 1c, and the upper surfaces of the mounting

portions

2 and 3. Taking the cross-sectional view of the mounting unit 2 of FIG. 3 as an example, four bolt insertion holes 4 are formed in the mounting unit 2. These four bolt insertion holes 4 are formed at positions that become rectangular corner portions when viewed from the camera 30 direction.

The upper end portion of each bolt insertion hole 4 is a large diameter portion in which the head 5 a of the bolt 5 is accommodated, and the marker 6 is attached to the upper surface of the head of the bolt 5. As an attachment means, sticking, adsorption by a magnet, etc. are free. Further, the depth of the large diameter portion is larger than the sum of the thickness of the head of the bolt 5 and the thickness of the marker 6. As a result, the marker 6 is at a position lower than the opening of the bolt insertion hole 4, and the possibility of damage or peeling off of the wheel or the like is reduced.

On the other hand, in the torque wrench 10, a part of the main body 11 is used as a grip 12, and the display 13 and the transmitter 14 are attached to the other part of the main body 11.
The display 13 is provided with a display unit 13a for digitally displaying the tightening torque and switches 13b, and the transmitter 14 is for transmitting the detected tightening torque value to a PC or the like.
A lever 15 is provided on the main body 11, and a head 16 provided with a toggle mechanism is provided at the tip of the lever 15.

The position of the transmitter 14 can be adjusted with respect to the main body 11 so that the top surface 14 a of the transmitter 14 can face the camera 30. In the transmitter 14, a bolt insertion hole 17 for fixing to the main body 11 is opened at the upper surface. The bolt insertion holes 17 are formed at a total of four positions at positions corresponding to rectangular corners when viewed from the direction of the camera 30. Each bolt insertion hole 17 penetrates in the thickness direction of the transmitter 14 and the upper end is the head of the bolt 18 It is considered as a large diameter part that fits.

As described above, the marker 19 is attached to the upper surface of the head of the bolt 18 inserted into the bolt insertion hole 17. The depth of the large diameter portion is larger than the sum of the thickness of the head of the bolt 18 and the thickness of the marker 19 in a state where the transmitter 14 is fixed to the main body 11 using the bolt 18. As a result, the marker 19 is at a position lower than the opening of the bolt insertion hole 17, and the possibility of the marker 19 hitting other members and breaking or peeling off while using the torque wrench is reduced.

The transmitting / receiving means 20 transmits the set torque value stored in the computer 40 for each mounting position to the transmitter 14 of the torque wrench 10, receives the tightening torque after tightening, and outputs it to the computer 40. The transmission / reception means 20 may be separate from the computer 40 or may be incorporated in the computer 40.

The camera 30 uses, for example, a video camera for three-dimensional imaging provided with two lenses separated. The camera 30 takes in the positions of the marker 6 provided on the carriage 1 and the marker 19 provided on the torque wrench 10, and sends the information to the computer 40.
Although only one camera 30 is shown in the illustrated example, it is possible to reliably recognize the

marks

6 and 19 by using a plurality of cameras.

Specifically, the positions of the front, rear, left, right, and height (XYZ) of the bogie 1 (vehicle W) are confirmed by the four markers 6 provided on the mounting portion 2 of the bogie 1, and the front part 1a of the bogie 1 and the middle The positions of the front, rear, left and right (XY) of the carriage 1 (vehicle W) are confirmed by the markers 6 provided in the unit 1c, and the end position of the carriage 1 (vehicle W) is confirmed by the markers 6 provided in the placement unit 3.

From the positions of the four markers 19 provided on the torque wrench 10, the three-dimensional position of the torque wrench 10, more precisely, the three-dimensional position of the tightening head at the tip of the torque wrench 10 is confirmed.

The computer 40 is provided with a display 41. As shown in FIG. 7, an example of the display 41 is a column 41a for displaying an instruction to the operator, a column 41b for displaying a frame No., a column 41c for displaying a set torque for each tightening point, and each tightening point Each tightening point is attached with a number (No. 1 to No. 9 in the illustrated example) with a column 41d for displaying the tightening torque, a column 41e for displaying whether or not it is OK for each tightening point, and each tightening point A column 41f is provided to display the tightening torque of the.
This display may be displayed not only on the display 41 of the computer 40 but also on the display 13 of the torque wrench 10.

The above-mentioned instructions to the operator, and whether or not it is OK or not for each tightening point are not only displayed as characters, but also in voice by flowing it through the headphones worn by the operator. Improves the quality.

An example of the tightening points (No. 1 to No. 9) is shown in (Table 1). In (Table 1), the process name, control items and specified values are displayed for each tightening point. This (Table 1) may be displayed not only on the display 41 of the computer 40 but also on the display 13 of the torque wrench 10.

Further, in the present invention, based on the four marker 19 positions transmitted from the camera 30, as shown in (Table 2), the position of the head 16 of the torque wrench 10 is displayed in the display unit 41 of the computer 40 in an XYZ three-dimensional coordinate system. And / or the indicator 13 of the torque wrench 10.

Also, in the same (Table 2), the number of the bolt corresponding to the three-dimensional position is also displayed. This allows the operator to know in real time the position of the head 16 of the torque wrench 10, ie, the tightening position.

In the above, the camera 30 picks up an image of the four markers 6 provided on the height adjustable mounting portion 2 of the moving carriage 1 and the markers 6 provided at other places, and sends these to the computer 40 Then, the computer 40 calculates the three-dimensional position of the vehicle W placed and fixed on the carriage 1. The three-dimensional position of the fastening member of the vehicle W is also determined by this calculation.

On the other hand, when the operator tries to tighten a bolt at an arbitrary tightening point with the torque wrench 10, the tightening point is specified by the camera 30, and the specified value of the specified tightening point is the torque wrench 10 from the computer 40. The operator adjusts the tightening torque value of the torque wrench 10 so as to fall within the specified range.

After adjustment, the operator tightens the bolt at the specified tightening point. The tightening torque at this time is sent from the transmitter 13 to the computer 40 via the transmission / reception means 20, and the computer 40 determines whether the tightening torque is a prescribed value or not, and displays the determination result as described above. . If OK, move to the next tightening position, and if NG, tighten again.

According to the present invention, even when the member to be tightened provided in the moving vehicle is provided, the specification of the tightening portion to be tightened by the torque wrench, the set torque at the tightening portion, and the actual setting at the tightening portion Since the torque tightened can be managed in real time, it can be effectively used for assembling a car, a motorcycle, etc.

DESCRIPTION OF SYMBOLS 1 ... bogie, 1a ... front part of bogie, 1b ... rear part of bogie, 1c ... middle part of bogie, 2, 3 ... mounting part, 4 ... bolt insertion hole, 5 ... bolt, 5a ... head of bolt, 6 ... marker, 10 ... torque wrench, 11 ... main body of torque wrench, 12 ... grip section, 13 ... indicator, 13a ... display section, 13b ... switches, 14 ... transmitter, 15 ... lever, 16 ... head, 17 ... Bolt insertion hole, 18: bolt, 19: marker, 20: transmitting and receiving means, 30: camera, 40: computer, 41: display, 41a: column for displaying an instruction to the operator, 41b: frame No.
A column for displaying 41c, a column for displaying the set torque for each tightening point, a column for displaying tightening torque for each tightening point, 41e, a column for displaying whether each tightening point is OK or not 41f ... A column for displaying the tightening torque at each tightening point.

Claims

It has a carriage that moves along an assembly line, a torque wrench that tightens a fastening member of a vehicle placed on the carriage, a camera for position confirmation, the torque wrench, and a computer that can transmit to and receive from the camera. An assembly management system, wherein the truck and the torque wrench are provided with a marker whose position is confirmed by the camera, and the torque wrench is provided with a means for transmitting a tightening torque, a means for displaying the tightening torque, and Fastening torque changing means is provided, and the computer calculates the three-dimensional position of the tightening head at the tip of the torque wrench and the three-dimensional position of the carriage based on the signal from the camera, and further the tightened member The set tightening torque is transmitted to the torque wrench and the tightening torque transmitted from the torque wrench is received. Assembly management system torque and the torque with the tightening fastening applied to member is characterized in that a determination of whether or not within the specifications.
The assembly management system according to claim 1, wherein the carriage is provided with a mounting portion capable of height position adjustment, and the mounting portion is provided with a marker for position confirmation. system.