JP2000095324A - Transfer device and its control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transfer device for transferring works in a relatively narrow operation area while supporting transferring work of an operator and its control method. SOLUTION: When an operator starts walking while gripping a string 11, an arm 1 clamping a windshield 103 moves and turns to a Y direction, at the same time, depending on the operation force of the operator. When the turning angle θ of the arm 1 is 90 degrees, a lifter 3 moves down the windshield 103 to a -Z direction, depending on the operating force of the operator. At this time, a driving unit 1 moves the arm 1 to a -Y direction in the state of the turning angle θ=90 degrees of the arm 1, depending on the operating force of the operator who makes the windshield 103 being moved down approach the A pillar of a body 101.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer apparatus for transferring an article such as a work in an assembly line of a factory and a control method thereof.

[0002]

2. Description of the Related Art Conventionally, a transfer device for transferring various works has been introduced in an assembly line of an automobile or the like. As such a transfer device, an industrial robot arm in which a predetermined operation is registered in advance, or a device specially designed for performing a predetermined operation is generally adopted.

As a transfer device of a special design, for example, as disclosed in Japanese Patent Application Laid-Open No. 9-99879 by the applicant of the present invention, an operation end for transferring a work has a direction parallel to an assembly line and a right angle. It is common to move in a direction.

[0004]

However, in the above-mentioned conventional dedicated transfer device, the size of the transfer device is generally large, and the operation control of the operation end is performed separately in a direction parallel to the assembly line and in a direction perpendicular to the assembly line. Therefore, it is necessary to provide a large operation area around the assembly line.

[0005] In addition, from the viewpoint of improving the working environment of the worker on the assembly line, there is another problem that the worker should not hold a relatively heavy work.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a transfer device for transferring a work in a relatively narrow operation area while supporting a transfer operation of a worker, and a control method thereof.

[0007]

In order to achieve the above-mentioned object, a transfer device according to the present invention has the following features.

That is, an arm capable of supporting a work at a first end, a driving means rotatably supporting a second end of the arm and moving along a previously laid track;
A turning means provided on the driving means, for turning the arm, an operating force detecting means for detecting a magnitude and a direction of an operating force on the arm, and an operating force detected by the operating force detecting means, And a control means for controlling the driving means and the turning means at the same time according to the component forces in a direction parallel to the direction and a direction perpendicular to the direction.

Further, for example, the vehicle further comprises a turning angle detecting means for detecting a turning angle of the arm, wherein the control means comprises:
The moving speed may be calculated according to the turning angle detected by the turning angle detecting means, and the driving means may be controlled based on the calculated moving speed.

Further, in order to achieve the above object, a transfer device according to the present invention has the following configuration.

That is, an arm capable of supporting a work, driving means for moving the arm along a previously laid track, and a change in the relative position of the work and the arm provided on the arm. Relative position detecting means for detecting, based on the detection result by the relative position detecting means,
Control means for controlling the movement of the driving means in a direction in which a change in the relative position between the work and the arm is reduced.

Further, in order to achieve the above object, a control method of a transfer device according to the present invention has the following configuration.

That is, a method for controlling a transfer device for transferring a work, wherein an arm capable of supporting the work at a first end is provided to a drive unit moving along a previously laid track. A swing unit that swingably supports at the second end and that swings the arm is provided in the drive unit, and the magnitude and direction of the operation force on the arm are detected by a sensor, and the detected operation force is detected. The drive unit and the turning unit are simultaneously driven in accordance with the component force in a direction parallel to the arm and in a direction perpendicular to the arm.

According to another aspect of the present invention, there is provided a method of controlling a transfer device for transferring a work, wherein a drive unit moving along a previously laid track is provided with an arm capable of supporting the work, and a relative movement between the work and the arm is provided. The arm is provided with a relative position detection unit for detecting a change in the position, and the driving is performed in a direction in which a change in the relative position between the work and the arm is reduced based on a detection result by the relative position detection unit. It is characterized in that the unit is moved.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a transfer device according to the present invention will be described.
In the assembly line of automobiles, which are typical vehicles,
An embodiment applied to an assembly process of transferring a windshield held at a predetermined position (home position: HP) to a predetermined position on a body will be described in detail with reference to the drawings.

<Explanation of Overall Operation> First, the overall operation of the transfer apparatus in the present embodiment will be described with reference to FIGS.
This will be described with reference to FIG.

FIG. 1 is a diagram showing a walking locus of an operator around an assembly line according to an embodiment of the present invention. In an assembly line 102 in which a body 101 is moving at a predetermined speed in a + Y direction, the worker Then, while receiving the work support by the transfer device in the present embodiment, the windshield is moved to a predetermined position around the A-pillar of the body, following a trajectory substantially like an arrow shown in FIG. Here, the work support by the transfer device refers to the assistance (support) of the force performed by the transfer device so as not to give an excessive work load to the worker (details will be described later).

FIGS. 2 and 3 are views for explaining the positional relationship between the transfer device and the assembly line in one embodiment of the present invention.

The details of the mechanism of the transfer device according to the present embodiment will be described later. As shown in FIGS. 2 and 3, the transfer device includes an arm 1, a drive unit 2, and a lifter 3 at the tip of the arm 1. It has. This transfer device is provided with a windshield 1 at the tip of the arm 1 by a predetermined procedure at the HP.
An operation of transporting the windshield 103 to the body 101 in accordance with the operation force of the operator is performed while the user holds the 03. In other words, the driving unit 1
According to the operating force (external force) applied to the assembly line 10
The arm travels in the Y-axis direction along a rail 105 provided in parallel with the arm 2 and rotates the arm 1 clockwise (the operating force is not shown in FIG. Force sensor). The lifter 3 lowers the windshield 103 in the −Z direction when the turning angle of the arm 1 is 90 °. The transition of the movement of the arm 1 and the positional relationship with the body 101 at this time will be described.

FIGS. 4 to 8 are views for explaining the operation of the transfer device and the transition of the positional relationship with the body as one embodiment of the present invention.
The expression of 03 is omitted.

First, the arm 1 which has received the windshield 103 by the HP, as shown in FIG.
Are in a parallel positional relationship. In this state, when the worker starts walking along the walking locus shown in FIG. 1 while gripping the string 11, the arm 1 is moved according to the operating force of the worker, as shown in FIGS. The movement in the + Y direction and the turning in the clockwise direction are performed simultaneously (in addition, depending on the direction of the operation force, the movement in the -Y direction and the turning in the counterclockwise direction are also possible).

Next, when the turning angle θ becomes 90 ° as shown in FIG. 6 as a result of the movement and turning, as shown in FIG. 7, the lifter 3 is moved by an operator detected by a load cell (not shown). The windshield 103 according to the operating force of
Lower in the Z direction. (Depending on the direction of the operating force, +
A rise in the Z direction is also possible). At this time, the drive unit 1 applies the lowered windshield 103 to the body 1
In response to the operation force of the worker trying to approach the A-pillar of No. 01, as shown in FIG.
Move in the −Y direction in the state of °.

After the lifter 3 transfers the windshield 103 to the A-pillar portion of the body 101 by a predetermined procedure (to be described in detail later), the drive unit 1 turns the arm 1 counterclockwise, Return to the HP by traveling in the -Y direction.

<Description of Control System> Next, a control method of the control system for realizing the above-described operation will be described. The control of the transfer device according to the present embodiment includes three operation controls of running and turning control of the arm 1, lift control by the lifter 3 at the tip of the arm 1, and running control of the arm 1 when the windshield 103 is transferred. . Hereinafter, the respective control methods will be described.

(I: Traveling and Turning Control) First, running and turning control of the arm 1 will be outlined. In this control, the turning of the arm 1 and the traveling of the drive unit 1 are performed in a coordinated manner according to the magnitude of the operation force f detected by the force sensor. At this time, when the magnitude of the operation force f is larger than a predetermined value, for safety, the tip of the arm 1 moves at a predetermined maximum speed (1 m / m in the present embodiment) in the direction of the operation force.
(Seconds), the turning operation of the arm 1 and the traveling operation of the drive unit 1 are restricted.

Further, as the turning angle of the arm 1 approaches 90 ° (when the above-mentioned transition from FIG. 5 to FIG. 6 is made), the speed of both the turning operation and the traveling operation increases, so that the safety of the worker is improved. In consideration of this, both operations are controlled so as not to exceed predetermined maximum speeds (maximum turning angular speed Vθmax, maximum traveling speed Vymax). Specifically, the speed is limited so that the direction of the tip end speed of the arm 1, which is a combination of the turning speed and the traveling speed, does not change.

When the turning angle exceeds a predetermined turning angle θ0 and approaches 90 °, a predetermined deceleration control is performed so that the turning of the arm 1 is safely terminated when θ = 90 °. .

Hereinafter, a specific control method for realizing the above operation control will be described.

FIG. 9 is a diagram showing a coordinate system for explaining the traveling and turning control of the arm in the transfer device as one embodiment of the present invention.

The XY coordinate system shown in FIG. 3 has the origin at HP, the Y axis is the travel of the drive unit 1 along the rail 105, and the X axis is the distance from the rail 105 at the tip of the arm 1. . L is the length of the arm 1, η is the distance (Y coordinate value) of the drive unit 1 (the fulcrum of the arm 1) from the HP, and θ is the turning angle of the arm 1. The vector f shown at the other end P of the arm 1 indicates the operating force by the worker described above. The component of the operating force f in the direction parallel to the arm 1 is y1, and the component in the direction perpendicular to the arm 1 is y1. x1.

In the x1-y1 coordinate system, if the angle formed by the operation force f is α (hereinafter, a ↑ b represents a to the power of b and sqr (c) represents the square root of c), α = tan ↑ (−1) (fy1 / fx1), f = sqr ((fx1) ↑ 2 + (fy1) ↑ 2), When | f│> f0, the tip of the arm 1 moves in the direction of the operating force f after Δt time. Let's just go. At this time, assuming that the speed of the tip of the arm 1 is V, V = Δl / Δt, α = θ + β, dx / dt = Vcosβ, and dy / dt = Vsinβ. Further, since X = L sin θ and Y = L cos θ + η, dx / dt = L · d θ / dt · cos θ, dy / dt = −L · d θ / dt · sin θ + dη / d
t, When these equations are replaced by determinants and transformed by θ and η,

[0032]

(Equation 1)

Thus, dθ / dt = (dx / dt) / (Lcosθ) (1), dη / dt = dx / dt · tanθ + dy / dt (2), (1) and (2) Dθ / dt and dη / dt are obtained from the equations, and | dθ / dt |> Vθmax or | dη / d
When t |> Vηmax (where Vθmax is the maximum turning angular velocity of the arm 1 and Vηmax is the maximum traveling speed of the drive unit 1), | dθ / dt | <Vθmax, or | dη / d
Δl is changed so that t | <Vηmax, and dθ / dt and dη / dt at that time are obtained as control output values.
In the present embodiment, focusing on dθ / dt, | dθ / dt |
Is changed so that is smaller than a predetermined turning angular velocity Vθ, and dη / dt is obtained based on the changed Δl.

Next, as the arm 1 continues turning and running, a predetermined turning angle θ0 (75 in this embodiment) is obtained.
(°) will be described below.

First, the turning angular velocity when the turning angle θ0 = 75 ° is Vθ0. At this time, what should be performed by the deceleration control is to set the current turning angular velocity Vθ0 to 0 while turning further by θd ° (= π / 2−θ0) before the turning angle of the arm 1 becomes 90 °. It is. If the required time at this time is a deceleration time T,

[0036]

(Equation 2)

The deceleration time T is calculated based on this integral equation.
T = 2 × θd / Vθd,

Therefore, assuming that the scan time of a programmable controller (hereinafter, PLC) for controlling the transfer device is τ, the angular velocity Vd to be reduced per one control cycle (scan) of the PLC is Vd = Vθ0 / (T / τ)
It is. Therefore, the angular velocity after one scan Vθ1 = Vθ0
−Vd, angular velocity after the next one scan Vθ2 = Vθ1−V
.. are repeated until Vθn = 0.
Also, assuming that the speed of the tip of the arm 1 with respect to Vθ1 is V1, V1 = Vθ1 · L · cosθ / cosβ,
There is a relationship of Δl = V1 × τ. From this relationship, the speed dη / dt of the drive unit 1 in the Y direction during the deceleration control is obtained.

By repeating the same calculation for each scan, the deceleration operation is completed, and the turning angle θ ≧ π / 2
, Dθ / dt = dη / dt = 0.

(II: Elevating Control) First, the lifter 3
An outline of the lifting and lowering control is described. When the turning angle of the arm 1 becomes 90 ° by the turning and traveling control described above,
Next, the lift control of the lifter 3 is started. In this control, the output of the force sensor is not used. In this control, as shown in FIG. 7, when a windshield 103 (specifically, a jig fixing the windshield) is pulled by an operator, the force is detected by a load cell (not shown). , Lifter 3 according to the detected operating force.
However, by winding or pulling out the belt hanging the windshield 103 into or from the lifter 3, the windshield is moved up and down.

In order to prevent the worker from feeling the weight of the windshield 103 (and a jig to be described later) when performing the elevation control, the transfer device according to the present embodiment receives the windshield 103 by the HP. At this time, the mass of the windshield 103 is measured by the load cell, and the measured mass is stored in advance as a reference weight. Then, when the lifting control is started, the windshield 103 is raised when it becomes lighter and lowered when it becomes heavier, according to the difference between the current weight detected by the load cell and the reference weight.

As described above, in the lifting control by the lifter 3, the inertial force due to the operation force applied by the operator and the gravity weight, which is the above-mentioned reference weight, are controlled separately. The control method to be performed is based on the concept of the control method of the force assisting device disclosed in Japanese Patent Application Laid-Open No. 8-19979. That is, when operating the actuator of the force assisting device, the amplification factor related to gravity is set to be large, and the operating force is reduced. The method is based on a method in which a signal to be represented is separated into a gravity component and a component of inertial force, multiplied by different amplification factors, and a value obtained by adding them is used as a control output signal to drive the actuator.

Hereinafter, specific lifting control will be described. First, assuming the mass M (Mg = Fg [N]) of the windshield 103 and a jig to be described later, the viscosity coefficient of the lifter 3 as b, and the external force applied to the lifter 3 as F, an equation of motion of the lifter is obtained (however, In the following equation, (dz / dt) is the first derivative of dz, and (dz / dt)
＾ 2 represents the second derivative of dz).

F−Fg = M (dz / dt) ＾ 2 + b (dz / dt), and the external force F is divided into a force Fm generated by a servomotor provided in the lifter 3 and an operation force Fh by an operator. Think.

F = Fm + Fh = M (dz / dt) ＾ 2 +
b (dz / dt) + Mg Here, the assist rates (amplification rates for performing work support) of the gravity load and the inertial load are Q1 and Q2.

Fh = Q2 (M (dz / dt) ＾ 2 + b (dz / dt)) + Q1Mg (3), Fm = (1−Q2) (M (dz / dt) ＾ 2 + b (dz / dt)) + (1−Q2) Mg, From the equation (3), (dz / dt) ＾ 2 = 1 / (Q2M) (Fh−Q1Mg−Q2b (dz / dt), Therefore, the target speed (dz / Dt)
req is

[0047]

(Equation 3)

Next, the gear ratio of the speed reducer is G, the radius of the hoist drum of the lifter 3 is r, and the target rotation speed Nreq to be given to the servomotor is determined.

2πrn = (dz / dt) req, Nreq = n / G, M is the output value (reference weight) of the load cell in the initial state in which the load is applied by the windshield 103 and the jig, and the operator operates the Fh. Let M 'be the output value of the load cell in the state in which .DELTA.M is added, and Fh = .DELTA.Mg (increase if .DELTA.Mg> 0, decrease if .DELTA.Mg.ltoreq.0), and lift control by the lifter 3 described above. Is shown in FIG.

Incidentally, if the angle of the belt is inclined to θ when the worker starts the transfer operation of the windshield 103, M ′ is multiplied by cos θ, and Fh = (M−M′co
sθ), and in this state, the lifter 3 winds up the belt. In this case, the output of the load cell is c.
The value divided by osθ is adopted as M ′.

(III: Travel Control During Transfer of Windshield) When the turning angle of the arm 1 becomes 90 ° by the above-mentioned turning and running control, the lift control of the lifter 3 is started next. In this control, the output of the force sensor is not used. In this control, as shown in FIG. 7, when the operator pushes the windshield 103 hanging down by the belt pulled out from the lifter 3 as shown in FIG. 8, the angle formed by the belt is detected by the encoder, The travel control of the drive unit 1 is performed so that the detected angle becomes zero.

FIG. 11 is a diagram showing a coordinate system for explaining the traveling control when the windshield is transferred in the transfer device according to one embodiment of the present invention.

In the coordinate system as shown in the drawing, the mass of the transfer device excluding the lifter 3 is M [kg], the mass of the lifter 3 is M1 [kg], the length of the belt is h [m], and the belt is vertical. Assuming that the angle between the direction and the direction is ε, the running viscosity coefficient of the drive unit 1 is bν, and the force acting on the transfer device is F, an equation of motion of the transfer device is obtained.

M (dy / dt) ＾ 2 + bν (dy / d
t) = F + M1g / 2 · sin2ε, where m is the virtual mass of the transfer device excluding the lifter 3, m1 is the virtual mass of the lifter 3, and bν is the traveling viscosity coefficient, m (dy / dt) ＾ 2 + bν ( dy / dt) = 1/2.
m1g · sin2ε, the target speed (dy / d) given to the servomotor
t) req is

[0055]

(Equation 4)

Is as follows.

FIG. 12 shows a control block diagram of traveling control by the drive unit 1 described above when the windshield is transferred.

<Description of Mechanism> Next, the mechanism of the transfer device will be described. First, the mechanism at the distal end of the arm 1 will be described.

FIG. 13 is a front view of the arm tip of the transfer device according to one embodiment of the present invention. FIG.
FIG. 4 is a top view of an arm tip of the transfer device according to the embodiment of the present invention. FIG. 15 is a side view of the arm tip of the transfer device according to the embodiment of the present invention.

As shown in FIG. 13 to FIG.
Is roughly provided with a lifter 3 and a jig 51 for holding the windshield 103.
1 is suspended by the lifter 3 by the belt 40.

In the lifter 3, a belt winding motor 31 serving as a servo motor performs an operation of winding the belt 40 wound around the winding drum 32 into the drum and an operation of pulling the belt 40 out of the drum. At this time, the movement of the belt 40 is performed via the guide rollers 35 to 38 and the like. Further, the encoder 33 moves the belt 40 by moving the windshield 103 and the jig 51 in the −Y direction in the state shown in FIGS.
Is detected by the operation of the roller fixing member 39 (details will be described later).

The jigs 51 are connected to the ends of the two belts 40 via load cells 57, respectively.
The load applied to 1 is detected by these load cells. The suction cup 52 holds the windshield 103 on the jig 51 by sucking and releasing air by an air system (not shown). The jig holding member 53 includes the belt 4.
The jig 51 hung to zero is a member that holds the jig 51 in an upright state in the horizontal direction.
The jig 51 can be raised / falled by pressing / releasing the jig holding member 53 with respect to the jig 51 (FIG. 15 shows an upright state). The jig locking member 55 is provided on the jig pressing member 53 and holds the jig 51 in an upright state together with the jig pressing member. The member locking member 55 can be engaged and released (FIGS. 13 and 15 show the engaged state).

Here, a mechanism for detecting the inclination (angle ε) of the belt 40 will be described. FIG. 16 is a view for explaining a mechanism for detecting the inclination of the belt provided in the lifter in one embodiment of the present invention. is there.

As shown in the figure, the main body of the encoder 33 is fixed to the base member of the lifter 3, and the guide rollers 37 and 38 are also rotatably supported by the base member of the lifter 3. The guide rollers 35 and 36 are roller fixing members 39 to which the rotation shaft of the encoder 33 is fixed.
Is rotatably supported. The guide rollers 37 and 38 and the guide rollers 35 and 36 are arranged to face each other so as to support the belt 40. Accordingly, when the belt 40 is tilted by the operator moving the windshield 103 and the jig 51 in the −Y direction, the roller fixing member 39 also rotates about the rotation axis of the encoder 33. The angle ε that the belt 40 makes with the vertical direction can be detected.

FIG. 16 shows guide rollers 37 and 38.
And the rotation axis of the encoder 33 are shifted vertically for the sake of explanation. However, in order to prevent unnecessary force from being applied to the belt 40 and to detect an accurate angle, the encoder 33 is required. Is preferably provided on an extension of the position where the guide rollers 37 and 38 face each other.

FIG. 17 is a top view showing the overall shape of the transfer device according to one embodiment of the present invention. FIG.
FIG. 1 is a front view showing an overall shape of a transfer device according to an embodiment of the present invention.

As shown in FIGS. 17 and 18, the drive unit 2 is provided with a servomotor 21 for running the transfer device along the rail 105 and a servomotor 22 for turning the arm 1. The driving force of the motor is appropriately reduced by a reduction gear (not shown) and used for traveling and turning.

In FIG. 18, reference numeral 12 denotes a force sensor, and the operation force applied to the string 11 is represented by XYZ 3.
It can be detected by decomposing in the direction of dimension. 13 is
This is an operation switch provided with push buttons such as “down”, “return”, and “release”.

<Description of Control System> Next, a control system for actually operating the transfer device according to the present embodiment by the above-described control method will be described.

FIG. 19 is a block diagram showing a schematic configuration of a control system of a transfer device according to an embodiment of the present invention.

In this embodiment, as shown in the figure, the control system includes a personal computer (PC) 201 for performing control processing described later, a PLC 202 for mainly controlling input / output with the above-described transfer device, and a power supply. The force sensor 12 controls the force sensor 12.

The PLC 202 includes a digital input (DI) signal, a digital output (DO) signal, and an analog input (AI).
It performs general input / output control of signals, analog output (AO) signals, and pulse train input (PI) signals.

The DI signal is supplied to the servo motors 21 and 22,
Then, an input is made from an encoder that detects the rotation angle of the belt winding motor 31, a proximity switch (not shown) that detects the position of the drive unit 1, and the like. The DO signal is transmitted to the jig 51
Not shown solenoid valve for operating an air system for adsorbing / releasing the windshield 103, an air cylinder 54
And 56, etc.

The AI signal is input from the load cell 57 and the like. The AO signal is transmitted to the servo motors 21 and 22,
Then, it is output to a servo amplifier or the like that controls the belt winding motor 31.

The PI signal is input from the servo motors 21 and 22 and the belt winding motor 31.

Next, in order to realize the control method described above, P
The software executed by the CPU (not shown) of C201 will be described. It is assumed that the jig 51 holds the windshield 103 under the control of the previous process.

FIG. 20 is a flowchart showing the overall configuration of the control process of the transfer device in one embodiment of the present invention.

In the figure, steps S1 and S
2: A predetermined initialization process for the PLC 202 and the like is performed (step S1), and it is determined whether or not a “start” button has been pressed on an operation panel (not shown) (step S2).

Step S3: If the determination in step S2 is YES (when pressed), the high-speed counter for counting the PI signal is enabled and the output value (offset value) of the force sensor 12 is read.

Step S4: The current output value of the load cell 57 corresponding to the weight of the jig 51 and the windshield 103 is stored in a RAM (not shown) as an initial value (reference weight).

Step S5: It is determined which operation mode button is selected on the operation panel (not shown).

Step S6: When the "manual mode" is selected in the judgment of step S5, the running operation of the drive unit 1, the turning operation of the arm 1, and the elevating operation by the lifter 3 are performed by a button on an operation panel (not shown). A manual mode process that can be arbitrarily performed by an operation is performed.

Step S7: If "normal mode" is selected in the judgment of step S5, a normal mode process described later is performed.

Step S8: If "manual movement mode" is selected in step S5, the arm 1
After the turning angle θ becomes 90 °, a human movement mode process is performed in which the turning operation and the running operation can be arbitrarily performed according to the operation force from the string 11.

FIGS. 21 to 23 are flowcharts showing the normal mode processing in the control processing of the transfer device according to the embodiment of the present invention.

In the figure, step S101: a count value is read from a turning counter and a running counter in a RAM (not shown). Here, the turning counter and the running counter are counters that count DI signals output from encoders that detect the rotation angles of the servo motors 21 and 22.

Step S102: The current turning angle θ of the arm 1 is detected based on the counter value read from the turning counter, and if 0 ° ≦ θ <75 ° (class 1), the process proceeds to step S103, where 75 ° ≦ If θ <90 ° (class 2), the process proceeds to step S111, where θ ≧ 90 °
In the case of (class 3), the process proceeds to step S121.

Steps S103 and S104: When the class is determined to be class 1 in step S102, the arm 1
Is calculated (step S).
103), it is determined whether the calculated turning angular velocity Vθ is smaller than a predetermined maximum turning angular velocity Vθmax (step S1).
04), if YES (Vθ is smaller than Vθmax), the process proceeds to step S106.

Step S105: If NO in step S104 (Vθ is larger than Vθmax), the current turning angular velocity Vθ is changed to the maximum turning angular velocity Vθmax.

Steps S106 and S107: The output value of the force sensor 12 is read, and a dead band process is performed by applying a predetermined filter to the read output value (Step S106). It is determined whether it is within the dead zone (step S10).
7). When the result of this determination is YES (in the range of the dead zone), the process returns to step S101 in FIG. 21. Step S108: When the determination in step S107 is NO (out of the range of the dead zone), the above-described traveling and turning control of the arm 1 is performed. Dθ / dt based on the concept described above
And dη / dt are calculated. Specifically, dθ / dt =
Vcosβ / Lcosθ, dη / dt = Vcosβta
It was calculated by nθ + Vsinβ.

Step S109: It is determined whether dη / dt calculated in step S108 does not exceed a predetermined maximum traveling speed Vηmax, and YES (| Vη / dt | ≦ Vη)
In the case of (max), the process proceeds to step S115.

Step S110: If the determination in step S109 is NO (| Vη / dt |> Vηmax), d
η / dt is changed to the maximum running speed Vηmax. Furthermore, d
θ / dt = dη / dt (L sin θ + L tan β cos
θ).

Step S115: The calculated dη / dt and dθ / dt are output to the servomotors 21 and 22 as a traveling control value and a turning control value.

Step S111: In the case of class 2 as determined in step S102, control for reducing the turning of the arm 1 is started for safety.
A dead zone process similar to that described above is performed.

Step S112: dθ / dt and dη / dt are calculated based on the concept of the deceleration control described in the traveling and turning control of the arm 1 described above. Specifically, dθ / dt is calculated by the arithmetic series of Vθ−Vθd × n, and dη / dt = Lcosθ × dθ / dt × (ta
nθ + tanβ), and then proceeds to step S115.

Step S121: In the case of class 3 in the judgment of step S102, the above-described lifting and lowering control by the lifter 3 and the traveling control of the drive unit 1 during the transfer of the windshield are performed together. First, the counter value is read from a counter in a RAM (not shown) storing the count value of the encoder 33, and the angle ε formed by the belt 40 is calculated.

Step S122: {(dη / dt) = Σ
(Γ sin2ε−δλ) k is calculated. Here, γ and δ are predetermined constants, λ is a traveling speed, and k is an integration constant. This equation corresponds to the integral equation in the control block diagram shown in FIG.

Step S123: The same dead zone processing as in step S106 is performed.

Step S124: Σ (dz / dt) is calculated. Specifically, dz1 / dt = fh / Q2 × reference weight, dz3 / dt = b × (lifter speed) / (reference weight), where k ′ is an integration constant, Q2 is an inertia load assist rate, and dz / dt = dz1 / dt−dz3 / dt is calculated, and 積分 (dz / dt) k ′ is calculated as the integrated value. This equation corresponds to the integral equation in the control block diagram shown in FIG.

Step S125: The calculated Σ (dη / d
t) and Σ (dz / dt) are output to the servo motor 21 and the belt winding motor 31 as a traveling control value and a lifter elevating control value.

Steps S126 and S127: It is detected whether the jig 51 has been lowered by a predetermined amount while the jig holding member 53 and the jig locking member 55 hold the jig 51 in the upright state. First, when the determination is YES (down by a predetermined amount), the jig pressing member 53 and the jig locking member 55
Are released from the jig 51.

Steps S128 and S129: It is determined whether the "down" switch of the operation switch 13 has been pressed (step S128). If the determination is YES (switch pressed), the lifter 3 descends by a predetermined amount, and the windshield 103 is placed on the body 101 (step S129).

Here, steps S126 to S126 are executed.
The operation at 129 will be described more specifically.

When the lifter 3 starts the lowering operation and the windshield 103 is lowered by a predetermined distance, the jig holding member 53 and the jig locking member 55, which have fixed the jig 51, are connected to the air cylinders 54 and 56. The operation is released from the jig 51.

Then, while the worker holds the jig 51,
By lowering the jig and the windshield 103 further and moving them in the −Y direction, the windshield 10
When the seat 3 is seated on the A-pillar of the body 101, the weight applied to the load cell 57 is reduced, so that the lifter 3 starts the lifting operation. Therefore, the weight on the body side is smaller than the actual weight of the windshield 103. In this state, if the operator presses the "down" button,
The lifter 3 further lowers the jig 51 by a predetermined distance. Thereby, the windshield 103 is attached to the body 101.
It takes the whole weight. At this time, the jig locking member 58, which has hung the jig 51, is released by the operation of the air cylinder 59, and the suction by the air system (not shown) and the suction cup 52 is completed. Body 10
Transfer to 1 is completed.

Thereafter, when the operator presses the “return” button after collecting the jig 51, the lifter 3
0 is wound up to a predetermined position, and the drive unit 1
By turning the arm 1 counterclockwise, the turning angle θ is set to 0 °, and by running in the −Y direction, H
Returning to P, preparations for receiving the next windshield 103 are made.

As described above, according to the transfer apparatus of the present embodiment controlled by the above-described control method, the traveling operation control of the drive unit 1 and the turning operation control of the arm 1 can be performed simultaneously, and The work can be transferred in a relatively small operation area while supporting the transfer work. Further, the lifting / lowering operation control of the lifter 3 and the jig 51
In addition, since the running operation of the drive unit 1 that follows the arm 1 when the windshield 103 is moved to the A-pillar side of the body 101 is controlled, the work load on the operator can be further reduced.

[0108]

As described above, according to the present invention,
It is possible to provide a transfer device for transferring a work in a relatively small operation area while supporting the transfer work of an operator, and a control method thereof.

That is, according to the first, eighth, tenth, and twelfth aspects of the present invention, it is possible to efficiently transfer a work in a relatively narrow operation area while assisting the transfer work of the worker.

According to the second and eleventh aspects of the present invention,
The movement of the arm can be performed safely.

According to the third aspect of the present invention, the turning operation can be safely decelerated before the arm stops turning.

Further, according to the invention of claim 4, when the operation force applied to the arm is abnormally large, the moving speed of the arm can be limited, so that the safety of the worker can be secured.

According to the fifth, sixth and seventh aspects of the present invention,
The work load on the worker can be further reduced.

[0114]

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a walking locus of an operator around an assembly line according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a positional relationship between a transfer device and an assembly line according to an embodiment of the present invention.

FIG. 3 is a diagram illustrating a positional relationship between a transfer device and an assembly line according to an embodiment of the present invention.

FIG. 4 is a view for explaining an operation of the transfer device as one embodiment of the present invention and a transition of a positional relationship with a body.

FIG. 5 is a diagram for explaining an operation of the transfer device as one embodiment of the present invention and a transition of a positional relationship with a body.

FIG. 6 is a diagram for explaining an operation of the transfer device as one embodiment of the present invention and a transition of a positional relationship with a body.

FIG. 7 is a diagram for explaining an operation of the transfer device as one embodiment of the present invention and a transition of a positional relationship with a body.

FIG. 8 is a diagram for explaining an operation of the transfer device as one embodiment of the present invention and a transition of a positional relationship with a body.

FIG. 9 is a diagram showing a coordinate system for explaining the traveling and turning control of the arm in the transfer device as one embodiment of the present invention.

FIG. 10 is a control block diagram of lift control by a lifter according to an embodiment of the present invention.

FIG. 11 is a diagram showing a coordinate system for explaining traveling control when a windshield is transferred in the transfer device as one embodiment of the present invention.

FIG. 12 is a control block diagram of traveling control when the windshield is transferred by the drive unit according to the embodiment of the present invention.

FIG. 13 is a front view of an arm tip of the transfer device according to the embodiment of the present invention.

FIG. 14 is a top view of the distal end of the arm of the transfer device according to the embodiment of the present invention.

FIG. 15 is a side view of an arm tip of the transfer device according to the embodiment of the present invention.

FIG. 16 is a diagram illustrating a mechanism for detecting the inclination of the belt provided on the lifter according to the embodiment of the present invention.

FIG. 17 is a top view showing the overall shape of the transfer device according to one embodiment of the present invention.

FIG. 18 is a front view showing the overall shape of the transfer device according to the embodiment of the present invention.

FIG. 19 is a block diagram illustrating a schematic configuration of a control system of the transfer device according to the embodiment of the present invention.

FIG. 20 is a flowchart illustrating an overall configuration of a control process of the transfer device according to the embodiment of the present invention.

FIG. 21 is a flowchart illustrating a normal mode process among the control processes of the transfer device according to the embodiment of the present invention.

FIG. 22 is a flowchart illustrating a normal mode process among the control processes of the transfer device according to the embodiment of the present invention.

FIG. 23 is a flowchart showing a normal mode process among control processes of the transfer device according to the embodiment of the present invention.

[Explanation of symbols]

 1: arm, 2: drive unit, 3: lifter, 11: string, 12: force sensor, 13: operation switch, 21, 22: servo motor, 31: belt winding motor, 32: winding drum, 33: encoder 35-38: guide roller, 39: roller fixing member, 40: belt, 51: jig, 52: suction cup, 53: jig pressing member, 54, 56, 59: air cylinder, 55, 58: jig Stop member, 57: load cell, 101: body, 102: assembly line, 103: windshield, 105: rail, 201: personal computer (PC), 202: programmable controller (PLC), 203: force sensor controller,

Continued on the front page (72) Inventor Masanobu Komatsu 3-1, Fuchi-cho, Fuchu-cho, Aki-gun, Hiroshima Mazda Co., Ltd. (72) Inventor Koji Uchimoto 3-1, Shin-chi, Fuchu-cho, Aki-gun, Hiroshima Mazda F Terms (reference) 3C030 BB01 BC04 BC16 BC31 CC03 DA23 DA24 3D114 AA04 AA06 AA11 AA18 BA01 BA09 CA05 CA18 DA02 DA09 DA12 DA14 3F027 AA01 AA10 CA02 DA01 DA02 DA12 EA06 FA02 FA11 FA15

Claims (12)

[Claims] An arm capable of supporting a work at a first end; a driving means rotatably supporting a second end of the arm and moving along a previously laid track; Turning means provided on a driving means for turning the arm; operating force detecting means for detecting the magnitude and direction of the operating force on the arm; operating force detected by the operating force detecting means parallel to the arm And a control means for controlling the driving means and the turning means at the same time in accordance with the component forces. 2. The vehicle according to claim 1, further comprising: a turning angle detecting unit configured to detect a turning angle of the arm, wherein the control unit calculates a moving speed in accordance with the turning angle detected by the turning angle detecting unit. 2. The transfer device according to claim 1, wherein the driving unit is controlled by a speed. 3. The control means performs deceleration control of the turning means when the arm approaches a predetermined angle at which the arm stops turning, and calculates a value according to a turning speed calculated by the deceleration control. 3. The transfer device according to claim 2, wherein the driving unit is controlled by a moving speed. 4. The control means controls the drive means at the predetermined speed when the movement speed of the drive means calculated according to the component force is higher than a predetermined speed, and controls the drive means at the predetermined speed. With the turning speed calculated according to the speed,
The transfer device according to claim 1, wherein the transfer device is controlled. 5. A relative position detecting means for detecting a change in a relative position between the work and the arm at a first end of the arm, wherein the control means comprises: After stopping the turning of the arm at a predetermined angle, the driving means is moved in a direction in which a change in the relative position between the work and the arm is reduced based on the detection result by the relative position detecting means. The transfer device according to any one of claims 1 to 4, wherein: 6. An elevating means for vertically moving the work while supporting the work at a first end of the arm, and a second operation for detecting a magnitude of an operation force on the work. The control means stops the turning of the arm at a predetermined angle, and then moves the arm up and down by the elevating means based on the detection result by the second operating force detecting means. The transfer device according to any one of claims 1 to 5, wherein the transfer device is controlled. 7. The control means controls the elevating means so as to perform an ascending operation when a detection result of the second operating force detecting means is smaller than a predetermined value, and to perform a descending operation when the result is larger than a predetermined value. The transfer device according to claim 6, wherein the transfer is performed. 8. An arm capable of supporting a work, driving means for moving the arm along a previously laid track, and a change in a relative position between the work and the arm provided on the arm. And a control for moving the driving means in a direction in which a change in the relative position between the work and the arm is reduced based on a detection result by the relative position detecting means. Means. 9. The vehicle according to claim 1, wherein the track is laid along an assembly line of the vehicle and above the assembly line, and the work is a windshield of the vehicle. The transfer device according to any one of the above. 10. A method for controlling a transfer device for transferring a workpiece, comprising: a drive unit that moves along a previously laid track;
An arm capable of supporting a work at a first end portion is rotatably supported at a second end portion of the arm, and the drive unit is provided with a turning unit for turning the arm; The magnitude and direction of the force are detected by a sensor, and the detected operating force is divided into a direction parallel to the arm and a direction perpendicular to the arm, and the drive unit and the turning unit are moved in accordance with the component force. A control method of a transfer device, wherein the driving control is performed simultaneously. 11. The control method according to claim 10, wherein the driving unit is controlled by a moving speed calculated according to a turning angle of the arm. 12. A method for controlling a transfer device for transferring a workpiece, comprising: a drive unit that moves along a previously laid track;
An arm capable of supporting the work is provided, and a relative position detection unit for detecting a change in the relative position between the work and the arm is provided on the arm.
A control method of a transfer device, wherein the drive unit is moved in a direction in which a change in a relative position between the work and the arm is reduced.