JP2009000799A - Work management system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a work management system which can realize accurate work without interposing an active guide. <P>SOLUTION: The work management system comprises: a work management means which stores information about a work position and a work sequence and outputs a next work position for a tool; a tool position detecting means for, based on a relative angle and the effective length of each arm, detecting the horizontal position of the tool position and detecting the vertical position of the tool position; a moving direction detecting means for detecting the moving direction of the tool based on the difference in position between before the detection of the position and after the detection of the position detected by the tool position detecting means; a target direction detecting means for detecting the direction of the next work position from the tool position; an operating direction determining means for comparing the tool moving direction with the direction of the next work position to determine the proximity of the tool to the next work position; and an electric resistance regulating means which releases a brake in each connecting part when the tool is relatively close to the next work position and operates the brake in each connecting part when the tool is relatively away from the next work position. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a system for teaching and monitoring a work procedure by managing track of a work tool in assembly work such as screw tightening and welding.

  Today, industrial robots tend to perform various manufacturing operations automatically. Even in such a situation, the importance of assembly work by humans is indispensable. However, human work has a drawback that it naturally involves mistakes.For example, when assembling various devices, work such as screw tightening or welding is involved, but forgetting to close screws, welding leakage, etc. It was extremely difficult to ensure the proper sequence to do. In addition, the work by humans is difficult to leave the progress of work as information, and is a major problem in terms of maintaining product quality and performing post-management verification of the manufacturing process.

  Therefore, a work system (for example, refer to Patent Document 1 below) or a screw that compares the work status collected based on the sensor output of each work device with the work program to determine the quality of the work afterwards. A system that emits a warning sound when a forgetful tightening occurs (see, for example, Patent Document 2 below), or a system in which a subsequent apparatus does not operate unless the preceding apparatus successfully completes the screw tightening operation (for example, the following Patent Document 3) is introduced.

JP 2005-177919 A JP 2005-34914 A JP 2005-28551 A JP-A-7-1348

  However, in the conventional system, no measures are taken to naturally guide the device operated by the worker to an appropriate work position only by a subsequent judgment, and the procedure of the work is exclusively based on the memory of the worker. . In addition, if a method of actively guiding the hand holding the device is taken, there is a problem that a measure must be further taken to prevent the worker from being injured by adding a safety device. .

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a work management system capable of realizing an accurate work without active guidance.

  The work management system according to the present invention, which has been made to solve the above-mentioned problems, includes a frame comprising a plurality of arms connected to an arbitrary base surface so as to be swingable or retreatable in a horizontal direction or a vertical direction, and A tool attached to the tool base (tip) of the frame, and the relative angle or relative advancement / retraction length of the arm connected to the connecting portion of each arm (the other is horizontal or vertical with respect to one of the connecting arms) A swing sensor or advancing / retracting sensor that detects a distance to advance and retreat in the direction), and a brake that adjusts the swinging resistance or the advancing / retreating resistance.

  The work management system includes a work management means for outputting a next work position of a tool having a work position and a work order, and parallel to the base surface based on the relative advance / retreat length or the relative angle and the effective length of each arm. A tool position detecting means for deriving a horizontal position of the tool position on the surface to be moved, and a connecting portion of an arm that swings or moves back and forth in the vertical direction on condition that the tool position is included in a certain flat area around the next work position. Elevation regulation means for releasing the brake and operating the brake of the connecting portion of the arm that swings or retreats in the vertical direction on condition that the tool position is included in the planar area is provided.

  The work management system according to the present invention, which takes another form, includes a work management means for outputting a next work position of a tool having a work position and a work order, the relative advance / retreat length, or the relative angle and the effective length of each arm. A tool for guiding the horizontal position of the tool position on a surface parallel to the base surface and the vertical position of the tool position with respect to the base surface based on (the length between the swing shafts supported at both ends of each arm) Position detection means, movement direction detection means for guiding the movement direction of the tool based on a change in position before and after detected by the tool position detection means, and the next position starting from the tool position detected by the tool position detection means Target direction detection means for deriving the direction of the work position; operation direction determination means for determining the proximity of the tool to the next work position by comparing the movement direction of the tool and the direction to the next work position; When the proximity situation tends to be close, the brakes of each connecting part are released (actuate so as to weaken the rocking resistance or advance / retreat resistance), and when the proximity situation tends to separate, each connecting part And a resistance adjusting means for operating the brake (actuating so as to increase the rocking resistance).

  As a specific configuration of the work management system, tool position detection means for calculating the horizontal position and the vertical position with position coordinates of a surface parallel to the base surface, and a movement direction detection for calculating the movement direction of the tool with a vector. A quadrant in which a next work position exists in a relative coordinate system whose origin is the tool position (for example, when two straight lines are orthogonal to each other in a plane shape) And an operation direction determination unit that determines that the object is in the proximity direction on the condition that it is directed to each of the four portions of the plane.

  Further, in order to control the lifting and lowering of the tool with respect to the next work position, the resistance adjusting means swings or moves back and forth in the vertical direction on condition that the tool position is included in a certain flat area around the next work position. It can be configured as a work management system including a lifting control means for releasing the brake of the connecting portion of the arm.

  In addition, in order to manage the work progress and work contents related to the use of the tool, the tool is provided with an operation detection sensor, and the position of the tool operated by the output of the operation detection sensor and the data of the work amount at the time of operation are stored. It can be configured as a work management system including work history management means.

  Specifically, the work includes automatic screw tightening means as the tool, a torque sensor as the operation detection sensor, and a work management means for storing data on the position where the tool is operated and torque generated during operation. It can be configured as a management system.

  According to the work management system according to the present invention, although it is a manual work by an operator, not only a post-judgment but also a device operated by the worker during the work can be properly operated with a relatively simple configuration. Measures are naturally guided to ensure accurate work in the correct sequence without the operator having to memorize the work procedure in advance. In addition, by analyzing the operation of the operator, it is possible to regulate the work that should be passively prohibited, and in the operation that is not restricted, you can get a recognition that it is clearly allowed as a reaction, There is an effect that it is possible to avoid an accident caused by the device actively working on the worker's body.

Embodiments of a work management system according to the present invention will be described below with reference to the drawings.
The work management system shown in the figure includes a frame 2 composed of a plurality of arms connected to a base surface of an assembly table so as to be swingable in a horizontal direction or a vertical direction, and a tool 3 attached to a front portion of the frame 2. And a swing sensor 4 that quantitatively detects the relative angle of the arm phase-connected to the connecting portion of each arm, and a brake 5 that adjusts the swing resistance.

The base surface of the assembly table means a base surface in position detection processing, and support means 6 is set on the base surface so that the assembly object is always fixed in the same state.
The frame 2 in this example connects one arm (horizontal swing arm) 9 to a base (frame base) 7 based on the base surface via a joint (horizontal joint) 8 that swings in the horizontal direction, One base (link base) 11 of a parallel link mechanism having a pair of arms (vertical swinging arms) 10 of the same length is connected to the distal end portion via a horizontal joint 13, An automatic screw fastening means is mounted as a tool 3 on a base (tool base) 12 provided at the tip of the parallel link mechanism.

  A horizontal joint (first joint) 8 that connects the frame base 7 and the horizontal swing arm 9, a horizontal joint (second joint) 13 that connects the horizontal swing arm 9 and the link base 11, and a parallel link The swing sensor and the brake are respectively attached to the support portions of the vertical swing arms 10 and 10 and the link base 11 constituting the mechanism, and the connecting portions of the arms in the frame are connected to each other. The relative angles θ1, θ2, and θ3 are quantitatively detected with an electrical signal suitable for the amount, and, in a predetermined case, the brake 5 is operated so that the operator can sufficiently recognize the swing. Generate resistance.

  The swing sensor 4 uses, for example, a rotary encoder that generates a pulse signal capable of discriminating the rotational direction, and the brake 5 is a pneumatic shaft or the like, and the swing shafts 16 and 17 and the arms 9 and 10 connected to each other in the joint portion. Any known means according to the purpose may be used, such as a method of pressing the contact surface. In this example, an elastic member 19 such as a spring, and a stopper (not shown) for restricting the arms 9 and 10 constituting the parallel link mechanism from swinging upward from the horizontal state are used particularly for the parallel link mechanism. The restoration mechanism is configured.

  The work management system includes a computer system and includes the following specific means in which hardware resources and software cooperate.

  That is, the work management system includes work management means 20 having a work position and a work order and outputting a next work position of the tool, relative angles θ1, θ2, θ3 detected by the swing sensor, and a horizontal swing arm. The horizontal coordinate of the tool position (for example, the position of the contact point with the workpiece 18 in the tool 3) on the surface parallel to the base surface is calculated based on the effective length R1 of 9 and the effective length R2 of the vertical swing arm 10. The tool position detecting means 21 for guiding the vertical coordinate of the tool position with respect to the base surface, and the movement for guiding the moving direction of the tool based on the position change between the current position and the previous position detected by the tool position detecting means 21 Direction detection means 22, target direction detection means 23 for deriving the direction of the next work position starting from the tool position detected by the tool position detection means, movement direction of the tool and the next work position The operation direction determination means 24 for determining the proximity situation of the tool 3 to the next work position by comparison with the direction of the tool, and when the proximity situation tends to be close, the brake 5 of each connecting portion is released, and the proximity In the case where the situation tends to be separated, a resistance adjusting means 14 for operating the brake 5 of each connecting portion (the first joint 8, the second joint 13, and the support portion 15) is provided.

  The work management means 20 sequentially outputs the work position and work order in the workpiece 18 registered in advance, and repeats each time the work required for one workpiece 18 is completed.

  The tool position detecting means 21 in this example calculates the horizontal position and the vertical position with the tool position coordinates (X, Y, Z) in a three-dimensional coordinate system in which the base surface is the XY plane. The origin of the position coordinates is appropriately determined, for example, the center of the swing shaft 16 of the frame base 7 is the origin. In that case, the horizontal swing arm 9 and the vertical swing arm 10 are either one of the base axes (X axis and Y axis) of the base surface in a state where the frame base 7 and the tool base 12 are most separated from each other. The tool position is (R1 + R2, 0, 0) when it is in a straight line above (here, on the X axis) and the vertical swing arm is 10 horizontal, and the angles at that time are θ1 = 0, θ2 = 0. , Θ3 = 0 ((+) in the case of a downward folding in FIG. 3) (X, Y, Z) = (R1 · cos θ1 + R2 · cos θ3 · cos (θ1 + θ2), R1 · sin θ1 + R2 · cos θ3 · sin (θ1 + θ2 ), R2 · sin θ3).

  The moving direction detection means 22 in this example calculates X, Y, and Z displacements before and after the movement (the last two valid sampling coordinates), and the movement of the tool 3 starting from the tool position immediately before the movement. The direction is stored as a moving direction vector (X-X0, Y-Y0, Z-Z0). The effective sampling coordinates are, for example, those whose movement amount in a certain time is a certain distance or more.

  The target direction detection means 23 in the example acquires the next work position from the work management means 20, and the next work position starting from the tool position (X, Y, Z) detected by the tool position detection means 21. The required variation of X, Y, and Z components up to (Xp, Yp, Zp) is calculated, and the direction from the tool position (X, Y, Z) to the next work position (Xp, Yp, Zp) is the target direction. This is stored as a vector (Xp-X, Yp-Y, Zp-Z).

  In the example, the operation direction determination means 24 uses the movement direction vector (X-X0, Y-Y0, Z-Z0) indicating the movement direction as the tool position (X, Y, Z) in the three-dimensional coordinate system. = In the relative coordinate system having the origin of (X0, Y0, Z0), it is directed to the quadrant where the next work position (Xp, Yp, Zp) exists, for example, the target direction vector (Xp-X0, Yp) -Y0, Zp-Z0) are determined to be proximate on the condition that the positive / negative status of each component of the moving direction vector (X-X0, Y-Y0, Z-Z0) matches the positive / negative status. .

  When the proximity situation tends to be close, the resistance adjusting means 14 switches the hydraulic or pneumatic circuit to a state in which the brake 5 of each connecting portion is released, and the proximity situation changes to a separation tendency (other than the proximity tendency). In some cases, the circuit is switched to a direction in which the brakes 5 of the respective connecting portions are operated.

  Further, in this example, in order to control the raising and lowering of the tool with respect to the next work position, the resistance adjustment means 14 causes the tool position to be in a constant plane area around the next work position (Xp, Yp, Zp). Can be configured as a work management system including a (vertical) lift restriction means 25 that releases the brake 5 of the connecting portion of the vertical swing arm 10 that swings in the vertical direction. In this case, it is also considered that a lock mechanism is provided so that it does not easily descend in the direction of the Z component unless it enters the plane area. In this case, the movement direction detecting means 22 is required until the plane area is entered. In the processing in the target direction detection unit 23 and the operation direction determination unit 24, the Z component can be ignored.

  The presence / absence of the next work position (Xp, Yp, Zp) within the fixed plane area by the lifting / lowering restricting means 25 can be confirmed by checking whether the current tool position (X, Y, Z) is X, Y, for example. If a component satisfies | Xp−X | <| specified value | and satisfies | Yp−Y | <| specified value |, it is assumed that the component exists in the plane region. When it exists in the fixed plane area, the circuit is switched to a state in which the brake 5 of the support portion 15 is released, and the tool lowering restriction process is released. The tool lowering restriction process functions for each of the tool heights (Z components). However, when the tool goes out of the fixed plane area without restriction, the tool lowering restriction is performed again. Make the process work.

  The fixed plane area is preferably provided so as not to conflict with a position that does not require an adjacent work, but when the work position is not stored in advance, it is not easy to focus on the work position. The constant plane area is initially set sufficiently wide so that it does not take time to search for the tool lowering position, and the Z component of the next work position and the Z component of the tool position are close to each other (| Za−Z | decreases). Accordingly, a configuration may be adopted in which the area contracting means 26 for performing the narrowing process is provided.

  In addition, on the frame of the work management system according to the present invention, each arm that advances and retreats in the X, Y, and Z axis directions of the base surface (an advance / retreat arm in the X axis direction, an advance / retreat arm in the Y axis direction, a Z axis (vertical)) It is possible to adopt a configuration in which the arms (advancing and retreating in the direction) are sequentially connected to the adjacent arms vertically in the horizontal and vertical directions. According to this configuration, the relative advance / retreat length of each arm can be used as the X, Y, Z coordinates of the base surface for position detection in the tool position detection unit, and the movement direction detection unit, the target direction detection unit, The processing of the operation direction determination means and the area contraction means can be handled by the same processing as that of the swinging arm described above. Further, the resistance adjusting means can cope with the swing process by replacing the brake for vertical swing with the brake for advance / retreat in the Z direction (vertical direction).

  When simple processing is required, the work management means, the tool position detection means, and the movement direction detection means, the target direction detection means, and the operation direction determination means are not provided or functioned. The brake of the connecting portion of the arm that swings or retreats in the vertical direction is released on condition that the tool position is included in a certain plane area around the next work position, and the tool position is included in the plane area. It is good also as a structure provided with the raising / lowering control means which act | operates the brake of the connection part of the arm which rock | fluctuates or advances / retreats to the vertical direction on condition of this, or makes it function.

  The work management system according to the present invention passively notifies the worker of the work procedure by the function of the resistance adjusting means 14, and the work at the wrong position is prevented. . Further, since no physical action is actively applied to the worker's body, it is possible to reliably prevent accidents during the work.

  Further, in this example, in order to manage the work progress and work contents related to the use of the tool, the tool is provided with an operation detection sensor, and the position at which the tool 3 is operated by the output of the operation detection sensor and the operation at the time of operation. Work history management means for storing a quantity of data is provided. Specifically, the tool 3 is provided with automatic screw tightening means, the operation detection sensor is provided with the torque sensor 1, and the work position is stored as the work position and the torque data generated during the operation. Management means are provided.

  When the tool 3 is a soldering iron, the tool 3 is provided with a piezoelectric sensor for detecting contact with a portion to be soldered and a temperature sensor for detecting a change in the iron temperature due to the contact. What is necessary is just to provide the work history management means 27 which preserve | saves the position and the temperature data produced simultaneously as work content.

  The work history management means 27 uses, as management information, a code, work position (coordinates), work content, work date and time, etc. corresponding to 1: 1 for the work object and data for each workpiece 18. Save to storage means. The stored information is effectively used for the post-judgment of the work performed.

  Although the work management system according to the present invention is theoretically not limited to the use of work, in view of assuming work by humans, from the viewpoint of human movable areas, missions such as automobiles, starters, inverters, brakes, It can be used as an auxiliary tool for assembling and disassembling lamps and other items smaller than the human body.

It is a functional block diagram which shows an example of the work management system by this invention. It is a side view which shows an example of the structure of the work management system by this invention. It is a top view which shows an example of the structure of the work management system by this invention. It is explanatory drawing which shows an example of the raising / lowering control means of the work management system by this invention. It is a flowchart which outlines an example of the process performed with the work management system by this invention.

Explanation of symbols

1 Torque sensor, 2 frame, 3 tool, 4 swing sensor, 5 brake,
6 support means, 7 frame base, 8 horizontal joint (first joint),
9 Horizontal swing arm, 10 Vertical swing arm, 11 Link base,
12 tool base, 13 horizontal joint (second joint),
14 resistance adjusting means, 15 support portion, 16 swing shaft, 17 swing shaft,
18 work piece, 19 elastic member,
20 work management means, 21 tool position detection means, 22 movement direction detection means,
23 target direction detection means, 24 operation direction determination means,
25 lift control means, 26 area contraction means, 27 work history management means,

Claims (6)

A frame composed of a plurality of arms that are swingably or reciprocally movable in a horizontal direction or a vertical direction;
A tool attached to the tool base of the frame,
A swing sensor or advance / retreat sensor for detecting the relative angle or relative advance / retreat length of the arm connected to the connecting portion of each arm, and a brake for adjusting the swing resistance or advance / retreat resistance;
Work management means for outputting the next work position of the tool with the work position and work order;
Tool position detecting means for deriving a horizontal position of a tool position on a surface parallel to the base surface based on the relative advance / retreat length or the relative angle and the effective length of each arm;
On condition that the tool position is included in a certain plane area around the next work position, the brake of the connecting portion of the arm that swings or retreats in the vertical direction is released, and the tool position is included in the plane area. A work management system comprising an elevating restriction means for operating a brake of a connecting portion of an arm that swings or retreats in the vertical direction on the condition of A frame composed of a plurality of arms that are swingably or reciprocally movable in a horizontal direction or a vertical direction;
A tool attached to the tool base of the frame,
A swing sensor or advance / retreat sensor for detecting the relative angle or relative advance / retreat length of the arm connected to the connecting portion of each arm, and a brake for adjusting the swing resistance or advance / retreat resistance;
Work management means for outputting the next work position of the tool with the work position and work order;
Based on the relative advance / retreat length, or the relative angle and the effective length of each arm, a tool position detection for deriving a horizontal position of a tool position in a plane parallel to the base surface and deriving a vertical position of the tool position with respect to the base surface Means,
Based on the change in position before and after detected by the tool position detection means, a movement direction detection means for guiding the movement direction of the tool;
Target direction detection means for deriving the direction of the next work position starting from the tool position detected by the tool position detection means;
An operation direction determination means for determining a proximity state of the tool to the next work position by comparing the movement direction of the tool and the direction to the next work position;
A work management system comprising resistance adjusting means for releasing a brake of each connecting portion when the proximity state tends to be close and operating a brake of each connecting portion when the proximity state tends to be separated. Tool position detecting means for calculating the horizontal position and the vertical position by a position coordinate of a surface parallel to the base surface;
A moving direction detecting means for calculating the moving direction of the tool as a vector;
Operation direction determination for determining that the proximity state is in the proximity direction on the condition that the vector indicating the moving direction is in a quadrant where the next work position exists in the relative coordinate system having the tool position as the origin. The work management system according to claim 2, further comprising: means.   The resistance adjusting means includes an elevating restriction means for releasing a brake of a connecting portion of an arm that swings or retreats in a vertical direction on condition that the tool position is included in a certain flat area around the next work position. The work management system according to claim 2.   The said tool is equipped with the operation | movement detection sensor, The work history management means which preserve | saves the position which the said tool operated by the output of the said operation detection sensor, and the work amount data at the time of the operation | movement is provided. The work management system according to any one of the above.   6. The automatic screw tightening means as the tool, a torque sensor as the operation detection sensor, and a work history management means for storing data on the position where the tool was operated and torque generated during operation. The work management system described.

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