JP2011156641A - Operation assisting system, operation assisting method, and recording medium with operation assisting method thereon - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a system in which a robot and one operator work in cooperation with each other in a production line in a factory. <P>SOLUTION: The system is equipped with: a motion capturer 2 to be attached on a hand of the operator to measure work operation of the hand with time and to transmit operation information of a measured result as three-dimensional coordinate data; a pressure sensor 23 to be attached on the hand of the operator to measure a load applied to a component with time and to transmit detected pressure data of a measured result; and a control part 31 controlling the industrial robot 4, based on the three-dimensional coordinate data and the detected pressure data. The control part allows the robot to follow the three-dimensional coordinate data obtained by the motion capturer. The control part has a holding part pressing function 31b for pressing the component by the holding part of the robot with a pressure value in accordance with a value of the detected pressure data transmitted from the pressure sensor on pressing the component by the hand of the operator when it is determined that the hand of the operator reaches a standard operating position. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a work assistance system and a work assistance method for assisting a part attachment operation in which a worker attaches a part to a product by a mechanical attachment device in a production line in a factory, and a recording medium on which the work assistance method is recorded. .

  2. Description of the Related Art Conventionally, in a vehicle assembly line, a window opening of a vehicle that is transported on the assembly line by moving a window glass that has been pre-greased, deprimed, and adhesive coated from a predetermined position. A vehicle glass mounting device or a vehicle wind glass mounting device that assists a worker who performs the mounting operation and reduces the burden on the worker is proposed (for example, Patent Document 1, Patent Document). 2).

  The glass mounting device for an automobile includes a first rail provided in parallel with the conveyance direction of the vehicle body, a second rail slidably provided on the bottom surface of the first rail, and orthogonal to the first rail, Along with an engaging part that moves on the first rail and an engaging part that moves on the second rail, a conveying part that has a hoist that moves up and down a suction pad that adsorbs glass is provided. Further, the transport unit includes a suction pad drive mechanism that changes the suction angle of the suction pad and an operation unit that controls the suction pad drive mechanism when the glass is attached. In addition, the glass mounting device for an automobile includes an automatic control device that automatically controls the transport unit in order to transport the glass from the pretreatment process to the glass mounting process and to evacuate from the glass mounting process. It is connected.

  In the glass mounting device for an automobile configured as described above, when the operator selects automatic control by the operation unit, the conveyance unit is automatically controlled by the automatic control device. The conveyance unit automatically controlled by this automatic control device lowers the suction pad located in the pretreatment process with a hoist, and sucks and holds the window glass after the pretreatment. And a conveyance part raises the suction pad which adsorbed and hold | maintained the window glass with a hoist, and moves it on the 1st rail and the 2nd rail by each engaging part, and to the vehicle body sky located in the window glass attachment process Transport. Next, an operator selects manual control with an operation part, operates the switch of the said operation part, and lowers a suction pad to the position where a wind glass is attached to a vehicle body with a hoist. At this time, the switch of the operation unit is operated to drive the suction pad drive mechanism, and the orientation of the suction pad is adjusted so that the window glass is parallel to the window opening of the vehicle body. Then, the worker fixes the window glass to the window opening of the vehicle body. When the installation of the window glass is completed, the operator operates the switch on the operation unit to remove the window glass from the suction pad, and when automatic control is selected again on the operation unit, the suction pad is automatically restored by the automatic control of the automatic control device. You can return to the position. Thereby, the worker can perform the glass mounting work alone.

  In addition, a windshield mounting device for a vehicle is installed on a guide rail that travels a hanger that supports a vehicle body, and is provided with an engaging claw that engages with the hanger, and a 90-degree turning movement in a horizontal plane. One main arm that is attached to the movable body, two sub arms that are attached to the main arm so as to be pivotable in the vertical direction, a suction pad that is provided on the sub arm and is attracted to the vehicle body, and a sub arm A pressing pad that moves forward and backward by a cylinder and contacts and presses the outer surface of the window glass set in the window opening of the vehicle body; and a switching valve that switches the supply and discharge directions of fluid pressure to the suction pad and the cylinder of the pressing pad It has.

  When the vehicle wind glass mounting device configured as described above enters the mounting station by the hanger, the moving claw is engaged with the hanger, so that the moving body moves synchronously with the hanger. In this state, the operator sets the window glass at the window opening of the vehicle and holds it in the direction of the vehicle body, and turns the main arm 90 degrees from a position parallel to the guide rail to be positioned above the vehicle. Then, the suction pad of the sub arm is opposed to the vehicle, and the suction pad is sucked to the vehicle by negative pressure through the switching valve. At this time, the switching valve is switched using the negative pressure of the suction pad as an input signal, and fluid pressure can be supplied to the cylinder of the pressing pad to press the window glass against the window opening of the vehicle. As a result, the worker sets the window glass alone in the window opening, and enters the vehicle and fixes the window glass to the window opening while pressing the window glass against the window opening with the pressing pad and the suction pad. It becomes possible.

JP-A-11-240474 JP 11-28623 A

  However, in the automotive glass mounting apparatus described in the background art, in order to move the transport unit having a hoist that moves the suction pad that adsorbs glass up and down from the pretreatment process to the wind glass mounting process, in the transport direction of the vehicle body. The first rail provided in parallel to the first rail and the second rail slidably provided on the bottom surface of the first rail and orthogonal to the first rail must be installed in the assembly line. We had to secure a wide range of equipment installation space. Further, in this glass mounting apparatus for automobiles, in order to fix the window glass to the window opening of the vehicle body in the window glass mounting process, the operator manually operates the switch of the operation unit, and the window glass is mounted on the window of the vehicle body. Since the orientation of the suction pad must be visually adjusted so as to be parallel to the opening, this wind glass fixing work has to be relied on the operator's intuition and bones.

  In addition, in the windshield mounting device of a vehicle, when an operator performs work alone, the main arm and the sub arm must be moved while the window glass is set in the window opening of the vehicle and pressed in the direction of the vehicle body. Therefore, it was difficult to perform the wind glass mounting work efficiently unless a skilled worker. Furthermore, in the case of a vehicle equipped with a windshield of a vehicle, an automobile without a bonnet or trunk does not have to work on the side of the vehicle body, so that an operator can work alone, but the hood and trunk In some automobiles, it is necessary to work on the side of the car body, so it was difficult for the workers to work on the wind glass efficiently without two people working.

  The present invention has been made to solve such a conventional problem, and in a production line in a factory, three-dimensional coordinate data from a motion capture attached to an operator's hand and pressure detection from a pressure sensor. By controlling the industrial robot based on the data, two workers can attach parts to the product efficiently and accurately by one worker without relying on the operator's intuition and bones. An object of the present invention is to provide a work assistance system and work assistance method that can be performed, and a recording medium on which the work assistance method is recorded.

  The work assistance system according to the first aspect of the present invention, which achieves the above-described object, is a production line in a factory, in order for a worker to perform a part mounting operation for attaching a part to a product conveyed on the production line. An operator who holds one side of a part with an operator holding the other side with an industrial robot is held by a holding part connected to the tip of the arm, and the part is arranged. By moving the part from the part placement position to the part mounting position for mounting the part on the product transported on the production line, the holding part of the industrial robot that holds the other side of the product is also forcibly moved, and further work A work auxiliary system that attaches the part to the product by pressing the part with the hand of the worker and the holding part of the industrial robot, and is mounted on the hand of the worker and measures the work operation by the hand over time. The motion capture that transmits the operation information that is the measurement result as three-dimensional coordinate data, and the pressure that is attached to the operator's hand, measures the load applied to the part over time, and transmits the pressure detection data that is the measurement result A sensor, a data storage unit in which worker position standard data for workers, which is a standard of the worker's hand position at the component mounting position, is registered, and three-dimensional coordinate data transmitted from the motion capture. And a control unit that controls the industrial robot based on the pressure detection data transmitted from the pressure sensor, and the control unit is registered in the data storage unit and the value of the three-dimensional coordinate data obtained from the motion capture Compared with the value of the worker work position standard data, the error range in which the value of the three-dimensional coordinate data is set to the value of the worker work position standard data. If it is determined that the operator's hand has reached the standard work position by the component attachment position determination function that determines that the worker's hand has reached the standard work position and the component attachment position determination function, It has a holding part pressing function that presses a part with a holding part of an industrial robot at a pressure value corresponding to the value of pressure detection data transmitted from the pressure sensor by pressing the part by hand.

  Moreover, the work assistance system which is the 2nd aspect of this invention which achieves the above-mentioned objective in order to perform the component attachment operation | work which attaches a component to the product conveyed on a production line in the production line in a factory. In addition, an operator who holds one side of a part, holds the other side by a holding part connected to the tip of the arm by an industrial robot, and an operator holds the other side. The holding part of the industrial robot that holds the other side of the product moves the part through the arm by moving the part from the part placement position to the part attachment position for attaching the part to the product conveyed on the production line. A work auxiliary system that is moved to the mounting position and that is further attached to the product by pressing the part with the operator's hand and the holding part of the industrial robot, and is attached to the operator's hand. Motion capture by measuring the work motion over time and transmitting the motion information as the measurement result as three-dimensional coordinate data, and measuring by measuring the load applied to the parts attached to the operator's hand over time A pressure sensor that transmits pressure detection data as a result, a control unit that controls the industrial robot to operate based on the three-dimensional coordinate data transmitted from the motion capture, and the pressure detection data transmitted from the pressure sensor; 3D coordinate data, and a data storage unit in which standard work position data for workers, which is the standard work position of the worker's hand at the part mounting position, is provided, and the control unit receives time-series data from motion capture. A robot tracking function that makes the holding part of the industrial robot follow the work movement of the operator's hand based on the three-dimensional coordinate data to be The industrial robot is controlled by the robot tracking function while maintaining a substantially constant interval between the position where the part holds one side of the part and the position where the holding part of the industrial robot holds the other side of the part. Compare the value of the 3D coordinate data obtained from the motion control and the motion capture with the value of the work position standard data for the worker registered in the data storage unit. If it is within the error range set to the value of the worker work position standard data, the parts attachment position judgment function for judging that the worker's hand has reached the standard work position and the parts attachment position judgment function are used. Presses the part with the holding part of the industrial robot with the pressure value corresponding to the pressure detection data value sent from the pressure sensor when the operator presses the part with his hand. Make It has a holding part pressing function.

  In the work assistance system according to the third aspect of the present invention, the control unit includes a position where the worker holds one side of the product based on the worker work position standard data in the data storage unit, Robot working position standard data at the part mounting position of the industrial robot holding part, which is derived in a state where the holding part of the industrial robot holds the other side of the product at a substantially constant interval, and the work Compare the position information of the holding part moved by the user's part movement work with the position data that can be obtained from the industrial robot, and if it is different, the position of the holding part is up to the value of the robot work position standard data It has a robot position correction function for correction.

  In the work assistance system according to the fourth aspect of the present invention, the control unit performs motion capture when the holding unit of the industrial robot reaches a predetermined coordinate axis at the component mounting position. The holding unit is fixed on the coordinate axis until reaching the predetermined coordinate axis, and when the holding unit reaches a coordinate axis orthogonal to the predetermined coordinate axis at the component mounting position, the holding unit is orthogonal to the coordinate axis. It has a holding part fixing function for fixing on the coordinate axis.

  According to a fifth aspect of the present invention, in the work assistance system according to any one of the first to fourth aspects, the data storage unit is three-dimensional coordinate data, and the worker is a component at a standard work position. Angle standard data, which is the standard of the angle of attachment for mounting the product on the product, is registered, and the controller corrects the angle of attachment of the component by the holding part of the industrial robot based on the attachment angle standard data. It has a function.

  According to a sixth aspect of the present invention, in the work assistance system according to any one of the first to fifth aspects, the motion capture includes a plurality of magnetic three-dimensional positions attached to the fingers of the worker. The apparatus includes an attitude sensor and a signal processing unit that receives the work operation information of the worker detected by the magnetic three-dimensional position and attitude sensor group and transmits the information to the data processing device.

  A seventh aspect of the present invention is the work assistance system according to the sixth aspect, wherein a plurality of pressure sensors are attached to the operator's fingers.

  In addition, the work assistance method according to the eighth aspect of the present invention that achieves the above-described object is to perform a part mounting operation in which a worker attaches a part to a product conveyed on the production line in the production line in the factory. In addition, one side of the part is held by a worker's hand equipped with a motion capture and pressure sensor, and the other side is held by a holding part connected to the tip of the arm by an industrial robot to hold one side of the part. The operator moves the part from the part placement position where the part is placed to the part attachment position for attaching the part to the product conveyed on the production line, so that the industrial robot that holds the other side of the product When the holding unit is forcibly moved, the work operation of the worker is measured over time by motion capture, and the three-dimensional coordinate data that is the measurement result is transmitted to the control unit that controls the industrial robot. In addition, when the part is attached to the product by pressing the part with the operator's hand and the holding part of the industrial robot, the load applied to the part is measured over time with a pressure sensor, and the pressure detection is the measurement result. Data is also transmitted to the control unit, and the control unit is a work assistance method for operating the industrial robot in accordance with the work operation of the worker. The control unit uses the value of the three-dimensional coordinate data obtained from the motion capture. Is compared with the value of the worker work position standard data, which is the standard work position of the worker's hand at the component mounting position, and the value of the three-dimensional coordinate data is set to the value of the worker work position standard data If it is determined that the worker's hand has reached the standard work position in the previous step, and if it is determined in the previous step that the worker's hand has reached the standard work position, parts A pressure value corresponding to the value of the pressure detection data transmitted from the pressure sensor by pressing, and has a step of pressing the parts holder of the industrial robot.

  Moreover, the work assistance method which is the 9th aspect of this invention which achieves the above-mentioned objective is for a worker performing the part attachment operation | work which attaches a part to the product conveyed on a production line in the production line in a factory. In addition, one side of the part is held by a worker's hand equipped with a motion capture and pressure sensor, and the other side is held by a holding part connected to the tip of the arm by an industrial robot to hold one side of the part. The operator moves the part from the part placement position where the part is placed to the part attachment position for attaching the part to the product conveyed on the production line, so that the industrial robot that holds the other side of the product When the holding part is moved to the component mounting position via the arm, the operator's work movement is measured over time by motion capture, and the three-dimensional coordinate data, which is the measurement result, is used for the industrial robot. In addition, when a part is attached to the product by pressing the part with the operator's hand and the holding part of the industrial robot, the load applied to the part is measured with a pressure sensor over time. The pressure detection data as a result of the measurement is also transmitted to the control unit, and the control unit operates the industrial robot according to the work operation of the worker. A step of causing the holding unit of the industrial robot to follow the work operation by the operator's hand based on the three-dimensional coordinate data received in series, a position where the operator holds one side of the part, and a holding unit of the industrial robot A step of causing the holding part of the industrial robot to follow the work operation by the operator's hand while maintaining a substantially constant interval between the position where the other side of the part is held; The value of the three-dimensional coordinate data obtained by comparing the value of the three-dimensional coordinate data obtained from the image capture and the value of the worker work position standard data which is the standard of the work position of the worker's hand at the component mounting position. Is within the error range set to the value of the worker work position standard data, the step of determining that the worker's hand has reached the standard work position and the worker's hand in the previous step If the operator presses the part with his / her hand, the part is pressed by the holding part of the industrial robot with a pressure value corresponding to the value of the pressure detection data transmitted from the pressure sensor. I have it.

  In a work assistance method according to a tenth aspect of the present invention, in the work assistance method according to the eighth aspect, the control unit includes a position where the worker holds one side of the product based on the work position standard data for the worker, and an industrial robot. The robot work position standard data at the part mounting position of the industrial robot holding part, which is derived with the holding part holding the other side of the product at a substantially constant interval, and the parts of the worker Comparing the position information of the holding unit moved by the moving operation with the position data that can be obtained from the industrial robot, and if different, correcting the position of the holding unit to the value of the robot work position standard data It is what you have.

  The eleventh aspect of the present invention is the work assisting method according to the ninth aspect, wherein the control unit performs motion capture when the holding part of the industrial robot reaches a predetermined coordinate axis at the component mounting position. The holding unit is fixed on the coordinate axis until reaching the predetermined coordinate axis, and when the holding unit reaches a coordinate axis orthogonal to the predetermined coordinate axis at the component mounting position, the holding unit is orthogonal to the coordinate axis. And a step of fixing on the coordinate axes to be performed.

  According to a twelfth aspect of the present invention, in the work assisting method according to any one of the eighth to eleventh aspects, the control unit determines a mounting angle of the component by the holding unit of the industrial robot in three dimensions. The coordinate data includes a step of correcting based on the mounting angle standard data which is a standard of the mounting angle of the part for the worker to mount the part on the product at the standard work position.

  Furthermore, a recording medium according to a thirteenth aspect of the present invention is a computer-readable medium storing a program for realizing the work assistance method according to any one of the eighth to twelfth aspects. .

  In the work training system according to the first aspect and the work training method according to the eighth aspect, the worker holds one side of the part by hand and the industrial robot is connected to the tip of the arm on the other side. When an operator holding one side of a part while holding it on the holding part moves the part from the part placement position to the part mounting position on the production line, the industrial robot holding part holding the other side of the product is forcibly moved. Is done. At this time, the control unit determines whether or not the operator's hand has normally moved to the component attachment position by the component attachment position determination function, and the three-dimensional coordinate data obtained from the motion capture attached to the worker's hand. If it is determined that the operator's hand has reached the standard work position, the holding portion of the industrial robot is then moved according to the value of the pressure detection data transmitted from the pressure sensor. The parts can be pressed by the holding part of the industrial robot at a high pressure value. Therefore, the parts can be pressed against the product with the same pressure value by the holding part of the industrial robot that is forcibly moved by the operator's hand and the operator's hand at the part mounting position. It is possible for a single worker to efficiently and accurately perform a component mounting operation for mounting a component on a product by a worker without depending on the operator's intuition and bones.

  Further, according to the work training system as the second aspect and the work training method as the ninth aspect, the operator holds one side of the part with the hand and the industrial robot is connected to the tip of the arm on the other side. When the worker holding one side of the part and holding one side of the part moves the part from the part placement position to the part mounting position on the production line, the control part uses the robot control function to make the worker one side of the product. The robot tracking function keeps the industrial robot in the hands of the operator while maintaining a substantially constant interval between the position where the robot is held and the position where the holding part of the industrial robot holds the other side of the product. Since the operation can be performed based on the three-dimensional coordinate data received in time series from the attached motion capture, the industrial robot can be controlled by a work operation similar to the work operation of the worker's hand. That is, since the industrial robot can be operated in accordance with the work operation of the operator's hand, the component can be moved almost accurately to the component mounting position. In this way, the control unit determines whether the worker's hand has been normally moved to the component mounting position by the component mounting position determination function. If it is determined that the operator's hand has arrived at the standard work position based on the three-dimensional coordinate data obtained from the motion capture attached to the hand, the industrial robot is held by the holding unit pressing function. The part can be pressed by the holding part of the industrial robot with a pressure value corresponding to the value of the pressure detection data transmitted from the pressure sensor. Therefore, the parts that have been moved almost exactly to the parts mounting position by the operator's hand and the holding part of the industrial robot, and the parts at the same pressure value by the holding part of the industrial robot and the operator's hand Since it can be pressed against the product, it is possible for one worker to efficiently and accurately perform the part mounting work for attaching parts to the product by two workers without relying on the operator's intuition and bones. become.

  Further, according to the work training system according to the third aspect and the work training method according to the tenth aspect, even if the operator's hand moves normally to the component mounting position, the operator's hand passes the part through the part. Since the forcibly moved industrial robot holding part does not always move normally to the component mounting position, the position of the industrial robot holding part is finally corrected by the robot position correcting function. By this final correction, the holding portion of the industrial robot can be accurately positioned with respect to the component mounting position.

  According to the work training system as the fourth aspect and the work training method as the eleventh aspect, the holding part of the industrial robot is controlled by the robot following function and the robot control function of the control part, and the part is When moving to the mounting position, when the holding unit reaches the predetermined coordinate axis at the component mounting position and the coordinate axis orthogonal to the coordinate axis, the holding unit of the industrial robot is fixed separately. It becomes possible to position with high accuracy with respect to the position.

  Further, according to the work training system according to the fifth aspect and the work training method according to the twelfth aspect, the worker does not always attach the part to the product at an appropriate angle. The angle of the robot holding part is finally corrected. This final correction makes it possible to attach the parts of the industrial robot holding part at an angle that is easy to attach to the product.

  According to the work assistance system, work assistance method, and recording medium on which the work assistance method of the present invention is recorded, three-dimensional coordinate data and a pressure sensor from a motion capture attached to an operator's hand in a production line in a factory. The industrial robot is controlled based on the pressure detection data from the machine, and two workers attach parts to the product efficiently and accurately by one worker without relying on the operator's intuition and bones. To be able to do that.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the example of preferable embodiment in the work assistance system of this invention, (A) is a block diagram of a system configuration, (B) is a block diagram of the data storage part of a data processor, (C) is a data processor It is a block diagram of a control part. It is explanatory drawing which shows the example of the calibration of the sensor used for the motion capture of FIG. It is explanatory drawing which shows the example of the positional information detected by the motion capture. It is a flowchart figure which shows the example of preferable embodiment in the work assistance method of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the state which crimps | bonds the window glass to which the work assistance system and work assistance method of this invention are applied to the window opening part of a vehicle, (A) is holding | maintenance of the suction disk which an operator holds by hand, and an industrial robot FIG. 4B is an explanatory view of a state in which the suction disk mounted on the part is absorbed by the window glass, FIG. 5B is a side view of the suction disk held by the operator, and FIG. . It is a flowchart figure which shows the other preferable embodiment of the work assistance method of this invention. It is explanatory drawing which shows the process sequence of the operation | work by the operation | work assistance method of FIG. 6, (A) is a figure which shows the state which has moved the window glass to the window glass attachment position with the operator's hand and the holding part of an industrial robot, (B) is a diagram showing a state in which the window glass is rotated and moved by the operator's hand around the intersection point between a predetermined coordinate axis at the component mounting position and a coordinate axis orthogonal to the coordinate axis, (C ) Is a diagram showing a state in which the window glass is positioned at the component mounting position.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a best mode for carrying out a work assistance system, a work assistance method, and a recording medium recording the work assistance method will be described with reference to the drawings.

  The work assistance system according to the present invention assists the parts attachment work with an industrial robot when the worker performs the part attachment work for attaching the part to the product conveyed on the production line in the factory. An operator holding one side of a part and holding the other side with a holding part connected to the tip of the arm by an industrial robot and holding the other side, the part is placed by the worker. By moving the part from the part placement position to the part attachment position for attaching the part to the product transported on the production line, the holding part of the industrial robot is also forcibly moved. The part is attached to the product by pressing the part with the holding part of the robot.

  As shown in FIG. 1A, this work assistance system is worn on the hand of an operator, measures the work motion by the hand over time, and transmits the motion information as the measurement result as three-dimensional coordinate data. The motion capture 2, the pressure sensor 23 that is attached to the operator's hand, measures the load applied to the part over time, and transmits the pressure detection data that is the measurement result, and the three-dimensional coordinates transmitted from the motion capture 2 The data processing device 3 includes a control unit 31 that controls the industrial robot 4 based on the data and pressure detection data transmitted from the pressure sensor 23. As shown in FIG. 5C, the industrial robot 4 is a multi-joint type robot in which a plurality of arms 42 are connected to each other at joints, and a holding part 43 is rotatably provided at the tip arm. It is.

  The motion capture 2 can be a general-purpose one, and there are an optical type that detects the movement of the moving object based on position information of the optical marker attached to the moving object, and a magnetic type that detects the movement of the magnetic sensor attached to the moving object. It is common. In particular, when the object to be measured over time is a work operation of a worker who is performing a part assembly operation for fitting parts together, the motion capture 2 is a position sensor that is attached to the finger of the worker. A magnetic three-dimensional position / orientation sensor 21, and a signal processing unit 22 that receives work operation information of the worker detected by the magnetic three-dimensional position / orientation sensor and transmits work operation detection data to the data processing device 3. It is preferable to have In the case of this motion capture, it is possible to detect the delicate movement of the operator's finger by arranging multiple magnetic 3D position and orientation sensors on the flexible glove so that the delicate movement of the finger can be detected. Therefore, it is possible to accurately reproduce the work operation of the worker, so that it is possible to cope with a complicated work operation by the finger of the worker.

  The motion capture 2 and the data processing device 3 may be either wired or wireless connection means, and are selected according to installation conditions. As such a magnetic motion capture, for example, a finger motion capture device using a magnetic three-dimensional position and orientation sensor disclosed in Japanese Patent Application Laid-Open No. 2007-236602 is suitable.

  As shown in FIGS. 2 and 3, for example, assuming that the origin of the motion capture device for fingers is the center of the sensor 21 a located at the tip of the thumb, the position coordinates of the sensor 21 a viewed from the fixed reference point of the signal processing unit 22. Information on Euler angles indicating postures obtained from (X-axis, Y-axis, Z-axis) and rotation angles around the X-axis, Y-axis, and Z-axis is obtained and recorded in the data processing device 3. In this case, calibration of positional deviation and angle deviation at the time of mounting the sensor is described in detail in Japanese Patent Application Laid-Open No. 2007-236602, and thus description thereof is omitted.

  The pressure sensor 23 is preferably attached to, for example, the glove of the motion capture 2 and can be detected on the fingertip by placing the pressure sensor 23 on the finger pad of the fingertip. In this case, since the pressure applied to each fingertip can be detected by disposing the pressure sensor 23 on the finger pad portion of each fingertip, it is possible to accurately reproduce the work operation of the operator. It is possible to cope with complicated work movements with fingers. This pressure sensor 23 measures the pressure applied to the fingertip with a pressure-sensitive element through a diaphragm, converts it into an electrical signal, and outputs it. A semiconductor piezoresistive diffusion pressure sensor or a capacitance pressure sensor is known. ing.

  The data processing device 3 is preferably a computer and includes an arithmetic processing device such as a CPU, a display device having a display screen such as a cathode ray tube monitor and a liquid crystal display, an input device such as a keyboard and a mouse, and a hard disk drive. It is composed of a storage device or the like.

  As shown in FIGS. 1A and 1B, such a data processing device 3 is a three-dimensional coordinate data together with the control unit 31, and the standard of the work position of the worker's hand at the component mounting position (hereinafter, “ The data storage unit 32 in which the worker work position standard data 32a is registered, the three-dimensional coordinate data received in time series from the position sensor 21 of the motion capture 2, and the pressure sensor 23. A data format conversion unit 33 that converts pressure detection data received in time series from the coordinate data for the data processing device 3, three-dimensional coordinate data received in time series from the position sensor 21 of the motion capture 2, and the pressure sensor 23. The coordinate data for the data processing device 3 in which the pressure detection data received in time series from the data is converted by the data format converter 33 is used to operate the industrial robot. And a robot language conversion unit 34 for converting the robot language for. The data format conversion unit 33 uses the coordinate data for the data processing device 3 as the three-dimensional coordinate data received in time series from the position sensor 21 of the motion capture 2 and the pressure detection data received in time series from the pressure sensor 23. If the data format is the same, the data processing device 3 may not be provided.

  As shown in FIG. 1C, the control unit 31 includes the value of the three-dimensional coordinate data obtained from the position sensor 21 of the motion capture 2 and the worker work position standard data 32a registered in the data storage unit 32. A component that compares the value and determines that the operator's hand has reached the standard work position when the value of the three-dimensional coordinate data is within the error range set to the value of the worker work position standard data 32a When it is determined by the attachment position determination function 31a and the component attachment position determination function 31a that the operator's hand has reached the standard operation position, pressure detection data transmitted from the pressure sensor 23 when the operator presses the component with the hand. The holding unit pressing function 31b that presses the component with the holding unit 43 (see FIG. 5C) of the industrial robot 4 at a value corresponding to the above value. Note that the error range set to the value of the worker work position standard data 32a in the parts attachment position determination function 31a is that the parts are transferred to the product that is transported on the production line even if the work position of the worker's hands varies. This is a range that does not affect the mounting work of the parts to be mounted.

  Further, the control unit 31 determines the position where the worker holds one side of the product based on the worker work position standard data 32a in the data storage unit 32, and the holding unit 43 of the industrial robot 4 sets the other side of the product. The robot working position standard data at the parts mounting position of the holding part 43 of the industrial robot 4 derived in a state where the distance between the holding position and the holding position is substantially constant, and the movement of the parts of the worker are moved. The position information of the holding unit 43 is compared with the position data that can be obtained from the industrial robot 4, and if they are different, the position of the holding unit 43 is corrected to the value of the robot work position standard data. have. As shown in FIG. 1B, the robot work position standard data 32b is registered in the data storage unit 32.

  Even if the operator's hand moves normally to the component mounting position, the holding part 43 of the industrial robot 4 that is forcibly moved through the component by the operator's hand does not always move normally to the component mounting position. Therefore, the position of the holding unit 43 of the industrial robot 4 is finally corrected by the robot position correction function 31c. By this final correction, the holding portion 43 of the industrial robot 4 can be accurately positioned with respect to the component mounting position.

  In FIG. 1C, the control unit 31 includes a robot follow-up function 31e, a robot control function 31f, and a holding unit fixing function 31g, which are not provided in the work assistance system 1.

  Further, as shown in FIG. 1B, the data storage unit 32 is three-dimensional coordinate data, and mounting angle standard data that is a standard of the mounting angle of the part for the worker to mount the part on the product at the standard work position. As shown in FIG. 1C, the control unit 31 has a robot angle correction function 31d for correcting the mounting angle of the component by the holding unit of the industrial robot based on the mounting angle standard data 32c. .

  Since the operator does not always attach the component to the product at an appropriate angle, the robot angle correction function 31d finally corrects the angle of the holding unit 43 of the robot 4. With this final correction, the parts can be attached at an angle at which the holding portion 43 of the industrial robot 4 can be easily attached to the product.

  The data storage unit 32 includes a RAM that can store data in an updatable manner, a ROM that stores fixed data, and the like. The worker work position standard data and the robot work position standard data registered in the data storage unit 32 are the position coordinates (X axis, Y axis, etc.) when the position sensor 21 is a magnetic three-dimensional position and orientation sensor. Z-axis), and Euler angle information indicating an attitude obtained from rotation angles around the X-axis, Y-axis, and Z-axis. In addition, the worker work position standard data, the robot work position standard data, and the mounting angle standard data are registered in the data storage unit 32 for each vehicle to be worked.

  The worker's work position standard data registered in the data storage unit 32 is data obtained from a part mounting work by a skilled worker, and a motion capture position sensor is used to indicate the work operation by a skilled worker performing the part mounting work. The work position data for workers obtained from the measurement results measured with time in 21 is used as work position standard data for workers.

  The robot language conversion unit 34 is based on the three-dimensional coordinate data received in time series from the position sensor 21 of the motion capture 2 and the pressure detection data received in time series from the pressure sensor 23. The tip position and the like can be calculated and converted into robot operation data in accordance with a grammar of a predetermined robot language so that the industrial robot 4 is operated in accordance with the operator's work operation.

  An industrial robot 4 controlled by such a work assistance system 1 is an articulated robot in which a plurality of arms 42 are connected by joints, as shown in FIG. 5C, for example. The arm 42 can also be rotated in the horizontal direction by the rotation of the pedestal 41, and a holding portion 43 is connected to the tips of the plurality of arms 42 by joints. Therefore, the industrial robot 4 can move the holding unit 43 to the destination by interlocking the servo motors provided at the joints. The industrial robot 4 in which the work assistance system 1 is used moves a part from a position where the part is arranged to a part attachment position for attaching the part to a product conveyed on the production line. By doing so, the holding portion 43 is forcibly moved, and thus the joint mechanism is configured so that the operator can move the holding portion by hand.

  As shown in FIG. 1A, each component of the work assistance system 1 described above is electrically connected. In the motion capture 2, a position sensor 21 and a pressure sensor are connected to the signal processing unit 22, respectively. In the data processing device 3, a control unit 31 and a data storage unit 32 are connected. The control unit 31 is connected to a signal processing unit 22 via a data format conversion unit 33, and an industrial robot via a robot language conversion unit 34. 4 are connected to each other.

  Each configuration of the data processing device 3 in the work assistance system 1 configured as described above is realized by a program executed by the arithmetic processing device. A data processing procedure by this program will be described with reference to FIGS. 1A, 1B, 1C, a flowchart of FIG. 4, and an explanatory diagram of FIG.

  In addition, the production line to which the work assistance method according to this data processing procedure is applied is an automobile assembly line, and the wind glass WG that has been pre-treated with degreasing, primer treatment, and adhesive application is removed from the window glass placement position by the operator. After moving to the window glass attachment position, the window glass WG is attached to the front or rear window opening of the vehicle body B conveyed on the assembly line while the industrial robot 41 is controlled by the control unit 31 of the data processing device 3. It is a window glass attachment process. As shown in FIGS. 5A and 5B, the operator holds the window glass WG by sucking one side with the suction pad 5 that can be held by hand, and the industrial robot 41 is shown in FIG. As shown to (A) and (C), the holding | maintenance part 43 can be hold | maintained by adsorb | sucking the other side of the window glass WG with an adsorption pad. Since this adsorption pad adsorbs the wind glass WG, a vacuum adsorption pad is suitable. In addition, when the worker starts the attachment work for attaching the window glass to the window opening of the vehicle body, the vehicle information of the work target is set in advance by the data processing device 3 so that the vehicle conveyed on the assembly line The work position standard data for the worker can be called from the data storage unit 32. Further, it is assumed that the worker wears the motion capture 2 on the right hand, for example, the dominant hand.

  As shown in FIG. 5 (A), the operator holds one side of the window glass WG by adsorbing it with the suction pad 5, and the other side of the window glass WG is adsorbed by the industrial robot 4 at the window glass arrangement position. When the worker moves the window glass WG from the window glass arrangement position to the window glass mounting position while being held by being sucked by the pad 43 (step 101), the motion capture 2 moves the position of the operator's hand. Measurement is performed over time by the sensor 21, and the three-dimensional coordinate data as the measurement result is transmitted from the signal processing unit 22 to the data processing device 3. When the data processing device 3 acquires the three-dimensional coordinate data (step 102), the data format conversion unit 33 transmits the three-dimensional coordinate data whose data format has been converted for the data processing device 3 to the control unit 31. The component attachment position determination function 31a compares the value of the three-dimensional coordinate data whose data format is converted for the data processing device 3 with the value of the worker work position standard data registered in the data storage unit 32. (Step 103).

  The control unit 31 compares the value of the three-dimensional coordinate data with the value of the worker work position standard data in the component attachment position determination function 31a. As a result, the value of the three-dimensional coordinate data is the worker work position standard data. If it is within the error range set to this value, it is determined that the operator's hand has reached the standard work position, and the routine proceeds to the robot position correction function 31c. Further, as a result of comparing the value of the three-dimensional coordinate data with the value of the worker work position standard data by the component attachment position determination function 31a, the control unit 31 determines that the value of the three-dimensional coordinate data is the worker work position. If it is outside the error range set for the standard data value, the process returns to step 102.

  The control unit 31 compares the robot work position standard data 32b registered in the data storage unit 32 with the position data of the suction pad 43 obtained from the industrial robot 4 by using the robot position correction function 31c. In this case, the position of the suction pad 43 is corrected to the value of the robot work position standard data 32b, and the process proceeds to the robot angle correction function 31d (step 104). Even when the comparison results are the same, the process proceeds to the robot angle correction function 31d.

  The control unit 31 corrects the mounting angle of the window glass WG by the suction pad 43 of the industrial robot 4 based on the mounting angle standard data registered in the data storage unit 32 with the robot angle correction function 31d (step 105). In addition, when the attachment angle of the window glass WG by the suction pad 43 of the industrial robot 4 is the same as the attachment angle standard data registered in the data storage unit 32, no correction is performed.

  When processing up to step 105 is performed, the control unit 31 starts obtaining pressure detection data transmitted from the pressure sensor 23 (step 106). The control unit 31 uses the holding unit pressing function 31b to set the pressure detection data value transmitted from the pressure sensor 23 by manually pressing the window glass WG to the window opening of the vehicle body via the suction pad 5. The industrial robot 4 is controlled so as to press the component with the suction pad 43 of the industrial robot 4 with the corresponding value (step 107). Therefore, the window glass WG is pressed against the window opening of the vehicle body at the same pressure value by the suction pad 43 of the industrial robot 4 that is forcibly moved by the operator's hand and the operator's hand at the window glass mounting position. As a result, it is possible for two workers to efficiently and accurately perform the window glass mounting work for attaching the window glass WG to the window opening of the vehicle body without relying on the operator's intuition and bones. Will be able to.

  Thus, when step 107 is performed, the work assistance by the control unit 31 ends (step 108).

  The work assistance system is not limited to the work assistance system 1 described above, but may be a work assistance system 10 as shown in FIGS. 1 (A), (B), and (C). The work assisting system 10 is configured such that, in a production line in a factory, an operator holds one side of a part by hand and performs the part mounting work for attaching the part to a product conveyed on the production line. The worker holding the one side of the part with the industrial robot 4 held by the holding part 43 connected to the tip of the arm 42 is transported on the production line from the part placement position where the part is placed. By moving the component to the component mounting position for mounting the component on the product to be moved, the holding portion 43 of the industrial robot 4 holding the other side of the product is moved to the component mounting position via the arm 42, The component is attached to the product by pressing the component with the hand of the person and the holding portion 43 of the industrial robot 4.

  In addition to the components of the work assistance system 1, such a work assistance system 10 is used for industrial purposes based on three-dimensional coordinate data received in time series from the position sensor 21 of the motion capture 2 as shown in FIG. A robot follow-up function 31e that causes the holding unit 43 of the robot 4 to follow the work operation by the operator's hand, a position where the operator holds one side of the component, and a holding unit 43 of the industrial robot 4 moves the other side of the component. The control unit 31 has a robot control function 31 f that controls the industrial robot 4 with the robot follow-up function 31 e in a state where the distance between the held position and the held position is maintained at substantially constant intervals.

  The control unit 31 having the robot following function 31e and the robot control function 31f is held by a holding unit 43 in which one side of a part is held by an operator and the other side is connected to the tip of an arm 42 by an industrial robot 4. Then, when the worker holding one side of the part moves the part from the part placement position to the part mounting position on the production line, the position where the worker holds one side of the product with the robot control function 31f, Motion in which the robot follower function 31e attaches the industrial robot 4 to the operator's hand in a state where the holding portion 43 of the robot 4 maintains the position where the other side of the product is held at a substantially constant interval. Since the operation can be performed based on the three-dimensional coordinate data received in time series from the position sensor 21 of the capture 2, the industrial robot 4 can be operated in the same manner as the operation operation of the operator's hand. It can be controlled at the operating. That is, since the industrial robot 4 can be operated in accordance with the work operation of the operator's hand, the component can be moved almost accurately to the component mounting position.

  Further, as shown in FIGS. 1C, 7 </ b> A, 7 </ b> B, and 7 </ b> C, the work assistance system 10 is configured so that the control unit 31 has the holding unit 43 of the industrial robot 4 in advance at the component mounting position. When reaching on the determined coordinate axis CA1, the holding unit 43 is fixed on the coordinate axis CA1 until the motion capture 2 reaches on the coordinate axis CA1, and the holding unit 43 is connected to the coordinate axis CA1 at the component mounting position. When the orthogonal coordinate axis CA2 is reached, the holding portion fixing function 31g for fixing the holding portion 43 on the coordinate axis CA2 is provided. Note that the holding unit 43 is fixed on the coordinate axis CA1 until the motion capture 2 reaches the coordinate axis CA1, but in this case, the holding unit 43 is movable on the coordinate axis CA2.

  The control unit 31 having the holding unit fixing function 31g is configured such that when the holding unit 43 of the industrial robot 4 is controlled by the robot following function 31e and the robot control function 31f and the component is moved to the component mounting position, When it reaches on the coordinate axis CA1 at the component mounting position and on the coordinate axis CA2 orthogonal to the coordinate axis CA1, the holding portion 43 of the industrial robot 4 is accurately positioned with respect to the component mounting position. Will be able to.

  Each configuration of the data processing device 3 in the work assistance system 10 configured as described above is realized by a program executed by the arithmetic processing device, similarly to the work assistance system 1. FIG. 1A, FIG. 1B, FIG. 5C, FIG. 5 flowchart, FIG. 6 flow chart, and FIG. 7A, FIG. Based on

  The production line to which the work assistance method based on this data processing procedure is applied is the same as the above-described embodiment, and the window glass WG that has undergone the pretreatment of degreasing, primer treatment, and adhesive application is the worker's assembly line. And the industrial robot 4 is moved from the window glass placement position to the window glass mounting position while the industrial robot 4 is controlled by the control unit 31 of the data processing device 3, and the industrial robot 41 is further moved to the control unit 31 of the data processing device 3. This is a window glass attaching step for attaching the window glass WG to the front or rear window opening of the vehicle body B conveyed on the assembly line while controlling in the above. Similarly to the above-described embodiment, as shown in FIGS. 5A and 5B, the operator holds the window glass WG by sucking one side of the window glass WG with the suction pad 5 that can be held by hand. As shown in FIGS. 5A and 5C, the industrial robot 41 can hold the holding portion 43 by sucking the other side of the window glass WG with a suction pad. Since this adsorption pad adsorbs the wind glass WG, a vacuum adsorption pad is suitable. In addition, when the worker starts the attachment work for attaching the window glass to the window opening of the vehicle body, the vehicle information of the work target is set in advance by the data processing device 3 so that the vehicle conveyed on the assembly line The work position standard data for the worker can be called from the data storage unit 32. Further, it is assumed that the worker wears the motion capture 2 on the right hand, for example, the dominant hand.

  As shown in FIG. 5 (A), the operator holds one side of the window glass WG by adsorbing it with the suction pad 5, and the other side of the window glass WG is adsorbed by the industrial robot 4 at the window glass arrangement position. When the operator moves the window glass WG from the window glass arrangement position to the window glass attachment position as shown in FIG. 7A while being held by being sucked by the pad 43 (step 201), the operator's The motion capture 2 measures the work operation of the hand with the position sensor 21 over time, and transmits the three-dimensional coordinate data as the measurement result from the signal processing unit 22 to the data processing device 3. When the data processing device 3 acquires the three-dimensional coordinate data (step 202), the data format conversion unit 33 transmits the three-dimensional coordinate data whose data format has been converted for the data processing device 3 to the control unit 31. The robot tracking function 31e causes the operator's hand to follow the work movement of the suction pad 43 of the industrial robot 4 based on the three-dimensional coordinate data received in time series from the motion capture 2 (step 203). At this time, the control unit 31 uses the robot control function 31f to allow the worker to suck and hold one side of the window glass WG with the suction pad 5, and the suction pad 43 of the industrial robot 4 to move the window glass WG. The industrial robot 4 is controlled by the robot follow-up function 31e in a state where it is maintained at a substantially constant interval from the position where the other side is sucked and held.

  The control unit 31 uses the component attachment position determination function 31a to convert the data format of the data processing device 3 into the three-dimensional coordinate data value, and the worker work position standard data value registered in the data storage unit 32. Are compared (step 204).

  The control unit 31 compares the value of the three-dimensional coordinate data with the value of the worker work position standard data in the component attachment position determination function 31a. As a result, the value of the three-dimensional coordinate data is the worker work position standard data. If it is within the error range set to this value, it is determined that the operator's hand has reached the standard work position, and the process proceeds to the holding unit fixing function 31g. When the suction pad 43 of the industrial robot 4 reaches the coordinate axis CA1 at the component mounting position as shown in FIG. 7B by the holding unit fixing function 31g, the control unit 31 moves the motion capture 2 to the coordinate axis CA1. The suction pad 43 is fixed on the coordinate axis CA1 until it reaches the upper side, and when the suction pad 43 reaches the coordinate axis CA2 orthogonal to the coordinate axis CA1 at the component mounting position, the suction pad 43 is orthogonal to the coordinate axis CA1. It fixes on CA2 (step 205). Therefore, the operator can finely adjust the position of the suction pad 43 at the component mounting position.

  The control unit 31 compares the value of the three-dimensional coordinate data with the value of the worker work position standard data using the component attachment position determination function 31a. As a result, the value of the three-dimensional coordinate data is the worker work position standard. If it is outside the error range set for the data value, the process returns to step 202.

  As shown in FIG. 7C, when the position of the suction pad 43 reaches the intersection of the coordinate axis CA1 and the coordinate axis CA2 as the component mounting position, the control unit 31 shifts to the robot angle correction function 31d (step 206). ). Even when the comparison results are the same, the process proceeds to the robot angle correction function 31d.

  The control unit 31 corrects the mounting angle of the window glass WG by the suction pad 43 of the industrial robot 4 based on the mounting angle standard data registered in the data storage unit 32 using the robot angle correction function 31d (step 206). In addition, when the attachment angle of the window glass WG by the suction pad 43 of the industrial robot 4 is the same as the attachment angle standard data registered in the data storage unit 32, no correction is performed.

  When processing up to step 206 is completed, the control unit 31 starts acquiring pressure detection data transmitted from the pressure sensor 23 (step 207). The control unit 31 uses the holding unit pressing function 31b to set the pressure detection data value transmitted from the pressure sensor 23 by manually pressing the window glass WG to the window opening of the vehicle body via the suction pad 5. The industrial robot 4 is controlled so as to press the parts with the suction pad 43 of the industrial robot 4 with the corresponding value (step 208). Therefore, the wind glass WG moved almost accurately to the window glass mounting position by the operator's hand and the suction pad 43 of the industrial robot 4 is further changed by the suction pad 43 of the industrial robot 4 and the operator's hand. Since the window glass WG can be pressed against the window opening of the vehicle body with the same pressure value, the window glass mounting operation for attaching the window glass WG to the window opening of the vehicle body by two workers It becomes possible to carry out efficiently and accurately by one worker without relying on bones.

  Thus, when step 208 is performed, the work assistance by the control unit 31 ends (step 209).

  A program in which such a data processing procedure is executed by the arithmetic processing unit of the data processing device 3 can be used by a plurality of data processing devices 3 by recording the program on a computer-readable recording medium such as a CD or a DVD. become.

  In the above-described embodiment, the present invention is applied to an automobile assembly line. However, the present invention is not limited to this, and any factory can be used as long as the work can be performed by a worker and an industrial robot. It can be applied to other production lines.

  Although the present invention has been described with the specific embodiments shown in the drawings, the present invention is not limited to the embodiments shown in the drawings, and is known so far as long as the effects of the present invention are achieved. It goes without saying that any configuration can be adopted.

DESCRIPTION OF SYMBOLS 1, 10 ... Work assistance system 2 ... Motion capture 23 ... Pressure sensor 31 ... Control part 31a ... Component attachment position determination function 31b ... Holding part pressing function 31c ... Robot position correction function 31d ... Robot angle Correction function 31e …… Robot following function 31f …… Robot control function 31g …… Holding part fixing function 32 …… Data storage part 32a …… Worker standard position data 32b …… Robot work position standard data 32c …… Mounting Standard angle data 4 …… Industrial robot 41 …… Arm 43 …… Suction pad (holding part)
WG …… Wind glass (parts)

Claims (13)

In a production line in a factory, an operator holds one side of the part by hand and the other side for industrial use in order to perform a part mounting operation for attaching the part to a product conveyed on the production line. The operator holding the one side of the part held by a holding part connected to the tip of an arm is transported on the production line from the part placement position where the part is placed. By moving the component to a component mounting position for mounting the component on the product, the holding portion of the industrial robot that holds the other side of the product is also forcibly moved, and further, the hand of the operator And an operation assistance system for attaching the part to the product by pressing the part with the holding part of the industrial robot,
A motion capture that is attached to the hand of the worker, measures a work motion by the hand over time, and transmits motion information as a measurement result as three-dimensional coordinate data;
A pressure sensor that is mounted on the hand of the operator and that measures the load applied to the component over time and transmits pressure detection data that is the measurement result;
In the three-dimensional coordinate data, a data storage unit in which worker work position standard data that is a standard work position of the hand of the worker at the component mounting position is registered;
A controller for controlling the industrial robot based on the three-dimensional coordinate data transmitted from the motion capture and the pressure detection data transmitted from the pressure sensor;
The controller is
The value of the three-dimensional coordinate data obtained from the motion capture is compared with the value of the worker work position standard data registered in the data storage unit. A component attachment position determination function for determining that the hand of the worker has reached the standard work position when the error is within an error range set to the value of the worker work position standard data;
The pressure detection data transmitted from the pressure sensor when the operator presses the component with the hand when the component attachment position determination function determines that the hand of the worker has reached the standard operation position. And a holding unit pressing function that presses the component with the holding unit of the industrial robot at a pressure value corresponding to the value of. In a production line in a factory, an operator holds one side of the part by hand and the other side for industrial use in order to perform a part mounting operation for attaching the part to a product conveyed on the production line. The operator holding the one side of the part held by a holding part connected to the tip of an arm is transported on the production line from the part placement position where the part is placed. By moving the component to the component mounting position for mounting the component on the product, the holding portion of the industrial robot that holds the other side of the product is moved to the component mounting position via the arm. Furthermore, it is a work assistance system for attaching the part to the product by pressing the part with the hand of the worker and the holding part of the industrial robot,
A motion capture that is attached to the hand of the worker, measures a work motion by the hand over time, and transmits motion information as a measurement result as three-dimensional coordinate data;
A pressure sensor that is mounted on the hand of the operator and that measures the load applied to the component over time and transmits pressure detection data that is the measurement result;
A control unit that controls the industrial robot to operate based on the three-dimensional coordinate data transmitted from the motion capture and the pressure detection data transmitted from the pressure sensor;
A data storage unit in which the worker's work position standard data that is a standard of the hand work position of the worker at the component attachment position is registered in the three-dimensional coordinate data;
The controller is
A robot follow-up function for causing the holding part of the industrial robot to follow the work operation by the hand of the worker based on the three-dimensional coordinate data received in time series from the motion capture;
In a state where the position where the worker holds the one side of the part and the position where the holding part of the industrial robot holds the other side of the part is maintained at a substantially constant interval. A robot control function for controlling an industrial robot with the robot following function;
The value of the three-dimensional coordinate data obtained from the motion capture is compared with the value of the worker work position standard data registered in the data storage unit. A component attachment position determination function for determining that the hand of the worker has reached the standard work position when the error is within an error range set to the value of the worker work position standard data;
The pressure detection data transmitted from the pressure sensor when the operator presses the component with the hand when the component attachment position determination function determines that the hand of the worker has reached the standard operation position. And a holding unit pressing function that presses the component with the holding unit of the industrial robot at a pressure value corresponding to the value of. The controller is
Based on the worker work position standard data in the data storage unit, the position at which the worker holds the one side of the product, and the holding unit of the industrial robot holds the other side of the product. Working position standard data for the robot at the component mounting position of the holding part of the industrial robot, which is derived in a state of being substantially constant between the positions;
Compared with the position data that can be obtained from the industrial robot position information of the holding unit moved by the movement work of the parts of the worker,
2. The work assisting system according to claim 1, further comprising a robot position correcting function for correcting the position of the holding unit up to a value of the robot work position standard data when different.   When the holding unit of the industrial robot reaches a predetermined coordinate axis at the component mounting position, the control unit holds the holding until the motion capture reaches the predetermined coordinate axis. The portion is fixed on the coordinate axis, and when the holding portion reaches a coordinate axis orthogonal to the predetermined coordinate axis at the component mounting position, the holding portion is fixed on the coordinate axis orthogonal to the coordinate axis. The work assistance system according to claim 2, further comprising a holding portion fixing function. In the data storage unit, in the three-dimensional coordinate data, attachment angle standard data that is a standard of an attachment angle of the part for attaching the part to the product by the worker at the standard work position is registered,
The control unit has a robot angle correction function for correcting the mounting angle of the component by the holding unit of the industrial robot based on the mounting angle standard data. The work assistance system according to any one of the above. The motion capture is
A plurality of magnetic three-dimensional position and orientation sensors mounted on the fingers of the operator;
2. A signal processing unit that receives work motion information of the worker detected by the magnetic three-dimensional position and orientation sensor group and transmits the work motion information to the data processing device. The work assistance training system according to any one of 5.   The work assistance system according to claim 6, wherein a plurality of the pressure sensors are attached to the finger of the worker. In a production line in a factory, in order for a worker to perform a part mounting operation for attaching a part to a product transported on the production line, the worker has attached a motion capture and a pressure sensor to one side of the part. And the other side is held by a holding part connected to the tip of an arm by an industrial robot, and the worker holding the one side of the part from the part placement position where the part is placed The holding part of the industrial robot holding the other side of the product is forcibly moved by moving the part to a part mounting position for mounting the part on the product conveyed on the production line. In this case, the work movement of the worker is measured over time by the motion capture, and the three-dimensional coordinate data as the measurement result is sent to the control unit for controlling the industrial robot. In addition, when the component is attached to the product by pressing the component with the hand of the worker and the holding portion of the industrial robot, the load applied to the component is changed with time by the pressure sensor. The pressure detection data that is the measurement result is transmitted to the control unit, and the industrial robot is operated in accordance with the work operation of the worker by the control unit,
The controller is
The value of the three-dimensional coordinate data obtained from the motion capture is compared with the value of the worker work position standard data which is the standard of the work position of the hand of the worker at the component mounting position, Determining that the hand of the worker has reached the standard work position when the value of the three-dimensional coordinate data is within an error range set to the value of the work position standard data for the worker;
When it is determined in the step that the operator's hand has reached the standard operation position, the operator presses the part with the hand and responds to the value of the pressure detection data transmitted from the pressure sensor. And pressing the component with the holding portion of the industrial robot at a predetermined pressure value. In a production line in a factory, in order for a worker to perform a part mounting operation for attaching a part to a product transported on the production line, the worker has attached a motion capture and a pressure sensor to one side of the part. And the other side is held by a holding part connected to the tip of an arm by an industrial robot, and the worker holding the one side of the part from the part placement position where the part is placed The holding part of the industrial robot holding the other side of the product is moved via the arm by moving the part to a part mounting position for mounting the part on the product conveyed on the production line. When moving to the component mounting position, the work movement of the operator is measured over time by the motion capture, and the three-dimensional coordinate data as the measurement result is measured in advance. When transmitting the part to the product by pressing the part with the hand of the worker and the holding part of the industrial robot, and transmitting the control part to the control unit that controls the industrial robot. The applied load is measured over time by the pressure sensor, and pressure detection data as a result of the measurement is also transmitted to the control unit, and the industrial robot is operated by the control unit according to the work operation of the operator. A work assistance method,
The controller is
Making the holding part of the industrial robot follow the work movement by the hand of the worker based on the three-dimensional coordinate data received in time series from the motion capture;
In a state in which the worker holds the one side of the part and the position where the holding part of the industrial robot holds the other side of the part at a substantially constant interval, Causing the holding part of the industrial robot to follow the work operation by the hand of the worker;
The value of the three-dimensional coordinate data obtained from the motion capture is compared with the value of the worker work position standard data which is the standard of the work position of the hand of the worker at the component mounting position, Determining that the hand of the worker has reached the standard work position when the value of the three-dimensional coordinate data is within an error range set to the value of the work position standard data for the worker;
When it is determined in the step that the operator's hand has reached the standard operation position, the operator presses the part with the hand and responds to the value of the pressure detection data transmitted from the pressure sensor. And pressing the component with the holding portion of the industrial robot at a predetermined pressure value. The controller is
Based on the worker work position standard data, a position between the position where the worker holds the one side of the product and a position where the holding portion of the industrial robot holds the other side of the product. Robot working position standard data at the component mounting position of the holding part of the industrial robot, which is derived at a substantially constant interval;
Compared with the position data that can be obtained from the industrial robot position information of the holding unit moved by the movement work of the parts of the worker,
9. The work assisting method according to claim 8, further comprising a step of correcting the position of the holding unit up to a value of the robot work position standard data if different. The controller is
When the holding unit of the industrial robot has reached the predetermined coordinate axis at the component mounting position, the holding unit is moved to the coordinate axis until the motion capture reaches the predetermined coordinate axis. And fixing the holding unit on the coordinate axis orthogonal to the coordinate axis when the holding unit reaches a coordinate axis orthogonal to the predetermined coordinate axis at the component mounting position. The work assistance method according to claim 9. The controller is
The attachment angle of the part by the holding part of the industrial robot is a standard of the attachment angle of the part for attaching the part to the product at the standard work position by the three-dimensional coordinate data. The work assisting method according to any one of claims 8 to 11, further comprising a step of correcting based on certain mounting angle standard data.   A computer-readable recording medium storing a program for realizing the work assistance method according to any one of claims 8 to 12.

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