JP5516943B2 - Visual information support device for hand guide system - Google Patents

Description

  The present invention relates to a visual information support device of a hand guide system for assembling a work on a work object.

In recent years, many automobile manufacturers have promoted "modular assembly". The modular assembly is component assembly means for assembling a plurality of components to be assembled to the vehicle body in advance into one module and assembling the module to the vehicle body.
Such modularized assembly can reduce in-vehicle work for assembling parts, but on the other hand, the module has become larger and the burden on the operator has increased.

  Therefore, various means for reducing the burden on the operator when assembling a work (for example, a module such as an instrument panel) on a work object (for example, an automobile body) moving on the assembly line have been proposed. (For example, Patent Documents 1 to 3, Non-Patent Documents 1 to 5).

Non-Patent Documents 1 and 2 and Patent Document 3 are so-called power assist devices, and an operator performs the entire work. By supporting the weight of the workpiece by these devices, the worker handles heavy objects. To make it easier.
Patent Documents 1 and 2 and Non-Patent Documents 3 to 5 are so-called hand guide devices, in which a robot is operated by a human operation input, and a person and the robot work together.

Japanese Patent No. 3872387, “Control Device and Control Method for Robot Coexisting with Humans” Japanese Patent Laid-Open No. 2008-213119, “Cooperative Work Robot and its Control Method” JP 2009-034758 A, “Power Assist Device and Control Method Therefor”

Hitoshi Konosu, Isamu Araki, Yoshishi Yamada, “Practical application of skill assist for automobile assembly work support device” Vol. No. 22 4, pp. 508-514, 2004 Eikoku Alpha Easy Hand (Lift Assist), Internet <URL: http: // www. aikoku. co. jp / rh / index. html> JIS B 8433: 2007: Safety standard for industrial robots Masakazu Fujii, Daisuke Shiogata, Hiroki Murakami, Mitsuharu Sonehara, “Proposal of Safety System for Collaboration of Human and Industrial Robots”, Proceedings of Robotics and Mechatronics Lecture 2008, 2A1-A21 Yu Kobuchi, Shuhei Emoto, Masakazu Fujii, Hiroki Murakami, Mitsuharu Sonehara, “Proposal of Operation Guide Method for Hand Guide Robot”, Proc. Of Robotics and Mechatronics Lecture 2009, 1A2-D15

  Hereinafter, the above-described power assist device and hand guide device are referred to as “hand guide system” in the present application.

  In a conventional hand guide system, when performing a work of assembling a work on a work object (assembly work), a person (for example, a worker) visually determines the positional relationship between the work object and the work, Operating a power assist device or hand guide device). Therefore, compared with a fully automatic assembly device that does not involve humans, there is an advantage that advanced positioning sensing and the like are unnecessary, and it is easy to deal with multi-product production.

However, if the work is inserted in a narrow space of the work object and assembled, or if the operation part of the hand guide system and the work object are installed at a distance, the positional relationship between the work object and the work is It may become a blind spot of the worker and cannot be confirmed visually.
In such a case, it is difficult for the operator to correctly position the workpiece, and there is a problem that such assembling itself cannot be realized if the positioning accuracy required for the work is high.

  The present invention has been developed to solve the above-described problems. That is, the object of the present invention is a blind spot of a person even when a work is inserted and assembled in a narrow place of the work object, or when the operation part of the hand guide system is separated from the work object. It is an object of the present invention to provide a visual information support device for a hand guide system that can work in a narrow space.

According to the present invention, a visual information support device for a hand guide system for assembling a work on a work object by operating a robot hand with a manual operation panel,
A camera provided in the vicinity of the workpiece of the robot hand for acquiring an image of a blind spot area of the work object;
A monitor provided near the manual operation panel for displaying the image ;
Visual information of a hand guide system , comprising: a laser device provided in the vicinity of a workpiece of the robot hand and irradiating the blind spot region of the work object with a laser beam in an arc shape, a spot shape, or a combination thereof. A support device is provided.

According to an embodiment of the present invention, the laser device irradiates arc-shaped and spot-shaped laser light,
The reference line is determined by adjusting the positional relationship so that the final state becomes a circle of a certain size, etc.
The operation direction and distance are calculated from the distance between the center of the ellipse and the center of the reference line acquired by image processing and the minor axis diameter of the ellipse, and the operation angle for posture adjustment is calculated from the ellipticity and the inclination of the ellipse .

  The monitor also displays a work reference line along with the image.

  The hand guide system includes a workpiece gripping device that is attached to the robot hand and grips a workpiece, a robot that can move the robot hand within a predetermined robot area, and a robot control device that controls the robot. The manual operation panel is attached to the robot hand.

  According to the apparatus of the present invention, an image of a blind spot area of a work object is acquired by a camera and displayed on a monitor provided in the vicinity of a manual operation panel. It is possible to grasp the work status of the location (dead zone).

  Further, by providing a laser device provided near the workpiece of the robot hand and irradiating the image area of the work target with a laser beam in a slit shape, an arc shape, a spot shape, or a combination thereof, The irradiation position (shape) of the laser beam reflected on the work object can be observed with a monitor, and the positional relationship between the work object and the workpiece in the blind spot area can be easily grasped.

In addition, the monitor displays a reference line for work together with the image, so that the operator can determine the positional relationship between the work object in the blind spot area and the work, in particular, the work end, based on the positional relationship between the reference line and the laser. The positional relationship of time can be grasped more accurately and easily.

It is a top view which shows the whole structure of the hand guide system provided with the visual information assistance apparatus by this invention. It is a block diagram of the robot in a hand guide system. It is a block diagram of the manual operation panel in a hand guide system. 1 is an embodiment diagram of a visual information support apparatus according to the present invention.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

FIG. 1 is a plan view showing an overall configuration of a hand guide system including a visual information support apparatus according to the present invention.
This hand guide system is a hand guide device 10 for assembling a workpiece 3 to a work object 2 moving on an assembly line 1. The assembly line 1 in this example is a line for assembling a work 3 (in this example, a module such as an instrument panel) to a work object 2 (in this example, a car body), and the work object 2 has a predetermined speed. It moves continuously to the left (in the figure).
The work object 2 (vehicle body) is provided with an opening 2a (vehicle body door), and the workpiece 3 can be inserted into the vehicle through the opening 2a. In this figure, reference numeral 4 denotes a robot area safety fence that partitions a robot area 4a in which a robot hand mounting portion (end part of a robot hand to be described later) moves, and 5 denotes a human area safety fence that partitions the assembly line 1.

  In FIG. 1, the hand guide device 10 includes a workpiece gripping device 12, a robot hand 14, a robot 16, a manual operation panel 18, and a robot control device 20.

FIG. 2 is a configuration diagram of a robot in the hand guide system. This figure is seen from the longitudinal direction of the robot hand 14.
1 and 2, the workpiece gripping device 12 is an end effector that grips the workpiece 3.
The robot hand 14 is an elongated member having the workpiece gripping device 12 at an intermediate position, and is positioned substantially horizontally in this example. The robot hand 14 has such a length that a passage through which a person can pass is formed between the robot area 4 a and the assembly line 1 when the work 3 is assembled to the work target 2. This passage is composed of a “work area 1b” where the robot hand 14 can move and a “safe area 1c” where the robot hand 14 cannot enter, and are provided adjacent to each other.
Further, when assembling the work on the work object, the manual operation panel 18 is set so as to be positioned in the work area 1b.
The robot hand 14 is not limited to this configuration, and may have other configurations as long as the workpiece 3 can be gripped.

The robot 16 is an articulated robot in this example, and cantilever-supports the end portion 14a (upper end in FIG. 1) of the robot hand 14, and is configured to be able to move the end portion 14a within a predetermined robot area 4a. . The robot 16 is not limited to an articulated robot, and may be another known robot.
The manual operation panel 18 is provided on the distal end side of the robot hand 14, and a person 6 (for example, a worker) operates the manual operation panel 18 to operate the robot 16 in the work area 1b. .
The attachment position of the manual operation panel 18 is not limited to the robot hand 14 and may be another position.

The robot control device 20 controls the robot 16.
The robot control device 20 has an “automatic mode” for automatically controlling the robot 16 and a “cooperative mode” for manually controlling the robot 16 with the manual operation panel 18.
In the automatic mode, the robot 16 is automatically controlled according to a predetermined sequence or program without the operation of the person 6 (worker). In the collaborative mode, the person 6 (operator) operates the manual operation panel 18 to operate the robot 16.
In addition, the hand guide device 10 is switched to the cooperation mode only during work that requires human judgment and experience, and performs other work in the automatic mode.
In the present application, the “automatic mode” and the “cooperative mode” are not essential, and it is sufficient that the person 6 (operator) can operate the robot 16 by operating the manual operation panel 18.

FIG. 3 is a configuration diagram of the manual operation panel in the present invention.
The manual operation panel 18 according to the present invention includes an enable switch 18a, a one-hand operation input device 18b, an indicator lamp 18c, and a push button switch 18d.
The enable switch 18a occupies one hand in order to ensure safety, and the switch is turned on by holding it.
The one-hand operation input device 18b is configured to be able to input three-axis orthogonal translation input and rotation input about the three axes by one-hand operation.
In the cooperation mode of the present invention, the robot 16 can be manually controlled by operating the enable switch 18a and the one-hand operation input device 18b with both hands.
The input device is not limited to a one-hand operation input device, and may be configured to manually control the robot 16 by operating two input devices with both hands.
The indicator lamp 18c displays various states of the hand guide device 10, and the push button switch 18d outputs various signals (for example, an emergency stop signal).

  In FIG. 1, the hand guide device 10 further includes an external operation panel 22, a status display device 24, a line blocking device 26, and a robot area blocking device 27.

The external operation panel 22 is provided outside the assembly line 1 and the work area of the robot 16 (in the safety fence 4), and includes a work start switch, work end switch, mode switching switch, continuation switch, emergency stop switch, and the like. Each control signal is output to 16 (namely, robot controller 20).
The state display device 24 displays the operating state of the robot 16. This operating state includes, for example, an automatic mode and a cooperative mode, a line stop alarm, and the like.

  The line blocking device 26 is, for example, a light curtain or a shutter, and in the automatic mode, a path is provided so that no person can enter the work area 1b from the safety area 1c until the status display device 24 displays the possible cooperative work status. Shut off.

  The robot area blocking device 27 is, for example, a light curtain or a shutter, and blocks the opening of the robot area so that no person can enter the robot area during operation of the hand guide device 10 of the present invention.

The external operation panel 22, the status display device 24, the line blocking device 26, and the robot area blocking device 27 are not essential and may be omitted.
Further, the above-described hand guide system is an example, and the present invention is not limited to this, and other known hand guide devices and power assist devices may be used.

  In FIG. 1, the visual information support device 30 of the present invention includes a camera 32, a laser device 34, and a monitor 36.

The camera 32 is provided in the vicinity of the workpiece of the robot hand 14 (in this example, in the vicinity of the workpiece gripping device), and acquires an image of the blind spot area of the work target 3.
The laser device 34 is provided in the vicinity of the workpiece of the robot hand 14 (in this example, in the vicinity of the workpiece gripping device), and irradiates the image area of the work target 3 with laser light in a slit shape, an arc shape, a spot shape, or a combination thereof. To do.
The monitor 36 is provided in the vicinity of the manual operation panel (the robot hand 14 in this example), and displays an image photographed by the camera 32. The monitor 36 displays a work reference line (for example, a horizontal line, a vertical line, a center point, etc.) together with the image.

  FIG. 4 is an embodiment diagram of a visual information support apparatus according to the present invention. In this figure, (A) shows the case where the laser beam 35a has a slit shape, (B) shows the case where the laser beam 35a has an arc shape, and (C) shows the case where the laser beam 35a has a spot shape. Moreover, in each figure, (a) is the schematic diagram which looked at the laser apparatus 34 from the side, (b) is the front view which looked at the work target object 3 from the front.

In FIG. 4A, when the laser beam 35a has a slit shape, when the mounting surface 2c of the work object 2 is a plane, the shape 35b of the laser beam 35a reflected on the mounting surface 2c is a straight line. Therefore, for example, by comparing this straight line 35b reflected on the monitor 36 with a mark 2d (for example, a line) on the work object 2, the positional relationship between the work object 2 and the work 3 in the blind spot area can be easily grasped.
Further, when the attachment surface 2c of the work object 2 is other than a flat surface, the shape of the laser light 35a reflected on the attachment surface 2c is a broken line or a curve. Therefore, the positional relationship between the work object 2 and the workpiece 3 in the blind spot area can be grasped from the broken line or curve reflected on the monitor 36.

In FIG. 4B, when the laser beam 35a has an arc shape, when the mounting surface 2c of the work object 2 is perpendicular to the axis of the laser device 34, the shape 35b of the laser beam 35a reflected on the mounting surface 2c is: It becomes a circle. Further, when the mounting surface 2c ′ of the work object 2 is not perpendicular to the axis of the laser device 34, the shape 35b ′ of the laser light 35a reflected on the mounting surface 2c is an ellipse.
Accordingly, the conical laser light shapes 35b and 35b 'reflected on the work object 2 are circular or elliptical due to the positional relationship between the work object 2 and the work 3, and the operator can thus determine the blind spot area from the shape. The positional relationship between the work object 2 and the work 3 can be easily grasped.

Further, when the laser beam 35a has an arc shape, the positional relationship (distance) may be estimated from the size of the circle / ellipse.
For example, when the distance from the object is far, the circle / ellipse viewed from the monitor is larger than the final position of the alignment work. Therefore, in the alignment work in FIG. 4B, not only the inclination (circular distortion) but also the alignment work can be performed while grasping the relative distance based on the size.

Further, in FIG. 1, an image processing device (not shown) is added between the camera 32 and the monitor 36, the imaging shape of the laser light reflected on the camera 32 is recognized by the image processing device, and the final position / posture (reference) In comparison with the line), the above-described estimation of the operation direction performed by the person can be quantified. By displaying this on the monitor 36 as a reference, the system is easy to handle even for operators with low skill levels.
For example, in the example of FIG. 4C, the positional relationship is adjusted (a reference line is determined) so that the final state becomes a circle of a certain size or the like. The operation direction and distance are calculated from the distance between the center of the ellipse and the center of the reference line acquired by image processing and the short axis diameter (depth direction distance) of the ellipse. Further, an operation angle for posture adjustment can be calculated from the ellipticity and the inclination of the ellipse.
In the case of handling a plurality of types, it is preferable to register the calculation formula for the reference line and the operation direction for each type.

In FIG. 4C, when the laser beam 35a has a spot shape, the shape 35b of the laser beam 35a reflected on the mounting surface 2c of the work object 2 becomes a point.
Therefore, for example, by comparing this point 35b reflected on the monitor 36 with a mark 2d (for example, a dot or a circle) on the work object 2, the positional relationship between the work object 2 and the work 3 in the blind spot area can be easily grasped. it can.

Further, the direction of the operating force may be displayed on the monitor 36.
Further, in combination with the operation guide disclosed in Non-Patent Document 5, information such as a work status, a target reference line, and an operation direction may be displayed on the monitor 36.

  As described above, according to the apparatus of the present invention, the camera 32 acquires an image of the blind spot area of the work object 2 and displays the image on the monitor 36 provided near the manual operation panel of the robot hand 14. The operator can use the monitor 36 to grasp the work status of a spot that is a blind spot (a blind spot area).

  In addition, by providing a laser device 34 that irradiates the image area of the work object 2 with a laser beam in a slit shape, an arc shape, a spot shape, or a combination thereof, the operator can apply laser light reflected on the work object 2. The irradiation position can be observed on the monitor 36, and the positional relationship between the work object in the blind spot area and the work can be easily grasped.

  Further, the monitor 36 displays a work reference line (for example, a horizontal line, a vertical line, a center point, etc.) together with the image, so that the operator can determine the position of the work object 2 from the position of the reference line. It is possible to more accurately and easily grasp the positional relationship between the work object 2 and the work 3 in the blind spot area, particularly the positional relationship at the end of the work.

  In addition, this invention is not limited to embodiment mentioned above, Of course, a various change can be added in the range which does not deviate from the summary of this invention.

1 assembly line, 1b work area, 1c safety area,
2 Work object (car body),
2a opening (door part of vehicle body), 2b vehicle body interference part,
2c Mounting surface, 2d mark (line, point, circle),
3 work (instrument panel),
4 Robot area safety fence, 4a Robot area,
5 people area safety fence, 6 people (workers),
10 Hand guide device,
12 Work gripping device (end effector),
14 Robot hand,
16 robots (articulated robots),
18 Manual operation panel,
18a enable switch,
18b One-hand operation input device,
18c indicator lamp, 18d pushbutton switch,
20 robot controller,
22 external operation panel, 24 status display device,
26 line shut-off device,
27 Robot area blocking device,
30 visual support devices, 32 cameras,
34 laser equipment, 36 monitor

Claims (4)

A visual information support device of a hand guide system for assembling a work on a work object by operating a robot hand with a manual operation panel,
A camera provided in the vicinity of the workpiece of the robot hand for acquiring an image of a blind spot area of the work object;
A monitor provided near the manual operation panel for displaying the image ;
Visual information of a hand guide system , comprising: a laser device provided in the vicinity of a workpiece of the robot hand and irradiating the blind spot region of the work object with a laser beam in an arc shape, a spot shape, or a combination thereof. Support device. The laser device irradiates arc-shaped and spot-shaped laser light,
The reference line is determined by adjusting the positional relationship so that the final state becomes a circle of a certain size, etc.
Calculate the operation direction and distance from the distance between the center of the ellipse and the center of the reference line acquired by image processing, and the minor axis diameter of the ellipse, and calculate the operation angle for posture adjustment from the ellipticity and the inclination of the ellipse. The visual information support apparatus for a hand guide system according to claim 1. The visual information support apparatus for a hand guide system according to claim 1, wherein the monitor displays a reference line for work together with the image. The hand guide system includes a workpiece gripping device that is attached to the robot hand and grips a workpiece, a robot that can move the robot hand within a predetermined robot area, and a robot control device that controls the robot.
The visual information support apparatus of a hand guide system according to claim 1, wherein the manual operation panel is attached to the robot hand.

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