JP5828740B2 - Transport load calculation method and transport load calculation system - Google Patents

Description

  The present invention relates to a transport load calculation method and a transport load calculation system. More specifically, the present invention relates to a transport load calculation method and a transport load calculation system that calculate a load during transport of each handling tool when a product is held and transported by a plurality of handling tools.

Conventionally, between press-forming devices that press-mold products such as large metal panels with dies, the products are transported from the press-forming device that completed the press-molding of the product to the press-forming device that next presses the product. There is a process to do.
There is a technique disclosed in Patent Document 1 as a transfer device used in a process of transferring a product such as a large metal panel. In the technique disclosed in Patent Literature 1, the transport device is connected to the base, a driven arm connected to the base at the base end side so as to be rotatable and slidable up and down, and to the base at the base end side so as to be rotatable. A first drive arm, a second drive arm that is rotatably connected to the first drive arm at the proximal end side and rotatably connected to the driven arm at the distal end side, and a product provided on the distal end side of the driven arm And a gripping device for gripping. This transport device can transport a long distance at a high speed while preventing an increase in size of the device.

JP 2009-208935 A

In the conveying device such as the technique disclosed in the above-mentioned Patent Document 1, as a gripping device, a handling tool such as a vacuum cup is usually brought into contact with the surface of the product to convey the product.
Here, the setting of where and how many handling tools are arranged in the product in the transfer device is based on the experience of the designer. For this reason, when preparing a process for transporting a new product, the load at the time of transporting the product of the transport device may increase, such as the speed of transport of the product by the transport device becomes faster, based on the experience of the designer The handling tool is not suitable for placement and may cause problems such as product dropping. If such a defect is found in the trial run of the transport device, it is necessary to reset the arrangement of the handling tool, which requires a large process review and is not efficient.
In addition, when preparing a process for transporting a new product, it is almost always possible to arrange many handling tools. However, excessive handling tools are expensive to install equipment such as transport equipment. turn into.
Therefore, it has been required to calculate in advance the load during transportation of each handling tool arranged in a number that is not excessive with respect to the product, and obtain a material for determining whether or not a failure occurs.

  SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems, and its object is to calculate the load during transportation of each handling tool using product data indicating the designed product, and obtain a material for determining whether or not a failure occurs. An object is to provide a load calculation method and a load calculation system during conveyance.

  (1) Transport load calculation method for calculating a load during transport of each handling tool when a product (for example, product 200 described later) is transported while being held by a plurality of handling tools (for example, suction cups 100 described later). A receiving step for receiving product data indicating the product (for example, step S1 to be described later), and a tool for determining an arrangement location of a plurality of handling tools for the product indicated by the product data received in the receiving step The product area indicated by the product data is divided into a plurality of divided areas corresponding to the placement step (for example, step S2 to be described later) and the placement locations of the plurality of handling tools determined in the tool placement step. Area dividing step (for example, step S3 to be described later) and the area dividing step During transportation load calculation method characterized by comprising a load calculation step of calculating the load during transportation of the handling tool in each divided area divided by the flop (e.g., step S5 to be described later) and, the.

  According to the invention of (1), since the load at the time of conveyance of each handling tool in each divided area of the product indicated by the product data is calculated, a material for determining whether or not a defect such as product dropping occurs is obtained. be able to. As a result, before preparing a process for transporting a product newly indicated by product data, even if the transport speed of the product by the transport device becomes faster, the load at the time of product transport of the transport device may increase. The handling tools can be appropriately arranged based on the calculated load at the time of handling each handling tool. Therefore, it is possible to reduce the possibility that a defect is found in the trial operation of the transfer device, reduce the possibility that the arrangement of the handling tool needs to be reset, avoid significant process reexamination, and improve the efficiency of the examination.

  (2) A transportability determination step for comparing the handling load of each handling tool calculated in the load calculation step with the allowable load value of each handling tool to determine whether each handling tool is transportable (for example, The method of calculating a load during conveyance according to (1), further including step S6) described later.

According to the invention of (2), whether or not each handling tool can be transported can be determined based on the calculated load during transportation of each handling tool. As a result, before preparing a process for transporting a product newly indicated by product data, even if the transport speed of the product by the transport device becomes faster, the load at the time of product transport of the transport device may increase. In addition, it can be easily determined in advance whether or not a defect such as a drop of the product occurs, and the handling tool can be appropriately arranged so that the defect does not occur. Therefore, it is possible to reduce the possibility that defects will be found in the trial run of the transfer device, reduce the possibility of having to reset the handling tool arrangement, avoid significant process reexamination, and improve the efficiency of the examination. it can.
Moreover, since the arrangement of the suction cup can be examined at an early stage of product design, it is possible to easily reflect the case where the product shape needs to be changed.

  (3) In the load calculation step, at least one of the own weight load, inertia load, wind pressure load, and negative pressure load at the time of transport of each handling tool is calculated and added as a load at the time of transport of each handling tool. (1) or (2), the load calculation method at the time of conveyance characterized by the above-mentioned.

  According to the invention of (3), by adding at least one of the own weight load, inertia load, wind pressure load and negative pressure load at the time of transportation of each handling tool as the load at the time of transportation of each handling tool, The load during handling tool handling can be calculated accurately.

  (4) Transport load calculation system for calculating a load during transport of each handling tool when a product (for example, product 200 described later) is transported while being held by a plurality of handling tools (for example, suction cup 100 described later). (For example, a transportation load calculation system 1 to be described later), which is indicated by a reception unit (for example, a reception unit 2 to be described later) that receives product data indicating the product and the product data received by the reception unit. Tool placement means (for example, a cup layout unit 3 to be described later) that determines the placement locations of a plurality of handling tools for the product, and the product data corresponding to the placement locations of the handling tools determined by the tool placement means. An area dividing means (for example, a product to be described later) that divides the product area indicated by 2 into a plurality of divided areas. And a load calculating means (for example, a cup transport load calculating section 6 to be described later) for calculating a load during transport of each handling tool in each divided area divided by the area dividing means. A load calculation system at the time of conveyance characterized by.

  According to the invention of (4), the same effect as that of the invention of (1) can be achieved.

  According to the present invention, it is possible to calculate the load when each handling tool is transported using product data indicating a designed product, and to obtain a material for determining whether or not a failure occurs.

It is a block diagram which shows the function structure of the load calculation system at the time of conveyance which concerns on one Embodiment of this invention. It is a schematic diagram which shows the division area setting example of the product which concerns on the said embodiment. It is a schematic diagram which shows the relationship of the force which acts on the suction cup which concerns on the said embodiment. It is a flowchart which shows the load calculation method at the time of conveyance which concerns on the said embodiment.

  Hereinafter, a transport load calculation system according to an embodiment of the present invention will be described with reference to the drawings.

The transport load calculation method performed by the transport load calculation system 1 according to the present embodiment is a cup transport as a load during transport of each suction cup when a product is held and transported by suction cups that are a plurality of handling tools. The load is calculated.
The outline of the transport load calculation method is as follows. The product data indicating the product is received by the transport load calculation system 1, the placement positions of the plurality of suction cups for the product indicated by the received product data are determined, and the determined plurality of suction cups When the product area is divided into a plurality of divided areas, the cup transport load in each divided area is calculated, whether each suction cup can be transported, and each suction cup can be transported. The result is displayed.
The handling tool may be any tool that can exhibit a predetermined gripping force, and may be a tool that exhibits a gripping force by a magnetic force such as a magnet in addition to a suction cup that exhibits a gripping force by an attracting force.

  The transport load calculation system 1 of the present embodiment is realized by a computer and its peripheral devices. Each function in the transport load calculation system 1 is configured by hardware included in a computer and its peripheral devices, and software that controls the hardware.

  The hardware includes a storage unit, a communication unit, a display unit, and an input unit in addition to a control unit configured by a CPU or the like. Examples of the storage unit include a memory and a hard disk drive. Examples of the communication unit include various wired and wireless interface devices. Examples of the display unit include various displays such as a liquid crystal display and a plasma display. Examples of the input unit include a keyboard and a mouse.

  The software includes a program and data for controlling the hardware. Programs and data are stored in the storage unit, and are appropriately executed and referenced by the control unit. Further, the program and data can be distributed through a communication line, or can be recorded and distributed on a computer-readable medium such as a CD-ROM.

FIG. 1 is a block diagram illustrating a functional configuration of a transport load calculation system 1 according to the present embodiment. The transport load calculation system 1 includes a storage unit, a control unit, and a display unit.
The storage unit of the transport load calculation system 1 includes a product data DB (database) 11, a suction cup data DB (database) 12, a material data DB (database) 13, and a motion data DB (database) 14. .
In addition, the control unit of the transport load calculation system 1 includes a receiving unit 2 as a receiving unit, a cup layout unit 3 as a tool arranging unit, a product dividing unit 4 as an area dividing unit, and a permissible cup per piece. The load calculating part 5 is provided with the cup conveyance load calculation part 6 as a load calculation means, and the conveyance availability determination part 7 as a conveyance availability judgment means.
The display unit of the transport load calculation system 1 includes a result display unit 8.

The product data DB 11 stores, as existing product data, product data indicating existing products such as vehicle body metal panels for each of a plurality of types of vehicles, for example, and the layout of the suction cup in the transport device for the product. That is, the existing product data is data in which the layout of the suction cup used by the conventional transport device for the existing product is associated with the product data of the existing product.
The suction cup data DB 12 stores suction force data of each suction cup when a product is held by a plurality of types of suction cups used in the transport device.
The material data DB 13 stores a plurality of types of material data used for products.
The motion data DB 14 stores motion data of the transport device. The motion data of the transport device includes data such as the transport trajectory and transport speed of the transport device.

The accepting unit 2 accepts input of new product data indicating a new product. Specifically, the reception unit 2 inputs the new product information and related information related to the product (for example, the name or identification information of the creation target part) of the transport load calculation system 1 via the input unit. Accept from the operator.
Also, the accepting unit 2 is preparing a process for newly transporting the product indicated by the product data, and the product transport speed of the transport device is scheduled to increase and the load during transport of the product of the transport device increases. For example, the input of the change information of the transport conditions is received from the operator of the transport load calculation system 1 via the input unit.

The cup layout unit 3 uses the product data DB 11 to determine the cup layout (placement location) of a plurality of suction cups for the product indicated by the new product data received by the receiving unit 2.
Specifically, the cup layout unit 3 identifies design information of the creation target part in the new product data from the information on the creation target part of the product data received by the reception unit 2. Subsequently, the cup layout unit 3 identifies existing product data including design information similar to the design information of the identified creation target part in the product data DB 11. Further, the cup layout unit 3 extracts the specified existing product data from the product data DB 11. Then, the cup layout unit 3 refers to the cup layout of the plurality of suction cups in the existing product indicated by the specified existing product data, and the plurality of suction cups in the product indicated by the product data received by the reception unit 2 Determine the cup layout.
For example, the cup layout unit 3 refers to the cup layout of a plurality of suction cups in an existing product, and uses the same number of suction cups to be used, or places suction cups in the same position in an area that matches the shape of an existing product. In addition, a new suction cup is placed in the area that protrudes from the shape of the existing product, the number of suction cups is increased or decreased according to the area that increases or decreases compared to the shape of the existing product, or depending on the transport conditions The number of suction cups is increased or decreased to determine the cup layout of a plurality of suction cups in the product. In addition, the cup layout of the plurality of suction cups in the determined product is determined by, for example, setting an upper limit value of the number of suction cups to be increased with respect to the cup layout of the plurality of suction cups in the existing product referred to. The increase in the number may be suppressed, and an excessive increase in the number of suction cups at one time may be prohibited.

The product dividing unit 4 divides the area of the new product indicated by the new product data received by the receiving unit 2 into a plurality of divided areas corresponding to the cup layout of the plurality of suction cups determined by the cup layout unit 3. .
The product dividing unit 4 divides a new product area into a plurality of divided areas, for example, using the following method. FIG. 2 is a schematic diagram illustrating an example of setting a product division area according to the present embodiment. In this embodiment, the product dividing unit 4 uses a Voronoi dividing tool. Voronoi division means that the number of suction cups determined by the cup layout unit 3 is placed on a new product on a virtual plane expressed on the transport load calculation system 1, and the position where the new product is located in which suction cup. Indicates the division when dividing the area according to the closest. Specifically, the product dividing unit 4 uses a Voronoi dividing tool to make a vertical two line between a point P indicating an arbitrary suction cup of a plurality of suction cups distributed on a new product on a virtual plane and another point P. As shown in FIG. 2, the area of the new product is divided into a plurality of divided areas by sequentially drawing equal lines and setting the boundary lines between adjacent divided areas as shown in FIG.
The division of the new product area by the product dividing unit 4 is not limited to the Voronoi division tool described above, and other methods may be used.

The cup permissible load calculation unit 5 calculates a cup permissible load per suction cup as an allowable value of each suction cup using the suction cup data DB 12.
Specifically, the suction force data of the suction cup is extracted from the suction cup data DB 12 and is calculated by multiplying the extracted suction force data of the suction cup by an allowable load factor. For example, when the suction force data of the suction cup is 158 (N) and the allowable load factor is 0.85, the cup allowable load per piece is calculated as 158 (N) × 0.85 = 14.3 (N). Is done.

The cup transport load calculation unit 6 sets the cup transport load as a load at the time of transport of each suction cup as its own weight load, inertia load, wind pressure load, and negative pressure load between the product and the mold when the product is peeled off from the mold. Calculate by adding.
The cup transport load calculation unit 6 includes an area calculation unit 61, a weight calculation unit 62, a self-weight load calculation unit 63, an inertia load calculation unit 64, a wind pressure load calculation unit 65, a negative pressure load type determination unit 66, A negative pressure load calculation unit 67 and a load addition unit 68 are provided.

The area calculating unit 61 calculates the area of each divided area of the plurality of divided areas of the new product divided by the product dividing unit 4.
The weight calculation unit 62 multiplies the area of each divided area by the material weight per unit area based on the area of each divided area calculated by the area calculation unit 61 and the material data extracted from the material data DB 13. To calculate the weight of each divided area.
The self-weight load calculating unit 63 calculates the self-weight load at the time of transporting each suction cup corresponding to each divided area by multiplying the weight of each divided area calculated by the weight calculating unit 62 by the gravity coefficient.
The inertia load calculation unit 64 calculates the inertia load at the time of transporting each suction cup corresponding to each divided area based on the weight of each divided area calculated by the weight calculation unit 62 and the motion data extracted from the motion data DB. calculate. The inertia load calculation unit 64 calculates the inertia load using the weight of each divided area, the transfer speed information of the motion data, the transfer trajectory information, and the like.
The wind pressure load calculation unit 65 calculates the wind pressure load at the time of transporting each suction cup corresponding to each divided area based on the area of each divided area calculated by the area calculation unit 61 and the motion data extracted from the motion data DB. calculate. The wind pressure load calculation unit 65 calculates the wind pressure load using the area of each divided area, motion data transport speed information, air density, wind force shape factor, and the like.
The negative pressure load type discriminating unit 66 is configured to peel the product from the mold by the plurality of divided areas of the new product divided by the product dividing unit 4 and the area of each divided area calculated by the area calculating unit 61. The negative pressure load type is determined. The negative pressure load type determination unit 66 determines the negative pressure load type using the position of the divided area on the product, the size of the divided area, and the like.
The negative pressure load calculating unit 67 uses the negative pressure load type determined by the negative pressure load type determining unit 66 to remove the product from the mold when transporting each suction cup corresponding to each divided area. Calculate the negative pressure load between.
The load adding unit 68 calculates the own weight load calculated by the own weight load calculating unit 63, the inertia load calculated by the inertia load calculating unit 64, the wind pressure load calculated by the wind pressure load calculating unit 65, and the negative pressure load calculating unit 67. Add all the negative pressure loads.
In this way, the load adding unit 68 adds various loads, so that the cup transport load calculating unit 6 calculates the cup transport load of each suction cup. For example, 23.8 (N) is calculated by the self-weight load calculating unit 63 as the self-weight load, and 16.6 (N) is calculated by the inertial load calculating unit 64 as the inertia load, and the wind pressure load If the wind pressure load calculation unit 65 calculates 1 (N) and the negative pressure load calculation unit 67 calculates 54.9 (N) as the negative pressure load, The cup transport load is calculated as 23.8 (N) +16.6 (N) +1 (N) +54.9 (N) = 96.3 (N).

The transportability determination unit 7 determines the cup transport load of each suction cup calculated by the cup transport load calculation unit 6 and the cup allowable load per suction cup calculated by the cup allowable load calculation unit 5 per cup. Comparison is made to determine whether or not each suction cup can be transported.
FIG. 3 is a schematic diagram showing a relationship between forces acting on the suction cup 100 according to the present embodiment. Since the product 200 is molded by the press molding apparatus and is attached to the lower mold 101, the suction cup 100 is disposed on the product 200 in a state of being attached to the lower mold 101, and the product is removed from the lower mold 101 by the suction cup 100. 200 is peeled off and transported. When the product 200 is peeled off from the lower mold 101, as shown in FIG. 3, the suction force that the suction cup 100 sucks is directed upward, and the weight and inertia of the product 200, the wind pressure against the product 200, and the product The negative pressure between the 200 and the lower mold 101 is directed downward, and the weight of the product 200 and the inertial force, the wind pressure with respect to the product 200, and the negative pressure between the product 200 and the lower mold 101 become loads, thereby making it difficult to peel off the product 200. For this reason, in order to be able to transport the product 200, the cup transport load of a specific suction cup, which is the sum of these self-weight load, inertia load, wind pressure load, and negative pressure load, multiplies the suction force by the allowable load factor. It is necessary to make it within the allowable cup load per suction cup with a margin.
Specifically, the transportability determination unit 7 compares the cup transport load with the cup allowable load per suction cup, and can transport if the cup transport load is less than the cup allowable load per suction cup. If the cup transport load is equal to or greater than the allowable cup load per suction cup, it is determined that the transport is impossible. For example, if the cup transport load of a specific suction cup is 96.3 (N) and the allowable cup load per cup is 134.3 (N), then 96.3 (N) <134.3 (N). Therefore, it determines with conveyance being possible.
When it is determined that the conveyance is impossible, the conveyance availability determination unit 7 transmits information indicating that the conveyance is impossible and the cup layout information (and related material data, motion data, etc.) to the cup layout unit 3 again. Then, the cup layout unit 3 is instructed to perform the cup layout.

  The result display unit 8 displays the cup layout information (and related material data, motion data, etc.) at that time and the result of conveyance possible when the conveyance determination unit 7 determines that conveyance is possible.

  FIG. 4 is a flowchart showing a transport load calculation method in the transport load calculation system 1 according to the present embodiment.

  In step S1 (acceptance step), the accepting unit 2 accepts input of new product data indicating a new product via the input unit.

  In step S2 (tool placement step), the cup layout unit 3 uses the product data DB 11 for the cup layout (placement location) of a plurality of suction cups for the new product indicated by the new product data received in step S1. Determine.

  In step S3 (area division step), the product dividing unit 4 corresponds to the cup layout of the plurality of suction cups determined by the cup layout unit 3, and the new product data indicated by the new product data received by the receiving unit 2 is displayed. Divide the area into multiple divided areas.

  In step S4 (allowable load calculating step), the per cup allowable load calculating unit 5 calculates the allowable cup load per suction cup using the suction cup data DB12.

  In step S5 (load calculation step), the cup conveyance load calculation unit 6 adds the cup conveyance load of each suction cup to its own weight load, inertia load, wind pressure load, and negative pressure load when the product is peeled off from the mold. To calculate.

In step S6 (conveyance determination step), the conveyance determination unit 7 determines the cup conveyance load of each adsorption cup calculated by the cup conveyance load calculation unit 6 and the suction cups calculated by the cup allowable load calculation unit 5 per piece. A permissible cup load is compared to determine whether each suction cup can be transported. The transportability determination unit 7 determines that the transport is possible if the cup transport load is less than the cup allowable load per suction cup, and cannot be transported if the cup transport load is equal to or greater than the cup allowable load per suction cup. Is determined.
If it is determined in step S6 that conveyance is possible, the process proceeds to step S7.
On the other hand, if it is determined in step S6 that the conveyance is impossible, the process proceeds to step S2. When the process proceeds from step S6 to step S2, the upper limit value of the number of suction cups to be increased with respect to the cup layout of the plurality of suction cups in the previously determined product is increased by one, for example, and excessive suction is performed at one time. The cup layout of a plurality of suction cups in a new product may be defined while prohibiting an increase in the number of cups.

  In step S7 (result display step), if the result determination unit 7 determines that the transfer is possible, the result display unit 8 can transfer the cup layout information (and related material data, motion data, etc.) at that time. Display the results.

According to this embodiment, the following effects are produced.
(1) According to the present embodiment, since the load at the time of transporting each suction cup in each divided area of the product indicated by the product data is calculated, it is possible to determine whether or not a defect such as product dropping occurs. Can be obtained. As a result, before preparing a process for transporting a product newly indicated by product data, even if the transport speed of the product of the transport device becomes faster, the load during transport of the product of the transport device may increase. The suction cups can be appropriately arranged based on the cup transport load of each suction cup calculated by the cup transport load calculation unit 6. Therefore, it is possible to reduce the possibility that a defect is found in the trial operation of the transfer device, reduce the possibility of having to reset the arrangement of the suction cup, avoid significant process reexamination, and improve the efficiency of the examination.
(2) According to the present embodiment, whether or not each suction cup can be transported can be determined based on the cup transport load of each suction cup calculated by the cup transport load calculating unit 6. As a result, before preparing a process for transporting a product newly indicated by product data, even if the transport speed of the product of the transport device becomes faster, the load during transport of the product of the transport device may increase. In addition, it can be easily determined in advance whether or not a defect such as a drop of the product occurs, and the suction cup can be appropriately arranged so that the defect does not occur. Therefore, it is possible to reduce the possibility that defects will be found in the trial run of the transfer device, further reduce the possibility of having to reset the arrangement of the suction cups, avoid significant process reviews, and improve the efficiency of the review. it can.
Moreover, since the arrangement of the suction cup can be examined at an early stage of product design, it is possible to easily reflect the case where the product shape needs to be changed.
(3) According to this embodiment, by adding the own weight load, inertial load, wind pressure load, and negative pressure load at the time of transporting each suction cup as the cup transport load of each suction cup, cup transport of each suction cup The load can be calculated with high accuracy.

  In addition, this invention is not limited to the said embodiment, The deformation | transformation of the range which can achieve the objective of this invention, improvement, etc. are included by this invention.

DESCRIPTION OF SYMBOLS 1 ... Conveyance load calculation system 2 ... Reception part (reception means)
3 ... Cup layout part (tool placement means)
4 ... Product division section (area division means)
5 ... Cup allowable load calculation unit per piece 6 ... Cup transport load calculation unit (load calculation means)
7: Transportability determination unit 8 ... Result display unit 11 ... Product data DB
12 ... Suction cup data DB
13 ... Material data DB
14 ... Motion data DB
100 ... Suction cup 101 ... Lower mold 200 ... Product

Claims (4)

A method of calculating a load at the time of conveyance for calculating a load at the time of conveyance of each handling tool when the product is held and conveyed by a plurality of handling tools,
A reception step of receiving product data indicating the product;
A tool placement step for determining a placement location of a plurality of handling tools for the product indicated by the product data received in the reception step;
An area dividing step of dividing the area of the product indicated by the product data into a plurality of divided areas in correspondence with the arrangement locations of the plurality of handling tools determined in the tool arranging step;
A load calculating step of calculating a load at the time of transfer of each handling tool in each divided area divided by the area dividing step.   It includes a transportability determination step of comparing the load at the time of transport of each handling tool calculated in the load calculation step and an allowable value of the load of each handling tool and determining whether or not each handling tool can be transported. The load calculation method at the time of conveyance of Claim 1.   In the load calculating step, at least one of a self-weight load, an inertial load, a wind pressure load, and a negative pressure load at the time of transportation of each handling tool is calculated and added as a load at the time of transportation of each handling tool. The load calculation method at the time of conveyance of Claim 1 or 2. A load calculation system at the time of transport that calculates the load at the time of transport of each handling tool when the product is held and transported by a plurality of handling tools,
Receiving means for receiving product data indicating the product;
Tool placement means for determining placement locations of a plurality of handling tools for the product indicated by the product data received by the reception means;
Area dividing means for dividing the area of the product indicated by the product data into a plurality of divided areas in correspondence with the arrangement locations of the plurality of handling tools determined by the tool arranging means;
A load calculation means for transporting, comprising: load calculation means for calculating a load during transport of each handling tool in each divided area divided by the area dividing means.

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