JPH06274095A - Operation attitude evalulation system - Google Patents

Abstract

PURPOSE:To provide the operation attitude evaluation system which can accurately evaluate the scores of an operation load based upon an operation attitude on a computer while confirming visibility. CONSTITUTION:A keyboard 2 for inputting initial conditions and operation commands, an attitude score table used for the evaluation expression of the operation attitude, a weight body hold coefficient table, a data base 3 which contains a weight body elevation and lowering coefficient table, and a CRT 4 as a display device are connected to the computer 1; and a program of the computer 1 is so generated as to recognize the operation attitude of a robot on the computer and evaluates the scores of the operation attitude automatically according to the specific evaluation expression, and also generates a screen viewed from the view point of the operator at the operation attitude.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work posture evaluation system for quantitatively measuring a work load on a computer based on a work posture according to a predetermined evaluation method.

[0002]

2. Description of the Related Art Recently, for example, in an automobile factory, for the purpose of expulsion of difficult work, it has been attempted to apply it to improvement of work by using an evaluation method for quantitatively measuring the burden on the body of the worker. (For example, Nikkei mechanical 1991.12.23
No.).

At present, various methods have been devised as an evaluation method of such work load, and one of them is
For example, the waist load of workers engaged in assembly work is
There is a method of quantitative evaluation according to the rules shown in FIG.

This evaluation method is a score evaluation of the load on the waist of an operator by adding the three loads of the posture load, the load for holding a heavy load, and the load for lifting and lowering a heavy load. As shown in Fig. 9 (a), the posture load is classified into 9 rank posture points up to 13 points by relative evaluation when the standing time is taken as 1 point, and this posture point and the total time for one day (h) is calculated by multiplying with. As shown in Fig. 9 (b), the load for holding a heavy object is classified into 0.5 to 1.5 points according to the height (address) at which the heavy object is held. It is calculated by multiplying the retention coefficient, mass (Kg), and total day time (h). As shown in Fig. 9 (c), the loads for lifting and lowering heavy objects are classified into 1 to 4 points according to their drop (rank), and the weight lifting and lowering coefficient and mass (Kg ) And the total number of times per day / 3600. Then, the above three loads are added together to obtain a waist load evaluation point (see FIG. 9 (d)). The higher the waist load score thus calculated, the higher the work load, that is, the more difficult the work is evaluated. It should be noted that the rank shown in FIG. 9 (c) is the interval between the addresses shown in FIG. 9 (b), and is, for example, two ranks from address to address.

[0005]

However, such a conventional evaluation method is based on the assumption that an actually existing vehicle is used to evaluate the work load when assembling this vehicle. Evaluation is possible only after it is completed. Therefore, if the evaluation point is low and it is necessary to take some measures, if you try to change the vehicle structure itself in order to reduce the work load, a major design change will be made, and mold repair costs etc. It costs a lot of money. Therefore, in most cases, in most cases, the improvement was made on the production site side, specifically, the line improvement. However, it takes some cost to improve the line. Also, when performing an evaluation, the evaluator actually observes or measures the work posture, work time, etc., and then calculates the evaluation points according to a predetermined evaluation method, so the evaluation points may vary. It was

The present invention has been made in view of the above problems of the prior art, and provides a work posture evaluation system capable of evaluating a work load on a computer in advance at the design stage of a vehicle. With the goal.

[0007]

The present invention for achieving the above object provides a work posture evaluation system for quantitatively measuring a work load on a computer based on a work posture according to a predetermined evaluation method, A first input means for inputting an initial condition, a second input means for inputting a command relating to a work operation, a storage means for storing various coefficient tables used in the evaluation method, and a work posture formed according to the command. Recognizing and selecting a coefficient corresponding to the work posture from the coefficient table, and calculating a work load in the work posture according to the evaluation method based on the coefficient and the initial condition; worker data and work environment data And a screen created by the screen creating means for creating a screen viewed from the operator's viewpoint in the work posture. And having a display means for displaying the.

[0008]

In the present invention thus constructed, for example, a robot on a computer is operated in accordance with a command input by the second input means, and a predetermined work is performed. The computing means recognizes the work posture of the robot each time, selects a coefficient corresponding to the work posture from the coefficient table stored in the storage means, and selects the coefficient and the initial condition input by the first input means. Based on the above, the work load in the work posture is calculated according to a predetermined evaluation method. During this period, the screen creating means creates a screen from the viewpoint of the operator in the work posture based on the worker data and the work environment data, and displays this screen on the display means. If it cannot be seen, it can be immediately set to NG.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 is a block diagram of a work posture evaluation system according to an embodiment of the present invention, FIG. 2 is a main flowchart showing the operation of the embodiment, FIG. 3 is a flowchart showing the contents of the subroutine of FIG. 2, and FIG. 5 is a flowchart showing the contents of another subroutine, FIG. 5 is a flowchart showing the contents of yet another subroutine of FIG. 2, FIG. 6 is a flowchart showing the contents of the subroutine of FIG. 5, and FIG. 7 is the contents of yet another subroutine of FIG. FIG. 8 is a flowchart showing an example of evaluation according to the present embodiment. The work posture evaluation system of this embodiment is similar to that shown in FIG.
A system for scoring a work load based on a work posture on a computer by using the evaluation method shown in (1) below. For example, a work of attaching a certain component to a vehicle body in an assembly process will be described below as an example.

As shown in FIG. 1, this work posture evaluation system includes a computer 1, a keyboard 2 for inputting data and commands to the computer 1, a database 3 for storing various data to be described later, and calculation by the computer. It is composed of a CRT display 6 (hereinafter, simply referred to as CRT) for displaying the processing result on a screen, and a printer 7 for printing out the calculation processing result by the computer.

Data concerning the number of operations per day (P) and the weight (Q) of the parts to be attached in the work, which are initial conditions in the evaluation method, are input by the operator operating the keyboard 2. Also, the commands to move the robot on the computer are
Entered by As the contents of this operation, for example, a command regarding a series of operations of the robot such as a work start position, a part picking position, a part mounting position, and a work end position is input. Further, the database 3 includes a data file 3a for storing a table of posture points (R) shown in FIG. 9 (a) and a data file 3b for storing a table of heavy weight holding coefficients (S) shown in FIG. 9 (b). And the load / unload coefficient (V) shown in Fig. 9 (c)
And a data file 3c for storing the table.
The computer 1 recognizes the work posture of the robot while operating the robot according to the operation, and automatically evaluates the work posture according to the evaluation method. The behavior of the robot and the evaluation result of the work posture are displayed on the screen of the CRT 4. The work posture evaluation result can also be output from the printer 5.

Further, the memory of the computer 1 stores parts data, vehicle body data, worker data and work environment data, and the computer 1 uses the worker data and the work environment data to determine the positions of the two. By calculating the relationship, it is possible to create a screen viewed from the operator's viewpoint in any work posture.

The first and second input means are the keyboard 2, the storage means is the database 3, the computing means and the screen creating means are the computer 1, and the display means is C.
Each is composed of RT4.

The present system configured as described above is shown in FIG.
~ It operates as follows according to the flowchart of FIG.

First, for the component mounting work to be evaluated, the number of times of work per day (P) as the initial condition and the weight (Q) of the component to be mounted in the work are input using the keyboard 2 (S1). ).

Next, when an operation signal is input and the robot on the computer starts to move, the computer 1
First, the waist load point (A) at the work start stage is automatically calculated for each posture (S11). That is, FIG.
As shown in, when the operator inputs the work start position of the robot from the keyboard 2 (S18), the computer 1 moves the robot according to a pre-installed program to perform the work. In the process, the computer 1 recognizes the posture of the robot, looks up the posture point table in the data file 3a, and selects the posture point (R) corresponding to the posture (S1).
9). The working time (T) (s
ec) is counted (S20). This working time (T) corresponds to the duration of the posture. Then, the computer 1 uses the number of work (P), the posture point (R), and the work time (T).
From each value of, the load point of the posture is calculated according to a predetermined calculation formula (the following formula 1). At this work starting stage, since the parts are not yet held, the load point of the posture becomes the waist load point (A) as it is (S21). That is, waist load point = posture load point = posture point (R) × total day time = posture point (R) × working time (T) × working number (P) ... Equation 1 After that, step 19 to step 21 R value obtained in
The value and the A value are respectively stored in the memory in the computer 1 (S22). The computer 1 executes the above processing until all operations at the work start stage are completed (S2).
3). Note that FIG. 8 exemplifies a case where two postures are taken at the work start stage.

Then, returning to the main flow, the computer 1 automatically calculates the waist load point (B) in the component picking stage for each posture (S12). That is, as shown in FIG. 4, when the operator inputs a position for picking a component from the keyboard 2 (S2
4) The computer 1 moves the robot according to a pre-installed program to carry out the picking work. In the process, the computer 1 recognizes the posture of the robot, looks up the posture point table in the data file 3a, and determines the posture point (R) corresponding to the posture.
Is selected (S25), the holding coefficient table in the data file 3b is looked up to select the weight holding coefficient (S) when the part is held in this posture (S26), and When the hoisting and hoisting occurs, the hoisting and hoisting coefficient table in the data file 3c is looked up and the heavy object hoisting and hoisting coefficient (V) corresponding to the displacement position of the part in the height direction is selected (S2).
7). Then, the working time (T) corresponding to the duration of the posture is counted from the presence or absence of the posture change (S2).
8). Then, the computer 1 calculates the number of operations (P), the part weight (Q), the posture point (R), the weight holding coefficient (S), the working time (T), and the weight lifting and lowering coefficient (V) from each value. The load point of the posture, the load point of holding the heavy object, and the load point of lifting and lowering the heavy object are calculated according to a predetermined calculation formula (following Expression 2), and the results are added together, and the waist load in the operation is calculated. The point (B) is calculated (S29). That is, waist load point = load point of posture + load point of holding heavy object + load point of lifting and lowering heavy object = (posture point (R) x total time of day) + (weight holding coefficient (S) × Parts weight (Q) × Total time per day) + (Weight lifting and lowering coefficient (V) × Parts weight (Q) × Total number of times per day / 3600) = (Posture point (R) × Working time (T ) X number of operations (P)) + (weight holding coefficient (S) x part weight (Q) x working time (T) x number of operations (P)) + (weight lifting / lowering coefficient (V) x part weight ( Q) x number of operations (P) / 3600) ... Equation 2 After that, the R value obtained in steps 25 to 29, S
The value, the V value, the T value, and the B value are stored in the memory in the computer 1 (S30). The computer 1 executes the above processing until all the operations in the component picking stage are completed (S31). Note that FIG. 8 exemplifies a case where two postures are taken in the component picking stage.

Then, returning to the main flow, the computer 1 next determines the waist load point (C) in the component mounting stage.
Is automatically calculated for each posture (S13). That is,
As shown in FIG. 5, when the operator inputs the mounting position of the component from the keyboard 2 (S32), the visibility confirmation process is first performed by the operator (S3).
3). Specifically, as shown in FIG. 6, the computer 1
Imports the work environment data (data about the surrounding conditions when actually mounting the parts) and the worker data (data about the posture of the worker when actually mounting the parts) (S40, S41), and these data Based on the above, the positional relationship between the worker and the work environment is calculated (S42). Then, based on this calculation result, the screen of the CRT 4 is switched to the screen display from the viewpoint of the operator (S43). The operator looks at this screen and determines whether the posture at the time of mounting the component is good or bad (S44). The judgment criteria at this time are:
When the operator cannot see the mounting position of the component, it is determined as NG. If the result of this determination is OK, the process proceeds to step 34, but if the result is NG, the process returns to step 32 and another component mounting position is input through the keyboard 2 to execute another posture.

When the visibility is confirmed in step 33, the computer 1 moves the robot according to a program installed in advance to carry out the work of attaching the parts. In the process, the computer 1 recognizes the posture of the robot, looks up the posture point table in the data file 3a to select the posture point (R) corresponding to the posture (S34), and further in the data file 3b. The holding coefficient table is looked up to select the heavy article holding coefficient (S) when the component is held in the posture (S35). Then, the work time (T) corresponding to the duration of the posture is counted from the presence / absence of the posture change (S36). Then, the computer 1 uses a predetermined calculation formula (the following formula 3) from the values of the number of work (P), the part weight (Q), the posture point (R), the weight holding coefficient (S), and the working time (T). ), The load point of the posture and the load point for holding the heavy object are calculated, and the results are added together to calculate the waist load point (C) in the operation (S37). That is, waist load point = load point of posture + load point for holding heavy objects = (posture point (R) x total time for one day) + (weight holding coefficient (S) x component weight (Q) x 1 day Total time) = (posture point (R) x work time (T) x number of work (P)) + (weight holding coefficient (S) x component weight (Q) x work time (T) x number of work (P) )) ... Equation 3 Then, the R value obtained in steps 34 to 37,
The S value, T value, and C value are stored in the memory in the computer 1 (S38). The computer 1 executes the above processing until all the operations in the component mounting stage are completed (S39). Note that FIG. 8 exemplifies a case where two postures are taken in the component mounting stage.

Then, returning to the main flow, the computer 1 automatically calculates the waist load point (D) at the work completion stage for each posture (S14). That is, FIG.
As shown in, when the operator inputs the work end position of the robot from the keyboard 2 (S45), the computer 1 moves the robot according to a pre-installed program to perform the end work. In the process, the computer 1 recognizes the posture of the robot,
The posture point table in the data file 3a is looked up and the posture point (R) corresponding to the posture is selected (S4).
6). Then, the working time (T) is counted based on the presence or absence of a change in posture (S47), and then from the values of the number of times of working (P), the posture point (R), and the working time (T), a predetermined calculation formula (the above-mentioned The load point of the posture is calculated according to the equation (1). In this case, since the parts are no longer held, the load point of the posture becomes the waist load point (D) as it is (S48). After that, the R value, the T value obtained in steps 46 to 48,
The D value is stored in the memory of the computer 1 (S49). The computer 1 executes the above processing until all the work operations at the work end stage are completed (S5).
0). Note that FIG. 8 exemplifies a case where one posture is taken at the work start stage.

Thereafter, returning to the main flow, the computer 1 calculates the work posture evaluation point (E) in the mounting work of the relevant parts by adding the waist load points calculated in the respective work stages from step 11 to step 14. Do (S
15). Then, it is determined whether or not this work posture point (E) is equal to or greater than a preset reference value (N) (S1).
6). If the work posture point (E) is equal to or greater than the reference value (N) as a result of this determination, a message to that effect is displayed on the screen of the CRT 4 (S17). To do. In addition, regardless of whether the work posture is evaluated as good or bad, the evaluation result table as shown in FIG.
It can be displayed on the RT 4 or can be printed out from the printer 5.

Therefore, according to the present embodiment, it is possible to automatically evaluate the load of the work just by operating the robot on the computer 1 to carry out the work of mounting the parts. The evaluation points will not vary among the evaluators, and accurate evaluation will be possible. Moreover, since the evaluation is performed on the computer 1, it becomes possible to accurately evaluate the work load on the virtual vehicle body structure at the design stage without presupposing an actually existing vehicle body structure. If it is low, the design of the vehicle body structure can be changed in advance, and more advantageous measures can be confirmed.

Further, in the present embodiment, the screen viewed from the operator's point of view is displayed on the CRT 4, and the presence or absence of the visibility of the work site is taken into consideration in the evaluation of the work posture. Enables detailed evaluation from the worker's side.

[0024]

As described above, according to the present invention, it becomes possible to evaluate the work load in advance at the design stage of a vehicle and to accurately evaluate the score on a computer while confirming the visibility.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a work posture evaluation system according to an embodiment of the present invention.

FIG. 2 is a main flowchart showing the operation of the embodiment.

FIG. 3 is a flowchart showing the contents of the subroutine of FIG.

FIG. 4 is a flowchart showing the contents of another subroutine of FIG.

5 is a flowchart showing the contents of still another subroutine of FIG.

FIG. 6 is a flowchart showing the contents of the subroutine of FIG.

7 is a flowchart showing the contents of still another subroutine of FIG.

FIG. 8 is a chart showing an example of evaluation according to the present embodiment.

FIG. 9 is an example of a work posture evaluation method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Computer (computing means, screen creating means) 2 ... Keyboard (first input means, second input means) 3 ... Database (storage means) 4 ... CRT (display means) 5 ... Printer

Claims (1)

[Claims] 1. A work posture evaluation system for quantitatively measuring a work load on a computer based on a work posture according to a predetermined evaluation method, comprising: first input means for inputting initial conditions; and commands relating to work movements. Second input means for inputting, storage means for storing various coefficient tables used in the evaluation method, work postures formed in accordance with the commands are recognized, and coefficients corresponding to the work postures are selected from the coefficient table. Then, a calculation means for calculating the work load in the work posture according to the evaluation method based on the coefficient and the initial condition, and a viewpoint from the viewpoint of the worker in the work posture based on the worker data and the work environment data. And a display means for displaying the screen created by the screen creating means. Working posture evaluation system.