JPH075917A - Work truck - Google Patents

Abstract

PURPOSE:To provide a work truck with which a worker can work with a high efficiency to a work. CONSTITUTION:A work truck A1 supplies the necessary goods to a worker M who performs the work to a moving work W1. The truck A1 is provided with a truck main body B, a worker sensor C which detects the worker M, and to worker shift control means D which controls the shift of a truck main body B based on the detected result of the sensor C so that the distance is kept larger than a prescribed extent between the body B and the worker M. Furthermore, a work sensor E1 is added to detect the work 1 together with a work follow-up moving control means F1 which controls the body B to follow the work W1 based on the detecting result of the sensor E1 so that a prescribed distance is kept between the body B and the work 1 when the distance between the body B and the worker M is larger than a prescribed extent.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work cart for providing a worker who works on a moving work with articles necessary for the work.

[0002]

2. Description of the Related Art Conventionally, as a technique relating to a work carriage, there is one disclosed in a microfilm of Japanese Utility Model Application No. 56-005500 (Japanese Utility Model Application No. 57-122326). The device is a conveyor (conveyor) on which a work is placed and moved.
And a cart on which parts and the like are loaded. The conveyor is provided with a plurality of grooves in a direction substantially perpendicular to the moving direction of the conveyor. On the other hand, the trolley is provided with a synchronization bar which is removably fitted into and engaged with the groove. Then, the carriage is moved in synchronization with the movement of the conveyor by inserting and engaging the synchronizing bar into the predetermined groove.

[0003]

However, the above-mentioned technique is based on the conveyor (workpiece mounted on the conveyor).
However, since the dolly moves in synchronization with the above, there are the following drawbacks. That is, when performing work on a work that is particularly long in the moving direction, if the carriage moves in synchronization with the center of the work (the center in the moving direction of the work), the worker When carrying out work in front of and behind the trolley, the trolley interferes with its movement, and work efficiency does not increase. On the other hand, if the dolly is moved in synchronization with the front part of the work, the inconvenience as described above does not occur, but when the work is performed on the rear part of the work, the dolly is separated. Since it is in the open position, the work efficiency does not increase.

In view of the above points, the present invention has an object to provide a work cart that is useful for efficiently working on a work.

[0005]

In order to solve this problem, the invention according to claim 1 proposes an operator M who works on a moving work W1 as schematically shown in FIG.
Further, there is a work carriage A1 for providing articles necessary for the work, a carriage main body B, a worker sensor C for detecting information on a distance between the main carriage body B and the worker M, and a worker sensor. Based on the detection result of C, the trolley body B and the worker M
And a worker movement control means D for controlling the carriage main body B to move so as to keep the distance between and to a predetermined distance between workers or more.

The invention according to claim 2 is the same as in FIG.
The work trolley A according to claim 1, as schematically shown in FIG.
1, the work sensor E1 that detects information about the distance between the trolley body B and the workpiece W1, and the distance between the trolley body B and the worker M are predetermined based on the detection result of the worker sensor C. When it is determined that the distance is equal to or greater than the interworker distance, the work W1 is tracked based on the detection result of the work sensor E1 so that the distance between the trolley body B and the work W1 is maintained at a predetermined interworking distance. Work-following movement control means F for performing movement control on the carriage main body B is provided.

The invention according to claim 3 is, as schematically shown in FIG. 2, a work cart for providing a worker M who works on a moving work W2 with articles necessary for the work. A2, a worker body C, and a worker sensor C for detecting information about the distance between the carrier body B and the worker M
And the trolley body B based on the detection result of the worker sensor C.
Worker follower movement control means G for controlling the carriage main body B to follow the worker M so as to keep the distance between the worker and the worker M at a predetermined distance, the carriage main body B and the work W.
Work sensor E that detects information about the distance between the two
2 and the detection result of the work sensor E2, the work W2 is prioritized over the control by the worker following movement control means G so that the distance between the trolley body B and the work W2 is kept within a predetermined allowable range. Control to follow the movement of the trolley body B
And a work priority follow-up movement control means H for

[0008]

In the invention of claim 1, the worker sensor C detects information relating to the distance between the trolley body B and the worker M, and based on the detection result, the worker movement control means D.
Under the control of 1, the carriage main body B moves so that the distance between the carriage main body B and the worker M is kept at a predetermined distance between workers or more.
Therefore, the trolley A1 is always located at a position equal to or more than the predetermined inter-worker distance from the worker M, and the work W1 of the worker M is
Does not get in the way.

According to the second aspect of the invention, in addition to the operation of the first aspect of the invention, the work sensor E2 detects information about the distance between the carriage body B and the work W1. When the distance between the carriage body B and the worker M is equal to or greater than the predetermined distance between workers, the carriage body B is controlled under the control of the work following movement control means F based on the detection result of the work sensor E1. The trolley body B moves following the work W1 so that the distance between the work W1 and the work W1 is maintained at a predetermined work distance. Therefore, the trolley A1 is always located at a position equal to or larger than the predetermined worker distance from the worker M, and at a position located at a predetermined interwork distance from the work W1. Therefore, it is convenient that the carriage A1 does not interfere with the work of the worker M on the work W1 and the carriage A1 is not too far from the work W1.

In the third aspect of the present invention, the worker sensor C detects the information regarding the distance between the trolley body B and the worker M, and the control of the worker following movement control means G is performed based on the detection result. Below, the truck body B follows the worker M so as to keep the distance between the truck body B and the worker M at a predetermined distance. On the other hand, the work sensor E2 is the carriage body B.
The information about the distance between the workpiece W2 and the work W2 is detected, and based on the detection result, under the control of the work priority follow-up movement control means H, the trolley body B is given priority over the control by the worker follow-up movement control means G. The trolley body B moves following the work W2 so as to keep the distance between the work W2 and the work W2 within a predetermined allowable range. Therefore, as a general rule, the trolley body B is always located at a predetermined distance from the worker M, and when the worker M moves away from the work W2, the trolley body B remains within a predetermined allowable range from the work W2. . Therefore,
When the worker M performs the work on the work W2, the carriage A2 is always located at a predetermined distance from the worker M, which is convenient for the work, and when the worker M leaves the work W2. Since the trolley A2 stays within the predetermined allowable range from the work W2 without following the worker M, there is no problem due to the above-described principle, which is convenient.

[0011]

【Example】

<First Embodiment> Next, an embodiment in which the invention of claim 2 including the contents of the invention of claim 1 is embodied will be described with reference to FIGS. As shown in FIGS. 3 and 4, a work W1 is placed on the conveyor 2, and the work W1 moves as the conveyor 2 advances. The work carriage 10 (work carriage A1) is provided in front of the conveyor 2. Four wheels (not shown) are provided in the lower part of the bogie body 12 (the bogie body B) of the work cart 10, and the drive wheels among them are the drive motors 14 (see FIGS. 3 and 4).
Illustration omitted. (See FIG. 5) to move. Further, the guided portion provided on the carriage main body 12 is fitted to the rail-shaped guide portion provided along the conveyor 2, so that the carriage main body 12 is
Guided to move along.

An article storage section 16 is provided in the trolley body 12, and a worker M holds a work W in the article storage section 16.
Parts, tools, and the like necessary for performing work on 1 are stored. Bumpers 18 are provided on the front and rear of the lower part of the carriage body 12. At the rear of the trolley body 12,
Two worker sensors 20 (worker sensor C) are provided. The worker sensor 20 is a sensor that detects the worker M, and the detection range is LM (distance between predetermined workers). A work sensor 22 (work sensor E1) is provided on the conveyor 2 side of the carriage body 12. The work sensor 22 detects the work W1, and its detection range is LW (predetermined distance between works). Also,
A work completion button 24 (not shown in FIGS. 3 and 4; see FIG. 5) is provided at an appropriate position on the carriage body 12.

A CPU shown in FIG. 5 is provided at an appropriate position of the carriage main body 12.
30 is provided, and the CPU 30 is connected to the worker sensor 20, the work sensor 22, the work completion button 24, and the drive motor 14 described above. Also, the CPU 30
A ROM 32 and a RAM 34 are connected to the
The OM 32 stores a program for performing control described later, and the RAM 34 stores various data. Then, when the worker sensor 20 detects the worker M within the detection range LM (distance between predetermined workers), an ON signal is input to the CPU 30, and an OFF signal is input to the CPU 30 when it is not detected. Similarly, when the work sensor 22 detects the work W1 within the detection range LW (predetermined work distance), an ON signal is input to the CPU 30, and an OFF signal is input to the CPU 30 if it is not detected.

The work carriage 10 is controlled as follows. Description will be made based on the flowchart of FIG. 6 and the timing chart of FIG. 7. In the timing chart of FIG. 7, the direction from the top to the bottom is the traveling direction of the conveyor 2. The horizontal axis is a time axis (timing), and the positions of the work W1, the worker M, and the carriage 10 in the vertical direction (the traveling direction of the conveyor 2) at each timing are shown in accordance with each timing. There is. TW is a movement locus of the work W1, TM is a movement locus of the worker M, T10 is a movement locus of the carriage 10, and TWN is a movement locus of the next work W1.

In the flowchart of FIG. 6, if No in step S2, it is determined in step S4 whether or not the distance between the carriage 10 and the worker M is within the predetermined worker-to-worker distance LM. That is, it is determined whether the ON signal is output within the predetermined inter-worker distance LM or whether the OFF signal is output within the predetermined inter-worker distance LM. Regarding the distance between the trolley 10 and the worker M, the distance is the predetermined inter-worker distance LM based on the distance between the worker sensor 20 and the end of the worker M on the trolley 10 side. An ON signal or an OFF signal is output depending on whether or not the trolley 1 is at the predetermined inter-worker distance LM.
A predetermined distance L is used to represent the center position of 0 and the center position of the worker M. Similarly, between the carriage 10 and the work W1, it is determined whether or not the distance between the work sensor 22 and the end of the carriage 10 on the work sensor 22 side is the predetermined work distance LW. However, the distance between the center position of the carriage 10 and the center position of the work W1 when it is at the predetermined interwork distance LW is also the predetermined distance L in this case as described above. That is, in step S4, it is determined whether or not the distance between the carriage 10 (center position) and the worker M (center position) is within the predetermined distance L.

The distance between the carriage 10 and the worker M is a predetermined distance L.
If it is within the range, the carriage 10 moves a slight distance in the traveling direction of the conveyor 2 (moving direction of the work W1).
The moving speed is v + α which is slightly higher than the traveling speed v of the conveyor 2. On the other hand, if No in step S4, step S6 is skipped and the process proceeds to step S8 and subsequent steps. This step S4 and step S
By repeating 6 above, the worker M makes the work W1
The carriage 10 moves so that the distance between the carriage 10 and the worker M is always equal to or greater than the predetermined distance L when the workpiece W1 is moving in the traveling direction. Timing t2 in FIG.
・ While t3 and timings t4 and t5, trolley 1
0 is doing that. The steps S4 and S6 correspond to the worker movement control means D.

If No is determined in step S4,
In step S8, it is determined whether or not the distance between the carriage 10 and the work W1 is within the predetermined distance L. In the case of Yes, the trolley | bogie 10 moves a little distance in the advancing direction of the workpiece | work W1 in step S10. The moving speed is the same as the traveling speed v of the conveyor 2. By repeating steps S8 and S10, the carriage 10 moves such that the distance to the work W1 is the predetermined distance L. The bogie 10 is moving between timings t1 and t2 and between t3 and t4 in the figure. The steps S8 and S10 correspond to the work following movement control means F.

In this way, the worker M performs the assembling work on the work W1 at the timings t1 to t6.

Further, at the timing t6 in the figure,
Since the work of assembling the work W1 is completed, the worker M presses the work completion button 24. Then,
It becomes Yes in step S2. Then, in step S12, the carriage 10 reverses at a high speed in a direction opposite to the traveling direction of the conveyor 2 by timing t7 so that the distance to the next work W1 becomes the predetermined distance L. . In addition, the worker M also returns to the direction of the next work W1,
Move on to the next assembly work.

As described above, in this embodiment, the worker M
Is ahead of the movement of the work W1, the worker M
Of the work W1 when the worker M is behind the movement of the work W1 (step S6). It follows the movement (so that the distance from the work W1 maintains a predetermined distance L) and moves (step S10).
Therefore, when the worker M tries to get too close to the work W1, the work W1 moves in a direction away from the work W1 accordingly, so that the worker M does not get too close to the work W1 and the trolley 10 moves toward the worker M. Does not interfere with the work of assembling the work W1.

Incidentally, the control according to the flow chart in which steps S8 and S10 are omitted and the process returns to step S2 if No in step S4 corresponds to the invention of claim 1. In this case, in steps S4 and S6, the trolley 10 moves so that the distance between the trolley 10 and the worker M is always the predetermined distance L or more, but when the distance is the predetermined distance L or more, the work W1 is followed. No matter what, the trolley 10 will stop at that position.

<Second Embodiment> Next, an embodiment in which the invention of claim 3 is embodied will be described based on FIGS. 8 to 10, focusing on the difference from the first embodiment. As shown in FIG. 8, in the work carriage 40 (work carriage A2) in this embodiment, the work sensor 42 (work sensor E2) is
Contrary to the first embodiment, the presence or absence of the work W2 is detected in the traveling direction of the conveyor 2. The detection range is LP (maximum allowable distance).

Then, the flowchart of FIG. 9 and FIG.
Is controlled as shown in the timing chart of FIG. In addition,
In FIG. 10, TW is a movement locus of the work W2 (center position), TWR is a movement locus of the rear end portion of the work W2,
TM is a movement locus of the worker M, T40 is a movement locus of the carriage 40, and TWN is a movement locus of the next work W2. If No in step S22, step S2
At 4, it is determined whether the distance between the rear end of the trolley 40 and the work W2 is less than the maximum allowable distance LP. Step S24
If the answer is Yes in step S26, it is determined in step S26 whether or not the distance between the carriage 40 and the worker M is a predetermined distance L. If it is exactly the predetermined distance L, it will be returned as it is,
When the distance between the carriage 40 and the worker M is less than the predetermined distance L, the carriage 40 moves a little distance in the traveling direction of the conveyor 2 as in the first embodiment. When the distance between the carriage 40 and the worker M is larger than the predetermined distance L, the worker M
To the side (in the direction opposite to the traveling direction of the conveyor 2) by a slight distance. In this way, by repeating step S26 and step S28, the carriage 40
So that the distance to the worker M is always the predetermined distance L,
It moves following the worker M. That is, for example, when the worker M moves between timings t1 and t4, the distance between the carriage 40 and the worker M is always kept at the predetermined distance L,
The dolly 40 moves. Also, the timing t5
The same applies during t6. The steps S26 and S28 correspond to the worker following movement control means G.

The above is the principle of this embodiment, but if the distance between the carriage 40 and the workpiece W2 is equal to or greater than the allowable maximum distance LP in step S24, the determination in step S24 is No, and the process proceeds to step S30 instead of step S26. Transition. Then, the carriage 40 moves in the traveling direction of the conveyor 2 at the same speed as the traveling speed v of the conveyor 2 by a slight distance. By repeating steps S24 and S30, the trolley 40 moves following the work W2 so that the maximum allowable distance LP between the trolley 40 and the work W2 is maintained. The steps S24 and S30 correspond to the work priority follow-up movement control means H.

As described above, in this embodiment, as a general rule, the carriage 40 follows the movement of the worker M so that the distance between the carriage 40 and the worker M is always the predetermined distance L ( Step S28). That is, the trolley 40 is always located at a predetermined distance L from the worker M, which is very convenient for the worker M to assemble the work W2. However, the worker M may be far away from the assembly line for some reason. In that case, trolley 4
Since 0 moves following the work W2 so as not to be separated from the work W2 by the maximum allowable distance LP or more, the inconvenience due to the above principle does not occur. In this embodiment, as described above, unlike the first embodiment, as a general rule, the distance between the carriage 40 and the worker M is constant at the predetermined distance L,
This is particularly effective for working on the work W2 that is long in the moving direction.

The present invention is not limited to the above-mentioned embodiment, but outputs an ON signal when the worker sensor or the work sensor detects the worker or the work within a predetermined detection range, and turns it OFF in other cases. Instead of outputting a signal, the distance to the worker or the work may be recognized. In that case, finer control can be performed.

[0027]

As described above, according to the present invention,
Since the work carriage moves based on the movement of the worker as the first reference, not the work, it is convenient for the worker to assemble the work.

[Brief description of drawings]

FIG. 1 is a block diagram schematically showing the contents of the inventions of claims 1 and 2.

FIG. 2 is a block diagram schematically showing the content of the invention of claim 3;

FIG. 3 is a plan view showing a work carriage of the first embodiment.

FIG. 4 is a perspective view of FIG.

FIG. 5 is a block diagram of elements that perform control according to the first embodiment.

FIG. 6 is a flowchart showing the control contents of the first embodiment.

FIG. 7 is a timing chart corresponding to FIG.

FIG. 8 is a plan view schematically showing a work carriage according to a second embodiment.

FIG. 9 is a flowchart showing the control contents of the second embodiment.

10 is a timing chart corresponding to FIG.

[Explanation of symbols]

 10, 40 Work bogie (A1, A2) 12 Bogie body (B) 20 Worker sensor (C) 22, 42 Work sensor (E1, E2) S4, S6 Worker movement control means (D) S8, S10 Work Following movement control means (F) S26, S28 Worker following movement control means (G) S24, S30 Work priority following movement control means (H) W1, W2 Work M Worker

Claims (3)

[Claims] 1. A work trolley for providing an operator who performs work on a moving work with articles necessary for the work, the trolley main body, and information on a distance between the trolley main body and the worker. And a worker sensor for detecting, based on the detection result of the worker sensor, control to move the carriage body to maintain the distance between the carriage body and the worker at a predetermined worker distance or more A work carriage, comprising: a worker movement control means for the work. 2. The work trolley according to claim 1, wherein a work sensor that detects information regarding a distance between the trolley main body and the work, and the trolley main body based on a detection result of the worker sensor. When it is determined that the distance between the worker and the predetermined worker distance is equal to or greater than the predetermined worker distance, the distance between the trolley body and the work is determined based on the detection result of the work sensor. A work trolley comprising: a work folloWing movement control means for controlling the trolley body to follow the work so as to maintain a distance. 3. A trolley for work, which provides a worker who performs a work on a moving work with articles necessary for the work, the trolley body, and information on a distance between the trolley body and the worker. Based on the detection result of the worker sensor, the control to follow the worker to keep the distance between the trolley body and the worker at a predetermined distance based on the detection result of the worker sensor. Worker follow-up movement control means for the trolley body, a work sensor for detecting information about the distance between the trolley body and the work, and based on the detection result of the work sensor, the trolley body and the work In order to keep the distance between them within a predetermined permissible range, the work follow-up follow-up is performed for the carriage by giving priority to the control by the worker follow-up movement control means to follow the work. Working carriage and having a dynamic control unit.