WO2022185516A1 - Dispositif de travail - Google Patents

Dispositif de travail Download PDF

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Publication number
WO2022185516A1
WO2022185516A1 PCT/JP2021/008626 JP2021008626W WO2022185516A1 WO 2022185516 A1 WO2022185516 A1 WO 2022185516A1 JP 2021008626 W JP2021008626 W JP 2021008626W WO 2022185516 A1 WO2022185516 A1 WO 2022185516A1
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WO
WIPO (PCT)
Prior art keywords
movement mode
area
speed
loader
working device
Prior art date
Application number
PCT/JP2021/008626
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English (en)
Japanese (ja)
Inventor
草太 水野
朋治 吉野
将士 木村
Original Assignee
株式会社Fuji
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 株式会社Fuji filed Critical 株式会社Fuji
Priority to JP2023503313A priority Critical patent/JPWO2022185516A1/ja
Priority to PCT/JP2021/008626 priority patent/WO2022185516A1/fr
Publication of WO2022185516A1 publication Critical patent/WO2022185516A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components

Definitions

  • This specification discloses a work device.
  • a device that has a monitoring unit that monitors whether or not a person has entered a surrounding monitoring area has been proposed (for example, see Patent Document 1).
  • the monitoring unit detects that a person or an object has entered the monitoring area
  • this working device cuts off the power supply to the motor to avoid a collision and makes an emergency stop.
  • the monitoring unit monitors the entry of people and objects into the monitoring area even during the emergency stop, and the work device resumes movement when it is detected that the people and things have left the monitoring area.
  • the size of the monitoring area can be arbitrarily changed by the user.
  • the main purpose of the present disclosure is to provide a work device that can increase the operating rate while ensuring safety.
  • the working device of the present disclosure includes: A work device for working on a mounting device in a mounting line in which a plurality of mounting devices are arranged side by side, a moving device that moves the main body of the working device in a low-speed movement mode or a high-speed movement mode that is faster than the low-speed movement mode; a monitoring sensor provided in the working device main body for detecting the presence or absence of an interfering object in a monitoring area around the working device; a control device that switches the movement mode of the moving device from a high-speed movement mode to a low-speed movement mode when an interfering object is detected in the monitoring area;
  • the gist is to provide
  • the work device of the present disclosure has a low speed mode for moving at a low speed and a high speed mode for moving at a high speed as movement modes.
  • the working device has a monitoring sensor that detects the presence or absence of an obstacle in the monitoring area around it, and when an obstacle is detected in the monitoring area, the movement mode of the moving device is switched from the high-speed movement mode to the low-speed movement mode. It is supposed to be controlled by By switching to the low-speed movement mode, it is possible to increase the operation rate of the working device while ensuring safety.
  • FIG. 1 is a schematic configuration diagram of a component mounting system
  • FIG. It is a schematic block diagram of a component mounter and a feeder. It is a schematic block diagram of a feeder.
  • 3 is a schematic configuration diagram of a loader
  • FIG. FIG. 2 is a block diagram showing electrical connections in the component mounting system
  • 4 is a flowchart showing an example of work processing executed by a loader control device
  • FIG. 10 is an explanatory diagram showing stopped monitoring areas (protection area, warning area)
  • FIG. 4 is an explanatory diagram showing a monitoring area (protection area) during low-speed movement
  • FIG. 4 is an explanatory diagram showing a monitoring area (protection area) during high-speed movement
  • FIG. 10 is an explanatory diagram showing stopped monitoring areas (protection area, warning area)
  • FIG. 4 is an explanatory diagram showing a monitoring area (protection area) during low-speed movement
  • FIG. 4 is an explanatory diagram showing a monitoring area (protecti
  • FIG. 10 is an explanatory diagram showing how the loader starts moving in the high-speed movement mode and moves to the work destination;
  • FIG. 10 is an explanatory diagram showing how the loader starts moving in the low-speed movement mode and moves to the work destination;
  • FIG. 4 is an explanatory diagram showing how a bumper sensor operates;
  • FIG. 1 is a schematic configuration diagram of a component mounting system.
  • FIG. 2 is a schematic configuration diagram of a component mounter and a feeder stand.
  • FIG. 3 is a schematic configuration diagram of a feeder.
  • FIG. 4 is a schematic configuration diagram of the loader.
  • FIG. 5 is a block diagram showing electrical connections in the component mounting system. 1, 2 and 4, the horizontal direction is the X-axis direction, the front-rear direction is the Y-axis direction, and the vertical direction is the Z-axis direction.
  • the component mounting system 10 is for producing a board S on which components are mounted, and as shown in FIG. 20E), a mounting inspection device (not shown), a loader 50, a plurality of (two) feeder storages 70, and a management device 80 that manages the entire system.
  • the printing device 12 prints solder on the surface of the substrate S.
  • the print inspection device 14 inspects the state of solder printed by the printer 12 .
  • the component mounter 20 picks up the component supplied from the feeder 30 with a suction nozzle (picking member) and mounts it on the board S.
  • the mounting inspection device inspects the mounting state of the components mounted by the component mounter 20 .
  • the printing device 12, the print inspection device 14, the plurality of component mounters 20, and the mounting inspection device are arranged in this order from upstream along the transport direction of the board S to form a mounting line (production line).
  • the component mounter 20 includes a mounting portion 21 to which a feeder 30 is mounted, a substrate conveying device 22 that conveys the substrate S in the X-axis direction, and a component that is picked up from the feeder 30 and mounted on the substrate S.
  • a head 25 to be mounted on the head a head moving device 24 for moving the head 25 in the horizontal direction (XY-axis directions), and a mounting control device 29 (see FIG. 5).
  • the head 25 has a suction nozzle for sucking a component and an elevating device for raising and lowering the suction nozzle.
  • the head moving device 24 has a slider 24a to which the head 25 is attached, and moves the slider 24a in horizontal directions (XY-axis directions) by, for example, a linear motor.
  • the feeder 30 is a cassette type tape feeder, as shown in FIG. 3, and includes a tape reel 32, a tape feed mechanism 33, a connector 35, and a feeder control device 39 (see FIG. 5).
  • the tape reel 32 is wound with a tape containing components. The parts are protected by a film covering the surface of the tape.
  • the tape feeding mechanism 33 pulls out the tape from the tape reel 32 and feeds it to the component supply position. The components accommodated on the tape are exposed at the component supply position by peeling off the film before the component supply position, and are picked up by the head 25 (suction nozzle).
  • the feeder control device 39 includes a well-known CPU, ROM, RAM, etc., and outputs drive signals to the tape feed mechanism 33 (feed motor).
  • the mounted part 21 is provided on the front side (front part) of the component mounter 20 and has two upper and lower areas in which the feeder 30 can be set.
  • the upper area is a supply area 21A in which the feeder 30 can supply components to a position where the head 25 can pick up (component supply position), and the lower area is a buffer area 21B in which the feeder 30 is temporarily stored.
  • a feeder table 40 is installed in each of the areas 21A and 21B.
  • the feeder bases 40 of the areas 21A and 21B are, as shown in FIG. and a plurality of connectors 45 .
  • the supply area 21A is equipped with a feeder 30 containing parts used in the job being executed.
  • the buffer area 21B is used to temporarily store the feeder 30 containing parts used in jobs to be executed from the next time onwards, and to temporarily store the used feeder 30 .
  • the component mounter 20 also includes a mark camera 26, a parts camera 27, and the like.
  • the mark camera 26 captures an image of a reference mark attached to the substrate S from above in order to detect the position of the substrate S.
  • the parts camera 27 captures an image of the part sucked by the sucking nozzle from below in order to detect sucking errors and sucking deviations.
  • the mounting control device 29 is composed of a well-known CPU 29a, ROM 29b, HDD 29c, RAM 29d, and the like.
  • the mounting control device 29 receives image signals and the like from the mark camera 26 and the parts camera 27 .
  • the mounting control device 29 also outputs drive signals to the substrate transfer device 22, the head 25, the head moving device 24, and the like.
  • the mounting control device 29 is communicably connected to the feeder control device 39 of the feeder 30 mounted on the feeder table 40 via connectors 35 and 45 .
  • the mounting control device 29 receives feeder information such as the feeder ID, the component type, and the remaining number of components contained in the feeder control device 39 of the feeder 30 from the feeder control device 39 .
  • the mounting control device 29 also transmits the received feeder information and the mounting position (slot number) where the feeder 30 is mounted to the management device 80 .
  • the CPU 29a of the mounting control device 29 executes mounting processing for mounting the component on the board S.
  • the CPU 29 a causes the head moving device 24 to move the head 25 above the component supply position of the feeder 30 . Subsequently, the CPU 29a lowers the suction nozzle by using the lifting device and causes the suction nozzle to suck the component.
  • the CPU 29a causes the head moving device 24 to move the part sucked by the suction nozzle above the parts camera 27, and the parts camera 27 picks up an image of the part.
  • the CPU 29a processes the picked-up image of the component, measures the suction deviation amount of the component, and corrects the mounting position of the component on the substrate S. FIG. Then, the CPU 29a causes the head moving device 24 to move the component sucked by the nozzle above the corrected mounting position, and lowers the suction nozzle by the lifting device to mount the component on the board S.
  • Each of the plurality of feeder storages 70 is a storage location that is incorporated into the mounting line and temporarily stores the plurality of feeders 30 .
  • one feeder storage 70 stores feeders 30 to be used in each component mounter 20
  • the other feeder storage 70 stores used feeders 30 used in each component mounter 20. is stored. Replenishment of the feeder 30 to be used and collection of the used feeder 30 to the feeder storage 70 are performed by an operator or an automatic guided vehicle (AGV).
  • AGV automatic guided vehicle
  • Each feeder storage 70 is provided with a feeder base having a plurality of slots 42 and connectors 45 similar to the feeder base 40 of the component mounter 20 .
  • the feeder information such as the feeder ID of the feeder 30, the type of parts, the remaining number of parts, and the attachment position (slot number) where the feeder 30 is attached are sent to the management device. 80.
  • the loader 50 moves in front of the component mounting system 10 (mounting line) along the line, takes out the feeders 30 to be used from the feeder storage 70, and replenishes each component mounter 20 with the feeders 30 to be used. Alternatively, the used feeders 30 are collected from each mounter 20 and transported to the feeder storage 70. - ⁇
  • the loader 50 includes, as shown in FIG. 4, a loader moving device 51, a feeder transfer device 53, and a loader control device 59 (see FIG. 5).
  • the loader moving device 51 moves the loader body 50a along the guide rails 18 arranged in front of the mounting line.
  • the loader moving device 51 has an X-axis motor 52a that drives a drive belt for moving the loader body 50a, and guide rollers 52b that roll on the guide rails 18 to guide the movement of the loader 50. .
  • the feeder transfer device 53 transfers the feeder 30 between the component mounter 20 and the loader 50 at a position where the loader 50 faces one of the component mounters 20 , or the loader 50 faces the feeder storage 70 .
  • the feeder 30 is transferred between the feeder storage 70 and the loader 50 at the position.
  • the feeder transfer device 53 has a Y-axis slider 55 and a Z-axis motor 56a that moves the Y-axis slider 55 along a Z-axis guide rail 56b.
  • the Y-axis slider 55 includes a clamping portion 54 that clamps the feeder 30 and a Y-axis motor 55a that moves the clamping portion 54 along a Y-axis guide rail 55b.
  • the Y-axis slider 55 is moved up and down by driving a Z-axis motor 56a.
  • the feeder transfer device 53 lifts the Y-axis slider 55 so that the Y-axis slider 55 faces the feeder table 40 of the supply area 21A of the component mounter 20 and the feeder table 40 of the feeder storage 70.
  • the feeder 30 is transferred to the supply area 21A and the feeder storage 70 by clamping the feeder 30 with the clamp part 54 and moving it in the Y-axis direction with the Y-axis slider 55 .
  • the feeder transfer device 53 lowers the Y-axis slider 55 so that the Y-axis slider 55 faces the buffer area 21B of the component mounter 20, and in this state, the feeder 30 is clamped by the clamp section 54 to move the Y-axis. By moving the slider 55 in the Y-axis direction, the feeder 30 is transferred to the buffer area 21B.
  • the loader control device 59 is composed of a well-known CPU 59a, ROM 59b, RAM 59c, and the like.
  • the loader control device 59 receives detection signals from the position sensor 61, the bumper sensor 62, the monitoring sensor 63, and the like. Also, the loader control device 59 outputs drive signals to the loader moving device 51 and the feeder transfer device 53 .
  • the position sensor 61 is an encoder and detects the movement position P of the loader body 50a.
  • the loader control device 59 also calculates the moving speed V of the loader 50 based on the moving position P of the loader 50 detected by the position sensor 61 .
  • the bumper sensor 62 detects contact with an interfering object.
  • the bumper sensor 62 as shown in FIG. It is arranged so as to extend vertically over the entire height direction of the loader body 50a on both side surfaces in the traveling direction of the body 50a.
  • the monitoring sensor 63 detects the presence or absence of an interfering object in the monitoring area around the loader main body 50a.
  • the monitoring sensor 63 is configured as a laser scanner having a light projecting portion 63a and a light receiving portion 63b as a sensor portion, and emits laser light from the light projecting portion 63a and receives reflected light from obstacles. The presence or absence of an interfering object in the monitoring area is detected by the light received by the portion 63b.
  • the monitoring sensor 63 is installed in the lower part of the loader main body 50a so that the optical axes of the light projecting part 63a and the light receiving part 63b are directed obliquely downward.
  • the monitoring sensor 63 has a monitoring area up to a predetermined height from the floor surface, and can mainly detect the feet of people (workers) as interfering objects. Also, the monitoring sensors 63 are installed on both sides in the direction of travel of the loader 50 so as to detect interfering objects on both sides in the direction of travel (leftward and rightward).
  • the management device 80 is a general-purpose computer, and includes a CPU 81, a ROM 82, an HDD 83 (storage device), and a RAM 84, as shown in FIG.
  • An input device 85 such as a keyboard and a mouse, and a display 86 are electrically connected to the management device 80 .
  • the HDD 83 stores production plans, feeder holding information, job information, status information, and the like. These pieces of information are managed for each mounter 20 .
  • the production plan is a plan that determines which components are to be mounted in which order in each mounter 20, and how many substrates S (products) mounted in that way are to be manufactured (produced).
  • the feeder holding information is information about the feeders 30 held by each mounter 20 and the feeder storage 70 .
  • the feeder holding information includes feeder information such as the feeder ID, component type, and remaining number of components, and the device holding the feeder 30 (component) (which component mounter 20 and which feeder storage 70 it is) and the feeder 30 and position information such as mounting position (slot number).
  • the job information is information about the mounting process (job) to be executed by each mounter 20 . This job information includes the type of board to be produced, the type of components to be mounted, the mounting position of each component, the layout position of components to be laid out in the supply area 21A for each job (layout position information), and the like.
  • the status information is information indicating the operating status of each mounter 20 . This status information includes during production, during changeover, during occurrence of an abnormality, and the like.
  • the management device 80 is communicably connected to the mounting control device 29 by wire, and exchanges various information with each component mounter 20 of the component mounting system 10 .
  • the management device 80 receives the operation status from each mounter 20 and updates the status information to the latest information.
  • the management device 80 is communicably connected to the feeder control device 39 of the feeder 30 attached to the feeder table 40 of each mounter 20 via the mounting control device 29 .
  • the management device 80 controls the corresponding component mounter 20 or the feeder storage 70. to update the feeder holding information to the latest information.
  • the management device 80 is wirelessly communicably connected to the loader control device 59 and also manages the operation of the loader 50 . That is, the CPU 81 of the management device 80 searches the feeder holding information of the feeder storage 70 for the components necessary for the production of the next product in each mounter 20 based on the production plan, A replenishment command is transmitted to the loader 50 so that the component mounter 20 of interest is replenished. Further, the CPU 81 transmits a collection command to the loader 50 to collect the used feeders 30 generated in each mounter 20 .
  • FIG. 6 is a flowchart showing an example of work processing executed by the loader control device 59.
  • the CPU 59a of the loader control device 59 first determines whether or not a work command (the replenishment command or recovery command described above) has been received from the management device 80 (step S100). If it is determined that the work command has not been received, the work processing is terminated. On the other hand, when determining that the work command has been received, the CPU 59a determines whether or not there is an interfering object within the protection area A1 (first area) based on the detection signal from the monitoring sensor 63 (step S110).
  • a work command the replenishment command or recovery command described above
  • step S110 When the CPU 59a determines that there is an interfering object in the protection area A1, it returns to step S110 and waits until there is no interfering object in the protection area A1. It is determined whether or not there is an interfering object in area A2 (step S120).
  • FIG. 7 is an explanatory diagram showing the monitoring area during suspension.
  • the monitoring area when the loader 50 (loader body 50a) is stopped includes a protection area A1 and a warning area A2.
  • the protection area A1 is a rectangular area extending outward in the X-axis direction from both side surfaces of the loader 50 .
  • the protection area A1 has a width X1 of 213 [mm] in the X-axis direction from the side surface of the loader 50, and a width Y1 in the Y-axis direction of 793 [mm], which is substantially the same as the width of the loader 50 in the Y-axis direction. mm].
  • the warning area A2 is a fan-shaped area surrounding the loader 50 and the protection area A1. Specifically, the warning area A2 has a width X2 of 1988 [mm] in the X-axis direction and a width Y2 of 1881 [mm] in the Y-axis direction from the side surface of the loader 50 .
  • the CPU 59a determines that there is no interfering object in the warning area A2, it controls the loader movement device 51 to start moving the loader 50 in the high-speed movement mode toward the work destination according to the work command (step S130).
  • the CPU 59a determines that there is an interfering object in the warning area A2, it controls the loader moving device 51 to start moving the loader 50 toward the work destination in the low speed moving mode (step S140).
  • the maximum speed VHmax in the high speed movement mode is higher than the maximum speed VLmax in the low speed movement mode. Specifically, the maximum speed VHmax in the high speed movement mode is 400 [mm/s], and the maximum speed VLmax in the low speed movement mode is 275 [mm/s].
  • the loader 50 can shorten the time required to reach the work destination by moving in the high-speed movement mode when there are no obstacles around. On the other hand, when there is an interfering object in the surroundings, the loader 50 moves in the low-speed movement mode, thereby avoiding collision with the interfering object or reducing the impact applied at the time of collision. safety can be ensured.
  • the CPU 59a determines whether or not it is in the high-speed movement mode (step S150). When the CPU 59a determines that the low-speed movement mode is in effect instead of the high-speed movement mode, the process proceeds to S200. On the other hand, when determining that the CPU 59a is in the high-speed movement mode, the CPU 59a obtains the movement speed V calculated based on the movement position P detected by the position sensor 61 (step S160). It is determined whether or not (step S170).
  • the threshold Vref is set to a speed equal to or higher than the maximum speed VLmax in the low-speed movement mode in this embodiment.
  • the CPU 59a determines that the movement speed V is equal to or less than the threshold Vref, it sets the same first area as when the loader 50 is stopped in the protection area A1 (step S180), and the movement speed V exceeds the threshold Vref. If so, a second area wider than the first area is set in the protection area A1 (step S190).
  • the threshold Vref is set to a speed equal to or higher than the maximum speed VLmax in the low-speed movement mode, so the movement speed V never exceeds the threshold Vref during the low-speed movement mode.
  • the protected area A1 during the low speed movement mode is always set to the first area. In this embodiment, when the loader 50 is moving, the monitoring area is only the protection area A1 and the warning area A2 is not set regardless of the movement mode and movement speed V.
  • FIG. 8 is an explanatory diagram showing the monitoring area (protection area) during low speed movement
  • FIG. 9 is an explanatory diagram showing the monitoring area (protection area) during high speed movement.
  • the protection area A1 when the movement speed V is equal to or less than the threshold value Vref during the low-speed movement mode or even during the high-speed movement mode is the same first area (narrow area) as during stop, as shown in FIG.
  • the protection area A1 is switched from the first area to the second area as shown in FIG.
  • the second area is wide on the same side of the loader 50 in the traveling direction and narrow on the opposite side of the loader 50 in the traveling direction.
  • the second area is set to have the same size as the warning area A2 on the same side of the loader 50 in the traveling direction, and the same size as the first area on the opposite side of the loader 50 in the traveling direction.
  • the CPU 59a determines whether or not there is an interfering object within the protection area A1 (step S200). When the CPU 59a determines that there is no interfering object in the protection area A1, it acquires the movement position P detected by the position sensor 61 (step S210), and determines whether the work destination has been reached based on the acquired movement position P. (step S220). When the CPU 59a determines that the work destination has not been reached, the process returns to step S150 to continue the movement of the loader 50. FIG.
  • the CPU 59a controls the loader movement device 51 to stop the movement of the loader 50 (step S230), and executes the above-described work related to the work instruction received in step S100. (step S240), and the work process ends.
  • step S200 determines in step S200 that there is an interfering object within the protection area A1, it controls the loader moving device 51 so that the loader 50 is brought to an emergency stop (step S250). Subsequently, the CPU 59a sets the protection area A1 as the first area (narrow area) (step S260), and waits until the obstacle disappears from the protection area A1 (step S270). When the CPU 59a determines that the interfering object has disappeared from the protected area A1, it controls the loader moving device 51 so that the movement of the loader 50 is resumed in the low speed movement mode (step S280), and returns to step S200.
  • the loader 50 makes an emergency stop to prevent collision with the interfering object and reduce the impact at the time of collision.
  • A1 is set as the first area (narrow area), and when the interfering object leaves the protection area A1, the movement is immediately resumed in the low-speed movement mode. As a result, it is possible to further increase the operating rate while ensuring safety.
  • FIG. 10 is an explanatory diagram showing how the loader starts moving in the high-speed movement mode and moves to the work destination.
  • the example of FIG. 10 shows a case where the feeder 30 is transported from the feeder storage 70 to the mounter 20E.
  • the loader 50 starts moving toward the work destination, the component mounter 20E, in the high-speed movement mode because there is no operator (person) in the warning area A2 while the loader 50 is stopped.
  • the moving speed V of the loader 50 exceeds the threshold value Vref
  • the protected area A1 is expanded from the first area (narrow area) to the second area (wide area).
  • the loader 50 makes an emergency stop when it is detected that an operator (person) has entered the protective area A1 (second area).
  • the loader 50 returns the protection area A1 to the first area, and when the worker leaves the protection area A1, resumes movement in the low-speed movement mode.
  • the loader 50 reaches the front of the target component mounter 20E, it attaches the conveyed feeder 30 to the feeder table 40 of the component mounter 20E.
  • FIG. 11 is an explanatory diagram showing how the loader starts moving in the low-speed movement mode and moves to the work destination.
  • the loader 50 starts moving in the low-speed movement mode toward the target component mounter 20E, which is the work destination, because there is an operator (person) in the warning area A2 while the loader 50 is stopped. Since the movement speed V does not exceed the threshold value Vref in the low-speed movement mode, the protection area A1 remains the first area (narrow area).
  • the loader 50 makes an emergency stop when it is detected that a worker (person) has entered the protective area A1 (first area). Then, the loader 50 resumes movement when the worker leaves the protected area A1.
  • the loader 50 reaches the front of the target component mounter 20E, it attaches the conveyed feeder 30 to the feeder table 40 of the component mounter 20E.
  • the loader 50 has a high-speed movement mode and a low-speed movement mode as movement modes, and by switching between the high-speed movement mode and the low-speed movement mode, the safety area A1 for emergency stop is maintained while ensuring safety. can be narrowed, and the operating rate of the loader 50 can be further increased.
  • the monitoring sensor 63 moves the worker to the protection area A1. emergency stop even if no entry is detected.
  • the monitoring sensor 63 since the monitoring sensor 63 is configured to detect mainly the feet of the worker, as shown in FIG. There is a risk of being caught between In this embodiment, the bumper sensor 62 and the monitoring sensor 63 complement each other to ensure safety. Since the bumper sensor 62 detects that the worker (interfering object) has come into contact with the bumper, the maximum speed of the loader 50 should be controlled so as not to seriously injure the worker at the time of contact with the bumper. (maximum speed VLmax during slow movement mode) must be set. Since the protected area A1 is enlarged during the high-speed movement mode, the monitoring sensor 63 can detect whether or not there is a worker within the protected area A1, thus ensuring safety.
  • a necessary braking distance after the bumper sensor 62 detects the contact of the operator with the bumper is set.
  • the force exerted on the bumper by operator contact increases as the bumper is pushed in by the spring coefficient.
  • the required braking distance is the pushing amount of the bumper when the upper limit of the allowable range is reached. For example, when the upper limit of the allowable range is 250 [N] and the force applied to the bumper reaches 250 [N] when the pushing amount is 7.7 [mm], the required braking distance is 7.7 [mm].
  • the force Fb received by the bumper is, for example, 42 [N] when the bumper sensor 62 reacts, the force Fb is originally between 0 [mm] and 7.7 [mm], and between 42 [N] and It increases to 240 [N], but since the spring coefficient is unknown, if it continues to act until the minimum 42 [N] advances by 7.7 [mm], 42 [N] ⁇ 0.0077 [m] Calculated.
  • the force Fc due to braking (deceleration) of the loader 50 is the force that causes the X-axis motor 52a of the loader moving device 51 to stop 0.021 [s] after the bumper sensor 62 reacts, and the weight of the loader 50 m is 90 kg, the acceleration (deceleration) g is 0.5 G [4.9 m/s 2 ], and the deceleration distance is 0.0077 [m]-x [m/s] ⁇ 0.021 with the speed as the variable x. [s] is calculated by 90 (kg) x 4.9 [m/s 2 ] x (0.0077 [m] - x [m/s] x 0.021 [s]).
  • the force Fd due to the speed of the loader 50 is calculated by 1/2 ⁇ 90 [kg] ⁇ x 2 [m/s]. Accordingly, when the variable x[m/s] is calculated so that Fd ⁇ Fb+Fc, 0.277>x[m/s]. Therefore, it can be seen that the maximum speed of the loader 50 (maximum speed VLmax during low-speed movement mode) should be less than 277 [mm/s].
  • the protective area A1 is an area that is subject to an emergency stop when a worker (interfering object) enters. It is desirable to make the range as narrow as possible.
  • the width X1 in the X-axis direction of the protective area A1 (second area) is set so that the maximum speed of the loader 50 is Vmax (maximum speed VHmax during high-speed movement mode), and the loader 50 brakes after the operator enters the dangerous area. It is calculated by the following equation (1), where T is the time until the application of the load is started, L is the braking distance of the loader 50, and ⁇ is the measurement error of the monitoring sensor 63.
  • the width Y1 of the protection area A1 in the Y-axis direction is set to a value that takes into consideration only the width of the loader main body 50a in the Y-axis direction because the loader 50 does not move in the Y-axis direction in this embodiment.
  • the width X2 of the warning area A2 in the X-axis direction is determined as a safety distance in consideration of the entry speed when the worker enters the protection area A1. That is, let Vi be the entry speed of the worker, Ts be the time from when the worker's feet enter the dangerous area until the loader 50 stops, and before the worker's feet enter the dangerous area, the part of the body Assuming that the distance at which A2 approaches the dangerous area is D, the width X2 of the warning area A2 in the X-axis direction is calculated by the following equation (2). For example, when Vi is 1600 [mm/s], Ts is 0.525 [s], and D is 1120 [mm], it is 2173 [mm].
  • the width Y2 of the warning area A2 in the Y-axis direction is set to prevent the loader 50 from directly contacting the worker's body or head during movement when the loader 50 starts moving in the high-speed movement mode. Taking into consideration the possibility that the operator's hand may be caught in the gap between the line and the machine, it is calculated by the following equation (3). For example, if Vi, Ts, and D are the above values, it is 2060 [mm]. This is because, in the present embodiment, the movement mode when the loader 50 starts to move is determined depending on whether or not there is an operator (interfering object) in the warning area A2. This is because the loader 50 must always be moving at a low speed (low speed movement mode).
  • the loader 50 of this embodiment corresponds to the working device of the present disclosure
  • the loader main body 50a corresponds to the working device main body
  • the loader moving device 51 corresponds to the moving device
  • the monitoring sensor 63 corresponds to the monitoring sensor
  • the loader control device 59 corresponds to the control device.
  • the loader 50 sets the protection area A1 to the first area when the movement speed V is equal to or less than the threshold Vref, and sets the protection area A1 to the protection area A1 when the movement speed V exceeds the threshold Vref.
  • a second area wider than the first area was set in A1.
  • the loader 50 sets the protection area A1 to the first area when the movement mode is the low-speed movement mode, and sets the protection area A1 to be larger than the first area when the movement mode is the high-speed movement mode.
  • a wide second area may be set.
  • the loader 50 may gradually widen the protection area A1 as the movement speed V increases, regardless of the movement mode.
  • the loader 50 always resumes movement in the low-speed movement mode when resuming movement after an emergency stop.
  • the loader 50 may resume movement in the high-speed movement mode if there is no interfering object within the warning area A2 when resuming movement after the emergency stop.
  • the bumper sensor 62 is configured by a long bumper extending in the height direction of the loader body 50a, but the entire side plate of the loader body 50a may function as a bumper. By doing so, the detection area of the bumper sensor 62 can be expanded.
  • the work device of the present disclosure is applied to the loader 50 in the above-described embodiment, it may be applied to an automatic guided vehicle (AVG).
  • AVG automatic guided vehicle
  • the working device of the present disclosure is a working device that performs work on a plurality of mounting devices in a mounting line in which the mounting devices are arranged side by side.
  • a moving device that moves in a high-speed movement mode that is faster than the mode
  • a monitoring sensor that is provided in the working device body and detects the presence or absence of an obstacle in a monitoring area around the working device, and an interfering object in the monitoring area and a control device for switching a movement mode of the moving device from a high-speed movement mode to a low-speed movement mode when is detected.
  • the work device of the present disclosure has a low speed mode for moving at a low speed and a high speed mode for moving at a high speed as movement modes.
  • the working device has a monitoring sensor that detects the presence or absence of an obstacle in the monitoring area around it, and when an obstacle is detected in the monitoring area, the movement mode of the moving device is switched from the high-speed movement mode to the low-speed movement mode. It is supposed to be controlled by By switching to the low-speed movement mode, it is possible to increase the operation rate of the working device while ensuring safety.
  • control device may perform control such that the monitoring area is wider in the high-speed movement mode than in the low-speed movement mode. In this way, it is possible to further enhance the safety of movement in the high-speed movement mode.
  • the monitoring area may include a stop area for emergency stopping of the working device main body.
  • the control device starts the operation of the moving device in the high-speed movement mode, and stops the work device main body.
  • Control may be performed to start the operation of the moving device in the low-speed moving mode when an interfering object is detected within the monitoring area outside the stop area. In this way, safety can be ensured even if the stop area is narrowed, and the operation rate can be increased by narrowing the stop area.
  • control device when an interfering object is detected in the stop area while the work device main body is moving, the control device temporarily stops the movement of the work device main body, When the interfering object is no longer detected, control may be performed to resume the movement of the working device main body in the low-speed movement mode. By doing so, it is possible to quickly resume the movement of the working device main body while ensuring safety. In these cases, the control device performs control to widen the stop area when the working device body is moving in the high-speed movement mode compared to when it is moving in the low-speed movement mode. good too. In this way, it is possible to further enhance the safety of movement in the high-speed movement mode.
  • control device may perform control to widen the stop area when the working device main body is moving at a speed equal to or higher than a predetermined speed compared to when the speed is less than the predetermined speed. In this way, it is possible to further enhance the safety of high-speed movement.
  • the present disclosure can be used in manufacturing industries such as work equipment and component mounting systems.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

L'invention concerne un dispositif de travail qui effectue un travail par rapport à un dispositif de montage dans une ligne de montage dans laquelle une pluralité de dispositifs de montage ont été agencés côte à côte. Le dispositif de travail est pourvu d'un dispositif de déplacement pour amener un corps de dispositif de travail à se déplacer soit dans un mode de déplacement à faible vitesse, soit dans un mode de déplacement à grande vitesse qui est plus rapide que le mode de déplacement à faible vitesse, un capteur de surveillance qui est disposé sur le corps de dispositif de travail et détecte s'il existe un objet interférent dans une zone de surveillance dans l'environnement du dispositif de travail, et un dispositif de commande. Le dispositif de commande commande par commutation du mode de déplacement du dispositif de déplacement du mode de déplacement à grande vitesse au mode de déplacement à faible vitesse lorsqu'un objet interférent a été détecté dans la zone de surveillance.
PCT/JP2021/008626 2021-03-05 2021-03-05 Dispositif de travail WO2022185516A1 (fr)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06222834A (ja) * 1993-01-27 1994-08-12 Suzuki Motor Corp 無人搬送車の走行制御方法
JPH10161745A (ja) * 1996-11-29 1998-06-19 Murata Mach Ltd 無人走行車の制御装置
JPH11226889A (ja) * 1998-02-16 1999-08-24 Shinko Electric Co Ltd 作業装置
JP2016032858A (ja) * 2014-07-31 2016-03-10 ファナック株式会社 移動式人協調型ロボット
WO2017033268A1 (fr) * 2015-08-25 2017-03-02 富士機械製造株式会社 Chaîne de montage de composants
JP2018103345A (ja) * 2016-12-28 2018-07-05 川崎重工業株式会社 ロボットシステム
JP2018147152A (ja) * 2017-03-03 2018-09-20 富士ゼロックス株式会社 移動装置
JP2019042907A (ja) * 2017-09-07 2019-03-22 ファナック株式会社 ロボットシステム

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06222834A (ja) * 1993-01-27 1994-08-12 Suzuki Motor Corp 無人搬送車の走行制御方法
JPH10161745A (ja) * 1996-11-29 1998-06-19 Murata Mach Ltd 無人走行車の制御装置
JPH11226889A (ja) * 1998-02-16 1999-08-24 Shinko Electric Co Ltd 作業装置
JP2016032858A (ja) * 2014-07-31 2016-03-10 ファナック株式会社 移動式人協調型ロボット
WO2017033268A1 (fr) * 2015-08-25 2017-03-02 富士機械製造株式会社 Chaîne de montage de composants
JP2018103345A (ja) * 2016-12-28 2018-07-05 川崎重工業株式会社 ロボットシステム
JP2018147152A (ja) * 2017-03-03 2018-09-20 富士ゼロックス株式会社 移動装置
JP2019042907A (ja) * 2017-09-07 2019-03-22 ファナック株式会社 ロボットシステム

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