JPH11193200A - Heavy load operation device - Google Patents

Abstract

(57) [Summary] [Problem] To perform a delicate positioning operation and reduce a burden on an operator. A mounting table (90) movable at least in three axial directions perpendicular to each other, and a moving device (X, Y, Z axis air cylinders (130, 140, 120)) for moving the mounting table (90) in each axial direction. And an operation arm 160 for inputting an operation force of an operator, and an operation in each axial direction with respect to the mounting table 90 based on the operation force input by the operation arm 160. A force sensor 170 for outputting a component force signal, and a control device 180 for controlling the moving device based on the operation component signal output from the force sensor 170 are provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a heavy object handling device for handling heavy objects, for example, in an automobile assembly plant, and more particularly to a device for easily handling heavy objects.

[0002]

2. Description of the Related Art Conventionally, in a unit mounting process or an engine / mission coupling process in an automobile assembly plant, heavy objects such as units and engines are mounted on a mounting table.
After the mounting table has been moved up and down and moved in the horizontal direction to perform positioning, assembly work and the like have been performed.

A heavy object operation device for handling such a heavy object includes a mounting table for mounting a heavy object, an elevating device for moving the mounting table up and down, and a two-axis horizontal LM guide mechanism for moving in the direction,
And an operation switch for operating the lifting device.

In order to operate a heavy object by using the heavy object operation device, a heavy object is placed on a mounting table, and an operation switch is operated to operate an elevating device, thereby performing vertical positioning, thereby performing LM. The positioning in the horizontal direction has been performed by moving the mounting table in two horizontal axis directions perpendicular to each other by the guide mechanism. Note that the operation of moving the mounting table in two horizontal axis directions was performed by the operator himself.

[0005]

However, in the above-mentioned conventional heavy object operation device, a lifting device is used to move a mounting table on which a heavy object is mounted in the vertical direction, and the lifting device is operated by an operation switch. Although it is operated, it is difficult to delicately operate the elevating device using the operation switch, so the operator must rely on the experience and intuition of the operator.

Further, the operation of moving a heavy object in two horizontal axis directions has been performed manually, but such an operation is a heavy work requiring a force of, for example, about 5 to 10 kgf. It was giving a great burden.

The present invention has been proposed in order to solve the above-mentioned problems of the prior art, and is capable of performing a delicate positioning operation and reducing the burden on an operator. An object operation device is provided.

[0008]

The present invention has the following features in order to achieve the above-mentioned object. According to a first aspect of the present invention, there is provided a heavy object operation device including at least a mounting table movable in three axial directions perpendicular to each other and a moving device for moving the mounting table in each axial direction. An operation arm for inputting the operation force of the above, a force sensor for outputting operation component force signals in the respective axial directions with respect to the mounting table based on the operation force input by the operation arm, and the force sensor A control device for controlling the moving device based on an operation component signal output from the sensor.

The invention according to claim 2 is the above-described claim 1.
In addition to the features of the invention described above, a gain adjusting device for adjusting a gain of a control signal output to the moving device is provided.

The third aspect of the present invention is the first aspect of the present invention.
Alternatively, in addition to the characteristic feature of the invention described in claim 2, the gain of the control signal output to the moving device changes proportionally based on the operation component signal output from the force sensor. It is assumed that.

The invention according to claim 4 is the above-described claim 1.
In addition to the feature of the invention according to any one of claims 3 to 3, when the operation force signal is not output from the force sensor, at least the vertical position control of the mounting table is performed. And a position control device for performing the operation.

[0012]

Since the present invention has the above-mentioned features, the following effects can be obtained.

According to the first aspect of the present invention, the operating force of the worker is transmitted to the force sensor via the operating arm, and the force sensor outputs an operating component signal in each axial direction of the mounting table on which the heavy object is mounted. The control device can control the moving device based on the operation component force signal, and can position the heavy object placed on the mounting table. Therefore, it is possible to perform a delicate positioning operation without relying on the experience and intuition of the operator. In addition, since the mounting table on which the heavy object is mounted is moved by the moving device, the operator does not need to perform heavy muscle work, and the burden on the operator can be reduced.

According to the second aspect of the present invention, the gain of the control signal output from the force sensor can be adjusted by the gain adjusting device. Therefore, it is possible to perform an operation that matches the operation feeling of the operator without a sense of incongruity, thereby further improving the operability.

According to the third aspect of the present invention, the gain of the control signal output to the moving device changes proportionally based on the operation component signal output from the force sensor. Therefore, since the thrust of the moving device changes according to the operation force, it is possible to further improve the operability.

According to the fourth aspect of the invention, when the operation component signal is not output from the force sensor, the position control device can control the position of the mounting table in the vertical direction. . Therefore, even if the weight of the heavy object placed on the mounting table changes, the balance can be automatically maintained when the operator is not performing the operation, so that the operability is further improved. Becomes possible.

[0017]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram of a heavy object operation device according to an embodiment of the present invention. In addition,
In the embodiments described below, the vertical direction is referred to as a Z-axis direction, the horizontal direction is referred to as an X-axis direction, and the front-rear direction perpendicular to the X-axis is referred to as a Y-axis direction.

The heavy object operation device 10 according to the present invention is shown in FIG.
As shown in FIG. 1, a lift table 30 capable of moving up and down in the Z-axis direction is mounted on a base 20 by being supported by a pair of lift shafts 40, 40, and a pair of X-axis extending on the upper surface of the lift table 30 in the X-axis direction. Rails 50, 50 are provided, and an X-axis moving table 60 is movably mounted on the X-axis rails 50, 50.
A pair of Y-axis rails 70, 70 extending in the Y-axis direction
, A Y-axis moving table 80 is movably mounted on the Y-axis rails 70, 70, and a mounting table 90 for mounting a heavy object is provided on the upper surface of the Y-axis moving table 80. A supply device 110 for supplying a heavy object (for example, a work 100) to be placed on the mounting table 90 is provided on a side of the mounting table.

The lower end of the lift 30 is connected to the tip of a rod 121 of a Z-axis air cylinder 120 for raising and lowering the lift 30. An X-axis air cylinder 130 for moving the X-axis moving table 60 in the X-axis direction is mounted on the lift table 30.
The distal end of the rod 131 is connected to the lower surface of the X-axis moving base 60. Further, a Y-axis air cylinder 140 for moving the Y-axis movement table 80 in the Y-axis direction is mounted on the X-axis movement table 60.
Are connected to the lower surface of the Y-axis moving base 80.

Therefore, when the Z-axis air cylinder 120 is operated, the elevating table 30 can be moved up and down. When the X-axis air cylinder 130 is operated, the X-axis moving table 60 can be moved in the X-axis direction. , Y axis air cylinder 1
By operating 40, the Y-axis moving table 80 can be moved in the Y-axis direction.

The Z-axis air cylinder 120,
X-axis air cylinder 130 and Y-axis air cylinder 140
It functions as a moving device for moving the mounting table 90 in each axial direction. Also, the number of moving devices is 3
The number is not limited to one, and can be increased according to the number of axes for moving the mounting table 90.

The base 20 is provided with a Z-axis position sensor 150 for detecting the vertical position of the lift 30.
The Z-axis position sensor 150 is composed of a direct-acting potentiometer, and the tip of the rod 151 is brought into contact with the lower surface of the lift table 30, and based on the amount of expansion and contraction of the rod 151,
Are detected in the Z-axis direction.

On the upper surface of the Y-axis moving table 80, an operation arm 160 for inputting an operation force of an operator, and respective axial directions with respect to the mounting table 90 based on the operation force input by the operation arm 160. And a force sensor 170 capable of outputting the operation component force signal.

Also, at an appropriate position such as a lower portion of the base 20,
Z-axis air cylinder 120, X-axis air cylinder 130, Y
A control device 180 for controlling the operation of the shaft air cylinder 140 is provided. The control device 180 includes, for example, a microcomputer having functions of a CPU, a ROM, a RAM, and the like.

The Z-axis position sensor 150 and the controller 180 function as a position controller 180 for controlling the position of the mounting table 90 in the Z-axis direction.

Further, a gain adjusting device for adjusting the gain of a control signal output to the Z-axis air cylinder 120, the X-axis air cylinder 130, and the Y-axis air cylinder 140 is provided on the base 20. Adjustment volume 19
0 and an origin return switch 200 for returning the mounting table 90 to the origin.

Further, on the mounting table 90, a work seating detection switch 210 for detecting that the heavy work 100 is seated at a fixed position is provided.

The input side of the control device 180 is connected to a force sensor 170, a gain adjustment volume 190, an origin return switch 200, a Z-axis position sensor 150, and a work seating detection switch 210. The output side of the control device 180 is connected to a pneumatic circuit 220 for controlling the operations of the Z-axis air cylinder 120, the X-axis air cylinder 130, and the Y-axis air cylinder 140.

Next, based on FIG. 2, the heavy object operation device 1 using the control device 180 and the pneumatic circuit 220 described above will be described.
The control process of 0 will be described in more detail.

FIG. 2 shows the control device 180 and the pneumatic circuit 2
FIG. 20 is a block diagram illustrating details of the embodiment 20; As shown in FIG. 2, the operating component in each axial direction detected by the force sensor 170 is input to the amplifier 240 as an operating component signal via the corresponding sensor controller 230.
Further, the output from the amplifier 240 is output to a pair of pressure proportional valves 250 provided for each axis via the corresponding gain adjustment volume 190, and controls the pressure proportional valves 250 Shaft air cylinder 12
Activate 0,130,140. An air source 260 such as an air pump is provided to the pressure proportional valves 250 and 250 of each shaft.
Is supplied with air.

FIG. 2 shows the relationship between the input (Vin) and the output (V) in the amplification of the operation component signal, and the relationship between the input (V) and the output (Vout) in the gain adjustment.
It is shown in the graph in the middle.

Specifically, when the operator operates the operation arm 160, the force sensor 170 detects the operation force of the operation arm 160, and the operation component signal (Vin) is output via the sensor controller 230 of each axis. The signal is input to the amplifier 240. In the amplifier 240, the operation component force signals (Vi
n) is amplified (V), the gain of the operation component signal is adjusted based on the adjustment of the gain adjustment volume 190, and a control signal (Vout) is output.
50, 250 to control the air cylinders 120,
Activate 130,140.

For example, when the heavy object operating device 10 is in an equilibrium state, the air cylinders 120, 130, 1
A pressure of "0" is applied to both the A port and the B port. Therefore, the air cylinders 120, 130,
140 does not work.

When the gain-adjusted control signal (Vout) is "+", the air cylinders 120, 13
A control pressure is applied to the A port 0,140, and “0” atmospheric pressure is applied to the B port. Therefore, the rods 121, 131, 14 of the air cylinders 120, 130, 140 of each shaft are
1 is extended, and the elevating platform 30 or the moving platform 6 in each axial direction is extended.
0 and 80 are moved in the “+” direction (for example, in FIG. 1, in the left direction on the X-axis moving table 60, in the depth direction on the Y-axis moving table 80, and in the upward direction on the lift 30).

Conversely, the gain-adjusted control signal (Vo
ut) is "-", the air cylinder 12 of each axis
Apply "0" air pressure to ports A, 0, 130, 140
Apply control pressure to the port. Therefore, the rods 121, 13 of the air cylinders 120, 130, 140 of each shaft are
1, 141 is shrunk and the elevating table 30 or the moving tables 60, 80 in each axial direction is moved in the “−” direction (for example, in FIG.
It is moved in the right direction on the axis moving table 60, in the forward direction on the Y axis moving table 80, and in the downward direction on the lifting table 30.

However, gravity compensation is performed on the lift 30 in the Z-axis direction. Therefore, when in the equilibrium state, the pressure proportional valves 250, 250 are controlled based on the detection output of the vertical position by the Z-axis position sensor 150,
The zero equilibrium position is maintained.

It is preferable that the gain of the control signal (Vout) output to the pressure proportional valves 250, 250 be changed proportionally based on the operation component signal (Vin) output from the force sensor 170. . That is, when the operation force of the operation arm 160 is small, the control signal (Vo
out), the air cylinder 12 of each axis is reduced.
When the operating force of the operating arm 160 is large while the thrust of the operating arms 160 is small, the control signal (Vou
t), the air cylinder 12 of each axis is increased.
By performing control to increase the thrusts of 0, 130, and 140, the operability can be further improved.

Next, a control process for returning the mounting table 90 to the origin in the above-described heavy object operation device 10 will be described with reference to FIG.

FIG. 3 is a view showing a mounting table 90 of the heavy object operation device 10.
FIG. 2 is a schematic configuration diagram of an apparatus for returning a to an origin. Note that, in the schematic configuration diagram shown in FIG. 3, the device configuration in the X-axis direction is shown, but the device configurations in other axes are almost the same.

As shown in FIG. 3 and described above, the X-axis moving table 60 is provided with a pair of X-axis rails 5 provided in the X-axis direction.
It is movably mounted on 0,50, and can be moved in the X-axis direction by the operation of the X-axis air cylinder 130.

Further, a direct acting potentiometer 270 is connected to the X-axis moving table 60,
Detects axial position. The X-axis air cylinder 130 is supplied with air from an air source 260 via a pair of pressure proportional valves 250,250. Also, a control device 180 for controlling the two pressure proportional valves 250, 250 is provided.
Is connected to the direct-acting potentiometer 270 and the home position return switch 200.

In the control device 180, the origin return switch 2
When 00 is operated, the X-axis air cylinder 130 is operated by controlling the pressure proportional valves 250, 250 in order to return the X-axis moving table 60 to the target position which is the origin. In the return-to-origin control by the controller 180, the position information from the direct acting potentiometer 270 is fed back, and the pressure proportional valves 250, 250 are controlled. At this time, since the air is to be controlled, it is necessary to set the positioning width to prevent the vibration of the X-axis moving table 60. In other words, if there is no width at the home position,
The X-axis movable table 60 vibrates across the origin return position, making it difficult to return to the origin. For this reason, the return-to-origin position has a width within a range in which the supply of the heavy work 100 is not hindered.

The origin returning process is also performed on the elevating table 30 in the Z-axis direction and the Y-axis moving table 80 in the Y-axis direction by the same device and control procedure as described above.

Next, a control process of the heavy object operating device 10 including an origin return process will be described with reference to FIG. FIG.
5 is a flowchart of a control process of the heavy object operation device 10 including a home position return process. In the flowchart shown in FIG. 4, a description will be given by taking the work 100 as an example of a heavy object.

As shown in FIG. 4, in the heavy load operation device 10, the work 100 is supplied to a fixed position by the work supply device 110 (S 1).
Is turned on (S2), the automatic mode ends, and the mode shifts to the assisting mode. The automatic mode is a mode in which all operations are automatically controlled, and the assisting mode is a mode in which a part of the operations is performed by an operator.

In the assisting mode, the work 100 is mounted by operating the lift 30, the X-axis moving table 60, and the Y-axis moving table 80 (S 3). When the mounting operation of the workpiece 100 is completed (S4) and the home return switch 200 is operated (S5), the mode is shifted to the automatic mode.

In the automatic mode, the elevator 30, the X-axis movable table 60, and the Y-axis movable table 80 are automatically moved to complete the origin return (S 6), and the process returns to the above-described work 100 supply operation (S 1). Then, the control process is continued.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a heavy object operation device according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating details of a control device and a pneumatic circuit.

FIG. 3 is a schematic configuration diagram of an apparatus for returning a mounting table of the heavy object operation device to an origin.

FIG. 4 is a flowchart of a control process of the heavy object operation device including a home position return process.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Heavy object operation device, 20 ... Base, 30 ... Elevating table, 40 ... Elevating axis, 50 ... X-axis rail, 60 ... X-axis moving table, 70 ... Y-axis rail, 80 ... Y-axis moving table, 90 ... Mounting table, 100: Workpiece, 110: Supply device, 120: Z-axis air cylinder, 121: Rod, 130: X-axis air cylinder, 131: Rod, 140: Y-axis air cylinder, 141: Rod, 150: Z-axis position Sensor: 151: rod, 160: operating arm, 170: force sensor, 180: control device, 190: gain adjustment volume, 200: home return switch, 210: work seating detection switch, 220: pneumatic circuit, 230: sensor Controller, 240, amplifier, 250, pressure proportional valve, 260, air source, 270, direct acting potentiometer.

Claims (4)

[Claims] 1. A heavy object operating device comprising: a mounting table movable at least in three axial directions perpendicular to each other; and a moving device for moving the mounting table in each axial direction. An operation arm for inputting an operation force; a force sensor for outputting an operation component signal in each axis direction with respect to the mounting table based on the operation force input by the operation arm; and an output from the force sensor. And a control device for controlling the moving device based on the operated component force signal. 2. The heavy object operating device according to claim 1, further comprising a gain adjusting device for adjusting a gain of a control signal output to the moving device. 3. The gain of a control signal output to the moving device changes proportionally based on an operation component signal output from the force sensor.
Or the heavy object operation device according to claim 2. 4. A position control device for performing at least a vertical position control on the mounting table when an operation component signal is not output from the force sensor. The heavy object operation device according to any one of claims 1 to 3.