TWI664072B - Method for controlling safe operation of machine - Google Patents

Abstract

A method for controlling safe operation of a machine includes: defining a working position beside the machine; providing a gesture detection device for detecting the attitude of a worker at the working position; determining whether the attitude of the worker is Be in a working attitude: if yes, allow the moving part to act; if not, forbid the moving part to act. In this way, only when the operator is in the working posture is the operating part allowed to operate, which can effectively reduce the chance of injury to the operator and effectively improve the safety of the operation.

Description

Method for controlling safe operation of machine

The invention relates to production operation equipment; in particular, it relates to a safe operation control method of a machine.

With the development of industrial technology, most of the factory's operating equipment has entered the stage of automated production. However, for some products, it still needs to rely on manpower to cooperate with the machine for processing. Therefore, the safety of workers' work cannot be ignored.

Taking a punching machine as an example, the most common occurrence of a punching machine is that the operator's hand does not leave the punching range (that is, the operating range), resulting in an accident that the operator's hand is crushed. After the crushed hand can only be amputated. At present, most of the presses are equipped with two-hand operated or photoelectric induction safety devices to protect the safety of workers. Two-hand operated safety devices require both hands to press the start button to start the press. The photoelectric induction safety The device is provided with a light interruption switch next to the punching range. Once the operator's hand passes the detection range of the light interruption switch, the punching is stopped to prevent the operator from being injured.

However, not all presses are suitable for the installation of the aforementioned safety devices. Some processes require the operator to hold the workpiece and strike different parts of the workpiece. Since the operator's hand must enter the punching range, it cannot be retrofitted. Two-handed or photoelectric safety device. Such a punching machine 1 is shown in FIG. 1 and includes a hydraulic cylinder 10, an actuator 12, a driving device 14, a pedal switch 16 and a power source 18. Among them, the hydraulic cylinder 10 is used to drive an actuator 12 reciprocating up and down; the driving device 14 is used to receive the power from the power source 18 to drive The hydraulic oil cylinder 10 operates; the pedal switch 16 is connected between the power source 18 and the driving device 14. After the worker holds the workpiece W in place, he depresses the pedal switch 16 to cause the actuator 12 to punch the workpiece W. When an operator uses such a punching machine 1, it is more likely that his hands will be injured if he is not careful.

In addition, taking the conveying device as an example, the operator's hand must reach into the operating range of the conveyer belt (that is, the operating range) to pick up or place the workpiece. This type of machine cannot be equipped with a safety device to prevent the human hand from entering the operating range. Therefore, if the operator is slightly inferior, there is still a risk of hand injuries.

Therefore, at present, for machines that require the operator's hand to directly enter the working range, the safety of the operation cannot be effectively improved.

In view of this, an object of the present invention is to provide a safe operation control method of a machine, which can effectively improve the safety of operation.

In order to achieve the above object, the present invention provides a safe actuation control method for a machine. The machine includes an actuating part, the actuating part has a working range, and an operator's hand is located within the working range during operation; the The operation control method includes: A. defining an operation position beside the machine; B. providing a posture detection device for detecting the posture of the operator at the operation position; C. judging the operator Whether the posture is in a working posture: C1. If yes, allow the moving part to act; C2. If not, prohibit the moving part to act.

The effect of the present invention is that the attitude detection device is used to determine whether the worker is in a working attitude as a basis for allowing or prohibiting the action of the moving part. In this way, the chance of injury of the worker can be effectively reduced, and the safety of the work can be effectively improved.

〔Usually〕

1‧‧‧Stamping Machine

10‧‧‧Hydraulic cylinder

12‧‧‧ Actuator

14‧‧‧Drive

16‧‧‧ pedal switch

18‧‧‧ Power

W‧‧‧ Workpiece

〔this invention〕

2‧‧‧machine

20‧‧‧ carrier

22‧‧‧ Acting Department

222‧‧‧Hydraulic cylinder

224‧‧‧Activator

226‧‧‧Drive

24‧‧‧ pedal switch

26‧‧‧ Switchgear

28‧‧‧ posture detection device

282‧‧‧photoelectric sensor

30‧‧‧Warning device

32‧‧‧ Power

34‧‧‧Identify objects

342‧‧‧light reflecting material

P1‧‧‧Operating position

P2‧‧‧ predetermined location

W‧‧‧ Workpiece

3‧‧‧machine

36‧‧‧ Switchgear

362‧‧‧ Delay Timer

4‧‧‧machine

38‧‧‧ Switching device

382‧‧‧Microcontroller

384‧‧‧ Relay

40‧‧‧ Motion sensor

42‧‧‧treatment device

FIG. 1 is a schematic diagram of a conventional punching machine.

Fig. 2 is a system block diagram of a conventional punching machine.

FIG. 3 is a schematic diagram of a machine according to a first preferred embodiment of the present invention.

FIG. 4 is a system block diagram of the machine of the first preferred embodiment.

5 is a flowchart of a method for controlling a safe operation of a machine according to the first preferred embodiment.

FIG. 6 is a system block diagram of a machine according to a second preferred embodiment of the present invention.

FIG. 7 is a flowchart of a method for controlling a safe operation of a machine according to a second preferred embodiment.

FIG. 8 is a system block diagram of a machine according to a third preferred embodiment of the present invention.

FIG. 9 is a flowchart of the steps for setting the delay time in the safe operation control method of the machine according to the third preferred embodiment.

FIG. 10 is a chart of operation data obtained by the operation sensor of the third preferred embodiment.

FIG. 11 is a graph of the time difference obtained from the operating data in the third preferred embodiment.

FIG. 12 is a graph of the time difference and the number of statistics of the working time difference cluster of the third preferred embodiment.

In order to explain the present invention more clearly, preferred embodiments are described in detail below with reference to the drawings. Please refer to FIG. 3 and FIG. 4, which is a machine 2 to which the safe operation control method of the machine according to the first preferred embodiment of the present invention is applied. The machine 2 is a stamping machine as an example. The machine 2 includes a load The stage 20, an actuating part 22, a control part using a pedal switch 24 as an example, a switch device 26 and an attitude detection device 28. In this embodiment, the stage 20 is used to place a workpiece W; the actuating part 22 has A working range, and the operator's hand is located in the working range during the operation. In this embodiment, the actuating portion 22 includes a hydraulic cylinder 222, an actuating member 224, and a driving device 226. The actuator 224 is connected to the hydraulic cylinder 222 and is moved back and forth relative to the stage 20 by the hydraulic cylinder 222. The movement range of the actuator 224 is the working range. The driving device 226 receives electric power to drive the hydraulic cylinder 222 to operate. The pedal switch 24 is connected between the switching device 26 and the driving device 226, the switching device 26 is connected between the pedal switch 24 and the power source 32, and the switching device 26 is electrically connected to the attitude detection device 28. In this embodiment, a warning device 30 is further provided between the switching device 26 and the pedal switch 24. The warning device 30 is used to emit light or sound, such as an indicator light or a buzzer. In practice, the warning device 30 may not be provided.

In this embodiment, the attitude detection device 28 includes a photo-inductor 282, and the photo-inductor 282 senses a light reflection material, so that the attitude detection device 28 outputs an electric signal to the switching device 26, and the switching device 26 is turned on.

With the above-mentioned structure, the safe operation control method of this embodiment can be performed. The method includes the following steps in FIG. 5: a working position P1 is defined next to the machine 2, and the working position P1 is performed by the worker using the machine 2. Where you are working.

The attitude detection device 28 is provided. The attitude detection device 28 is used to detect the attitude of the worker at the work position P1. In this embodiment, an identification object 34 is provided on the operator for the posture detection device 28 to recognize the posture of the operator. In this embodiment, the identification object 34 is a hat, but it is not limited to this, and may also be a headscarf. , Bracelets, work clothes, etc. The identification object 34 has a light reflecting material 342 for the photo sensor 282 to sense. Preferably, the identification object 34 is arranged on the head of the worker. Since it is important for the operator to pay attention to the working range of the actuator 224 when operating the machine 2, the position of the head of the operator when the working position P1 is normally operated is defined as a predetermined position P2. The detection range of 282 corresponding to the predetermined position P2 is a better method in this embodiment, so that it can be more ensured. The operator's eyes are clear about the working range of the actuator 224. In practice, the identification object 34 may also be disposed on other body parts of the operator, such as the arm and the back.

The attitude detection device 28 continuously determines whether the attitude of the worker is in a working attitude: if it is, the operating unit 22 is allowed to operate; if not, the operating unit 22 is prohibited from operating. In this embodiment, whether the position of the recognition object 34 is at the predetermined position P2 is detected by the attitude detection device 28, that is, whether the recognition object 34 on the head of the worker is on the photo sensor 282. Within the detection range, if it is, it is determined that the posture of the operator is in the working posture. At this time, the attitude detection device 28 outputs an electric signal to the switching device 26 to turn on the switching device 26. After the switching device 26 is turned on, it is allowed The operating unit 22 operates. After the operator depresses the pedal switch 24 (that is, after operating the control unit), the power of the power source 32 is transmitted to the driving device 226, which causes the driving device 226 to drive the hydraulic cylinder 222 to actuate the operating member 224. At the same time, the warning device 30 sends out a prompt message in the form of light or sound to remind the operating unit 22 that it is operating; if not (that is, the identification object 34 is not within the detection range of the photo sensor 282), it is judged that the attitude of the operator is not In this working attitude, the switch device 26 remains off until it is detected that the worker resumes the working attitude. With this, during the period when the operation portion 22 is not allowed to operate, even if the worker depresses the pedal switch 24, the operation portion 22 does not operate.

With the above-mentioned safety control method, the operating portion 22 is allowed to operate only after ensuring that the posture of the operator conforms to a safe working posture. In this way, the chance of injury to the operator can be effectively reduced and the safety of the operation can be improved.

FIG. 6 is a system block diagram of the machine 3 to which the safe actuation control method of the machine according to the second preferred embodiment of the present invention is applied, which is based on the first embodiment, and the difference lies in that The switching device 36 has a delay timer 362, and the delay timer 362 allows a user to set a delay time. The safety actuation control method of this embodiment is based on the first embodiment, and the difference is that it is determined that the posture of the worker is in a job After the attitude and the operating unit 22 is allowed to operate, if the attitude detecting device 28 detects that the worker is not in the operating attitude, the switch device 36 is still turned on within the delay time set by the delay timer 362, thereby allowing the operating unit 22 After the delay time has elapsed, the switching device 36 is turned off, and the operating unit 22 is prohibited from operating. In this embodiment, during the delay time, the switch device 36 is turned on. After the operator depresses the pedal switch 24 (after operating the control unit), the power of the power source 32 can be provided to the operating unit 22 to allow the operating unit 22 to operate; After the delay time, the switch device 36 is turned off to stop supplying the power of the power source 32 to the actuator. Even if the operator depresses the pedal switch 24, the actuator 22 will not operate until it is detected that the operator resumes the working posture. .

The purpose of the delay time in this embodiment is that during the use of the machine 3, the operator will need to temporarily move the head such as loading and unloading from the predetermined position P2. During this period, if the operating part 22 is prohibited Acting, it is easy to affect the smoothness of the work, leading to a decline in output. Therefore, setting the delay time can achieve the effect of increasing the smoothness of work and taking into account the safety. Generally, the delay time can be set within 10 seconds, preferably between 0.5 and 5 seconds.

FIG. 8 is a system block diagram of the machine 4 to which the safe actuation control method of the machine according to the third preferred embodiment of the present invention is applied, which has substantially the same components as those of the first embodiment. The example switching device 38 includes a microcontroller 382 and a relay 384. The microcontroller 382 is electrically connected to the pedal switch 24, the attitude detection device 28, the alarm 30, and the relay 384. The safety actuation control method of this embodiment has substantially the same steps as the second embodiment, and it is also possible to detect whether the attitude of the worker is in the working attitude by using the attitude detection device 28. The difference is that if the attitude of the worker is in the working attitude Then, the microcontroller 382 may allow the relay 384 to be turned on according to the detection result of the attitude detection device 28, but the microcontroller 382 must turn on the relay 384 when the pedal switch 24 is depressed, so that the power of the power source 32 is provided to Actuator 22; when the pedal switch 24 is released, the microcontroller 382 turns off the relay 384. Similarly, the delay time can be set in the microcontroller 382. For the working attitude, the relay 384 may be allowed to be turned on during the delay time, and the relay 384 is prohibited from being turned on after the delay time, until it is detected that the worker resumes the working attitude.

During the delay time, the microcontroller 382 controls the alarm device 30 to send a first reminder message; after the delay time, a second reminder message is sent. The first reminder message and the second reminder message may be different light displays, or It's a different voice. The operator can know that the operating unit 22 is still in a state of allowing operation by the first prompt message, and need to pay more attention.

In order to set an appropriate delay time, the safe actuation control method of the present implementation further includes a setting step for setting the delay time. The setting step includes the following steps shown in FIG. 9: An actuation sensor 40 is provided for sensing The operation of the operation unit 22 is measured (refer to FIG. 8). In this embodiment, the actuation sensor 40 is disposed beside the actuation member 224 to sense the movement of the actuation member 224. When the actuation member 224 moves to the sensing position, the output signal of the actuation sensor 40 is high potential When the actuator 224 moves away from the sensing position, the output signal of the actuator 40 is at a low potential. The motion sensor 40 is connected to a processing device 42 (such as a computer), and the processing device 42 continuously records the output signal of the motion sensor 40.

Acquire an action data of the action sensor 40 within a predetermined period. In this embodiment, the processing device 42 obtains the action data in the predetermined period from the recorded output signals of the action sensor 40, as shown in FIG. 10, the action data in the predetermined period is 20000 seconds.

Based on the action data, the time difference between each action of the action unit 22 and the previous action within the predetermined period is determined to obtain a plurality of time difference data. The processing device calculates the time difference from the action data of FIG. 10 to obtain the time difference data ordered by the action sequence as shown in FIG. 11. For example, the time difference between the action of the action part in FIG. 10 at 632 seconds and the previous action is 4,415 seconds, which is the time difference corresponding to the action sequence 632 in FIG. 11.

Classify the time difference data to obtain multiple clusters. The cluster includes a working time difference cluster and a non-working time difference cluster. In practice, the status represented by the time difference of the action sequence needs to be given, for example, "workpiece loading", "same workpiece processing (pressing workpiece)", "workpiece blanking", "a batch of workpieces completed, replacement of a batch of workpieces" , "Break time", etc. For the clustering processing, a clustering algorithm such as K-Means or SVM can be used. For example, the time difference between the status of "workpiece loading", "same workpiece processing (pressing workpiece)", and "workpiece blanking" belongs to the working time difference cluster; the status is "a batch of workpieces completed, replacement of a batch of workpieces" "The time difference between" break time "is a non-working time difference cluster.

Then, a working time is obtained according to the time difference belonging to the working time difference cluster in the time difference data, and the working time is set as the delay time. In this embodiment, the method includes obtaining the number of finished products produced by the machine 4 in the predetermined period, and the step of obtaining the working time includes: calculating a statistical number of times of the same time difference from the time differences belonging to the working time difference cluster, according to the number of finished products Compare the number of times of statistics with the same time difference, and use the time difference to obtain the number of times of statistics corresponding to the number of finished products as the working time. In this embodiment, the time difference between the number of statistical times that is closest to the number of finished products is used as the working time. The better, the number of times that exceeds the working time among the time differences of the clusters that match the time difference is not greater than the number of finished products. For example, please coordinate with Figure 12, the number of finished products is 100 as an example, the time difference between the corresponding statistical times is 0.9 seconds, and the number of times of the time difference greater than 0.9 seconds is not greater than 100 finished products, then 0.9 seconds As the working time, it is input by the processing device 42 or a person to store the working time in the microcontroller 382 as a delay time.

With the aforementioned setting steps, the delay time can be set closer to the time required for the actual production of the workpiece W, taking into account both work safety and efficiency.

Of course, a setting step can also be performed for different types of workpieces W to obtain a plurality of delay times corresponding to different types of workpieces W. During production, the corresponding delay time can be selected according to the workpieces W to be processed or produced.

The machine 4 of this embodiment can also apply the safe operation control method of the first embodiment, that is, no delay time is set.

In the foregoing embodiments, the machines 2, 3 and 4 having a control unit are taken as an example. In practice, the machine may not include the control unit, for example, the actuating unit is automatically operated. Such a machine is a conveying device, and its conveyor belt ( That is, the moving part) is an automatic operation. The safety control method described above can also be used to determine whether the worker is in a working attitude by using the attitude detection device as a basis for allowing or prohibiting the movement of the moving part. During the delay time, the moving part is still allowed to operate. After the delay time, the moving part is forbidden to operate. The attitude detection device may also include a camera in implementation, and uses image processing to identify the attitude of the operator.

According to the above, the safe operation control method of the machine of the present invention judges whether an operator is in an operating posture by using a posture detection device as a basis for allowing or prohibiting the operation of the moving part. In this way, the opportunity for the operator to be injured can be effectively reduced , Effectively improve operation safety. With the setting of the delay time, production efficiency can be taken into consideration.

The above descriptions are only the preferred and feasible embodiments of the present invention, and any equivalent changes made by applying the description of the present invention and the scope of patent application should be included in the patent scope of the present invention.

Claims (11)

A safe actuation control method for a machine, wherein the machine includes an actuating part, the actuating part has a working range, and an operator's hand is located within the working range during operation; the actuating control method includes: A. in the A working position is defined by the machine; B. Providing a posture detection device for detecting the posture of the operator at the working position; C. Determining whether the posture of the operator is in a working posture: C1 If yes, allow the action part to act; C2. If not, prohibit the action part to act; Among them, in step C1, after allowing the action part to act, it further includes, if it is detected that the attitude of the operator is not in the working attitude, During a delay time, the moving part is still allowed to move; after the delay time is exceeded, the moving part is prohibited from moving. The operation control method of the machine as described in claim 1, wherein the machine further includes a control unit for the operator to operate the operation unit. Step C1 is within the delay time of the operator. After the operation part is operated, the operation part is caused to operate. After the delay time is exceeded, after the operator operates the operation part, the operation part is still forbidden to operate. The operating control method for a machine according to claim 2, wherein the machine includes a switching device, the switching device is disposed between a power source and the operating part; in step C1, the switching device is controlled to be turned on to allow provision The power from the power source goes to the moving part; after the delay time is exceeded in step C1 and in step C2, the switching device is controlled to stop to stop supplying the power from the power source to the moving part. The actuation control method of the machine according to claim 1, comprising a setting step for setting the delay time, the setting step includes: providing an actuation sensor, the actuation sensor is used to sense the motion of the actuating part; Obtain an action data of the action sensor within a predetermined period; judge the time difference between each action of the action part and the previous action within the predetermined period based on the action data to obtain a plurality of time difference data, and then The time difference data is clustered to obtain a working time difference cluster and a non-working time difference as a cluster; according to the time difference of the time difference data belonging to the working time difference cluster, a working time is obtained, and the working time is set to the delay time. The operation control method of the machine as described in claim 4, including obtaining the number of finished products produced by the machine in the predetermined period; wherein the step of obtaining the working time includes: counting from the time difference belonging to the working time difference cluster A statistical number of times with the same time difference is based on a comparison of the number of finished products with the statistical number of times of the same time difference, and the time difference between the number of statistical times corresponding to the number of finished products is taken as the working time. The operation control method of the machine according to claim 5, wherein the time difference between the number of statistical times closest to the quantity of the finished product is used as the working time. The operating control method of the machine according to claim 6, wherein among the time differences of the working time difference cluster, the statistical times of those who are greater than the working time are not greater than the number of finished products. The operation control method of the machine according to claim 1, wherein step C1 includes sending a first prompt message within the delay time; after the delay time, send a second reminder message. The method for controlling a machine according to claim 1, wherein step B includes setting an identification object on the operator; in step C, the attitude detection device detects whether the position of the identification object is at a predetermined position. If it is at the predetermined position, it is determined that the posture of the worker is in the working posture. The operation control method for a machine according to claim 9, wherein the identification object is set on the head of the operator in step B. The operating control method for a machine according to claim 10, wherein in step B, the identification object has a light reflection material, and the attitude detection device includes a photoinductor corresponding to the light reflection material, and the photoinductor has a Detection range, the predetermined position is located in the detection range.