JP4133536B2 - Control method for cargo handling machinery - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a cargo handling machine for moving a load up and down, and more particularly to a cargo handling machine that operates a lifting mechanism by an electric drive source.
[0002]
[Prior art]
Conventionally, as a means of performing various operations at manufacturing and distribution sites for industrial products, such as palletizing work (work for loading a work on a pallet) and depalletizing work (work for releasing a work loaded on a pallet), Industrial robots and cargo handling machines are used.
[0003]
In this case, in the palletizing / depalletizing operation using the industrial robot system, all the stacking operations are performed automatically.
[0004]
On the other hand, in work using a cargo handling machine, an operator operates the cargo handling machine and performs work manually.
[0005]
[Problems to be solved by the invention]
However, the palletizing / depalletizing work using the industrial robot system has the following problems.
In other words, a system using an industrial robot is expensive and difficult to introduce in a small lot work.
[0006]
In addition, when changing the work content, it is necessary to change the program and the like, and the program change work requires specialized techniques, which is difficult for a worker on site.
[0007]
In addition, once the system is installed, it is difficult to change the installation location.
[0008]
On the other hand, as a cargo handling machine, an electric cargo handling machine is conventionally known.
For example, when palletizing work is performed using an electric cargo handling machine, the workpiece is generally stacked on the pallet by operating the operation grip, but the workpiece is positioned at the workpiece loading position on the pallet. Since the operation is necessary, the work must be carefully done, and the work of loading takes time.
[0009]
On the other hand, if an attempt is made to operate the cargo handling machine at high speed, the cargo handling machine may be hit against a workpiece or pallet that has already been loaded by mistake.
[0010]
The present invention has been made to solve such problems of the conventional technology, and can flexibly cope with work that frequently changes work contents such as high-mix low-volume production. It is an object to provide a cargo handling machine that can be used in the future.
[0011]
[Means for Solving the Problems]
In order to achieve the above object, the invention according to claim 1 is provided with an operating unit capable of holding a predetermined load, and the operating unit is configured to be movable in a vertical direction and a horizontal direction; and An electric drive unit that moves the operation unit of the elevating mechanism in the vertical direction; a control unit that controls an operation of the electric drive unit based on an operation command for the elevating mechanism from the operation unit by an operator ; An absolute position detector for detecting an absolute drive position of the electric drive unit and a predetermined work taught based on an operation command from the operation unit are stored in association with absolute position information in the absolute position detector. and a teaching operation storage unit that, in the operating unit, and the work teaching switch to set the cargo handling equipment in the work teaching mode, and the teaching示作industries playback switch to set the handling machine teaching operation playback mode Vignetting, wherein stored in the teaching operation storage unit by setting a predetermined playback stop position by operating the elevating mechanism in a state where the turn on before Symbol Operation industry teaching switch by the operator, before by the operator by turning on the serial teaching示作industry regeneration switch, a constructed cargo handling machine control method to reproduce a predetermined teaching operation based on the reproduction stop position stored in the teaching operation storage unit In the work teaching, based on a difference between a height position where the load is piled up by the first number and a height position where the load is piled up by the second number by the operator operating the work teaching switch. Then, a plurality of regeneration stop positions in the vertical direction of the load are calculated and set, and when the teaching work is reproduced, the operator holds the load by operating the teaching work regeneration switch. Lowers the operating portion of the serial lifting mechanism, the plurality of reproduction stop position, below the current position of the lower end portion of the load held by the operating unit of the lifting mechanism, and, most to the lower end of the load It includes an operation of stopping the operation of the lifting mechanism by positioning the load at a near regeneration stop position .
According to a second aspect of the present invention, in the first aspect of the present invention, after the teaching work reproduction, the load held by the operation unit of the lifting mechanism is an expected reproduction stop position among the plurality of reproduction stop positions. The operation part of the lifting mechanism is further lowered by the operation of the teaching work regeneration switch by the operator, and is below the current position of the lower end part of the load and the lower end part of the load The load is positioned at the regeneration stop position closest to the position, and the operation of the lifting mechanism is stopped .
According to a third aspect of the present invention, in the first or second aspect of the present invention, the teaching work reproduction is performed only while the operator operates the teaching work reproduction switch. .
The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein the work teaching switch has first and second work teaching switches for teaching different works. The teaching work reproduction switch includes first and second teaching work reproduction switches for reproducing the work corresponding to the work stored when the first and second work teaching switches are operated, respectively.
According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects, the cargo handling machine includes a status indicator that displays an operation state of the cargo handling machine.
[0012]
In the case of the present onset Akira, unlike the industrial robot, since there is no need to describe the work program, even if the work is instead of the frequently is the work of the target, work the operator of the site is a simple operation The teaching contents can be changed.
Moreover, since the cargo handling machine used for this invention is a simple structure compared with an industrial robot, an installation place can also be changed freely and it can manufacture at low cost.
Furthermore, in the present invention, since the regeneration operation is performed based on the pre-stored regeneration stop position, the positioning operation does not take time unlike the conventional cargo handling machine, for example, the stacking operation is performed smoothly. be able to.
Furthermore, if the grip operation is mistaken in the conventional electric cargo handling machine, the workpiece may be excessively pressed or collapsed. In the present invention, the workpiece handling machine itself positions the workpiece during the regenerating operation. Therefore, the work can be safely performed because the work is not pressed too much or broken.
In addition, Te present invention odor, when the work teaching switch and teaching work regeneration switch is provided with a plurality, for example by applying different functions to each switch, for example, a complex work of stowing work or the like easily It can be carried out.
In addition, in the present invention, when a state indicator that displays the operation state of the cargo handling machine is provided, the worker can grasp the progress of the work, so that the work efficiency can be improved and an erroneous operation can be performed. Can be prevented.
On the other hand, as in this onset Ming, during teaching operation, the operation of the work teaching switch by the operator, the height position of the load piled first number, and the height a load piled second number position On the other hand, while calculating and setting a plurality of regeneration stop positions in the vertical direction of the load based on the difference of the load, when the teaching work is regenerated, the operator holds the load by operating the teaching work regeneration switch. The operation unit of the lifting mechanism is lowered, and among the plurality of regeneration stop positions, the regeneration stop position is lower than the current position of the lower end of the load held by the operation unit of the lifting mechanism and closest to the lower end of the load. By positioning the load and stopping the operation of the elevating mechanism , for example, when performing a stacking operation, it is possible to accurately set the stacking position of each stage , and, like an industrial robot, a work program etc. To create Ku, also, even if the stowage stages of the work is changed can be flexibly.
In this case , if the teaching work playback operation is performed only while the teaching work playback switch is being operated, contact with other objects can be avoided if the operation is incorrect or an unexpected obstacle approaches. Can increase safety.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of a cargo handling machine according to the present invention will be described in detail with reference to the drawings.
FIG. 1 shows a schematic configuration of the appearance of a cargo handling machine used in the present invention.
As shown in FIG. 1, the cargo handling machine 1 according to the present embodiment has a support column 10 erected vertically, and a control box 2 having a state indicator 25 described later is provided above the support column 10. Further, the elevating mechanism 3 is attached to the support column 10.
[0014]
The elevating mechanism 3 has a first arm 4 supported so as to be capable of rotating by a predetermined angle in the vertical direction, and this first arm 4 is driven by a motor (electric drive unit) 31 described later. It is configured to work.
[0015]
Here, the first arm 4 is supported so as to turn in the horizontal direction around the central axis of the column 10.
[0016]
A substantially U-shaped second arm 5 is connected to the distal end portion of the first arm 4 via the arm joint portion 6 so as to always maintain a horizontal state. An operation box 7 as an operation unit is attached to the unit (lower end).
[0017]
Here, the second arm 5 is attached to the arm joint portion 6 so as to turn in the horizontal direction.
[0018]
The operation box 7 is attached so as to turn in the horizontal direction at the distal end portion of the second arm 5.
[0019]
FIG. 2 is a perspective view showing an external configuration of an operation box of the cargo handling machine according to the present embodiment.
As shown in FIG. 2, the operation box 7 of the present embodiment is formed in a box shape, and a bar-shaped operation grip 8 extending in the horizontal direction is provided on a side portion thereof.
[0020]
In the vicinity of the operation grip 8, there are provided first and second position regeneration switches 15A and 15B for performing position regeneration described later. In the present embodiment, non-lock type switches are used as the first and second position regeneration switches 15A and 15B.
[0021]
Further, the front portion of the operation box 7 is provided with first and second position teaching switches 11A and 11B for setting a stacking position (reproduction stop position) described later.
[0022]
A cover (not shown) for covering the first and second position teaching switches 11A and 11B is provided on the front portion of the operation box 7.
[0023]
Further, in the lower part of the operation box 7, for example, clamp Organization 9 for holding a workpiece (load) 40 is attached by air suction. The clamp mechanism 9 is configured to clamp or release the workpiece 40 by operating a clamp / unclamp switch (not shown).
[0024]
FIG. 3 is a block diagram showing the configuration of the control system of the present embodiment.
As shown in FIG. 3, the control system of the present embodiment drives the above-described operation box 7, the control means 20 that controls information obtained or set in the operation box 7, and the lifting mechanism 3. The drive mechanism unit 30 is configured to be configured.
[0025]
The operation box 7 detects the force applied to the operation grip 8 in addition to the first and second position teaching switches 11A and 11B and the first and second position regeneration switches 15A and 15B described above, and generates an electric signal. It has the force sensor 13 and voltage conversion part 14 to convert, and the clamp drive part (not shown) for driving the clamp mechanism 9 mentioned above.
[0026]
The control means 20 has a servo control unit 21 for controlling the operation of the motor 31 of the drive mechanism unit 30.
[0027]
The servo control unit 21 includes a position control unit 21a, a speed control unit 21b, and a current amplifier unit 21c. Based on the signal obtained by the voltage conversion unit 14 of the operation box 7, the A / D conversion unit 22, The operation of the motor 31 is controlled by a command output via the speed → position command conversion unit 23 and the position command switching unit 26.
[0028]
Further, the control means 20 is provided with a teaching control unit 24 connected to the first and second position teaching switches 11A and 11B of the operation box 7 and the first and second position regeneration switches 15A and 15B. .
[0029]
The teaching control unit 24 is connected to the position command switching unit 26 described above, displays a teaching work storage unit 27 that outputs a teaching position command to the position command switching unit 26, and displays an operation status of the cargo handling machine 1. Connected to a status indicator 25.
[0030]
On the other hand, the drive mechanism unit 30 includes an absolute position detector 32 such as an encoder that detects an absolute drive position of the motor 31.
[0031]
The absolute position detector 32 feeds back position information to the position control unit 21a of the servo control unit 21 and feeds back speed information to the speed control unit 21b via the speed detection unit 21d.
[0032]
Further, the absolute position detector 32 is configured to output position information for the teaching operation storage unit 2 7.
[0033]
In the present embodiment having such a configuration, by operating the operation grip 8 in the vertical direction, the force applied to the operation grip 8 is detected by the force sensor 13 as shown in FIG. The servo control unit 21 controls the operation of the motor 31 based on the position command output via the voltage conversion unit 14, the A / D conversion unit 22, the speed → position command conversion unit 23, and the position command switching unit 26. The elevating mechanism 3 moves up and down in response to the operation of the operation grip 8.
[0034]
Hereinafter, the work teaching method and the teaching work reproduction method according to the present embodiment will be described taking palletizing work as an example.
[0035]
4 (a) and 4 (b) are explanatory diagrams showing an example of a method for calculating a work stacking position in the present invention, FIG. 5 is a flowchart showing a work teaching method in the present embodiment, and FIG. FIG. 7 is a flowchart showing the teaching work reproduction method according to the present embodiment, and FIG. 7 is an explanatory diagram showing the teaching work reproduction method.
[0036]
In this case, consider a case where the workpiece 40 on the conveyor 50 is transferred onto the pallet 60 as shown in FIGS.
[0037]
<Teaching the workpiece removal position (teaching position 1) and stacking position (teaching position 2)>
First, the operator operates the operation grip 8 to move the operation box 7 of the elevating mechanism 3 to the position (teaching position 1) on the workpiece 40 on the conveyor 50 where the operator wants to perform the operation, and operates the clamp / unclamp switch. By doing so, the workpiece 40 is clamped by the clamp mechanism 9 .
[0038]
At this teaching position 1, the first teaching switch 11A of the operation box 7 is pressed to store the workpiece 40 take-out position on the conveyor 50 in the teaching work storage unit 27 (steps S1 and S2 in FIG. 5).
[0039]
Further, for example, “11” indicating that the teaching position 1 has been set and stored is displayed on the status display 25.
[0040]
Next, the operation grip 8 is operated to move the operation box 7 to the first stacking position (teaching position 2a) of the work 40 on the pallet 60 in a state where the work 40 is clamped.
[0041]
After the positioning is completed, the teaching position 2a is stored in the teaching work storage unit 27 by pressing the second teaching switch 11B of the operation box 7 (steps S3, S4, and S5 in FIG. 5).
[0042]
Further, the status indicator 25 displays, for example, “12” indicating that the teaching position 2a has been set and stored.
[0043]
Then, the work 40 is stacked on the pallet 60 by a predetermined number of stages, for example, four stages, and the operation grip 8 is operated to place the operation box 7 at the fourth stacking position (teaching position 2b) of the work 40 on the pallet 60. Move.
[0044]
After the positioning is completed, the teaching position 2b is stored in the teaching work storage unit 27 by pressing the second teaching switch 11B of the operation box 7 (steps S3, S4, and S6 in FIG. 5).
[0045]
Further, for example, “4” is displayed on the status display to indicate that the teaching position 2b has been set and stored.
The teaching operation is completed by the above operation.
[0046]
On the other hand, as shown in FIG. 4 (b), in order to calculate an arbitrary m-th stage work 40 stacking position in the present embodiment, first, the following is calculated by the following formula (1). Calculate the height.
[0047]
H _w = (H _2b −H _2a ) / (n−1) (1)
H _w : Height of one workpiece H _2a : Height of teaching position 2a H _2b : Height of teaching position 2b
In the case of the present embodiment, since n = 4,
H _w = (H _2b −H _2a ) / 3 (2)
It becomes.
[0049]
Accordingly, the m-th workpiece loading position can be calculated by the following equation (3).
H _m = H _2a + (m−1) × H _w (3)
[0050]
Then, the stacking position of each stage calculated in this way is stored in the teaching work storage unit 27.
[0051]
<Work stacking with teaching position reproduction function>
First, after confirming that all teaching operations have been completed (step S1 in FIG. 6), the operation box 7 of the elevating mechanism 3 is moved above the workpiece 40 on the conveyor 50 by operating the operation grip 8 of the operator. Let
[0052]
In this state, when the operator presses the first position regeneration switch 15A (step S2 in FIG. 6), the regeneration (movement) operation to the teaching position 1 of the lifting mechanism 3 taught previously is started (step 6 in FIG. 6). S3).
[0053]
Then, after the operator confirms that the elevating mechanism 3 has completed the position regeneration operation of the teaching position 1, the workpiece 40 is clamped by the operator's operation.
[0054]
Further, the clamped workpiece 40 is moved above the loading position on the pallet 60 by the operator's operation of the operation grip 8.
[0055]
In this state, when the operator presses the second position regeneration switch 15B (step S4 in FIG. 6), the position regeneration operation to the loading position calculated by the above calculation below the current position of the operation box 7 is started. (Step S5 in FIG. 6).
[0056]
In this case, in the example shown in FIG. 4 (b), on the end portion of the workpiece 40 which is clamped performs the position reproduction operation to move to the stowage position of the fourth stage (teaching positions 2b).
[0057]
Then, after the position regeneration operation of the lifting mechanism 3 is completed and the movement of the workpiece 40 to the teaching position 2b is completed, the workpiece 40 is unclamped by the operator's operation.
[0058]
By the way, in the present embodiment, of the loading positions on the pallet 60 calculated by the above-described method, the reproduction is returned to the loading position that is lower than the current position of the clamped workpiece 40 and closest to the current position. Perform the action.
[0059]
In the case of the example shown in FIG. 7, when the lower end of the clamped work 40 is close to the fifth stage stacking position ( the position (1) in the figure), the lower end of the work 40 is the fifth stage stacking. The operation box 7 is lowered and stopped so as to be located at the position (position ( 2) in the figure).
[0060]
Then, when the operator once releases the second position regeneration switch 15B and presses it again, the lower end portion of the clamped workpiece 40 is positioned at the fourth stacking position (position (3) in the figure ) . The operation box 7 is lowered and stopped.
[0061]
From the viewpoint of ensuring safety, for example, when the second position regeneration switch 15B is continuously moved and the lifting mechanism 3 is moved and the second position regeneration switch 15B is turned off, the operation box 7 is moved to its place. It is preferable to be configured so as to be stopped.
[0062]
Finally, after the operator confirms that the workpiece 40 has been reliably stacked on the pallet 60, the above-described operation is repeated.
[0063]
As described above, according to the present embodiment, unlike an industrial robot, it is not necessary to describe a work program, so even if the work 40 that is the work target is frequently changed, The operator can change the work teaching content with a simple operation.
[0064]
In addition, since the present embodiment has a simple configuration as compared with an industrial robot, the installation location can be freely changed and can be manufactured at low cost.
[0065]
Furthermore, in this embodiment, since the regenerating operation is performed based on the pre-stored regeneration stop position, the positioning operation does not take time unlike the conventional cargo handling machine, and the stacking operation and the like can be performed smoothly. It can be carried out.
[0066]
Furthermore, in the conventional electric cargo handling machine, if the grip operation is mistaken, the workpiece 40 may be excessively pressed or collapsed. In this embodiment, the positioning of the workpiece 40 during the regenerating operation is performed. Since it is performed by the machine itself, the work 40 can be safely operated without being excessively pressed or broken.
[0067]
In addition, in the present embodiment, a plurality of work teaching switches and teaching work playback switches are provided, and each switch is provided with a different function. It can be done easily.
[0068]
Further, in the present embodiment, since the status indicator 25 that displays the current operation state is provided, the worker can grasp the progress of the work and can improve the work efficiency. Incorrect operation can be prevented.
[0069]
On the other hand, according to the method of the present embodiment described above, the stacking position of each stage can be accurately set when performing the stacking operation.
[0070]
In particular, a plurality of reproduction stop positions are set during teaching of the work, and at the time of reproducing the teaching work, the current position is below the lower end of the work 40 clamped in the operation box 7 among the plurality of set reproduction stop positions and at the present time. by performing the reproduction operation to the nearest reproduction stop position to a position, without creating a work program or the like of an industrial robot, also even if the stowage number of the workpiece 40 is changed flexibly Can respond.
[0071]
Further, in this embodiment, for example, by performing the reproducing operation of only teaching operation while operating the second teaching operation playback switch 15B, if the unexpected obstacle or if a mistake has approached In addition, contact with other objects can be avoided, and safety can be improved.
[0072]
The present invention is not limited to the above-described embodiment, and various changes can be made.
For example, in the above-described embodiment, two work teaching switches and two position regeneration switches are provided. However, the present invention is not limited to this, and is configured to perform a plurality of operations substantially. The number of switches is not limited.
[0073]
In the above-described embodiment, the fifth and subsequent stacking positions are calculated based on the difference between the fourth stacking position and the first stacking position of the workpiece. However, the calculation is not limited to this, and the calculation can be performed based on the difference in the stacking positions of an arbitrary number of stages.
However, in order to reduce the error in the stacking position, it is preferable to calculate the stacking position based on a difference of two or more stages of the workpiece.
[0074]
Furthermore, the present invention can be applied not only to palletizing work and depalletizing work but also to various work.
[0075]
【The invention's effect】
As described above, according to the present invention, even if the work target is frequently changed, the worker can change the work teaching content with a simple operation and can be installed. The place can be freely changed and can be manufactured at low cost.
Furthermore, according to the present invention, it is possible to accurately, quickly and safely perform complicated work such as loading work as compared with the conventional cargo handling machine.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of an external appearance of an embodiment of a cargo handling machine used in the present invention.
FIG. 2 is a perspective view showing an external configuration of an operation box of the cargo handling machine according to the embodiment.
FIG. 3 is a block diagram showing a configuration of a control system of the same embodiment.
FIGS. 4A and 4B are explanatory views showing an example of a method for calculating a work stacking position in the present invention.
FIG. 5 is a flowchart showing a work teaching method in the present embodiment.
FIG. 6 is a flowchart showing a teaching work reproduction method according to the embodiment.
FIG. 7 is an explanatory diagram showing the teaching work reproduction method.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Handling machine 3 ... Elevating mechanism 7 ... Operation box (operation part)
DESCRIPTION OF SYMBOLS 9 ... Clamp mechanism 11A ... 1st work teaching switch 11B ... 2nd work teaching switch 15A ... 1st teaching work reproduction switch 15B ... 2nd teaching work reproduction switch 20 ... Control means 21 ... Servo control part 24 ... Teaching Control unit 25 ... status indicator 26 ... position command switching unit 27 ... teaching work storage unit 31 ... motor (electric drive unit)
32. Absolute position detector
40 ... Work (load)

Claims (5)

An elevating mechanism provided with an operation unit capable of holding a predetermined load , wherein the operation unit is configured to be movable in the vertical direction and the horizontal direction, and an electric drive unit for moving the operation unit of the elevating mechanism in the vertical direction Control means for controlling the operation of the electric drive unit based on an operation command from the operation unit to the lifting mechanism by an operator, and an absolute position detector for detecting an absolute drive position of the electric drive unit And a teaching work storage unit that stores a predetermined work taught based on an operation command from the operation unit in association with absolute position information in the absolute position detector, and the operation unit includes the cargo handling machine. on the work teaching switch to set to work teaching mode, the teaching示作industries playback switch to set the cargo handling equipment to the teaching work reproduction mode is provided, the teachings switch before Symbol operation industry by the worker By the elevating mechanism to set the predetermined playback stop position by the operation is stored in the teaching operation storage unit to turn on the front Symbol teaching示作industry playback switch by the operator in a state, wherein the teaching work on the basis of the reproduction stop position stored in the storage unit a constructed cargo handling machine control method to reproduce a predetermined teaching operation,
During the work teaching, based on a difference between a height position where the load is piled up by the first number and a height position where the load is piled up by the second number by the operation of the work teaching switch by the operator. Calculating and setting a plurality of regeneration stop positions in the vertical direction of the load,
During the teaching work reproduction, the operator operates the teaching work regeneration switch to lower the operation unit of the lifting mechanism while holding the load, and among the plurality of regeneration stop positions, the lifting mechanism Including an operation of stopping the operation of the elevating mechanism by positioning the load at a regeneration stop position that is lower than the current position of the lower end portion of the load held by the operation unit and closest to the lower end portion of the load. A control method for a cargo handling machine characterized by the above . After the teaching work regeneration, when the load held by the operation unit of the lifting mechanism is not located at an intended regeneration stop position among the plurality of regeneration stop positions, the teaching work regeneration switch by the operator The operation unit of the elevating mechanism is further lowered by operating the elevating mechanism, and the elevating mechanism is positioned below the current position of the lower end of the load and at the regeneration stop position closest to the lower end of the load. 2. The method of controlling a cargo handling machine according to claim 1, wherein the operation of the cargo handling machine is stopped . Claim 1 or 2 of any one cargo handling equipment of the control method, wherein: performing the teaching operation only play while the operator is operating the teaching operation playback switch. The work teaching switch of the cargo handling machine has first and second work teaching switches for teaching different works, and the teaching work reproduction switch is operated when the first and second work teaching switches are operated. The method for controlling a cargo handling machine according to any one of claims 1 to 3, further comprising first and second teaching work reproduction switches for reproducing the work corresponding to the stored work. The method of controlling a cargo handling machine according to any one of claims 1 to 4 , wherein the cargo handling machine includes a status indicator that displays an operation state of the cargo handling machine.

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