JP4631856B2 - Work assistance device, work assistance method, and work rotation device used for the work - Google Patents

Description

  The present invention relates to a work assisting device for assisting a work for moving a tool along a target trajectory set in advance on a work with respect to a rotating work.

An operation for moving a tool along a target trajectory set in advance on a workpiece is known for a rotating workpiece. For example, in the operation of applying an adhesive around the window glass of an automobile, it is more efficient to apply the adhesive with an adhesive applicator around the window glass while rotating the window glass. This is because the range in which the applicator is moved can be reduced.
In the present specification, an object that is an object of work, such as the window glass in the above example, is referred to as a workpiece. A tool for performing work on a workpiece, such as the adhesive applicator in the above example, is called a tool. In addition, a tool is a tool for processing a workpiece (for example, an adhesive applicator, a cutting tool, etc.) or a measurement for measuring a workpiece characteristic (physical characteristics, electrical characteristics, optical characteristics, etc.). Instruments etc. are included.
Further, in this specification, the “moving direction of the workpiece” means a direction in which a point on the workpiece moves when the workpiece rotates around the rotation axis. Further, the “counter-moving direction of the workpiece” means a direction opposite to the “moving direction of the workpiece”.

  For example, Patent Document 1 discloses a work assistance device that assists the work of applying an adhesive around a window glass (work). This work support device supports the window glass horizontally, and rotates the window glass around the vertical axis, and changes the position of the adhesive applicator (tool) according to the operating force applied by the operator. A tool moving device (robot arm). When performing the adhesive application operation, the window glass is rotated at a constant angular velocity. Then, the operator operates the tool moving device to apply the adhesive to the rotating window glass while moving the applicator along the application line (target trajectory) on the window glass. When the application operation is performed in this manner, the range in which the application device is moved is reduced, so that the operator can perform the operation efficiently.

JP 2006-192564 A

Conventional work assist devices rotate a workpiece at a constant angular velocity. When the workpiece is rotated at a constant angular velocity, the workpiece movement speed (workpiece movement at the tool position) depends on whether the workpiece is moved to a position close to the workpiece rotation axis or the workpiece is moved away from the workpiece rotation axis. Speed) is different. In this way, when the workpiece movement speed varies depending on the position on the workpiece, if the workpiece rotation angular velocity is set to a position close to the rotation axis, the workpiece movement speed is reduced when working at a position far from the rotation axis. It becomes too fast and it becomes difficult to move the tool along the target trajectory on the workpiece. On the other hand, if the rotation angular velocity of the workpiece is set in accordance with a position far from the rotation axis, the rotation speed of the workpiece becomes too slow when the operation is performed near the rotation axis, so that the operation cannot be performed efficiently.
In addition, the target trajectory on the workpiece may extend in a direction that is significantly different from the counter-movement direction of the workpiece (for example, in the above-described adhesive coating operation on the window glass, a coating line provided on the periphery of the window glass) ) Extending radially with respect to the axis of rotation). In this case, in order to move the tool along the target trajectory, the tool must be moved greatly. For this reason, when the workpiece is rotating at high speed, it is difficult to move the tool along the target trajectory on the workpiece. On the other hand, when setting the rotation speed of the workpiece according to the case where the target trajectory is significantly different from the counter-movement direction of the workpiece, the rotation speed of the workpiece becomes too slow when the target trajectory substantially coincides with the counter-movement direction of the workpiece. It is not possible to work efficiently.
As described above, in the conventional work assistance device, it is very difficult to move the tool along the target trajectory on the workpiece when it is attempted to increase the work efficiency, and the tool can be easily moved along the target trajectory on the workpiece. When trying to do so, there was a problem that the work efficiency was lowered.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a work assistance device that can easily move a tool along a target trajectory without excessively reducing work efficiency. .

The work assistance device of the present invention assists a worker who performs a work of moving a tool along a target trajectory set in advance on a work with respect to the rotating work. The work assist device includes a work rotating device that rotates a work around a rotation axis, a tool moving device that changes the position and orientation of a tool according to an operation force applied by an operator, and a tool that detects the position of the tool. The position detection means, the tool orientation detection means for detecting the orientation of the tool, and the longer the distance from the detected tool position to the rotation axis, the smaller the angular velocity of the workpiece rotating device, and the workpiece position at the detected tool position is reduced. Control means is provided for controlling the workpiece rotating device so that the angular velocity of the workpiece rotating device decreases as the angle formed between the counter-movement direction and the detected tool orientation increases.
In this work assistance device, when the operator operates the tool moving device, the tool moving device changes the position and orientation of the tool according to the operating force. The operator moves the tool along the target trajectory on the rotating workpiece by operating the tool moving device. In addition, the operator operates the tool moving device to change the tool direction so that it follows the target trajectory on the workpiece (that is, the tangential direction of the target trajectory at the tool position matches the tool orientation). Adjust. As a result, the direction of the tool matches the target movement direction of the tool. The position and orientation of the tool are detected by the respective detection means. When each detecting means detects the position and orientation of the tool, the control means controls the work rotating device in accordance with the detected values.
The control means decreases the angular velocity of the workpiece rotating device as the distance from the detected tool position to the rotation axis is longer. Therefore, when work is performed at a position close to the rotation axis, the work can be efficiently performed because the work rotates at a high speed. On the other hand, when working at a position far from the rotation axis, the work rotates at a low speed, so that the tool can be easily moved along the target trajectory. Further, the difference in the moving speed of the work with respect to the tool is small when the work is performed at a position close to the rotation axis of the work and when the work is performed at a position far from the rotation axis. For this reason, the difference in work time by the tool at each position on the target trajectory of the work is reduced, and work quality can be improved.
Further, the control means decreases the angular velocity of the workpiece rotating device as the angle formed between the counter-movement direction of the workpiece at the detected tool position and the detected tool orientation increases. As described above, the operator adjusts the direction of the tool along the target trajectory on the workpiece. Therefore, when the target trajectory extends in a direction significantly different from the counter-movement direction of the workpiece, the angle formed by the counter-movement direction of the workpiece and the direction of the tool becomes large, and the control device decreases the angular velocity of the workpiece. In other words, the control means reduces the angular velocity of the workpiece when the target trajectory extends in a direction significantly different from the counter-movement direction of the workpiece. Therefore, the tool can be easily moved along the target trajectory. On the other hand, when the counter-movement direction of the workpiece and the direction in which the target trajectory extends are not significantly different, the workpiece rotates at a high speed, so that the work efficiency is not excessively reduced.
As described above, according to this work assisting device, the operator can easily move the tool along the target trajectory on the rotating workpiece without excessively reducing the work efficiency.

The present invention also provides a second work assistance device that can easily move a tool along a target trajectory on a workpiece.
The work assist device includes a work rotating device that rotates a work around a rotation axis, a tool moving device that changes the position and orientation of a tool according to an operation force applied by an operator, and a tool that detects the position of the tool. Position detecting means, tool direction detecting means for detecting the direction of the tool, distance r from the detected tool position to the rotation axis, anti-moving direction of the workpiece at the detected tool position, and detected tool orientation From the angle α and the arbitrary constant V, ω = (V cos α) / r
There is a control means for controlling the workpiece rotating device so that the angular velocity ω calculated by the equation is equal to the angular velocity of the workpiece rotating device.
In this work assistance device, the angular velocity ω decreases as the distance r from the tool position to the rotation axis increases. Further, when the angle α formed by the counter-movement direction of the workpiece and the direction of the tool increases, the angular velocity ω decreases. Therefore, the operator can easily move the tool along the target trajectory. Further, since the angular velocity ω is a large value according to the distance r and the angle α, the work efficiency is not excessively reduced. Further, in this work assisting device, when the operator moves the tool along the target locus, the relative movement speed of the tool and the workpiece is always a constant speed V. Therefore, the work by the tool is less likely to vary, and the work quality can be improved. In addition, since the velocity component in the rotation direction of the tool is given by the rotational movement of the workpiece, the operator only needs to advance and retract the tool in the direction of the rotation axis. For this reason, the operator can move the tool more easily along the target trajectory.

Further, the present invention provides a work assisting device including a work rotating device that rotates a work around a rotation axis, and a tool moving device that changes the position and orientation of a tool according to an operation force applied by an operator. A method of assisting an operator when performing an operation of moving a tool along a target trajectory on a workpiece set in advance by using the tool moving device while the workpiece is rotated by the workpiece rotating device. provide.
This work assistance method includes a step of measuring the distance from the tool to the rotation axis, a step of measuring an angle formed by the counter-movement direction of the workpiece at the position of the tool and the direction of the tool, and the longer the measured distance, The rotation angle velocity of the workpiece is reduced, and the workpiece rotation device is adjusted so that the rotation angle velocity of the workpiece decreases as the measured angle increases.
According to this work assisting method, the operator can adjust the rotation speed of the workpiece according to the position and orientation of the tool by adjusting the tool so that the position of the tool is on the target trajectory and the direction of the tool is along the target trajectory. Adjusted appropriately. For this reason, the operator can easily move the tool along the target trajectory without excessively reducing the work efficiency.

The present invention also provides a workpiece rotating device for rotating a workpiece, which is used in an operation of moving a tool along a target trajectory preset on the workpiece with respect to the rotating workpiece.
The workpiece rotating device includes a motor that rotates a workpiece mounted in a predetermined positional relationship with respect to the rotation axis around the rotation axis, an angle detection unit that detects a rotation angle of the rotation shaft, and a target trajectory set on the workpiece. Tool position for calculating the target position of the tool from the storage device storing the data, the positional relationship of the workpiece with respect to the rotation axis, the rotation angle detected by the angle detection means, and the target trajectory data stored in the storage device A calculation unit, a tool positional calculation unit that calculates a target direction of the tool from the positional relationship of the workpiece with respect to the rotation axis, the rotation angle detected by the angle detection unit, and the target trajectory data stored in the storage device; The longer the distance from the target position of the tool to the rotation axis, the smaller the angular velocity of the motor, and it is calculated as the counter-movement direction of the workpiece at the calculated target position of the tool. And a control means for controlling the motor so that the target orientation and the angle between the tool reduces the motor angular velocity larger.
In this work rotating apparatus, a work is attached in a predetermined positional relationship with respect to the rotation axis, and target trajectory data on the work to be rotated is stored. Then, based on the positional relationship of the workpiece with respect to the rotation axis, the rotation angle of the workpiece detected by the angle detection means, and the target trajectory data, the target position of the tool (that is, the point on the target trajectory at the rotation angle) and the target orientation of the tool (That is, the direction in which the target trajectory extends at the target position) is calculated. And, the longer the distance from the target position of the tool to the rotation axis, the lower the angular velocity of the workpiece, and the larger the angle formed between the counter-movement direction of the workpiece at the target position of the tool and the target direction of the tool, the lower the angular velocity of the workpiece. . In other words, the workpiece rotating device appropriately changes the angular velocity of the workpiece according to the stored target trajectory data. Therefore, the operator can easily move the tool along the target trajectory without excessively reducing the work efficiency.
In this work rotating apparatus, the control means may control the motor at an angular velocity ω calculated by ω = (V cos α) / r. In this case, r is the distance from the target position of the tool to the rotation axis, and α is the angle formed between the counter-movement direction of the workpiece and the target direction of the tool at the target position of the tool.

  The work rotating device is also useful when the tool is moved under program control by a moving device such as a robot. That is, when the workpiece is rotating at a constant angular velocity, the relative movement speed between the tool and the workpiece at the tool position is determined by the tool position (distance from the tool to the workpiece rotation axis) and the tool movement direction (target trajectory). Varies in the direction of stretching). When the relative movement speed of the tool and workpiece changes, the work quality of the tool varies. For example, when applying an adhesive to a rotating glass (work) with an adhesive applicator (tool), if the relative movement speed of the adhesive applicator and the glass changes, the thickness of the applied adhesive will vary. It will be out. However, in the above-described workpiece rotating device, the angular velocity of the workpiece is controlled in accordance with the target position of the tool and the target direction of the tool (the direction in which the target trajectory extends). The difference in relative movement speed is reduced. Therefore, it is difficult for the work results of the tools to vary.

(Embodiment 1) The work auxiliary device performs processing on a rotating workpiece using a tool.
(Mode 2) The work assisting device includes a tool whose position and orientation are adjusted by the operator, tool position detection means for detecting the position of the tool, and tool direction detection means for detecting the direction of the tool, The rotational angular velocity of the work is controlled based on the detected position and orientation of the tool.
(Mode 3) A work auxiliary device includes a tool whose position and orientation are adjusted by an operator, tool target position input means for inputting a target position of a tool calculated from a target trajectory set on the work, A tool direction input means for inputting the target direction of the tool calculated from the set target trajectory is provided, and the rotational angular velocity of the workpiece is controlled based on the input target position and target direction of the tool.
(Form 4) The work assisting device includes a tool, a tool position input means for inputting the position of the tool, a tool direction input means for inputting the direction of the tool, and the tool so as to be in the input tool position and tool orientation. A robot for adjusting the position and orientation is provided, and the rotational angular velocity of the workpiece is controlled based on the input position and orientation of the tool.

<First embodiment>
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a schematic diagram of a work assistance device 10a according to a first embodiment of the present invention. The work assisting device 10a is a device that assists the worker in applying the adhesive to the glass 30 (in the present embodiment, the windshield of an automobile) using the applicator 32. In this embodiment, the applicator 32 corresponds to a tool. The glass 30 corresponds to a workpiece.
The work auxiliary device 10 a includes a rotator 24 that supports and rotates the glass 30, a moving device 11 that supports the coating device 32, and a controller 22 a that controls the rotator 24 and the moving device 11.

The glass 30 that is the object to which the adhesive is to be applied is supported by the rotator 24 via the rotation support shaft 26. The glass 30 is supported horizontally. The glass 30 is fixed to the work rotation support shaft 26 by, for example, a suction cup (not shown) or a dedicated clamp (not shown).
The rotator 24 includes a motor 28 and an encoder 29. The motor 28 is connected to the rotation support shaft 26 and rotates the workpiece rotation support shaft 26. Thereby, the glass 30 rotates around the rotation axis C. The rotation angle of the motor 28 is detected by the encoder 29. That is, the encoder 29 detects the rotation angle of the glass 30. The rotation angle detected by the encoder 29 is sent to the controller 22a. The controller 22 a controls the rotational angular velocity ω of the motor 28 based on the rotational angle detected by the encoder 29.
A dotted line L in FIG. 1 indicates an application line on which the adhesive on the glass 30 is to be applied. The operator moves the applicator 32 along the application line L set on the rotating glass 30 and applies the adhesive along the application line L. In the present embodiment, the application line L corresponds to the target trajectory of the application tool 32. Hereinafter, the application line L is referred to as a target trajectory L.

  The mobile device 11 is fixed to the floor with a mobile device base 13. The moving device 11 includes a mast 13a extending vertically upward from the moving device base 13 and an arm 17 attached to the mast 13a via a joint 14a. The arm 17 is configured by connecting links 12a to 12c via joints 14b and 14c. An applicator device 32 is fixed to the tip of the arm 17 via a joint 14d. The joints 14a to 14d rotate around the vertical direction. Actuators 16a to 16d and encoders 15a to 15d are attached to the joints 14a to 14d (see FIG. 1). The actuators 16a to 16d rotate the corresponding joints 14a to 14d according to a control signal input from the controller 22a. The encoders 15a to 15d detect the angles of the corresponding joints 14a to 14d. The angles detected by the encoders 15a to 15d are sent to the controller 22a.

  As shown in FIG. 2, the vicinity of the tip of the applicator 32 is bent at a predetermined angle by a bent portion 32a. In the following description of the work assisting device 10a of the first embodiment, the direction in which the tip of the applicator 32 is facing (direction X in FIG. 2) is referred to as the direction of the applicator 32.

  An operating element 18 is fixed to the upper end of the link 12c via a force sensor 20. The operator 18 is operated by an operator. The force sensor 20 detects an operation force applied to the operation element 18. The operating force detected by the force sensor 20 is sent to the controller 22a. The controller 22a drives the actuators 16a to 16d of the joints 14a to 14d based on the operation force detected by the force sensor 20. Thereby, the position and orientation of the applicator 32 are changed. The operator can freely move the applicator 32 within the movable range of the moving device 11 by operating the operation element 18. A supply hose 34 for supplying an adhesive to the applicator 32 is connected near the tip of the applicator 32. When a switch (not shown) is turned on, the adhesive is supplied from the supply hose 34 to the applicator 32. Thereby, the adhesive is discharged from the tip of the applicator 32.

The controller 22a controls the rotational angular velocity ω of the motor 28 (that is, the rotational angular velocity ω of the glass 30). In addition, the controller 22 a controls the moving device 11 based on the input from the force sensor 20.
FIG. 3 is a block diagram showing connections between the controller 22a, the rotator 24, and the moving device 11. As shown in FIG. As shown in FIG. 3, the controller 22 a includes a position / orientation calculation unit 40, a rotator control unit 42, and a moving device control unit 48.

  The moving device control unit 48 reads the operation force detected by the force sensor 20. Moreover, the moving device control unit 48 reads the angles of the joints 14a to 14d detected by the encoders 15a to 15d. The moving device controller 48 calculates target angles of the joints 14a to 14d from the read operation force and the read angles of the joints 14a to 14d. Then, based on the target angles of the joints 14a to 14d and the current angles of the joints 14a to 14d, control signals are output to the actuators 16a to 16d. Thereby, the joints 14a to 14d are rotated according to the operation force, and the applicator 32 is moved.

  The position / orientation calculation unit 40 reads the angles of the joints 14a to 14d detected by the encoders 15a to 15d. Then, based on the read angles of the joints 14a to 14d and the structure of the arm 17 (the length of each link 12a to 12c, etc.), the position of the tip of the applicator 32 (or glass to which an adhesive is applied by the applicator 32) Position on 30: hereinafter, simply referred to as the position of the applicator 32) and the orientation of the applicator 32 is calculated. The position of the applicator 32 is calculated as XY coordinates on the horizontal plane (absolute coordinates having a predetermined coordinate (coordinate of the rotation axis C in this embodiment) as the origin). The direction of the applicator 32 is calculated as an absolute angle on the horizontal plane (absolute angle with a predetermined direction being 0 °). The position / orientation calculation unit 40 outputs the calculated position and orientation of the applicator 32 to the rotator control unit 42.

  The position and orientation of the applicator 32 are input to the rotator controller 42 from the position / orientation calculator 40. Further, the rotator control unit 42 reads the rotation angle of the glass 30 detected by the encoder 29. Then, the current rotational angular velocity ω of the glass 30 is calculated from the read angle. The rotator controller 42 inputs a control signal to the motor 28 based on the position and orientation of the applicator 32 and the current rotational angular velocity ω of the glass 30. Thereby, the rotational angular velocity ω of the motor 28 is controlled.

  Next, control of the rotational angular velocity ω of the glass 30 by the controller 22a when applying an adhesive to the glass 30 will be described with reference to the flowchart of FIG. 4 and the explanatory diagram of FIG. When applying the adhesive to the glass 30, the operator operates the operator 18 to adjust the position of the applicator 32 on the target trajectory, and the orientation of the applicator 32 is changed to the direction of the target trajectory (more specifically, (Refer to FIG. 5). When applying the adhesive to the glass 30, the controller 22a repeatedly executes the flowchart of FIG. 4 to control the rotational angular velocity ω.

In step S300, the controller 22a calculates the position S1 and the orientation LP of the applicator 32. As described above, the position S1 and the orientation LP of the applicator 32 are calculated from the angles detected by the encoders 15a to 15d. Since the orientation LP of the applicator 32 is adjusted to the target trajectory by the operator, the direction LP and the tangential direction of the target trajectory substantially coincide.
Next, the controller 22a calculates a distance R (a distance on the horizontal plane) from the rotation axis C of the rotator 24 to the position S1 (step S302). The distance R is calculated from XY coordinates indicating the position S1 calculated in step S300.
Next, the controller 22a calculates the moving direction LC of the glass 30 at the position S1 (step S304). As shown in FIG. 5, the moving direction LC is the rotation direction (tangential direction) of the glass 30 at the position S1. The controller 22a calculates a direction RE (more specifically, an absolute angle of the direction RE in the horizontal plane) from the rotation axis C to the position S1, and calculates a direction perpendicular to the calculated direction RE as the movement direction LC. The moving direction LC is calculated as an absolute angle in the horizontal plane.
Next, the controller 22a calculates an angle θs formed by the direction LC ′ opposite to the moving direction LC of the glass 30 and the direction LP of the applicator 32 (step S306). The angle θs is calculated from the absolute angle in the opposite direction LC ′ and the absolute angle in the direction LP.
Next, the controller 22a calculates the target angular velocity ω ′ of the glass 30 by the following calculation formula (step S308).
ω ′ = (V cos θs) / R (Equation 1)
In the above formula, V is a predetermined constant.
When calculating the target angular velocity ω ′, the controller 22a reads the current rotation angle of the glass 30 detected by the encoder 29. Then, the current rotation angular velocity ω of the glass 30 is calculated from the read rotation angle and the rotation angle of the glass 30 read in the previous cycle (step S310).
Next, the controller 22a inputs a control command value to the motor 28 based on the current rotational angular velocity ω and the target angular velocity ω ′ (step S312). Thus, the rotational angular velocity ω of the motor 28 (that is, the rotational angular velocity ω of the glass 30) is controlled so as to become the target angular velocity ω ′. The controller 22a repeatedly executes the flowchart of FIG. 4 at a predetermined cycle. Therefore, the rotational angular velocity ω of the glass 30 is always controlled to be a rotational angular velocity (target angular velocity ω ′) corresponding to the distance R and the angle θs.

As described above, when the adhesive is applied to the glass 30, the rotational angular velocity ω of the glass 30 is controlled to be the target angular velocity ω ′. Therefore, the moving speed VC of the glass 30 at the position S1 of the applicator 32 is
VC = Rω ′ = V cos θs
And changes depending on the angle θs.
In the present embodiment, in order to move the applicator 32 on the target trajectory L, the applicator 32 is moved only in the radial direction from the rotation axis C of the glass 30 (direction RE in FIG. 5) (that is, the glass 30 Do not move in the direction of rotation). For this reason, the speed VT at which the applicator 32 is moved in the direction RE is determined by the moving speed VC and the angle θs. That is,
VT = VCtanθs = V (cosθs) (tanθs) = Vsinθs
The applicator 32 is moved at a speed VT. When the applicator 32 is moved in the direction RE at the speed VT, the relative moving speed between the applicator 32 and the glass 30 at the position S1 becomes the speed VL in FIG. That is,
VL = VC / cos θs = V
It becomes. Therefore, if the operator moves the applicator 32 so that the orientation LP of the applicator 32 coincides with the direction of the target trajectory and the tip of the applicator 32 passes along the target trajectory along the direction RE, The relative movement speed VL between the applicator 32 and the glass 30 at the position S1 is a constant speed V. Therefore, when the operator moves the applicator 32 in this way, the position is uniform on the target track regardless of the position where the adhesive is applied and the direction in which the adhesive is applied (that is, the direction in which the target track extends). The adhesive can be applied in thickness.

Further, in this work auxiliary device 10a, the rotational angular velocity ω of the glass 30 decreases as the distance R from the position S1 of the applicator 32 to the rotation axis C of the glass 30 increases (see <Expression 1>). Therefore, the operator can easily move the applicator 32 along the target trajectory L. On the other hand, since the rotational angular velocity ω of the glass 30 increases as the distance R decreases, the work efficiency does not decrease excessively.
Further, in this work assistance device 10a, the rotational angular velocity ω of the glass 30 increases as the angle θs formed by the direction LC ′ opposite to the moving direction LC of the glass 30 at the position S1 of the application tool 32 and the direction LP of the application tool 32 increases. It decreases (see <Equation 1>). Therefore, the operator can easily move the applicator 32 along the target trajectory L. In addition, as shown in FIG. 6, when the angle θs formed between the counter-movement direction LC ′ of the glass 30 and the target trajectory L (that is, the direction LP) when the glass 30 rotates in the original rotation direction is 90 ° or more. The target angular velocity ω ′ is negative (see <Equation 1>). That is, the glass 30 rotates in the reverse direction. Accordingly, even in such a case, the applicator device 32 can be easily moved along the target trajectory L.

  In addition, since the work auxiliary device 10a controls the rotational angular velocity ω of the glass 30 based on the actual position and orientation of the application tool 32, the setting of the work auxiliary device 10a is changed according to the shape of the glass to be applied. There is no need. Therefore, the work auxiliary device 10a is suitable for an adhesive application process in which various shapes of glass flow.

<Second embodiment>
Next, the work assistance apparatus 10b of 2nd Example is demonstrated. In the work assistance device 10b of the second embodiment, data indicating the target trajectory on the glass is input to the controller 22a in advance. Further, the glass is attached to the rotation support shaft in a predetermined positional relationship. Then, the rotational angular velocity ω of the glass 30 is controlled based on the target position and target direction of the applicator 32 calculated from the target trajectory data. The work assisting device 10b of the second embodiment is suitable for a case where glass having the same shape flows to some extent because it is necessary to change the target trajectory data according to the glass to be coated.

Since the physical configuration of the work auxiliary device 10b of the second embodiment is substantially the same as that of the work auxiliary device 10a of the first embodiment, the description thereof is omitted. In the following explanation, each part of work auxiliary device 10b is explained using the same name and the same reference number as each part of work auxiliary device 10a of the 1st example.
FIG. 7 is a block diagram illustrating a connection between the controller 22a, the rotator 24, and the moving device 11 of the work assisting device 10b according to the second embodiment. As shown in the figure, the controller 22 a of the second embodiment has a target trajectory data storage unit 44.

  The target trajectory data storage unit 44 stores data indicating the target trajectories of various shapes of glass. The target trajectory data is data indicating the position of each point on the target trajectory. The target trajectory data stored in the target trajectory data storage unit 44 is read by the rotator control unit 42. The rotator control unit 42 determines the target position of the applicator 32 at the rotation angle and the target from the relationship between the glass attachment position with respect to the rotation support shaft, the glass rotation angle detected by the encoder 29, and the read target trajectory data. The direction in which the trajectory extends (target direction) is calculated. The rotator controller 42 controls the motor 28 according to the calculated target position and target direction.

FIG. 8 is a flowchart showing the control of the glass rotation angular velocity ω by the controller 22a of the work assistance device 10b.
In step S400, the controller 22a reads the rotation angle of the glass detected by the encoder 29. Then, the target position S2 and the target orientation LP2 of the applicator 32 at the rotation angle are calculated from the relationship between the glass attachment position with respect to the rotation support shaft, the read rotation angle, and the stored target trajectory data (FIG. 9). reference). At this time, the controller 22a calculates the target position S2 and the target orientation LP2 on the assumption that the applicator 32 is moved on the reference line RE extending in the predetermined direction from the rotation axis C (see FIG. 9). Therefore, the intersection of the reference line RE and the target trajectory at the current rotation angle is calculated as the target position S2. The target direction LP2 is calculated as the tangential direction of the target trajectory at the calculated target position S2.
Step S402 and subsequent steps are performed in substantially the same manner as the work auxiliary device 10a of the first embodiment. That is, in step S402, the controller 22a calculates the distance R from the rotation axis C of the rotator 24 to the target position S2. In step S404, the counter movement direction LC ′ of the glass 30 at the target position S2 is calculated (the counter movement direction LC ′ is always constant because the direction RE is fixed). In step S406, an angle θs formed by the counter-movement direction LC ′ of the glass 30 and the target direction LP2 is calculated. In step S <b> 408, the target angular velocity ω ′ of the glass 30 is calculated by the above <Equation 1>. In step S410, the current rotational angular velocity ω is calculated, and in step S412, the rotational angular velocity ω of the motor 28 is controlled based on the target angular velocity ω ′.

  As described above, in the work assistance device 10b, the rotation angular velocity ω of the glass is controlled to become the target angular velocity ω ′. Therefore, when the applicator device 32 is moved along the reference line RE so as to pass on the target trajectory, the relative moving speed of the applicator device 32 and the glass at the position of the applicator device 32 becomes a constant speed V. Therefore, it is possible to apply the adhesive with a uniform thickness on the target track.

Further, in the work assistance device 10b of the second embodiment, the rotational angular velocity ω of the glass 30 decreases as the distance R from the target position S2 of the applicator 32 to the rotation axis C of the glass 30 increases. Therefore, the operator can easily move the applicator 32 along the target trajectory. On the other hand, as the distance R from the target position S2 of the applicator 32 to the rotation axis C of the glass 30 is shorter, the rotational angular velocity ω of the glass 30 increases, so that the working efficiency does not decrease too much.
Further, in the work assistance device 10b of the second embodiment, as the angle θs formed by the counter-movement direction of the glass at the target position S2 of the applicator 32 and the target direction LP2 of the applicator 32 increases, the rotational angular velocity ω of the glass decreases. To do. Therefore, the operator can easily move the applicator 32 along the target trajectory.

<Third embodiment>
Next, the working device 10c of the third embodiment will be described. In the working device 10c of the third embodiment, the rotational angular velocity ω of the glass is controlled in the same manner as the work assisting device 10b of the second embodiment. That is, the rotational angular velocity ω is controlled based on the target position and target direction of the applicator 32 calculated from the target trajectory data (see FIG. 8). Further, the work device 10 c does not have the operation element 18 and the force sensor 20. In the work device 10c, the controller 22a controls the actuators 16a to 16d of the arm 17. The controller 22a controls the actuators 16a to 16d in parallel with executing the flowchart of FIG. That is, the controller 22a outputs a control signal to the actuators 16a to 16d according to the target position S2 calculated in step S400 of FIG. 8 and the angles detected by the encoders 15a to 15d. As a result, the actuators 16a to 16d are driven, and the applicator 32 is moved to the target position S2. Thus, in the work device 10c, the controller 22a controls the position of the applicator according to the target trajectory.

As described above, in the working device 10c, the rotational angular velocity ω of the glass is controlled in the same manner as the work assisting device 10b of the second embodiment. Further, the controller 22a controls the applicator device 32 to be positioned at the target position S2. Therefore, the adhesive is applied accurately on the target track. Further, when the rotational angular velocity ω of the glass and the position of the applicator 32 are controlled in this way, the relative movement speed between the applicator 32 and the glass becomes a constant speed V. Therefore, the adhesive is applied with a uniform thickness on the target track.
In the work device 10c, the target position S2 is calculated as the intersection of the straight line RE and the target trajectory (see FIG. 9). Therefore, the moving device 11 only needs to move the applicator 32 on the straight line RE. That is, a moving device having a narrow movable range can be used as the moving device 11.

Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above.
The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology illustrated in the present specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

It is the schematic of the work assistance apparatus of 1st Example. It is explanatory drawing of direction of the applicator 32. FIG. It is a block diagram of the work auxiliary device of the 1st example. It is a flowchart which shows control of rotation angular velocity (omega) of the work assistance apparatus of 1st Example. It is explanatory drawing when moving a coating device along a target track | orbit using the work assistance apparatus of 1st Example. It is explanatory drawing when moving a coating device along a target track | orbit using the work assistance apparatus of 1st Example. It is a block diagram of the work assistance apparatus of 2nd Example. It is a flowchart which shows control of rotation angular velocity (omega) of the work assistance apparatus of 2nd Example. It is explanatory drawing when moving an application | coating instrument along a target track | orbit using the work assistance apparatus of 2nd Example.

Explanation of symbols

10a: Work assistance device 10b: Work assistance device 10c: Work device 11: Movement devices 14a-14d: Joints 15a-15d: Encoders 16a-16d: Actuator 17: Arm 22a: Controller 24: Rotator 28: Motor 29: Encoder 30 : Glass 32: Applicator

Claims (5)

It is a work assistance device that assists a worker who performs a work of moving a tool along a target trajectory set in advance on a work with respect to a rotating work,
A workpiece rotating device for rotating the workpiece around the rotation axis;
A tool moving device that changes the position and orientation of the tool according to the operating force applied by the operator;
Tool position detecting means for detecting the position of the tool;
Tool orientation detection means for detecting the orientation of the tool;
The longer the distance from the detected tool position to the rotation axis, the lower the angular velocity of the work rotating device, and the larger the angle formed between the counter-movement direction of the work at the detected tool position and the detected tool orientation Control means for controlling the work rotation device to reduce the angular velocity of the work rotation device;
A work auxiliary device. It is a work assistance device that assists a worker who performs a work of moving a tool along a target trajectory set in advance on a work with respect to a rotating work,
A workpiece rotating device for rotating the workpiece around the rotation axis;
A tool moving device that changes the position and orientation of the tool according to the operating force applied by the operator;
Tool position detecting means for detecting the position of the tool;
Tool orientation detection means for detecting the orientation of the tool;
From the distance r from the detected tool position to the rotation axis, the angle α formed by the counter-movement direction of the workpiece at the detected tool position and the detected tool direction, and an arbitrary constant V, ω = (V cos α ) / R
Control means for controlling the work rotating device so that the angular speed ω calculated by the equation is equal to the angular speed of the work rotating device;
A work auxiliary device. In a work auxiliary device including a work rotating device that rotates a work around a rotation axis and a tool moving device that changes the position and orientation of a tool according to an operation force applied by an operator, the work rotating device is used to move the work. It is a method of assisting an operator when performing an operation of moving the tool along a target trajectory on a workpiece that is set in advance using a tool moving device in a rotated state,
Measuring the distance from the tool to the axis of rotation;
A step of measuring an angle formed by a counter-movement direction of the workpiece at the position of the tool and a direction of the tool;
Adjusting the workpiece rotating device to decrease the rotational angular velocity of the workpiece as the measured distance is longer, and to decrease the rotational angular velocity of the workpiece as the measured angle is larger;
Work assistance method having. It is a work rotation device for rotating a work, used in a work for moving a tool along a target trajectory set in advance on a work with respect to a work to be rotated,
A motor that rotates a workpiece mounted in a predetermined positional relationship with respect to the rotation axis around the rotation axis;
Angle detection means for detecting the rotation angle of the rotation shaft;
A storage device storing target trajectory data set on the workpiece;
Tool position calculating means for calculating the target position of the tool from the positional relationship of the workpiece with respect to the rotation axis, the rotation angle detected by the angle detecting means, and the target trajectory data stored in the storage device;
A tool orientation calculating means for calculating the target orientation of the tool from the positional relationship of the workpiece with respect to the rotation axis, the rotation angle detected by the angle detection means, and the target trajectory data stored in the storage device;
The longer the distance from the calculated target position of the tool to the rotation axis, the smaller the angular velocity of the motor, and the larger the angle formed between the counter-movement direction of the workpiece at the calculated target position of the tool and the calculated target direction of the tool. Control means for controlling the motor to reduce the angular velocity of the motor,
A work rotation device having It is a work rotation device for rotating a work, used in a work for moving a tool along a target trajectory set in advance on a work with respect to a work to be rotated,
A motor that rotates a workpiece mounted in a predetermined positional relationship with respect to the rotation axis around the rotation axis;
Angle detection means for detecting the rotation angle of the rotation shaft;
A storage device storing target trajectory data set on the workpiece;
Tool position calculating means for calculating the target position of the tool from the positional relationship of the workpiece with respect to the rotation axis, the rotation angle detected by the angle detecting means, and the target trajectory data stored in the storage device;
A tool orientation calculating means for calculating the target orientation of the tool from the positional relationship of the workpiece with respect to the rotation axis, the rotation angle detected by the angle detection means, and the target trajectory data stored in the storage device;
From the calculated distance r from the target position of the tool to the rotation axis, the angle α formed by the counter-movement direction of the workpiece at the calculated target position of the tool and the calculated tool target direction, and an arbitrary constant V, ω = (Vcos α) / r
Control means for controlling the workpiece rotating device such that the angular velocity of the motor is equal to the angular velocity ω calculated by the equation:
A work auxiliary device.

Images