JP5107206B2 - Workload leveling method and workload leveling support device - Google Patents

Description

  The present invention relates to a work load leveling method and a work load leveling support device, and more particularly, a work load leveling method and a work load for leveling a work load of workers in a work place where a plurality of workers work such as a factory. The present invention relates to a leveling support device.

  In order to increase productivity in factory assembly lines, etc., it is necessary to devise an assembly line zone according to the number of man-hours, or to distribute multiple operations to multiple processes to produce products through multiple processes. Further, it has been proposed to support which work group is distributed using a computer (for example, Patent Documents 1 and 2).

In addition, an index (work load evaluation index) that measures the maximum muscle strength ratio of a worker when working for a predetermined time in an assembly line of a factory and objectively evaluates the degree of burden on the worker based on the maximum muscle strength ratio. ) And a work process plan support technique aiming at leveling the work load evaluation index by correcting the work unit is proposed (for example, Patent Document 3).
JP 2002-79964 A JP 2003-15723 A JP 7-43261 A

  In a work place such as an assembly line where a plurality of workers work, it is inevitable that the physical work load varies depending on the work contents and the capabilities of the workers themselves. For this reason, the presence of an operator with a heavy work load becomes a bottleneck, the tact time is increased, and the production efficiency of the entire assembly line is reduced.

  On the other hand, the above-described assembly line improvement and productivity support technologies are often related to line arrangements, and it is not possible to drastically improve the presence of workers with heavy workloads as bottlenecks. Can not.

  The work process planning support technology aiming at leveling the workload evaluation index by correcting the unit of work can level the workload of the worker, but the presence of workers with low physical exercise ability It is inevitable that the overall production efficiency will be reduced.

  The problem to be solved by the present invention is to drastically improve the existence of a worker with a heavy workload as a bottleneck, and to improve the production efficiency of a workplace where a plurality of workers work. .

  A workload leveling method according to the present invention is a method for leveling a worker's workload in a workplace where a plurality of workers perform work, and a worker load quantification process for quantifying each worker's workload. A work load level determination process for determining a predetermined work load level, and a work for calculating for each worker a deviation of the worker load with respect to the work load level determined in the work load level determination process A load deviation calculation process; and a work assistance device application determination process for determining the application of the work assistance device that gives the work assistance force to the worker based on the work load deviation calculated in the work load deviation calculation process. Have.

  In the work load leveling method according to the present invention, preferably, a work assistance device is provided to a worker whose worker load is excessive from the work load level value, and a work assistance amount output by the work assistance device is provided. , And a work auxiliary quantity quantification process for setting the work load deviation to a numerical value approaching zero.

  The work load leveling method according to the present invention preferably further includes a work assistance device selection process for selecting an optimum work assistance device from a plurality of types of work assistance devices according to the work contents of the worker.

  The quantification of the worker load of each worker in the workload leveling method according to the present invention is preferably a measurement value of a biological state measured by a biological sensor attached to the worker, a work attached to the worker This is performed by either the work amount of the auxiliary device, the joint moment value estimated by the floor reaction force detected by the floor reaction force sensor attached to the worker, or a combination thereof.

  A work load leveling support device according to the present invention is a work load leveling support device for leveling a work load of workers in a work place where a plurality of workers perform work. The worker load digitizing means, the workload level determining means for determining a predetermined workload level, and the deviation of the worker load from the workload level determined by the workload level determining means The work load deviation calculating means for calculating the work load deviation for each worker and the work assistance device for giving the work auxiliary force to the worker based on the work load deviation calculated by the work load deviation calculating means is determined for the worker. And a work assistance device provision determining means.

  The work load leveling support device according to the present invention includes work auxiliary amount setting means for setting the work auxiliary amount output from the work auxiliary device to a numerical value at which the work load deviation approaches zero.

  The work load leveling support device according to the present invention preferably further includes a work assistance device selection means for selecting an optimum work assistance device from a plurality of types of work assistance devices according to the work contents of the worker.

  According to the workload leveling method and the workload leveling support apparatus according to the present invention, the workload of each worker is quantified, in other words, quantified, and based on the worker load with respect to the workload level value. The assignment of the work assistance device to the worker is determined, and the worker with a large work load that becomes a bottleneck is supported by the work assistance device.

  As a result, the work load of a worker with a large work load is reduced with the help of the work auxiliary device, and the work load of the entire worker is leveled. Production efficiency is improved.

  Hereinafter, an embodiment of a workload leveling method according to the present invention and a workload leveling support apparatus used for implementing the method will be described with reference to FIGS.

  In this embodiment, as the work assistance device, the walking assistance device 10 that assists walking and movement shown in FIGS. 1 and 2 and the cargo handling that performs unloading of the cargo handling shown in FIGS. 3 to 6. Two types of work assistance devices, the work assistance device 100, are prepared, and either one is selected and used for each worker.

  First, the walking assistance device 10 will be described with reference to FIGS. 1 and 2. The walking assist device 10 includes a waist brace 20 that is attached to the waist of the worker, and an electric motor 50L that is a power generation unit that is attached to the waist brace 20 and disposed at positions corresponding to the left and right hip joints of the worker. 50R, power transmission arms 60L and 60R connected to output members (output rotation shafts) 51L and 51R of the electric motors 50L and 50R, respectively, and the thighs of the workers attached to the lower ends of the power transmission arms 60L and 60R Thigh orthosis 70L and 70R to be attached to the body.

  The waist orthosis 20 is roughly composed of a back frame 21, a waist back pad 22, left and right abdominal belts 24L and 24R, left and right auxiliary belts 26L and 26R, and left and right side belts 27L and 27R. .

  The back frame 21 is made of a rigid body, for example, metal, and has a shape that surrounds the waist and back of the worker with a margin. The back frame 21 incorporates a control device 90 that controls the operation of the electric motors 50L and 50R, a power supply unit 91, and wireless communication means 92. The wireless communication unit 92 performs two-way data communication with a work load reduction support processing apparatus 200 described later using a predetermined wireless communication protocol.

  The lower back pad 22 is made of soft plastic and attached to the inner side of the back frame 21. Specifically, the waist / back pad 22 is fixedly connected at the center in the left-right direction to the center in the left-right direction of the back frame 21 by a fixing pin 28, and the left and right ends are free ends separated forward from the back frame 21.

  Elastic plates 19L and 19R made of an elastic material such as a leaf spring and a resin plate are fixed to the left and right side portions of the back frame 21, respectively. The elastic plates 19L and 19R are disposed in the gap between the left and right side portions of the waist back pad 22 and the left and right side portions of the back frame 21, and the free end side of the waist back pad 22 is elastically forward with respect to the back frame 21. Is energized.

  The left and right abdominal belts 24L and 24R are made of a flexible material such as woven fabric, leather, vinyl, and the like, and one end is fixedly connected to the left and right ends of the waist back pad 22, and the other end is a one-touch type belt. It is a belt structure that is fastened to each other by a buckle 23 so as to be openable.

  The left and right auxiliary belts 26L and 26R are made of a flexible material such as woven fabric, leather, vinyl, and the like, and one end is fixedly connected to the left and right intermediate portion on the back side of the waist back pad 22 and the other end is left and right. The abdomen belts 24L and 24R are connected to a middle part of the abdomen belts 24L and 24R by a pin 25 so as to be pivotable. The auxiliary belts 26L and 26R are provided with a length adjustment buckle 29A so that the belt length can be adjusted.

  The left and right side belts 27L, 27R are also made of a flexible material such as woven fabric, leather, vinyl, etc., and one end is an intermediate portion of the left and right abdominal belts 24L, 24R (from the pin 25 to the waist back pad 22). The other end is fixedly connected to the left and right ends of the back frame 21. The side belts 27L and 27R are fixed to the back frame 21 by passing the side belts 27L and 27R through slits 21A formed at the left and right ends of the back frame 21, respectively, and the folded portion 27B is hooked by a hook-and-loop fastener 27A to the side belts 27L and 27R. It is performed by sticking to one end side in a peelable manner. The left and right side belts 27L and 27R can be adjusted in belt length by adjusting the attaching position of the folded portion 27B by the hook-and-loop fastener 27A.

Power transmitting arm 60L, 60R are electric motors 50L, is intended for transmitting an output of the 50R femoral BuSo device 70L, the 70R, the power transmitting arm 60L, the lower end of the 60R is bifurcated in upside down Y-shape it has a spring, femoral BuSo device 70L, the 70R is attached by the pad pinching the thigh of the operator to each its bifurcated tip from the front and rear.

Power transmitting arm 60L, 60R femoral BuSo device 70L for the lower end of the installation of the 70R is they become removable threaded, so as to adjust the mounting position vertically and horizontally.

  Hinge shaft support members 30L and 30R are fixed to the left and right ends of the back frame 21. The hinge shaft support members 30L and 30R have a U-shaped roll shape and support the hinge shafts 35L and 35R spanned between the two front and rear leg pieces. The hinge shafts 35L and 35R have a central axis extending in the front-rear horizontal direction of the operator, that is, the sagittal axis direction.

  Hinge coupling members 36L and 36R are attached to the hinge shafts 35L and 35R so as to be rotatable around the central axes of the hinge shafts 35L and 35R. The hinge connecting members 36L, 36R are fixedly connected to mounting tongues 52L, 52R integrally formed on the upper side of the electric motors 50L, 50R.

  The left and right electric motors 50L and 50R are supplied with electric power from the power supply unit 91, the output torque and the rotation angle are individually controlled by the control device 90, and the left and right power transmission arms 60L and 60R are swing-driven.

Thus, the left and right electric motors 50L, 50R of the output torque femoral BuSo device 70L, given the walking assisting force to the thigh of the operator of the apparatus worn than 70R, the electric motor 50L, the rotation angle and the output torque of the 50R The walking / moving of the device wearer is assisted (assisted) with a walking ratio based on a control target determined by

  Next, the material handling work assisting device 100 will be described with reference to FIGS. The cargo handling work assisting device 100 is worn by a user of the device, a saddle portion 112 on which the device user sits, left and right thigh link members 114L and 114R, left and right lower leg link members 116L and 116R, and so on. Shoe portions 118L and 118R.

  A hinge shaft 120 extending in the front-rear direction is attached to the center of the lower bottom portion of the saddle portion 112. Left and right arc guide bars 124L and 124R extending in the front-rear direction by brackets 122L and 122R are attached to the hinge shaft 120 so as to be rotatable in the left-right direction about the hinge shaft 120 (can be opened). Sliders 126L and 126R are provided on the left and right arc guide bars 124L and 124R so as to be movable along the guide bars by guide rollers 128L and 128R. Left and right base plates 130L and 130R are attached to the sliders 126L and 126R. The base plates 130L and 130R extend rearward from the fixing portions with the sliders 126L and 126R. The upper ends of the left and right thigh link members 114L and 114R are fixedly connected to the base plates 130L and 130R.

  The hinge shaft 120, the left and right arc guide bars 124L and 124R, the left and right sliders 126L and 126R, and the left and right base plates 130L and 130R are located at positions corresponding to the left and right hip joints of the device user. Left and right first joint mechanism portions L1 and R1 capable of moving equivalent to the hip joints are configured.

  The left and right thigh link members 114L and 114R extend obliquely downward and forward from the rear side of the base plates 130L and 130R. The upper end portions of the left and right lower leg link members 116L, 116R are connected to the distal end portions (lower end portions) of the left and right thigh link members 114L, 114R by substantially horizontal pivots 132L, 132R so as to be rotatable in a substantially vertical direction. Shoe portions 118L and 118R are connected to the lower ends of the left and right lower leg link members 116L and 116R so as to be pivotable in a substantially vertical direction to substantially horizontal pivots 134L and 134R.

  The pivots 132L and 132R are located at positions corresponding to the left and right knee joints of the device user, and form the left and right second joint mechanism portions L2 and R2 that can move equivalent to the human knee joint. The pivots 134L and 134R are located at positions corresponding to the left and right ankle joints of the device user, and form the left and right third joint mechanism portions L3 and R3 that can move equivalent to the human ankle joint.

  Left and right electric motors 136L and 136R are attached to the left and right base plates 130L and 130R as power generation devices. The left and right electric motors 136L, 136R are assist force generation sources, and output pulleys 40L, 40R are attached to the output shafts 138L, 138R.

  Driven pulleys 142L and 142R are attached to the pivots 132L and 132R. Endless belts 144L and 144R are wound around the output pulleys 140L and 140R and the driven pulleys 142L and 142R, respectively. By this transmission mechanism, the rotational outputs of the left and right electric motors 136L, 136R are individually transmitted to the left and right pivots 132L, 132R forming the left and right second joint mechanism portions L2, R2. That is, the forces generated by the left and right electric motors 136L and 136R are individually applied as assist forces to the left and right leg portions (knee joint portions).

The saddle unit 112 incorporates a battery power source (not shown) that supplies power to the left and right electric motors 136L and 136R, a control device 150 that controls the operation of the left and right electric motors 136L and 136R, and a wireless communication unit 151. Yes. Wireless communication means 151 performs data communication in both directions by the workload reduced supported 援装 location 200 with a predetermined wireless communication protocol to be described later.

  As sensors for detecting various physical quantities, rotary encoders 150L and 150R for detecting the rotation angles of the left and right electric motors 136L and 136R, MP sensors 152L and 152R for measuring floor reaction forces of the left leg and the right leg, and a heel sensor 154L, 154R and supporting force sensors 156L and 156R for measuring the supporting force of the left leg and the right leg are attached to each part.

  The left and right MP sensors 152L and 152R are multi-axis (at least two axes in the vertical direction and horizontal direction) force sensors, and MP joints (medium joint joints) of the device user wearing the left and right shoe portions 118L and 118R The floor reaction force is measured by placing it in the shoe at a position almost corresponding to the part.

  The left and right heel sensors 154L and 154R are multi-axis (at least two axes in the vertical and horizontal directions) force sensors, and are positioned substantially corresponding to the heel portions of the device user wearing the left and right shoe portions 118L and 118R. It is placed in the shoe and measures the floor reaction force.

  The left and right leg supporting force sensors 156L and 156R are multi-axis (at least two axes in the vertical and horizontal directions) force sensors, and are attached to the lower ends of the lower leg link members 116L and 116R, and the lower leg link member 116L. , 116R is measured. The support force measured by the support force sensors 156L and 156R is a physical quantity that correlates with the floor reaction force.

  The control device 150 receives signals from the sensors described above and bioelectric sensors, heart rate sensors, respiration rate sensors, perspiration rate sensors, and other biosensors worn by the user of the device from myoelectric potential, heart rate, respiration rate, perspiration rate. For example, a signal indicating an angular velocity with respect to the vertical direction of the waist and chest is input from the waist / chest gyro sensor, and a signal indicating the acceleration of the waist, chest vertical direction and horizontal direction is input from the waist / chest acceleration sensor, respectively. According to a predetermined control law, the operations (output torque, rotation angle) of the left and right electric motors 136L, 136R are individually controlled.

  The left and right electric motors 136L and 136R are individually controlled in output torque and rotation angle by the control device 150 to rotate the driven pulleys 142L and 142R.

  As a result, the output torques of the left and right electric motors 136L and 136R are applied as squat assisting force to the knee joints of the workers wearing the apparatus from the shoe portions 118L and 118R, and the output torques and rotation angles of the electric motors 136L and 136R are determined. Unloading of cargo handling with squats of equipment wearers is performed.

  Next, the workload leveling support apparatus 200 will be described with reference to FIG. The work load leveling support apparatus 200 is a work of a worker in a work place where a plurality of workers work, such as a factory, a warehouse, a cargo handling work site such as a harbor, a civil engineering work site, a luggage collection place, an agricultural / fishery work place. This embodiment supports leveling of a load, and in this embodiment, description will be given by taking an example of leveling support for a work load acting on a lower limb of an operator in an automobile production line.

  The workload leveling support apparatus 200 includes an operator load digitizing means 201, a workload level value determining unit 202, a workload deviation calculating unit 203, a work assist device assignment determining unit 204, and a task assist device selecting unit 205. And an auxiliary work amount setting unit 206. Each of these processing units of the work load leveling support apparatus 200 is implemented in software by a microcomputer executing a computer program.

  A display 207 is connected to the workload leveling support apparatus 200 as an output device. The display 207 can display the output information of the above-described units 201 to 206 on a monitor.

  The worker load digitizing unit 201 executes a process for digitizing the workload of each worker in each process in the automobile production line, and is attached to the worker specific information, the work content information, and the worker. The worker's biological information detected by the biological sensor 220 such as an electromyograph, a heart rate sensor, a respiration sensor, and a sweat sensor is input, and the work engagement load of each worker is numerically determined by a predetermined algorithm. Turn into. Examples of values obtained by quantifying the work load (work load values) include calorie conversion values and indices. As one example, the energy consumption may be calculated from the heart rate detected by the heart rate sensor as the work load from the relationship between the normal heart rate and the energy consumption (oxygen consumption).

  The worker-specific information includes information for identifying the worker (ID information) such as name and worker identification number, physique, work ability, health condition, and the like. The work content information is information for specifying the work content, and examples thereof include work involving squats, work involving walking, and the like, such as lifting luggage and parts.

  Also, the worker load digitizing unit 201 is a walking assistance device 10 according to an output value, power consumption, and the like of the work assistance device attached to the worker, in this embodiment, the walking assistance device 10 and the cargo handling work assistance device 100, The actual work amount of the material handling work assisting device 100 can be calculated, and the work work load of each worker can be quantified by referring to the calculated work amount.

  Also, the worker load digitizing unit 201 detects the floor reaction force by the MP sensors 152L and 152R and the saddle sensors 154L and 154R of the material handling work assisting device 100, and reverses the joint moment value from the detected value of the floor reaction force. It is also possible to estimate by an arithmetic method or the like, and refer to the joint moment value that has been estimated and calculated to quantify the work engagement load of each worker.

  In the present embodiment, the floor reaction force calculation is performed by inputting sensor signals from the MP sensors 152L and 52R and the saddle sensors 154L and 154R, or by inputting sensor signals from the supporting force sensors 156L and 156R. The floor reaction forces FL (FLx, FLy) and FR (FRx, FRy) acting on the legs are calculated separately on the left and right. FLx and FLx are forces acting in the horizontal direction among the floor reaction forces FL and FR, and FLy and FLy are forces acting in the vertical direction among the floor reaction forces FL and FR.

  The joint moment estimation calculation is performed based on the measured values of the MP sensors 152L and 152R, the heel sensors 54L and 54R, or the measured values of the supporting force sensors 56L and 56R, the floor reaction force (FLx, FLy), FR (FRx, FRy), the left and right joint moments (joint torque) of the walking assistance device wearer, and in this embodiment, the knee joint moment is estimated and calculated. This joint moment estimation calculation is performed by inverse dynamics calculation.

  Here, a method of calculating the joint moment by inverse dynamics calculation will be described.

  First, the concept of the inverse dynamic model will be described with reference to FIG. The inverse dynamic model is a dynamic model that estimates an internal force from motion and boundary conditions, and calculates a joint moment (torque) that is an internal force using the inverse dynamic model.

  The boundary condition of the distal end of the rigid link model is obtained from the floor reaction force Ff, and the force reaction formula is solved from the weight W1 and the inertia of the distal node I, whereby the joint reaction force Fj1 at the proximal end of the distal node I is obtained. Is obtained. Further, the joint reaction force Fj1 is set as a boundary condition of the proximal section II from the distal section I, and by solving the force balance equation from the weight W2 and inertia of the proximal section II, the proximal section II An end joint reaction force Fj2 is obtained. Repeat this for the number of clauses.

  The joint torque is obtained using the joint reaction forces (Fj1, Fj2) thus obtained. One proximal joint torque is obtained from a balanced equation of torque around the center of gravity of the node using the distal and proximal joint reaction forces. Further, the proximal joint torque is then determined from the joint torque and the distal and proximal joint reaction forces of one proximal node. Repeat this for the number of clauses.

  FIG. 8 shows the force applied to the i-th node (rigid body) from the distal during movement. The force acting on the proximal end of each node (F (i + 1) x, F (i + 1) y), torque M (i + 1) is the force acting on the distal end of the proximal Buddha connected by the joint (F (i) x , F (i) y) and the reaction force of torque M (i), the force (F (i) x, F (i) y) and torque M (i) have opposite values. From this figure, the force balance equation can be described as equation (1) and equation (2).

  When formulas (1) and (2) are modified, formulas (3) and (4) are obtained.

  By substituting the floor reaction force as the force applied to the lower end (foot) of the most distal node into the equations (3) and (4), the reaction forces of all joints are determined in order from the lower order. However, the reaction force obtained here is not all of the force applied to the joint surface. In addition to this reaction force, muscle tension, which is an internal force, also acts on the joint surface.

  Next, joint torque (joint moment) is calculated using the reaction force of the joint. From FIG. 6, the torque balance is expressed by equation (5).

  When formula (5) is transformed, formula (6) is obtained.

  Similar to the reaction force of the joint, the torque applied to the lower end of the most distal node is calculated from the floor reaction force, and this is substituted into equation (6). Then, by substituting the previously obtained joint reaction force into Equation (6), each joint torque is obtained in order from the distal end.

  In the present embodiment, the second joint mechanism portions L2 and R2 of the cargo handling work assisting device 100 are connected to the left and right second joints from the human knee joint equipped with the cargo handling work assisting device 100, as shown in FIG. Since it is ahead of the mechanism parts L2 and R2 and has an angle even in an upright posture, the bending angle of the first joint mechanism parts L1 and R1 and the actual bending angle of the hip joint, the second joint mechanism parts L2 and R2 The bending angle of the actual knee joint, the bending angle of the third joint mechanism portions L3 and R3, and the actual bending angle of the ankle joint are correlated but not the same value.

  For this reason, the knot angle θ used for the calculation of the joint torque described above is a correlation between the preset bending angle of the joint mechanism portion of the walking assist device 10 and the actual bending angle of each joint portion of the wearer. What is necessary is just to correct | amend by the relational expression to represent.

  For this reason, the knot angle θ used for the calculation of the joint torque described above is a correlation between the preset bending angle of the joint mechanism portion of the walking assist device 10 and the actual bending angle of each joint portion of the wearer. What is necessary is just to correct | amend by the relational expression to represent.

  FIG. 9 shows the geometric relationship between the material handling work assisting device 100 and the device wearer. In FIG. 9, symbol Mc indicates a virtual center point of the arc guide bars 124L and 124R. In the above calculation, the length between the virtual center point Mc and the second joint mechanism portions L2 and R2 (thigh ring length). Lma is converted into a length Lha of the thigh between the hip joint A and the knee joint B of the wearer of the apparatus, and between the second joint mechanism parts L2 and R2 and the third joint mechanism parts L3 and R3. The length (lower leg ring length) Lmb is converted into the lower leg length Lhb between the knee joint B and the ankle joint C of the wearer. Further, the bending angle θma of the second joint mechanism portions L2 and R2 is converted into the actual bending angle θha of the knee joint, and the bending angle θmb of the third joint mechanism portions L3 and R3 is converted into the actual bending angle θhb of the ankle joint. .

  The floor reaction force F works from the contact point between the sole and the ground toward the center of gravity G of the person.

  FIG. 10 shows the device joint angle θm representing the bending angle θma of the second joint mechanism portions L2 and R2, the bending angle θmb of the third joint mechanism portions L3 and R3, the actual knee joint bending angle θha, and the actual ankle joint. The bending angle θhb is representative of the relationship between the joint angle θh of the worker, and the conversion between the device joint angle θm and the joint angle θh of the worker may be performed by the following approximate expression (7). .

θh = αθm ² + βθm + γ (7)

  However, α, β, and γ are constants.

  Then, the energy consumption of the left and right legs of the walking assistance device wearer is estimated and calculated from the estimated joint torque (joint moment estimated value). The energy consumption amount Eh is calculated by equation (8).

  Eh = ∫Tj · ωdt (8)

          Tj: Joint torque

            ω: Angular velocity of joint motion

  The angular velocity ω can be obtained by differential calculation of rotation angles measured by the rotary encoders 150L and 150R and sensor signals of the waist and chest gyro sensors. The integration of the joint torque Tj is an integration over a predetermined time interval, and corresponds to a predetermined work amount (work load) per predetermined time.

  When the work load leveling support device 200 and the work assist device (walking assist device 10, cargo handling work assist device 100) are in an environment where wireless communication is possible, the work engagement load of each worker is numerically calculated in real time. Can understand the change.

  FIG. 11A shows the workload values of the workers A to E as bar graphs. The workload values indicated by reference signs Wa to We in FIG. 11A are the workload values of the workers A to E in a state where the work auxiliary device is not provided. It depends on the qualities, abilities, conditions, and work contents of the workers.

  The work load level determination unit 202 executes a process for determining a predetermined work load level value. The work load level determined by the work load level determining unit 202 is a specified value based on the worker's preferred work amount or the worker load (work load value) quantified by the worker load digitizing unit 201. There is a work load level La corresponding to a value equal to the minimum value (Wd), or a predetermined ratio of the minimum value (Wd), for example, a work load level Lb corresponding to 80%.

  The workload deviation calculation unit 203 calculates a deviation of the worker load values Wa to We with respect to the workload level values (La, Lb) determined by the workload level determination unit 202 for each of the workers A to E. Execute.

  The work assistance device assignment determination unit 204 determines the assignment of the work assistance device to the workers A to E based on the work load deviation calculated by the work load deviation calculation unit 203. The assignment of the work assist device is performed when the work load deviation (worker load value−work load level value) is a positive value, that is, for a worker whose worker load value is larger than the work load level value.

  When the workload level value is (La), it is determined that the work assistance device is provided to the workers A, B, C, and E excluding the worker D. On the other hand, when it is the workload level value (Lb), it is determined that the work assistance device is provided to all of the workers A to E.

  The work assistance device selection unit 205 functions effectively when a plurality of types of work assistance devices are prepared, and is more optimal than the plurality of types of work assistance devices prepared according to the content of the worker load. The process of selecting the work assistance device is executed.

  For example, in the case of work involving squats such as lifting of luggage, parts, etc., the work handling work assisting device 100 effective for assisting squat is selected as the work assisting device, and in the case of work involving only walking, the work assisting device. The walking assistance device 10 effective for walking assistance is selected.

  The work assistance amount setting unit 206 is a work assistance device (walking assistance device 10, cargo handling work) that is given to a worker who shows a numerical value that the worker load values Wa to We are excessive with respect to the work load level value (La, Lb). A process of setting a work auxiliary amount (assist amount) output by the auxiliary device 100) to a numerical value at which the work load deviation approaches zero is executed.

  The output of the work assistance device (walking assistance device 10, cargo handling work assistance device 100) is adjusted based on this work assistance amount control command. The output adjustment of the work assist device is performed manually by the equipment manager offline with the work load leveling support device 200.

  In a factory or the like that is provided with a wireless LAN, when there is an environment in which wireless communication is possible between the work load leveling support device 200 and the work assist device (the walking assist device 10 and the cargo handling work assist device 100), the work load leveling is performed. The output adjustment of the work assistance device (the walking assistance device 10 or the cargo handling work assistance device 100) can also be performed by wireless communication between the commutation assistance device 200 and the work assistance device.

  In this way, the work auxiliary device (walking auxiliary device 10, cargo handling work auxiliary device 100) is provided to the worker, and the work auxiliary device whose output is adjusted performs work assistance, so that the worker A after the work auxiliary device is equipped is provided. The worker load values Wa to We of E to E, as shown in FIG. 11 (b) or FIG. 11 (c), are given the work load level values (La , Lb).

  As described above, the work loads of the workers A to E are quantified (quantified), and the workers are based on the worker load values Wa to We for the work load level values (La, Lb). It is performed to determine the assignment of the work assisting device to.

  Thereby, a worker with a large work load that becomes a bottleneck is supported by the work assistance device, and the work load of the worker with a large work load is reduced with the help of the work assistance device. As a result, the work load of the entire worker is leveled, and as a result, the production efficiency of the workplace where multiple workers work is improved, the number of personnel is reduced, and the level of time between work processes and the time level is optimized. Is achieved.

  In addition, the work assistance amount (assist amount) output by the work assistance device is set to a value at which the work load deviation approaches zero, so that the output of the work assistance device (walking assistance device 10 or cargo handling work assistance device 100) is It is set without excess or deficiency for workload leveling and contributes to CO2 reduction.

Next, an operation flow of the workload reduction supported 援装 location 200 will be described with reference to the flowchart of FIG. 12.

  First, information for identifying each worker, such as a personal identification number, information on work contents assigned to each worker, and information on the work process is taken in to identify the worker (step S101).

  Next, work status information such as the number of steps, stride, walking speed and floor reaction force of each worker, and biological information such as heart rate, myoelectric potential, and sweating amount are input (step S102).

  Next, the work load is quantitatively analyzed based on the worker identification information, the work situation information, and the biological information of the worker, and the work load is quantified (step S103).

  Next, a work load level value is determined (step S104). The workload level value is a specified value based on a preferable amount of labor of the worker or a workload based on a value equal to the minimum value (Wd) of the worker load (work load value) quantified by the worker load digitizing unit 201. The level value La or a predetermined ratio of the minimum value (Wd), for example, the work load level value Lb corresponding to 80%.

  Next, an optimal work auxiliary device is selected from a plurality of types of prepared work auxiliary devices according to the work content of the corresponding worker and the content of the worker load. First, it is determined whether or not the work of the corresponding worker is centered on walking work. If the work of the worker is centered on walking and movement, the walking assist device 10 is provided to the corresponding worker. Is determined (step S105).

  Next, the deviation of the worker load value with respect to the work load level value is calculated, and the assist amount of the walking assist device 10 is determined based on the work load deviation (step S106). An assist amount is set (step S107).

  On the other hand, if the corresponding worker's work is not centered on walking, then it is determined whether or not the corresponding worker's work is centered on cargo handling work. If so, it is determined to provide the cargo handling work assisting device 100 to the worker (step S108).

  Next, the deviation of the worker load value with respect to the work load level value is calculated, the assist amount of the load handling work assisting device 100 is determined based on the work load deviation (step S109), and the load handling work assist device provided to the corresponding worker. An assist amount of 100 is set (step S110).

  FIG. 13 schematically shows an automobile production line to which the work load leveling support method of the present embodiment is applied. The assembly line 300 includes a floor panel assembly part P101, a door panel assembly part P102, and a tire assembly part P103. The line speed of the assembly line 300 is variably controlled by the line speed control device 310.

The line speed control device 310 is connected to the work load reduction support processing device 200 so that data communication is possible, and the actual speed and the control target walking ratio calculated by the work auxiliary amount setting unit 206 of the five work load reduction support processing device 200 are set. Based on this, the line speed can be optimally controlled.

  As shown in FIG. 14, in the body assembly process in which the chassis flows on the assembly line of the factory, the middle waist work environment (heavy load environment movement work: propeller shaft installation work process, engine and mission fastening work process, etc.) In this case, since the joint moment load of the worker becomes large, it is important to reduce the joint moment applied to the worker. For this reason, the cargo handling work assisting device 100 is provided to workers in the middle waist work environment.

  On the other hand, in work that is light in the work environment (flat ground / slope walking work, light parts mounting work process, bolt fastening work process, cart pushing work process, etc.) By properly guiding the walking rate calculated from the number of steps per unit time, it is possible to minimize the energy consumption during walking. 10 is provided.

  FIG. 15 illustrates the worker leveling between the vehicle types (models manufactured) and the processes in the automobile manufacturing factory, and FIG. 16 illustrates the worker leveling of the entire factory. When the work load generated for each vehicle type or process flowing on the assembly line fluctuates, the work load amount of each worker (walking assist device 10: work energy consumption, cargo handling work assist device 100: joint moment load) By reducing the workload of work vehicles and leveling the workload among workers, the flow of all line breaks is improved by assisting each worker with some percentage of the current workload to reduce it. The tact time can be reduced.

  FIG. 17 schematically shows a work load situation of a factory to which the work load reduction method of the present embodiment is applied. In order to optimize the work load leveling, the assist amount and the walking ratio are changed to reduce the joint moment load and energy consumption of each worker. As a result, the burden on the worker is reduced, and this is controlled so as to perform leveling between the work processes and further, so that the number of workers and the efficiency of the work process of one worker are reduced. The total number of man-hours can be reduced in the entire factory, and the next-generation factory of this embodiment will respond to the expected increase in the turnover rate of young people and the decline in the working population due to the aging of children and children. A great effect can be expected by applying to the above.

It is a perspective view which shows one Embodiment of the walk assistance apparatus used for implementation of the workload leveling method by this invention. It is a disassembled perspective view which shows one Embodiment of the mounting tool part of the walk assistance apparatus used for implementation of the workload leveling method by this invention. It is a perspective view which shows the outline | summary of one Embodiment of the cargo handling work assistance apparatus used for implementation of the work load leveling method by this invention. It is a side view which shows the principal part of one Embodiment of the cargo handling work assistance apparatus used for implementation of the work load leveling method by this invention. It is a front view which shows the principal part of one Embodiment of the cargo handling work assistance apparatus used for implementation of the work load leveling method by this invention. It is a block diagram which shows one Embodiment of the workload leveling assistance apparatus by this invention. It is explanatory drawing explaining the concept of a reverse dynamics model. It is explanatory drawing explaining formulation of a joint reaction force and a joint torque. It is explanatory drawing which shows the geometric relationship between a walking assistance apparatus and an apparatus wearer. It is a graph which shows the relationship between an apparatus joint angle and an operator's joint angle. (A)-(c) is a graph which shows the relationship of the worker load value of each worker, a workload level value, and work assistance amount. It is a flowchart which shows the operation | movement flow of the workload leveling assistance apparatus by this embodiment. It is explanatory drawing which shows in figure the motor vehicle manufacturing line to which the work load leveling method of this embodiment was applied. It is explanatory drawing which shows in figure the distribution of the auxiliary device in the motor vehicle manufacturing line to which the workload leveling method of this embodiment was applied. It is explanatory drawing which shows the worker leveling between the vehicle types (manufacturing vehicle type) in a motor vehicle manufacturing factory to which the work load leveling method of this embodiment is applied, between processes. It is explanatory drawing which shows in figure the worker leveling of the whole factory in the motor vehicle manufacturing factory to which the workload leveling method of this embodiment is applied. It is explanatory drawing which shows in figure the work load condition of the factory to which the work load leveling method of this embodiment was applied.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Walking assistance apparatus 100 Handling work assistance apparatus 200 Work load leveling assistance apparatus 201 Worker load numericalization part 202 Work load level determination part 203 Work load deviation calculation part 204 Work assistance apparatus provision determination part 205 Work assistance apparatus selection part 206 Work assistance amount setting section

Claims (5)

A method for leveling a worker's workload in a workplace where a plurality of workers work,
A worker load quantification process that quantifies each worker's workload using a measurement value of a biological state measured by a biological sensor attached to the worker;
A workload level determination process for determining a workload level based on the workload of each worker quantified in the worker load quantification process;
A workload deviation calculation process for calculating, for each worker, a deviation of the worker load with respect to the workload level determined in the workload level determination process;
Based on the work load deviation calculated in the work load deviation calculation process, a work auxiliary device application determination process for determining the application of the work auxiliary device to give the work auxiliary power to the worker,
A work assistance amount quantification process for setting the work assistance amount output by the work assistance device to a numerical value at which the workload deviation approaches zero; and
A workload leveling method comprising: A method for leveling a worker's workload in a workplace where a plurality of workers work,
A worker load quantification process that quantifies the workload of each worker using the workload of the work assisting device attached to the worker ;
A workload level determination process for determining a workload level based on the workload of each worker quantified in the worker load quantification process;
A workload deviation calculation process for calculating, for each worker, a deviation of the worker load with respect to the workload level determined in the workload level determination process;
Based on the work load deviation calculated in the work load deviation calculation process, a work auxiliary device application determination process for determining the application of the work auxiliary device to give the work auxiliary power to the worker,
A work assistance amount quantification process for setting the work assistance amount output by the work assistance device to a numerical value at which the workload deviation approaches zero; and
A workload leveling method comprising: A method for leveling a worker's workload in a workplace where a plurality of workers work,
A worker load quantification process for quantifying each worker's workload using a joint moment value estimated and calculated from a floor reaction force detected by a floor reaction force sensor attached to the shoe portion of the worker;
A workload level determination process for determining a workload level based on the workload of each worker quantified in the worker load quantification process;
A workload deviation calculation process for calculating, for each worker, a deviation of the worker load with respect to the workload level determined in the workload level determination process;
Based on the work load deviation calculated in the work load deviation calculation process, a work auxiliary device application determination process for determining the application of the work auxiliary device to give the work auxiliary power to the worker,
A work assistance amount quantification process for setting the work assistance amount output by the work assistance device to a numerical value at which the workload deviation approaches zero; and
A workload leveling method comprising: The workload level determination process is a minimum value of the workload or a value obtained by multiplying the minimum value by a predetermined ratio as a workload level value,
The workload deviation calculation process calculates a deviation of the worker load with respect to the workload level value (worker load-workload level value) for each worker,
The said work assistance apparatus provision determination process gives the work assistance apparatus which gives work assistance power to a worker with respect to the worker whose said work load deviation is a positive value. Workload leveling method. A workload leveling support device for leveling a worker's workload in a workplace where a plurality of workers work,
Worker load quantification means for quantifying the workload of each worker;
A workload level determination unit that determines a workload level based on the workload of each worker digitized by the worker load leveling unit;
Workload deviation calculating means for calculating, for each worker, a deviation of the worker load with respect to the workload level determined by the workload level determining means ;
Based on the work load deviation calculated by the work load deviation calculating means, work auxiliary device provision determining means for determining the provision of the work auxiliary device that gives the work auxiliary power to the worker to the worker;
Work auxiliary amount setting means for setting the work auxiliary amount output by the work auxiliary device to a numerical value at which the work load deviation approaches zero;
A work load leveling support apparatus.

Images