| 摘要 |
PROBLEM TO BE SOLVED: To provide a hand guide device capable of completing assembling within the movable range of the device, and a method of controlling the hand guide device. SOLUTION: The hand guide device includes a work holding device 12 for holding a work 3, an elongated hand 14 having the work holding device, a robot 16 which cantilevers the terminal end of the hand and can move the terminal end within a predetermined robot area, an on-hand operation panel 18 which is installed near the tip of the hand and operates the movement of the robot, and a robot control device 20 for controlling the robot. The hand 14 has a length by which the on-hand operation panel 18 projects from the object to be worked to the opposite side of the robot when the work 3 is assembled in the object to be worked 2. The robot control device 20 has an automatic mode for automatically controlling the robot 16 and a cooperation mode for manually controlling the robot 16 by the on-hand operation panel 18. Only for the operations in which the determination and experiences of the operator 6 are required, the robot control device is changed over to the cooperation mode, and the other operations are performed in the automatic mode. COPYRIGHT: (C)2011,JPO&INPIT |
