| 摘要 |
Assembly equipment comprises a base (1), first and second holding hands (4) and (5) provided in first and second robot arms (2) and (3) set on the base (1), and a control device (6a, 6b) configured to control the first and second robot arms (2) and (3) and the first and second holding hands (4) and (5). The first holding hand (4) comprises an attachment (26) connected to the first robot arm (2), and an aligning holding mechanism (28) provided in a rotation mechanism (27) having a rotation shaft located to intersect a rotation shaft of the attachment (26) or located in a skewed positional relationship with the rotation shaft of the attachment (26). A cooperative working area (60) of the first and second holding hands (4) and (5) is provided in an overlapping area of working areas of the first and second holding hands (4) and (5). |
