| 摘要 |
PROBLEM TO BE SOLVED: To provide a carrying auxiliary device for reducing a carrying time burden of a worker, and capable of accurate positioning.SOLUTION: This carrying auxiliary device 30 includes a suspension device 38 for suspending a carrying object M, a force-sensitive sensor 62 for detecting operation information, and a load sensor 70 for detecting a load of the carrying object M. The suspension device 38 is moved in the X-Y axis direction by X axis, Y axis servomotors 40 and 42 via a travel unit 36. The suspension device 38 also moves the carrying object M in the Z axis direction by a Z axis servomotor 44. An encoder is further respectively arranged in the respective servomotors 40, 42 and 44. A controller controls the Z axis servomotor 44 so that the suspension device 38 suspends and holds the carrying object M based on the load of the carrying object M. The controller also compares and arithmetically operates the operation information from the force-sensitive sensor 62 and a pulse output by the encoders, and respectively controls the respective servomotors 40, 42 and 44 by making a feedback process. |
