JP2011093062A - Hand guide device and method of controlling the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a hand guide device capable of assembling a work in an object to be worked moving on an assembling line by leaving simple operations to a robot and manually operating the robot only for the operations which require determinations and experiences of the operator, and also to provide a method of controlling the hand guide device. <P>SOLUTION: The hand guide device includes a work holding device 12 for holding the work 3, an elongated hand 14 having the work holding device, the robot 16 which cantilevers the terminal end of the hand and can move the terminal end within a predetermined robot area 4a, an on-hand operation panel 18 which is installed on the hand near the work holding device and operates the movement of the robot, and a robot control device 20 for controlling the robot. 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 which require the determination and experiences of the operator 6, the robot control device is changed over to the cooperation mode, and the other operations are performed in the automatic mode. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a hand guide device for assembling a work on a work object moving on an assembly line and a control method therefor.

In recent years, many automobile manufacturers have promoted "modular assembly". The modular assembly is component assembly means for assembling a plurality of components to be assembled to the vehicle body in advance into one module and assembling the module to the vehicle body.
Such modularized assembly can reduce in-vehicle work for assembling parts, but on the other hand, the module has become larger and the burden on the operator has increased.

  Therefore, various means for reducing the burden on the operator when assembling a work (for example, a module such as an instrument panel) on a work object (for example, an automobile body) moving on the assembly line have been proposed. (For example, Patent Documents 1 to 3, Non-Patent Documents 1 and 2).

Non-Patent Documents 1 and 2 and Patent Document 3 are so-called power assist devices, and an operator performs the entire work. By supporting the weight of the workpiece by these devices, the worker handles heavy objects. To make it easier.
Patent Documents 1 and 2 are so-called hand guide devices, in which a robot is operated by a human operation input, and a person and the robot collaborate.

Japanese Patent No. 3872387, “Control Device and Control Method for Robot Coexisting with Humans” Japanese Patent Laid-Open No. 2008-213119, “Cooperative Work Robot and its Control Method” JP 2009-034758 A, “Power Assist Device and Control Method Therefor”

Hitoshi Konosu, Isamu Araki, Yoshishi Yamada, “Practical application of skill assist for automobile assembly work support device” Vol. No. 22 4, pp. 508-514, 2004 Eikoku Alpha Easy Hand (Lift Assist), Internet <URL: http: // www. aikoku. co. jp / rh / index. html>

(1) Non-Patent Documents 1 and 2 are essentially power assist devices that reduce the burden on the operator in handling heavy objects, but they hold a workpiece placed on a fixed point such as a supply device. Even if it is a simple work, it is necessary for the person to operate it, and the operation is difficult.
(2) Patent Documents 1 and 2 are so-called hand guide devices. When a person operates a robot to bring a workpiece closer to a work object moving on an assembly line, the person is required to perform work such as assembly. In addition to the operation, it is necessary to perform an operation of following the work object in accordance with the line speed. Therefore, as a result, it is necessary to realize the alignment work for the moving object, and the difficulty of operation becomes higher.

(3) In the case of work for inserting a work into the work object, for example, instrument panel assembly in an automobile body assembly process, the work is in the work object, so that the operator's operation mode is set. After that, if the worker does not move the workpiece according to the line speed, the workpiece and the work object collide.
(4) Since the work object moves, it is necessary to complete the assembly work within the movable range of the assist device.

The present invention has been developed to solve the above-described problems. That is, the object of the present invention is to (1) leave the simple work to the robot, and only when the work requires human judgment and experience, the person operates the robot and works on the work object moving on the assembly line. (2) There is no need to follow the work object in accordance with the line speed, (3) collision between the work and the work object can be prevented, and (4) An object of the present invention is to provide a hand guide device capable of completing the assembly work within the movable range of the device and a control method thereof.

According to the present invention, a hand guide device for assembling a workpiece on a work object moving on an assembly line,
A workpiece gripping device for gripping a workpiece, an elongated hand having the workpiece gripping device, a robot that cantilever-supports a distal end portion of the hand and moves the distal end portion within a predetermined robot area, and gripping the workpiece of the hand An on-hand operation panel provided near the apparatus for operating the operation of the robot, and a robot control device for controlling the robot,
The robot control device has an automatic mode for automatically controlling the robot and a cooperative mode for manually controlling the robot by an on-hand operation panel.
There is provided a hand guide device characterized by switching to a collaborative mode only during work requiring human judgment and experience and executing other work in an automatic mode.

According to an embodiment of the present invention, an external operation panel that is provided outside the assembly line and the robot area and outputs a control signal to the robot, and a status display device that displays the operating state of the robot,
In the automatic mode, a state that can be switched to the collaborative mode by the status display device is displayed as a collaborative work possible situation,
Switch to collaborative mode with the external operation panel,
In the cooperative mode, the robot is manually controlled by the on-hand operation panel and a work is assembled to the work target, and then the automatic mode is switched by the external operation panel.

  Further, in the automatic mode, a line shut-off device that shuts off a person from entering the assembly line is provided except in the cooperative mode.

In addition, the on-hand operation panel includes an enable switch that occupies one hand for ensuring safety, and a one-hand operation input device that can input a translation input of three orthogonal axes and a rotation input around the three axes by one-hand operation. ,
In the cooperative mode, the robot can be manually controlled by operating the enable switch and the one-hand operation input device with both hands.

Further, according to the present invention, a workpiece gripping device that grips a workpiece, an elongated hand having the workpiece gripping device, and a robot that cantilever-supports the end portion of the hand and moves the end portion within a predetermined robot area. And a hand guide device control method for assembling a work on a work object moving on an assembly line, comprising an on-hand operation panel provided near the work gripping device of the hand for operating a robot.
It has an automatic mode for automatically controlling the robot and a collaborative mode for manually controlling the robot with an on-hand operation panel.
There is provided a control method for a hand guide device, characterized in that the mode is switched to the collaborative mode only during work requiring human judgment and experience and the other work is executed in the automatic mode.

  According to the embodiment of the present invention, on the assembly line, the workpiece is moved at the same speed as the assembly line when there is no manual control input in the automatic mode and the cooperative mode.

  Further, in the cooperative mode, the time required for the evacuation operation is constantly monitored, and when the time is shorter than a predetermined first threshold, it is determined as a yellow zone, and the predetermined second threshold is shorter than the first threshold. If it is shorter, it is determined to be a red zone and an alarm is issued for each.

  According to the apparatus and method of the present invention, the robot control device has an “automatic mode” for automatically controlling the robot and a “cooperative mode” for manually controlling the robot with an on-hand operation panel. Switching to collaborative mode only when work that requires judgment and experience is performed, and other work is executed in automatic mode, so simple work is performed automatically by the robot in automatic mode, and work that is difficult to position, such as final assembly, Work can be performed by manually controlling the robot while a person makes a decision in the collaborative mode.

  In addition, since an on-hand operation panel for operating the robot in the cooperative mode is provided near the work gripping device of the hand, a person (worker) gets into the work object (for example, inside the car body). The work can be performed while directly observing the work in the vicinity of the work, and the assembling work can be easily realized.

  Similarly, a person (worker) gets into the work object (for example, inside the car body) and works while directly observing the work in the vicinity of the work. (Product type correctness, appearance, gripping state, etc.) can be performed with human eyes.

In both automatic mode and cooperative mode, the workpiece is moved at the same speed as the assembly line when there is no manual control input. So that the robot will not interfere with the work object until the person (worker) presses the enable switch, and the worker will follow the line speed during operation. Since the work and the work object relatively held by the robot can be operated in a stopped state, workability can be improved.

It is a top view which shows the whole structure of the hand guide apparatus by this invention. It is a block diagram of the robot in this invention. It is a block diagram of the on-hand operation panel in this invention. It is a flowchart of the control method of the hand guide apparatus by this invention. It is operation | movement explanatory drawing of the hand guide apparatus by this invention. It is a block diagram of the interference prevention apparatus in this invention.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

FIG. 1 is a plan view showing the overall configuration of a hand guide device according to the present invention.
A hand guide device 10 according to the present invention is a hand guide device for assembling a workpiece 3 to a work object 2 moving on an assembly line 1. The assembly line 1 in this example is a line for assembling a work 3 (in this example, a module such as an instrument panel) to a work object 2 (in this example, a car body), and the work object 2 has a predetermined speed. It moves continuously to the left (in the figure).
The work object 2 (vehicle body) is provided with an opening 2a (vehicle body door), and the workpiece 3 can be inserted into the vehicle through the opening 2a. In this figure, reference numeral 4 denotes a robot area safety fence that partitions a robot area 4a in which a robot hand mounting portion (a hand end portion to be described later) moves, and 5 denotes a human area safety fence that partitions the assembly line 1.

The interval between the assembly line 1 and the robot area 4a is set to a safety area 1a having a width that allows a person to evacuate. In the safety area 1a, a safety sensor (for example, a safety mat or the like) that detects intrusion of a person is installed. Has been.
Even if a person enters the safety area 1a with this configuration, it is possible to prevent a person from being caught between the vehicle body and the safety fence due to an alarm or emergency stop.
Note that this configuration is not essential, and the width can be narrowed or the safety sensor can be omitted when the risk of being caught between the vehicle body and the safety fence is avoided or the speed is low.

  In FIG. 1, the hand guide device 10 of the present invention includes a workpiece gripping device 12, a hand 14, a robot 16, an on-hand operation panel 18, and a robot control device 20.

FIG. 2 is a configuration diagram of the robot according to the present invention. This figure is seen from the longitudinal direction of the hand 14.
1 and 2, the workpiece gripping device 12 is an end effector that grips the workpiece 3.
The hand 14 is an elongated member having the workpiece gripping device 12 at an intermediate position, and in this example, the hand 14 is positioned substantially horizontally. The hand 14 has such a length that the end portion 14a of the hand 14 is located in the robot area 4a when the work 3 is assembled to the work object 2.
The robot 16 is an articulated robot in this example, and cantilever-supports the end portion (upper end in FIG. 1) of the hand 14, and is configured to be able to move the end portion 14a within a predetermined robot area 4a. In the present application, the robot 16 is not limited to an articulated robot, and may be another known robot.
The on-hand operation panel 18 is provided in the vicinity of the workpiece gripping device (in this example, the center position) of the hand 14, and a person 6 (for example, a worker) operates the on-hand operation panel 18 to operate the robot 16. ing.

The robot control device 20 controls the robot 16.
In the present invention, the robot control device 20 has an “automatic mode” for automatically controlling the robot 16 and a “cooperative mode” for manually controlling the robot 16 with the on-hand operation panel 18.
In the automatic mode, the robot 16 is automatically controlled according to a predetermined sequence or program without the operation of the person 6 (worker).
In the collaborative mode, the person 6 (worker) operates the on-hand operation panel 18 to operate the robot 16.
In addition, the hand guide device 10 of the present invention is configured to switch to the cooperative mode only during work that requires human judgment and experience, and perform other work in the automatic mode.
Details of this control content will be described later.

FIG. 3 is a configuration diagram of the on-hand operation panel according to the present invention.
The on-hand operation panel 18 according to the present invention includes an enable switch 18a, a one-hand operation input device 18b, an indicator lamp 18c, and a push button switch 18d.
The enable switch 18a occupies one hand in order to ensure safety, and the switch is turned on by holding it.
The one-hand operation input device 18b is configured to be able to input three-axis orthogonal translation input and rotation input about the three axes by one-hand operation.
In the cooperation mode of the present invention, the robot 16 can be manually controlled by operating the enable switch 18a and the one-hand operation input device 18b with both hands.
The number of axes of the one-hand operation input device is not limited to the translation input of three orthogonal axes and the rotation input about the three axes, and may be configured with the number of axes reduced according to the operation content. The input device is not limited to a one-hand operation input device, and may be configured to manually control the robot 16 by operating two input devices with both hands.
The indicator lamp 18c displays various states (for example, a yellow zone and a red zone described later) of the hand guide device 10, and the push button switch 18d outputs various signals (for example, an emergency stop signal).

  In FIG. 1, the hand guide device 10 of the present invention further includes an external operation panel 22, a status display device 24, a line blocking device 26, a robot area blocking device 27, and an opening detection sensor 28.

The external operation panel 22 is provided outside the human area safety fence 5 on the opposite side of the robot with respect to the assembly line 1 and includes a work start switch, a work end switch, a mode switch, an emergency stop switch, and the like, and the robot 16 (that is, Each control signal is output to the robot controller 20).
The state display device 24 displays the operating state of the robot 16. This operating state includes, for example, an automatic mode and a collaborative mode, a collaborative work possible situation described later, a yellow zone, a red zone, a line stop alarm, and the like.
In FIG. 1, the external operation panel 22 and the status display device 24 are installed at the same position, but may be installed at different positions.

In the automatic mode, the hand guide device 10 of the present invention displays a state that can be switched to the cooperative mode by the status display device 24 as a “cooperative work possible situation”, and a work start signal by a work start switch on the external operation panel 22. Accordingly, the mode is switched to the “cooperation mode”, and is switched to the “automatic mode” by the work completion signal from the work completion switch on the external operation panel 22.
Note that the mode may be switched to the “automatic mode” without being linked to the work start switch and the work end switch.

  The line blocking device 26 is, for example, a light curtain or a shutter, and blocks the passage so that no one can enter the assembly line 1 except in the cooperative mode.

  The robot area blocking device 27 is, for example, a light curtain or a shutter. When the hand guide device 10 of the present invention is operating in the robot area 4a, a person does not enter the robot area or the robot does not go out of the robot area. Close the robot area opening.

  In this example, the opening detection sensor 28 is a CCD camera provided in the vicinity of the opening of the robot area, and detects the opening 2 a of the work object 2. The opening detection sensor 28 is not limited to this example, and may be a CCD camera provided at one end (the lower end in the figure) of the hand 14 or other sensors (for example, a limit switch, a photoelectric sensor, an electrostatic sensor, etc. ).

4A and 4B are operation explanatory views of the hand guide device according to the present invention, in which FIG. 4A shows the first half automatic mode, FIG. 4B shows the cooperative mode, and FIG. 4C shows the second half automatic mode.
FIG. 5 is a flowchart of the method for controlling the hand guide device according to the present invention, which comprises steps (steps) S1 to S16.

  In the control according to the present invention, line information is first acquired (S1), and the automatic mode is displayed (S2).

FIG. 4A shows a state where the opening 2a of the work object 2 is detected in the first half automatic mode (S6 to be described later).
In the first half automatic mode, the robot 16 is automatically controlled. In this automatic mode, information on the work object 2 is acquired (S3), the work 3 is gripped at the supply position (S4), conveyed to the front of the opening (S5), and the work detection object 2 is detected by the opening detection sensor 28. The opening 2a is detected (S6), the work 3 is inserted into the opening 2a (S7), the work 3 is brought close to the assembly position (S8), the work 3 is synchronized with the line speed (S9), and the status is displayed. The device 24 displays the status of possible collaborative work (S10).

The person 6 (for example, a worker) is evacuated outside the assembly line 1 (lower side in the figure) until the change to the cooperation mode is made on the external operation panel when the collaborative work is possible. The passage is blocked by the blocking device 26 so that no one can enter the assembly line 1.
When the mode is changed to the cooperation mode, the person 6 can get into the work object 2 on the assembly line 1 and can operate the on-hand operation panel 18.
Note that the work 3 is synchronized with the line speed by automatic control by the robot 16 until a person gets in and starts operating the on-hand operation panel 18 (S9). That is, on the assembly line, the workpiece 3 is moved at the same speed as the assembly line 1 when there is no manual control input in the automatic mode and the cooperation mode.

The synchronization control of the workpiece 3 with the assembly line 1 in the automatic mode and the cooperation mode is not essential, and the workpiece 3 may not be synchronized with the assembly line 1 in one or both of the automatic mode and the cooperation mode. .
That is, the workpiece synchronization control may be any of the following four types.
(1) Synchronized in both automatic and collaborative modes.
The robot is operated so that the robot and the work target do not interfere when the person is not operated, and the human operation is accepted while the line speed is corrected even when the person is operating.
(2) Synchronous in automatic mode and asynchronous in collaborative mode.
The robot is operated so that the robot and the work target do not interfere with each other when the person is not operating, and when the person is operating, the person operates, including following the line speed.
(3) Asynchronous in automatic mode and synchronous in collaborative mode.
When the person is not operating, the person operates including tracking the line speed, and when the person is operating, the line speed is corrected and the person's operation is accepted.
(4) Asynchronous in both automatic and cooperative modes.
When the person is not operating, the person operates including tracking the line speed, and when the person operates, the person operates including tracking the line speed.

FIG. 4B shows a state in which the work 6 is assembled to the work object 2 moving on the assembly line 1 by operating the robot 16 (that is, the on-hand operation panel 18) in the cooperative mode (described later). S12).
In this cooperation mode, the robot 16 is manually controlled by an on-hand operation panel 18 by a person 6 (worker).
In a collaborative situation, the person 6 turns on the work start switch of the external operation panel 22 (S11), gets into the work object 2 on the assembly line 1 and operates the on-hand operation panel 18 to operate the work object. A collaborative work (assembly work) for assembling the work 3 to 2 is carried out (S12).
Instead of the work start signal, the intrusion (or presence) of the person 6 into the cooperation area may be detected using a human detection sensor (for example, an infrared sensor).

In this cooperative mode, the robot controller 20 constantly calculates the time required for the retreat operation, and when this time is shorter than the predetermined first threshold, it is determined as the yellow zone, and this time is shorter than the first threshold. When it is shorter than the predetermined second threshold, it is determined as a red zone, and an alarm is transmitted.
That is, the distance necessary for the retreating operation after the completion of the operation is calculated, and the yellow zone that must be urgently completed in the predetermined robot area 4a of the robot 16 corresponding to the remaining movable range, and this A red zone that cannot be avoided and a line stop signal are transmitted, and an alarm is displayed on the status display device 24.

When this collaborative work (assembly work) is completed, the person 6 retreats from the inside of the work object 2 to the outside of the assembly line 1 (lower side in the figure), and turns on the work completion switch of the external operation panel 22 When the work completion signal (S13) is output, the robot control device 20 receives the work completion signal, the cooperation mode ends, the automatic mode is displayed (S14), and the second half automatic mode is switched.
Note that before the work completion switch of the external operation panel 22 is turned on, a work may be performed by a person to release the workpiece 3 (S15 described later), and the robot may be withdrawn slightly.

FIG. 4C shows a state in which the work 3 is retracted from the opening 2a of the work object 2 in the latter half automatic mode (S16 described later).
In the second half automatic mode, the robot 16 is automatically controlled. In the latter half automatic mode, the robot 16 is automatically controlled to release the workpiece 3 (S15), and the hand 14 is detached from the opening 2a (the door of the vehicle body) by the robot controller 20 (S16).
Next, the robot 16 is automatically controlled to return to the initial position (standby position) of the robot.

  As described above, the control method of the hand guide device of the present invention has an automatic mode for automatically controlling the robot and a cooperative mode for manually controlling the robot with an on-hand operation panel, and requires human judgment and experience. It is switched to the collaborative mode only during the work to be performed, and the other work is executed in the automatic mode.

6A and 6B are configuration diagrams of the interference prevention apparatus according to the present invention, in which FIG. 6A is a plan view and FIG. 6B is a side view. Moreover, in this figure, 2b is a vehicle body interference site located behind the opening 2a of the work object 2 (right side in the figure).
The interference prevention device 30 shown in FIG. 6 includes a photoelectric sensor 32 for detecting interruption, a sensor arm 34, and an actuator (not shown). The sensor arm 34 has a photoelectric sensor 32 at the tip, is attached to the hand 14, and is configured to be swingable between the rear and the upper side. An actuator (not shown) is attached to the hand 14 and swings the sensor arm 34.
With this configuration, when the sensor arm 34 is swung rearward and the vehicle sensor interference part 2b is sandwiched in the width direction by the photoelectric sensor 32 and detected without contact, the hand 14 is moved forward by a certain amount, thereby moving the workpiece 3 forward. Synchronize with the line speed.
In this configuration, when the hand 14 is inserted or removed, the sensor arm 34 is swung upward to avoid interference with the vehicle body interference part 2b.

  Note that the line synchronization of the workpiece 3 (S9 described above) is not limited to this configuration. For example, the line speed may be directly measured, or the line speed information may be acquired from the host system. In addition, a sensor other than the above configuration (for example, a limit switch, a photoelectric sensor, an electrostatic sensor, or the like) may be used.

  According to the apparatus and method of the present invention described above, the robot control device 20 has an “automatic mode” for automatically controlling the robot 16 and a “cooperative mode” for manually controlling the robot 16 by the on-hand operation panel 18. Therefore, the robot 16 is switched to the collaborative mode only when work requiring the judgment and experience of the person 6 and the other work is executed in the automatic mode. Therefore, the robot 16 automatically performs the simple work in the automatic mode, as in the final assembly. The work that is difficult to position can be performed by manually controlling the robot while the person 6 judges in the collaborative mode.

  In addition, since the on-hand operation panel 18 for operating the operation of the robot 16 in the cooperative mode is provided in the vicinity of the work gripping device (center portion) of the hand 14, the person 6 (worker) can work on the work object 2 (for example, Since it is possible to work while directly observing the workpiece 3 in the vicinity of the workpiece, the visibility at the time of assembling the workpiece is good, and it is possible to work while ensuring the visibility almost equivalent to the conventional one. .

  Similarly, the person 6 (worker) gets into the work object 2 (for example, inside the car body) and works while directly observing the work 3 in the vicinity of the work. The work can be checked with human eyes (correctness of product type, appearance, gripping status, etc.).

  Further, in both the automatic mode and the cooperative mode, the workpiece 3 is moved at the same speed as the assembly line 1 when there is no manual control input. Therefore, the robot is operated regardless of the state of the enable switch when operating the on-hand operation panel 18. Since 16 follows the line speed, the robot 16 does not interfere with the work object 2 until the person 6 (worker) presses the enable switch, and also follows the line speed while the worker is operating. Without worrying about this, the work and the work object that the robot grips relatively can be operated in a stopped state, so that workability can be improved.

  In addition, this invention is not limited to embodiment mentioned above, Of course, a various change can be added in the range which does not deviate from the summary of this invention.

1 assembly line, 1a safety area,
2 Work object (car body),
2a opening (door part of vehicle body), 2b vehicle body interference part,
3 work (instrument panel),
4 Robot area safety fence, 4a Robot area,
5 people area safety fence, 6 people (workers),
10 Hand guide device,
12 Work gripping device (end effector),
14 hands,
16 robots (articulated robots),
18 On-hand control panel,
18a enable switch,
18b One-hand operation input device,
18c indicator lamp, 18d pushbutton switch,
20 robot controller,
22 external operation panel, 24 status display device,
26 line shut-off device,
27 Robot area blocking device,
28 Aperture detection sensor,
30 interference prevention device, 32 photoelectric sensor,
34 Sensor arm

Claims (7)

A hand guide device for assembling a work on a work object moving on an assembly line,
A workpiece gripping device for gripping a workpiece, an elongated hand having the workpiece gripping device, a robot that cantilever-supports a distal end portion of the hand and moves the distal end portion within a predetermined robot area, and gripping the workpiece of the hand An on-hand operation panel provided near the apparatus for operating the operation of the robot, and a robot control device for controlling the robot,
The robot control device has an automatic mode for automatically controlling the robot and a cooperative mode for manually controlling the robot by an on-hand operation panel.
A hand guide device that switches to a collaborative mode only during work that requires human judgment and experience, and performs other work in an automatic mode. An external operation panel that is provided outside the assembly line and the robot area and outputs a control signal to the robot; and a state display device that displays an operation state of the robot.
In the automatic mode, a state that can be switched to the collaborative mode by the status display device is displayed as a collaborative work possible situation,
Switch to collaborative mode with the external operation panel,
The hand guide device according to claim 1, wherein the robot is manually controlled by an on-hand operation panel in a cooperative mode and a work is assembled to a work target, and then the automatic operation mode is switched by the external operation panel.   2. The apparatus according to claim 1, further comprising: a line shut-off device that shuts off a person from entering the assembly line until a status indicating that collaborative work is possible is displayed by the status display device in the automatic mode. Hand guide device. The on-hand operation panel includes an enable switch that occupies one hand to ensure safety, a one-hand operation input device that can input a translation input of three orthogonal axes and a rotation input around the three axes by one-hand operation,
The hand guide device according to claim 1, wherein the robot can be manually controlled by operating the enable switch and the one-hand operation input device with both hands in the cooperative mode. A workpiece gripping device for gripping a workpiece, an elongated hand having the workpiece gripping device, a robot that cantilever-supports a distal end portion of the hand and moves the distal end portion within a predetermined robot area, and gripping the workpiece of the hand An on-hand operation panel for operating a robot provided in the vicinity of the device, and a control method for a hand guide device for assembling a work on a work object moving on an assembly line,
It has an automatic mode for automatically controlling the robot and a collaborative mode for manually controlling the robot with an on-hand operation panel.
A control method for a hand guide device, characterized in that the mode is switched to the collaborative mode only during work requiring human judgment and experience, and the other work is executed in the automatic mode.   6. The method of controlling a hand guide device according to claim 5, wherein the workpiece is moved at the same speed as the assembly line when there is no manual control input in the automatic mode and the cooperative mode on the assembly line.   In the cooperative mode, the time required for the evacuation operation is constantly monitored, and when the time is shorter than a predetermined first threshold, it is determined as a yellow zone, and the time is shorter than a predetermined second threshold shorter than the first threshold. The method of controlling a hand guide device according to claim 5, wherein in each case, a red zone is determined and an alarm is transmitted.

Images