JP5733511B2 - Hand guide device and control method thereof - Google Patents

Description

  The present invention relates to a hand guide device for operating a hand on a work object moving on a line and a control method thereof.

In the present application, the “line” means a transfer line that continuously moves a work object, such as an assembly line, a picking line, or a processing line.
In addition, the “hand guide device” means (1) a device for assembling a work gripped by a robot to an object flowing through a line, (2) a device for picking a work flowing through the line, and (3) a flow through the line by hand guide operation. It refers to all devices that are used in a line, such as a device for processing a workpiece, and that operate a hand on a work object moving on the line.

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, a car body) moving on the line have been proposed. (For example, Patent Documents 1 to 5).

  Patent Document 1 uses an assisting device in assembling a long and heavy workpiece such as a front panel of an automobile, Patent Document 2 uses a mechanical manipulator, and Patent Document 3 The center rotation shaft is switched. In any of these methods, the device compensates the weight of the grasped object and the person performs the positioning.

  In Patent Documents 4 and 5, the robot follows the transfer device in the automatic operation of the robot. In these methods, the distance between the robot and the transfer device and the moving direction of the work target on the transfer device are calculated, and the trajectory of the robot is corrected in accordance with the feed speed of the transfer device.

Japanese Patent Application Laid-Open No. 2009-034754, “Power Assist Device and Control Method Therefor” Japanese Patent Application Laid-Open No. 2008-213119, “Cooperative Work Robot and its Control Method” JP 2010-264538 A, “Robot Control Device” JP-A-4-290104, “Industrial Robot Control Device” JP-A-8-39468, “Robot Control System”

  Based on the error of the installation surface of the transfer device that conveys the work object (for example, the car body of the car) and the transfer device itself, the line is distorted and the installation error between the transfer device and the work object to be transferred, etc. If there is, there were the following problems.

  Patent Documents 1 to 3 do not consider the case where a person operates a robot on a work target moving on a transfer device to assemble a workpiece. Therefore, it is necessary for the operator to manually correct the deviation of the relative posture between the work object on the transfer device and the workpiece gripped by the robot, or to provide the device with a passive mechanism that allows a large deviation. There was sex.

  Patent Documents 4 and 5 are techniques for allowing a robot to automatically follow a transfer device, and do not take into account a state in which the robot is moved by a human operation and the posture of the robot is arbitrarily changed.

  Therefore, when a person operates a robot on a work object moving on a line to assemble a work, in the conventional technique, the worker performs a translation operation, alignment between the work and the work object, and work. The work assembly work must be performed while adjusting the relative posture of the work with respect to the object, and there is a problem that the work is difficult.

  The present invention has been developed to solve the above-described problems. That is, the object of the present invention is to eliminate the need for adjusting the relative posture of the work with respect to the work object moving on the line, and by performing only the translation operation by manipulating the robot. It is an object of the present invention to provide a hand guide device capable of aligning a workpiece with respect to the workpiece and assembling the workpiece on a work target and a control method thereof.

According to the present invention, a hand guide device for operating a hand on a work object moving on a line,
A hand for gripping the workpiece, a robot capable of moving the hand within a robot area, a hand guide operation panel for operating the robot, and a robot controller for controlling the robot,
The robot control device includes a hand guide device having a line calibration function for automatically correcting the posture of the hand or the posture and position according to the posture of the line.

Further, according to the present invention, a work object that moves on a line includes a hand that grips a workpiece, a robot that can move the hand within a robot area, and a hand guide operation panel that operates the operation of the robot. A control method of a hand guide device for operating a hand,
(A) Preliminarily measure and store the amount of distortion of the line;
(B) A control method for a hand guide device, characterized in that the posture of the hand or the posture and position is corrected in real time in accordance with the amount of distortion of the line.

  According to the above-described apparatus and method of the present invention, the posture of the hand holding the workpiece, or the posture and position is corrected in real time in accordance with the measured amount of line distortion. It is possible to eliminate the relative posture of the workpiece with respect to or the deviation of the posture and position.

  Therefore, it is possible to eliminate the need for adjustment of the relative posture of the work with respect to the work object moving on the line, or the posture and position, and the person can operate the robot to perform only the translation operation. The workpiece can be aligned with respect to.

Further, since the operator can perform only the translation operation and concentrate on the alignment, the work becomes easy and the work efficiency and work speed can be increased.
Furthermore, in assembly work or the like, it is possible to reduce the risk of galling between the work and the work object due to the relative posture of the work with respect to the work object or the displacement of the posture and position.

It is a top view which shows embodiment of the hand guide apparatus by this invention. It is a control flowchart of the hand guide apparatus of FIG. It is a schematic diagram of the line which has distortion. It is a logic diagram of the correction | amendment in cooperation mode. FIG. 5 is a schematic diagram of line distortion and hand correction corresponding to FIG. 4. It is another schematic diagram of line distortion and hand correction. It is a schematic diagram in the case of performing position correction in addition to correction of the posture of the hand.

  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 an embodiment of a hand guide device according to the present invention.
In this embodiment, the hand guide device 10 is a hand guide device for assembling the work 3 to the work object 2 moving on the line 1.

Line 1 is a line for assembling a work 3 (a module such as an instrument panel in this example) to a work object 2 (in this example, a car body), and the work object 2 is to the left (with a predetermined speed) In the figure) it is designed to move continuously. The predetermined speed may be constant or may vary.
The line 1 includes a transport device 1a that transports the work object 2 along a predetermined trajectory. The predetermined trajectory is a preset trajectory.
The conveyor device 1a may be a belt conveyor, a roller conveyor, a slat conveyor, a suspended chain conveyor, or the like as long as it can convey the work object 2 while maintaining its posture.

  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 for partitioning a robot area 4a in which a robot hand mounting portion (a hand end portion to be described later) moves.

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

  In this example, 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 hand guide operation panel 18 protrudes from the work object 2 to the opposite side of the robot 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 in the robot area 4a. The robot area 4a partially overlaps with the transfer device 1a in order to assemble the workpiece 3 on the work target 2.
The robot 16 is not limited to an articulated robot, and may be another known robot.

In this example, the hand guide operation panel 18 is provided at the distal end portion (the lower end portion in FIG. 1) of the hand 14, and a person 6 (for example, a worker) is projected from the work target 2 to the opposite side of the robot by the person 6 (for example, a worker). 18 is operated to operate the robot 16.
The hand guide operation panel 18 is not limited to this example, and may be an operation panel for operating the robot 16 by radio or wire.

The robot control device 20 controls the robot 16.
In this example, 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 hand guide operation panel 18.
In the automatic mode, the robot 16 is automatically controlled in accordance with a preset sequence or program without the operation of the person 6 (worker).
In the collaborative mode, the person 6 (worker) operates the hand guide operation panel 18 to operate the robot 16.
Further, the hand guide device 10 (1) determines the types of the work 3 and the work object 2 in the multi-mixed line, and if it is necessary to change the assembly method accordingly, (2) Switch to the collaborative mode only when work that requires human judgment and experience, such as when delicate position adjustments that are difficult with automatic operation are not necessary, or (3) when it is necessary to confirm correct assembly. Work is performed in automatic mode.

In this example, the hand guide operation panel 18 includes an unillustrated enable switch, one-hand operation input device, an indicator lamp, and a push button switch.
The enable switch occupies one hand in order to ensure safety, and is turned on by grasping it.

  The one-hand operation input device is configured to be able to input three-axis orthogonal translation input by one-hand operation. Further, the one-hand operation device may detect a translation / rotation input with a force sensor.

In the cooperative mode, the robot 16 can be manually controlled by operating the enable switch and the one-hand operation input device with both hands.
The number of axes of the one-hand operation input device is not limited to the orthogonal three-axis translation input, and may be configured such that the number of axes such as rotation input around the three orthogonal axes is increased 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 displays various states of the hand guide device 10, and the push button switch outputs various signals (for example, an emergency stop signal).

  The hand guide operation panel 18 of the present invention is not limited to this example, and may have other configurations as long as the translation (movement in the three orthogonal axes directions) of the hand 14 that holds the workpiece 3 can be controlled.

In FIG. 1, the hand guide device 10 of the present invention further includes an external operation panel 22.
The external operation panel 22 is provided outside the human area safety fence 5 and includes a work start switch, a work end switch, a mode change switch, an emergency stop switch, and the like, and each control signal is sent to the robot 16 (that is, the robot controller 20). Is output.

  FIG. 2 is a control flow diagram of the hand guide device of FIG. 1 described above, and includes steps (steps) S1 to S16.

  In this control, line information is first acquired (S1), and the automatic mode is displayed (S2).

In FIG. 2, the robot 16 is automatically controlled in the first half automatic mode.
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 object 2 is detected by an opening detection sensor (not shown). 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), and the work 3 is synchronized with the line speed (S9). The display device 23 displays the status of possible collaborative work (S10).

  The hand 14 has a length that the hand guide operation panel 18 protrudes from the work object 2 to the opposite side of the robot when the work 3 is assembled to the work object 2. In the state approaching the position (S8), the hand guide operation panel 18 is in a state of protruding from the work object 2 to the opposite side of the robot.

When the collaborative work is possible, the person 6 (for example, a worker) retreats outside the line 1 (the transport device 1a) (lower side in the drawing) until the external operation panel 22 is changed to the collaborative mode. doing.
When the mode is changed to the cooperation mode, the person 6 can enter the line 1 (the transfer device 1a) and can operate the hand guide operation panel 18 protruding from the work object 2.
Note that the workpiece 3 is synchronized with the line speed by automatic control by the robot 16 until the person starts operating the hand guide operation panel 18 (S9). That is, on the line, in the automatic mode and the cooperative mode, the workpiece 3 is moved at the same speed as the line 1 when there is no manual control input.
In the cooperative mode, the line synchronization may not be performed while being manually controlled by the operator.

  In the collaborative mode, when the person 6 turns on the work start switch of the external operation panel 22 (S11) and the collaborative mode is displayed on the state display device 23 (S12), the user enters the line 1 and starts from the work object 2. By operating the hand guide operation panel 18 protruding to the opposite side of the robot, a collaborative work (assembling work) for assembling the work 3 to the work object 2 is carried out (S13).

  Further, in the present invention, even during manual control, the workpiece 3 is operated by receiving a manual control input while being synchronized with the line speed by the robot 16.

The collaborative work (assembling work) in S12 is completed, the person 6 retreats to the outside (lower side in the drawing) of the line 1 (conveying device 1a), and the work completion switch of the external operation panel 22 is turned on to complete the work. When the signal (S14) is output, the robot controller 20 receives the work completion signal, the cooperation mode ends, the automatic mode is displayed (S15), and the second half automatic mode is switched.
Before the work completion switch on the external operation panel 22 is turned on, a person may operate to release the workpiece 3 (S16 described later), and the robot may be retracted slightly.

In the second half automatic mode, the robot 16 is automatically controlled. In the second half automatic mode, the robot 16 is automatically controlled to release the work 3 (S16), and the hand 14 is detached from the opening 2a (the door of the vehicle body) by the robot controller 20 (S17).
Next, the robot 16 is automatically controlled to return to the initial position (standby position) of the robot.

As described above, the control of the hand guide device of FIG. 1 has an automatic mode for automatically controlling the robot and a collaborative mode for manually controlling the robot with the hand guide operation panel, and requires human judgment and experience. The mode is switched to the collaborative mode only during work, and other work is executed in the automatic mode.
Note that the present invention is not limited to the control shown in FIG. 2 and may be other control.

The robot control device 20 of the present invention has a line calibration function that automatically corrects the posture of the hand 14 in accordance with the posture of the line 1 (conveyance device 1a).
This line calibration function has a distortion measurement function for measuring the distortion amount of the line 1 (conveying device 1a) and a correction function for correcting the posture of the hand 14 in real time according to the measured distortion amount.
Note that the distortion measurement may be performed using another device, and this function may be omitted.
Further, the correction function is not limited to posture correction, and may include posture and position correction. Hereinafter, correction of only the posture will be described.

FIG. 3 is a schematic diagram of a line having distortion.
In the present invention, distortion refers to a shift in the position and orientation of line 1 (conveying device 1a) based on errors in the installation surface of the conveying device and the conveying device itself with respect to the planned position and orientation of line 1 (conveying device 1a). Means.
Therefore, the distortion amount of the line 1 means the position error (x, y, z) in the orthogonal three-axis directions at each position of the conveying device within the operation range of the hand guide device 10 and the rotation error (a, around the three orthogonal axes). b, c). Hereinafter, the distortion amount D is displayed as D = (x, y, z, a, b, c).
Here, a is the amount of rotation about the x axis, b is the amount of rotation about the y axis, and c is the amount of rotation about the z axis.

  The distortion measurement function means a function for measuring the distortion amount of the transport device. The line distortion measurement need not be incorporated in the robot control device, and another external device may be used. For example, the distortion of the line can be measured with a laser tracker or the like, and the measurement result can be recorded in the robot controller.

The measurement of the amount of distortion of the line is to acquire postures at the positions at all positions on the line trajectory as seen from the reference coordinate system of the robot.
For example, deviations (distortions) from a certain reference coordinate system (planned position and orientation of the assembly line 1) are acquired for all positions on the line trajectory.
Further, for example, alignment is performed on a specific plane on the line trajectory, the position and orientation are measured, and the line coordinate system is set. In the line coordinate system, the line trajectory may be divided into a plurality of areas, and a line coordinate system may be set for each divided area.

As a method of measuring the deviation from the planned position of the line for all points on the line trajectory, run a measurement carriage on the line 1 separately from the hand guide device, and obtain continuous posture data. There is a method of measuring and creating a data table.
The posture of the robot is corrected by reflecting the value of the data table on the posture of the hand of the robot on the line trajectory.

There are the following methods for measuring distortion by setting a line coordinate system.
(1) The hand 14 is provided with three position correction pins whose tips are not located on the same line, and the tips of the three position correction pins are transported on the line at a plurality of positions on the line 1 (transport device 1a). Alternatively, the amount of distortion D at each position on the line is measured by contacting the work object 2.
(2) A work is assembled to the work object 2 on the line 1, and the position and posture of the hand 14 at that time are measured. The work target is moved by the transfer device, the position and posture of the hand are measured at a plurality of positions on the line, and the amount of distortion D at each position on the line is measured.
(3) Three points that are not collinear are set on a plane set at a plurality of locations on the transfer device of line 1 or on a specific plane on work object 2. The representative points (such as calibration pins) provided on the hand are aligned with the set three points, and the posture of the hand at that time is taught. From the taught posture, the line distortion amount D is measured.

The posture of the hand at a certain position on the line obtained in the above (1), (2), and (3) is treated as a distortion amount D of the continuous line 1 by interpolating with a mathematical formula, and this distortion is handled by the hand 14. The posture of the hand is corrected by projecting the posture.
In addition, the means (1) and (2) do not require a large movement of the robot when measuring the distortion of the line in an automobile assembly line, etc., where there are many surroundings and the range of movement of the robot is often limited. This has the effect of reducing the possibility of

  The measured distortion amount D = (x, y, z, a, b, c) is stored in the storage device of the robot control device 20 in the form of a data table or formulation corresponding to the position on the line.

The correction function is a function for correcting the posture of the hand 14 in real time according to the distortion amount D measured by the distortion measurement function.
As the correction function, (1) a method of correcting the posture with reference to the hand, and (2) a method of correcting with reference to the work object 2 on the line can be considered.

The correction function (1) operates as follows.
(1) The position of the hand 14 in the traveling direction on the line is acquired. The position of the hand 14 is, for example, the coordinate in the traveling direction (for example, the y coordinate on the y axis) of the representative point of the hand 14 (the tip of the robot).
(2) The correction amount E of the hand 14 corresponding to the position of the hand 14 is calculated.
(3) The calculated correction amount E is added to the next target trajectory of the hand 14 to correct the trajectory.
(4) Repeat (1) to (3) above.

The correction amount E of the hand 14 described above is obtained from the measured distortion amount D.
In this case, when a plurality of positions where the amount of distortion D is measured and the position of the hand 14 are different, it is preferable to obtain the correction amount E for the position of the hand 14 by intermediate interpolation.

Since the automatic mode and the cooperation mode are continuously performed, it is desirable that the above-described correction is effective while the hand is inserted on the line (from S7 to S16).
Further, not only the above-described posture correction, but both the position and the posture may be corrected.

FIG. 4 is a logic diagram of correction in the cooperative mode.
In this figure, 31 is an input processing unit, 32 is a coordinate conversion unit, 33 is an axis control unit, 34 is an adder, 35 is a trajectory correction unit, and 36 is a correction amount calculation unit.

The correction in the cooperative mode is performed as follows.
An operation input I1 (force input) to the hand guide operation panel 18 is converted into a velocity V1 of the hand 14 in the coordinate system on the hand by the input processing unit 31, and then the coordinate conversion unit 32 converts the input 14 of the hand 14 in the coordinate system of the line 1 The speed is converted into the speed V2, and then the speed V2 is integrated by the axis control unit 33 and converted into the correction amount DP1 of the trajectory of the hand.
Here, the hand 14 means a representative point of the hand 14 (for example, the tip of the robot), the speed of the hand 14 is the speed of the representative point, and the correction amount of the trajectory of the hand 14 is the position of activation of the representative point and This means the amount of posture correction.

Next, the correction amount calculator 36 calculates a correction amount E for the current posture P of the hand 14.
Next, the trajectory correction amount DP1 and the correction amount E are added by the adder 34 to obtain the trajectory correction amount DP2, and a new posture P of the hand 14 is generated by the trajectory correction unit 35 to operate the robot. Give a directive.

  The correction logic described above is not limited to posture correction as described above, and may be used for both position and posture correction. FIG. 4 shows a case where both the position and orientation are corrected in the correction of the hand.

FIG. 5 is a schematic diagram of line distortion and hand correction corresponding to FIG.
In this figure, the left-pointing arrow is the y-coordinate on the y-axis viewed from the line coordinate system, the upper curve is the distortion amount D of the transport device corresponding to the position y, and the lower curve is the trajectory of the hand 14 corresponding to the position y. Is schematically shown. Further, the orthogonal arrows on the upper curve schematically show the posture, that is, the rotation error (a, b, c) in the distortion amount D.
As shown in FIG. 5, the correction in the cooperation mode shown in FIG. 4 is performed on the trajectory of the hand 14 according to the posture corresponding to the position y (y1, y2, y3, y4, y5) of the line coordinate system. Correct posture in real time.

  Accordingly, the posture of the hand 14 corresponding to the position y in the line coordinate system is corrected in real time according to the distortion amount D of the line 1 corresponding to the position y in the line coordinate system. Deviation (relative deviation of the posture of the workpiece 3 relative to the work object 2) can be eliminated.

FIG. 6 is a schematic diagram of the hand correction method (2) described above.
In this figure, the upper curve schematically shows the distortion amount D of the line 1 corresponding to each time t1, t2, t3, and the lower curve schematically shows the trajectory of the hand 14 corresponding to each time t1, t2, t3. . Moreover, the orthogonal arrows on the upper curve schematically show the posture of the work object 2 on the line.
In this example, as shown in FIG. 6, the correction in the cooperative mode is the same as the posture of the hand 14 on the track at the same time according to the posture of the work object 2 on the line at each time t1, t2, t3. To correct.

  Accordingly, since the posture of the hand 14 is corrected to be the same in real time in accordance with the posture of the work object 2 at each time t1, t2, t3, the posture of the hand 14 is always matched to the posture of the work object 2 at that time. It is possible to eliminate the displacement of the posture due to the amount of distortion of the line 1 (the displacement of the relative posture of the workpiece 3 with respect to the work object 2).

  As described above, according to the apparatus and method of the present invention, the posture of the hand 14 that grips the workpiece 3 is corrected in real time according to the measured distortion amount of the line 1, so that it is difficult to predict the line 1 at the time of design. It is possible to eliminate the displacement of the posture (relative displacement of the workpiece 3 relative to the work object 2) due to the amount of distortion.

  The general assembling part and the positioning part are designed with a gap or the like so that the assembling and positioning can be performed even if various errors accumulate to some extent. Therefore, by eliminating the posture deviation due to the amount of distortion of the line, the margin for assembling and positioning can be expanded, and the relative posture of the workpiece 3 with respect to the work object 2 moving on the line can be adjusted. When the person 6 operates the robot 16 and performs only the translation operation of the line 1, the work 3 is aligned with the work object 2, and the work 3 is assembled to the work object 2. Can be attached.

In addition, the operator is not distracted by the relative displacement between the work object and the work caused by the distortion of the line, and can concentrate on the alignment only by the translation operation, so that the work becomes easy and the work efficiency can be improved. .
Furthermore, it is possible to reduce the risk of galling between the work and the work object due to a shift in the relative posture of the work with respect to the work object.

FIG. 7 shows a schematic diagram when position correction is performed in addition to the correction of the hand posture.
FIG. 7A shows the x-direction error of the trajectory of the work object 2 in an enlarged manner.

As shown in FIG. 7B, when only the posture correction is performed, the operator does not need to adjust the relative posture between the hand 14 and the work object 2 and can concentrate on the alignment.
However, in this case, the operator must perform an alignment operation including an error between the line coordinate system and the trajectory of the work object 2 on the transfer device.

When the posture and position are corrected as shown in FIG. 7C, the operator can follow the trajectory of the work object 2 only by operating in the y direction of the line coordinate system, and the amount of alignment work is reduced.
That is, by measuring the error from the trajectory that transported the work object 2 on the transport device in advance and adding the error to the operation amount of the hand 14 as a correction amount, the operation amount required for alignment is reduced. This has the effect of shortening the working time.

  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 line, 1a conveying device,
2 Work object (car body),
2a opening (body door),
3 work (instrument panel),
4 Robot area safety fence, 5 person area safety fence,
6 people (workers),
10 Hand guide device,
12 Work gripping device,
14 hands,
16 robots (articulated robots),
18 Hand guide operation panel,
20 robot controller,
22 External control panel,
23 Status display device

Claims (9)

A hand guide device for operating a hand on a work object moving on a line,
A hand operated on a work object moving on a line, a robot capable of moving the hand within a robot area, a hand guide operation panel for operating the robot, and a robot control device for controlling the robot And comprising
The robot controller, have a line calibration function automatically corrected in accordance with the posture of the hand in the position of the line,
The line calibration function has a correction function for automatically correcting the posture of the hand according to the posture of the line,
The correction function corrects the posture of the hand in the next target trajectory in real time according to the posture of the line when the hand is operated by the hand guide operation panel with respect to a work object moving on the line. A hand guide device characterized by repeating the operation. When the hand is operated by the hand guide operation panel with respect to a work object moving on a line, the correction function is configured to determine a next target of the hand according to an amount of distortion of the line including a posture of the line. The hand guide device according to claim 1, wherein the posture or the posture and the position in the orbit are corrected in real time . The hand has three position correction pins whose tips are not located on the same line,
The distortion measurement function measures the amount of distortion at each position on the line by bringing the tips of the three position correction pins into contact with the conveying device or work object on the line at a plurality of positions on the line. The hand guide device according to claim 2 . The distortion measurement function is characterized in that a work is assembled to a work object at a plurality of positions on the line, and the amount of distortion at each position on the line is measured from the position and posture of the hand at that time. The hand guide apparatus according to claim 2 . It said line calibration function, hand-guided device according to claim 2, 3 or 4 wherein has a distortion measurement function of measuring a distortion amount of the line, it is characterized. A hand operated on a work object moving on a line, a robot capable of moving the hand within a robot area, a hand guide operation panel for operating the robot, and a robot control device for controlling the robot A control method of a hand guide device for operating a hand on a work object moving on a line,
The robot control device has a line calibration function that automatically corrects the posture of the hand according to the posture of the line,
The line calibration function has a correction function for automatically correcting the posture of the hand according to the posture of the line,
(A) Measuring and storing the posture of the line in advance,
(B) by the correction function, when the hand to the working object moving on a line is operated by the hand-guided control panel, in accordance with the attitude of the line, the orientation at the next target trajectory of the hand A method of controlling a hand guide device, characterized by repeating correction in real time . In (B), according to the amount of distortion of the line including the posture of the line, when the hand is operated by the hand guide operation panel with respect to the work object moving on the line by the correction function, The control method of the hand guide apparatus according to claim 6, wherein the posture or the posture and the position in the next target trajectory of the hand is repeatedly corrected in real time. The hand has three position correction pins whose tips are not located on the same line,
In (A), the amount of distortion at each position on the line is measured by bringing the tips of the three position correction pins into contact with the conveying device or work object on the line at a plurality of positions on the line. The method for controlling a hand guide device according to claim 7. In (A), a work is assembled to a work object at a plurality of positions on the line, and the amount of distortion at each position on the line is measured from the position and posture of the hand at that time. The control method of the hand guide apparatus of Claim 7.