JP6647563B2 - Work support system - Google Patents

Description

  The present invention relates to a work support system for supporting a worker in a production line in a factory, in which a worker attaches a part to a product conveyed on the production line.

  In the door mounting process in a car production line, a high level of skill is required in positioning the door. When the worker attaches the door, it is necessary to adjust the plurality of degrees of freedom, such as the posture and position of the door, and take care not to make contact with the vehicle body. As described above, there are many operations to be performed at once, and it is necessary to perform the operations quickly, so that the difficulty of the operations is high. In particular, when attaching the front door, it is necessary to avoid contact with the design surface (fender) of the vehicle body, and the gap is only about 2.3 cm. In the current process, in order to perform the operation without causing contact, for example, the operation is performed in the procedure as shown in FIG. 8 using a claw and a jig.

  First, the worker 101 takes out the door 101 from the door supply device in advance and mounts the in-vehicle parts (first step). Next, the jig 102 is attached to the vehicle body 103 (second step). Subsequently, the door 101 taken out in advance is brought close to the vehicle body 103 (third step), and the claws 105 attached to the door mounting device 104 are fixed to the jig 102 attached to the vehicle body 103, so that the door 101 (4th step). Finally, the door 101 is moved closer to the vehicle body 103 by sliding, and the door 101 is attached (fifth step). By using the claw 105 and the jig 102 in this manner, the degree of freedom of the movement of the door 101 adjusted by the worker P is reduced, and a reduction in the care work is realized.

Japanese Patent Application No. 2000-84881 JP 2011-156641 A

  However, there is a problem in that a jig used for mounting the door needs to be manufactured for each vehicle type. In addition, there has been a problem that accompanying work such as taking out the jig from the shelf, clearing, moving, attaching to the car body, and removing the jig occurs for each car body, resulting in poor work efficiency.

  The present invention has been made based on such a problem, and provides a work support system that can improve work efficiency and can easily perform component mounting work even if a user is not a skilled person. With the goal.

  Patent Document 1 discloses an appropriate repulsive force applying type work assist device including first to eighth movable bodies supporting a heavy object, respective actuators for moving the movable bodies, and a controller for adjusting an output of the actuator. Has been described. This controller calculates the sum of the force required to make a gravity object perform the actual motion of the heavy object, the force proportional to the acceleration of the heavy object, the force proportional to the speed, and the force proportional to the position. Is adjusted so as to be output from the actuator, and a coefficient proportional to acceleration, a coefficient proportional to velocity, and a coefficient proportional to position are switched during a series of transport operations.

  According to Patent Literature 1, an appropriate reaction force can be given to an operator, and a high-quality operation can be performed. However, Patent Document 1 does not limit the moving range of the movable body when moving a heavy object, and has a specific configuration different from the present invention. For this reason, in Patent Literature 1, a heavy object moves freely in the attaching operation, and it is necessary to master the operation.

  Patent Document 2 discloses a system in which a robot and one worker cooperate with each other on a production line in a factory. The system is mounted on a worker's hand, and a work operation by the hand is measured over time. Motion capture that transmits the operation information that is the measurement result as three-dimensional coordinate data, and measures the load applied to the part that is attached to the worker's hand over time and transmits the pressure detection data that is the measurement result. A pressure sensor, and a control unit that controls the industrial robot 4 based on the three-dimensional coordinate data and the pressure detection data. The control unit causes the robot to follow the three-dimensional coordinate data obtained from the motion capture, When it is determined that the hand has reached the standard working position, the worker presses the part with his / her hand to obtain a pressure value corresponding to the value of the pressure detection data transmitted from the pressure sensor. Having a holding portion pressing function to press the parts holder of the robot is described.

  According to Patent Literature 2, it is possible for one operator to efficiently and accurately perform a component mounting operation for mounting a product without relying on the intuition or bones of the operator. However, Patent Document 2 makes the robot follow the three-dimensional coordinate data, and has a specific configuration different from that of the present invention in which the moving range of the robot is limited when components are moved. Therefore, in Patent Literature 2, a motion capture is required, which results in a large system.

  The work support system of the present invention, on a production line in a factory, supports a part mounting operation in which a worker mounts a part on a product conveyed on the production line, and an industrial robot that holds the part, A control unit for controlling the industrial robot, wherein the control unit includes an autonomous operation mode control unit for controlling an autonomous operation mode in which the industrial robot operates autonomously, and a cooperative operation for an operator to operate the industrial robot. A cooperative operation mode control unit that controls the mode.When the cooperative operation mode control unit holds the part by the industrial robot and the worker holds the part and moves the part to the mounting position for the product, By restricting the movement range of the industrial robot, the component moves along the defined virtual guide, and the component is positioned at a predetermined angle with respect to the product at the mounting position. Those having a movement limiting function of controlling the so that.

  According to the work support system of the present invention, in the cooperative operation mode, when the worker holds the part and moves the part to the product mounting position while holding the part by the industrial robot, the movement of the industrial robot By limiting the range, the parts move along the prescribed virtual guide, and the parts are controlled so as to be at a predetermined angle with respect to the product at the mounting position, so that it is not necessary to learn the work Anyone can easily attach components. In addition, since a jig or the like for assisting the mounting operation is not required, accompanying operations such as removal, clearing, moving, mounting on the vehicle body, and removal of the jig are not required, and the working efficiency can be improved. Further, since the user moves along the virtual guide, a care work is reduced, and occurrence of a work error can be suppressed. In addition, since there is no need to switch settings for each vehicle type, work can be facilitated.

  Particularly, in the cooperative operation mode, when the worker receives the power assist of the industrial robot and moves the part to the mounting position with respect to the product, if the distance between the part and the product is longer than a predetermined distance, the virtual mass is reduced. The virtual mass is set to be smaller than the predetermined mass, the virtual viscosity is set to be larger than the predetermined viscosity, and if the distance between the component and the product is shorter than the predetermined distance, the virtual mass is set to be larger than the predetermined mass. At the same time, if the virtual viscosity coefficient is set to be smaller than the predetermined viscosity coefficient, when the part is far from the product, it is lighter and easier to move, and the repulsion force is increased to suppress excessive speed, and When the vehicle approaches the product, it can be made heavy to suppress unexpected collisions, and the repulsion can be reduced to suppress a change in operating force due to speed. Therefore, when the part is far from the product, the part can be moved quickly, and when the part is near, the assist can be performed so that fine adjustment can be easily performed, so that operability is improved and more stable work can be performed.

  When the distance between the component and the product is between a first reference distance farther than the predetermined distance and a second reference distance closer than the predetermined distance, at least the first reference distance side and the second If the virtual mass and the virtual viscosity coefficient are changed in a curve on the side of the reference distance, a sudden change in the operational feeling can be suppressed, and the operation can be performed smoothly.

1 is a diagram illustrating an overall configuration of a work support system according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a configuration of a control unit of the work support system illustrated in FIG. 1. It is a figure showing the virtual mass damper system at the time of calculating a power assist amount. It is a figure showing change of virtual mass according to the distance of a part and a product. It is a figure showing change of a virtual viscosity coefficient according to the distance of a part and a product. It is a figure showing the procedure which performs the parts installation work by the work support system concerning one embodiment of the present invention. FIG. 7 is a diagram illustrating a locus of a grip portion in Example 1, Comparative Example 1, and Comparative Example 2. It is a figure showing the procedure of the conventional component mounting work.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows the overall configuration of a work support system 1 according to an embodiment of the present invention. The work support system 1 supports a worker in a production line in a factory, in which a worker attaches a part W2 to a product W1 conveyed on the production line, and an industrial robot 10 that holds the part W2. And a control unit (not shown in FIG. 1) for controlling the industrial robot 10. In the present embodiment, a case where the product W1 is a vehicle body and the component W2 is a door will be specifically described.

  The industrial robot 10 includes, for example, a traveling / traversing unit 11 for moving the component W2 in a plane, an arm unit 12 disposed on the traveling / traversing unit 11, and an arm unit 12 disposed on the arm unit 12. And a gripping portion 13 for gripping. The traveling / traverse section 11 includes, for example, a traveling rail 11A extending in parallel to the production line, a traveling rail 11B extending in a direction perpendicular to the traveling rail 11A, and a traveling rail 11B. It has a base 11C that moves in a plane using the rail 11A and the traversing rail 11B.

  The traveling rail 11A is, for example, fixedly disposed on a beam at the upper part in the factory, and the traversing rail 11B is disposed, for example, on the traveling rail 11A so as to be slidable along the traveling rail 11A. The base 11C is slidably provided along the traversing rail 11B, for example, along the traversing rail 11B. Thus, the base 11C has two degrees of freedom and can move in a plane.

  The arm unit 12 is provided, for example, with respect to the base 11C. The arm unit 12 preferably has, for example, three rotation axes, and is capable of controlling and adjusting the position and posture of the grip unit 13. It is preferable to use, for example, a direct drive motor for driving the arm 12. It is preferable that the gripper 13 has, for example, four linear motion axes, and can control the position and orientation of the gripped component W2. For example, a force sensor is mounted on the gripping section 13, and by controlling the gripping section 13 based on the force information of the worker P, the mass of the component W2 can be compensated and the workability can be improved. It has become.

  It is preferable that the industrial robot 10 further includes a position sensor 14 that detects a position of the worker P or the like, for example.

  FIG. 2 illustrates a configuration of the control unit 20. The control unit 20 has, for example, a hardware configuration as a computer that can execute a program, and is configured to have various functions for controlling the industrial robot 10 by executing the program. The control unit 20 includes, for example, an independent operation mode control unit 21 that controls an autonomous operation mode in which the industrial robot 10 operates autonomously, and a cooperative operation mode that assists the worker P when operating the industrial robot 10. And a cooperative operation mode control unit 22 for controlling.

  The autonomous operation mode control unit 21 has, for example, an automatic removal function 21A that controls the industrial robot 10 to automatically remove the component W2 from a supply device (not shown) and transport the component W2 to a predetermined standby position.

  When the worker P holds the part W2 and moves the part W2 to the mounting position with respect to the product W1, the emphasis operation mode control unit 22 moves the industrial robot 10 while holding the part W2 by the industrial robot 10. By restricting the range, the component W2 moves along the defined virtual guide, and has a movement restricting function 22A that controls the component W2 to be at a predetermined angle with respect to the product W1 at the mounting position. . Specifically, for example, when the worker P moves the component W2 to the mounting position with respect to the product W1, the moving direction of the base 11C is controlled such that the component W2 moves along the prescribed virtual guide. Has become.

  Thus, the industrial robot 10 automatically takes out the component W2 and, when moving the component W2 to the mounting position of the product W1, holds the component W2 and responds to the operation of the operator P while holding the component W2. It is controlled to move W2 along the prescribed virtual guide. It is preferable that control is performed so as to switch from the independent operation mode to the cooperative operation mode, for example, when the worker P holds the part W2. The fact that the worker P has the component W2 is detected by, for example, a force sensor mounted on the grip portion 13, and the signal is sent to the control portion 20.

  The emphasis operation mode control unit 22 also controls the industrial robot 10 so that the worker P feels lighter than the actual mass of the part W2 when the worker P moves the part W2 to the mounting position for the product W1. It is preferable to have a variable power assist function 22B that changes the amount of power assist according to the positional relationship between the component W2 and the product W1 while assisting. The calculation of the power assist amount can be performed, for example, as follows.

For example, considering a virtual mass / damper system as shown in FIG.
In Equation 1, z is the generalized coordinates, M is the virtual mass of the gripper 13, D is the virtual viscosity coefficient of the gripper 13, and F is the operating force of the worker P measured from the force sensor attached to the gripper 13. It is.

Here, the following state equation is considered.

The solution of the state equation shown in Equation 2 is as follows.

This is discretized.
In Equation 4, ΔT is a sampling period.

The first order approximation is performed by holding the input u _(τ) in the 0th order.

Here, the state equation of the virtual mass-damper system shown in FIG. 5 is as follows.

When this is compared with Equation 2, A and B are as follows.

Therefore, by substituting equation 7 into equation 5, replacing x _k with v _k and u _k with F _k , the following equation is obtained, which is a control equation using virtual mass damper characteristics.
v _{k + 1} is the target speed, D is the virtual viscosity coefficient, M is the virtual mass, ΔT is the sampling period, v _k is the current speed, and F _k is the current operation force of the worker P. The virtual mass M and the virtual viscosity coefficient D are tuning parameters, and operability can be changed by adjusting them.

  The required operability is different between the operation of moving the component W2 quickly and far and the operation of performing fine positioning, and therefore it is preferable to change the tuning parameter according to the situation. Therefore, in the variable power assisting function 22B, for example, by changing the virtual mass M and the virtual viscosity coefficient D which are tuning parameters according to the distance between the component W2 and the product W1, the component W2 is quickly moved far away. And the operability required for the work to be fine-tuned.

  For example, when the distance between the component W2 and the product W1 is longer than a predetermined distance, the virtual mass M is set to be smaller than the predetermined mass, and the virtual viscosity coefficient D is set to be larger than the predetermined viscosity coefficient. When the distance between W2 and the product W1 is shorter than a predetermined distance, it is preferable to set the virtual mass M to be heavier than the predetermined mass and to set the virtual viscosity coefficient D to be smaller than the predetermined viscosity coefficient. When the component W2 is far from the product W1, the weight is reduced to facilitate movement, and the repulsion is increased to suppress excessive speed. When the component W2 approaches the product W1, the component W2 is heavy and suppresses unexpected collision. This is because, at the same time, it is possible to suppress the change in the operating force due to the speed by reducing the repulsive force.

Specifically, for example, as shown in FIGS. 4 and 5, when the distance between the component W2 and the product W1 is longer than a first reference distance L1 that is longer than a predetermined distance, the first When the distance between the reference distance L1 and the second reference distance L2, which is a distance shorter than the predetermined distance, and when the distance is shorter than the second reference distance L2, and when the distance is longer than the first reference distance L1, Sets the virtual mass M to a first reference mass M1 that is lighter than the predetermined mass, sets the virtual viscosity coefficient D to a first reference viscosity coefficient D1 that is larger than the predetermined viscosity coefficient, and If the distance is shorter than the distance L2, the virtual mass M is set to the second reference mass M2 heavier than the predetermined mass, and the virtual viscosity coefficient D is set to the second reference viscosity coefficient D2 smaller than the predetermined viscosity coefficient. And a first reference distance L1 and a second reference distance L In this case, the virtual mass M is continuously changed from the first reference mass M1 to the second reference mass M2, and the virtual viscosity D is changed from the first reference viscosity D1 to the second reference mass M1. It is preferable to continuously change up to the viscosity coefficient D2.

  Further, when the distance between the component W2 and the product W1 is between the first reference distance L1 and the second reference distance L2, for example, as shown in FIGS. 4 and 5, at least the first reference distance L1 And the second reference distance L2, the virtual mass M and the virtual viscosity coefficient D are preferably changed in a curved manner. Specifically, the fifth reference polynomial is used to interpolate between the first reference mass M1 and the second reference mass M2 and between the first reference viscosity coefficient D1 and the second reference viscosity coefficient D2. Preferably, the virtual mass M and the virtual viscosity coefficient D are changed. This is because a sudden change in the operational feeling can be suppressed by performing a smooth parameter change.

  This work support system 1 operates as follows. FIG. 6 illustrates a procedure for performing a component mounting operation of mounting the component W2 on the product W1 using the operation support system 1. First, for example, the industrial robot 10 receives an instruction from the self-sustained operation mode control unit 21 while the worker P attaches an in-vehicle component to a vehicle body that is a product W1 conveyed on a production line, The door, which is the component W2, is automatically removed from a supply device (not shown) and transported to a predetermined standby position on the virtual guide G (a removal process).

  Next, for example, when the worker P has the component W2 held by the industrial robot 10, the force sensor mounted on the gripper 13 senses it and switches from the independent operation mode to the cooperative operation mode, and The movement range of the industrial robot 10 is limited by the movement restriction function 22A of the operation mode control unit 22. Accordingly, when the worker P applies an operating force to bring the component W2 closer to the product W1 while the component W2 is held by the industrial robot 10, the gripper 13 moves the virtual guide controlled by the movement restriction function 22A. Along G, it moves toward the product W1 (moving step). Therefore, the worker P can move the component W2 as if moving along a rail that does not actually exist, and the component W2 approaches the product W1 while maintaining a predetermined angle.

In this movement step, for example, the power is assisted by the industrial robot 10, and the worker P can move the part W2 as if moving an object having a virtual mass M lighter than the actual part W2. At this time, the power assist amount is reduced, for example, by the power variable assist function 22B of the cooperative operation mode control unit 22 when the component W2 is far from the product W1, by making it lighter and easier to move, and by increasing the repulsive force to increase the speed. When the component W2 approaches the product W1 by controlling excessive ejection, the weight of the component W2 is controlled to prevent an unexpected collision, and the repulsion is reduced to suppress a change in the operation force due to the speed. Specifically, for example, the distance between the component W2 and the product W1 is calculated using the position sensor 14, the operating force of the worker P is detected by a force sensor mounted on the grip 13, and the virtual viscosity coefficient D The virtual mass M is adjusted, the target speed v _{k + 1} is obtained from Expression 8, and the gripper 13 is moved based on the target speed v _{k + 1} .

  When the component W2 is sufficiently close to the mounting position of the product W1, the operator P performs final fine adjustment and mounts the component W2 on the product W1 (mounting step). When the attachment is completed, the mode is switched from the cooperative operation mode to the independent operation mode, and the industrial robot 10 moves to the position where the component W2 is taken out.

  As described above, according to the present embodiment, when the worker P holds the part W2 and moves the part W2 to the mounting position for the product W1 while holding the part W2 by the industrial robot 10 in the cooperative operation mode. In addition, by restricting the moving range of the industrial robot 10, the component W2 is moved along the specified virtual guide, and the component W2 is controlled to be at a predetermined angle with respect to the product W1 at the mounting position. Accordingly, anyone can easily attach the component W2 without having to learn the work. In addition, since a jig or the like for assisting the mounting operation is not required, accompanying operations such as removal, clearing, moving, mounting on the vehicle body, and removal of the jig are not required, and the working efficiency can be improved. Further, since the user moves along the virtual guide, a care work is reduced, and occurrence of a work error can be suppressed. In addition, since there is no need to switch settings for each vehicle type, work can be facilitated.

  Particularly, in the cooperative operation mode, when the worker P moves the part W2 to the mounting position for the product W1 under the power assist of the industrial robot 10, and the distance between the part W2 and the product W1 is longer than a predetermined distance. When the virtual mass M is set to be smaller than the predetermined mass, the virtual viscosity coefficient D is set to be larger than the predetermined viscosity coefficient, and when the distance between the component W2 and the product W1 is shorter than the predetermined distance, If the virtual mass M is set to be heavier than the predetermined mass and the virtual viscosity coefficient D is set to be smaller than the predetermined viscosity, when the component W2 is far from the product W1, the component W2 is made lighter and easier to move, and rebounds. The force is increased to suppress excessive speed, and when the component W2 approaches the product W1, the weight is reduced to prevent unexpected collision, and the repulsive force is reduced to reduce the operating force due to speed. It is possible to suppress the reduction. Therefore, when the component W2 is far from the product W1, the component W2 can be moved quickly, and when the component W2 is near, the assist can be performed so that fine adjustment can be easily performed, so that operability is improved and more stable work can be performed.

  Further, when the distance between the component W2 and the product W1 is between the first reference distance L1 farther than the predetermined distance and the second reference distance L2 closer than the predetermined distance, at least the first reference distance L1 If the virtual mass M and the virtual viscosity coefficient D are changed in a curve on the side of the second reference distance L2, a sudden change in the operational feeling can be suppressed, and the operation can be performed smoothly. it can.

(Example 1)
Using the work support system 1 described in the above embodiment, a work of attaching a door as a component W2 to a vehicle body as a product W1 was performed. At that time, the movement restriction function 22A and the variable power assist function 22B were used in the cooperative operation mode.

(Comparative Example 1)
As a comparative example 1 to the first embodiment, in the cooperative operation mode, the worker P operates the gripping unit 13 by making the industrial robot 10 passive without using the movement restriction function 22A and the variable power assist function 22B. The mounting operation was performed in the same manner as in Example 1 except that the door as the component W2 was moved while adjusting all the degrees of freedom in the horizontal plane.

(Comparative Example 2)
As Comparative Example 2 with respect to Example 1, in the cooperative operation mode, the industrial robot 10 was attached to the claws and the vehicle body in a passive state without using the movement restriction function 22A and the variable power assist function 22B. The mounting operation was performed in the same manner as in Example 1 except that the jig was fixed and the door as the component W2 was slid and mounted using the jig as a guide.

(Evaluation)
For Example 1, Comparative Example 1, and Comparative Example 2, each of the mounting operations was performed 10 times, and for each, the operation time from when the operator P started operating the gripper 13 to when the tool was returned to the tool stand was reduced. At the same time, the door mounting angle was determined from the respective rotation angles of the three-axis motors of the arm unit 12. Tables 1 and 2 show the respective average values and standard deviations.

  As shown in Table 1, it was found that the working time was shorter in Example 1 and Comparative Example 2 than in Comparative Example 1. Since the dispersion of work time was also small, it was found that stable work was realized. Further, as shown in Table 2, the variance of the mounting angle was not significantly changed in Comparative Example 2 as compared with Comparative Example 1, whereas the variance of the mounting angle was small in Example 1 and was stable. It turned out that the attachment was realized. In Comparative Example 1, the design surface of the body as the product W1 and the door as the component W2 contacted three times, but in Example 1 and Comparative Example 2, there was no contact.

  FIG. 7 shows the trajectory of the gripper 13 in Example 1, Comparative Example 1, and Comparative Example 2. As shown in FIG. 7, different loci are drawn each time in Comparative Example 1 and Comparative Example 2, but the same loci are drawn in Example 1.

  In other words, if the movement range of the industrial robot 10 is limited by the movement restriction function 22A and the component W2 is controlled to move along the specified virtual guide, a stable mounting can be performed without depending on the operator. It turns out that the work can be done. In addition, it was found that caring work was reduced, which could greatly contribute to avoiding contact between the door and the vehicle body.

  As described above, the present invention has been described with reference to the embodiment. However, the present invention is not limited to the above embodiment, and can be variously modified. For example, in the above embodiment, the case where the product is a car body and the component is a door has been described, but the present invention is also applied to a case where another component is attached or a case where another component is attached to another product. be able to.

  Further, in the above embodiment, the traveling rail 11A is fixedly disposed, the traversing rail 11B is slidably disposed along the traveling rail 11A with respect to the traveling rail 11A, and the traversing rail 11B is disposed with respect to the traveling rail 11B. Although the case where the base 11C is slidably disposed along the traversing rail 11B has been described, other configurations may be used as long as the base 11C has two degrees of freedom and can move in a plane. For example, the traversing rail 11B may be slidable in the extending direction of the traveling rail 11A and the extending direction of the traversing rail 11B.

  Furthermore, in the above-described embodiment, each component is specifically described. However, not all components may be provided, and other components may be provided.

  DESCRIPTION OF SYMBOLS 1 ... Work support system, 10 ... Industrial robot, 11 ... Traveling / traversing part, 11A ... Traveling rail, 11B ... Traveling rail, 11C ... Base, 12 ... Arm part, 13 ... Grip part, 14 ... Position sensor, 20 ... Control unit, 21: autonomous operation mode control unit, 21A: automatic removal function, 22: cooperative operation mode control unit, 22A: movement restriction function, 22B: variable power assist function, W1: product, W2: parts, P: worker

Claims (2)

In a production line in a factory, a work support system that supports a part mounting operation in which an operator mounts a part on a product conveyed on the production line,
An industrial robot that holds parts,
And a control unit for controlling the industrial robot,
The control unit includes an autonomous operation mode control unit that controls an autonomous operation mode in which the industrial robot operates autonomously, and a cooperative operation mode control unit that controls a cooperative operation mode in which the worker operates the industrial robot. Has been controlled to switch from the autonomous operation mode to the cooperative operation mode when the worker has the component,
The cooperative operation mode control unit, while holding the part by the industrial robot, the worker holds the part, the worker applies an operating force such that the part approaches the product, the When moving the part to the mounting position for the product, by restricting the moving range of the industrial robot, the part moves along a defined virtual guide, and the part is attached to the product at the mounting position. A work support system having a movement restriction function of controlling a predetermined angle with respect to the work support system. The cooperative operation mode control unit, when the worker receives the power assist of the industrial robot and moves the part to the mounting position for the product, the distance between the part and the product is longer than a predetermined distance In the case, the virtual mass is set to be lighter than the predetermined mass, and the virtual viscosity coefficient is set to be larger than the predetermined viscosity coefficient, and when the distance between the component and the product is shorter than the predetermined distance, sets a virtual mass heavier than the predetermined weight, have a power variable-assist function to set a virtual viscosity coefficient smaller than the predetermined viscosity,
In the variable power assist function, when a distance between the component and the product is longer than a first reference distance that is a distance longer than the predetermined distance, a distance that is shorter than the first reference distance and the predetermined distance. Is divided into a case where the virtual mass is smaller than the second reference distance, and a case where the virtual mass is smaller than the second reference distance. The first reference mass is set, and the virtual viscosity is set to a first reference viscosity coefficient larger than the predetermined viscosity coefficient, and when the virtual mass is closer than the second reference distance, the virtual mass is set to the first reference mass. A second reference mass which is heavier than a predetermined mass, a virtual viscosity coefficient is set to a second reference viscosity coefficient smaller than the predetermined viscosity coefficient, and the first reference distance and the second reference viscosity are set. In the case between distance and virtual While continuously changing the amount from the first reference mass to the second reference mass, continuously changing the virtual viscosity coefficient from the first reference viscosity coefficient to the second reference viscosity coefficient, The work support system according to claim 1 , wherein the virtual mass and the virtual viscosity coefficient are changed in a curve at least on the side of the first reference distance and the side of the second reference distance .