JP2015188941A - work assist device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work assist device capable of assisting an operator in performing a moving operation on a work tool with a simple device configuration, and monitoring whether the work tool appropriately operates by operator's manual operation at an intended position.SOLUTION: A work assist device 1 comprises: a plurality of arm members 3A, 3B, 3C, and 3D connected to one another to be rotatable; a work tool 4 provided on a moving tip end portion 33 of the arm member 3B and capable of being suspended by operator's manual operation; a gravity balancer 5 energizing the work tool 4 vertically upward V2, and the like. Control means 7 of the work assist device 1 determines whether operation detection means 63 detects that the work tool 4 operates if position detection means 61 detects moving of the work tool 4 to an intended plane position P1 and suspension detection means detects moving of the work tool 4 to an intended suspension position P2.

Description

  The present invention relates to a work assistance device that supports work performed by a worker using a work tool.

  In assembly work of various assembly parts in a factory, for example, when an operator tightens assembly parts using a tightening tool, the tightening controller monitors whether the tightening is properly performed. A tightening management system is used. In this tightening management system, the tightening controller monitors the number of times that the assembly parts have been tightened, the torque at which the assembly parts have been tightened, and the like.

  For example, Patent Document 1 discloses an apparatus that supports a nut runner on a robot arm and moves the nut runner to an arbitrary position of a workpiece to tighten or loosen a bolt or a nut. Also, for example, in Patent Document 2, sensors are provided at the swivel base and the joint part of the arm, respectively, and the turning position of the entire arm and the turn angle of the joint part of the arm are sensed by each sensor to control automatic traveling. A cargo handling material handling machine is disclosed. Further, for example, Patent Document 3 discloses an apparatus for positioning a tool in a setting work area using a connecting link that moves relative to a guide carriage.

JP 2008-296291 A JP 2003-182999 A JP 2002-331475 A

  However, a conventional tightening management system using a tightening tool and a tightening controller does not monitor whether the tightening tool has been appropriately moved to the tightening setting position. Therefore, even if the tightening by the tightening tool is performed at a place other than the tightening setting position, the tightening management system may determine that the tightening has been performed normally. Moreover, depending on the device described in Patent Document 1 or the like that moves the nutrunner by the robot, it is necessary to use the robot, and the structure of the device becomes complicated.

  The present invention has been made in view of such a background, and it is possible to assist the operation of moving the work tool by the operator with a simple device configuration, and the operation of the work tool by the manual operation of the operator is targeted. The present invention has been obtained in order to provide a work assistance device that can monitor whether or not it has been properly performed in a planar position.

One aspect of the present invention is a plurality of arm members that are rotatably connected to each other around a rotation center line parallel to the vertical direction;
A working tool provided at the moving tip of the plurality of arm members and capable of being suspended vertically by a manual operation by an operator;
A gravity balancer that urges the working tool in a vertically upward direction opposite to the vertical direction;
Position detecting means for detecting the position of the arm member and detecting that the working tool has moved to a target plane position in the horizontal direction;
Motion detection means for detecting the motion of the work tool;
Control means for determining whether or not an operation of the work tool is detected by the motion detection means when the position detection means detects that the work tool has moved to a target plane position. The work assisting device is characterized in that.

The said work assistance apparatus can assist the movement operation of the work tool by a worker's manual operation using a plurality of arm members and a gravity balancer. In addition, the work assistance device detects whether the movement position of the work tool manually operated by the operator is the target plane position, and monitors whether the operation of the work tool is properly performed at the target plane position. To do.
More specifically, the operator holds the work tool and moves the work tool toward a target plane position for performing the work. At this time, the gravity balancer reduces the gravity acting on the work tool while the plurality of arm members rotate to follow the movement of the work tool. This reduces the burden on the operator when holding and moving the work tool.

  When the work tool is moved to the target plane position, detection by the position detection means is performed. Further, when the operation of the work tool is performed at the target plane position, the detection by the operation detection means is performed. Then, the control means determines whether the motion detection means has been detected when the position detection means has detected it. This determination is performed every time work is performed with the work tool, or after work is performed on a plurality of locations of the work with the work tool.

Further, the work assisting device does not need to use a complicated automatic control device such as a robot, and can function using a manual operation by an operator.
Therefore, according to the above-described work assist device, the operation of moving the work tool by the operator can be assisted by a simple device configuration, and the operation of the work tool by the operator's manual operation can be performed at the target plane position. It can be monitored for proper operation.

The perspective view which shows the whole work assistance apparatus concerning an Example. The perspective view which shows the periphery of the gravity balancer in the work assistance apparatus concerning an Example. The top view which shows typically the state which matches the moving front-end | tip part in a 2nd arm member to the some target plane position in a workpiece | work concerning an Example. Explanatory drawing which shows the electrical structure of the work assistance apparatus concerning an Example.

A preferred embodiment of the above-described work assistance device will be described.
In the work assisting device, the work tool may be, for example, a tightening tool, a press-fit tool, or other assembly work tool that is manually operated by an operator.
The operation of the work tool includes, for example, a bolt or nut tightening operation or a loosening operation using a tightening tool, and a press-fitting operation of a press-fitting component using a press-fit tool.

In addition, the work assisting device includes a drooping detection unit that detects a state of the gravity balancer and detects that the work tool has hung down to a target drooping position in a vertical direction, and the control unit includes: When the position detection means detects that the work tool has moved to the target plane position and the droop detection means detects that the work tool has moved to the target droop position, the action detection means May be configured to determine whether or not the operation of the work tool is detected.
In this case, it is possible to monitor whether the operation of the work tool by the manual operation of the operator is properly performed not only at the target plane position but also at the target hanging position.

Further, the gravity balancer is a balance weight connected to the work tool via a string member, and the droop detection means detects that the balance weight has risen, and the work tool moves in the vertical direction. It may be configured to detect that it has dropped to the target drooping position.
In this case, the balance weight can be disposed around the base end portion of the plurality of arm members opposite to the moving distal end portion, and can be disposed at a position that does not interfere with the work tool. In addition, a string member means various string-shaped members, such as a string, a rope, and a wire.

  A plurality of the position detection means are provided corresponding to the plurality of target plane positions, and the operation of the work tool performed at each of the plurality of target plane positions includes different types of operations. The motion detection means is also configured to detect the type of motion of the work tool, and the control means is detected by the motion detection means for each of the plurality of target plane positions. It may be configured to determine whether or not the type of operation of the work tool matches a preset type of target operation.

In this case, a target operation that needs to be performed at each target plane position is preset in the control means. And the control means can also monitor whether the kind of operation | movement with the work tool in each target plane position is appropriate.
The types of operation of the work tool include, for example, a tightening torque having a different size by a tightening tool, a pressure input having a different size by a press-fit tool, and the like.

The control means may be configured to instruct the work tool to change the type of operation of the work tool performed at at least one of the plurality of target plane positions.
In this case, the type of operation of the work tool can be changed by an operation instruction from the control means, and various operations of the work tool can be flexibly handled.

  The plurality of arm members are connected to a first arm member that is rotatable with respect to the base by a first rotation fulcrum portion, and to be rotatable with respect to the first arm member by a second rotation fulcrum portion. A second arm member having the moving tip, a first auxiliary arm member having one end connected to the second arm member and arranged in parallel to the first arm member, and the first auxiliary arm. One end connected to the other end of the member, the other end connected to the first arm member, and a second auxiliary arm member arranged in parallel to the second arm member, and the first As the arm member rotates about the first rotation fulcrum and the second arm member rotates about the second rotation fulcrum, the moving tip of the second arm member is moved. Move in a two-dimensional plane Made is and, the position detecting means may be configured to detect a detection portion provided in the connecting position between the first auxiliary arm member and said second auxiliary arm member.

  In this case, the first arm member, the second arm member, the first auxiliary arm member, and the second auxiliary arm member rotate while forming a parallelogram, and the moving tip of the second arm member is the target. It is stably moved to the planar position. Moreover, the connection position of the first auxiliary arm member and the second auxiliary arm member is related to the position of the moving tip where the working tool is provided. And if the movement front-end | tip part in which the working tool was provided moves, the connection position of a 1st auxiliary arm member and a 2nd auxiliary arm member will also move in connection with this movement. Therefore, the first rotation fulcrum portion in which the first arm member is rotatably supported with respect to the base by detecting the detection portion provided at the coupling position by the position detection means. Can be placed as close as possible. Then, a plurality of position detection means can be provided together in a range as small as possible, and management of the plurality of position detection means can be facilitated.

Further, the position detection means is provided on a position detection plate that is opposite to the detection unit and has a shape similar to the work on which the plurality of target plane positions are set, and is smaller than the work. It may be.
In this case, a plurality of position detection means can be provided on the position detection plate corresponding to a plurality of target plane positions on the workpiece. The position where the plurality of position detecting means is provided may be a position similar to the plurality of target plane positions on the workpiece, and the position where the plurality of position detecting means is provided can be easily determined. Further, a plurality of position detection means can be provided collectively on the position detection plate, and management of the plurality of position detection means can be facilitated.

Embodiments according to the work assisting device will be described below with reference to the drawings.
As shown in FIGS. 1 and 2, the work assisting device 1 of this example includes a plurality of arm members 3A, 3B, 3C, 3D, a work tool 4, a gravity balancer 5, a position detection means 61, a droop detection means 62, Operation detecting means 63 and control means 7 are provided.
The plurality of arm members 3A, 3B, 3C, 3D are connected to each other so as to be rotatable around a rotation center line parallel to the vertical direction V1. The work tool 4 is provided at a position directly below the moving tip 33 in the arm member 3B, and can be suspended in the vertical direction V1 by a manual operation by an operator. The gravity balancer 5 is configured to urge the work tool 4 in the vertical upward direction V2 opposite to the vertical direction V1.

  The position detecting means 61 is configured to detect the positions of the arm members 3A, 3B, 3C, 3D and detect that the work tool 4 has moved to the target plane position P1 in the horizontal direction H. The drooping detection means 62 is configured to detect the state of the gravity balancer 5 and detect that the work tool 4 has drooped to the target drooping position P2 in the vertical direction V1. The motion detection means 63 is configured to detect the motion of the work tool 4. The control means 7 detects that the work tool 4 has moved to the target plane position P1 by the position detection means 61, and has detected that the work tool 4 has moved to the target droop position P2 by the droop detection means 62. Sometimes, it is configured to determine whether or not the operation of the work tool 4 is detected by the operation detection means 63.

Below, the work assistance apparatus 1 of this example is explained in full detail with reference to FIGS.
As shown in FIGS. 1 and 2, the working tool 4 of this example is a tightening tool for tightening bolts 81 on a work 8 as an assembly part placed on the work table 21. . The work assisting device 1 of the present example assists the worker when performing a tightening operation of the bolt 81 on the workpiece 8.
A plurality of tightening setting positions X are set for the work 8, and target plane positions P <b> 1 for moving the work tool 4 are set at a plurality of positions with respect to the work 8. The plurality of target plane positions P1 in the work tool 4 are positions where the tightening setting positions X of the bolts 81 in the workpiece 8 are developed on a two-dimensional plane in the horizontal direction H. Further, the plurality of target drooping positions P2 in the work tool 4 are positions that are drooped by a predetermined amount from the target plane position P1 in the vertical direction V1.

  As shown in FIG. 3, the work assisting device 1 constitutes a parallel link mechanism in which the four arm members 3 </ b> A, 3 </ b> B, 3 </ b> C, and 3 </ b> D form a parallelogram and rotate. The plurality of arm members 3A, 3B, 3C, and 3D include a first arm member 3A that can be rotated by a first rotation fulcrum portion 31 with respect to a support column 12 as a base, and a second arm member 3A. A second arm member 3B rotatably connected by the rotation fulcrum 32, a first auxiliary arm member 3C arranged in parallel to the first arm member 3A, and parallel to the second arm member 3B. And a second auxiliary arm member 3D. The moving tip portion 33 provided with the work tool 4 is formed at the tip portion of the second arm member 3B.

The first auxiliary arm member 3C has one end connected to the connecting portion 35B at the intermediate portion of the second arm member 3B and the other end connected to one end of the second auxiliary arm member 3D. The second auxiliary arm member 3D has one end connected to the other end of the first auxiliary arm member 3C and the other end connected to a connecting portion 35A at an intermediate portion of the first arm member 3A. The first auxiliary arm member 3C is formed with a length shorter than the length of the first arm member 3A, and the second auxiliary arm member 3D is formed with a length shorter than the length of the second arm member 3B. Yes.
The first arm member 3A, the second arm member 3B, the first auxiliary arm member 3C, and the second auxiliary arm member 3D are connected to each other in a rotatable state.

  As shown in FIG. 3, when the operator moves the work tool 4, the first arm member 3A is moved while the parallelogram formed by the plurality of arm members 3A, 3B, 3C, 3D is deformed. The second arm member 3 </ b> B rotates about the second rotation fulcrum part 32 while rotating around the first rotation fulcrum part 31. As a result, the moving tip 33 of the second arm member 3B moves in a two-dimensional plane in the horizontal direction H.

In the moving tip 33, the first arm member 3 </ b> A rotates only around the first rotation fulcrum 31, and the second arm member 3 </ b> B rotates only around the second rotation fulcrum 32. In the two-dimensional plane, by arbitrarily forming a state where the first arm member 3A and the second arm member 3B rotate around the first rotation fulcrum part 31 and the second rotation fulcrum part 32, respectively. Can move arbitrarily.
In FIG. 3, the state where the moving tip 33 has moved to the three target plane positions P <b> 1 is depicted by a solid line, a broken line, and a two-dot chain line, respectively.

  As shown in FIGS. 1 and 2, the gravity balancer 5 of this example is connected to the balancer device 51 provided at the moving tip 33 of the second arm member 3 </ b> B and the work tool 4 via a string member 521. And a balance weight 52. The work tool 4 is attached to the balancer device 51 and attached to the balance weight 52 via a string member 521.

  The balancer device 51 is configured by a spring balancer or an air balancer. The balancer device 51 includes a rotating drum housed in the case 511, a rope member 512 wound around the rotating drum, and a biasing means using a spring or air that biases the rope member 512 in the winding direction. It is configured. When the balancer device 51 pulls out the rope member 512, the force applied by the urging means to urge the rope member 512 in the winding direction acts as an object attached to the tip of the rope member 512. The work tool 4 is biased in the vertical upward direction V2 opposite to the vertical direction V1.

Further, as shown in FIG. 2, the first arm member 3A and the second arm member 3B are provided with a plurality of pulleys 522 for looping the string member 521 so as to be idle. The balance weight 52 is attached to one end of a string member 521 that is stretched over a plurality of pulleys 522, and the other end of the string member 521 is attached to the work tool 4.
The balance weight 52 is arranged so as to be movable in the vertical direction inside the cylindrical body 53 in which the opening is arranged in a direction parallel to the vertical direction V1. The drooping detection means 62 of this example is a proximity switch as a non-contact switch disposed on the outer periphery of the cylindrical body 53. The droop detection means 62 is configured to detect that the balance weight 52 has moved up to a predetermined position inside the cylinder 53.

A plurality of droop detection means 62 can be arranged in the vertical direction corresponding to the set number of target drooping positions P2 of the work tool 4 set in plural for the work 8. The droop detection means 62 is configured to detect that the balance weight 52 has been raised to a predetermined position and detect that the work tool 4 has drooped to the target droop position P2 in the vertical direction V1.
Note that the gravity balancer 5 can be configured by only the balance weight 52 without using the balancer device 51. In this case, the balance weight 52 having a weight larger than that of the work tool 4 is used, and the urging force in the vertical upward direction V2 can be constantly applied from the balance weight 52 to the work tool 4.

  As shown in FIG. 1, the work table 21 on which the workpiece 8 is placed is formed on the gantry 11. A column 12 as a base on which the first arm member 3A is rotatably supported is erected on the gantry 11 or its periphery. The cylindrical body 53 on which the balance weight 52 is disposed is attached to the support column 12. A position detection plate table 22 for arranging the position detection means 61 is disposed on the gantry 11 or its periphery.

  A detecting portion 34 that can be detected by the position detecting means 61 is provided at a connection position between the first auxiliary arm member 3C and the second auxiliary arm member 3D. The detection unit 34 is provided so as to protrude from the first auxiliary arm member 3C and the second auxiliary arm member 3D to the side where the position detection means 61 is provided. Even if the first auxiliary arm member 3C and the second auxiliary arm member 3D are opposed to the position detection means 61, the position is not detected. However, when the detection unit 34 is opposed to the position detection means 61, the position is detected. Is called.

  As shown in FIGS. 1 and 3, a plurality of position detecting means 61 are provided corresponding to a plurality of target plane positions P1. At a position facing the first auxiliary arm member 3C and the second auxiliary arm member 3D, a position detection table 22 for performing detection by a plurality of position detection means 61 is disposed. The position detection means 61 of this example is a proximity switch as a non-contact switch provided on the position detection plate 221 disposed on the position detection table 22.

  The position detection table 22 is similar to the work table 21 and is formed with a smaller scale than the work table 21. The position detection plate 22 is similar to the workpiece 8 in which a plurality of tightening setting positions X (target plane positions P1) are set, and is formed at a smaller scale than the workpiece 8. Further, the long side of the position detection plate 221 is arranged in the same direction as the direction in which the long side of the work 8 is arranged.

Further, when the position of the moving tip 33 in the second arm member 3B is set to the plurality of target plane positions P1, the detection unit 34 is disposed at the connection position between the first arm member 3A and the second auxiliary arm member 3D. A plurality of detection positions are determined. And the position detection means 61 is provided in the position detection board 221 according to this some detection position, respectively.
By using the position detection plate 221 similar to the workpiece 8, the position where the plurality of position detection means 61 are provided may be a position similar to the plurality of target plane positions P1 in the workpiece 8, and a plurality of position detections may be performed. The position where the means 61 is provided can be easily determined. In addition, by using the position detection plate 221, a plurality of position detection means 61 can be provided in a range as small as possible, and management of the plurality of position detection means 61 can be facilitated.

  Here, how to provide the position detection plate 221 will be described in more detail. For example, as shown in FIG. 3, the connecting portion 35A between the first arm member 3A and the second auxiliary arm member 3D extends from the first rotation fulcrum 31 of the first arm member 3A. The connecting portion 35B between the second arm member 3B and the first auxiliary arm member 3C is provided at a position that is 1/3 of the length of the first arm member 3A in the direction, and the second arm member 3B. A case where the second arm member 3B is provided at a position separated from the second rotation fulcrum 32 by a length of 1/3 of the length of the second arm member 3B in the extending direction will be described. In this case, the position detection plate 221 is provided in a similar shape having a length of 1/3 within the range from the rotation fulcrum portion 31 to the moving tip portion 33.

  The motion detection means 63 is configured to detect a tightening torque generated in the tightening tool as the work tool 4. When the bolt 81 is normally tightened by the tightening tool, a tightening torque corresponding to the size of the bolt 81 is generated. Therefore, when the detection by the operation detection unit 63 is performed, the control unit 7 can determine that the bolt 81 has been tightened normally.

As shown in FIG. 4, the control means 7 is constructed as a control program in a computer. The position detection means 61, the droop detection means 62, and the motion detection means 63 are configured to transmit detected data to the control means 7. The control means 7 is configured to count the number of times that the operation detection means 63 has detected a normal tightening torque. When this count matches the number of tightening setting positions X in the workpiece 8, the control means 7 can determine that the necessary number of tightenings have been performed.
Further, the control means 7 of the present example detects whether the movement position of the work tool 4 manually operated by the operator is the target plane position P1 and the target drooping position P2, and the target plane position P1 and the target drooping position are detected. In P2, it is determined whether the operation of the work tool 4 has been appropriately performed.

  When the bolts 81 are tightened to a plurality of tightening setting positions X with respect to the workpiece 8 using the work auxiliary device 1, the operator holds the work tool 4 and works the work tool 4. It is moved toward the tightening setting position X for performing. At this time, the plurality of arm members 3A, 3B, 3C, 3D rotate while deforming the parallelogram shape to follow the movement of the work tool 4. Further, the gravity balancer 5 as the balancer device 51 and the balance weight 52 urges the work tool 4 in the vertical upward direction V <b> 2 to reduce the gravity acting on the work tool 4. Thereby, the burden when an operator grasps and moves work tool 4 is reduced.

When the work tool 4 is moved to the target plane position P1, the detection unit 34 at the connection position of the first auxiliary arm member 3C and the second auxiliary arm member 3D is moved to the position detection unit 61 in the position detection table 22. opposite. At this time, when the position detecting means 61 detects that it faces the detector 34, it is detected that the movable tip 33 and the work tool 4 have moved to the target plane position P1.
When the work tool 4 is moved to the target drooping position P <b> 2, the balance weight 52 rises to the position of the droop detection means 62, and the balance weight 52 faces the droop detection means 62. Then, the drooping detecting means 62 detects that the work tool 4 has moved to the target drooping position P2.

Next, when the work tool 4 is moved to the target plane position P1 and the target drooping position P2, the operator operates the work tool 4 to tighten the bolt 81 to the tightening setting position X. At this time, when the bolt 81 is normally tightened, the operation detecting means 63 detects a normal tightening torque.
Next, the operator moves the work tool 4 toward another tightening setting position X, and the work tool 4 moves to another target plane position P1 and a target droop corresponding to the other tightening setting position X. It is moved to position P2. And the detection by the position detection means 61, the droop detection means 62, and the operation | movement detection means 63 is performed similarly to the above.

  After that, after the bolts 81 have been tightened at all of the plurality of tightening setting positions X where the bolts 81 of the workpiece 8 need to be tightened, the control means 7 has confirmed that the tightening operation has been performed normally. Determine whether or not. Specifically, the control unit 7 determines whether the motion detection unit 63 has detected all of the plurality of tightening setting positions X when the position detection unit 61 and the drooping detection unit 62 have detected. Thereby, the control means 7 can determine whether the bolt 81 has been normally tightened for each of the plurality of tightening setting positions X. Therefore, according to the work assistance device 1, it is possible to check the positions where the bolts 81 are tightened for the plurality of tightening setting positions X and determine whether the bolts 81 are tightened normally. it can.

Further, the work assisting device 1 of this example does not need to use a complicated automatic control device such as a robot, and can function by using a manual operation by an operator.
Therefore, according to the work assistance device 1 of this example, the movement operation of the work tool 4 by the operator can be assisted by a simple device configuration, and the operation of the work tool 4 by the operator's manual operation can be performed. It is possible to monitor whether or not the tightening is properly performed at a plurality of tightening setting positions X.

Further, the tightening operation of the bolt 81 as the operation of the work tool 4 performed at each of the plurality of tightening setting positions X includes tightening operations with different tightening torques as different types of operations. May be. In other words, the plurality of tightening setting positions X may include positions for tightening the bolts 81 that are different in size from the other bolts 81.
In this case, the control means 7 gives an operation instruction to the tightening tool as the work tool 4 so as to change the magnitude of the tightening torque of the tightening operation performed in at least one of the plurality of tightening setting positions X. Can be configured to. Further, the operation detecting means 63 can be configured to detect the magnitude of the tightening torque as the type of the tightening operation of the bolt 81.

  In this case, in the control means 7, the magnitude of the tightening torque of the tightening operation that needs to be performed at each tightening setting position X is preset. Then, the control means 7 determines that the magnitude of the tightening torque detected by the motion detecting means 63 for each of the plurality of tightening setting positions X is equal to the target tightening torque preset in the control means 7. You can also determine whether you are doing it. Thereby, the control means 7 can also monitor whether the magnitude of the tightening torque of the tightening operation at each tightening setting position X is appropriate.

DESCRIPTION OF SYMBOLS 1 Work assistance apparatus 221 Position detection plate 3A 1st arm member 3B 2nd arm member 3C 1st auxiliary arm member 3D 2nd auxiliary arm member 31 1st rotation fulcrum part 32 2nd rotation fulcrum part 33 Moving front-end | tip part 34 Detection Part 4 Work tool 5 Gravity balancer 51 Balancer device 52 Balance weight 521 String member 522 Pulley 61 Position detection means 62 Droop detection means 63 Motion detection means 7 Control means 8 Workpiece X Tightening setting position P1 Target plane position P2 Target droop position

Claims (7)

A plurality of arm members rotatably connected to each other around a rotation center line parallel to the vertical direction;
A working tool provided at the moving tip of the plurality of arm members and capable of being suspended vertically by a manual operation by an operator;
A gravity balancer that urges the working tool in a vertically upward direction opposite to the vertical direction;
Position detecting means for detecting the position of the arm member and detecting that the working tool has moved to a target plane position in the horizontal direction;
Motion detection means for detecting the motion of the work tool;
Control means for determining whether or not an operation of the work tool is detected by the motion detection means when the position detection means detects that the work tool has moved to a target plane position. A work auxiliary device characterized by that. The work auxiliary device has a sag detection means for detecting the state of the gravity balancer and detecting that the work tool hangs down to a target sag position in the vertical direction.
When the position detecting means detects that the working tool has moved to the target plane position and the droop detecting means detects that the working tool has moved to the target drooping position, The work assisting device according to claim 1, wherein the operation detecting device is configured to determine whether or not the operation of the work tool is detected by the operation detecting unit. The gravity balancer is a balance weight connected to the work tool via a string member,
3. The drooping detection means is configured to detect that the balance weight has risen and detect that the work tool has drooped to a target drooping position in the vertical direction. The work auxiliary device described. A plurality of the position detection means are provided corresponding to the plurality of target plane positions,
The operations of the work tool performed at each of the plurality of target plane positions include different types of operations,
The motion detection means is configured to detect the type of motion of the work tool,
The control means also determines, for each of the plurality of target plane positions, whether or not the type of operation of the work tool detected by the operation detection unit matches a preset type of target operation. It is comprised like this, The work assistance apparatus as described in any one of Claims 1-3 characterized by the above-mentioned.   The control means is configured to instruct the work tool to change the type of operation of the work tool performed at at least one of the plurality of target plane positions. Item 5. The work auxiliary device according to any one of Items 1 to 4. The plurality of arm members are coupled to a first arm member that is rotatable with respect to the base by a first rotation fulcrum portion, and to be rotatable with respect to the first arm member by a second rotation fulcrum portion; A second arm member having the moving tip, a first auxiliary arm member having one end connected to the second arm member and arranged in parallel to the first arm member, and the first auxiliary arm member A second auxiliary arm member having one end connected to the other end and the other end connected to the first arm member and disposed in parallel to the second arm member, and the first arm member Rotates around the first rotation fulcrum and the second arm member rotates around the second rotation fulcrum, thereby moving the moving tip of the second arm member in two dimensions. Configured to move in a plane And,
The said position detection means is comprised so that the detection part provided in the connection position of the said 1st auxiliary arm member and the said 2nd auxiliary arm member may be detected. The work auxiliary device according to one item.   The position detection means is a position facing the detection unit, similar to the work set with the plurality of target plane positions, and provided on a position detection plate having a smaller scale than the work. The work auxiliary device according to claim 6.

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