JP2009039815A - Power assist device and control method thereof - Google Patents

Abstract

Provided is a control method for a power assist device that reduces work load on the power assist device and improves workability of work assembling work.
A control method for a power assist device 1 comprising: a positioning completion detecting step for detecting that reference positions 10a to 10d of a window 10 are matched with fitting reference positions 11a to 11d of a main body 11 as an attachment object; A reference position detection step for detecting a match position between the reference positions 10a to 10d of the window 10 and the fitting reference positions 11a to 11d of the main body 11 when the positioning completion detection step is completed, and a virtual rotation axis is generated based on the match position. The window 10 includes an autonomous rotation process in which the window 10 is autonomously rotated by the power assist device 1 about the virtual rotation axis.
[Selection] Figure 5

Description

  The present invention relates to a technology of a power assist device, and more particularly to a control method of a power assist device that enables positioning of details while using the power assist device.

2. Description of the Related Art Conventionally, power assist devices have been used as devices for assisting the conveyance of heavy objects (workpieces) by workers in industrial product manufacturing sites.
The work assembly work consists of work transfer and positioning. However, by cooperating the work with the operator and the power assist device, the power assist device can bear the force required to transport the work. Also, the workpiece can be positioned efficiently by teaching the power assist device. That is, the aim of using the power assist device is to reduce the labor of the worker and improve workability.
For example, an apparatus that detects the inclination (angle) of a gripping means that grips a workpiece that is an object to be transported and drives the gripping means in the up-down direction is known.
Japanese Patent Laid-Open No. 11-245124

By using a conventional power assist device, it was possible to reduce the burden on the operator as intended for conveying the workpiece. However, there is a problem that the work load becomes high when the power assist device is completely burdened with respect to the positioning of the workpiece due to factors such as the positional deviation of the attachment object.
In view of this situation, an object of the present invention is to provide a control method for a power assist device that can improve workability of work assembling work while reducing the work load on the power assist device.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  That is, according to the first aspect of the present invention, a transport tool for gripping and transporting the workpiece and a control unit for controlling the operation of the transport tool are provided, and the reference position of the workpiece is set to the reference mounting position of the attachment object by the operator. In addition, the carrier is autonomously operated in cooperation with the work operation so as to assist the work operation in which the operator matches the reference position of the workpiece to the attachment reference position of the attachment object. In the control method of the power assist device that transports the workpiece, the positioning completion detection step for detecting that the reference position of the workpiece matches the mounting reference position of the attachment object, and the positioning completion detection step include A reference position detecting step for detecting a matching position between the reference position of the workpiece and the mounting reference position of the mounting object when completed, and a temporary position based on the matching position; Generates a rotational shaft, and a self rotation step of the workpiece is autonomously rotated by said power assist device around the virtual rotation axis, it is obtained by it said.

  In Claim 2, The said conveyance tool is provided with a contact sensor, and in the said positioning completion detection process, when the said contact sensor detects the contact of the said mounting target object, the reference position of the said workpiece | work is the said mounting target object. It is characterized by detecting that it matches the mounting reference position.

  In claim 3, the contact sensor is configured by a plurality of contact pressure sensors, and when one or more of the plurality of contact pressure sensors detect a pressure equal to or higher than a threshold, The contact sensor detects the contact of the attachment object.

  In Claim 4, The said conveyance tool is provided with a contact sensor, and the said contact sensor detects the contact of the said mounting target object in the said reference position detection process, and the reference position of the said workpiece | work and the said mounting target object are detected. It is characterized in that a matching position of the mounting reference position is detected.

  The contact sensor according to claim 5, wherein the contact sensor includes a plurality of contact pressure sensors, and when the one or more contact pressure sensors detect a pressure equal to or higher than a threshold value, the contact is detected. The sensor is characterized by detecting contact of the attachment object.

  In Claim 6, The said conveyance tool hold | grips the said workpiece | work with several suction cups, and is equipped with a contact pressure sensor for every said several suction cups, In the said positioning completion detection process, among the said several contact pressure sensors The one or more contact pressure sensors detect that the reference position of the workpiece matches the reference mounting position of the mounting object when detecting a pressure equal to or higher than a threshold value. .

  In Claim 7, The said conveyance tool hold | grips the said workpiece | work with several suction cups, and is equipped with a contact pressure sensor for every said several suction cups, In the said reference position detection process, among the said several contact pressure sensors When one or more of the contact pressure sensors detect a pressure equal to or greater than a threshold value, the detected pressure distribution of each contact pressure sensor detects the matching position of the workpiece reference position and the attachment reference position of the attachment object. It is characterized by that.

  According to an eighth aspect of the present invention, the transport tool grips the workpiece by a plurality of suction cups, and includes a contact pressure sensor for each of the plurality of suction cups. In the positioning completion detection step, one of the plurality of contact pressure sensors is included. When two or more of the contact pressure sensors detect a pressure equal to or greater than a threshold, it is detected that the reference position of the workpiece matches the reference position of attachment of the attachment object, and each contact pressure sensor at that time A matching position between the reference position of the workpiece and the attachment reference position of the attachment object is detected based on the detected pressure distribution.

  In Claim 9, it is provided with the conveyance tool for hold | gripping and conveying a workpiece | work, and the control means which controls operation | movement of this conveyance tool, The reference | standard position of a workpiece | work is set with respect to the attachment reference position of an attachment target object by the operator. In addition to positioning, in order to assist the work operation of the worker for matching the reference position of the workpiece to the attachment reference position of the attachment object, the transport tool is coordinated with the work operation of the worker. A power assist device that transports a workpiece by being operated autonomously, wherein a positioning completion detection unit that detects that a reference position of the workpiece matches an attachment reference position of the attachment object; and a reference of the workpiece Reference position detection means for detecting a matching position between the position and the attachment reference position of the attachment object is provided.

  According to a tenth aspect of the present invention, the transport device includes a contact sensor, and the positioning completion detection unit includes the control unit and the contact sensor.

  According to an eleventh aspect of the present invention, the transport device includes a contact sensor, and the reference position detection unit includes the control unit and the contact sensor.

  In Claim 12, The said conveyance tool hold | grips the said workpiece | work with several suction cups, It has a contact pressure sensor for each of these suction cups, The said positioning completion detection means is the said control means and several said contact pressure sensors It consists of that.

  In Claim 13, The said conveyance tool hold | grips the said workpiece | work with several suction cups, It is provided with a contact pressure sensor for each of these suction cups, The said reference position detection means is the said control means and several said contact pressure sensors. It consists of that.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect of the present invention, by detecting the positioning reference position, the operation of the power assist device necessary for the rotation operation of the workpiece is automatically obtained, and the power of the virtual rotation axis necessary for the rotation operation of the workpiece is obtained. Teaching work to the assist device can be performed automatically. Thereby, the efficiency of the conveyance operation which requires positioning can be achieved.

  According to the second aspect of the present invention, it is possible to improve the efficiency of the transfer work by detecting the completion of the positioning of the workpiece.

  According to the third aspect, it is possible to detect that the positioning of the workpiece has been completed with a simple configuration.

  According to the fourth aspect of the present invention, it is possible to improve the efficiency of the conveyance work by detecting the positioning reference position of the workpiece.

  According to the fifth aspect, the positioning reference position of the workpiece can be detected with a simple configuration.

  According to the sixth aspect, it is possible to detect that the positioning of the workpiece is completed with a simple configuration.

  According to the seventh aspect of the present invention, the positioning reference position of the workpiece can be detected with a simple configuration.

  According to the eighth aspect, it is possible to detect the completion of the positioning of the workpiece with a simple configuration and to detect the positioning reference position of the workpiece.

  According to a ninth aspect of the present invention, by detecting the reference position for positioning, the operation of the power assist device necessary for the rotation operation of the workpiece is automatically obtained, and the power assist at the center of rotation necessary for the rotation operation of the workpiece is performed. Teaching work to the device can be performed automatically. Thereby, the efficiency of the conveyance operation which requires positioning can be achieved.

  According to the tenth aspect, it is possible to detect that the positioning of the workpiece is completed with a simple configuration.

  In the eleventh aspect, the positioning reference position of the workpiece can be detected with a simple configuration.

  According to the twelfth aspect, it is possible to detect the completion of the positioning of the workpiece with a simple configuration.

  According to the thirteenth aspect, the positioning reference position of the workpiece can be detected with a simple configuration.

Next, embodiments of the invention will be described.
FIG. 1 is a schematic diagram showing the overall configuration of a power assist device according to one embodiment of the present invention, FIG. 2 is a schematic diagram showing the relationship between a contact pressure sensor and a reference position according to one embodiment of the present invention, and FIG. FIG. 4 is a second schematic diagram illustrating the window mounting operation, and FIG. 5 is a third schematic diagram illustrating the window mounting operation according to the embodiment of the present invention.

First, the overall configuration of the power assist device 1 according to the application of the present invention will be described.
As shown in FIG. 1, the power assist apparatus 1 shown in the present embodiment includes an articulated robot 2, a suction jig 3, a free joint 4, and the like.
The articulated robot 2 shown in the present embodiment includes a control device 2a, motors 2b and 2c arranged at the joints, and is supported by a ceiling surface or the like. The articulated robot 2 shown in the present embodiment is configured to be fixedly supported on the ceiling surface, but may be configured to be supported by a hoist or the like, for example. The robot used in the power assist device 1 to which the present invention is applied is not limited to the articulated robot 2, and other industrial robots can be used.

The suction jig 3 includes suction cups 3a, 3b, 3c, and 3d, handles 3e and 3e, force sensors 3f and 3f, contact pressure sensors 3g, 3h, 3i, and 3j, and the like. It is configured to be connected to the type robot 2. The suction cups 3 a, 3 b, 3 c, and 3 d of the suction jig 3 suck and hold a window 10 that is an object to be described later. In addition, the handles 3e and 3e serving as the gripping portions of the operator are configured to be connected to the suction jig 3 via force sensors 3f and 3f.
In the present embodiment, a 6-component force load cell is used as the force sensors 3f and 3f, and the operator grips the handles 3e and 3e and operates the suction jig in a desired direction. And operating force can be detected. In this embodiment, the force sensors 3f and 3f are provided on both the handles 3e and 3e. However, the force sensor 3f is provided only on the one-way handle 3e in consideration of the operator and the working direction. It is also possible.
Further, the suction cups 3a, 3b, 3c, and 3d have built-in contact pressure sensors 3g, 3h, 3i, and 3j that detect pressure received from the attracted and held window 10. It is determined whether or not the window 10 is pressed evenly according to the degree of deviation of the detected pressure by 3j.

  The free joint 4 is a joint member configured to be able to rotate freely without interfering with each other in the rotation directions of roll, pitch, and yaw. Further, the free joint 4 is provided with a brake mechanism 4a, and is configured to be able to regulate the rotation independently for each rotation direction of the roll, the pitch, and the yaw based on a command from the control device 2a.

  Thus, the power assist device 1 is a robot configured to connect the suction jig 3 to the articulated robot 2 via the free joint 4 and thereby to have multiple degrees of freedom. A transport tool for transporting the window 10 is constituted by the free joint 4, the suction jig 3, and the like.

Detection information regarding the operation state of the operator is input to the control device 2a provided in the articulated robot 2 by the force sensor 3f. Based on the detection information, the operation direction desired by the operator is determined, and the operation of the motors 2b and 2c is controlled to control the posture of the articulated robot 2.
Further, a map related to the position information of the suction jig 3 is stored in advance in the control device 2a. The map relating to the position information includes information (orbit information) relating to an appropriate trajectory as the transport path of the object to be transported (window 10 or the like), and the suction jig 3 is operated along the trajectory based on the trajectory information. The configuration is to let Further, the operation state of the motors 2b and 2c and the brake mechanism 4a is changed in accordance with the position information of the suction jig 3.
Furthermore, the map regarding the vehicle type information of a motor vehicle is previously memorize | stored in the control apparatus 2a. The track information described above is selectively switched according to the type of vehicle to be mounted, or information regarding the appropriate angle when the window is mounted is automatically changed.

Next, the operation status of the power assist device 1 will be described.
When the operator operates the handle 3e in a desired direction, the force sensor 3f detects the operation direction, the operation force, and the like, and the detection information is input to the control device 2a. Then, based on the detection information input from the control device 2a, a drive signal is output to the motors 2b and 2c, and the articulated robot 2 is set so as to match the transport position desired by the operator and the holding angle of the window. Is controlled.
As described above, the power assist device 1 is configured to carry the window 10 according to a desired direction by natural operation of the handle 3e by the worker and to support the load of the window 10, so that the work load of the worker is reduced. It is configured to operate autonomously in cooperation with the worker while reducing

Next, the contact sensor according to the present invention will be described.
As shown in FIGS. 1 and 2, suction cups 3a, 3b, 3c, and 3d are disposed on the lower surface of the suction jig 3, and the window 10 is sucked and held by the suction cups 3a, 3b, 3c, and 3d. It is configured. Each suction cup 3a, 3b, 3c, 3d is provided with contact pressure sensors 3g, 3h, 3i, 3j, and the pressure acting between the window 10 and the suction cups 3a, 3b, 3c, 3d is applied at a plurality of locations. It is configured to detect.
In this embodiment, the contact sensors are configured by using a total of four contact pressure sensors 3g, 3h, 3i, and 3j. However, the number of suction cups and contact pressure sensors provided in the present invention is not limited. However, it can be appropriately determined in consideration of the size and shape of the object to be transported, the detection accuracy, and the like. For example, if the object to be transported is triangular, three or more suction cups and contact pressure sensors are provided to correspond to each vertex of the triangle, and if the object to be transported is rectangular, to correspond to each vertex of the rectangle It is desirable to provide four or more suction cups and contact pressure sensors.

Next, a reference position detection method using a contact sensor will be described.
As shown in FIG. 2, in the present embodiment, four reference positions 10a, 10b, 10c, and 10d are set on the side of the window 10 that is the conveyance target (vertical corners). Further, fitting reference positions 11a, 11b, 11c, and 11d are set on the main body 11 side to which the window 10 is attached.

For example, when the window 10 is cooperatively transported by the operator and the power assist device 1 and the positioning is performed by the operator so that the reference positions 10a and 10b and the fitting reference positions 11a and 11b are in contact with each other, also in this case, If the pressure detected by the contact pressure sensors 3g and 3h by this contact is equal to or greater than a preset threshold value, it is determined that the positioning of the window 10 has been completed.
Here, when the threshold value is set to a pressure that cannot be obtained unless the operator consciously presses the window 10, the position of the window 10 is shifted or the window 10 and the main body 11 are accidentally contacted. Therefore, it can be determined that the positioning has not been completed, and the positioning can be easily performed again.
In this case, a virtual rotation axis that connects the reference positions 10a and 10b, which are reference positions corresponding to the contact pressure sensors 3g and 3h, at which the greatest pressure is uniformly detected, is generated, and this virtual rotation axis is the rotation center of the window 10. Set to
That is, according to the pressure distribution of the pressure detected by the plurality of contact pressure sensors 3g, 3h, 3i, 3j, for example, when the pressure is concentrated on one contact pressure sensor 3g, the contact pressure sensor 3g In the case where it is determined that the positioning is performed at one reference position 10a corresponding to the arrangement, and when the equal pressure is detected by the two contact pressure sensors 3g and 3h, the contact pressure sensor 3g It is determined that positioning has been performed at two reference positions 10a and 10b corresponding to the arrangement of 3h.
In this embodiment, a contact pressure sensor is used as the contact sensor, and it is determined that the positioning has been performed when the detected pressure exceeds the set threshold. For example, an ON-OFF contact switch is used. And it can also be set as the structure which judges whether positioning was made by ON-OFF of a contact.

In addition, for example, when the window 10 is cooperatively conveyed by the operator and the power assist device 1 and the operator performs positioning so that only one point of the reference position 10a and the fitting reference position 11a is in contact, the contact is also made. In this case, the pressure is detected by the contact thickness sensors 3g, 3h, 3i and 3j. In this case, the value detected by the contact pressure sensor 3g is the largest, but if the pressure detected by the contact pressure sensor 3g is equal to or greater than a preset threshold value, it is determined that the positioning of the window 10 has been completed. I have to.
In this case, since the contact is made at one point at the reference position 10a, a transition is made to the state of contacting at the next two reference positions. That is, the power assist device 1 is autonomously controlled so that one point adjacent to the reference position 10a (that is, the reference position 10b or the reference position 10d) is positioned at the fitting reference position (that is, 11b or 11d).

Specifically, it includes a reference position 10a which is a reference position corresponding to the contact pressure sensor 3g having the highest detected pressure, and the reference position 10b (or the reference position 10d) is the fitting reference position 11b (or the fitting reference position 11d). A virtual rotation axis suitable for rotational movement is generated, and the window 10 is autonomously rotated around the virtual rotation axis by the power assist device 1 so that two reference positions 10a and 10b are generated. Shifts to a state where the is positioned at the fitting reference positions 11a and 11b.
When the contact pressure sensors 3g, 3h, 3i, and 3j detect that the two reference positions 10a and 10b are positioned, virtual rotation axes that connect the reference positions 10a and 10b are set again. The control operation is shifted to the above-described control operation.

That is, in this embodiment, the contact sensor is constituted by a plurality of contact pressure sensors 3g, 3h, 3i, 3j, and one or more contact pressure sensors among the plurality of contact pressure sensors 3g, 3h, 3i, 3j are provided. When the pressure equal to or higher than the threshold is detected, it is detected that the reference positions 10a and 10b of the window 10 are in contact with the fitting reference positions 11a and 11b, and the positioning completion detection process is terminated. Further, when one or more contact pressure sensors among the plurality of contact pressure sensors 3g, 3h, 3i, 3j detect a pressure equal to or higher than a threshold value, the reference positions 10a and 10b of the window 10 and the fitting reference positions The matching position with 11a and 11b is detected, and the reference position detecting step is finished.
Thereby, the completion of the positioning of the workpiece and the reference position can be detected with a simple configuration.

Next, an example in which the control method according to the present invention is applied to a series of window mounting operations will be described.
As shown in FIG. 3, the window 10 is cooperatively conveyed by the operator and the power assist device 1 until the reference positions 10 a and 10 b of the window 10 and the fitting reference positions 11 a and 11 b of the main body 11 are aligned and attached. A series of operations will be described as an example.
The window 10 is attached so that the center (point A) of the suction jig 3 and the center of the window 10 coincide. Further, the shape data (size, curvature, etc.) of the window 10 is previously stored in the control device 2a. Thereby, for example, the distance from the center point A to each reference position 10a, 10b, 10c, 10d is calculated.

(Positioning completion detection process)
First, the operator operates the handle 3e to move the window 10 in a coordinated manner so that the reference positions 10a and 10b of the window 10 match the fitting reference positions 11a and 11b.
When the reference positions 10a and 10b of the window 10 match the fitting reference positions 11a and 11b, the contact pressure sensors 3g and 3h detect contact. Based on this detection information, the control device 2a determines that the positioning of the window 10 by the operator has been completed.

(Reference position detection process)
Here, since it is detected that only the reference positions 10a and 10b of the window 10 are evenly contacted, the reference positions 10a and 10b are in contact with the main body 11, but the reference positions 10c and 10d are still floating. The control device 2a determines that this is the state. In order to shift from this state to the final attachment state (that is, the state in which the reference positions 10a to 10d are uniformly in contact with the fitting reference positions 11a to 11d of the main body 11), the reference positions 10a and 10b are connected. If the window 10 is rotated around the axis, the transition can be made most easily.
For this reason, the control device 2 a sets the axis line connecting the reference positions 10 a and 10 b as the virtual rotation axis of the window 10.
Further, since the shape data of the window 10 is stored in the control device 2a in advance, each motor is based on the current posture of the articulated robot 2 (that is, the rotational positions of the motors 2b and 2c of each joint). The controller 2a calculates how much the 2c and 2d are rotated in which direction and how much the window 10 can be rotated around the set virtual rotation axis.

That is, the suction jig 3 serving as a transfer tool according to the present embodiment grips a work (that is, the window 10) by a plurality of suction cups 3a, 3b, 3c, and 3d, and each of the suction cups 3a, 3b, 3c, and 3d. The contact pressure sensors 3g, 3h, 3i, and 3j are provided, and one or more of the contact pressure sensors 3g, 3h, 3i, and 3j (for example, only 3g) detect a pressure greater than a threshold value. In this case, the positioning completion detection process is completed, and the matching positions of the reference positions 10a and 10b and the fitting reference positions 11a and 11b are detected by the detected pressure distribution of the contact pressure sensors 3g, 3h, 3i, and 3j at that time. Then, the reference position detection process is completed.
By adopting such a configuration, it is possible to detect the completion of the positioning of the workpiece with a simple configuration, and it is possible to detect the positioning reference position of the workpiece.

(Autonomous rotation process)
Then, the motors 2b and 2c are driven to control the posture of the articulated robot 2 so that the window 10 is rotated about the virtual rotation axis (that is, the axis connecting the reference positions 10a and 10b) generated by the control device 2a. The window 10 is tilted.
Finally, when it is confirmed that the four contact pressure sensors 3g, 3h, 3i, and 3j have detected pressures almost evenly, a series of window mounting operations are completed.

  That is, a transport tool (that is, an articulated robot 2, a suction jig 3, a free joint 4, etc.) for gripping and transporting a workpiece, and a control device 2a serving as a control means for controlling the operation of the transport tool are provided. The operator positions the reference positions 10a, 10b, 10c, and 10d of the workpiece (window 10) with respect to the fitting reference positions 11a, 11b, 11c, and 11d of the main body 11 that is the attachment object, and the operator sets the window 10 To autonomously actuate the carrier in cooperation with the work operation so as to assist the work operation of matching the reference positions 10a, 10b, 10c, and 10d with the fitting reference positions 11a, 11b, 11c, and 11d of the main body 11. Is a control method of the power assist device 1 that conveys the window 10, and includes a reference position 10 a. Positioning completion detection process for detecting that 0b, 10c, and 10d match the fitting reference positions 11a, 11b, 11c, and 11d of the main body 11, and the reference positions 10a and 10b of the window 10 when the positioning completion detection process is completed A reference position detection step for detecting the matching positions of the fitting reference positions 11a, 11b, 11c, and 11d of 10c and 10d and the main body 11, a virtual rotation axis is generated based on the matching position, and the window 10 uses the virtual rotation axis. An autonomous rotation process that is autonomously rotated by the power assist device 1 as a center.

  With such a configuration, by detecting the positioning reference position, the operation of the power assist device 1 necessary for the rotation operation of the workpiece is automatically obtained, and the virtual operation necessary for the rotation operation of the workpiece is performed. It is possible to automatically perform teaching work on the power assist device 1 of the rotating shaft. In addition, this makes it possible to improve the efficiency of the conveyance work that requires positioning.

The schematic diagram which shows the whole structure of the power assist apparatus which concerns on one Example of this invention. The schematic diagram which shows the relationship between the contact pressure sensor which concerns on one Example of this invention, and a reference position. The 1st schematic diagram which shows the window attachment operation | work which concerns on one Example of this invention. The 2nd schematic diagram which similarly shows window mounting work. The 3rd schematic diagram which similarly shows a window attachment operation | work.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Power assist apparatus 10 Window 10a Reference position 10b Reference position 10c Reference position 10d Reference position 11 Main body 11a Insertion reference position 11b Insertion reference position 11c Insertion reference position 11d Insertion reference position

Claims (13)

A transport tool for gripping and transporting a workpiece;
Comprising control means for controlling the operation of the carrier;
In order to assist the work operation in which the reference position of the workpiece is positioned with respect to the attachment reference position of the attachment object by the operator, and the reference position of the workpiece is matched with the attachment reference position of the attachment object by the operator, A method for controlling a power assist device that transports a workpiece by autonomously operating the transport tool in cooperation with the work operation,
A positioning completion detection step for detecting that the reference position of the workpiece matches the attachment reference position of the attachment object;
When the positioning completion detection step is completed,
A reference position detection step for detecting a matching position between the reference position of the workpiece and the attachment reference position of the attachment object;
An autonomous rotation step in which a virtual rotation axis is generated based on the match position, and the workpiece is rotated autonomously by the power assist device around the virtual rotation axis;
Comprising
A control method for a power assist device. The carrier is
With a contact sensor,
In the positioning completion detection step,
By detecting the contact of the attachment object by the contact sensor,
Detecting that the reference position of the workpiece matches the attachment reference position of the attachment object,
The method of controlling a power assist device according to claim 1. The contact sensor is
Consists of multiple contact pressure sensors,
Among the plurality of contact pressure sensors,
One or more contact pressure sensors are
When pressure above the threshold is detected,
The contact sensor detects contact of the attachment object;
The method of controlling a power assist device according to claim 2. The carrier is
With a contact sensor,
In the reference position detection step, the contact sensor detects contact of the attachment object,
Detecting a match position between the reference position of the workpiece and the attachment reference position of the attachment object,
The method of controlling a power assist device according to claim 1. The contact sensor is
Consists of multiple contact pressure sensors,
Among the plurality of contact pressure sensors, when one or more of the contact pressure sensors detect a pressure equal to or higher than a threshold value,
The contact sensor detects contact of the attachment object;
The method for controlling a power assist device according to claim 4. The carrier is
Holding the workpiece by a plurality of suction cups; and
A contact pressure sensor is provided for each of the plurality of suction cups,
In the positioning completion detection step,
Among one or more of the contact pressure sensors, when one or more of the contact pressure sensors detect a pressure equal to or higher than a threshold value,
Detecting that the reference position of the workpiece matches the attachment reference position of the attachment object,
The method of controlling a power assist device according to claim 1. The carrier is
Holding the workpiece by a plurality of suction cups; and
A contact pressure sensor is provided for each of the plurality of suction cups,
In the reference position detection step,
Among one or more of the contact pressure sensors, when one or more of the contact pressure sensors detect a pressure equal to or higher than a threshold value,
According to the detected pressure distribution of each contact pressure sensor, a matching position between the reference position of the workpiece and the attachment reference position of the attachment object is detected.
The method of controlling a power assist device according to claim 1. The carrier is
The workpiece is gripped by a plurality of suction cups,
A contact pressure sensor is provided for each of the plurality of suction cups,
In the positioning completion detection step,
Among one or more of the contact pressure sensors, when one or more of the contact pressure sensors detect a pressure equal to or higher than a threshold value,
Detecting that the reference position of the workpiece matches the attachment reference position of the attachment object; and
By detecting the distribution of pressure detected by each contact pressure sensor at that time, a matching position between the reference position of the workpiece and the attachment reference position of the attachment object is detected.
The method of controlling a power assist device according to claim 1. A transport tool for gripping and transporting a workpiece;
Comprising control means for controlling the operation of the carrier;
The operator sets the reference position of the workpiece with respect to the attachment reference position of the object to be attached, and performs an operation operation of the operator for matching the reference position of the work with the attachment reference position of the attachment object. In order to assist, it is a power assist device that conveys a work by autonomously operating the transport tool in cooperation with the work operation of the worker,
Positioning completion detection means for detecting that the reference position of the workpiece matches the attachment reference position of the attachment object;
A reference position detecting means for detecting a matching position of the reference position of the workpiece and the attachment reference position of the attachment object;
A power assist device characterized by that. The carrier is
With a contact sensor,
The positioning completion detection means includes
Comprising the control means and the contact sensor;
The power assist device according to claim 9. The carrier is
With a contact sensor,
The reference position detecting means is
Comprising the control means and the contact sensor;
The power assist device according to claim 9. The carrier is
The workpiece is gripped by a plurality of suction cups,
A contact pressure sensor is provided for each of the plurality of suction cups,
The positioning completion detection means includes
Comprising the control means and a plurality of the contact pressure sensors;
The power assist device according to claim 9. The carrier is
The workpiece is gripped by a plurality of suction cups,
A contact pressure sensor is provided for each of the plurality of suction cups,
The reference position detecting means is
Comprising the control means and a plurality of the contact pressure sensors;
The power assist device according to claim 9.

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