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Work assembling device, control method for work assembling device, control program for work assembling device, and recording medium
Work assembling device, control method for work assembling device, control program for work assembling device, and recording medium
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机译：工作组装装置，工作组装装置的控制方法，工作组装装置的控制程序，以及记录介质
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摘要
A robot 140 includes a control unit 160 configured such that a reference line L connecting a root portion of a first arm (upper arm 143) and an end portion of a second arm (forearm 144) is assumed on a main plane determined in a space where the robot 140 is installed, an angle β formed by the first arm (upper arm 143) and the reference line L is decreased while increasing a crossing angle α between the first arm (upper arm 143) and the second arm (forearm 144) on the side facing the reference line L, the end portion of the second arm (forearm 144) is moved in a work pressurizing direction (F direction) which is determined to be along the reference line L, and a work pressurizing unit (push-in unit 153) is pressurized in the work pressurizing direction (F direction) by the end portion of the second arm (forearm 144).
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