To provide a work device for a workpiece having very good space efficiency and facilitating teaching, and a teaching method determining a moving locus of the workpiece at this time.
This device comprises a first arm 16 rotated in one plane in the forward side of a base 14 with a first rotary shaft provided in the base 14 serving as the center, first motor 20 driving the first arm 16 rotated, second arm 26 rotated in a plane parallel to the first arm 16 with a second rotary shaft provided in a tip end part of the first arm 16 serving as the center, second motor 27 driving the second arm 26 rotated, workpiece holding means 30 provided in a tip end part of the second arm 26 to rotate with a third rotary shaft orthogonal to a rotary plane of the second arm 26 serving as the center also to hold a workpiece, third motor driving the workpiece holding means 30 rotated, memory means storing work processing procedures, and a control part 55 driving the first/second/third motors 20, 27, 34 to bring the workpiece held in the workpiece holding means 30 into contact with a work equipment to move the workpiece to work its required part in accordance with the processing procedures previously stored in the memory means.
NIIMURA TATSUO
NISHINA TAKAO
