| 摘要 |
PURPOSE:To enable the high speediness to be attained for work by using a servomotor, built in an arm, for the driving source of a driver and lowering a sucker sleeve to be stopped continually in a fixed position so as to improve positioning accuracy and to obtain the lightness of weight of a screw tightening device. CONSTITUTION:An industrial robot, when its arm 1 moves to a work position of a workpiece 61, actuates a servomotor 18. Here the robot, supplying one quantity of screw 60 to be held to a holding part 23a, moves a belt 14 lowering a driver 30, and a sucker sleeve 33 passes through in a catcher 20 holding the screw 60 to be sucked to the point end. And the robot lowers the driver 30 being left as it is reaching on the workpiece 61, stopping the motor 18 in this position. Here the robot, rotating the driver 30, integrally rotates a driver bit 32 to be placed in a bottomed hole 42 by successively forcing air to be press fed. In this way, a cylinder member 43, while it rotates, lowers on a rotary shaft 41, and the robot, lowering also the driver bit 32 while rotating, tightens the screw 60 to the workpiece 61 to be decided good by a signal with a dog 51 acting on a sensor 50.
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