| 摘要 |
PROBLEM TO BE SOLVED: To eliminate the influence of a reaction force applied to a wrist section from an object via a tool on a work quality without aggravating robot workability using the tool in a tool adapter.SOLUTION: A tool adapter 26 is a member for attaching a tool 28 to a robot wrist section 20 which has a first rotational member 22 rotatable about a first axis J5 and a second rotational member 24 rotatable about a second axis J6 orthogonal to the first axis J5. The tool adapter 26 comprises a first part 32 which is attached to the second rotational member 24 by a first attachment portion 30; and a second part 36 which extends from the first part 32 and is attached to the tool 28 by a second attachment portion 34. The first attachment portion 30 and the second attachment portion 34 are disposed in respective positions where the direction of a reaction force F applied to the second part 36 from an object via the tool 28 during work using the tool 28 crosses both the first axis J5 and the second axis J6.SELECTED DRAWING: Figure 2 |
