| 摘要 |
High load screwing work, calking work, or press-fitting work ancillary to assembly work can be performed by a low rigidity robot such as a tabletop robot by, in the screwing work, returning the torque applied to one of the bolt and nut from a rotation drive unit such as a motor and reduction gear to the casing part of the rotation drive unit through a relative rotation inhibiting mechanism supporting the other and, in the calking work or press-fitting work, returning the action force applied from a driving means such as an air cylinder to the calking punch etc. to the casing part of the driving means through the workpiece and grip parts. Therefore, the path of transmission of the torque or action force is kept inside the robot hand and does not leak to the outside.
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