| 摘要 |
PURPOSE:To ensure the fitting of the shaft to the hole by a method wherein both position-controlling mechanism and posture-controlling mechanism exert the movement control by links and the control for return to original positions by compression springs. CONSTITUTION:When the 1st-3rd bases 21-23, the position-controlling mechanism 25, the posture-controlling mechanism 32 and the shaft 40 are lowered and the beveled part 43 of the shaft 40 is made to contact with the hole 42 by the downward motion of a vertical-motion driving part 24, the 2nd base 22 and the members thereafter are made to move horizontally and parallel to the 1st base 21 and the shaft 40 is made to move parallel thereto, while being retained in the same posture in relation to the hole 42 by the action of the 1st link 26 of the position-controlling mechanism 25. Moreover, by the action of the 2nd link 33 of the posture-controlling mechanism 32, the 3rd base 23 and the members thereafter are made to conduct spherical movement around the center 41 as a rotational center near the tip part of the shaft 40 in relation to the 2nd base 22, the hole 42 is made to follow the shaft 40 and thereby the tip part of the shaft is inserted therein a little. Next, the 2nd base 22 and the members thereafter are made to move horizontally and in parallel through the intermediary of the 1st link 26, while the 3rd base 23 and the members thereafter are made to perform the spherical movement through the intermediary of the 2nd link 33, thereby putting fitly the shaft 40 into the hole 42. |
