| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot capable of more surely turning plural screw like objects without an expensive laser mechanism. SOLUTION: This robot turning a screw like object is provided with a robot head provided with a driver tip fitted to a head part of the screw like object andθaxis motor turning the driver tip, an X axis and a Y axis motor for X-Y stage transfer transferring the robot head to a position of the designated screw like object, and a Z axis motor transferring the robot head in the direction perpendicular to a head of the screw like object and fitting the driver tip to the head part of the screw like object. A means monitoring revolution of theθaxis motor to detect a step-out and failure of rotation of the motor is provided. In an operation of fitting the driver tip to the head part of the screw like object and turning the driver head, if a power swing or no revolution of theθaxis motor is detected, it is judged that fitting is unsuccessful and fitting is performed again.
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