| 摘要 |
PROBLEM TO BE SOLVED: To maintain the degree of freedom to below even in a state to grasp a work when a robot hand is supported through a compliance unit having the degree of freedom in a vertical direction. SOLUTION: A robot hand 20 grasps a holder 40 by means of claws 22 and 23 and the protrusion part 41 of the holder 40 is inserted in the insertion hole 61a of a holder support 61 attached to a lens holding shaft 60. In this case, in a state that the holder 40 is grasped by the robot hand 20, an upward energizing force by springs 24 and 25 is set such that an amount of displacement in a position in a vertical direction of a compliance unit 30 is set to approximate±0, whereby the degree of downward freedom is maintained. Thus even when an actual shaft core L1 is slightly displaced upward from a shaft core L2 due to a design error, a compliance function is worked and displacement to the holder 40 side is naturally corrected. Thus, a protrusion part 41 is reliably inserted in an insertion hole 61a.
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