| 摘要 |
PURPOSE:To enlarge the resilient displacement in parallel with a primary plate b providing both a ball caster and a tensile coiled spring which pulls the primary and the secondary plate toward the center point therebetween so that the secondary plate is brought into turning contact with the ball of a ball caster. CONSTITUTION:An upper plate 1 is attached to the arm of an industrial robot and a pin 10 is held by a hand 9 stuck to a lower plate 6. When this pin 10 is inserted into the hole 11b of a block 11 by the insertion force A, if the pin 10 is displaced in parallel with the hole 11b, the end of the pin 10 makes contact with the tapered face 11a of the hole 11b so that the reaction force B acts on said end. While a tensile coiled spring is resiliently stretched by the component force C in parallel with this reaction force B, the lower plate 6 is turned in contact with the balls 2b and 3b at the ends of ball casters 2 and 3 and displaced in the parallel direction with respect to the upper plate 1 until the pin 10 is aligned with the hole 11b. Thereafter the pin 10 is lowered and inserted into the hole 11b. |
