| 摘要 |
PURPOSE:To enable a workpiece to be fitted and transferred by pinching a collar portion of a hand section with a thrust bearing and fastening it to one end of a two-dimensionally universal shaft and disposing pressedly hard balls through springs in conical recesses of a return plate provided on the other end to absorb the misalignment of transferred workpiece with inserted workpiece. CONSTITUTION:After a workpiece 3 is gripped by a hand section 2 and transferred to the upper proximity of an inserted workpiece 4, an arm 1 is lowered to fit the workpiece 3 into the inserted workpiece 4. Then, even if the workpiece 3 and the inserted workpiece 4 is in for slight misalignment with the inserted workpiece 4 in the directions of arrows X, Y (two dimensionally), a universal shaft 8 fastening the hand section 2 at one end, having the collar portion pinched by a thrust bearing 7, housed in a housing 6 and having the degree of freedom in the two dimensional direction moves in the housing 6 according to a guide surface 4-a of the inserted workpiece 4 to absorb such misalignment. Next, after the transfer of workpiece 3, a return plate 9, the universal shaft 8 and hand section 2 pressed by hard balls 10 through compressive springs 11 return to the initial positions together. |
