| 摘要 |
PURPOSE:To make it possible to easily insert a work into a fixed hole by making fluid pressure function to cause a spherical plate of a hand side member to freely float from or pressedly attach to a spherical seat of an arm side member. CONSTITUTION:A hand side member is engaged with an arm side member through a spherical seat sandwichedly held by a spherical plate provided in one body with the hand side member and a spherical plate provided in the arm side member. In this state, fluid pressure is made to function between the spherical seat and the spherical plates to float the spherical plate from the spherical seat for giving the degree of freedom to the hand side member. Thus an angular error or a positioning error in inserting a work into a fixed hole can be freely corrected under a light load, resulting in the easy insertion of the work. |
