| 摘要 |
PURPOSE:To perform a stable work of fastening a screw, by a method wherein a body frame to which a screw fastening machine is mounted is situated to the support frame of a robot so that a screw fastening angle can be set arbitrarily. CONSTITUTION:Screws 55 are taken out one by one from a screw feed part 60, and are fed to the lower part of an absorption pipe 43 by means of a block 53 through slewing of the block 53 and are held through the action of a vacuum suction part 45. After a screw fastening machine 20 is positioned to a work, the work is pressed by an air cylinder device 40, and a bit 42 is driven with the aid of a DC motor 34 for fastening. After the screw 55 is contained in the absorption pipe 43, through drive of a rotary actuator 22, a body frame 30 is rocked centering around shafts 31 and 36 through a screw fastening direction converting gear 33, and by arbitrarily setting an angle, a screw lock work is effected in a lateral or an inclination direction. This constitution enables automatic and stable execution of a screw fastening work in an arbitrary direction.
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