| 摘要 |
PURPOSE:To prevent a robot main unit from being influenced and from receiving the limitation in a work direction, by connecting the main unit with a clamping device through a hollow bellow-shaped soft member, able to softly extend, contract and flex, so as to adjust a pressure of fluid in a bellows in accordance with an output of a fit detecting sensor. CONSTITUTION:A fitting substance is fed to be transferred to a position of the objective substance, and if both the substances are brought into contact with mutually chamfering parts, a cross-shaped diaphragm type force detecting sensor part 3 detects contact force in the vertical direction outputting an instruction so as to adjust a pressure to be reduced of fluid in a hollow bellow-shaped soft member 2. Consequently, a clamping device mounting member 1 is released from mechanical restriction by a spring 5, and a connection member 6 is lifted till it is adapted to a stopper 7, accordingly, the fitting substance, while it is brought into one point contact with the objective substance, is placed in a condition able to only horizontally move through a ball bearing 8 by a softness effect of the hollow bellow-shaped soft member 2, passively performing a position correction. |
