| 摘要 |
PURPOSE:To enable executing of precision insertion through absorption of unevenness occurring due to the weight of a work and a finger, by a method wherein a simple lock device is mounted to a compliance mechanism. CONSTITUTION:Through insertion of a lock pin 10 in a lock pin insertion hole 4d, a moving plate 4 is locked. When a part 50 is brought into contact with a part 53 to be inserted at chamfering parts C1 and C2, contact therebetween is confirmed by means of a detecting unit 12, the lock pin 10 is unlocked from the insertion hole 4d, and the moving plate 4 is released from locking. The moving plate 4 is movable in a direction extending at right angles with the axis of a robot hand 51. When an arm 101 is moved leftward, the position of the moving plate 4 is displaced, displacement in an axis between the part 50 and the part 53 to be inserted is atomatically absorbed, and engaging insertion therebetween takes place. This constitution absorbs uneveness in weight of a work and a finger, enables execution of precision insertion, and permits improvement of workability. |
