| 摘要 |
PURPOSE:To obtain an inexpensive, highly reliable assembling robot by arranging a 1st and a 2nd arms in opposite positions on both front and back surfaces of a part to be assembled and rotating two pairs of said arms by a same amount at a time at a synchronous timing horizontally by means of a same drive mechanism according to a single control program. CONSTITUTION:Two upper and lower 1st arms 29 and 30 and two upper and lower 2nd arms 33 and 34 are respectively rotated by a same amount by means of motors 41 and 46. Further, two rack shafts 36a and 36b, a parts chucking mechanism 38, and a parts clinching mechanism 39 are moved forward toward both front and back side of a printed circuit board 52 by means of motors 51a and 51b. Then, a mechanism 38 holding a part 53 in advance moves forward to make two pieces of reeds 53a go through and project out of a hole on the board 52. A mechanism 39 then moves forward to bend the two reeds 53a projecting out of the boars 52 so that the part 53 is fixed to the board 52. Thus, a robot of a low cost and a high reliability can be obtained.
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