| 摘要 |
PURPOSE:To prevent a work from being scratched as well as to make the durability of a robot imprevable, by installing a reaction receiving mechanism, to be engaged at the time of thread fastening, between an arm of the robort and a fixed part proximate to the work. CONSTITUTION:A reaction receiving member 14, extending shortly toward the side of a bace 4 of a robot R, is clamped to a column 1 of a conveyor 2, while an engaging hole 14a, opening upward, is formed in a tip end of this reaction receiving member 14. On the other hand, a cylinder 16 is attached to an intermediate part of a second arm 6 of the robot R via a bracket 15, and a pin 17 is driven up and down in the vertical derection by this cylinder 16. This pin 17 is situated in a position right above the engaging hold 14a of the reaction receiving member 14 in the state that a socket 12 of a fastening unit U is positioned right above a screw 3, and it is made to go down by the cylinder 16, thus it is inserted in the engaging hole 14 with no backlash.
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