| 摘要 |
PURPOSE:To enable the free change of the direction of a workpiece held by a robot hand in the course of machining and transportation by providing a turning drive mechanism to rotate the hand so held on a support frame as to reciprocate freely. CONSTITUTION:After a workpiece is set to a vacuum pad 21, a robot arm 1 is operated for making a workpiece near a buffing machine. Concurrently therewith, a servo motor 37 is driven to turn a ball spline spindle 15 and a workpiece is positioned to a predetermined direction. Then, another servo motor 4 is operated to lower the workpiece for its contact with the surface of the buff, which is detected by a differential transformer 22. Furthermore, the servo motor 4 is driven to lower only a support frame 12 and compression springs 18 and 19 are displaced in order, thereby causing a gradual increase in the pressing force for the workpiece against the buff. When the amount of the displacement as detected by the differential transformer 22 has reached a predetermined value, the servo motor 4 is stopped and the buff grinding of the workpiece is started. |
