| 摘要 |
PURPOSE:To detect three actions taking out parts, conveying parts and assembling parts by a single sensor, by elastically displaceably providing a movable unit displaced by its adaptation to the parts, in the case of a robot performing automatic assembly of the parts. CONSTITUTION:A driving part 2 drives a pair of clamping pieces 4 to be opened and closed, and the clamping piece 4 forms in its end part a clamping part 5 holding parts. A movable unit 11, being adapted to the parts, is displaced in a direction crossing at a right angle with the opening and closing direction of the paired clamping pieces 4. Here an adapting pat 12 of the movable unit 11 is adapted to the part 6, when it is in a position that the part is clamped by the clamping part 5 of the clamping pieces 4, and said movable unit 11 is elastically displaced. Here a photoswitch 16 is turned on because a shielding part 15 of a detecting plate 14 moves into a part between a light emitting part 17 of the photoswitch 16 and its light receiving part 18. In this way, the part 6, being surely clamped by the clamping part 5, is detected by turning on the photoswitch 16. |
