| 摘要 |
PURPOSE:To hold a stay free from hindrance for the fitting operation of a hand by allowing a supporting board for mounting a carrying case to perform horizontal movement and to be titled in all directions and correcting the position deflection between the cylindrical shaft of a robot hand and the supporting shaft of the case. CONSTITUTION:If a position deflection exists within a range of a chamfer 9 between the shaft of a positioning hand 9 and the shaft of a stay 2 when a robot arm 7 lowers and the positioning hand 9 is fitted onto the stay 2, a supporting plate 13 shifts to correct the position deflection on a supporting plate 15, and when the shaft of the stay 2 is inclined for the shaft of the hand 9, a supporting plate 10 inclination-moves with respect to the supporting plate 13, in order to correct the angle deflection. Then, in the state where the hand 9 is fitted onto the stay 2, and the both shafts are adjusted, the supporting plates 10 and 13 are fixed for the supporting plates 13 and 15 by the locking cylinders 14 and 16. The arm 7 is raised in this state, and the hand 9 is pulled-up from the stay 2, and the positions of the hands 8 and 9 are reversed in the vertical direction, and then the arm 7 is lowered to fit the hand 8 onto the stay 2. |
