| 摘要 |
PURPOSE:To provide vibration in any direction to speed up the operation of inserting parts in a vibration hand of a robot for assemblage which enables parts to be inserted with high speed, by combining two vibration units having different vibrational directions into a double layer structure. CONSTITUTION:This vibration hand is constituted in combination from first and second units intersecting each other at a right angle, the former having an arm mounting plate 11 and an intermediate vibration plate 12 interconnected by two parallel springs 13 and the latter having the intermediate vibration plate 12 and a finger mounting plate 17 interconnected by two parallel springs 13. Also, piezo- electric elements 16 are mounted respectively on the lower surfaces of the arm mounting plate 11 and the intermediate vibration plate 12 through mounting blocks 15. And sine wave voltage having different phases is applied on these piezo-electric elements 16 to compose wto axial vibration components. Then, electric signals of strain gauges 14 of the respective units are sent to the input of a calculation process section 18 which detects the direction of fitting an insertion pin 20 mounted on the mounting plate 17 into an insertion hole 21 in the easiest way. |
