| 摘要 |
PURPOSE:To prevent generation of moment at the wrist of a screw-tightening robot provided with a nut runner, by demountably mounting the nut runner at a position parallel to the axis of rotation of the wrist and offset from the same by a predetermined distance. CONSTITUTION:When an attaching base 27 is mounted on a robot, a wrist 19 held parallel to the axis of a nut runner is shifted along a dovetail groove 22 so that a knock pin 24 is engaged with a knock hole 29 by means of a spring 25. The attaching base 27 to which the nut runner is attached is thereby connected integrally to the wrist 19. By raising the wrist 19, the attaching base 17 is released from a positioning pin 32 of a fixing frame 31, and transferred to the position for tightening a screw. |
