| 摘要 |
PURPOSE:To enable automatic planting of a large diameter bolt in the horizontal direction, by detecting shift of the center of bolt against the center of screw hole and correcting the shift of bolt on the basis of detected value. CONSTITUTION:When planting a bolt 101 into a screw hole 107 in a work 108, a bolt holder 122 is brought to fixed state to position the bolt 101 and the screw hole 107 to face each other. Then a manipulator is moved in Z direction to push the bolt 101 against the screw hole 107 and while balancing the handling mechanism 102 through a balancer 131, to support the bolt holder 122 freely. If the screw hole 107 and the bolt 101 are shifted, the handling mechanism 102 will incline around the bolt holder 122. Said inclination is detected through X and Y position detectors 114, 115 to fine adjust the positional shift of the handling mechanism 102 such that the measurement will be zero.
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