| 摘要 |
PURPOSE:To effect incorporating work under positioning a holding mechanism in an arbitrary angle by a method wherein a direction discriminating means, discriminating the direction of a bias load acting on the holding mechanism, is provided and the directional position of the radius of a rotating shaft is controlled based on a signal from this means. CONSTITUTION:A movable head 10 moves into the directions of axes X, Y, Z by the feeding mechanisms of servomotors SMX, SMY, SMZ and the rotating shaft 12, to which the holding mechanism 11 is attached at the lower end thereof, is supported movably through bearings. The main body 11a of the holding mechanism 11 is attached to the lower end of the shaft 12 through four sets of washer-type load detectors 15a-15d and a pair of grasping pawls 16a, 16b are attached thereto. A control unit 20 detects the magnitude and direction of the bias load acting on the mechanism 11 based on data in memories MA1-4, thereafter, discriminates them at a step 34 and distributes pulses to a driving unit DUZ to move the movable head 10 slightly by a given amount. |
