| 摘要 |
PURPOSE:To absorb a centering error in screwing graphite nipple into an arc electrode, by allowing robot fingers to be translated vertically and horizontally and tilted in all directions relative to a wrist casing. CONSTITUTION:In a workpiece screw-in gripper, a heavy nipple 14 is held by the fingers 108 of a robot 18 and screwed in a fully automatic manner into the coupling hole 12 of the end of an arc electrode 10. Since the fingers 108 are allowed to be translated vertically and horizontally and tilted in all directions within a prescribed angle, relative to a wrist casing 26 attached to a yoke 24, the eccentricity, if any, between the nipple 14 and the arc electrode 10 can be absorbed by moving the fingers. For that reason, the nipple can be screwed into the arc electrode smoothly and quickly. |
