PURPOSE: To improve productivity by mounting a shaft mounting plate having a sucking function copying after a flange face on a box body having chucking claws through a inclination correcting mechanism and a parallel moving mechanism, and precisely gripping a flanged shaft on the prescribed position of a gripping device.
CONSTITUTION: A plurality of linear actuators 15 having compliance function are uniformly arranged in the two-dimensional direction, and a plurality of chuck claws 13 movable in the radial direction are projectingly arranged on the reference plane 12a formed in the center part of an actuator arranged territory of a plane meeting at right angles with the drive shafts 16 of the respective actuators 15. A shaft mounting plate 18 is engaged with the extreme end side of the drive shafts 16 through coil spring type couplings 17. Further, on the shaft mounting plate 18, a suction port 18c is on the center part, and holes 18a of size covering the moving range of the chuck claw 13 on the corresponding positions to the chuck claws 13 respectively formed.
KOMORIYA HITOSHI
NAKADA YASUYUKI
OIKAWA KOICHI
