PURPOSE: To drive automatically by a robot even a work deformed or inclined, absorb impact by driving and prevent the effect of impact to the robot by interposing an expansion and contraction means between the robot and a stapling machine or a nail driving machine.
CONSTITUTION: A wrist section 2 and a stapling machine 4 are connected together by an air cylinder 9 through planes 7 and 8. A guide cylinder 10 is mounted on the plate 7 on the periphery of the air cylinder 9, and a pin 11 is installed slidably on the plate 8 on the side of the stapling machine 4. A ring 13 is fitted on the outer periphery of the guide cylinder 10, and a coil spring 12 in the compressed state is interposed between said ring and the plate 8, and the stapling machine 4 is energized in the usual driving direction. The end of a yoke of the stapling machine 4 is stopped close to the stapling position, and the contraction of the air cylinder 9 is released, and the yoke is brought into contact with the work by a coil spring 12 and stapling is carried out.
FUJIMOTO HIROSHI
MURAKAMI KOJI
NANZAKI SUSUMU
| JPS6353702B2 | 1988-10-25 | |||
| JPS6323003B2 | 1988-05-14 |
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