| 摘要 |
PROBLEM TO BE SOLVED: To extend or shorten intervals between a plurality of grip members 26 holding articles 10, by using a simple structure.SOLUTION: Five air cylinders 22 are fixed in a line to a base member 20 attached to a robot hand 4. The first air cylinder 22A at one end is fixed to the base member at right angles. The subsequent second air cylinder 22B to the fifth air cylinder 22E are fixed so that their inclining angles may gradually increase in that order. From the position where all the air cylinders are shortened and the grip member is raised, the fifth air cylinder 22E are extended and the fifth grip member 26E is lowered to hold an article and then raised. Thereafter, the fourth to first grip members 26D to 26A are successively lowered to hold articles and then lifted. Subsequently, the air cylinders 22 are simultaneously extended to lower the grip member 26. After the intervals between the articles 10 are shortened, they are inserted in a bucket 14. |
