| 摘要 |
PROBLEM TO BE SOLVED: To obtain a plural-component gripping tool that is inexpensive, simple in structure, capable of switching over among a plurality of hands in a short time, and ensuring high efficiency.SOLUTION: A gripping tool includes: a plurality of component gripping portions 25 each including a lifting mechanism; and a rotational index 22b on which the component gripping portions 25 are installed on a same circumference as that of a robot end effector shaft 11. Only a component gripping portion 25a corresponding to a gripping target moves downward whereas the other component gripping portions 25b either move upward or are each kept at an elevated position or an intermediate position. The rotational index 22b is rotated until a central axis of the component gripping portion 25a moving downward matches the robot end effector shaft 11, and phase holding devices 21a, 21b, 23a, and 23b hold a phase of this state. |
