| 摘要 |
PROBLEM TO BE SOLVED: To provide a hand device which does not require position adjustment of a grasping state detecting sensor corresponding to the size of a workpiece when grasping a plurality of predetermined workpieces with different sizes, reduces fluctuation of opening/closing time and grasping force of fingers, and suppresses increase of cost and decrease of productivity. SOLUTION: The hand device 1 detaches/attaches the workpiece by carrying out on-off type opening/closing action of a grasping means 2 for grasping the workpiece. The grasping means 2 performs opening/closing by synchronizing a plurality of the fingers 3, 3. A plurality of grasping parts C1, C2 for grasping a plurality of the workpieces having a part to be grasped with a different size and a single workpiece having a plurality of parts to be grasped with different sizes are arranged at the fingers 3, 3. The grasping parts C1, C2 are formed corresponding to the predetermined size of the part to be grasped so that the opened positions of the fingers 3, 3 are the same when grasping the corresponding parts to be grasped. COPYRIGHT: (C)2011,JPO&INPIT
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