| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot hand and a work positioning method using the robot hand which can grip a work without using a work positioning device and a highly accurate image recognizing device and without interfering with a side guide and a locate pin, accurately position the work at release even when the work is displaced during a work conveying operation of the work and accurately arrange the works without interfering with the adjacent works. Ž<P>SOLUTION: The robot hand 10 for gripping the work 1 and conveying the work to a prescribed position includes a hand body 12 attached to a hand attaching part 9 of a robot, a grip device 14 attached to the hand body to detachably grip the work and a pair of distance sensors 16 facing each other with a space wider than the work in the positioning direction of the work. The work 1 is gripped and conveyed by the grip device 14 and relative positions to side surfaces of the work are measured by the distance sensors 16 to obtain an alignment error Δ. In accordance with the alignment error, the position of the hand attaching part 9 is corrected to release the work 1. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
|
