| 摘要 |
PROBLEM TO BE SOLVED: To provide a holding hand with a sheet separating function capable of reliably separating sheets on the uppermost stage one by one from a stack on which a plurality of sheets are stacked and holding the separated sheets by a simple structure and a simple control with less number of actuators, and a method of separating and holding sheet using the holding hand. SOLUTION: This holding hand 10 with a sheet separating function separates sheets on the uppermost stage one by one from the stack 2 on which the sheets 1 are stacked and holding the separated sheets. The holding hand includes: an upper hand 12 which is attached to the hand mounting part 9 of a robot for conveyance and which has a horizontal length for covering the area of the sheet between both the ends; a lower hand 14 which is positioned under the upper hand and which has a horizontal length for covering the sheet between both the ends; and a plurality of suction cups 16 dispersed on the lower surface of the lower hand. The lower hand 14 is supported on the lower surface of the upper hand 12 at both ends opposed to both ends of the sheet, and elastically deformed by the sucking forces of the suction cups at least near both the ends. COPYRIGHT: (C)2010,JPO&INPIT
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