| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand that allows reduction in the size and weight and reduction in the cost, and to provide a method for receiving and delivering a workpiece between the robot hands. SOLUTION: Each conical shaped tip 10 of each reference pin 8 of the robot hand 1 is made to abut against the peripheral edge of each hole 7 for positioning of the workpiece 2, and the workpiece 2 is pulled in by a clamper 16. If each tip 10 of each reference pin 8 abuts against the peripheral edge, each reference pin 8 is fitted into each hole 7 for positioning, by the moving of the workpiece 2 by following each hole by each tip 10, and the workpiece 2 is positioned. As a result, a floating mechanism becomes unnecessary, and reduction in the size and the weight of the robot hand 1 and reduction in the cost are made possible. Positioning accuracy between the robot hands 1, required when receiving and delivering the workpiece 2 between the robot hands 1, is relaxed, and receiving and delivering of the workpiece 2 between the robot hand 1 becomes possible. COPYRIGHT: (C)2009,JPO&INPIT
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