| 摘要 |
PURPOSE: To securely transfer a cargo by constituting a gripper capable of moving in all directions by a robot by a clamp element displaceable in the vertical direction and a finger insertable between an article and a support base and measuring a position and a distance of an article by a sensor provided on the gripper to grip the article. CONSTITUTION: A gripper 30 is drawn close to an article 18, and a distance between side faces of the article 18 and the gripper 30 is detected by sensors 68, 66, and the gripper 30 is stopped at an accurate position. Then, the gripper 30 is lowered, a finger 58 is put on a support plate 15, and a pressurizing end part 50 is pressed against the article 18 to detect a height of the article 18 by a sensor 62. The finger 58 is inserted, and a clamp element 52 is operated to grip the article 18. This operation is for the minimum pressurizing force for preventing a slide of the article 18 due to the travel of a spring 51 in the pressurizing end part 50 by the sensor 62. Consequently, the article 18 is gripped and moved securely without being broken.
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