| 摘要 |
PROBLEM TO BE SOLVED: To grasp an article by easily correcting positional deviation, even when a center O1 of stacked containers 6 is deviated from a center 02 of a hand 4. SOLUTION: The robot hand 4 is provided with a pair of grippers 12 and 13. The grippers 12 and 13 are made movable to a position for grasping the containers 6 and a position for releasing the containers 6 by each of air cylinders 14 and 15. The moving of the grippers 12 and 13 to the grasping positions can be detected by proximity sensors 16 and 17 provided in the air cylinders 14 and 15. When a detection signal can not be obtained from either one of the cylinder 14 or 15 when moving the pair of grippers 12 and 13 to the position for grasping the containers 6, the hand 4 is moved to the cylinder 14 or 15 side where the signal can not be obtained by an operation of a robot 2 to obtain signals from both of the sensors 16 and 17. COPYRIGHT: (C)2008,JPO&INPIT
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