| 摘要 |
PROBLEM TO BE SOLVED: To simply and accurately mount a nonmetallic fork to a prescribed position on a hand, and also, to easily and surely detect the presence or the absence of the fork with a small sensor. SOLUTION: A metallic reference piece 18 for positioning is mounted on the base part of the fork 16. The reference piece 18 for positioning is fitted into a reference groove 19 for positioning formed on the hand 15 and fastened by a bolt 17. Consequently, the fork 16 is mounted on the hand 15. Each of the reference grooves 19 for positioning is provided corresponding to a plurality of mounting positions of the fork 16. The fork 16 is mounted by properly selecting the reference groove 19 for positioning corresponding to the size of a transferred article. A metal detection type proximity sensor 20, which is mounted corresponding to each of the reference grooves 19 for positioning, automatically detects on which reference groove 19 for positioning the fork 16 is mounted. COPYRIGHT: (C)2006,JPO&NCIPI
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