| 摘要 |
PROBLEM TO BE SOLVED: To provide a workpiece takeout device also taking out workpieces near a container wall. SOLUTION: A hand 3 is mounted to a mount 41 of a robot arm tip 10 using a connecting member 31. A grip means 35 is journaled to rotation support parts (pivots) 33, 34 and can be changed over to first and second attitudes a, b by the expanding/contracting operation of an expansion means 32. The grip center C of the grip means 35 of the hand 3 is offset from the center axis D of a proximal part of the hand 3. In gripping, there is thereby no need to make the center axis of the workpiece align with the center axis of the proximal part of the hand, and even if the workpiece is close to the internal wall of a container, an attitude of offsetting the center of the hand proximal part to the inside of the container is taken. It is further advantageous for preventing interference to form an imaging means 4 to be slidable back and forth, and to use an advance or retreat position properly according to imaging or gripping. COPYRIGHT: (C)2006,JPO&NCIPI
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