| 摘要 |
PROBLEM TO BE SOLVED: To handle door panel parts of a different shape by a common carrying device in the carrying device of the door panel parts of an automobile. SOLUTION: Three pin holes 5, 6 and 7 are bored in advance at common pitches P1, P2 and P3 in many kinds of door panel parts W. A gripping mechanism 13 having pins 17 and two claw chucks 20 arranged at a pitch in common to the pin holes 5, 6 and 7, is installed on the tip of a robot hand 12. The door panel parts W are gripped by diametrally expanding the jaw chucks 20 by projecting a movable clamp of the pins 17 by inserting the pins 17 and the jaw chucks 20 into the pin holes 5, 6 and 7. Thus, the door panel parts W of a different shape can be gripped and handled by the common gripping mechanism 13. Since the jaw chucks can hold the door panel parts W in a specific axis directional range, a degree of freedom of a layout in a shaft directional position of the pin holes 5, 6 and 7 can be enhanced. COPYRIGHT: (C)2005,JPO&NCIPI
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