| 摘要 |
PROBLEM TO BE SOLVED: To provide a compact, lightweight, and highly precise slide type chuck capable of nipping an object to be gripped by opening and closing three fingers or more, gripping the objects to be gripped having different shapes securely and freely, and providing high resolution and provide a position adjusting method capable of adjusting a position and attitude of the gripped object with high precision. SOLUTION: This slide type chuck nipping a workpiece by opening and closing three fingers or more is provided with a moving means for opening and closing each finger and a conversion means for converting a direction of moving of the moving means, and the moving means and the conversion means have an operation mechanism and a control means which can operate independently from each other. Moreover, when the slide type chuck is mounted on an articulated robot to perform the insertion work of a shaft part having a D cut shape, a direct acting mechanism of each finger is swung by a predetermined angle in the same direction by the conversion means to rotate the shaft part while the slide type chuck grips the shaft part so that a shape of a hole of the other mate part agrees with the D cut shape.
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