| 摘要 |
PROBLEM TO BE SOLVED: To solve such a problem that normal/abnormal grasping condition of a work by fingers and presence/absence of the work can not be detected. SOLUTION: In each one side finger of a transfer bar, the advancing end is regulated to be in a grasp reference position so that a work center coincides with the working center at the transfer position of the work, and each other side finger of the other transfer bar is urged by a smaller urging force than the urging member of the finger opposite to the former finger, and a pressure detector outputting an electric signal proportional to the pressurizing force of the urging member urging the other side finger is provided at the back side of respective other side fingers. A comparison and discrimination unit is provided in which the output of the pressure detector is compared with predetermined upper limit and lower limit and the discriminated result is outputted. The presence or absence of the work in each finger and the grasping condition of the work are detected according to the discriminated result in the comparison and discrimination unit on the basis of the output from the pressure detector in the timing that both fingers grasp the work.
|
