| 摘要 |
PROBLEM TO BE SOLVED: To provide a palletizing/depalletizing robot hand capable of stably clamping a work, even deformed one. SOLUTION: A clamper base 1 is arranged for a hand base 5 on which a robot wrist 10 is mounted, via an automatic alignment mechanism 41 and a plurality of clamp cylinders 30B are mounted on the clamper base 1 via a height follow-up mechanism 30A. The height follow-up mechanism 30A has a function 18 of detecting at plural positions that the clamp cylinder 30B has contact with a work 20 and each of the clamp cylinders 30B has a function 9 for preventing the dropping of the clamped work 20.
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