| 摘要 |
PROBLEM TO BE SOLVED: To position a hand device of a cassette by a simple structure and at a low cost when the cassette is gripped and lifted by the hand device of a robot. SOLUTION: Left and right arms 22L, 22R which extend in the longitudinal direction, turn around shaft parts 23L, (23R), and are opened and closed are supported on left and right side parts of a hand main body 19, a guide pin 36 engaged with each guide part 65 of a cassette C and forward and backward pawl members 37, 37 which are positioned on both the front and rear sides of each guide pin 36 and engage and support each flange part 66, 66 of the cassette C from below are attached to tip parts of each arm 22L, 22R, and the guide pin 36 is engaged with the guide part 65 and is positioned by utilizing the motion that each pawl member 37 is engaged with the flange part 66 to lift the cassette C. |
