| 摘要 |
PROBLEM TO BE SOLVED: To cope with large portable weight and various kinds of portable weight by clamping a work by prescribed clamping pressure and carrying the work when the work is clamped by a plurality of clampers and air cylinders and switching a pressure value to a value lower than a clamping pressure state of the work when the work is inserted into a jig. SOLUTION: A hand device 30 is mounted on a robot tip shaft 15, carries a work 5 and inserts the work 5 into a jig. An air cylinder 1 for clamping first side surface drives a first clapper 8 in the direction of the arrow A, a first pin 6A is fixed to a tip of a first clamper 8, and the first pin 6A is inserted into a side surface hole 21 passing through in the horizontal direction of the work 5 and is hooked. An air cylinder 2 for clamping second side surface drives a clapper 7 in the direction of the arrow B, and a second pin 6B is inserted into a side surface hole 21 passing through in the horizontal direction of the work 5 and is hooked. An air cylinder 3 for clamping upper surface drives a third clapper 9 in the direction of the arrow C. As a result, the work 5 is carried and a bottom surface hole 22 of the work 5 is inserted into a projection 14 of the jig.
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