| 摘要 |
PURPOSE: To automatically open/close a lid in a box without using any opener by arranging two projections, which can be freely engaged individually with the upper and lower faces of a protruded part arranged in the circumference of the lid in the box, in an end effector. CONSTITUTION: Two pins 15A, 15B of a finger (a kind of end effector) 14 are set onto the upper and lower faces in a protruded part arranged in the circumference of a lid in a box 3. When a hand 12 is moved under this condition, the finger 14 is lifted forward while kept horizontal, so that the lid is lifted by means of the upper pin 15A firstly. If this movement is continued, the lid will open toward the opposite side abruptly, however, the lid can be smoothly opened while supported by means of the lower pin 15B. |
