To position a work held by a gripper in a predetermined position.
The gripper 10 includes a fixed pawl 22 and a movable pawl 26, wherein the pawls 22, 26 are respectively provided with a gripping pad 28. The gripping pad 28 where an elastic body 36 and a spherical body 38 are accommodated in the interior is deformed to a shape corresponding to the shape of a door mirror 14 when the door mirror 14 (a work) is gripped. The gas is discharged from the interior of the gripping pad 28 to thereby position and fix the spherical body 38. When a screw part 18 of the door mirror 14 is inserted in a pilot hole 52, the degree of decompressing a predetermined gripping pad 28 is lowered, whereby the gripping pad 28 is restored to the initial state. According to this restoration, the door mirror 14 is pressed and the door mirror 14 is positioned in a predetermined position.
| JP5492168 | Gripping mechanism |
| JPH0624883 | [Name of invention] Gripper device |
| JP7341572 | Gripping member, gripping system and gripping method |
MIYAZAKI AKIRA
YAMAMOTO TATSUHIKO
HOSOKAWA KATSUMI
| JPH08294885A | 1996-11-12 | |||
| JPS5930694A | 1984-02-18 | |||
| JPH03190692A | 1991-08-20 | |||
| JP2002370188A | 2002-12-24 | |||
| JPH0497686U | 1992-08-24 | |||
| JPH068179A | 1994-01-18 | |||
| JPS56114688A | 1981-09-09 | |||
| JPH09123082A | 1997-05-13 | |||
| JPS4899843A | 1973-12-17 |
Toshiyuki Miyadera
Tatsuhiko Sato