Patent ID: 8287017

Claim:
A method for handling a planar article ( 6 , 20 ) using a robot hand ( 1 , 10 ) which has a palm member ( 2 , 12 ), a first engaging member ( 3 , 13 ) and a second engaging member ( 4 , 14 ) mounted on the palm member ( 2 , 12 ) at a predetermined gap from each other, and a finger member ( 5 , 15 , 16 ) mounted on the palm member ( 2 , 12 ), the method characterized in comprising: moving the robot hand ( 1 , 10 ) toward a planar article ( 6 , 20 ) to be held and inserting a part ( 6 a ) of the planar article ( 6 , 20 ) to be held between the first engaging member ( 3 , 13 ) and the second engaging member ( 4 , 14 ); changing a direction or orientation of the robot hand ( 1 , 10 ) so that the first engaging member ( 3 , 13 ) is positioned underneath the second engaging member ( 4 , 14 ) prior to the operation to insert the planar article ( 6 , 20 ) or after the inserting operation; lifting the robot hand ( 1 , 10 ) to cause the planar article ( 6 , 20 ) to be swung under the weight thereof around a part, used as a pivot point ( 6 b ), supported by the first engaging member ( 3 , 13 ) on a lower side from below; and pressing against the second engaging member, against the second engaging member ( 4 ) on an upper side, an end part ( 6 c ) of a portion ( 6 a ) of the planar article ( 6 , 20 ) inserted between the first and second engaging members ( 3 , 4 ), so that there is formed a retention state in which the planar article ( 6 , 20 ) is retained between the first and second engaging members ( 3 , 4 , 13 , 14 ) under the weight of the planar article; and pressing against the second engaging member, from an upper side from below, a portion of the planar article ( 6 , 20 ) projecting from between the first and second engaging members ( 3 , 4 , 13 , 14 )) using the finger member ( 5 , 15 , 16 ), thereby forming a held state in which the planar article ( 6 , 20 ) is held under the weight thereof by the first and second engaging members ( 3 , 4 , 13 , 14 ).