A banknote handling system includes an unlocking system. The unlocking system includes a camera, a first mechanical arm to which one or a plurality of keys are affixed, and a controller that determines a position of a keyhole based on an image from the camera, and controls the first arm to insert one of the one or the plurality of keys into the keyhole and turn the inserted key for unlocking. In many examples, the unlocking system is configured to unlock a banknote cashbox.

A banknote handling system includes an unlocking system. The unlocking system includes a camera, a first mechanical arm to which one or a plurality of keys are affixed, and a controller that determines a position of a keyhole based on an image from the camera, and controls the first arm to insert one of the one or the plurality of keys into the keyhole and turn the inserted key for unlocking. In many examples, the unlocking system is configured to unlock a banknote cashbox.

A robot hand includes holding members radially receiving a tape reel between flat-plate-shape main bodies facing each other, and an actuator configured to open and close the holding members. The holding members are openable and closable between a reel hold position and a tape pull-out position, the reel hold position is a position at which a distance between inner surfaces of the main bodies is greater than a distance between outer surfaces of pair of side plates of the tape reel, the tape pull-out position is a position at which a distance between outer surface of the main bodies is smaller than a distance between inner surfaces of the pair of side plates. The holding members include rail portions and cut-outs provided in the rail portions.

A workpiece gripping device includes a base body and a pair of finger units configured to grip a workpiece. A first finger unit of the pair of finger units includes a scoop member configured to reciprocate in the direction of the arrow Z relative to the base body and rotate on a plane perpendicular to the direction of the arrow Z. A second finger unit of the pair of finger units includes a pressing member configured to reciprocate in the direction of the arrow X and rotate on a plane perpendicular to the direction of the arrow Z.

A robot hand includes a first portion, and a second portion detachable from the first portion, including a pair of holding pieces for holding a workpiece. The first portion includes a first movable member movable in one direction by a first stroke, an actuator which moves the first movable member. The second portion includes a second base which is detachably attached to the attaching and detaching mechanism, and a second movable member movable in one direction by a second stroke which is larger than the first stroke. At least one of the holding pieces is fixed to the second movable member. A first engaging portion is provided in the first movable member, second engaging portions are provided in the second movable member, and the second engaging portion can be engaged with the first engaging portion.

A banknote handling system includes an unlocking system. The unlocking system includes a camera, a first mechanical arm to which one or a plurality of keys are affixed, and a controller that determines a position of a keyhole based on an image from the camera, and controls the first arm to insert one of the one or the plurality of keys into the keyhole and turn the inserted key for unlocking. In many examples, the unlocking system is configured to unlock a banknote cashbox.

A banknote handling system includes an unlocking system. The unlocking system includes a camera, a first mechanical arm to which one or a plurality of keys are affixed, and a controller that determines a position of a keyhole based on an image from the camera, and controls the first arm to insert one of the one or the plurality of keys into the keyhole and turn the inserted key for unlocking. In many examples, the unlocking system is configured to unlock a banknote cashbox.

Provided is a gripping portion structure of a gravure plate-making robot in which the accurate gripping of an unprocessed plate-making roll and the positioning accuracy during transfer of the unprocessed plate-making roll to each processing device can be improved by causing a gravure plate-making robot to exhibit a high gripping force when gripping the unprocessed plate-making roll. The gripping portion structure of a gravure plate-making robot to be used in a fully automatic gravure plate-making processing system for manufacturing a gravure plate-making roll by gripping and transferring an unprocessed plate-making roll to each processing device includes: a pair of gripping plates to be mounted on an arm distal end of the gravure plate-making robot, the pair of gripping plates being freely spaced widely or narrowly from each other, and being configured to grip both end portions of the unprocessed plate-making roll; and a gripping surface forming member provided on each of the pair of gripping plates, the gripping surface forming member having a gripping surface that is curved so as to be recessed toward a center of the end portion of the unprocessed plate-making roll to be gripped and having a non-slip function.

A banknote handling system includes an unlocking system. The unlocking system includes a camera, a first mechanical arm to which one or a plurality of keys are affixed, and a controller that determines a position of a keyhole based on an image from the camera, and controls the first arm to insert one of the one or the plurality of keys into the keyhole and turn the inserted key for unlocking. In many examples, the unlocking system is configured to unlock a banknote cashbox.

A banknote handling system includes an unlocking system. The unlocking system includes a camera, a first mechanical arm to which one or a plurality of keys are affixed, and a controller that determines a position of a keyhole based on an image from the camera, and controls the first arm to insert one of the one or the plurality of keys into the keyhole and turn the inserted key for unlocking. In many examples, the unlocking system is configured to unlock a banknote cashbox.