To prevent poor gripping caused by contacting of an article with a contact body during preparation operation for gripping the article.SOLUTION: A gripping mechanism (1) comprises a gripping part (10) that grips an article (W) while making a plurality of contact bodies (14), which has contact surfaces (14a) that contact the article (W) and outer peripheral surfaces (14b) extending in directions crossing the contact surfaces, approach the article, and contact avoidance parts (20) provided in the gripping part. The contact avoidance parts are provided to be able to suppress the article from contacting the outer peripheral surfaces during gripping preparation operation for arranging the article between the contact bodies separated by moving the gripping part. Further, the gripping mechanism comprises guiding parts (22) that contact the article by the gripping preparation operation and guides the article in an inserting direction in which the article is inserted between the separated contact bodies.SELECTED DRAWING: Figure 2
【課題】物品を把持する準備動作時に、当接体に物品が接触することで把持不良になることを防止できるようにすること。【解決手段】把持機構(1)は、物品(W)に当接する当接面(14a)及び当接面に交差する方向に延びる外周面(14b)を有する複数の当接体(14)を接近して物品を把持する把持部(10)と、把持部に設けられる接触回避部(20)とを備えている。接触回避部は、把持部を移動して離間した当接体の間に物品を配置する把持準備動作時に、外周面への物品の接触を抑制可能に設けられる。また、把持機構は、把持準備動作によって物品に接触し、物品が離間した当接体の間に挿入される挿入方向に案内する案内部(22)を備えている。【選択図】図2
GRIPPING MECHANISM
把持機構
2019-09-26
Patent
Elektronische Ressource
Japanisch
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