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
把持機構
2022-07-27
Patent
Electronic Resource
Japanese