Controlling institutions

Abstract

The gripping mechanism includes: multiple gripping claws, a gripping element; an opening and closing device that moves the multiple gripping claws in an opening direction that separates them from each other and a closing direction that brings them closer together; and multiple stops, each having a contact portion capable of abutting against the upper surface of the element. The stops are configured to move integrally with the gripping claws, and in the open state where the multiple gripping claws are separated from each other, the contact portion protrudes in the closing direction relative to the gripping surface of the gripping claws.

Description

Technical Field

[0001] This specification discloses the holding mechanism. Background Technology

[0002] Conventionally, a component holding mechanism has been proposed, comprising: a pair of holding claws capable of holding the component, an opening and closing device for opening and closing the pair of holding claws, and a block-shaped stop that abuts against the upper surface of the component (for example, see Patent Document 1). The mechanism describes a mounting surface for the stop being provided approximately at the center of the opening and closing device. A stop corresponding to the size of the component is selected from a variety of stops and mounted on the mounting surface. The upper surface of the component abuts against the stop and is held by the holding claws, thereby enabling the component to be held in the correct posture. Furthermore, such a stop is also used for pressing components with leads on the bottom into insertion holes in a substrate from above.

[0003] Existing technical documents

[0004] Patent Document 1: WO2018 / 051451A1 Summary of the Invention

[0005] The problem that the invention aims to solve

[0006] In the aforementioned Patent Document 1, sufficient space is required for the installation of the stop in the opening and closing device, resulting in a larger opening and closing device. Furthermore, the stop needs to be replaced to match the size of the component, which can sometimes lead to time-consuming replacement operations and impact production.

[0007] The main objective of this disclosure is to provide a holding mechanism that does not require space for the installation of the stop in the opening and closing device and can improve the versatility of the stop and reduce replacement operations.

[0008] Technical solutions for solving the problem

[0009] In order to achieve the above-mentioned main objectives, the present disclosure adopts the following approach.

[0010] The gripping mechanism disclosed herein includes: a plurality of gripping claws, a gripping element; an opening and closing device for moving the plurality of gripping claws in an opening direction in which they are separated from each other and a closing direction in which they are approach each other; and a plurality of stops having a contact portion capable of abutting against the upper surface of the element, wherein the stops are configured to move integrally with the gripping claws, and in the open state where the plurality of gripping claws are separated from each other, the contact portion protrudes relative to the gripping surface of the gripping claws in the closing direction.

[0011] In the gripping mechanism disclosed herein, the stop is configured to move integrally with the gripping claws, and in the open state where the multiple gripping claws are separated, the abutment portion protrudes in the closing direction relative to the gripping surface of the gripping claws. Therefore, it is unnecessary to ensure space for the installation of the stop in the opening and closing device. Furthermore, regardless of the position to which the gripping claws move according to the size of the gripped element, the abutment portion protrudes relative to the gripping surface; thus, the abutment portion of the stop can abut against the upper surface of the element regardless of its size. Therefore, the versatility of the stop is improved, and the need for stop replacement is reduced. Attached Figure Description

[0012] Figure 1 This is a schematic diagram showing the structure of the operating system 10.

[0013] Figure 2 This is a block diagram showing the electrical connections of the operating system 10.

[0014] Figure 3 This is a perspective view of the component chuck device 30.

[0015] Figure 4 This is the main view of the holding mechanism 40.

[0016] Figure 5 This is a side view of the holding mechanism 40.

[0017] Figure 6 This is the front view of the integrated gripper 45 with a stopper 50.

[0018] Figure 7 This is an exploded perspective view of the gripper 45 and the stop block 50.

[0019] Figure 8 This is an explanatory diagram showing the state of the gripping mechanism 40 with the gripping claw 45 in the closed state.

[0020] Figure 9 This is an explanatory diagram showing the state of the holding mechanism 40 holding the pin element P.

[0021] Figure 10 This is an explanatory diagram showing the state of the holding mechanism 40 pressing into the pin element P.

[0022] Figure 11 This is an explanatory diagram showing the state in which the holding mechanism 40 holds the component P1, which has no pin L. Detailed Implementation

[0023] The manner in which this disclosure is implemented will now be described with reference to the accompanying drawings. Figure 1 This is a schematic diagram showing the structure of the operating system 10. Figure 2 This is a block diagram showing the electrical connections of the operating system 10. Additionally, Figure 1In the diagram, the left and right directions are the X-axis, the front and back directions are the Y-axis, and the up and down directions are the Z-axis.

[0024] The work system 10 is configured such that a robot 20, fixed to the worktable 11, performs a predetermined task by holding various components, such as mechanical or electronic components. An example of a predetermined task is an installation task, such as mounting a component onto a substrate S.

[0025] The workbench 11 is equipped with a substrate conveying device 12 for conveying substrate S and feeders 14 and 16, such as belt feeders for supplying components. The substrate conveying device 12 has a pair of conveyor belts spaced apart in the front-to-back direction (Y-axis direction) and mounted in the left-to-right direction (X-axis direction), which convey substrate S from left to right. The feeder 14 supplies components by feeding a belt containing multiple components at predetermined intervals to the rear (Y-axis direction). In addition, the feeder 16 supplies lead components P by feeding a belt with lead components P attached to it. The lead component P has a body B and leads L extending downward from the body B, and is supplied by the feeder 16 in an upright position with the body B facing upward. In addition, it is not limited to belt feeders, but can also be a tray feeder for supplying trays containing multiple components, or a bulk feeder for accommodating multiple components in a dispersed state and supplying the components while arranging them neatly.

[0026] The robot 20 includes, for example, a vertical multi-joint robotic arm 22, a component chuck device 30 as an end effector detachably mounted on the front link of the robotic arm 22, and a camera 24. The robotic arm 22 is equipped with servo motors (not shown) and encoders for detecting rotation angles at each joint. While details of the component chuck device 30 will be described later, it is characterized by a pair of opening and closing grippers 45 (see reference). Figure 3 The components are held in place by the feeders 14 and 16. The camera 24 captures images to identify the position and orientation of the components supplied by the feeders 14 and 16, and images to identify the position of the substrate S transported by the substrate transport device 12. Additionally, a vertical multi-joint robot is exemplified as robot 20, but it could also be a horizontal multi-joint robot or an XY robot, etc.

[0027] like Figure 2As shown, the control device 28 is configured as a microprocessor centered on a CPU 28a. In addition to the CPU 28a, it also includes a ROM 28b for storing various control programs, a RAM 28c used as a working area, an HDD 28d for storing various data, and input / output ports (not shown). The control device 28 receives input signals from the substrate transport device 12, feeders 14 and 16, sensors (not shown) on the robot 20, and images captured by the camera 24. Furthermore, the control device 28 outputs control signals to the substrate transport device 12, feeders 14 and 16, robot 20 (robot arm 22, component chuck device 30), camera 24, etc.

[0028] The following is a description of the structure of the component chuck device 30. Figure 3 This is a perspective view of the component chuck device 30. Figure 4 This is the main view of the holding mechanism 40. Figure 5 This is a side view of the holding mechanism 40. Figure 6 This is the front view of the integrated gripper 45 with a stopper 50. Figure 7 This is an exploded perspective view of the gripper 45 and the stop block 50.

[0029] The component chuck device 30 includes a main body 31 and a gripping mechanism 40 that grips components via gripping claws 45. The main body 31 has a fixing part 32 at its upper part, which is fixed to the front connecting rod of the robot arm 22 by bolts or the like. The main body 31 also has a support part 34 at its lower part that supports the gripping mechanism 40. The main body 31 houses signal lines that transmit drive signals to the actuator of the opening / closing device 42 of the gripping mechanism 40, and supply lines that supply air or electricity to the actuator.

[0030] The gripping mechanism 40 includes: an opening / closing device 42, a pair of gripping claws 45, a pair of stops 50 supported by the gripping claws 45, and two springs 55 that apply force to the stops 50. The opening / closing device 42 is driven by an actuator such as a cylinder or motor to cause the pair of sliding members 44 to slide in a manner that brings them closer together or separates them. The opening / closing device 42 can detect the position of the sliding members 44 by a position sensor such as an encoder. Gripping claws 45 are mounted on each of the pair of sliding members 44. Driven by the actuator, the opening / closing device 42 causes the pair of gripping claws 45 to move in a closing direction (inward) in a manner that brings them closer together, or in an opening direction (outward) in a manner that separates them from each other, thereby opening and closing the gripping claws 45.

[0031] The gripping claw 45 is configured to extend downward from the flat mounting portion 46 mounted on the slider 44. In the front view, its lower end (front end) is narrower than its upper end (base end) width, and the gripping surface 45a of the gripping element is continuously coplanar from the upper end to the lower end. Furthermore, the gripping claw 45 is bifurcated on the side opposite to the gripping surface 45a by forming a groove 48 extending linearly in the vertical direction. The groove 48 extends from the upper end to the lower end in the width direction of the gripping claw 45. Figure 5 The groove 48 is centered in the left-right direction. Furthermore, the groove 48 is formed with a width slightly larger than the thickness of the stop 50, such that it can accommodate a portion of the stop 50. The gripping claw 45 has support holes 49a formed on the side walls 49 on both sides of the groove 48 for supporting the stop 50. Additionally, in the groove 48, the bottom surface 48a is formed approximately at the center in the vertical direction, and through holes 48b and 48c are formed on the upper and lower sides of the bottom surface 48a, respectively, extending to the gripping surface 45a.

[0032] The stop block 50 is an inverted L-shaped component in the front view, and is formed such that a first extension 52 extending downwards is orthogonal to a second extension 53 extending horizontally. In addition, a support shaft 51 is mounted on the stop block 50 in the shaft hole 50a formed in the inverted L-shaped curved portion, and an abutment portion 54 is provided. The abutment portion 54 extends from the lower end of the first extension 52 in the opposite direction to the second extension 53, and is shorter than the second extension 53, and can abut against the upper surface of the component.

[0033] The stop block 50 is inserted into the groove 48 of the gripper 45 such that a sliding ring 57 is sandwiched between it and the side wall 49. Furthermore, the support shaft 51 is inserted with the support hole 49a, shaft hole 50a, and the center hole of the sliding ring 57 interconnected, and is thus axially supported by the gripper 45. That is, in this embodiment, the stop block 50 is supported on the gripper 45 in a manner that allows it to swing (rotate) around the support shaft 51.

[0034] Spring 55 is a helical spring and is mounted on a protrusion 53a formed at the extended end of the second extension 53 of the stop 50. Additionally, a recess 46a is formed on the lower surface of the mounting portion 46 of the gripper 45 to engage the spring 55 (see reference). Figure 6 The spring 55 uses the bottom surface of the recess 46a as the spring receiving part, and applies force downward to the extension end of the second extension 53 of the stop block 50.

[0035] In this embodiment, with the gripping claw 45 supporting the stop 50, a portion of the stop 50 (first extension 52) is housed within the groove 48. Furthermore, the second extension 53 extends in the opening direction relative to the support shaft 51, and its extension end is subjected to downward force by the spring 55. Therefore, the stop 50 rotates about the support shaft 51 in a direction such that the second extension 53 descends, even as the abutment portion 54 protrudes from the gripping surface 45a. Thus, the abutment portion 54 of the stop 50 inserts through the through hole 48c on the lower side of the groove 48 and protrudes in the closing direction relative to the gripping surface 45a. However, the bottom surface 48a of the groove 48 of the gripping claw 45 abuts against the stop 50 from the side, supporting the side surface 52a of the first extension 52. Therefore, the swinging of the stop 50 in the direction that causes the abutment portion 54 to protrude from the gripping surface 45a is restricted. Therefore, the stop 50 in… Figure 6 The stop block 50 is stationary in the shown state. Furthermore, the lower surface of the abutment portion 54 is horizontal in the stationary state. In this embodiment, the gripper 45 and the abutment portion 54 are configured such that the abutment portion 54 protrudes in the closing direction above the lower end of the gripping surface 45a.

[0036] The following is an explanation of the operation of the component chuck device 30. Here, a pin element P with pin L is shown as an example of the component to be held.

[0037] Figure 8 This is an explanatory diagram showing the gripping mechanism 40 with the gripping claws 45 in the closed state. As shown, in the closed state, the gripping surfaces 45a of the pair of gripping claws 45 abut against each other. Furthermore, the stops 50, each supported on one of the gripping claws 45, cause the opposing abutting portions 54 to abut against each other, interacting with each other to exert an opening (outward) force. Therefore, each stop 50 swings around the support shaft 51 such that the abutting portion 54 moves in the opening direction against the force of the spring 55, causing the abutting portion 54 to retract and be submerged relative to the gripping surface 45a in the opening direction. Thus, even if the abutting portion 54 could protrude from the gripping surface 45a, it will not protrude from the gripping surface 45a when the gripping claws 45 are in the closed state, thus reliably closing the gripping surfaces 45a by abutting against each other. Therefore, the control device 28 can detect the position of the slider 44 in the closed state using a position sensor, and can detect when the gripping claws 45 have no gripping element. Furthermore, in... Figure 8 When the stop 50 swings, the through hole 48b on the upper side of the groove 48 functions as a clearance hole for the curved part of the stop 50.

[0038] Figure 9This is an explanatory diagram showing the gripping mechanism 40 gripping the lead element P. As shown, the gripping mechanism 40 (opening / closing device 42) grips the body B of the lead element P in the open state, where a pair of gripping claws 45 are moved to a position corresponding to the size of the lead element P (body B). By opening the gripping claws 45, the force in the opening direction no longer acts on the abutment portion 54; therefore, the stop 50 is in a state where the abutment portion 54 protrudes in the closing direction relative to the gripping surface 45a. The gripping mechanism 40 grips the body B of the lead element P in the area of ​​the gripping surface 45a of the gripping claws 45 that is lower than the abutment portion 54.

[0039] Figure 10 This is an explanatory diagram showing the gripping mechanism 40 pressing into the lead element P. Here, the control device 28 controls the robot arm 22 to move the gripping mechanism 40 (component chuck device 30) so that the lead L of the lead element P is above the lead hole (not shown) formed on the substrate S, and then moves the gripping mechanism 40 downward. By moving the gripping mechanism 40 downward, the lead L can be pressed into the lead hole by pressing the upper surface of the lead element P (body B) by the abutment portion 54 of the stop 50.

[0040] Here, as described above, the oscillation of the stop 50 is restricted by abutting against the bottom surface 48a of the groove 48. Therefore, even when subjected to an upward reaction force when pressing in the lead element P, the abutting portion 54 does not move upward (in the closing direction) but remains in the vertical position. Thus, the holding mechanism 40 can reliably press in the lead element P. Furthermore, as... Figure 9 As shown, the gripping mechanism 40 grips the body B of the lead element P in the area of ​​the gripping surface 45a that is lower than the abutment portion 54. Therefore, the pressing operation can be started without changing the gripping of the lead element P. In addition, the abutment portion 54 of the stop 50 can abut against the upper surface of the lead element P (body B) and press it in regardless of the size of the lead element P, so the stop 50 has high versatility.

[0041] Figure 11 This is an explanatory diagram showing the gripping mechanism 40 gripping the component P1 without lead L. As shown, the abutment portion 54 of the stop 50 exerts an opening force by abutting against the side of the component P1. Therefore, the stop 50 overcomes the force of the spring 55 and swings in a direction that retracts the abutment portion 54 relative to the gripping surface 45a in the opening direction, with the abutment portion 54 embedded in the gripping surface 45a. In this way, by embedding the abutment portion 54 in the gripping surface 45a, the component P1 can be gripped in any region of the gripping surface 45a independently of the stop 50 (abutment portion 54). That is, even if the gripping claw 45 and the stop 50 are integrated into a structure, it is possible to prevent any restriction in gripping the component.

[0042] Here, the correspondence between the structural elements of this embodiment and the structural elements of this disclosure is clarified. In this embodiment, the gripping claw 45 corresponds to the gripping claw, the opening and closing device 42 corresponds to the opening and closing device, the stop block 50 corresponds to the stop block, and the gripping mechanism 40 corresponds to the gripping mechanism. The spring 55 corresponds to the force-applying component. The groove 48 corresponds to the groove, the bottom surface 48a corresponds to the bottom surface, and the through hole 48c corresponds to the through hole.

[0043] As explained above, in the gripping mechanism 40 of this disclosure, the stop 50 is configured to move integrally with the gripping claw 45, and the abutment portion 54 protrudes in the closing direction relative to the gripping surface 45a when the gripping claw 45 is open. Therefore, regardless of the position to which the gripping claw 45 moves according to the size of the gripped element, the abutment portion 54 can press the element into place by abutting against the upper surface of the element. Thus, the versatility of the stop 50 can be improved, reducing the need for stop 50 replacement.

[0044] Furthermore, for the stop block 50, when an opening force is applied to the abutting part 54, the abutting part 54 is embedded in the gripping surface 45a, so the gripping claw 45 is fully closed by the gripping surfaces 45a abutting each other, or the element can be gripped by the part protruding from the abutting part 54 in the gripping surface 45a.

[0045] Furthermore, the simple structure of the stop 50 being axially supported by the gripper 45 in a way that allows it to swing around an axis allows the abutment 54 to protrude or be buried relative to the gripping surface 45a.

[0046] In addition, a spring 55 is provided, which applies force to the stop block 50 in such a way that the stop block 50 swings toward the abutment portion 54 in the direction of protruding from the holding surface 45a, so that the abutment portion 54 can be prevented from failing to protrude due to poor operation.

[0047] Furthermore, the gripping claw 45 has a groove 48 formed on the side opposite to the gripping surface 45a, allowing the stop 50 to be axially supported on the side wall 49 of the groove 48 in a manner that allows it to swing around a support axis. The groove 48 has a bottom surface 48a that abuts against the stop 50 from the side, and a through hole 48c that extends through to the gripping surface 45a for the insertion of the abutment portion 54. Therefore, a compact structure can be achieved that accommodates the stop 50 in the width direction of the gripping claw 45. In addition, even when an upward force is applied to the abutment portion 54 during component insertion, the bottom surface 48a of the groove 48 restricts the swing of the stop 50, thus maintaining the vertical position of the abutment portion 54, and the component can be reliably inserted. Furthermore, the gripping claw 45 grips the lead element P in the region of the gripping surface 45a below the portion protruding from the abutment portion 54, so the lead element P can be pressed in through the abutment portion 54 without changing the gripping position.

[0048] Furthermore, this disclosure is not limited to the above-described embodiments, and can be implemented in various ways as long as it falls within the technical scope of this disclosure, which is self-evident.

[0049] In the above embodiment, the gripper 45 is forked to form a groove 48, and a portion of the stop 50 (the first extension 52) is received in the groove 48, thereby accommodating the stop 50 in the width direction of the gripper 45, but this is not a limitation. For example, the stop 50 may be axially supported on both outer sides in the width direction of the gripper 45. In this configuration, it is not necessary to fork the gripper 45 to form the groove 48. On the other hand, the stop 50 may be forked and the gripper 45 may be received between the two abutment portions 54 protruding from both outer sides.

[0050] In one embodiment, a through hole 48b is formed in the upper part of the groove 48, which functions as a clearance hole. However, if the depth of the groove is sufficient to function as a clearance hole, it may not be a through hole.

[0051] In one embodiment, a spring 55 is provided to apply force to the stop 50, but it is not limited to this. The stop 50 may swing by its own weight without the spring 55, or it may swing by installing a heavy object.

[0052] In the embodiment, the stop 50 is designed to be able to swing, but is not limited to this. For example, the stop 50 may be a pin-shaped component, such as one in which a force-applying component such as a spring is used to force the front end abutment portion 54 to protrude from the gripping surface 45a in the closing direction, and when a force is applied in the opening direction, the abutment portion 54 overcomes the force of the force-applying component and is embedded in the gripping surface 45a. That is, the stop 50 may also be designed to be able to move horizontally such that the front end abutment portion 54 protrudes in the closing direction or is embedded in the opening direction relative to the gripping surface 45a.

[0053] In one embodiment, the stop 50 is supported on the gripper 45, but it is not limited to this; it may also be supported on the mounting part 46 or the sliding member 44.

[0054] In this embodiment, a case with one pair of gripping claws 45 is shown, but it is not limited to this. For example, it can be a structure with multiple pairs of gripping claws 45, a structure with three or more gripping claws 45 staggered from each other, or a structure with three or more gripping claws 45 radially relative to the gripping center, etc. It is also possible to have a structure with multiple gripping claws 45 without the stoppers 50 installed on all of the multiple gripping claws 45.

[0055] In one embodiment, the case where the pin element P is pressed in by the stop 50 is illustrated, but it is not limited to this. The stop 50 (abutment portion 54) may also abut against the upper surface of the element in order to match the height position when holding the element.

[0056] The stop 50 of the embodiment can abut against the upper surface of the component regardless of the size of the component, and has high versatility. However, the stop 50 can also be replaced according to the size and shape of the component. For example, a stop 50 selected from a variety of stop 50s with different lengths of protrusion from the holding surface 45a of the abutment portion 54 and different vertical positions of the protruding portion can be installed.

[0057] Here, the gripping mechanism of this disclosure can also be configured as follows. For example, in the gripping mechanism of this disclosure, the stop can be configured such that when a force in the opening direction is applied to the abutment portion, the abutment portion retracts in the opening direction relative to the gripping surface. In this way, even if the abutment portion of the stop is configured to protrude relative to the gripping surface, the gripping claw can be fully closed by the gripping surfaces abutting against each other, or the gripping element can be gripped at the protruding part of the abutment portion in the gripping surface.

[0058] In the gripping mechanism disclosed herein, the stop block may be axially supported on the gripping claws in a manner that allows it to swing about a support axis. When the plurality of gripping claws are in the open state and no longer exert a force in the opening direction on the abutment portion, the stop block swings in a direction in which the abutment portion protrudes in the closing direction relative to the gripping surface. When the plurality of gripping claws approach each other and are in the closed state, and a force in the opening direction is exerted on the abutment portion, the stop block swings in a direction in which the abutment portion retracts in the opening direction relative to the gripping surface. In this way, the abutment portion of the stop block can protrude or retract relative to the gripping surface with a simple structure.

[0059] In the gripping mechanism disclosed herein, the gripping mechanism may also include a force-applying member that applies force to the stop block, causing the stop block to swing in the direction in which the abutment portion protrudes relative to the gripping surface in the closing direction. This prevents the abutment portion from failing to protrude due to malfunction or other reasons.

[0060] In the gripping mechanism disclosed herein, the gripping claw may have a groove extending vertically at its center in the width direction opposite to the gripping surface, which accommodates at least a portion of the stop block. The upper end of the stop block is axially supported on the sidewall of the groove in a manner that allows it to swing about a support axis. The stop block has an abutment portion at its lower end that extends in the closing direction. The groove has a bottom surface that abuts against the stop block from the side, and a through hole extending through to the gripping surface so that the abutment portion can be inserted through a portion of the bottom surface. This results in a compact structure that accommodates the stop block in the width direction of the gripping claw. Furthermore, even when an upward force is applied to the abutment portion during component insertion, the bottom surface of the groove abuts against the stop block from the side, limiting the swing and maintaining the position of the abutment portion. Therefore, the component can be reliably inserted.

[0061] In the gripping mechanism disclosed herein, the abutment portion of the stop may protrude in the closing direction above the lower end of the gripping surface, and the gripping claw may grip the element in a region of the gripping surface below the abutment portion. In this way, since the abutment portion protrudes above the element gripped by the gripping surface, the gripped element can be pressed in without altering the clamping action.

[0062] Industrial availability

[0063] This disclosure can be utilized in the field of devices for holding elements.

[0064] Explanation of reference numerals in the attached figures

[0065] 10...Operating system; 11...Workbench; 12...Substrate conveying device; 14, 16...Feeders; 20...Robot; 22...Robot arm; 24...Camera; 28...Control device; 28a...CPU; 28b...ROM; 28c...RAM; 28d...HDD; 30...Component chuck device; 31...Main body; 32...Fixing part; 34...Support part; 40...Holding mechanism; 42...Opening and closing device; 44...Sliding part; 45...Holding claw; 4 5a...Holding surface; 46...Mounting part; 46a...Recess; 48...Slot; 48a...Bottom surface; 48b, 48c...Through hole; 49...Side wall; 49a...Support hole; 50...Stop; 50a...Shaft hole; 51...Support shaft; 52...First extension; 52a...Side side; 53...Second extension; 53a...Protrusion; 54...Front end; 55...Spring; 57...Sliding ring; B...Main body; L...Pin; P...Pin element; P1...Element.

Claims

1. A holding mechanism, comprising: Multiple gripping claws, gripping components; The opening and closing device causes the plurality of gripping claws to move in a mutually separating opening direction and a mutually approaching closing direction; and Multiple stops, each having a contact portion capable of abutting against the upper surface of the element. The stop is configured to move integrally with the gripping claws, and in the open state where the plurality of gripping claws are separated from each other, the abutment portion protrudes in the closing direction relative to the gripping surface of the gripping claws. The stop block is axially supported on the gripping claw in a manner that allows it to swing around the support shaft. When the plurality of gripping claws are in the open state and no longer exert a force in the opening direction on the abutment, the stop block swings in a direction that protrudes from the abutment relative to the gripping surface in the closing direction. When the plurality of gripping claws approach each other and are in the closed state, and exert a force in the opening direction on the abutment, the stop block swings in a direction that retracts from the abutment relative to the gripping surface in the opening direction.

2. The holding mechanism according to claim 1, wherein, The stop is configured such that when a force in the opening direction is applied to the abutting part, the abutting part retracts in the opening direction relative to the gripping surface.

3. The holding mechanism according to claim 1, wherein, The gripping mechanism includes a force-applying component that applies force to the stop block, causing the stop block to swing in the direction of the abutment portion protruding relative to the gripping surface in the closing direction.

4. The holding mechanism according to claim 2, wherein, The gripping mechanism includes a force-applying component that applies force to the stop block, causing the stop block to swing in the direction of the abutment portion protruding relative to the gripping surface in the closing direction.

5. The gripping mechanism according to any one of claims 1 to 4, wherein, The abutting portion of the stop block protrudes in the closing direction above the lower end of the gripping surface. The gripping claw is capable of gripping the element in a region of the gripping surface that is lower than the abutting portion.

6. A holding mechanism, comprising: Multiple gripping claws, gripping components; The opening and closing device causes the plurality of gripping claws to move in a mutually separating opening direction and a mutually approaching closing direction; and Multiple stops, each having a contact portion capable of abutting against the upper surface of the element. The stop is configured to move integrally with the gripping claws, and in the open state where the plurality of gripping claws are separated from each other, the abutment portion protrudes in the closing direction relative to the gripping surface of the gripping claws. The gripping claw has a groove extending vertically at its center in the width direction opposite to the gripping surface, which accommodates at least a portion of the stop block. The upper end of the stop block is axially supported on the side wall of the groove in a manner that allows it to swing around the support shaft, and the stop block has an abutment portion on its lower end that extends in the closing direction. The groove has a bottom surface that abuts against the stop block from the side, and is formed with a through hole extending through to the gripping surface such that the abutting part is inserted through a portion of the bottom surface.

7. The holding mechanism according to claim 6, wherein, The stop is configured such that when a force in the opening direction is applied to the abutting part, the abutting part retracts in the opening direction relative to the gripping surface.

8. The holding mechanism according to claim 6, wherein, The stop block is axially supported on the gripping claw in a manner that allows it to swing around the support shaft. When the plurality of gripping claws are in the open state and no longer exert a force in the opening direction on the abutment, the stop block swings in a direction that protrudes from the abutment relative to the gripping surface in the closing direction. When the plurality of gripping claws approach each other and are in the closed state, and exert a force in the opening direction on the abutment, the stop block swings in a direction that retracts from the abutment relative to the gripping surface in the opening direction.

9. The holding mechanism according to claim 7, wherein, The stop block is axially supported on the gripping claw in a manner that allows it to swing around the support shaft. When the plurality of gripping claws are in the open state and no longer exert a force in the opening direction on the abutment, the stop block swings in a direction that protrudes from the abutment relative to the gripping surface in the closing direction. When the plurality of gripping claws approach each other and are in the closed state, and exert a force in the opening direction on the abutment, the stop block swings in a direction that retracts from the abutment relative to the gripping surface in the opening direction.

10. The holding mechanism according to claim 8, wherein, The gripping mechanism includes a force-applying component that applies force to the stop block, causing the stop block to swing in the direction of the abutment portion protruding relative to the gripping surface in the closing direction.

11. The holding mechanism according to claim 9, wherein, The gripping mechanism includes a force-applying component that applies force to the stop block, causing the stop block to swing in the direction of the abutment portion protruding relative to the gripping surface in the closing direction.

12. The gripping mechanism according to any one of claims 6 to 11, wherein, The abutting portion of the stop block protrudes in the closing direction above the lower end of the gripping surface. The gripping claw is capable of gripping the element in a region of the gripping surface that is lower than the abutting portion.

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