Gripping device, transport device, and gripping method

Abstract

The purpose of the present invention is to provide a small gripping device capable of gripping objects of different shapes and sizes. This gripping device (100) is provided with a first plate-like member (110), a second plate-like member (120), and a third plate-like member (130), the first plate-like member (110), the second plate-like member (120), and the third plate-like member (130) being arranged in parallel in this order, and gripping an object by being sandwiched between the first plate-like member (110) and the second plate-like member (120). An object is gripped by being gripped by the second plate-like member (120) and the third plate-like member (130), and a grippable width (W3) at which the object can be gripped by the first plate-like member (110) and the second plate-like member (120) is different from a grippable width (W2) at which the object can be gripped by the second plate-like member (120) and the third plate-like member (130) (referring to Figure 1).

Description

TECHNICAL FIELD

[0001] The present application relates to a holding device, a conveying device, and a holding method. BACKGROUND

[0002] In an automatic assembly apparatus such as an analysis device, a holding device mounted to a front end of a robot holds a plurality of assembly objects.

[0003] A robot having a holding device is disclosed in Patent Literature 1. The robot of Patent Literature 1 "is provided with: a first clamping member that is plate-shaped; a second clamping member that is disposed on an outer peripheral side of the first clamping member and is plate-shaped; a third clamping member that is disposed on the outer peripheral side of the first clamping member on a side opposite to the second clamping member and is plate-shaped; and a support mechanism that supports the first clamping member and the second clamping member so as to be approachable / detachable, and supports the first clamping member and the third clamping member so as to be approachable / detachable".

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Application Publication No. 2014-233807 SUMMARY

[0007] PROBLEMS TO BE SOLVED BY THE INVENTION

[0008] In an automatic assembly apparatus that handles a plurality of assembly objects, it is necessary to appropriately change the holding device depending on the shape and size of the object.

[0009] Therefore, an object of the present application is to provide a holding device, a conveying device, and a holding method that can hold objects having different shapes and sizes.

[0010] MEANS FOR SOLVING THE PROBLEMS

[0011] The holding device of the present application has a first plate-shaped member, a second plate-shaped member, and a third plate-shaped member, the first plate-shaped member, the second plate-shaped member, and the third plate-shaped member are disposed in parallel, respectively, an object is held by being clamped by the first plate-shaped member and the second plate-shaped member, and an object is held by being clamped by the second plate-shaped member and the third plate-shaped member, wherein a first clippable width at which an object can be clamped by the first plate-shaped member and the second plate-shaped member is different from a second clippable width at which an object can be clamped by the second plate-shaped member and the third plate-shaped member.

[0012] In addition, the conveying device of the present application is provided with the above-mentioned holding device and a robot to which the holding device is attached.

[0013] Further, the holding method of the present application includes: holding an object by bringing the first plate-shaped member and the second plate-shaped member, which are arranged in parallel with each other, close to each other; and holding an object having a width different from that of the object by separating the first plate-shaped member from the second plate-shaped member, thereby holding the object by the second plate-shaped member and a third plate-shaped member arranged in parallel with the second plate-shaped member and the position of which is fixed.

[0014] Effects of Invention

[0015] According to the present application, an object having different shapes and sizes can be held. The above-mentioned problems, configurations, and effects are made clear by the following embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a plan view showing the configuration of the holding device 100.

[0017] Figure 2 is a side view showing the configuration of the conveyance device 200.

[0018] Figure 3 is a view showing the holding method of the object A.

[0019] Figure 4 is a view showing the holding method of the object B.

[0020] Figure 5 is a plan view showing the configuration of the holding device 500. DETAILED DESCRIPTION

[0021] The embodiments of the present application are described in detail based on the drawings. In the following embodiments, its constituent elements (including element steps, etc.) are of course not essential except for the cases where it is particularly indicated and the cases where it is essentially recognized as essential in principle, etc.

[0022] (Embodiment 1)

[0023] Figure 1 is a plan view showing the configuration of the holding device 100 of Embodiment 1. Figure 1 (a) of FIG. 1 is a plan view showing a state where the first plate-shaped member 110 and the second plate-shaped member 120 of the holding device 100 are brought close to each other, Figure 1 (b) of FIG. 1 is a plan view showing a state where the first plate-shaped member 110 and the second plate-shaped member 120 of the holding device 100 are separated from each other.

[0024] (Holding Device 100)

[0025] The gripping device 100 includes a first plate-shaped member 110, a second plate-shaped member 120, a third plate-shaped member 130, a first protruding portion 140, a second protruding portion 150, an actuator 160, and a robot flange 170. The gripping device 100 grips an object by being sandwiched by the first plate-shaped member 110 and the second plate-shaped member 120, and grips the object by being sandwiched by the second plate-shaped member 120 and the third plate-shaped member 130. The object is, for example, a unit that constitutes an automatic analysis device that analyzes ion concentration, a tumor marker, or the like in a biological sample. Note that the object is not limited to a unit that constitutes an automatic analysis device. The object gripped by the first plate-shaped member 110 and the second plate-shaped member 120 can be different in shape from the object gripped by the second plate-shaped member 120 and the third plate-shaped member 130, and can be different in size.

[0026] (First plate-shaped member 110)

[0027] The first plate-shaped member 110, the second plate-shaped member 120, and the third plate-shaped member 130 are arranged in parallel with each other in this order. The first plate-shaped member 110 is a member having a substantially L-shaped horizontal cross section, and has a gripping surface 111 that grips an object and an abutting portion 112 that abuts against the second plate-shaped member 120 when the second plate-shaped member 120 is approached. The first plate-shaped member 110 is configured to be movable in a direction away from the second plate-shaped member 120 (X1 direction in the drawing) and in a direction approaching the second plate-shaped member 120 (X2 direction in the drawing).

[0028] (Second plate-shaped member 120)

[0029] The second plate-shaped member 120 is a member having a substantially L-shaped horizontal cross section, and has a gripping surface 121 that grips an object together with the gripping surface 111 of the first plate-shaped member 110, an abutting portion 122 that abuts against the first plate-shaped member 110 when the first plate-shaped member 110 is approached, and a gripping surface 123 that grips an object together with the third plate-shaped member 130. The second plate-shaped member 120 is configured to be movable in a direction away from the first plate-shaped member 110 (X2 direction in the drawing) and in a direction approaching the first plate-shaped member 110 (X1 direction in the drawing). The second plate-shaped member 120 can be the same shape as the first plate-shaped member or can be a different shape.

[0030] (Third plate-shaped member 130)

[0031] The third plate-shaped member 130 is a flat plate-shaped member, and its position is fixed. The third plate-shaped member 130 has a gripping surface 131 that grips an object together with the gripping surface 123 of the second plate-shaped member 120.

[0032] (First protruding portion 140)

[0033] The first protruding portion 140 is fixed to the first plate-shaped member 110. The first protruding portion 140 is integrated with the first plate-shaped member 110 and configured to be movable in a direction away from the second plate-shaped member 120 (the X1 direction in the drawing) and in a direction approaching the second plate-shaped member 120 (the X2 direction in the drawing). The first protruding portion 140 protrudes toward the second plate-shaped member 120 compared to the gripping face 111 of the first plate-shaped member 110. The first protruding portion 140 abuts against the second protruding portion 150 when the second protruding portion 150 approaches.

[0034] (Second protruding portion 150)

[0035] The second protruding portion 150 is fixed to the second plate-shaped member 120. The second protruding portion 150 is integrated with the second plate-shaped member 120 and configured to be movable in a direction away from the first plate-shaped member 110 (the X2 direction in the drawing) and in a direction approaching the first plate-shaped member 110 (the X1 direction in the drawing). The second protruding portion 150 protrudes toward the first plate-shaped member 110 compared to the gripping face 121 of the second plate-shaped member 120. The second protruding portion 150 abuts against the first protruding portion 140 when the first protruding portion 140 approaches.

[0036] When the first plate-shaped member 110 approaches the second plate-shaped member 120, the first protruding portion 140 abuts against the second protruding portion 150, thereby restricting the approach of the first plate-shaped member 110 to the second plate-shaped member 120.

[0037] Note that in the present embodiment, when the first plate-shaped member 110 approaches the second plate-shaped member 120, the abutting portion 112 of the first plate-shaped member 110 abuts against the abutting portion 122 of the second plate-shaped member 120 and the first protruding portion 140 abuts against the second protruding portion 150, but it is not necessary for both to abut. That is, when the first plate-shaped member 110 approaches the second plate-shaped member 120, if the abutting portion 112 of the first plate-shaped member 110 abuts against the abutting portion 122 of the second plate-shaped member 120, the first protruding portion 140 can not abut against the second protruding portion 150. Also, when the first plate-shaped member 110 approaches the second plate-shaped member 120, if the first protruding portion 140 abuts against the second protruding portion 150, the abutting portion 112 of the first plate-shaped member 110 can not abut against the abutting portion 122 of the second plate-shaped member 120.

[0038] (Actuator 160 (driving mechanism))

[0039] The actuator 160 drives the first plate-shaped member 110 and the second plate-shaped member 120 to bring the first plate-shaped member 110 and the second plate-shaped member 120 closer to each other and separate the first plate-shaped member 110 and the second plate-shaped member 120 from each other. The actuator 160 can drive the first plate-shaped member 110 and the second plate-shaped member 120 by air pressure, for example, or can drive the first plate-shaped member 110 and the second plate-shaped member 120 by a stepping motor, for example. In a case where the object is held by the first plate-shaped member 110 and the second plate-shaped member 120, the actuator 160 drives the first plate-shaped member 110 and the second plate-shaped member 120 to bring the first plate-shaped member 110 and the second plate-shaped member 120 closer to each other. In addition, in a case where the object is held by the second plate-shaped member 120 and the third plate-shaped member 130, the actuator 160 drives the first plate-shaped member 110 and the second plate-shaped member 120 to separate the first plate-shaped member 110 and the second plate-shaped member 120 from each other.

[0040] The driving of the first plate-shaped member 110 and the second plate-shaped member 120 by the actuator 160 enables both the holding of the object by the first plate-shaped member 110 and the second plate-shaped member 120 and the holding of the object by the second plate-shaped member 120 and the third plate-shaped member 130.

[0041] (Mechanical arm flange 170)

[0042] The mechanical arm flange 170 is provided to mount the holding device 100 to a mechanical arm described later.

[0043] (Holdable width)

[0044] In a case where the first plate-shaped member 110 and the second plate-shaped member 120 are brought closer to each other, the abutting portion 112 and the abutting portion 122 abut (or the first protruding portion 140 and the second protruding portion 150 abut), the width of the holding face 111 of the first plate-shaped member 110 and the holding face 121 of the second plate-shaped member 120 is W1. In this case, the width of the holding face 123 of the second plate-shaped member 120 and the holding face 131 of the third plate-shaped member 130 is W2. Since the movement of the second plate-shaped member 120 in the direction (X1 direction) away from the third plate-shaped member 130 is restricted, the maximum holdable width (second holdable width) by which the object can be clamped by the second plate-shaped member 120 and the third plate-shaped member 130 is W2. That is, the second plate-shaped member 120 and the third plate-shaped member 130 can hold an object having a width of 0 to W2.

[0045] In a case where the first plate-shaped member 110 and the second plate-shaped member 120 are separated from each other and the second plate-shaped member 120 and the third plate-shaped member 130 are in abutment, the width of the gripping surface 111 of the first plate-shaped member 110 and the gripping surface 121 of the second plate-shaped member 120 is W3 (> W1). In this case, the gripping surface 123 of the second plate-shaped member 120 and the gripping surface 131 of the third plate-shaped member 130 are in abutment. Since the movement of the second plate-shaped member 120 in the direction (X2 direction) away from the first plate-shaped member 110 is restricted, the maximum grippable width (first grippable width) by which the object can be gripped by the first plate-shaped member 110 and the second plate-shaped member 120 is W3, which is different from W2. That is, the first plate-shaped member 110 and the second plate-shaped member 120 can grip an object having a width of W1 to W3.

[0046] Note that the second plate-shaped member 120 moves to be in abutment with the third plate-shaped member 130, but the movement thereof can be restricted before being in abutment with the third plate-shaped member 130.

[0047] (Transport device 200)

[0048] Figure 2 is a view showing the structure of the transport device 200. The transport device 200 is provided with the gripping device 100 and a robot hand 201 (robot arm). The robot hand flange 170 of the gripping device 100 is attached to the front end of the robot hand 201. The transport device 200 grips the object 210 and transports it to a transport destination 220.

[0049] Two holes 113 corresponding to the two protrusions 211 of the object 210 are formed in the first plate-shaped member 110. The gripping device 100 causes the two protrusions 211 of the object 210 to be fitted into the two holes 113 of the first plate-shaped member 110 to grip the object 210. Thus, the position at which the object 210 is gripped can be specified by the protrusions 211 and the holes 113, and the rotation of the object 210 can be prevented by the plurality of protrusions 211 and the holes 113.

[0050] Note that the number of the protrusions 211 and the holes 113 can be one or more than three.

[0051] In the example of Figure 2 In the example of, the hole 113 corresponding to the protrusion 211 of the object 210 is formed in the first plate-shaped member 110, but in a case where the hole is formed in the object 210, a protrusion corresponding to the hole of the object 210 can be formed in the first plate-shaped member 110. That is, as long as a concave portion or a convex portion corresponding to a convex portion or a concave portion provided in the object 210 is formed in the first plate-shaped member 110. In addition, the convex portion or the concave portion corresponding to the concave portion or the convex portion of the object can be formed in the second plate-shaped member 120 or in the third plate-shaped member 130.

[0052] Method of gripping using the first plate-like member 110 and the second plate-like member 120

[0053] Figure 3 is a view showing a method of gripping an object A using the first plate-like member 110 and the second plate-like member 120. As shown in (a) of Figure 3 First, the actuator 160 drives the first plate-like member 110 and the second plate-like member 120 to separate the first plate-like member 110 and the second plate-like member 120 from each other. At this time, the width between the gripping face 111 of the first plate-like member 110 and the gripping face 121 of the second plate-like member 120 is larger than the width of the object A.

[0054] Then, the robot 201 moves the gripping device 100 toward the object A to arrange the first plate-like member 110 and the second plate-like member 120 in a manner of sandwiching the object A.

[0055] Further, the actuator 160 drives the first plate-like member 110 and the second plate-like member 120 to approach the first plate-like member 110 and the second plate-like member 120 to each other. Thus, the object A is sandwiched by the gripping face 111 of the first plate-like member 110 and the gripping face 121 of the second plate-like member 120, thereby gripping the object A. At this time, the two protrusions Al of the object A are fitted into the two holes 113 of the first plate-like member 110, and the object A is gripped by the gripping device 100 at a prescribed position without rotating.

[0056] Method of gripping using the second plate-like member 120 and the third plate-like member 130

[0057] Figure 4 is a view showing a method of gripping an object B using the second plate-like member 120 and the third plate-like member 130. As shown in (a) of Figure 4 First, the actuator 160 drives the first plate-like member 110 and the second plate-like member 120 to approach the first plate-like member 110 and the second plate-like member 120 to each other. At this time, the width between the gripping face 131 of the fixed third plate-like member 130 and the gripping face 123 of the second plate-like member 120 is larger than the thickness of the wall Bl of the object B.

[0058] Then, the robot 201 moves the gripping device 100 toward the object B to arrange the third plate-like member 130 and the second plate-like member 120 in a manner of sandwiching the wall Bl of the object B.

[0059] Further, the actuator 160 drives the first plate-shaped member 110 and the second plate-shaped member 120 to separate the first plate-shaped member 110 and the second plate-shaped member 120 from each other. Thereby, the wall Bl of the object B is sandwiched by the holding surface 131 of the third plate-shaped member 130 and the holding surface 123 of the second plate-shaped member 120, and the object B is held.

[0060] (EFFECT OF EMBODIMENT 1)

[0061] In Embodiment 1, the maximum holdable width W3 (first holdable width) at which the object can be sandwiched by the first plate-shaped member 110 and the second plate-shaped member 120 is different from the maximum holdable width Wl (second holdable width) at which the object can be sandwiched by the second plate-shaped member 120 and the third plate-shaped member 130. Thereby, various objects having different shapes and sizes can be held.

[0062] Further, in Embodiment 1, the actuator 160 (driving mechanism) that drives the first plate-shaped member 110 and the second plate-shaped member 120 is provided to approach and separate the first plate-shaped member 110 and the second plate-shaped member 120 from each other. In Embodiment 1, the approach and separation of the first plate-shaped member 110 and the second plate-shaped member 120 can be performed by one actuator 160, and thus the device can be downsized.

[0063] Further, in Embodiment 1, even if the third plate-shaped member 130 is not driven and fixed, since the second plate-shaped member 120 approaches or separates, various objects having different shapes and sizes can be held by the second plate-shaped member 120 and the third plate-shaped member 130.

[0064] Further, in Embodiment 1, the first plate-shaped member 110 and the second plate-shaped member 120 are approached by the actuator 160, and the object is held by the first plate-shaped member 110 and the second plate-shaped member 120, and the first plate-shaped member 110 and the second plate-shaped member 120 are separated by the actuator 160, and the object is held by the second plate-shaped member 120 and the third plate-shaped member 130. Thus, in Embodiment 1, the object can be held by the approach and separation of the first plate-shaped member 110 and the second plate-shaped member 120, respectively.

[0065] At least one of the first plate-shaped member 110, the second plate-shaped member 120, and the third plate-shaped member 130 is formed with a recess or a protrusion corresponding to a protrusion or a recess provided to the object. Thereby, the object can be held at a prescribed position.

[0066] Further, in the embodiment 1, the first protruding portion 140 protruding toward the second plate-shaped member 120 side compared to the gripping face 111 of the first plate-shaped member 110 and the second protruding portion 150 protruding toward the first plate-shaped member 110 side compared to the gripping face 121 of the second plate-shaped member 120 are provided. Thereby, by the first protruding portion 140 and the second protruding portion 150 abutting, the gripping force of the first plate-shaped member 110 and the second plate-shaped member 120 can be restricted. Thereby, the pressure excessively applied to the object can be prevented.

[0067] Further, by mounting the gripping device 100 on the robot hand 201, the object gripped by the gripping device 100 can be transported to the transport destination 220.

[0068] (Embodiment 2)

[0069] In the embodiment 2, the gripping device 500 in which the first plate-shaped member 110 and the second plate-shaped member 120 are driven by air pressure is described. Figure 5 is a view showing the structure of the gripping device 500 of the embodiment 2. The gripping device 500 of the embodiment 2 is provided with the first plate-shaped member 110, the second plate-shaped member 120, the third plate-shaped member 130, the first protruding portion 140, the second protruding portion 150, the actuator 160, and the robot hand flange 170 like the embodiment 1. The same description as the embodiment 1 is appropriately omitted.

[0070] The gripping device 500 of the embodiment 2 is further provided with a compressor 510 and a solenoid valve 520. The compressor 510 supplies compressed air. The solenoid valve 520 switches the supply destination of the compressed air supplied from the compressor 510. For example, the compressed air supplied to one direction via the solenoid valve 520 moves the member (for example, a cylinder) of the actuator 160, and causes the first plate-shaped member 110 and the second plate-shaped member 120 to approach each other. Further, the compressed air supplied to the direction opposite to the one direction moves the member (for example, a cylinder) of the actuator 160 in the opposite direction, and causes the first plate-shaped member 110 and the second plate-shaped member 120 to separate from each other.

[0071] Further, the gripping device 500 of the embodiment 2 is provided with a control portion 530 that controls the flow rate of the compressed air supplied from the compressor 510 or controls the opening direction of the solenoid valve 520. The control portion 530 is a general computer system, and has a processor, a memory. The control portion 530 makes the air pressure supplied to the cylinder variable, for example, by adjusting the flow rate of the compressed air supplied from the compressor 510. Thereby, the gripping force based on the gripping device 500 is made variable.

[0072] For example, the control section 530 adjusts the flow rate of the compressed air supplied from the compressor 510 in accordance with a flow rate designated by an operator of the holding device 500. Alternatively, the control section 530 can determine and adjust the flow rate of the compressed air in accordance with a data table in which the flow rate of the compressed air corresponds to the kind, size, configuration, or the like of the object to be held, based on the object to be held.

[0073] (EFFECT OF EMBODIMENT 2)

[0074] In Embodiment 2, the actuator 160 is capable of finely adjusting the pressure when holding the object by driving the first plate-shaped member 110 and the second plate-shaped member 120 using air pressure. Therefore, even if the object is weak in strength or is a hollow member that is easily deformed, the object can be held without being damaged or deformed by the holding device 500.

[0075] In addition, in Embodiment 2, since the object is held using air pressure, the object is effective for a small or light object in size. In addition, even if a recess or a protrusion cannot be provided in the object, the object can be held by air pressure. In addition, by shortening the opening and closing distance of the first plate-shaped member 110 and the second plate-shaped member, the tact time can be shortened.

[0076] Other effects are the same as those of Embodiment 1.

[0077] (VARIATIONS)

[0078] Note that the present application is not limited to the above-described embodiments, and includes various variations. The above-described embodiments are described in detail in order to easily understand the present application, and are not limited to necessarily having all the structures described. In addition, a part of the structure of an embodiment can be replaced with the structure of another embodiment, and in addition, the structure of another embodiment can be added to the structure of an embodiment. In addition, to a part of the structure of each embodiment, addition, deletion, or replacement of another structure can be performed.

[0079] For example, in Embodiment 1, the third plate-shaped member 130 is fixedly attached to the holding device 100, but the third plate-shaped member 130 can be driven by the actuator 160 or another actuator so as to approach or move away from the second plate-shaped member 120.

[0080] REFERENCE NUMERALS:

[0081] 100 holding device

[0082] 110 first plate-shaped member

[0083] 111 holding surface

[0084] 112 abutting portion

[0085] 120 second plate-like member

[0086] 121 holding surface

[0087] 122 abutting portion

[0088] 123 holding surface

[0089] 130 third plate-like member

[0090] 131 holding surface

[0091] 140 first protruding portion

[0092] 150 second protruding portion

[0093] 160 actuator

[0094] 170 robot flange

[0095] 200 conveyance device

[0096] 201 robot

[0097] 210 object

[0098] 220 conveyance destination

[0099] 500 holding device

[0100] 510 compressor

[0101] 520 solenoid valve. CLAIM (AMENDED IN ACCORDANCE WITH ARTICLE 19 OF THE TREATY) 1. (AMENDED) A holding device having a first plate-like member, a second plate-like member, and a third plate-like member, the first plate-like member, the second plate-like member, and the third plate-like member being arranged in parallel in order, holding an object by sandwiching with the first plate-like member and the second plate-like member, holding an object by sandwiching with the second plate-like member and the third plate-like member, characterized in that, a first sandwichable width at which an object can be sandwiched by the first plate-like member and the second plate-like member is different from a second sandwichable width at which an object can be sandwiched by the second plate-like member and the third plate-like member, the holding device is provided with a drive mechanism that drives the first plate-like member and the second plate-like member so as to approach and separate the first plate-like member and the second plate-like member from each other, the drive mechanism drives the first plate-like member and the second plate-like member by air pressure. 2. (DELETED) 3. (Modified) The gripping device according to claim 1, characterized in that The position of the third plate-shaped member is fixed. 4. The gripping device according to claim 3, characterized in that The first plate-shaped member and the second plate-shaped member are brought close to each other by the driving mechanism, the object is gripped by the first plate-shaped member and the second plate-shaped member, the first plate-shaped member and the second plate-shaped member are separated from each other by the driving mechanism, and the object is gripped by the second plate-shaped member and the third plate-shaped member. 5. (Deleted) 6. The gripping device according to claim 1, characterized in that At least one of the first plate-shaped member, the second plate-shaped member, and the third plate-shaped member is formed with a recess or a protrusion corresponding to a protrusion or a recess provided to the object. 7. The gripping device according to claim 1, characterized in that The gripping device further comprises: a first protruding portion that protrudes toward the second plate-shaped member side compared to the gripping surface of the first plate-shaped member; and a second protruding portion that protrudes toward the first plate-shaped member side compared to the gripping surface of the second plate-shaped member, The first plate-shaped member and the second plate-shaped member are restricted from being brought close to each other by the first protruding portion and the second protruding portion abutting against each other. 8. (Modified) A conveying device characterized in that The conveying device comprises: The gripping device according to any one of claims 1, 3, 4, 6 to 7; and A robot hand to which the gripping device is attached. 9. (Modified) A gripping method characterized in that The gripping method comprises: The first plate-shaped member and the second plate-shaped member that are arranged in parallel to each other are brought close to each other, thereby gripping the object by the first plate-shaped member and the second plate-shaped member; and The first plate-shaped member and the second plate-shaped member are separated from each other, thereby gripping an object having a width different from that of the object by the second plate-shaped member and a third plate-shaped member that is arranged in parallel to the second plate-shaped member and whose position is fixed, The driving mechanism that drives the first plate-shaped member and the second plate-shaped member in a manner that the first plate-shaped member and the second plate-shaped member approach and separate from each other drives the first plate-shaped member and the second plate-shaped member by air pressure.

Claims

1. A gripping device comprising a first plate-shaped member, a second plate-shaped member, and a third plate-shaped member, wherein the first plate-shaped member, the second plate-shaped member, and the third plate-shaped member are arranged sequentially in a parallel manner, and an object is gripped by clamping between the first plate-shaped member and the second plate-shaped member, and the object is gripped by clamping between the second plate-shaped member and the third plate-shaped member, characterized in that, The first clamping width that allows the object to be clamped by the first plate-shaped member and the second plate-shaped member is different from the second clamping width that allows the object to be clamped by the second plate-shaped member and the third plate-shaped member.

2. The gripping device according to claim 1, characterized in that, The holding device includes a driving mechanism that drives the first plate-shaped member and the second plate-shaped member to bring the first plate-shaped member and the second plate-shaped member closer to each other and separate from each other.

3. The holding device according to claim 2, characterized in that, The position of the third plate-shaped member is fixed.

4. The holding device according to claim 3, characterized in that, The first plate-shaped member is brought close to the second plate-shaped member by the driving mechanism, and the object is held by the first plate-shaped member and the second plate-shaped member. The first plate-shaped member and the second plate-shaped member are separated by the driving mechanism, and the object is held by the second plate-shaped member and the third plate-shaped member.

5. The holding device according to claim 2, characterized in that, The driving mechanism drives the first plate-shaped member and the second plate-shaped member by air pressure.

6. The gripping device according to claim 1, characterized in that, At least one of the first plate-shaped member, the second plate-shaped member, and the third plate-shaped member has a recess or a protrusion corresponding to the protrusion or recess provided on the object.

7. The gripping device according to claim 1, characterized in that, The holding device also includes: A first protrusion protrudes towards the second plate-like member compared to the gripping surface of the first plate-like member; and The second protrusion protrudes towards the first plate-shaped member compared to the gripping surface of the second plate-shaped member. The first protrusion abuts against the second protrusion, thus restricting the approach between the first plate-shaped member and the second plate-shaped member.

8. A conveying device, characterized in that, The conveying device includes: The gripping device according to any one of claims 1 to 7; and A robotic arm, which is used to assemble the gripping device.

9. A method of holding, characterized in that, The holding method includes: By bringing the first plate-shaped member and the second plate-shaped member, which are arranged in a parallel manner, close together, an object is held by the first plate-shaped member and the second plate-shaped member; and By separating the first plate-shaped member from the second plate-shaped member, an object with a width different from the object is held by the second plate-shaped member and the third plate-shaped member, the third plate-shaped member being arranged parallel to the second plate-shaped member and the position of the third plate-shaped member being fixed.

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