Gripper

Abstract

To downsize a gripper body in a gripper which can grip an object with a small gripping force by using a small-sized actuator for automatic assembly of fine parts.SOLUTION: A gripper includes: a first claw 4 and a second claw 5 for gripping an object; a first slide member 12 to which the first claw 4 is fastened, and which moves inside a housing 7 in a linear motion direction; a second slide member 13 to which the second claw 5 is fastened, and which moves inside the housing 7 in a linear motion direction; a first actuator for driving the first slide member 12; and a second actuator for driving the second slide member 13. The first actuator and the second actuator are off-set inside the housing 7 in a direction orthogonal to the direction of movement of the first claw 4 and the second claw 5.SELECTED DRAWING: Figure 3

Claims

1. A first claw and a second claw for gripping an object; a first slide member to which the first claw is fixed and which moves in a linear direction inside the housing; and a second slide member to which the second claw is fixed and which moves in a linear direction inside the housing; a linear guide block that constitutes a linear guide and is arranged on the lower side of the housing in parallel with and facing the moving direction of the first claw and the second claw; a first actuator that drives the first slide member and a second actuator that drives the second slide member, the first slide member and the second slide member are fixed to a pair of the linear guide blocks facing each other in a direction perpendicular to a moving direction of the first claw and the second claw, The gripper, wherein the first actuator and the second actuator are offset in the housing in a direction perpendicular to a direction of movement of the first jaw and the second jaw, respectively.

2. 2. The gripper according to claim 1, wherein the first actuator and the second actuator are provided on a wall portion that divides the interior of the housing.

3. The gripper of claim 1 , wherein the first slide member and the second slide member have the same shape.

4. 2. The gripper according to claim 1, wherein the first actuator and the second actuator are motors that rotate threaded portions of lead screws.

5. The gripper according to claim 4, characterized in that a nut member screwed into the threaded portion of the lead screw is configured as a separate member from the first slide member and the second slide member, and is fixed to the first slide member and the second slide member.

6. The gripper according to any one of claims 1 to 5, wherein the first slide member and the second slide member are capable of moving independently of each other.

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