Gripping device and chute

Abstract

The present invention provides a gripping device that allows for easy placement of transported objects at the destination stage. [Solution] A gripping device 1 comprising: a holding part 10; a first contact part 21 configured to be held by the holding part 10; a second contact part 22 held by the holding part 10 and configured to face the first contact part 21; a contact part drive part 30 configured to move at least one of the first contact part 21 and the second contact part 22 and change the distance between the first contact part 21 and the second contact part 22; a moving stage 40 held by the holding part 10 and configured to move below the first contact part 21 and the second contact part 22; and a moving stage drive mechanism 50 configured to move the moving stage 40 in a direction away from the holding part 10.

Description

Technical Field

[0001] The present invention relates to a gripping device and a chute.

Background Art

[0002] In factories and logistics bases, robot hands are used to convey objects to be conveyed from upstream processes to downstream processes (see, for example, Patent Documents 1 to 3).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] One object of the present invention is to provide a gripping device that can easily place an object to be conveyed on a destination stage.

Means for Solving the Problems

[0005] The gripping device according to an embodiment of the present invention includes a holding portion, a first contact portion configured to be held by the holding portion, a second contact portion held by the holding portion and configured to face the first contact portion, a contact portion driving portion configured to move at least one of the first contact portion and the second contact portion to change the distance between the first contact portion and the second contact portion, a moving stage held by the holding portion and configured to be movable below the first contact portion and the second contact portion, and a moving stage driving mechanism configured to move the moving stage in a direction away from the holding portion.

[0006] In the gripping device described above, the moving stage may be configured to slide below the first contact portion and the second contact portion.

[0007] In the gripping device described above, the moving stage drive mechanism may be configured to slide the moving stage away from the holding portion.

[0008] In the gripping device described above, the moving stage drive mechanism may include an elastic body that connects the holding part and the moving stage and stores elastic energy when the moving stage moves toward the holding part.

[0009] In the gripping device described above, the holding portion may have a rail configured to hold the moving stage in a movable manner.

[0010] The gripping device described above may be connected to a moving device configured to bring the front end of the moving stage into contact with the side of the destination stage, move the moving stage toward the holding part, and move the first contact part and the second contact part toward the upper surface of the destination stage.

[0011] In the gripping device described above, the moving stage may have a protrusion.

[0012] The gripping device described above may be connected to a moving device configured to pass a protrusion on a moving stage through a recess in a loading stage, which is provided with a recess in the loading stage.

[0013] In the gripping device described above, the contact drive unit may be configured to move at least one of the first contact portion and the second contact portion so that the first contact portion and the second contact portion grip the object to be conveyed with a constant force.

[0014] The gripping device described above may further include a load sensor configured to detect an object to be transported on a moving stage.

[0015] A conveying device according to an embodiment of the present invention comprises: (i) a gripping device comprising: a holding portion; a first contact portion configured to be held by the holding portion; a second contact portion held by the holding portion and configured to face the first contact portion; a contact portion drive portion configured to move at least one of the first contact portion and the second contact portion and change the distance between the first contact portion and the second contact portion; a moving stage held by the holding portion and configured to move below the first contact portion and the second contact portion; and a moving stage drive mechanism configured to move the moving stage in a direction away from the holding portion; and (ii) a moving device connected to the gripping device, configured to bring the tip of the moving stage of the gripping device into contact with the side surface of the destination stage, move the moving stage toward the holding portion, and move the first contact portion and the second contact portion to the upper surface of the destination stage.

[0016] In the above-described transport device, the moving stage drive mechanism may include an elastic body that connects the holding part and the moving stage and is configured to store elastic energy when the moving stage moves toward the holding part.

[0017] In the above-described transport device, the holding portion of the gripping device may have a rail configured to hold the moving stage in a movable manner.

[0018] In the above-described conveying device, the moving stage of the gripping device may have a protrusion.

[0019] In the above-described transport device, the moving device may be configured to pass the protrusion of the moving stage of the gripping device through the recess of the input stage, which is provided with a recess.

[0020] In the above-described conveying device, the contact drive unit may be configured to move at least one of the first contact portion and the second contact portion of the gripping device so that the first contact portion and the second contact portion of the gripping device grip the object to be conveyed with a constant force.

[0021] In the above-described conveying device, the gripping device may further include a loading sensor configured to detect an object to be conveyed on the moving stage.

[0022] The chute according to an embodiment of the present invention includes a chute stage provided with a convex portion, and a stopper disposed on the convex portion of the chute stage.

[0023] The above-described chute may further include a chute stage holding portion configured to hold the chute stage such that the tip of the convex portion of the chute stage is below the end in the direction of gravity.

[0024] The above-described chute may further include a first guard disposed on the chute stage, and a second guard disposed on the chute stage and facing the first guard.

[0025] The above-described chute may further include a guard driving portion configured to move at least one of the first guard and the second guard to change the distance between the first guard and the second guard.

[0026] The conveying system according to an embodiment of the present invention is (i) a gripping device including a holding portion, a first contact portion configured to be held by the holding portion, a second contact portion configured to be held by the holding portion and face the first contact portion, a contact portion driving portion configured to move at least one of the first contact portion and the second contact portion to change the distance between the first contact portion and the second contact portion, a moving stage configured to be held by the holding portion and movable below the first contact portion and the second contact portion, and a moving stage driving mechanism configured to move the moving stage in a direction away from the holding portion; (ii) a moving device connected to the gripping device, the moving device being configured to bring the tip of the moving stage of the gripping device into contact with the side surface of the unloading destination stage, move the moving stage toward the holding portion side, and move the first contact portion and the second contact portion onto the upper surface of the unloading destination stage; (iii) A shot comprising a shooting stage and a stopper positioned on the protruding part of the shooting stage, Equipped with, The moving stage has a protruding part. The chute stage has a recessed area. The moving stage is configured such that a protrusion passes through a recess in the chute stage. It is a transport system. [Effects of the Invention]

[0027] According to the present invention, it is possible to provide a gripping device that allows for easy placement of the object to be transported at the destination stage. [Brief explanation of the drawing]

[0028] [Figure 1] Figure 1 is a schematic perspective view of the gripping device according to the embodiment, viewed from above. [Figure 2] Figure 2 is a schematic perspective view of the gripping device according to the embodiment, viewed from below. [Figure 3] Figure 3 is a schematic perspective view of the gripping device according to the embodiment, viewed from above. [Figure 4A] Figure 4A is a schematic front view of the gripping device according to the embodiment, as seen from the front. [Figure 4B] Figure 4B is a schematic front view of the gripping device according to the embodiment, as seen from the front. [Figure 5A] Figure 5A is a schematic perspective view of the gripping device according to the embodiment, viewed from above. [Figure 5B] Figure 5B is a schematic perspective view of the gripping device according to the embodiment, viewed from above. [Figure 6A] Figure 6A is a schematic bottom view of the gripping device according to the embodiment, viewed from below. [Figure 6B] Figure 6B is a schematic bottom view of the gripping device according to the embodiment, viewed from below. [Figure 7A] Figure 7A is a schematic perspective view of the gripping device according to the embodiment, viewed from above. [Figure 7B]Figure 7B is a schematic perspective view of the gripping device according to the embodiment, viewed from above. [Figure 8A] Figure 8A is a schematic bottom view of the gripping device according to the embodiment, viewed from below. [Figure 8B] Figure 8B is a schematic bottom view of the gripping device according to the embodiment, viewed from below. [Figure 9A] Figure 9A is a schematic perspective view of the chute and gripping device according to the embodiment, viewed from above. [Figure 9B] Figure 9B is a schematic perspective view of the chute and gripping device according to the embodiment, viewed from above. [Figure 10A] Figure 10A is a schematic perspective view of the chute and gripping device according to the embodiment, viewed from above. [Figure 10B] Figure 10B is a schematic perspective view of the chute and gripping device according to the embodiment, viewed from above. [Figure 11A] Figure 11A is a schematic perspective view of the chute and gripping device according to the embodiment, viewed from above. [Figure 11B] Figure 11B is a schematic perspective view of the chute and gripping device according to the embodiment, viewed from above. [Figure 12A] Figure 12A is a schematic top view of the chute according to the embodiment, viewed from above. [Figure 12B] Figure 12B is a schematic top view of the chute according to the embodiment, viewed from above. [Modes for carrying out the invention]

[0029] Embodiments of the present invention will be described below with reference to the drawings. However, the drawings are schematic. Therefore, specific dimensions and other details should be determined by referring to the following description. It should also be noted that there are parts where the relationships and ratios of dimensions differ between drawings.

[0030] As shown in Figures 1 and 2, the gripping device 1 according to the embodiment includes a holding part 10, a first contact part 21 configured to be held by the holding part 10, a second contact part 22 held by the holding part 10 and configured to face the first contact part 21, a contact part drive unit 30 configured to move at least one of the first contact part 21 and the second contact part 22 to change the distance between the first contact part 21 and the second contact part 22, a moving stage 40 held by the holding part 10 and configured to move below the first contact part 21 and the second contact part 22, and a moving stage drive mechanism 50 configured to move the moving stage 40 in a direction away from the holding part 10. The gripping device is also called a robot hand or end effector.

[0031] An object to be transported 45 is placed on the moving stage 40. In this disclosure, at the two opposing ends of the moving stage 40, the side closer to the holding part 10 is called the end, and the side further from the holding part 10 is called the tip. The direction perpendicular to the direction connecting the end and tip of the moving stage 40 is called the width direction. The shape of the moving stage 40 is arbitrary, but for example, it is plate-shaped. The moving stage 40 may have a recess 41 and a protrusion 42 at its tip. The protrusion 42 protrudes from the base portion 47 of the moving stage 40 to the tip. The recess 41 may be a notch. The recess 41 and protrusion 42 of the moving stage 40 may constitute a comb-like portion 46. In the comb-like portion 46 of the moving stage 40, the gaps between the multiple teeth (protrusions) 42 are set to be narrower than the size of the object to be transported 45. The gaps between the multiple teeth (protrusions) 42 may be the space between adjacent protrusions 42. Furthermore, the gaps between the multiple tooth portions (protrusions) 42 may be recesses 41. The material of the moving stage 40 is not particularly limited, but may include, for example, metal and resin.

[0032] The gripping device 1 according to this embodiment may further include a load sensor 43 configured to detect an object to be transported 45 on a moving stage 40. The load sensor 43 detects the presence or absence of an object to be transported 45 on the moving stage 40, for example, by the load applied to the moving stage 40. Alternatively, the load sensor 43 may detect the presence or absence of an object to be transported 45 on the moving stage 40 non-contactually using light, radio waves, or sound waves. The load sensor 43 is held, for example, in a holding unit 10.

[0033] The first contact portion 21 and the second contact portion 22 have, for example, sides perpendicular to the upper surface of the moving stage 40. However, the sides may be inclined or curved. The shape of the first contact portion 21 and the second contact portion 22 is not particularly limited and may be, for example, plate-shaped or rod-shaped. The first contact portion 21 and the second contact portion 22 may have bent portions. The material of the first contact portion 21 and the second contact portion 22 is not particularly limited but may be, for example, metal and resin. As shown in Figure 3, the first contact portion 21 and the second contact portion 22 may each have covering portions 23 and 24 that cover at least a part of the upper surface of the object to be conveyed 45.

[0034] In this disclosure, at the two opposing ends of the first contact portion 21 and the second contact portion 22, the side closer to the holding portion 10 is referred to as the end, and the side further from the holding portion 10 is referred to as the tip. The first contact portion 21 and the second contact portion 22 are, for example, movably held by the holding portion 10 at the end. The gripping device 1 according to the embodiment holds the object to be transported 45 on the moving stage 40 by narrowing the distance between the first contact portion 21 and the second contact portion 22 with the contact portion drive unit 30, thereby gripping the object to be transported 45 between the first contact portion 21 and the second contact portion 22. The contact portion drive unit 30 may be configured such that the first contact portion 21 and the second contact portion 22 grip the object to be transported 45 with a constant force.

[0035] The contact drive unit 30 may move the first contact portion 21 toward the second contact portion 22, while keeping the second contact portion 22 still, thereby narrowing the distance between the first contact portion 21 and the second contact portion 22. The contact drive unit 30 may move the second contact portion 22 toward the first contact portion 21, while keeping the first contact portion 21 still, thereby narrowing the distance between the first contact portion 21 and the second contact portion 22. The contact drive unit 30 may move the first contact portion 21 toward the second contact portion 22, and also move the second contact portion 22 toward the first contact portion 21, thereby narrowing the distance between the first contact portion 21 and the second contact portion 22.

[0036] When the contact drive unit 30 narrows the gap between the first contact portion 21 and the second contact portion 22, it may first narrow the gap at a first speed, and then narrow the gap at a second speed that is slower than the first speed. This makes it possible to suppress the application of strong force to the conveyed object 45 that is sandwiched between the first contact portion 21 and the second contact portion 22.

[0037] The contact drive unit 30 may transmit a signal to the outside indicating that an abnormality has occurred if at least one of the first contact part 21 and the second contact part 22 moves while the object to be transported 45 is being held between the first contact part 21 and the second contact part 22. For example, if the object to be transported 45 collapses during transport, the first contact part 21 and the second contact part 22 may move closer to each other.

[0038] The contact drive unit 30 is held, for example, by the holding unit 10. The contact drive unit 30 includes, for example, an actuator. Examples of actuators include an electric motor, a hydraulic cylinder, a hydraulic motor, a pneumatic cylinder, and a pneumatic motor. For example, as shown in Figures 4A and 4B, the contact drive unit 30 includes a first contact holding unit 31 that holds the first contact unit 21, a second contact holding unit 32 that holds the second contact unit 22, and actuators 33 and 34 that move the first contact holding unit 31 and the second contact holding unit 32 in the width direction of the moving stage 40. The actuators 33 and 34 and the first and second contact holding units 31 and 32 are connected, for example, by a ball screw. The first contact holding unit 31 and the second contact holding unit 32 move, for example, along the rail 11. Actuators 33 and 34 may move the first contact portion holding portion 31 and the second contact portion holding portion 32 symmetrically in the width direction of the moving stage 40.

[0039] As shown in Figure 2, the holding unit 10 has, for example, a rail 11 configured to movably hold the moving stage 40. The moving stage 40 has, for example, a mating portion 44 that mates with the rail 11. The moving stage 40 is movable along the rail 11. The mating portion 44 may be connected to the bottom surface of the moving stage 40, to the side surface, or to the top surface. If the mating portion 44 is connected to the bottom surface of the moving stage 40, the moving stage 40 is held by the rail 11 from below. If the mating portion 44 is connected to the side surface of the moving stage 40, the moving stage 40 is held by the rail 11 from the side. If the mating portion 44 is connected to the top surface of the moving stage 40, the moving stage 40 is held by the rail 11 from above.

[0040] The moving stage drive mechanism 50 includes, for example, an elastic body that connects the holding part 10 and the moving stage 40 and is configured to store elastic energy when the moving stage 40 moves toward the holding part 10. The elastic body is, for example, a spring. Examples of springs include metallic springs and non-metallic springs. Examples of non-metallic springs include polymer springs and fluid springs. An example of a fluid spring is an air spring. The gripping device 1 according to this embodiment may include a plurality of elastic bodies. The first end 51 of the elastic body is connected to the holding part 10, and the second end 52 of the elastic body is connected to the moving stage 40.

[0041] The gripping device 1 according to this embodiment is connected to a moving device 70 configured to bring the tip of the moving stage 40 into contact with the side surface 61 of the destination stage 60, move the moving stage 40 toward the holding part 10, and move the first contact part 21 and the second contact part 22 toward the upper surface 62 of the destination stage 60, as shown in Figures 5A, 5B, 6A, and 6B. The moving device 70 is movable in three dimensions and can move the gripping device 1 to any location. The moving device 70 may include a robot arm and a manipulator. The moving device 70 may include a vertical robot arm, a SCARA robot arm, a parallel link robot arm, and a Cartesian robot arm. The gripping device 1 and the moving device 70 may constitute a transport device. The transport device may be a robot.

[0042] The moving device 70 brings the gripping device 1, which is gripping the object to be transported 45, closer to the destination stage 60. The moving device 70 brings the tip of the moving stage 40 of the gripping device 1 into contact with the side surface 61 of the destination stage 60, such that the height of the bottoms of the first contact portion 21 and the second contact portion 22 is the same as, or higher than, the height of the top surface 62 of the destination stage 60. As the moving device 70 brings the gripping device 1 even closer to the destination stage 60, the moving stage 40 moves toward the holding portion 10. As a result, the tips of the first contact portion 21 and the second contact portion 22, which are gripping the object to be transported 45, protrude from the moving stage 40 toward the destination stage 60. Also, as the moving stage 40 moves toward the holding portion 10, the elastic body stretches and stores elastic energy.

[0043] As shown in Figures 7A, 7B, 8A, and 8B, with the tips of the first contact portion 21 and the second contact portion 22 gripping the object to be transported 45 on the upper surface 62 of the destination stage 60, the contact portion drive unit 30 widens the distance between the first contact portion 21 and the second contact portion 22. This positions the object to be transported 45 on the upper surface 62 of the destination stage 60. After the contact portion drive unit 30 widens the distance between the first contact portion 21 and the second contact portion 22, the moving device 70 retracts the gripping device 1 relative to the destination stage 60. When the tip of the moving stage 40 is no longer in contact with the side surface 61 of the destination stage 60, the length of the elastic body returns to the length before it stored elastic energy, and the moving stage 40 moves to the opposite side of the holding portion 10 due to the elastic energy stored in the elastic body, so that the tip of the moving stage 40 is directed toward the tips of the first contact portion 21 and the second contact portion 22.

[0044] The moving device 70 may move the gripping device 1 based on coordinate information of the destination stage 60 that has been acquired in advance. Alternatively, the gripping device 1 may be equipped with a sensor that detects the destination stage 60, and the moving device 70 may move the gripping device 1 based on the detection signal from the sensor.

[0045] As shown in Figures 6A, 6B, 8A, and 8B, the elastic body may be connected to the holding part 10 and the moving stage 40 so as to be oblique to the direction of movement of the moving stage 40. By arranging the elastic body oblique to the direction of movement of the moving stage 40, it is possible to make the elastic body longer compared to when the elastic body is arranged parallel to the direction of movement of the moving stage 40. Therefore, it is possible to increase the elastic energy stored in the elastic body. For example, if the gripping device 1 has two elastic bodies, the two elastic bodies may be arranged so as to intersect each other.

[0046] In Figures 5A, 5B, 6A, and 6B, an example is shown in which the elastic body stretches and stores elastic energy when the moving stage 40 moves toward the holding part 10. However, the elastic body may also be connected to the moving stage 40 and the holding part 10 in such a way that the elastic body contracts and stores elastic energy when the moving stage 40 moves toward the holding part 10. If the connection between the elastic body and the moving stage 40 is on the end side of the moving stage 40 than the connection between the elastic body and the holding part 10 when the elastic body is not storing elastic energy, the elastic body stretches when the moving stage 40 moves toward the holding part 10. If the connection between the elastic body and the moving stage 40 is on the front side of the moving stage 40 than the connection between the elastic body and the holding part 10 when the elastic body is not storing elastic energy, the elastic body contracts when the moving stage 40 moves toward the holding part 10.

[0047] The shape of the discharge stage 60 is not particularly limited as long as it has sides, and may be cylindrical or rectangular. The discharge stage 60 may be rotatable. The discharge stage 60 may be installed in a heating furnace.

[0048] The object to be conveyed 45 is not particularly limited and may be, for example, industrial materials, industrial products, food ingredients, and food. The object to be conveyed 45 is also called a workpiece. The shape of the object to be conveyed 45 is not particularly limited and may be, for example, disc-shaped, cylindrical, or prismatic. The hardness of the object to be conveyed 45 is not particularly limited and may be hard or brittle within the range that it can be sandwiched between the first contact portion 21 and the second contact portion 22. The material of the object to be conveyed 45 is not particularly limited and may be metal, non-metallic inorganic material, or organic material. The object to be conveyed 45 may be a metal briquette obtained by compressing a metallic material. The material of the object to be conveyed 45 may contain elemental metals or metallic compounds such as alloys. Examples of metals include iron (Fe), nickel (Ni), copper (Cu), gold (Au), silver (Ag), aluminum (Al), and cobalt (Co).

[0049] The material of the conveyed object 45 may contain one type of metal or multiple types of metal. Examples of metal compounds include, but are not limited to, alloys composed of multiple metal elements, alloys composed of metal and nonmetal elements, metal oxides, metal hydroxides, metal chlorides, metal carbides, metal borides, and metal sulfides. The metal powder may contain, for example, silicon (Si), manganese (Mn), chromium (Cr), nickel (Ni), carbon (C), boron (B), copper (Cu), aluminum (Al), titanium (Ti), niobium (Nb), vanadium (V), zinc (Zn), and sulfur (S) as alloying components.

[0050] The conveyed object 45 may contain impurities. If the conveyed object 45 is a metal briquette, the conveyed object 45 may contain impurities such as oil and lubricants.

[0051] For example, as shown in Figure 9A, the gripping device 1 receives the object to be transported 45 from the chute 2. The chute 2 according to this embodiment includes a chute stage 100 provided with a recess 102 and a protrusion 101, and a stopper 120 positioned on the protrusion 101 of the chute stage 100. The chute 2 may further include a first guard 111 positioned on the chute stage 100, and a second guard 112 positioned on the chute stage 100 and facing the first guard 111. In this disclosure, the chute stage may be referred to as the input stage. The chute 2 also further includes a chute stage holding part 130 configured to hold the chute stage 100 such that the tip of the protrusion 101 of the chute stage 100 is below the end in the direction of gravity.

[0052] Chute 2 is positioned, for example, at the discharge port of a processing device for the object to be conveyed 45. An example of a processing device is a briquetting machine. The recesses 102 and protrusions 101 of the chute stage 100 may form a comb-like structure. As shown in Figure 9B, the object to be conveyed 45 discharged onto the chute stage 100 of chute 2 from the discharge port of the processing device slides down the chute stage 100, which is inclined with respect to gravity, and reaches a stopper 120 positioned at the tip of the protrusion 101 of the chute stage 100, where it is held in place by the protrusion 101 of the chute stage 100. The distance between adjacent protrusions 101 of the chute stage 100 of chute 2 is narrower than the width of the object to be conveyed 45. Therefore, the object to be conveyed 45 does not fall from the recesses 102 of the chute stage 100. In addition, the first guard 111 and the second guard 112 of chute 2 prevent the object to be conveyed 45 from falling from the sides of the chute stage 100.

[0053] The width of the recess 102 in the chute stage 100 of chute 2 is wider than the width of the protrusion 42 in the moving stage 40 of gripping device 1. Also, the width of at least the tip side of the chute stage 100 is narrower than the distance between the first contact part 21 and the second contact part 22 of gripping device 1 when they are open. As shown in Figures 10A and 10B, the moving device 70 shown in Figure 1 passes the protrusion 42 of the moving stage 40 of gripping device 1 from below into the recess 102 in the chute stage 100 of chute 2, and places the object to be transported 45 onto the moving stage 40 of gripping device 1.

[0054] As shown in Figure 11A, after the object to be transported 45 is placed on the moving stage 40, the contact drive unit 30 of the gripping device 1 narrows the distance between the first contact part 21 and the second contact part 22, thereby gripping the object to be transported 45 between the first contact part 21 and the second contact part 22 and holding the object to be transported 45 on the moving stage 40. Subsequently, as shown in Figure 11B, the moving device 70 moves the gripping device 1 away from the chute 2 and transports the gripping device 1 to the destination of the object to be transported 45.

[0055] As shown in Figures 12A and 12B, the chute 2 may further include a guard drive unit 140 configured to move at least one of the first guard 111 and the second guard 112, thereby changing the distance between the first guard 111 and the second guard 112. The guard drive unit 140 may change the distance between the first guard 111 and the second guard 112 according to the size of the object to be transported 45. The guard drive unit 140 may change the distance between the first guard 111 and the second guard 112 so that the center of the object to be transported 45 coincides with the center of the width of the chute stage 100. The guard drive unit 140 may include, for example, an actuator.

[0056] As described above, the present invention has been described by embodiments, but the descriptions and drawings that form part of this disclosure should not be understood as limiting the invention. Various alternative embodiments, configurations, and operational techniques should become apparent to those skilled in the art from this disclosure. For example, although an example in which the moving stage drive mechanism 50 is equipped with an elastic body has been described, the moving stage drive mechanism 50 may also be equipped with an actuator. As described above, after the object to be transported 45 is placed on the upper surface 62 of the destination stage 60, the moving device 70 retracts the gripping device 1 relative to the destination stage 60. At this time, the actuator of the moving stage drive mechanism 50 may move the moving stage 40 to the opposite side of the holding part 10. Thus, it should be understood that the present invention encompasses various embodiments and the like that are not described herein. [Explanation of Symbols]

[0057] 1...Gripping device, 2...Cute, 10...Holding part, 11...Rail, 21...First contact part, 22...Second contact part, 23...Cover part, 24...Cover part, 30...Contact part drive part, 40...Moving stage, 41...Concave part, 42...Convex part, 46...Comb-shaped part, 42...Tooth part, 43...Load sensor, 44...Matching part, 45...Item to be transported 47...Base section, 50...Moving stage drive mechanism, 60...Delivery destination stage, 61...Side view, 62...Top view, 70...Moving device, 100...Chute stage, 101...Convex section, 102...Concave section, 111...First guard, 112...Second guard, 120...Stopper, 130...Chute stage holding section, 140...Guard drive section

Claims

1. The holding part, A first contact portion configured to be held by the holding portion, A second contact portion is held by the holding portion and configured to face the first contact portion, A contact drive unit configured to move at least one of the first contact portion and the second contact portion, thereby changing the distance between the first contact portion and the second contact portion, A moving stage is held by the holding portion and configured to move below the first contact portion and the second contact portion, A moving stage drive mechanism configured to move the moving stage in a direction away from the holding portion, A gripping device equipped with the following features.

2. The gripping device according to claim 1, wherein the moving stage is configured to slide below the first contact portion and the second contact portion.

3. The gripping device according to claim 1, wherein the moving stage drive mechanism is configured to slide the moving stage in a direction away from the holding portion.

4. The gripping device according to claim 1, wherein the moving stage drive mechanism includes an elastic body that connects the holding portion and the moving stage and stores elastic energy when the moving stage moves toward the holding portion.

5. The gripping device according to claim 1, wherein the holding portion has a rail configured to movably hold the moving stage.

6. The gripping device according to claim 1, which is connected to a moving device configured to bring the tip of the moving stage into contact with the side surface of the destination stage, move the moving stage toward the holding part, and move the first contact part and the second contact part toward the upper surface of the destination stage.

7. The gripping device according to claim 1, wherein the moving stage has a protrusion.

8. The gripping device according to claim 7, which is connected to a moving device configured to pass the protrusion of the moving stage through the recess of the receiving stage, which is provided with a recess.

9. The gripping device according to claim 1, wherein the contact drive unit is configured to move at least one of the first contact unit and the second contact unit so that the first contact unit and the second contact unit grip an object to be conveyed with a constant force.

10. The gripping device according to claim 1, further comprising a load sensor configured to detect an object to be transported on the moving stage.

11. A shooting stage with a protruding section, A stopper is positioned on the protrusion of the chute stage, A shot equipped with a chute.

12. The chute according to claim 11, further comprising a chute stage holding part configured to hold the chute stage such that the tip of the protrusion of the chute stage is lower in the direction of gravity than the end of the chute stage.

13. A first guard positioned on the aforementioned shooting stage, A second guard is positioned on the shooting stage and faces the first guard, The chute according to claim 11, further comprising:

14. The chute according to claim 13, further comprising a guard drive unit configured to move at least one of the first guard and the second guard, thereby changing the distance between the first guard and the second guard.

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