Controlling institutions

Abstract

This gripping mechanism comprises a plurality of gripping claws that grip a part, an opening / closing device that moves the plurality of gripping claws in an opening direction in which the plurality of gripping claws separate from each other and a closing direction in which the plurality of gripping claws come close to each other, and a plurality of backing metals having an abutting portion which can abut on an upper surface of the part. The backing metals are configured to move integrally with the gripping claws, and such that, in an open state in which the plurality of gripping claws are separated from each other, the abutting portion projects in the closing direction with respect to a gripping surface of the gripping claws.

Description

[Technical Field]

[0001] This specification discloses a gripping mechanism. [Background technology]

[0002] A component gripping mechanism has been proposed that includes a pair of gripping jaws capable of gripping a component, an opening / closing device that opens and closes the pair of gripping jaws, and a block-shaped metal backing that abuts against the top surface of the component (see, for example, Patent Document 1). This gripping mechanism describes how a metal backing mounting surface is provided approximately in the center of the opening / closing device, and how a metal backing appropriate for the size of the component can be attached to the mounting surface from among multiple types of metal backings. It also describes how the component can be gripped in the correct orientation by abutting the top surface of the component against the metal backing and gripping it with the gripping jaws. This type of metal backing is also used when pushing a component with leads below it from above to insert the leads into insertion holes in a circuit board. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] WO2018 / 051451A1 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned Patent Document 1, it is necessary to secure space for attaching the backing plate in the switching device, which may result in the switching device becoming larger. Also, since the backing plate needs to be replaced depending on the size of the part, the replacement work takes time and may affect production.

[0005] A primary object of the present disclosure is to provide a gripping mechanism that eliminates the need to secure space in an opening / closing device for mounting a backing plate, and that can increase the versatility of the backing plate and reduce replacement work. [Means for solving the problem]

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The gripping mechanism of the present disclosure comprises: a plurality of gripping jaws for gripping parts; an opening / closing device that moves the plurality of gripping claws in an opening direction in which they move away from each other and in a closing direction in which they move closer to each other; a plurality of contact metals each having a contact portion capable of contacting an upper surface of the component; A gripping mechanism comprising: The gist of the method is that the abutment moves integrally with the gripping claws, and when the multiple gripping claws are in an open state separated from each other, the abutment portion protrudes in the closing direction relative to the gripping surfaces of the gripping claws.

[0008] In the gripping mechanism disclosed herein, the backing plate moves integrally with the gripping jaws, and when the multiple gripping jaws are in the open state with the gripping jaws spaced apart, the abutment portion protrudes in the closing direction relative to the gripping surface of the gripping jaws. This eliminates the need to secure space in the opening / closing device for installing the backing plate. Furthermore, regardless of the position of the gripping jaws depending on the size of the part to be gripped, the abutment portion protrudes relative to the gripping surface, so the abutment portion of the backing plate can abut against the top surface of the part regardless of the part's size. This increases the versatility of the backing plate and reduces the work required to replace the backing plate. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing an outline of the configuration of a work system 10. [Figure 2] FIG. 2 is a block diagram showing the electrical connections of the work system 10. [Figure 3] FIG. 3 is a perspective view of the part chuck device 30. [Figure 4] FIG. [Figure 5] FIG. [Figure 6] FIG. 10 is a front view of the gripping jaw 45 with the backing metal 50 integrated therein. [Figure 7] FIG. [Figure 8] FIG. 4 is an explanatory diagram showing the state of the gripping mechanism 40 with the gripping claws 45 in a closed state. [Figure 9] 4 is an explanatory diagram showing how the gripping mechanism 40 grips the lead part P. FIG. [Figure 10] FIG. 10 is an explanatory diagram showing how the gripping mechanism 40 pushes in the lead part P. [Figure 11] 10 is an explanatory diagram showing how the gripping mechanism 40 grips a component P1 that does not have leads L. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] Next, an embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a configuration diagram showing an outline of the configuration of a work system 10. Fig. 2 is a block diagram showing the electrical connections of the work system 10. In Fig. 1, the left-right direction is the X-axis direction, the front-rear direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

[0011] The work system 10 is configured as a system that performs predetermined work by gripping various components, such as mechanical components and electronic components, through the operation of a robot 20 fixed to a workbench 11. An example of the predetermined work is mounting work in which components are mounted on a substrate S.

[0012] The workbench 11 is provided with a substrate transport device 12 for transporting the substrate S and feeders 14 and 16, such as tape feeders, for supplying components. The substrate transport device 12 has a pair of belt conveyors spanning the left-right direction (X-axis direction) at a distance in the front-rear direction (Y-axis direction), and the substrate S is transported from left to right by the belt conveyors. The feeder 14 supplies components by feeding a tape carrying multiple components spaced at predetermined intervals backward (Y-axis direction). The feeder 16 supplies lead components P by feeding a tape carrying lead components P. The lead components P have a body B and leads L extending downward from the body B, and are supplied by the feeder 16 in an upright position with the body B facing upward. Note that the feeder is not limited to a tape feeder, and may be a tray feeder that supplies trays on which multiple components are arranged, or a bulk feeder that stores multiple components in a loose state and supplies the components while aligning them.

[0013] The robot 20 includes, for example, a vertical articulated robot arm 22, a component chucking device 30 as an end effector detachably attached to the distal link of the robot arm 22, and a camera 24. The robot arm 22 is provided with a servo motor (not shown) and an encoder for detecting a rotation angle at each joint. The component chucking device 30, details of which will be described later, grips components with a pair of openable and closable gripping jaws 45 (see FIG. 3). The camera 24 captures images for recognizing the position and posture of components supplied by the feeders 14, 16, and for recognizing the position of the substrate S transported by the substrate transport device 12. Note that, although a vertical articulated robot is illustrated as the robot 20, a horizontal articulated robot, an XY robot, or the like may also be used.

[0014] 2, the control device 28 is configured as a microprocessor centered around a CPU 28a, and in addition to the CPU 28a, includes a ROM 28b that stores various control programs, a RAM 28c used as a work area, an HDD 28d that stores various data, an input / output port (not shown), etc. The control device 28 receives detection signals from sensors (not shown) provided in the substrate transport device 12, the feeders 14 and 16, and the robot 20, as well as images captured by the camera 24. The control device 28 also outputs control signals to the substrate transport device 12, the feeders 14 and 16, the robot 20 (the robot arm 22 and the part chucking device 30), the camera 24, etc.

[0015] The following is a description of the configuration of the part chucking device 30. Fig. 3 is a perspective view of the part chucking device 30. Fig. 4 is a front view of the gripping mechanism 40. Fig. 5 is a side view of the gripping mechanism 40. Fig. 6 is a front view of the gripping jaws 45 integrated with the backing plate 50. Fig. 7 is an exploded perspective view of the gripping jaws 45 and the backing plate 50.

[0016] The part chucking device 30 includes a main body 31 and a gripping mechanism 40 that grips a part with gripping jaws 45. The main body 31 has a fixed part 32 at its upper part that is fixed to the tip link of the robot arm 22 with a bolt or the like, and a support part 34 at its lower part that supports the gripping mechanism 40. The main body 31 houses a signal line that transmits a drive signal to the actuator of the opening / closing device 42 of the gripping mechanism 40, as well as supply lines that supply air and power to the actuator.

[0017] The gripping mechanism 40 includes an opening / closing device 42, a pair of gripping claws 45, a pair of backing plates 50 respectively supported by the gripping claws 45, and two springs 55 which respectively bias the backing plates 50. The opening / closing device 42 slides a pair of sliders 44 toward or away from each other by driving an actuator such as an air cylinder or a motor. The opening / closing device 42 is capable of detecting the position of the sliders 44 by a position sensor such as an encoder. A gripping claw 45 is attached to each of the pair of sliders 44. The opening / closing device 42 opens and closes the gripping claws 45 by driving the actuator to move the pair of gripping claws 45 in a closing direction (inward) so that they approach each other, or in an opening direction (outward) so that they move away from each other.

[0018] The gripping claws 45 extend downward from a flat mounting portion 46 attached to the slider 44. When viewed from the front, the width of the gripping claws 45 is narrower at their lower end (tip end) than at their upper end (base end). The gripping claws 45 have a gripping surface 45a that grips a component and is flush and continuous from the upper end to the lower end. The gripping claws 45 are bifurcated to form a groove 48 that extends linearly in the vertical direction on the side opposite the gripping surface 45a. The groove 48 is formed in the center of the gripping claws 45 in the width direction (the left-right direction in FIG. 5 ), extending from the upper end to the lower end. The groove 48 is formed with a width slightly larger than the thickness of the backing metal 50 so that it can accommodate a portion of the backing metal 50. Support holes 49a for supporting the backing metal 50 are formed in side walls 49 of the gripping claws 45 on both sides of the groove 48. The groove portion 48 has a bottom surface 48a formed at approximately the center in the vertical direction, and through holes 48b and 48c formed above and below the bottom surface 48a, respectively, which penetrate all the way to the gripping surface 45a.

[0019] The backing plate 50 is an inverted L-shaped member in a front view, and has a first extending portion 52 extending downward and a second extending portion 53 extending horizontally formed so as to intersect at right angles. The backing plate 50 has a support shaft 51 attached to an axial hole 50a formed in a bent portion of the inverted L shape, and is provided with an abutment portion 54 that extends from the lower end side of the first extending portion 52 in the opposite direction to the second extending portion 53 and is shorter than the second extending portion 53, and can abut against the upper surface of a component.

[0020] The backing metal 50 is inserted into the groove 48 of the gripping claw 45 so as to sandwich the sliding ring 57 between the groove 48 and the side wall 49. Then, the support shaft 51 is inserted with the support hole 49a, the shaft hole 50a, and the center hole of the sliding ring 57 communicating with each other, thereby being pivotally supported by the gripping claw 45. That is, the backing metal 50 of this embodiment is supported by the gripping claw 45 so as to be swingable (rotatable) about the support shaft 51.

[0021] The spring 55 is a coil spring, and is attached to a protrusion 53a formed on the extending end of the second extending portion 53 of the backing metal 50. A recess 46a (see FIG. 6) into which the spring 55 can be fitted is formed on the lower surface of the mounting portion 46 of the gripping claw 45. The spring 55 biases the extending end of the second extending portion 53 of the backing metal 50 downward, with the bottom surface of the recess 46a serving as a spring receiver.

[0022] In this embodiment, when the gripping claws 45 support the backing metal 50, a portion of the backing metal 50 (first extension portion 52) is housed in the groove 48. The second extension portion 53 extends in the opening direction relative to the support shaft 51, and its extending end is urged downward by the spring 55. Therefore, the backing metal 50 rotates around the support shaft 51 as a fulcrum in a direction such that the second extension portion 53 moves downward, i.e., in a direction in which the abutting portion 54 protrudes from the gripping surface 45a. Therefore, the abutting portion 54 of the backing metal 50 passes through the lower through-hole 48c of the groove 48 and protrudes in the closing direction relative to the gripping surface 45a. However, because the bottom surface 48a of the groove 48 of the gripping claws 45 abuts against the backing metal 50 from the side and supports the side surface 52a of the first extension portion 52, the abutting portion 54 is restricted from protruding from the gripping surface 45a. Therefore, the contact plate 50 remains stationary in the state shown in Fig. 6. The contact plate 50 is configured so that the lower surface of the contact portion 54 is horizontal when the contact plate 50 is stationary. In this embodiment, the gripping claws 45 and the contact portion 54 are configured so that the contact portion 54 protrudes in the closing direction above the lower end of the gripping surface 45a.

[0023] The following is a description of the operation of the component chucking device 30. Here, a lead component P having leads L is taken as an example of a component to be gripped.

[0024] FIG. 8 is an explanatory diagram showing the gripping mechanism 40 when the gripping jaws 45 are in a closed state. As shown in the figure, in the closed state, the gripping surfaces 45a of the pair of gripping jaws 45 abut against each other. Furthermore, the contact portions 54 of the backing plates 50 supported by each of the gripping jaws 45 abut against each other, exerting an opening (outward) force on each other. Therefore, each backing plate 50 swings around the support shaft 51 so that the contact portions 54 move in the opening direction against the biasing force of the spring 55, causing the contact portions 54 to retract and sink into the gripping surfaces 45a in the opening direction. Thus, even though the contact portions 54 can protrude from the gripping surfaces 45a, the contact portions 54 do not protrude from the gripping surfaces 45a when the gripping jaws 45 are closed. This ensures that the gripping surfaces 45a abut against each other and achieve the closed state. Therefore, the control device 28 can detect that the gripping jaws 45 are not gripping a component by detecting the position of the slider 44 in the closed state with a position sensor. When the backing plate 50 swings as shown in FIG. 8, the upper through-hole 48b of the groove 48 functions as an escape hole for the bent portion of the backing plate 50.

[0025] 9 is an explanatory diagram showing how gripping mechanism 40 grips lead part P. As shown in the figure, gripping mechanism 40 (opening / closing device 42) grips body B of lead part P in an open state where pair of gripping claws 45 have been moved to positions according to the size of lead part P (body B). By opening gripping claws 45, no force acts on abutting portion 54 in the opening direction, so that abutting portion 54 of contact plate 50 protrudes in the closing direction relative to gripping surface 45a. Grip mechanism 40 grips body B of lead part P in an area of ​​gripping surface 45a of gripping claws 45 below abutting portion 54.

[0026] 10 is an explanatory diagram showing how the gripping mechanism 40 pushes in the lead component 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 component P is positioned above a lead hole (not shown) formed in the substrate S, and then move the gripping mechanism 40 downward. As the gripping mechanism 40 moves downward, the abutting portion 54 of the backing plate 50 presses the upper surface of the lead component P (body B), thereby pushing the lead L into the lead hole.

[0027] As described above, the swinging of backing plate 50 is restricted by contact with bottom surface 48a of groove 48. Therefore, even if an upward reaction force is received when pushing lead part P, contact portion 54 does not move upward (in the closing direction) and maintains its vertical position. This allows gripping mechanism 40 to reliably push lead part P. Furthermore, as shown in FIG. 9, gripping mechanism 40 grips body B of lead part P in an area of ​​gripping surface 45a below contact portion 54, so that the pushing operation can be started without re-gripping lead part P. Note that contact portion 54 of backing plate 50 can contact and push in the upper surface of lead part P (body B) regardless of the size of lead part P, making backing plate 50 highly versatile.

[0028] 11 is an explanatory diagram showing how the gripping mechanism 40 grips a component P1 without leads L. As shown in the figure, the contact portion 54 of the backing plate 50 contacts the side surface of the component P1, and a force acts on the contact portion 54 in the opening direction. As a result, the backing plate 50 swings against the biasing force of the spring 55 in a direction that accommodates the contact portion 54 in the opening direction relative to the gripping surface 45a, and the contact portion 54 sinks into the gripping surface 45a. By sinking the contact portion 54 into the gripping surface 45a in this way, the component P1 can be gripped in any region of the gripping surface 45a regardless of the backing plate 50 (contact portion 54). In other words, even if the gripping jaws 45 and the backing plate 50 are integrally configured, it is possible to prevent restrictions on component gripping.

[0029] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. In this embodiment, the gripping claw 45 corresponds to the gripping claw, the opening / closing device 42 corresponds to the opening / closing device, the backing plate 50 corresponds to the backing plate, and the gripping mechanism 40 corresponds to the gripping mechanism. The spring 55 corresponds to the biasing member. 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.

[0030] As described above, in the gripping mechanism 40 of the present disclosure, the backing plate 50 is configured to move integrally with the gripping jaws 45, and the abutment portion 54 protrudes in the closing direction relative to the gripping surface 45a when the gripping jaws 45 are in the open state. This allows the abutment portion 54 to abut against the upper surface of the part to be gripped, thereby pushing the part in, regardless of the position to which the gripping jaws 45 move depending on the size of the part. This increases the versatility of the backing plate 50 and reduces the amount of work required to replace the backing plate 50.

[0031] Furthermore, when a force in the opening direction is applied to the abutment portion 54 of the contact plate 50, the abutment portion 54 sinks into the gripping surface 45a, making it possible to fully close the gripping claws 45 so that the gripping surfaces 45a abut against each other, or to grip a part at the point on the gripping surface 45a where the abutment portion 54 protrudes.

[0032] Furthermore, with a simple configuration in which the backing metal 50 is pivotally supported by the gripping claws 45 so as to be able to swing about an axis, the abutting portion 54 can be made to protrude from or sink into the gripping surface 45a.

[0033] In addition, a spring 55 is provided to bias the contact plate 50 so that the contact plate 50 swings in the direction in which the contact portion 54 protrudes from the gripping surface 45a, thereby preventing the contact portion 54 from being unable to protrude due to malfunction, etc.

[0034] The gripping claws 45 also have grooves 48 formed on the side opposite the gripping surface 45a, and a backing metal 50 is pivotally supported on a sidewall 49 of the grooves 48 so that it can swing about an axis. The grooves 48 have bottom surfaces 48a that abut against the backing metal 50 from the side, and through-holes 48c that extend to the gripping surface 45a and allow the abutment portions 54 to pass through. This allows the backing metal 50 to be housed in a compact configuration across the width of the gripping claws 45. Even if an upward force acts on the abutment portions 54 when a component is being pushed in, the bottom surfaces 48a of the grooves 48 restrict the swing of the backing metal 50 and maintain the vertical position of the abutment portions 54, ensuring reliable pushing in of the component. Furthermore, the gripping claws 45 grip the lead component P in a region of the gripping surface 45a below the protruding portion of the abutment portions 54, allowing the lead component P to be pushed in by the abutment portions 54 without the need for re-gripping.

[0035] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

[0036] In the above-described embodiment, the gripping claws 45 are bifurcated to form grooves 48, and a portion of the backing metal 50 (first extension portions 52) is housed in the grooves 48 to house the backing metal 50 in the width direction of the gripping claws 45, but this is not limited to this. For example, the backing metal 50 may be configured to be pivotally supported on both outer sides of the gripping claws 45 in the width direction. In such a configuration, it is not necessary to form the gripping claws 45 in a bifurcated shape and to form the grooves 48. On the other hand, the backing metal 50 may be bifurcated and the gripping claws 45 may be housed between two abutment portions 54 protruding from both outer sides.

[0037] In the embodiment, through holes 48b that function as relief holes are formed in the upper part of the groove portion 48, but if the groove is deep enough to function as a relief hole, they do not have to be through holes.

[0038] In the embodiment, a spring 55 is provided to bias the backing plate 50, but this is not limited to this. The backing plate 50 may be swung by its own weight without the spring 55, or may be swung by attaching a weight or the like.

[0039] In the embodiment, the contact plate 50 is configured to be swingable, but this is not limited thereto. For example, the contact plate 50 may be a pin-shaped member that is biased by a biasing member such as a spring so that the contact portion 54 at the tip protrudes from the gripping surface 45a in the closing direction, and that, when a force in the opening direction is applied, the contact portion 54 sinks into the gripping surface 45a against the biasing force of the biasing member. In other words, the contact plate 50 may be configured to be movable horizontally so that the contact portion 54 at the tip protrudes from the gripping surface 45a in the closing direction or sinks into the gripping surface 45a in the opening direction.

[0040] In the embodiment, the contact metal 50 is supported by the gripping claws 45, but this is not limitative and the contact metal 50 may be supported by the attachment portion 46 or the slider 44.

[0041] In the embodiment, an example having a pair of gripping claws 45 has been described, but this is not limited thereto. For example, any gripping claws 45 may be provided, such as a gripping claw having multiple pairs of gripping claws 45, a gripping claw having three or more gripping claws 45 arranged alternately, or a gripping claw having three or more gripping claws 45 arranged radially from the gripping center. In addition, the gripping claws 45 are not limited to having backing metals 50 attached to all of the gripping claws 45, and the backing metals 50 may not be attached to some of the gripping claws 45.

[0042] In the embodiment, an example is given in which the lead component P is pushed in with the abutment 50, but this is not limited to this, and the abutment 50 (abutment portion 54) may be abutted against the top surface of the component to adjust the height position when gripping the component.

[0043] Although the backing plate 50 of the embodiment is highly versatile and can contact the upper surface of a component regardless of its size, the backing plate 50 may be replaced depending on the size and shape of the component. For example, a backing plate 50 selected from a plurality of types of backing plates 50 that differ in the length by which the contact portion 54 protrudes from the gripping surface 45a or the vertical position of the protruding portion may be attached.

[0044] Here, the gripping mechanism of the present disclosure may be configured as follows. For example, in the gripping mechanism of the present disclosure, the backing metal may be configured so that when a force in the opening direction acts on the abutting portion, the abutting portion fits into the gripping surface in the opening direction. In this way, even if the abutting portion of the backing metal is configured to protrude from the gripping surface, it is possible to fully close the gripping jaws so that the gripping surfaces abut against each other, or to grip a part at a location on the gripping surface where the abutting portion protrudes.

[0045] In the gripping mechanism disclosed herein, the backing metal may be pivotally supported on the gripping jaws so as to be swingable about an axis, so that when the plurality of gripping jaws are in the open state and the force in the opening direction no longer acts on the abutment portion, the abutment portion swings in a direction protruding in the closing direction relative to the gripping surface, and when the force in the opening direction acts on the abutment portion when the plurality of gripping jaws approach each other and are in the closed state, the abutment portion swings in a direction retracting in the opening direction relative to the gripping surface. This allows the abutment portion of the backing metal to be protruded or retracted relative to the gripping surface with a simple configuration.

[0046] The gripping mechanism of the present disclosure may further include a biasing member that biases the backing plate so that the backing plate swings in a direction in which the abutment portion protrudes in the closing direction relative to the gripping surface. This prevents the abutment portion from being unable to protrude due to malfunction or the like.

[0047] In the gripping mechanism disclosed herein, the gripping jaws may have a groove formed in the widthwise center on the side opposite the gripping surface, the groove extending vertically to accommodate at least a portion of the backing metal, the backing metal being pivotally supported at its upper end on a side wall of the groove so as to be pivotable about an axis and having the abutment portion extending in the closing direction at its lower end, the groove having a bottom surface that abuts the backing metal from the side, and a through-hole formed in part of the bottom surface that extends to the gripping surface so that the abutment portion can be inserted therethrough. This allows for a compact configuration in which the backing metal is accommodated in the widthwise direction of the gripping jaws. Furthermore, even if an upward force acts on the abutment portion when pushing a part, the bottom surface of the groove abuts the backing metal from the side, thereby restricting the swing and maintaining the position of the abutment portion, thereby enabling the part to be reliably pushed in.

[0048] In the gripping mechanism of the present disclosure, the contact portion of the backing metal may protrude in the closing direction above the lower end of the gripping surface, and the gripping claws may be capable of gripping a part in a region of the gripping surface below the contact portion. In this way, the contact portion protrudes above the part gripped by the gripping surface, allowing the gripped part to be pushed in without having to be re-gripped. [Industrial Applicability]

[0049] The present disclosure is applicable to the technical field of devices for gripping parts. [Explanation of symbols]

[0050] 10 Working system, 11 Working table, 12 Substrate transport device, 14, 16 Feeder, 20 Robot, 22 Robot arm, 24 Camera, 28 Control device, 28a CPU, 28b ROM, 28c RAM, 28d HDD, 30 Part chucking device, 31 Main body, 32 Fixing portion, 34 Support portion, 40 Gripping mechanism, 42 Opening and closing device, 44 Slider, 45 Gripping claw, 45a Gripping surface, 46 Mounting portion, 46a Recess, 48 ​​Groove portion, 48a Bottom surface, 48b, 48c Through hole, 49 Side wall, 49a Support hole, 50 Backing plate, 50a Shaft hole, 51 Support shaft, 52 First extension portion, 52a Side surface, 53 Second extension portion, 53a Convex portion, 54 Tip portion, 55 Spring, 57 Sliding ring, B body, L lead, P lead part, P1 part.

Claims

1. A plurality of gripping jaws for gripping parts; an opening / closing device that moves the plurality of gripping claws in an opening direction in which they move away from each other and in a closing direction in which they move closer to each other; a plurality of contact metals each having a contact portion capable of contacting an upper surface of the component; A gripping mechanism comprising: The contact metal is provided on the gripping jaws, and is configured so that when the plurality of gripping jaws are in an open state where they are spaced apart from each other, the contact portion protrudes in the closing direction relative to the gripping surfaces of the gripping jaws, and when a force in the opening direction acts on the contact portion, the contact portion fits in the opening direction relative to the gripping surfaces. Gripping mechanism.

2. The gripping mechanism according to claim 1 , The contact metal is pivotally supported on the gripping jaws so as to be swingable around an axis, and when the plurality of gripping jaws are in the open state and the force in the opening direction is no longer acting on the abutting portion, the abutting portion swings in a direction protruding in the closing direction relative to the gripping surface, and when the force in the opening direction acts on the abutting portion when the plurality of gripping jaws approach each other and are in the closed state, the abutting portion swings in a direction retracting in the opening direction relative to the gripping surface. Gripping mechanism.

3. The gripping mechanism according to claim 2, The abutment portion includes a biasing member that biases the abutment plate so that the abutment plate swings in a direction in which the abutment portion protrudes in the closing direction relative to the gripping surface. Gripping mechanism.

4. The gripping mechanism according to any one of claims 1 to 3, The gripping claw has a groove portion formed in the center in the width direction on the side opposite to the gripping surface, the groove portion extending in the vertical direction so as to accommodate at least a part of the backing metal, the backing metal has an upper end supported on a side wall of the groove portion so as to be swingable about an axis, and the abutting portion is provided on a lower end side thereof so as to extend in the closing direction, The groove portion has a bottom surface that abuts against the backing metal from the side, and a through hole that penetrates to the gripping surface is formed in a part of the bottom surface so that the abutting portion can be inserted therethrough. Gripping mechanism.

5. The gripping mechanism according to any one of claims 1 to 4, The contact portion of the contact plate protrudes in the closing direction above a lower end of the gripping surface, The gripping claws are capable of gripping a part in a region of the gripping surface below the abutment portion. Gripping mechanism.

Images