Holding device

Abstract

[Problem] The present invention can accurately position and hold the object being held. [Solution] A holding device that holds a plate-shaped object being held in a generally horizontal direction, comprising: a first arm unit having a first arm and a second arm that are rotatably disposed in the horizontal direction, a first rotation shaft disposed in the first arm and serving as the rotation center of the first arm, a second rotation shaft disposed in the second arm and serving as the rotation center of the second arm, and a first holding portion disposed near the front end of the first arm and the second arm respectively and holding the object being held; a second arm unit having a third arm and a fourth arm that are movably disposed in the horizontal direction, and a second holding portion disposed at the front end of the third arm and the fourth arm respectively and holding the object being held; a first drive unit that rotates the first arm and the second arm simultaneously in opposite directions; and a second drive unit that moves the third arm and the fourth arm simultaneously in opposite directions. The first arm, second arm, third arm, and fourth arm extend horizontally, while the first holding part and second holding part extend vertically. The first holding part of the first arm and the second arm are respectively located in the first direction of the extension of the third arm and the fourth arm, which is also the first direction. The second holding part is located between the second holding part of the third arm and the second holding part of the fourth arm. The second holding part of the third arm and the fourth arm are respectively located in the second direction, which is approximately orthogonal to the vertical direction and the first direction. The second holding part is located between the first holding part of the first arm and the first holding part of the second arm. When viewed from above in the vertical direction, the first driving part, the second driving part, the first rotating shaft, and the second rotating shaft are located outside the area surrounded by the first holding part and the second holding part. none

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