Workpiece gripping device
A workpiece gripping device includes a primary catching mechanism having a suction pad adapted to hold a workpiece by suction power and a rod-like part having the suction pad mounted on one end thereof, gripping pawls sandwiching and gripping the workpiece, a drive unit for supplying a drive power, and a transmission mechanism transmitting the drive power of the drive unit to the gripping pawls. The transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond the suction pad and a retreated position where the gripping pawls are retreated from the suction pad toward the base plate. The gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls.
1. A workpiece gripping device comprising:
a catching mechanism having a catching part for holding a workpiece by suction force or magnetic force, and a rod-like part having the catching part mounted at one end thereof;
at least two gripping pawls for sandwiching and gripping the workpiece held by the catching part;
a drive unit for supplying a drive power; and
a transmission mechanism for transmitting the drive power of the drive unit to the gripping pawls,
wherein the transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond an end of the rod-like part on which the catching part is mounted and a retreated position where the gripping pawls are positioned behind the catching part toward an end of the rod-like part on the side opposite to the catching part, and the gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls, whereby no component member of the gripping device exists around the catching part, as viewed from a radial direction of the rod-like part,
wherein the rod-like part is configured to be moved by the drive unit along the axis of the rodlike part with respect to a gripping device base,
wherein the transmission mechanism comprises:
at least two base projection plates coupled to the gripping device base and extending along and beside the rod-like part;
first links each having one end rotatably coupled to a corresponding one of the gripping pawls, a central portion rotatably coupled to the corresponding one of the base projection plates, and the other end coupled to the rod-like part so as to be rotatable and slidable in a longitudinal direction of each of the first links; and
second links each having one end rotatably coupled to a corresponding one of the gripping pawls and the other end rotatably coupled to the corresponding one of the base projection plates.
2. The workpiece gripping device according to claim 1 , wherein the gripping device base is adapted to be mounted on an arm of a robot, and said drive unit is arranged on the side of the gripping device base nearer to the arm of the robot.