Gripping mechanism and assembly apparatus
A gripping mechanism includes a pair of inclined surfaces and rolling elements. The pair of inclined surfaces face each other, are inclined in opposite directions with respect to a vertical direction, and approach each other on a lower side. Each of the rolling elements is rollable on the respective inclined surfaces in an obliquely upward and downward direction. An opening space is formed between lower ends of the inclined surfaces, the opening space having a direction Y (horizontal) width smaller than a direction Y width of the respective rolling elements arranged in the direction Y.
1. A gripping mechanism comprising:
a pair of inclined surfaces that are arranged facing each other, and are inclined in opposite directions with respect to a vertical direction, and approach each other on a lower side;
rolling elements, each of which is arranged in a horizontal direction and is rollable on the respective inclined surfaces in an obliquely upward and downward direction; and
an opening space formed between lower ends of the inclined surfaces, the opening space having a horizontal width smaller than a horizontal width of the respective rolling elements arranged in the horizontal direction;
a horizontal support part that is bridged over an end part of a shaft of each of the rolling elements and supports the end part of the shaft of each of the rolling elements so as to be movable in the horizontal direction; and
a vertical support part that supports the horizontal support part to be movable in the vertical direction,
wherein
the vertical support part includes vertical slits provided above the opening space in the vertical support part, and
the horizontal support part includes a plurality of hooked convex parts and a non-hooked convex part, the hooked convex parts and the non-hooked part being inserted into the respective vertical slits.
2. The gripping mechanism according to claim 1 , further comprising:
an opening part that communicates from an inside to an outside of the respective inclined surfaces, the opening part being provided on a side part of the respective inclined surfaces.
3. The gripping mechanism according to claim 1 , wherein
each of the rolling elements is rollable downward on the respective inclined surfaces by its own weight.
4. The gripping mechanism according to claim 1 , wherein
each of the rolling elements has a cylindrical shape with the same diameter as each other.
5. The gripping mechanism according to claim 1 , wherein
the respective inclined surfaces are arranged symmetrically with respect to a vertical line passing through a center of the opening space.
6. An assembly apparatus comprising:
a gripping mechanism; and
a drive unit that moves the gripping mechanism in a vertical direction, and in a longitudinal direction and a lateral direction orthogonal to the vertical direction,
wherein
the gripping mechanism includes:
a pair of inclined surfaces that are arranged facing each other, and are inclined in opposite directions with respect to a vertical direction, and approach each other on a lower side;
rolling elements, each of which is arranged in a horizontal direction and is rollable on the respective inclined surfaces in an obliquely upward and downward direction;
a horizontal support part that is bridged over an end part of a shaft of each of the rolling elements and supports the end part of the shaft of each of the rolling elements so as to be movable in the horizontal direction; and
a vertical support part that supports the horizontal support part to be movable in the vertical direction,
wherein
an opening space is formed between lower ends of the inclined surfaces, the opening space having a horizontal width smaller than a horizontal width of the respective rolling elements arranged in the horizontal direction and
wherein
the vertical support part includes vertical slits provided above the opening space in the vertical support part, and
the horizontal support part includes a plurality of hooked convex parts and a non-hooked convex part, the hooked convex parts and the non-hooked part being inserted into the respective vertical slits.