| 摘要 |
PROBLEM TO BE SOLVED: To provide a single workpiece holding device which is mounted in a robot arm, is capable of flexibly handling a variety of workpieces and of surely holding and transporting the workpiece, and is suitable for weight saving.SOLUTION: A workpiece holding device 1 includes: a support plate 2; a plurality of contact parts which are arranged in the support plate 2 and hold a workpiece W; a drive mechanism 3 which presses a drive side contact part 11 of the plurality of contact parts arranged in the support plate 2 onto the workpiece W; a free movement mechanism 5a which freely movably supports the plurality of contact parts; and a movement regulation device 71 which regulates the free movement by the free movement mechanism 5a. The drive mechanism 3 includes: a driving source 31; a main body 32 attached to the driving source 31; a shaft 33 which is moved by the driving source 31 in an axis direction; and an arm 35 which is swingably arranged around a fulcrum 34, and, when holding the workpiece W, is pressed at one end by the shaft 33 and presses, at the other end, the drive side contact part 11 toward the workpiece W. |
