| 摘要 |
PROBLEM TO BE SOLVED: To provide a grasping device capable of grasping an object having an arc- shaped or polygonal grasping surface while preventing fall of it for preventing it from being broken. SOLUTION: On an arm installation part 22 of a main body part 20, a first base part arm 31 and a second base part arm 32 are installed to be oscillated by an arm actuation mechanism 80. First grasping arms 35 with first grasping parts 40 are each installed on the first base part arm 31 and the second base part arm 32, second grasping arms 36 with second grasping parts 41 are each installed on the first grasping arm 35 to freely oscillate, and third grasping arms 38 with third grasping parts 42 are each installed on the second grasping arm 36 to be capable of oscillation. First energization mechanisms 43 are each installed along the second grasping arm 36 and arm installation part 22 for oscillation energization in a grasping direction for holding, and second energization means 44 are each installed along the first grasping arms 35 and third grasping arms 38 for oscillation energization in the grasping direction for holding. By grasping action, therefore, the third grasping parts 42 and the second grasping parts 41 get in contact with a grasping surface in order, and then the first grasping parts 40 get in contact, so an object can be grasped as if it is held in both arms, thereby it can be grasped while fall is prevented to prevent it from being broken. |
