Patent ID: 6612589
Filing Date: 2003-09-02
Classification: B23B,B25J,Y10S,Y10T

Abstract:
A holding device comprising:a support frame; first and second pairs of holding fixtures mounted on the support frame; a holding fixture pulley attached to one holding fixture of said first pair of holding fixtures and to one holding fixtures of said second pair of holding fixtures; at least one frame pulley attached to the support frame; a drive rope bridging the holding fixture pulley and the frame pulley and having one end pulled in one direction and an opposite other end fixed to the support frame; a drive source for pulling the drive rope such that when the drive rope is pulled by the drive source, said first and second pair of holding fixtures are linked to move symmetrically with respect to each other in a direction for holding an article, said first pair of holding fixtures move independently of said second pair of holding fixtures, and each said first and second pair of holding fixtures are movable toward and away from each other on one of a straight line and on two parallel straight lines on a plane of the support frame; wherein the first and second pairs of holding fixtures have contact parts that contact the article when the article is being held, and at least one of the contact parts is disposed so as to be rotatable about an axis parallel to a line normal to the plane of the support frame to maintain a rolling contact with the article when holding the article; and a braking device for enabling at least one of a constraint of rotation and an adjustment of rotation resistance of said at least one of the contact parts after gripping of the article.