Patent ID: 8998561
Filing Date: 2015-04-07
Classification: B25J,H01L,Y10S

Abstract:
1. A gripping device that grips a rim of a workpiece by opening and closing gripping plates, the device comprising: a gripping unit including: a hoisting and lowering unit configured to hoist and lower the gripping unit, the moving direction of the hoisting and lowering unit being perpendicular to the moving direction of the first gripping plate and the second gripping plate; and a motion control unit configured to control open/close operations by the gripping unit and hoisting and lowering operations by the hoisting and lowering unit, the motion control unit having one or more cams, and the motion control unit mechanically controlling first first hoisting and lowering operations, second the open/close operations, and third second hoisting and lowering operations that perform hoisting and lowering in directions being same as directions in the first hoisting and lowering operations, wherein each of the one or more cams includes a cam hole engaging with a cam follower provided on the hoisting and lowering unit, and the cam hole includes a first slope unit, a horizontal unit provided in contact with the first slope unit, and a second slope unit provided in contact with the horizontal unit.