JP2014050928A - Floating mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a floating mechanism that enables positioning in at least two directions of a floating body without use of an actuator.SOLUTION: A floating mechanism 110 comprises: a floating body 20 for absorbing displacement between a holding device 100 and a workpiece 70; a body 10 for floatably holding the floating body 20; a rod-like object 30; and a recess 21. The rod-like object 30 is projected toward an X-axis direction from either of the body 10 and the floating body 20. The recess 21 is provided at the other part of the body 10 and the floating body 20, and has an internal side surface 24 extending along the X-axis direction. The rod-like object 30 is inserted therein. Further, the internal side surface 24 has an inside measurement floatable to the rod-like object 30 in a YZ surface perpendicular to the X-axis direction, and also has a shape for positioning the floating body 30 in the YZ surface by bringing the internal side surface 24 into abutment with the side surface of the rod-like object 30.

Description

  The present invention relates to an idle mechanism used in a gripping device that grips a workpiece.

  A floating mechanism to absorb various work errors such as installation error, positioning error, and workpiece gripping error based on workpiece dimensional error, and to perform correct workpiece positioning work, predetermined installation work, correct work gripping, etc. (Floating mechanism) is used. The idle mechanism is provided at the tip of the robot hand, for example. Such a floating mechanism needs to be able to move the floating body in a three-dimensional direction and to be able to position the floating body (adjustable so that it cannot move) as necessary.

  The idle mechanism disclosed in Patent Document 1 is configured such that a disc-like idler (an idle disk) is sandwiched between rolling elements from the thickness direction and pulled by an elastic body from the circumferential direction. Then, the lock rod is moved by an actuator such as a hydraulic cylinder or a motor, and the floating body is pressed by the lock rod from the thickness direction of the floating body, thereby positioning the floating body.

JP 09-85668 A

  In the floating body disclosed in Patent Literature 1, since the floating direction in the thickness direction of the floating body and the pressing direction by the lock rod are the same direction, the loose movement in the thickness direction of the floating body is easily positioned by the lock rod. be able to. However, since the direction orthogonal to the thickness direction of the floating body is orthogonal to the pressing direction of the lock rod, a large force is required for positioning with the lock rod. Therefore, in order to position the floating body with the lock rod, an actuator having a large force is required, and the floating mechanism is increased in size and weight.

  The present invention has been made to solve such a problem, and provides a floating mechanism capable of positioning on a surface perpendicular to the thickness direction of at least a derivative of a floating body without using an actuator having a large force. The purpose is to do.

  In the first aspect, an idler mechanism used by being attached to a gripping device that grips a workpiece from a horizontal direction is a floating body for absorbing a positional deviation between the gripping device and the workpiece, and loosely moves the floating body. It has a main body, a rod-shaped body, and a recess that can be held. The rod-shaped body protrudes from one of the main body and the floating body in the first direction. The recess is provided on the other side of the main body and the floating body, has an inner surface extending along the rod-like body, and the rod-like body is inserted therein. Furthermore, the inner side surface has an inner method that can move freely with respect to the rod-like body in a plane orthogonal to the first direction, and the inner side surface abuts against the side surface of the rod-like body, thereby the floating body. Is positioned in the plane. As a result, according to this aspect, the floating body can be moved freely, and the floating body can be positioned in the plane by contacting the side surface of the rod-shaped body with the groove of the recess. Therefore, it is possible to position the floating body at least on a plane orthogonal to the first direction without using an actuator having a large force.

  Here, the first direction is a direction from the main body to the work or a direction from the work to the main body when the work is gripped by the gripping device, and the positioning shape is the gripping It is preferable that the rod-shaped body is in contact with the side surface of the rod-shaped body in accordance with the displacement of the rod-shaped body in the concave portion as the workpiece is gripped by the apparatus. Thereby, this aspect can position a floating body in a plane with a holding | grip operation | movement.

  Further, it is desirable that the positioning shape is to position the floating body in the plane by contacting the side surface of the rod-shaped body. As a result, in this aspect, the floating body is positioned in a plane by the contact of the side surface of the rod-shaped body with the groove of the recess. Therefore, the floating body can be positioned in at least two directions without using an actuator having a large force.

  Furthermore, the first groove is positioned vertically above the rod-shaped body when the work is gripped and lifted by the gripping device, and positions the floating body in the plane including the vertical direction. It is desirable to be. Thereby, this aspect can perform positioning of the floating body in at least two directions without using an actuator.

  Furthermore, the inner side surface is disposed at a position facing the first groove, and is capable of abutting at least two positions on the side surface of the rod-shaped body when the rod-shaped body is displaced in the plane. It is desirable to further include a groove. Thereby, this aspect can cancel the positioning of the floating body once positioned, and can perform positioning again in a different position.

  Furthermore, the cross-sectional shape of the rod-shaped body in the plane is any one of a circle, an oval, a polygon, or a rounded polygon, and the cross-sectional shape of the recess in the plane is an ellipse, an oval, a polygon, or It is preferably one of rounded polygons. Thereby, this aspect can position a floating body more reliably.

  Furthermore, the rod-shaped body is configured to exert an elastic force along the longitudinal direction of the rod-shaped body and bias the floating body toward the workpiece, and when the workpiece is gripped by the gripping device, It is desirable that the floating body is positioned in the first direction by pressing the floating body toward the rod-shaped body. Thereby, this aspect can position by absorbing the position shift of the workpiece | work along a 1st direction, and a holding | grip apparatus.

  In the second aspect, the gripping device has the idle mechanism according to the first or second aspect described above, and a robot arm to which the idle mechanism is attached. Thereby, this aspect can position the floating body in at least two directions without using an actuator having a large force.

  The above-described aspect can provide a floating mechanism that can position the floating body in at least two directions without using an actuator having a large force.

It is a schematic diagram of the whole holding | gripping apparatus which concerns on embodiment of this invention. It is sectional drawing which shows the structural example of the floating mechanism which concerns on embodiment of this invention. It is a figure for demonstrating the positioning operation | movement by the holding | grip apparatus which concerns on embodiment of this invention. It is a figure for demonstrating the inversion operation | movement by the holding | gripping apparatus which concerns on embodiment of this invention.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. In each drawing, the same or corresponding elements are denoted by the same reference numerals, and redundant description is omitted as necessary for clarification of the description.

<Embodiment of the Invention>
FIG. 1 shows an overall configuration of a gripping device 100 according to the present embodiment. The gripping device 100 includes two robot arms 40 and a floating mechanism 110 attached to the tip of each robot arm 40. The floating mechanism 110 includes a floating body 20 for absorbing a positional deviation between the gripping device 100 and the workpiece 70, and a main body 10 that holds the floating body 20 so as to be freely movable. The gripping device 100 can lift the workpiece 70 by inserting the floating body 20 into the floating body insertion hole 71 of the workpiece 70, pressing and gripping the workpiece 70 from the left and right. Further, the gripping device 100 may rotate (for example, reverse 180 degrees) the lifted work 70.

  Here, the floating mechanism 110 needs to abut the floating body 20 on the work 70 while absorbing the three-dimensional positional deviation between the gripping device 100 and the work 70 when gripping the work 70. When the workpiece 70 is gripped and lifted, the floating mechanism 110 needs to position the floating body 20 in a state in which the three-dimensional displacement between the gripping device 100 and the workpiece 70 is absorbed. Further, when the workpiece 70 is rotated, the idler mechanism 110 needs to position the idler 20 again after the workpiece 70 is rotated.

  In order to easily move the loose body 20 in accordance with the gripping operation of the work 70 and release (that is, positioning), the loose mechanism 110 according to the present embodiment is configured as described below. In the following, the first direction is the X-axis direction in FIGS. 2 to 4, the horizontal direction from the tip of the robot hand toward the workpiece is the X-axis direction, and the other horizontal direction orthogonal to the X-axis direction is the first direction. A vertical direction perpendicular to the X-axis direction and the Y-axis direction is defined as a third direction (Z-axis direction). In the following, for convenience of explanation, description will be made using the reference numerals used in FIG.

  The idler mechanism 110 has a rod-shaped body 30 and a recess 21. The rod-shaped body 30 protrudes from one of the main body 10 and the floating body 20 and extends along the X-axis direction. The recess 21 is provided on the other side of the main body 10 and the floating body 20, has an inner surface 24 extending along the X-axis direction, and the rod-shaped body 30 is inserted therein. Further, the inner side surface 24 of the recess 21 has an inner method in which the rod-shaped body 30 can move freely in the YZ plane, and the inner surface 24 abuts on the side surface 31 of the rod-shaped body 30 so that the floating body 20 is moved in the YZ plane. It has a shape to be positioned.

  In order to make the floating body 20 movable with respect to the rod-shaped body 30, the maximum inner diameter of the recess 21 may be made larger than the maximum outer diameter of the rod-shaped body 30.

  Moreover, the shape of the inner surface 24 that positions the floating body 20 in the YZ plane may be formed as follows. For example, the shape of the inner side surface 24 may include a groove that abuts on the side surface 31 of the rod-shaped body 30 in at least two places. Focusing on the cross-sectional shape of the groove in the YZ cross section, the groove can also be called a tapered shape. Moreover, the cross-sectional shape of the rod-shaped body 30 in the YZ plane may be a circle or an oval, and the cross-sectional shape of the recess 21 in the YZ plane may be any of an oval, an oval, a polygon, or a rounded polygon. .

  By configuring the inner side surface 24 of the recess 21 as described above, the floating body 20 can be easily positioned in the gripping operation of the workpiece 70 by the gripping device 100. That is, the inner surface 24 of the recess 21 abuts on the side surface 31 of the rod-shaped body 21 in accordance with the displacement of the rod-shaped body 30 in the recess 21 as the workpiece 70 is gripped by the gripping device 100. Thereby, the floating body 20 is positioned in the YZ plane.

  When the workpiece 70 is lifted by the gripping device 100, the positioning of the movable body 20 may be performed using gravity acting on the workpiece 70. That is, the inner surface 24 of the recess 21 has a first shape that positions the floating body 20 in the YZ plane including the vertical direction (Z-axis direction) when the work 70 is gripped and lifted by the gripping device 100. You may have. Specifically, the first shape may include a first groove 22 that is positioned vertically above the rod-shaped body 30 when the workpiece 70 is gripped and lifted by the gripping device 100.

  Further, when the workpiece 70 is rotated (for example, 180-degree reversing operation), the inner surface 24 of the recess 21 has a second groove to reposition the floating body 20 in the YZ plane after the workpiece 70 is rotated. 23 may be included. The second groove 23 may be arranged according to the rotation amount of the work 70. As an example, when the workpiece 70 is reversed, the second groove 23 may be disposed at a position facing the first groove 22. As a result, the second groove 23 is positioned vertically above the rod-shaped body 30 when the work 70 is gripped and lifted by the gripping device 100 and then rotated around the X-axis direction. For this reason, the second groove 23 can position the floating body 20 in the YZ plane including the vertical direction (Z-axis direction) after the work 70 is reversed.

  By the way, the floating of the floating body 20 in the X-axis direction and the release (that is, positioning) may be performed as follows. For example, the rod-shaped body 30 may be configured to exert an elastic force along the X-axis direction and bias the floating body 20 toward the workpiece 70 (the leading end side of the floating mechanism 110). For example, the rod-shaped body 30 may have a cylindrical coil spring therein. The rod-shaped body 30 may include an actuator that reciprocates the tip of the rod-shaped body 30 along the X-axis direction. When the workpiece 70 is gripped by the gripping device 100, the floating body 20 is pressed toward the rod-shaped body 30, whereby the floating body 20 is positioned in the X-axis direction.

  FIG. 2 is a cross-sectional view illustrating a configuration example of the idler mechanism 110. In the example of FIG. 2, the inner side surface 24 of the recess 21 has a first groove 22 and a second groove 23 as a shape for positioning the floating body 20 in the YZ plane. FIG. 2A is an enlarged view of the AA cross section of the floating mechanism 110 described in FIG. 1, and shows the recess 21 included in the floating body 20 and the rod-shaped body 30 included in the main body 10 of the floating mechanism 110. Is. Here, the floating body 20 has a tapered shape 25 at the tip, and the floating body insertion hole 71 of the work 70 has a tapered shape corresponding to the tapered shape 24. The rod-shaped body 30 includes a cylindrical coil spring that exhibits elastic force along the X-axis direction. Moreover, FIG.2 (b) is BB sectional drawing of Fig.2 (a). FIG. 2B shows a cross-sectional shape of the concave portion 21 and the rod-shaped body 30 on the YZ plane. As is clear from FIG. 2B, the maximum inner diameter of the recess 21 is also dependent on the maximum outer diameter of the rod-shaped body 30. Thereby, the floating body 20 can move freely in the YZ plane.

  Further, in the example of FIG. 2B, the cross-sectional shape of the inner surface 24 of the recess 21 is a rounded quadrangle formed by four grooves including the first groove 22 and the second groove 23. Moreover, the cross-sectional shape of the rod-shaped body 30 is a smooth circle. When the gripping device 100 grips and lifts the workpiece 70, the rod-shaped body 30 is displaced upward in FIG. 2B in the recess 21, and the two sides of the first groove 22 are connected to the rod-shaped body 30. Abut. Thereby, the floating body 20 is positioned in the YZ plane. Further, when the workpiece 70 is reversed thereafter, the two sides of the second groove 23 come into contact with the rod-shaped body 30. Thereby, the floating body 20 is positioned again in the YZ plane. In the example of FIG. 2, the workpiece 70 may be rotated 90 degrees. In this case, since the two sides of the other groove (different from the first and second grooves 22 and 23) of the inner surface 24 of the concave portion 21 having a rounded quadrangular shape come into contact with the rod-shaped body 30, the floating body 20 is Positioned in the YZ plane.

  FIG. 3 is a cross-sectional view similar to FIG. 2 showing the process of pressing the movable body 20 against the work 70 and lifting the work 70 placed on the work table 50. Although not shown, it is assumed that the steps illustrated in FIG. 3 are performed from both sides of the workpiece 70. Here, the work 70 is positioned on the work table 50 by inserting the work table positioning projections 51 into the positioning holes 72 provided on the lower side of the work 70. As shown in FIG. 3A, even if there is a displacement between the workpiece 70 positioned on the work table 50 and the gripping device 100, as shown in FIG. 20 absorbs misalignment in the Y-axis direction and the Z-axis direction along the shape of the floating body insertion hole 71 of the work 70. Further, as shown in FIG. 3B, the displacement in the X-axis direction between the workpiece 70 and the gripping device 100 is absorbed by the deformation of the rod-shaped body 30. As shown in FIG. 3C, the gripping device 100 presses the work 70 from both sides, so that the work 70 is gripped at the correct gripping position 100 in the X-axis direction and the floating body 20 is positioned. The Further, when the gripping position 100 lifts the workpiece 70, the workpiece 70 and the floating body 20 that presses the workpiece 70 move to the lower end in the Z-axis direction in FIG. In contact with the groove 22. Thereby, the workpiece 70 is gripped at a correct gripping position with respect to the Y-axis direction and the Z-axis direction, and the Y-axis direction and the Z-axis direction of the floating body 20 are positioned without using an actuator having a large force. Can do.

  FIG. 4 is a cross-sectional view similar to FIG. 2 showing the process of turning the work 70 upside down after assembling the work 70 in the process of FIG. When the rotation of the workpiece 70 is started, the floating body 20 is reversed with the workpiece 70 because the floating body 20 is positioned in the YZ plane in the first groove 22. Then, as the rotation amount of the work 70 increases, the rod-shaped body 30 moves away from the first groove 22. Therefore, the floating body 20 can move freely, and the positional deviation between the gripping device 100 and the work 70 after the inversion is absorbed. Thereafter, in a state in which the workpiece 70 is inverted, as shown in FIG. 4A, the second groove 23 is positioned on the upper side of the sheet of FIG. 4A, and the first groove 22 is shown in FIG. Located on the lower side of the paper. Since the work 70 and the floating body 20 are moved downward in the plane of FIG. 4A due to the gravity acting on them, the second groove 23 comes into contact with the side surface 31 of the rod-shaped body 30 and is in the YZ plane of the floating body 20. Positioning is performed. Then, as shown in FIG. 4B, when the workpiece 70 is placed on the other work table 60 after positioning the floating body 20, the positioning hole 73 provided on the lower side of the work 70 is replaced with another work table. It is placed according to the positioning protrusion 61 of 60. Thereafter, as shown in FIG. 4C, the workpiece 70 and the floating body 20 are separated to make the floating body 20 movable. Thereby, as shown in FIG. 4D, the workpiece 70 can be assembled to the other work table 60 at a correct position.

  As described above, in the present embodiment, the floating body 20 is provided in the recess 21, and the floating body 20 is positioned in the YZ plane by the inner surface 24 of the recess 21 abutting the side surface of the rod-shaped body 30. It was. Therefore, the present embodiment provides a floating mechanism 110 that can position the floating body 20 in the Y-axis direction and the Z-axis direction without using an actuator having a large force when the workpiece 70 is gripped and lifted. Can do. In the present embodiment, a plurality of shapes (for example, grooves 22 and 23) for positioning are provided on the inner surface 24 of the recess 21. For this reason, this embodiment provides a floating mechanism 110 that can stably reverse the workpiece 70 after lifting the workpiece 70 and can position the floating body 20 even after the rotation. Can do.

  Further, if the floating mechanism attached to the tip of the robot arm 40 is large, the robot arm 40 itself needs to be large to support the workpiece to be gripped and the tip to which the floating mechanism is attached, and the gripping device as a whole becomes large. End up. However, the idle mechanism 110 is small and lightweight because it does not require a large actuator. Therefore, it is sufficient that the robot arm 40 has a size necessary for gripping the workpiece 70, and a small gripping device can be provided.

<Other embodiments>
In the above-described embodiment, an example is shown in which the floating body has the concave portion 21 whose cross-sectional shape on the YZ plane is a substantially square (rounded square), but the present invention is not limited to this. That is, the cross-sectional shape of the concave portion 21 on the YZ plane may be a shape in which the Y-axis direction and the X-axis direction of the floating body 20 are positioned by contacting the rod-shaped body 30 with any of the inner side surfaces 24 of the concave portion 21. It ’s fine. For example, as the cross-sectional shape of the recess 21, there is a shape that can be brought into contact with the rod-shaped body 30 at two or more locations, such as an elliptical shape or a substantially polygonal shape (rounded polygonal shape) having an even number of corners such as a substantially hexagonal shape. Can be mentioned. Moreover, the floating mechanism main body may have the recess 21, and the floating body may have the rod-shaped body 30. As a result, the YZ axis can be positioned without using an actuator having a large force.

  Furthermore, the cross-sectional shape of the rod-shaped body 30 on the YZ plane is not limited to the cylindrical shape as described above, but the Y-axis direction and the Z-axis direction of the floating body 20 are positioned by contacting the inner surface 24 of the recess 21. Any shape can be used. For example, as the cross-sectional shape of the rod-shaped body 30, there are two places on the inner surface 24 of the recess 21 such as an oval (for example, oval, oval), an ellipse, or a substantially polygonal column such as a substantially rectangular column or a substantially hexagonal column. The shape which can be contact | abutted by the above is mentioned. Furthermore, the rod-shaped body 30 is not limited to a coil spring, and any rod-shaped body 30 may be used as long as it can absorb the displacement in the X-axis direction between the workpiece and the gripping device by pressing the floating body against the workpiece. For example, rod-shaped metals and resins can be used, and those having a mechanism for changing the force in the X-axis direction using an elastic body such as rubber, an air cylinder, a hydraulic cylinder, or the like are preferable. Thereby, the X-axis position can be reliably displaced, and the YZ-axis can be positioned without using an actuator having a large force.

  In the above-described embodiment, the example in which the workpiece 70 lifted by the gripping device 100 coupled to the floating mechanism 110 is reversed and placed on another work table is shown, but the present invention is limited to this. is not. For example, the idle mechanism 110 may be used in a gripping device that lifts the workpiece 70 and then processes the workpiece 70 in an inverted state or assembles other components. Further, the floating mechanism 110 may be used in a gripping device that lifts a workpiece and then processes the workpiece 70 in a state where the workpiece 70 is rotated 90 degrees, or is assembled to another component or another work table. Here, when the floating mechanism 110 is used in a gripping device that rotates the work 70 by 90 degrees, the cross-sectional shape of the recess 21 on the YZ plane is either a rod-like end in the Y-axis direction or both ends in the Z-axis direction. Any shape may be used as long as it is positioned in the Y-axis direction and the Z-axis direction by contacting the body. For example, the cross-sectional shape of the concave portion 21 on the YZ plane is a substantially polygonal shape having sides of multiples of four, such as a substantially rectangular shape or a substantially octagonal shape, and a substantially polygonal corner (or rounded corner) at the end in the Z-axis direction. And a cross-sectional shape having a corner. Here, the number of substantially polygonal corners may be any number as long as it is arranged at a position where the workpiece can be positioned according to the angle at which the workpiece is desired to be tilted. This is because it is possible to provide a floating mechanism that can position the workpiece at an arbitrary angle. Further, the cross-sectional shape of the recess 21 on the YZ plane has a tapered shape at the upper end in the Z-axis direction and both ends in the Y-axis direction, and the lower end in the Z-axis direction is not closed. A cross-sectional shape having a shape capable of coming into contact with the rod-shaped body 30 at two or more places on the upper end and both ends in the Y-axis direction may be employed. The rod-shaped body 30 has a shape corresponding to the recess 21 and may be any shape that can be positioned in the Y-axis direction and the Z-axis direction at the end of the recess 21.

  Furthermore, the idle mechanism 110 may be used in a gripping device that does not have a mechanism for reversing the workpiece 70. Here, when the floating mechanism 110 is used in a gripping device that does not have a mechanism for reversing the workpiece 70, the cross-sectional shape of the recess 21 on the YZ plane is that the rod-shaped body 30 abuts on the upper end in the Z-axis direction. Therefore, any shape may be used as long as the Y-axis direction and the Z-axis direction of the floating body 20 are positioned. For example, as the cross-sectional shape of the recess 21 on the YZ plane, an elliptical shape in which the Z-axis direction is the longitudinal direction of the diameter, a substantially triangular shape or a substantially square shape having a corner (or a rounded corner) at the upper end in the Z-axis direction. Examples include substantially polygonal shapes (rounded polygons) such as shapes. Further, the cross-sectional shape of the recess 21 on the YZ plane is a shape that can contact at least two locations with the rod-shaped body 30 at the upper end in the Z-axis direction of the recess, such as a recess shape in which the lower end in the Z-axis direction is not closed. A cross-sectional shape having

  In the above-described embodiment, the example of the floating mechanism 110 used in the gripping apparatus 100 that presses and grips the workpiece 70 from the left and right has been described, but the present invention is not limited to this. That is, the embodiment of the present invention includes various floating mechanisms used in a gripping device that grips the workpiece 70 from the horizontal direction. For example, in the embodiment of the present invention, a floating mechanism having a hand at the tip of the floating body 20 and a floating mechanism having an adsorbent that attracts the work to the leading end of the floating body 20, etc. A gripping device in which another gripping mechanism is interposed, and a floating mechanism used therefor. Furthermore, the embodiment of the present invention includes a gripping device that has a gripping mechanism such as a hand or an adsorbing body and grips a workpiece from only one side, and an idle mechanism used in the gripping device.

  Furthermore, in the above-described embodiment, an example in which the positioning of the floating body 20 in the YZ plane is performed only by the contact between the concave portion 21 and the rod-shaped body 30 has been described. However, the positioning of the movable body 20 in the YZ plane may be performed using an actuator as an auxiliary.

  Furthermore, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention described above.

DESCRIPTION OF SYMBOLS 10 ... Main body 20 ... Moving body 21 ... Concave 22 ... 1st groove | channel 23 ... 2nd groove | channel 24 ... Inner side surface 30 ... Rod-shaped body 100 ... Holding apparatus 110 ... idle mechanism

Claims (8)

A floating mechanism used by being attached to a gripping device for gripping a workpiece,
A floating body for absorbing a displacement between the gripping device and the workpiece;
A body for holding the floating body in a freely movable manner;
A rod-like body projecting from one of the main body and the floating body in the first direction; and an inner surface provided along the rod-like body, provided on the other side of the main body and the floating body. A recess into which the rod-like body is inserted,
The inner surface has an inner method capable of floating with respect to the rod-shaped body in a plane perpendicular to the first direction, and the inner surface is brought into contact with the side surface of the rod-shaped body to cause the floating body to move Having a shape to be positioned in a plane,
Idle mechanism. The first direction is a direction from the main body to the work when the work is gripped by the gripping device, or a direction from the work to the main body.
2. The shape according to claim 1, wherein the positioning shape is a shape that abuts against a side surface of the rod-shaped body in accordance with the displacement of the rod-shaped body in the concave portion with a gripping operation of the workpiece by the gripping device. Idle mechanism.   3. The floating mechanism according to claim 1, wherein the positioning shape includes a first groove that can abut on a side surface of the rod-shaped body at least in two places when the rod-shaped body is displaced in the recess.   The first groove is positioned vertically above or vertically below the rod-like body when the work is gripped and lifted by the gripping device, and positions the floating body in the plane including the vertical direction. The idler mechanism according to any one of claims 1 to 3.   The inner surface is disposed at a position facing the first groove, and can be brought into contact with the side surface of the rod-shaped body at least in two places when the rod-shaped body is displaced in the plane. The floating mechanism according to claim 1, further comprising: The cross-sectional shape of the rod-shaped body in the plane is either a circle, an oval, a polygon, or a rounded polygon,
The cross-sectional shape of the recess in the plane is one of an ellipse, an oval, a polygon, or a rounded polygon.
The floating mechanism according to any one of claims 1 to 5. The rod-shaped body is configured to exert an elastic force along the longitudinal direction of the rod-shaped body and bias the floating body toward the workpiece side.
When the workpiece is gripped by the gripping device, the floating body is pressed toward the rod-shaped body, whereby the floating body is positioned in the first direction.
The floating mechanism according to any one of claims 1 to 6. The floating mechanism according to any one of claims 1 to 8,
A robot arm to which the idle mechanism is attached;
A gripping device.

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