JP2019107739A - Electric gripper device - Google Patents

Abstract

To provide an electric gripper device capable of simply gripping a gripping object in a proper state.SOLUTION: An electric gripper device 1 includes: a pair of gripping members 10 extending to face each other in an extending direction; a pair of movers 20 which is connected to a base section 14 on an opposite side of tip portions of the pair of gripping members 10, and a driving section 30 capable of driving the pair of movers 20 in a driving direction to be a direction for opening/closing the pair of gripping members 10. The driving section 30 is capable of driving the pair of gripping members 10 to be opened/closed in the driving direction so that a gripping object 40 gripped by the pair of gripping members 10 directs in a vertical direction.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an electric gripper device.

  2. Description of the Related Art Conventionally, various electric gripper devices have been used which perform operations such as gripping and attaching a work (holding object) such as a mechanical part or an electronic part to a desired position. In a conventional electric gripper device, for example, in a state in which holding objects of the same shape such as bolts are randomly stored in a stocker, a predetermined holding object is gripped and taken out from the stocker, and then the gripping object is held An operation such as attaching an object to a desired position is performed (see, for example, Patent Document 1).

JP, 2011-183537, A

  In the electric gripper device, in order to perform an operation such as mounting at a desired position, it is necessary to grip the object to be grasped in the correct posture. However, in the conventional electric gripper device, after grasping the object to be grasped in the stocker, it is checked whether or not the object to be grasped is in the correct posture, and operations that pass the inspection are attached to a desired position On the other hand, in the case where the inspection failed, the object to be grasped was temporarily placed on the temporary holder, and the object was again grasped from the temporary holder under the condition not affected by the other object to be held. For this reason, it took a lot of effort to hold the object to be held in the correct posture. As described above, for the conventional electric gripper device, a structure capable of easily gripping the object to be grasped in the correct posture has been required.

  The present invention has been made in view of the above-described problems, and an object thereof is to provide an electric gripper device capable of easily gripping a gripping target in a correct posture.

  In order to achieve the above object, the electric gripper device according to the present invention comprises a pair of gripping members extending opposite to each other in the extending direction, and a pair connected to a base opposite to the tip portion of the pair of gripping members. And a drive unit capable of driving the pair of movers in a drive direction which is a direction to open and close the pair of grip members, the drive unit being a grip target gripped by the pair of grip members It is characterized in that the pair of gripping members can be opened and closed in the driving direction so that the object is directed in the vertical direction.

  In the electric gripper device according to the present invention, a pair of gripping members extending opposite to each other in the extending direction, a pair of moving elements connected to a base opposite to the tip end portions of the pair of gripping members, And a drive unit capable of driving the pair of movers in a drive direction which is a direction for opening and closing the pair of gripping members, wherein the driving unit has a driving distance in the driving direction between tip portions of the pair of gripping members The pair of gripping members can be opened and closed in the driving direction such that the range is smaller than the diameter of the shaft portion of the gripping object gripped by the pair of gripping members.

  In the electric gripper device according to one aspect of the present invention, the pair of gripping members are a pair of symmetrical in the driving direction extending in the vertical direction which is recessed outward from the opposing surface which is a surface facing each other. The pair of grooves is adapted to support the object to be held at at least two support points.

  In the electric gripper device according to one aspect of the present invention, the pair of groove portions are connected to each other at bottom portions of the pair of groove portions and each have a tip side slope and a base side slope extending in the driving direction.

  In the electric gripper device according to one aspect of the present invention, the tip side slope and the base side slope are flat.

  In the electric gripper device according to one aspect of the present invention, the tip side slope and the base side slope are curved.

  In the electric gripper device according to one aspect of the present invention, the tip side slope and the base side slope have the same size.

  In the electric gripper device according to one aspect of the present invention, the tip side slope is larger than the base side slope.

  In the electric gripper device according to one aspect of the present invention, at least one gripping member of the pair of gripping members has a vibrator for applying vibration to the one gripping member, and the vibrator is configured to drive the driving member. When the unit drives the pair of gripping members in the drive direction to close, the one gripping member is vibrated such that the gripping object is directed in the vertical direction.

  In the electric gripper device according to one aspect of the present invention, the object to be grasped has a cylindrical shape, and the depths of the pair of groove portions are respectively smaller than the radius of the object to be grasped. The lengths are each greater than the diameter of the gripping object.

  In the electric gripper device according to one aspect of the present invention, the object to be grasped is a screw having a cylindrical shaft and a head formed at one end of the shaft, and the driving unit is the pair The pair of gripping members can be opened and closed in the driving direction such that the driving distance between the pair of grooves of the gripping members in the driving direction is in a range smaller than the diameter of the head of the gripping object It has become.

  According to the electric gripper device according to the present invention, the object to be grasped can be grasped easily in the correct posture.

It is a perspective view which shows roughly the external appearance composition of the electric gripper device concerning an embodiment of the invention. FIG. 1 is a top view schematically showing an appearance configuration of an electric gripper device according to an embodiment of the present invention. It is a perspective view showing roughly alignment operation of an electric gripper device concerning an embodiment of the invention. It is an AA sectional view of Drawing 3 showing roughly the state where a pair of grasping members of an electric gripper device concerning an embodiment of the invention opened at the time of aligning operation. It is an AA sectional view of Drawing 3 showing roughly the state where a pair of grasping members of an electric gripper device concerning an embodiment of the invention closed at the time of aligning operation. It is a side view showing roughly the state where a pair of grasping members of an electric gripper device concerning an embodiment of the invention opened at the time of aligning operation. It is a bottom view showing roughly the state where a pair of grasping members of an electric gripper device concerning an embodiment of the invention closed at the time of alignment operation. It is a top view which shows roughly the structure of a pair of holding members in the modification of the electric gripper apparatus which concerns on embodiment of this invention. It is a top view which shows roughly the structure of a pair of holding members in the modification of the electric gripper apparatus which concerns on embodiment of this invention. It is a top view which shows roughly the structure of a pair of holding members in the modification of the electric gripper apparatus which concerns on embodiment of this invention. It is a top view which shows roughly the structure of a pair of holding members in the modification of the electric gripper apparatus which concerns on embodiment of this invention. It is a bottom view showing roughly the composition of a pair of grasping members in the modification of the electric gripper device concerning an embodiment of the invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a perspective view schematically showing an appearance configuration of an electric gripper device 1 according to an embodiment of the present invention, and FIG. 2 is a top view schematically showing an appearance configuration of the electric gripper device 1. As shown in FIGS. 1 and 2, the electric gripper device 1 according to the embodiment of the present invention has a pair of gripping members 10 extending opposite to each other in the extending direction and a side opposite to the tip portions of the pair of gripping members 10 And a drive unit 30 capable of driving the pair of movers 20 in a drive direction which is a direction for opening and closing the pair of holding members 10, the drive unit 30 comprising: The pair of gripping members 10 can be opened and closed in the driving direction so that the gripping target 40 gripped by the gripping members 10 of the present invention faces the vertical direction. Further, the electric gripper device 1 includes a pair of gripping members 10 extending opposite to each other in the extending direction, a pair of moving elements 20 connected to the base 14 on the opposite side to the tip portions of the pair of gripping members 10, The drive unit 30 is capable of driving the pair of movers 20 in the drive direction, which is the direction in which the holding member 10 is opened and closed. The pair of gripping members 10 can be opened and closed in the driving direction such that the range is smaller than the diameter R1 of the shaft portion 41 of the gripping object 40 gripped by the pair of gripping members 10. Hereinafter, the configuration of the electric gripper device 1 will be specifically described.

  In the electric gripper device 1, the drive unit 30 has, for example, a case 31 having a rectangular parallelepiped shape or a substantially rectangular parallelepiped shape, and is formed of metal or the like. An electric motor (not shown) as a drive source is accommodated in the case 31. For example, a stepping motor or the like is used as the electric motor. A drive hole 32 is formed in an opposing surface 31 a that is a surface facing the pair of movers 20 in the extending direction which is a direction in which a pair of gripping portions 13 of the pair of gripping members 10 described later extend. The pair of connecting portions 33 extend outward from the drive hole 32 via a mechanical component (not shown) such as a cam connected to the output shaft of the electric motor, and the pair of moving members 20 It is attached. The driving unit 30 is configured to move the pair of connecting portions 33 relative to each other in the driving direction, which is the direction in which the pair of gripping members 10 are opened and closed.

  The pair of movers 20 is, for example, formed in a rectangular plate shape or a substantially rectangular plate shape, and is formed of metal or the like. A screw hole (not shown) engageable with a male screw 15 described later is formed at the same or substantially the same position in the driving direction on the opposing surface 20a which is a surface opposed to the pair of gripping members 10 in the extending direction. ing. The pair of movers 20 move relative to the pair of connecting portions 33 in the direction in which they move close to each other and in the direction away from each other in the drive direction.

  The pair of gripping members 10 have, for example, a pair of bases 14 in the form of a rectangular plate or a substantially rectangular plate. The pair of base portions 14 has the same size or substantially the same size as the pair of movers 20. A pair of base portions 14 are respectively provided at the same or substantially the same positions in the driving direction corresponding to the screw holes (not shown) of the pair of movers 20 on the outer side surface 14 a which is the outer surface of the pair of base portions 14. The screw hole 16 which penetrated is formed. The pair of base portions 14 is fixed to the pair of movers 20 by screwing male screws 15 into screw holes 16 and screw holes (not shown) of the pair of movers 20. Further, on the outer side surface 14 a of the pair of base portions 14, a pair of holding portions 13 extending in the direction extending from the center or substantially center of the outer side surface 14 a is provided upright. The pair of grips 13 and the pair of bases 14 are each integrally formed, for example, and made of metal or the like.

  The pair of gripping portions 13 extend in the vertical direction recessed outward from the opposing surface 13a, which is a surface facing each other, toward the outside in the driving direction, and when the pair of gripping portions 13 are viewed from the top, A pair of symmetrical grooves 17 are provided so that the pair of grooves 17 support the object to be grasped 40 by at least two support points. More specifically, the pair of grips 13 is formed in an elongated square pole rod shape or a substantially square pole rod shape extending along the extension direction. The opposing surface 13a which is a mutually opposing surface of a pair of holding parts 13 is a surface which followed the opposing surface 14b which is a mutually opposed surface of a pair of base parts 14 without a level difference. The pair of grips 13 have a tapered shape whose outer shape gradually decreases toward the tip end portion.

  The pair of grooves 17 of the pair of grips 13 have a tip side slope 17b and a base side slope 17c which are connected to each other in the bottom 17a and extend in the driving direction. Further, the tip side slope 17b and the base side slope 17c are curved. The grip target object 40 is, for example, a male screw. As shown in FIG. 4 to be described later, for example, the grip target object 40 is formed in a cylindrical or substantially cylindrical shape having a diameter R1, and a shaft portion 41 formed with a screw groove on the outer periphery thereof and a shaft portion 41 And a head 42 having a large diameter R2. The radius of curvature of the pair of grooves 17 is larger than the radius of curvature of the shaft 41 of the object to be grasped 40, and the pair of grooves 17 is the tip side slope 17b of the object to be gripped 40 and the base side It is supported by the curved surface of the slope 17c. The driving distance in the driving direction between the pair of grooves 17 is in a range smaller than the diameter R2 of the head portion 42 of the grasped object 40 at the time of the aligning operation described later. The tip end portions of the pair of gripping portions 13 are formed so as to protrude inward in the driving direction with respect to the facing surface 13a. The distance between the tip end portions L1 of the pair of gripping portions 13 is smaller than the distance L2 between the facing surfaces 13a of the pair of gripping portions 13. The driving distance in the driving direction of the tip end portion L1 of the pair of gripping portions 13 is in a range smaller than the diameter R1 of the shaft portion 41 of the gripping object 40 at the time of alignment operation described later.

  Subsequently, the operation of the electric gripper device 1 having the above-described configuration will be described. First, in the state where the gripping target object 40 having the same shape is randomly stored in the stocker, for example, the electric gripper device 1 is in the vicinity of the predetermined gripping target object 40 in order to grip the predetermined gripping target object 40 Go to Subsequently, the electric gripper device 1 drives the drive unit 30 to drive the pair of gripping members 10 outward in the driving direction. Subsequently, the electric gripper device 1 is moved such that the shaft portion 41 of the predetermined gripping object 40 is positioned between the pair of gripping portions 13 of the pair of gripping members 10. Subsequently, the electric gripper device 1 drives the drive unit 30 to drive the pair of gripping members 10 in the drive direction inward to grip the shaft portion 41 of the predetermined gripping object 40 and thereby the predetermined gripping object from the stocker Take 40 out. Subsequently, the electric gripper device 1 is moved, for example, to the mounting position of the predetermined gripping object 40, and the predetermined gripping object 40 is attached to the mounting position. During this time, the electric gripper device 1 performs an aligning operation described later.

  Subsequently, the alignment operation of the electric gripper device 1 having the above-described configuration will be described. FIG. 3 is a perspective view schematically showing the aligning operation of the electric gripper device 1 according to the embodiment of the present invention. 4 is a cross-sectional view taken along the line A-A of FIG. 3 schematically showing a state in which the pair of gripping members 10 of the electric gripper device 1 is opened at the time of aligning operation. It is an AA sectional view of Drawing 3 showing roughly the state where grasping member 10 closed at the time of alignment operation. FIG. 6 is a side view schematically showing a state in which the pair of gripping members 10 of the electric gripper device 1 is opened at the time of alignment operation. FIG. 7 is a diagram showing the pair of gripping members 10 of the electric gripper device 1 aligned. It is a bottom view which shows roughly the closed state at the time of operation | movement. As described above, in the electric gripper device 1, the drive unit 30 performs opening and closing drive in the drive direction so that the gripping target 40 gripped by the pair of gripping members 10 faces the vertical direction. More specifically, as shown in FIGS. 3 to 7, the drive unit 30 performs, for example, an aligning operation at the time of movement to a desired attachment position, and the pair of gripping members 10 in the driving direction outside and inside The vibration (a plurality of times of driving) is performed, and the pair of gripping portions 13 are moved relative to each other a plurality of times (opening and closing driving) in a direction approaching each other and a direction separating each other in the driving direction. As a result, the drive unit 30 can direct the grasped object 40 in the vertical direction, and can move the grasped object 40 to a predetermined position in the pair of grasping units 13.

  At this time, as shown in FIGS. 4 and 5, the driving unit 30 drives in the driving direction between the pair of groove portions 17 of the pair of gripping members 10 when the pair of gripping members 10 of the electric gripper device 1 performs alignment operation. The pair of gripping members 10 are driven to open and close in the driving direction such that the distance is in a range smaller than the diameter R2 of the head portion 42 of the gripping target 40. More specifically, as shown in FIG. 4, the driving unit 30 drives between the pair of groove portions 17 of the pair of holding members 10 even when the pair of holding portions 13 are open in the centering operation. The pair of grips 13 are opened and closed in the drive direction such that the distance is smaller than the diameter R2 of the head 42 of the grip target 40. Further, as shown in FIGS. 6 and 7, when the pair of gripping members 10 of the electric gripper device 1 performs the centering operation, the driving distance of the driving portion L1 between the tip portions of the pair of gripping portions 13 is L1. The pair of gripping members 10 are opened and closed in the driving direction so as to be in a range smaller than the diameter R1 of the shaft portion 41 of the gripping object 40. More specifically, as shown in FIG. 6, even if the pair of grips 13 is in the open state during the centering operation, the drive unit 30 drives the distance L1 between the tip portions of the pair of grips 13 as shown in FIG. Opens and closes the pair of grips 13 in the drive direction such that the diameter of the grips 40 becomes smaller than the diameter R1 of the shaft 41 of the grip object 40.

  As described above, in the electric gripper device 1 according to the embodiment of the present invention, the drive unit 30 drives the pair of gripping members 10 such that the gripping object 40 gripped by the pair of gripping members 10 is directed in the vertical direction. Drive open and close in the direction. For this reason, as shown in FIG. 3, even if the gripping object 40 is not gripped by the pair of gripping members 10 in the correct posture, the gripping object 40 is temporarily placed on the temporary holding table as in the prior art. It is not necessary to reposition and re-hold from the temporary holding table again under the condition of no influence of the other object to be held 40, just by performing the aligning operation and opening and closing the pair of holding members 10 in the driving direction. While being able to turn the holding subject 40 in the vertical direction, the holding subject 40 can be moved to a desired position in the pair of holding parts 13.

  Further, in the electric gripper device 1, the pair of groove portions 17 are connected to each other at the bottom portion 17a and have a tip side slope 17b and a base side slope 17c extending in the driving direction. The tip side slope 17b and the base side slope 17c Is curved. Therefore, the pair of groove portions 17 supports the shaft portion 41 of the grasped object 40 by the curved surfaces of the tip side slope 17b and the base side slope 17c in the centering operation, whereby the grasped object 40 is aligned in the centering operation. While being able to position to a predetermined position in a pair of grasping parts 13, grasping object 40 can be held still more stably in a pair of grasping parts 13.

  Further, in the electric gripper device 1, when the pair of gripping members 10 performs the centering operation, the driving distance in the driving direction between the pair of groove portions 17 of the pair of gripping members 10 is calculated from the diameter R2 of the head 42 of the gripping object 40 The pair of grips 13 are opened and closed in the drive direction so as to be in a small range. Therefore, during the aligning operation, the object to be grasped 40 can be moved in the vertical direction to move the object to be grasped 40 in the vertical direction to the desired position in the pair of grasping portions 13 At the time of operation, the head portion 42 of the object 40 to be grasped can be brought into contact with the pair of grasping portions 13 to effectively prevent the object 40 to fall downward.

  Further, in the electric gripper device 1, when the pair of gripping members 10 of the electric gripper device 1 performs the centering operation, the driving distance in the driving direction of the tip portion L1 of the pair of gripping portions 13 is the shaft portion 41 of the gripping object 40 The pair of gripping portions 13 are driven to open and close in the drive direction so as to be in a range smaller than the diameter R1 of Therefore, during the aligning operation, the object to be grasped 40 can be moved in the vertical direction to move the object to be grasped 40 vertically to be moved to a predetermined position in the pair of grasping portions 13 At the time of operation, the shaft portion 41 of the object to be grasped 40 can be brought into contact with the end portions of the pair of grasping portions 13 to effectively prevent the object to be grasped 40 from falling outward on the end side.

  As described above, according to the electric gripper device 1 according to the embodiment of the present invention, the object to be grasped 40 can be easily grasped in the correct posture.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, It includes all the aspects contained in the concept of this invention, and a claim. In addition, the respective configurations may be selectively combined as appropriate so as to achieve at least a part of the problems and the effects described above. For example, the shape, material, arrangement, size, and the like of each component in the above embodiment can be appropriately changed according to the specific use mode of the present invention.

  For example, in the electric gripper device 1, the embodiment of the present invention has been described by way of example in which the tip side slope 17 b and the base side slope 17 c of the pair of groove portions 17 are curved, but the present invention is not limited thereto. As shown to FIGS. 8-11, the front end side slope 17b and the base side slope 17c of a pair of groove part 17 may be a plane. More specifically, as shown in FIG. 8, the pair of grooves 50 has a tip side slope 50 b and a base side slope 50 c respectively connected to each other at the bottom 50 a of the pair of grooves 50. The 50b and the base side slope 50c have the same or substantially the same size, and may support the object to be grasped 40 on the tip side slope 50b and the base side slope 50c. More specifically, the pair of groove portions 50 is configured to support the gripping object 40 at at least two support points on the distal end side slope 50b and the base side slope 50c. Thus, in the electric gripper device 1, the object to be grasped 40 can be positioned at a predetermined position in the pair of grasping portions 13 at the time of the aligning operation.

  At this time, as shown in FIG. 9, the depths h of the pair of groove portions 50 are respectively smaller than the radius R1 / 2 of the shaft portion 41 of the grasped object 40, and the length L of the pair of groove portions 50 is It is desirable that the diameter R1 of the shaft portion 41 of the object 40 to be gripped be larger than the diameter R1. As a result, in the electric gripper device 1, the gripping object 40 can be gripped in a more stable state in the pair of gripping portions 13.

  Further, as shown in FIG. 10, the pair of grooves 51 has a tip side slope 51b and a base side slope 51c respectively connected to each other at the bottom 51a of the pair of grooves 51, and the tip side slope 51b is a base It is larger than the side slope 51c, and the object to be grasped 40 may be supported on the tip side slope 51b and the base side slope 51c. Further, as shown in FIG. 11, the pair of grooves 52 has a tip side slope 52 b and a base side slope 52 c respectively connected to each other at the bottom 52 a of the pair of grooves 52, and the base side slope 52 c is a tip It is larger than the side slope 52b, and the object to be grasped 40 may be supported by the tip side slope 52b and the base side slope 52c. More specifically, the pair of grooves 51 and 52 support the object to be grasped 40 at at least two support points on the tip side slopes 51b and 52b and the base side slopes 51c and 52c, respectively. Even in such a case, in the electric gripper device 1, the object to be grasped 40 can be positioned at a predetermined position in the pair of grasping portions 13 at the time of alignment operation.

  Further, in the electric gripper device 1, the case where the drive unit 30 drives the pair of gripping members 10 in the drive direction to open and close so that the gripping object 40 gripped by the pair of gripping members 10 is directed in the vertical direction is an example. Although the embodiment of the present invention has been described, the present invention is not limited thereto. As shown in FIG. 12, at least one of the pair of gripping members 10 imparts vibration to one of the gripping members 10. It may have a vibrator 18. In this case, when the drive unit 30 drives the pair of gripping members 10 in the drive direction to close, the vibrator 18 applies vibration to one of the gripping members 10 so that the gripping target 40 faces in the vertical direction. ing. More specifically, the vibrators 18 are respectively provided in the pair of grips 13 or in the vicinity thereof. While operating the vibrator 18 (while giving vibration to the pair of grips 13), the drive unit 30 gradually drives the pair of grips 13 in the direction to close the grips 13 as a target grip force. The object 40 can be positioned at a predetermined position in the pair of grips 13. As the vibrator 18, for example, a vibration motor or the like is used.

  In the electric gripper device 1, the embodiment of the present invention has been described by way of example in which the drive unit 30 executes the aligning operation at the time of movement to a desired mounting position, for example. The alignment operation may be performed at the same time as the pair of grips 13 grips the grip object 40, and the alignment operation is performed before moving to a predetermined attachment position of the grip object 40. You just have to run it.

  In the electric gripper device 1, the embodiment of the present invention has been described by way of example in which the gripping target object 40 is supported by the pair of groove portions 17. However, the present invention is not limited to this. A shock absorbing material such as silicon may be provided on the surface of the groove portion 17. As a result, in the electric gripper device 1, the gripping object 40 can be gripped in a more stable state in the pair of gripping portions 13.

  Further, in the electric gripper device 1, the grip target object 40 is formed in, for example, a cylindrical or substantially cylindrical shape having a diameter R1, and the shaft portion 41 formed with a screw groove on the outer periphery thereof and the shaft portion 41 Although the embodiment of the present invention has been described by way of example in the case of having the head 42 having the large diameter R2, the present invention is not limited thereto, and the head 42 may not be provided. The aligning operation can be applied to various gripping objects other than the above.

  Further, in the electric gripper device 1, the pair of gripping portions 13 is set such that the driving distance in the driving direction of the tip portion L1 of the pair of gripping portions 13 is smaller than the diameter R1 of the shaft portion 41 of the gripping object 40. The embodiment of the present invention has been described by taking the case of opening / closing drive in the drive direction as an example, but the present invention is not limited to this, and when the diameter of the shaft 41 is different depending on the position, the minimum diameter of the shaft 41 The pair of grips 13 may be driven to open and close in the driving direction so as to be in a range smaller than (minimum outer diameter dimension).

  DESCRIPTION OF SYMBOLS 1 ... Electric gripper apparatus, 10 ... Gripping member, 13 ... Gripping part, 13a ... Opposite surface, 14 ... Base part, 14a ... Outer surface, 14b ... Opposite surface, 15 ... Male screw, 16 ... Screw hole, 17, 50, 51, 52 groove portion 17a 50a 51a 52a bottom portion 17b 50b 51b 52b tip end side slope 17c 50c 51c 52c base side slope 18 vibrator 20 mover 20a Opposite surface, 30: drive portion, 31: case, 31a: opposite surface, 32: drive hole, 33: connection portion, 40: gripping object, 41: shaft portion, 42: head

Claims (12)

A pair of gripping members extending opposite each other in the extending direction;
A pair of movers connected to a base opposite to the tip end portions of the pair of gripping members;
And a drive unit capable of driving the pair of movers in a drive direction which is a direction in which the pair of gripping members are opened and closed.
The electric gripper device is characterized in that the drive unit is capable of opening and closing the pair of gripping members in the driving direction such that the gripping object gripped by the pair of gripping members is directed in the vertical direction. A pair of gripping members extending opposite each other in the extending direction;
A pair of movers connected to a base opposite to the tip end portions of the pair of gripping members;
And a drive unit capable of driving the pair of movers in a drive direction which is a direction in which the pair of gripping members are opened and closed.
The driving unit is configured such that the driving distance in the driving direction between the tip portions of the pair of gripping members is in a range smaller than the diameter of the shaft portion of the gripping target gripped by the pair of gripping members. An electric gripper device capable of opening and closing driving the gripping member in the driving direction.   The pair of gripping members have a pair of grooves in the driving direction extending in the vertical direction which are recessed toward the outside in the driving direction from the opposing surfaces which are surfaces facing each other, and the pair of grooves The electric gripper device according to claim 1 or 2, wherein each of the plurality of support points supports the object to be held at at least two support points.   4. The electric gripper apparatus according to claim 3, wherein the pair of grooves have a tip side slope and a base side slope which are connected to each other at the bottom of the pair of grooves and extend in the driving direction.   The electric gripper device according to claim 4, wherein the tip side slope and the base side slope are flat.   The electric gripper device according to claim 4, wherein the tip side slope and the base side slope are curved.   The electric gripper device according to any one of claims 4 to 6, wherein the tip side slope and the base side slope have the same size.   The electric gripper device according to any one of claims 4 to 6, wherein the tip side slope is larger than the base side slope.   The electric gripper device according to any one of claims 4 to 6, wherein the base side slope is larger than the tip side slope. At least one of the pair of gripping members has a vibrator that vibrates the one gripping member,
The vibrator is configured to apply vibration to the one holding member such that the object to be held is oriented in the vertical direction when the drive unit closes and drives the pair of holding members in the driving direction. The electric gripper device according to any one of claims 1 to 9, characterized in that: The object to be grasped is cylindrical,
The depths of the pair of grooves are respectively smaller than the radius of the object to be held, and the lengths of the grooves are respectively larger than the diameter of the object to be held. The electric gripper device according to any one of claims 1 to 10. The object to be grasped is a screw having a cylindrical shaft and a head formed at one end of the shaft,
The driving unit is configured to set the pair of gripping members such that a driving distance in the driving direction between the pair of grooves of the pair of gripping members is smaller than a diameter of the head of the gripping target. The electric gripper device according to any one of claims 1 to 11, which can be driven to open and close in a driving direction.

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