JP5434770B2 - Gripping device and method - Google Patents

Description

  The present invention relates to a gripping apparatus and method for gripping a target object.

  The gripping device is, for example, an industrial robot that grips an object placed on a table or the like and transports it to another position. The gripping device has a gripping claw for gripping an object to transport the object.

  FIG. 1 is a diagram illustrating the operation of the gripping device. In this example, the object 1 has a cylindrical shape. FIG. 1 is a diagram viewed from the axial direction of the cylinder. In FIG. 1, a plurality of objects 1 arranged in a horizontal direction are stacked up and down by a plurality of levels (hereinafter referred to as stacking).

As shown in FIG. 1, in order to hold the stacked objects, it is conceivable to operate the holding claws 31a and 31b as follows.
First, as shown in FIG. 1A, a pair of gripping claws 31a and 31b are positioned above the target object 1 to be gripped.
Next, as shown in FIG. 1B, the pair of gripping claws 31 a and 31 b are lowered and inserted into the gaps on both sides of the target object 1.
Thereafter, as shown in FIG. 1C, the pair of gripping claws 31a and 31b are moved in the directions close to each other, and the target object 1 is gripped by the pair of gripping claws 31a and 31b.

  Patent Document 1 below discloses an apparatus for lifting a cylindrical target object with two gripping claws. Patent Document 2 below discloses an apparatus for lifting a cylindrical target object with a suction pad.

Japanese Patent No. 2718356 JP-A-11-139558

  However, as in the operation shown in FIG. 1, since only one object 1 is gripped and transported, the transport efficiency is not high.

  Accordingly, an object of the present invention is to enable a plurality of objects to be gripped and conveyed at a time.

In order to achieve the above object, according to the present invention, a gripping device for gripping an object,
A pair of gripping claws for gripping the object and a support moving body that movably supports the pair of gripping claws and moves in the space;
The pair of gripping claws are driven in a reciprocating direction with respect to the support moving body so as to sandwich the object in proximity to each other or release the object by being separated from each other. ,
And a holding mechanism that is positioned between the pair of gripping claws and holds an object gripped by the pair of gripping claws,
The object gripped by the pair of gripping claws is moved to the back side in the holding mechanism so as to be released from the gripping, and is held by the holding mechanism on the back side. A gripping device is provided in which the gripping claw is configured to be able to grip another object.

  According to a preferred embodiment of the present invention, the holding mechanism is configured so that the object gripped by the pair of gripping claws is pressed against another object by the movement of the support moving body so as to be released from the gripping. In this state, the pair of gripping claws are configured to be able to grip another object.

Instead, it comprises a moving device that moves the object gripped by the pair of gripping claws to the back side in the holding mechanism,
The moving object causes the object gripped by the pair of gripping claws to be moved to the back side in the holding mechanism so as to be released from the gripping, and is held by the holding mechanism on the back side. In the state, the pair of gripping claws may be configured to be able to grip another object.

According to another embodiment of the present invention, a plurality of pairs of the gripping claws are provided,
Each pair of gripping claws is used as a first and second gripping claws, and in each pair, the first driven claw is coupled to the first gripping claws, and the second gripping claws are coupled to the second gripped claws. The drive is coupled,
The first and second gripping claws of each pair are supported by the support moving body via the first and second driven parts, respectively.
When the first and second driven parts are driven in the reciprocating direction with respect to the support moving body, the first and second gripping claws of each pair reciprocate with respect to the support moving body. Driven in the direction, sandwiching objects close to each other, or being able to release the objects apart from each other,
The holding mechanism is provided for each pair of gripping claws.

In order to achieve the above object, according to the present invention, there is provided a method of gripping an object using the above-described gripping device,
Position the support moving body relative to the target object,
In this state, by driving the pair of gripping claws in the reciprocating direction with respect to the support moving body, the target object is sandwiched between the pair of gripping claws,
The object gripped by one or more pairs of gripping claws is moved to the back side in the holding mechanism so as to be released from the gripping, and held by the holding mechanism on the back side,
In this state, a gripping method is provided, in which another object is gripped by one or more pairs of gripping claws.

  According to the present invention described above, the holding mechanism is provided between the pair of gripping claws and holds the target object gripped by the pair of gripping claws. It is moved to the back side in the holding mechanism so as to be released from gripping, and is held by the holding mechanism on the back side so that a pair of gripping claws can grip another object in this state. It is configured. Therefore, a plurality of objects can be gripped and conveyed at a time.

It is a figure explaining the holding operation by a holding nail. (A) shows the structure of the holding | gripping apparatus by 1st Embodiment of this invention, (B) is the elements on larger scale of (A). It is a flowchart which shows the holding | grip method by 1st Embodiment. It is a figure explaining the holding | grip method by 1st Embodiment. (A) is a block diagram by 2nd Embodiment, (B) is a BB arrow line view of (A). It is a flowchart which shows the holding | grip method by 2nd Embodiment. It is a figure explaining the holding | grip method by 2nd Embodiment. FIG. 8 is an explanatory diagram illustrating a continuation of the operation illustrated in FIG. 7. FIG. 9 is an explanatory diagram showing a continuation of the operation shown in FIG. 8. The structural example of a moving apparatus is shown. It is a block diagram of the stand which arrange | positions a target object.

[First Embodiment]
FIG. 2A is a configuration diagram of the gripping device 10 according to the first embodiment of the present invention. The gripping device 10 is a device that grips the object 1, and includes a pair of gripping claws 3 a and 3 b, a support moving body 7, and a holding mechanism 8. FIG. 2B is a partially enlarged view showing the vicinity of the support moving body 7 in FIG.

  The pair of gripping claws 3a and 3b supports the object 1 with the object 1 interposed therebetween. In this example, as shown in FIG. 2 (B), each gripping claw 3a, 3b extends in a direction intersecting (in this example, orthogonal) with a direction in which the object 1 is sandwiched (hereinafter referred to as a clamping direction). It has an access portion 9 and a grip portion 11 extending from the front end of the access portion 9 toward the clamping direction. In the example of FIG. 2B, the grip portion 11 extends from the access portion 9 so as to bend toward the holding direction at the tip of the access portion 9. When gripping the target object 1, the grip portion 11 can support the target object 1 from the back side (in this example, the lower side). Therefore, the object 1 can be gripped more stably. In this example, the grasped portion 11 can prevent the grasped object 1 from falling downward.

  The support moving body 7 moves in the space while supporting the pair of gripping claws 3a and 3b in an operable manner. That is, the support moving body 7 is moved to a position where the target object 1 can be gripped by the pair of gripping claws 3a and 3b. When the pair of gripping claws 3a and 3b grips the target object 1 at this position, the support moving body 7 is moved so as to transport the target object 1 to another position in this state.

  The pair of gripping claws 3a and 3b are driven in the reciprocating direction with respect to the support moving body 7, thereby sandwiching the object 1 close to each other or releasing the object 1 away from each other. It is like that. Preferably, the reciprocating direction is an oblique direction with respect to the clamping direction.

  The holding mechanism 8 is located between the pair of gripping claws 3a and 3b and holds the object 1 gripped by the pair of gripping claws 3a and 3b. The holding mechanism 8 has a pair of facing portions 12 that face each other so that the object 1 can be sandwiched therebetween. As shown in FIG. 2 (B), each facing portion 12 has a holding portion 14 extending in parallel with the access portion 9 and is bent obliquely from the holding portion 14 from the tip of the holding portion 14 to the side opposite to the clamping direction. And a bent portion 16 extending.

The holding mechanism 8 enables the following operation. The object 1 gripped by the pair of gripping claws 3a and 3b is moved to the back side in the holding mechanism 8 so as to be released from the gripping, and held by the holding mechanism 8 on the back side. In this state, the pair of gripping claws 3 a and 3 b are configured to be able to grip another object 1.
In the first embodiment, the object 1 held by the pair of holding claws 3a and 3b is held by being pressed against another object 1 by the movement of the support moving body so as to be released from the holding. It is moved to the back side in the mechanism 8 and is held by the holding mechanism 8 on the back side. In this state, the pair of gripping claws 3a and 3b are configured to be able to grip another object 1. Details will be described later with reference to FIG.

  A guide rail 13 is provided on the support moving body 7. The first and second driven parts 15 a and 15 b are attached to the support moving body 7 through the guide rail 13. One gripping claw 3a is coupled to the first driven portion 15a, and the other gripping claw 3b is coupled to the second driven portion 15b. With this configuration, the guide rail 13 guides the movement of the driven portions 15a and 15b (that is, the gripping claws 3a and 3b) in the reciprocating direction while supporting the driven portions 15a and 15b of the gripping claws 3a and 3b. .

  The driven parts 15a and 15b move in the reciprocating direction by being driven in the reciprocating direction by an actuator (not shown). The actuator may be provided on the support moving body 7. The actuator may be, for example, a pneumatic or hydraulic cylinder device that drives the gripping claws 3a, 3b in a reciprocating direction by an expansion / contraction operation. Instead, the actuator may be configured by a servo motor and a conversion mechanism (for example, a rack and a pinion) that converts the torque of the servo motor into a driving force in a reciprocating direction.

  The support moving body 7 is moved in the three-dimensional space. The movement of the support moving body 7 may be executed by, for example, the gripping device 10 as an articulated robot shown in FIG. In this case, the gripping device 10 includes first to fourth arms 17a to 17d and first to third joints 19a to 19c in the example of FIG. The support moving body 7 is coupled to the first arm 17a. The first arm 17a is connected to the second arm 17b via the first joint 19a, and the rotation axis C1 of the first joint 19a (axis perpendicular to the paper surface of FIG. 2A). ) Rotating around the second arm 17b. The second arm 17b is connected to the third arm 17c via the second joint 19b, and rotates around the rotation axis C2 (axis perpendicular to the paper surface of FIG. 2A) of the second joint 19b. The third arm 17c is rotatable. The third arm 17c is connected to the fourth arm 17d via the third joint 19c, and around the rotation axis C3 (axis perpendicular to the paper surface of FIG. 2A) of the third joint 19c. The fourth arm 17d is rotatable. The fourth arm 17d is supported by the installation base 18 so as to be rotatable around a rotation axis C4 that is a central axis of the fourth arm 17d. The first to fourth arms 17a to 17d are rotationally driven by actuators (not shown) around the rotation axes C1 to C4, respectively.

  A method of gripping the object 1 using the gripping device 10 according to the first embodiment will be described. FIG. 3 is a flowchart showing the gripping method, and FIG. 4 is an explanatory diagram of the gripping method.

  In step S1, a plurality of objects 1 are arranged with a gap as shown in FIG. In the example of FIG. 4 (A), a plurality of arranged objects 1 are stacked in two stages.

In step S2, the support moving body 7 is positioned with respect to one target object 1 among these objects 1 as shown in FIG.
In this example, the support moving body 7 is positioned so that the object 1 is positioned between the bent portions 16 of the pair of opposed portions 12. Here, since the two bent portions 16 are bent in the opposite direction to the clamping direction, the space between the bent portions 16 is widened. Thereby, it becomes easy to position the target object 1 between the bent portions 16 of the pair of opposed portions 12.

  In step S3, with the support moving body 7 positioned in step S2, a pair of gripping claws 3a and 3b are driven in the reciprocating direction as shown in FIG. The claws 3a and 3b are moved to the back side of the gap to sandwich the target object 1. That is, as shown in FIG. 4B, the pair of gripping claws 3a and 3b are moved in the reciprocating direction (diagonally downward) close to each other along the guide rail 13, thereby sandwiching the target object 1. Grip with

  In step S4, as shown in FIG. 4C, the support moving body 7 is moved, and the object 1 gripped by the gripping claws 3a and 3b is placed on the upper surface of another object 1.

  In step S5, as shown in FIG. 4D, the pair of gripping claws 3a and 3b are separated from each other by being driven in the reciprocating direction. Thereby, the object 1 gripped by the gripping claws 3a and 3b is released from the gripping claws 3a and 3b, but is held between the pair of opposed portions 12 (the pair of bent portions 16).

  In step S <b> 6, the support moving body 7 is moved (downward in this example) toward the other object 1 on which the object 1 between the pair of facing portions 12 is on. As a result, as shown in FIG. 4E, the object 1 gripped in step S3 is pushed up by the other object 1 while being guided by the bent portion 16, and is held by the holding mechanism 8 (a pair of opposing portions 12). ) And is held by the holding mechanism 8 on the back side.

  In step S <b> 7, the pair of gripping claws 3 a and 3 b sandwich the other object 1 by driving the pair of gripping claws 3 a and 3 b in the reciprocating direction. That is, as shown in FIG. 4F, the pair of gripping claws 3a and 3b are moved in the reciprocating direction (diagonally downward) adjacent to each other along the guide rail 13, so that the object 1 is sandwiched therebetween. Hold it.

  As in the operation shown in FIG. 4, another object 1 is gripped by the gripping claws 3 a and 3 b while the object 1 is held by the holding mechanism 8. Accordingly, a plurality of objects 1 can be transported simultaneously.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. The second embodiment is the same as the first embodiment except for the points described below.

  FIG. 5A shows the vicinity of the support moving body 7 according to the second embodiment. FIG. 5B is a view taken in the direction of arrows BB in FIG. In FIG. 5B, among the stacked objects 1, only the uppermost four objects 1 are drawn with one-dot chain lines.

  According to the second embodiment, a plurality of pairs of the gripping claws described above are provided. That is, the gripping device 10 includes a plurality of pairs of gripping claws 3a, 3b, 4a, 4b, 5a, 5b, 6a, 6b. In this case, a holding mechanism 8 is provided for each pair of gripping claws.

  With each pair of gripping claws as first and second gripping claws, in each pair, the first gripping claws 3a, 4a, 5a, 6a are coupled to the first driven portion 15a, and the second gripping claws 3b, 4b, 5b, 6b are coupled to the second driven portion 15b. By driving the first and second driven parts 15a and 15b in the reciprocating direction, the first and second gripping claws of each pair sandwich the object 1 close to each other, or mutually The object 1 can be released at a distance.

Each driven portion 15 a, 15 b has a supported portion 21 that is directly supported by the guide rail 13 so as to be movable, and a plate-like portion 23 that is coupled to the lower portion of the supported portion 21. A plurality of gripping claws 3a, 4a, 5a, 6a or 3b, 4b, 5b, 6b are coupled to the lower surface of the plate-like portion 23.
As shown in FIG. 5B, a plurality of pairs of gripping claws (for example, a pair consisting of gripping claws 3a and 3b and a pair consisting of gripping claws 4a and 4b) intersect with the clamping direction (in this example, orthogonal). Is shifted horizontally. Thereby, a plurality of pairs of gripping claws can simultaneously grip a plurality of objects 1 without interfering with each other, as will be described later.
Similarly, each pair of holding mechanisms 8 is shifted in a horizontal direction intersecting (in this example, orthogonal) with the clamping direction.

  In the example of FIG. 5, a plurality of pairs of gripping claws 3a, 3b, 4a, 4b, 5a, 5b, 6a, 6b, and a plurality of holding mechanisms 8 respectively provided in these pairs, and two sets, They are provided away from each other in a direction perpendicular to the clamping direction. Thereby, since the holding | grip apparatus 10 can hold | grip the longitudinal direction both sides of the column-shaped target object 1, it can hold | grip and hold each target object 1 stably.

  A method of gripping an object using the gripping device 10 according to the second embodiment will be described. FIG. 6 is a flowchart showing the gripping method. FIGS. 7A to 9F are explanatory diagrams of the gripping method.

  In step S11, as shown in FIG. 7A, a plurality of objects 1 are arranged with a gap. In the example of FIG. 7A, a plurality of arranged objects 1 are stacked in three stages.

In step S12, the support moving body 7 is positioned with respect to a plurality of target objects 1 among these objects 1 as shown in FIG.
In this example, the support moving body 7 is positioned such that the plurality of objects 1 are positioned between the bent portions 16 of the plurality of holding mechanisms 8 (a plurality of pairs of facing portions 12). Here, since the two bent portions 16 of each holding mechanism 8 (each pair of facing portions 12) are bent to the opposite side to the clamping direction, the space between the bent portions 16 is widened. Thereby, it becomes easy to position the target object 1 between the bent portions 16 of the holding mechanisms 8.

  In step S13, with the support moving body 7 positioned in step S12, by driving a plurality of pairs of gripping claws in the reciprocating direction as shown in FIG. 7B, each pair of gripping claws 3a, 3b is moved to the back side of the gap to sandwich the target object 1. That is, as shown in FIG. 7B, the plurality of pairs of gripping claws are moved in the reciprocating direction (diagonally downward) close to each other along the guide rail 13, thereby sandwiching the plurality of target objects 1 at the same time. Grip with

  In step S <b> 14, as shown in FIG. 8C, the support moving body 7 is moved so that the plurality of objects 1 held by the plurality of pairs of gripping claws are respectively the upper surfaces of the plurality of other objects 1. Put it on.

  In step S15, as shown in FIG. 8D, each pair of gripping claws is separated from each other by being driven in the reciprocating direction. As a result, the object 1 gripped by each pair of gripping claws is released from the gripping claws, but between each pair of facing portions 12 (the bent portion 16 of the facing portion 12 in FIG. 8D). Retained.

  In step S16, as shown in FIG. 9E, the support moving body 7 is placed on the object 1 between each pair of facing portions 12 (the bent portion 16 of the facing portion 12 in FIG. 8D). Move toward the other object 1 that is present (downward in this example). Thereby, the plurality of objects 1 gripped in step S13 are respectively pushed up by the other object 1 while being guided by the bent portion 16, and moved to the back side of the plurality of holding mechanisms 8, It is held by the holding mechanism 8 on the back side.

  In step S17, the plurality of pairs of gripping claws 3a, 3b sandwich the plurality of different objects 1 by driving the plurality of pairs of gripping claws 3a, 3b in the reciprocating direction. That is, as shown in FIG. 9F, the plurality of pairs of gripping claws are moved in the reciprocating direction (downwardly obliquely) close to each other along the guide rail 13, thereby allowing a plurality of different target objects 1 to move. Grab and hold at the same time.

  Like the operation shown in FIGS. 7A to 9F, in a state where the object 1 is held by the plurality of holding mechanisms 8, a plurality of different objects 1 are held by a plurality of pairs of holding claws. Therefore, many objects 1 can be conveyed simultaneously.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention. For example, the following modifications 1 to 6 may be adopted alone or in appropriate combination. In the following modifications 1 to 6, the points not described below may be the same as described above.

(Modification 1)
Each holding mechanism 8 may include a moving device that moves the object 1 held by the pair of holding claws to the back side in the holding mechanism 8 in addition to the pair of facing portions 12 described above. . In this case, the object 1 held by the pair of holding claws is moved to the back side in the holding mechanism 8 so as to be released from the holding by the moving device, and the holding mechanism is In this state, the pair of gripping claws are configured to be able to grip another object 1.

Such a moving device 27 may be, for example, as shown in FIG. In the example of FIG. 10, the moving device 27 is attached to the support moving body 7, and is provided at a cylinder device 28 that expands and contracts by pneumatic pressure, hydraulic pressure, and the like, and a tip portion of the cylinder device 28 (for example, a tip portion of a piston). And a suction pad 29. The suction pad 29 is attracted to the object 1 by suction from a suction source (not shown).
With this configuration, with the pair of gripping claws 3a and 3b gripping the object 1 as shown in FIG. 10A, the suction pad 29 is attracted to the object 1, and in this state, FIG. ), The cylinder device 28 contracts (the piston moves backward), so that the object 1 gripped by the pair of gripping claws 3a and 3b is released from the gripping in the holding mechanism 8. And is held by the holding mechanism 8 on the back side. In this state, the pair of gripping claws 3 a and 3 b can grip another object 1.

  The mobile device may have other configurations. For example, a pair of holding claws that hold the object 1 in a direction perpendicular to the paper surface of FIG. 2B may be provided so that the holding claws can move to the back side of the holding mechanism 8. .

In order to release the object 1 from the grip when moving the object 1 gripped by the pair of gripping claws to the back side in the holding mechanism 8 by the moving device, It is better to keep the gripping force small.
Instead, the gripping portion 11 may support the target object 1 from below to grip the target object 1 so that the gripping claws do not press the target object 1 in the clamping direction. Thus, when the object 1 held by the pair of holding claws is moved to the back side in the holding mechanism 8 by the moving device, the object 1 is released from the holding.

  When the moving device as described above is employed in the second embodiment, the moving device is provided for each pair of gripping claws.

(Modification 2)
In FIG. 4B, the holding mechanism 8 may hold the target object 1 (preferably with a slight gap) in a direction orthogonal to the paper surface. Thereby, it can prevent that the target object 1 remove | deviates from the holding mechanism 8 in the direction orthogonal to the paper surface of FIG. 4 (B).

(Modification 3)
In the first embodiment or the second embodiment, as shown in FIG. 11A, a plurality of grooves 25a may be formed at regular intervals on a table 25 on which a plurality of objects 1 are placed. Each groove 25 a has a shape that matches (matches) the shape of the object 1. In these grooves 25a, as shown in FIG. 11B, a plurality of lowermost objects 1 are placed and arranged. Thereby, in each step, the gap between the objects 1 adjacent in the horizontal direction can be made constant with high accuracy.

(Modification 4)
In each of the above-described embodiments, the object 1 has a cylindrical shape. However, according to the present invention, the object 1 may have another shape (for example, a prismatic shape). In addition, the target object 1 does not need to be columnar shapes, such as a cylinder and a prism.

(Modification 5)
In each of the above-described embodiments, since the target objects 1 are arranged in the horizontal direction, a pair of or each pair of gripping claws is placed with the support moving body 7 positioned above the target object 1. The target object 1 was gripped with a pair of or each pair of gripping claws. Instead, when the target object 1 is arranged in a direction other than the horizontal direction, the other side as viewed from the target object 1 (for example, the horizontal direction when the arrangement direction of the object 1 is the vertical direction) With the support moving body 7 positioned in one direction), the pair or each pair of gripping claws are brought close to each other, and the target object 1 is gripped by the pair or each pair of gripping claws. May be.

(Modification 6)
In the first embodiment described above, the holding mechanism 8 holds one object 1, but may hold two or more objects 1. In this case, the following operation is performed as described above.

First, as in the first embodiment, the first object 1 is held in the holding mechanism 8.
In this state, as in the first embodiment, the second object 1 is gripped by the pair of gripping claws 3a and 3b.
Next, the support moving body 7 is moved, and the second object 1 held by the holding claws 3 a and 3 b is placed on the upper surface of the third object 1.
In this state, the pair of gripping claws 3a and 3b are separated from each other by being driven in the reciprocating direction. As a result, the second object 1 gripped by the gripping claws 3a and 3b is released from the gripping claws 3a and 3b, but is held between the pair of opposed portions 12 (the pair of bent portions 16). The
Next, the support moving body 7 is moved toward the third object 1 on which the object 1 between the pair of facing parts 12 is on. Thus, the gripped second object 1 is pushed up by the third object 1 and moved to the back side of the holding mechanism 8 while being guided by the bent portion 16, and is moved to the holding mechanism 8 on the back side. Retained. At this time, the first object 1 is pushed up by the second object 1 and moved to the back side of the holding mechanism 8. Thereby, the first and second objects 1 are held by the holding mechanism 8.
In this state, the third object 1 can be sandwiched and gripped by the pair of gripping claws 3a and 3b.

  Similarly, each holding mechanism 8 of the second embodiment described above may hold two or more objects 1.

DESCRIPTION OF SYMBOLS 1 Object, 3a, 3b, 4a, 4b, 5a, 5b, 6a, 6b Grip claw, 7 Supporting moving body, 8 Holding mechanism, 9 Access part, 10 Gripping device, 11 Gripping part, 12 Opposing part, 13 Guide rail , 14 Holding part, 15a, 15b Driven part, 16 Bent part, 17a, ~ 17d Arm, 18 Installation base, 19a-19c Joint, 21 Supported part, 23 Plate-like part, 25 units, 25a Groove, 27 Moving device , 28 Cylinder device, 29 Suction pad

Claims (5)

A gripping device for gripping an object,
A pair of gripping claws for gripping the object and a support moving body that movably supports the pair of gripping claws and moves in the space;
The pair of gripping claws are driven in a reciprocating direction with respect to the support moving body so as to sandwich the object in proximity to each other or release the object by being separated from each other. ,
And a holding mechanism that is positioned between the pair of gripping claws and holds an object gripped by the pair of gripping claws,
The object gripped by the pair of gripping claws is moved to the back side in the holding mechanism so as to be released from the gripping, and is held by the holding mechanism on the back side. The gripping device is configured such that the gripping claw of the device can grip another object.   By moving the support moving body, the object gripped by the pair of gripping claws is moved to the back side in the holding mechanism so as to be released from the gripping by being pressed against another object. The gripping device according to claim 1, wherein the gripping device is configured to be held by a holding mechanism on the back side, and in this state, the pair of gripping claws can grip another object. A moving device for moving the object held by the pair of holding claws to the back side in the holding mechanism;
The moving object causes the object gripped by the pair of gripping claws to be moved to the back side in the holding mechanism so as to be released from the gripping, and is held by the holding mechanism on the back side. The gripping device according to claim 1, wherein the pair of gripping claws are configured to be able to grip another object in a state. A plurality of pairs of the gripping claws are provided,
Each pair of gripping claws is used as a first and second gripping claws, and in each pair, the first driven claw is coupled to the first gripping claws, and the second gripping claws are coupled to the second gripped claws. The drive is coupled,
The first and second gripping claws of each pair are supported by the support moving body via the first and second driven parts, respectively.
When the first and second driven parts are driven in the reciprocating direction with respect to the support moving body, the first and second gripping claws of each pair reciprocate with respect to the support moving body. Driven in the direction, sandwiching objects close to each other, or being able to release the objects apart from each other,
The gripping device according to claim 1, wherein the holding mechanism is provided for each pair of gripping claws. A method of gripping an object using the gripping device according to any one of claims 1 to 4,
Position the support moving body relative to the target object,
In this state, by driving the pair of gripping claws in the reciprocating direction with respect to the support moving body, the target object is sandwiched between the pair of gripping claws,
The object gripped by one or more pairs of gripping claws is moved to the back side in the holding mechanism so as to be released from the gripping, and held by the holding mechanism on the back side,
In this state, another gripping object is gripped by one or more pairs of gripping claws.