To enable the replacement of a plurality of types of gripping portions of a gripping member, while securing the high strength of the gripping member without causing the remarkable upsizing of an apparatus.
This gripping apparatus 16 includes a gripping apparatus body 17 which is attached to a leading end of a working arm, a pair of gripping members 18A and 18B which are supported on the gripping apparatus body 17 in such a manner as to be openable/closable in an opening/closing direction, and a driving device 19 for performing the opening/closing drive of them. The at least one gripping member includes a plurality of types of attachment/detachment portions which each include the gripping portion 25a, a holding portion 22 which is connected to the gripping apparatus body 17 in such a manner as to be rotatable around a rotating center shaft 27 and which holds each of the attachment/detachment portions 25 in a selectively detachable manner, and a connecting implement 23 for the attachment/detachment of the holding portion 22. In the attachment/detachment portion 25, a portion 25b to be restrained, which is provided with an attachment/detachment portion-side through-hole parallel to the rotating center shaft 27, is formed. The holding portion 22 comprises opening/closing-direction restraining portions 26a and 26b for restraining the portion 25b from the opening/closing direction, and a holding wall to which the portion 25b is fastened via the connecting implement 23 from a direction parallel to the attachment/detachment portion-side through-hole.
YAMAZAKI TAKANORI
| JPH0635524U | 1994-05-13 | |||
| JPS5821055U | 1983-02-09 | |||
| JPH09217502A | 1997-08-19 | |||
| JPS56162751U | 1981-12-03 | |||
| JPS56155053U | 1981-11-19 | |||
| JPS61290171A | 1986-12-20 | |||
| JPS54168687U | 1979-11-28 |
Masataka Otani
Muramatsu Toshiro