# US 10,870,206 B2 · Workpiece gripping device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,870,206 B2 - Document ID: US10870206B2 - Status: Granted - Kind: B2 - Application number: 15/973,897 - Filed: 2018-05-08 - Published: 2018-11-22 - Granted: 2020-12-22 - Earliest claimed: 2017-05-18 - Assignees: SMC Corporation - Applicants: Smc Corporation - Inventors: Koji Hara - Web page: https://patentgrep.com/patent/US10870206B2 ## CPC - B25J 15/0253: {comprising parallel grippers} - B25J 15/0052: {multiple gripper units or multiple end effectors} - B25J 15/024: {having fingers directly connected to actuator} - B25J 15/0293: {having fingers directly connected to actuator} - Y10S 901/39: Jaw structure - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A workpiece gripping device includes a base body and a pair of finger units configured to grip a workpiece. A first finger unit of the pair of finger units includes a scoop member configured to reciprocate in the direction of the arrow Z relative to the base body and rotate on a plane perpendicular to the direction of the arrow Z. A second finger unit of the pair of finger units includes a pressing member configured to reciprocate in the direction of the arrow X and rotate on a plane perpendicular to the direction of the arrow Z. ## Claims ### Claim 1 A workpiece gripping device including a base body and a gripping mechanism disposed on the base body and configured to grip a workpiece; wherein the gripping mechanism comprises: a first finger unit having a first retaining structure configured to reciprocate in a first axial direction relative to the base body and rotate on a plane perpendicular to the first axial direction; and a second finger unit having a second retaining structure configured to reciprocate in a second axial direction perpendicular to the first axial direction and rotate on a plane perpendicular to the first axial direction, wherein: the first axial direction is a direction in which the first retaining structure is made to approach toward or separate away from the base body; the second axial direction is a direction in which the second retaining structure is made to approach toward or separate away from the first finger unit; the base body includes a fixed gripping body that projects in a direction perpendicular to the second axial direction; and the second finger unit includes a movable gripping body configured to, by moving along the second axial direction, grip the workpiece between the movable gripping body and the fixed gripping body. ### Claim 2 (depends on 1) The workpiece gripping device according to claim 1, wherein: the fixed gripping body projects from the base body in a direction opposite to a direction in which the first finger unit projects; and the movable gripping body penetrates from the second finger unit through an elongate hole disposed in the base body, and projects in a direction opposite to a direction in which the second finger unit projects. ### Claim 3 (depends on 1) The workpiece gripping device according to claim 1, wherein, as viewed in plan, the first and second retaining structures are arranged in a manner so that directions of rotation from a standby position of waiting prior to retaining the workpiece toward a retaining position of retaining the workpiece are mutually opposite to each other. ### Claim 4 (depends on 3) The workpiece gripping device according to claim 3, wherein at least one of the first and second retaining structures has a tapered portion on a side in a direction from the standby position toward the retaining position. ### Claim 5 (depends on 3) The workpiece gripping device according to claim 3, wherein each of the first and second retaining structures has a claw member projecting from a side in a direction from the standby position toward the retaining position. ### Claim 6 (depends on 1) The workpiece gripping device according to claim 1, wherein: the first finger unit includes a longitudinal actuator connected to the base body and configured to move the first retaining structure along the first axial direction, and a first rotary actuator connected to the longitudinal actuator and configured to rotate the first retaining structure; and the second finger unit includes a lateral actuator connected to the base body and configured to move the second retaining structure along the second axial direction, and a second rotary actuator connected to the lateral actuator and configured to rotate the second retaining structure.