Gripping device and assembling machine equipped with the same

A gripping device attached to an assembling machine for gripping and press-fitting an object into a predetermined fitting hole, the gripping device comprising:

• a gripping finger opening and closing mechanism for opening and closing a plurality of gripping fingers for gripping the object;
• and
• a center error correction mechanism for correcting center position when press-fitting the object into the fitting hole,
• wherein
• the center error correction mechanism comprises an upper structure fixed to the assembling machine, a lower structure provided swingably to the upper structure through a plurality of elastic bodies, and a limiter provided between the upper structure and the lower structure for limiting press-fitting force acting on the elastic bodies at least during center position correction or press-fitting when press-fitting the object into the fitting hole, and
• the gripping finger opening and closing mechanism comprises a plurality of gripping finger fixed slide members provided so as to slide in the radial direction with respect to the center of the lower structure for detachably fixing each of the gripping fingers, and an actuator for slidably moving the plurality of gripping finger fixed slide members in radial direction in accordance with the size of the object, so that
• when the object is press-fitted into the fitting hole, the press-fitting force acting on the plurality of gripping fingers acts on the assembling machine through the plurality of gripping finger fixed slide members, the lower structure, the plurality of elastic bodies, the limiter and the upper structure.