WE CLAIM:
[Claim 1] A workpiece gripping device (10) attached to a robot (12) and used for
gripping a workpiece (W), the workpiece (W) including a plate-shaped part (Wp) in at least a part thereof, the device (10) comprising: a gripping body part (14) including a slit (25) into which the plate-shaped part (Wp) of the workpiece (W) is configured to be inserted; and
a positioning mechanism (16) including an engagement part (28) configured to be engaged with the plate-shaped part (Wp) of the workpiece (W) in the slit (25) of the gripping body part (14), in order to position the workpiece (W).
[Claim 2] The workpiece gripping device (10) according to claim 1, wherein:
the gripping body part (14) includes a base part (22) and two arm parts (24a, 24b) that extend from the base part (22) and face each other, and the gripping body part (14) has an elongate-bar shape as a whole; and the slit (25) is formed between the two arm parts (24a, 24b).
[Claim 3] The workpiece gripping device (10) according to claim 1, wherein a tip
end of at least one of the two arm parts (24a, 24b) has a wedge shape.
[Claim 4] The workpiece gripping device (10) according to claim 1, wherein the
positioning mechanism (16) includes a positioning pin (30) configured to move in a thickness direction of the slit (25), and a positioning actuator (32) configured to drive the positioning pin (30).
[Claim 5] The workpiece gripping device (10) according to claim 4, wherein:
the positioning actuator (32) includes an output part (34) configured to operate in the thickness direction of the slit (25); and the positioning pin (30) is inserted into a pin insertion hole (29) provided in the gripping body part (14), and is fixed to a tip end part of the output part (34).
[Claim 6] The workpiece gripping device (10) according to claim 1, further
comprising a stabilizer (18) configured to suppress a movement of the workpiece (W) inserted into the slit (25),
wherein the stabilizer (18) includes a contact part (44) configured to contact an edge part (76) of the workpiece (W), and an actuator (46) configured to move the contact part (44).
[Claim 7] The workpiece gripping device (10) according to claim 6, wherein the
contact part (44) is arranged in the slit (25).
[Claim 8] The workpiece gripping device (10) according to claim 6, wherein:

the positioning mechanism (16) includes a positioning pin (30) configured to move in a thickness direction of the slit (25); and the contact part (44) is arranged on an inner side of the slit (25) relative to the positioning pin (30).
[Claim 9] The workpiece gripping device (10) according to claim 1, further
comprising a pressing member (20) projecting into the slit (25), wherein the pressing member (20) is configured to press the workpiece (W) inserted into the slit (25), in a thickness direction of the workpiece (W).
[Claim 10] The workpiece gripping device (10) according to claim 9, wherein the
pressing member (20) is arranged on an inner side of the slit (25) relative to the engagement part (28) of the positioning mechanism (16).
[Claim 11] The workpiece gripping device (10) according to claim 9, wherein the
pressing member (20) is a ball plunger (66) that includes a ball (60) and a spring (62) configured to elastically energize the ball (60).
[Claim 12] The workpiece gripping device (10) according to claim 9, wherein the
pressing member (20) is inserted into a hole part (56) provided in the gripping body part (14).
[Claim 13] The workpiece gripping device (10) according to claim 9, further
comprising a stabilizer (18) configured to suppress a movement of the
workpiece (W) inserted into the slit (25), wherein:
the stabilizer (18) includes a contact part (44) configured to contact an
edge part (76) of the workpiece (W), and an actuator (46) configured to
move the contact part (44); and
the pressing member (20) comprises at least two pressing members (20)
and the two pressing members (20) are arranged to be separated from
each other so that the contact part (44) is configured to be inserted
therebetween.