JPH0811076A - Gripping device - Google Patents

Abstract

(57) [Summary] [Purpose] Minimize the positional deviation of the tips of both clamps regardless of the size of the conveyed material to be gripped. [Structure] Main bodies BP, 11, 17 attached to a work attachment of a construction machine, a fixed holding piece 16 connected to the main body 17, and a fixed holding piece by circularly moving around a rotation axis on the main body 11. In a gripping device that is provided with a movable gripping piece 14 that contacts and separates with respect to 16, and a gripping device that grips a conveying material between the gripping pieces 14 and 16, a direction in which the movable gripping piece 14 is separated from and contacting the fixed gripping piece 16 (direction A) Adjustment mechanisms PN, 16b to 16b for adjusting the position of the fixed sandwiching piece 16 in a direction (B direction) orthogonal to the rotation axis of the movable sandwiching piece 14 and.
d, 17b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping device for use in, for example, assembling a steel frame, and more particularly to a gripping device for gripping a carrier such as a steel frame between a pair of holding pieces.

[0002]

2. Description of the Related Art A conventional gripping device of this type is used, for example, in a handling machine for assembling a steel frame based on a hydraulic excavator. Kaisho 63-219
The one disclosed in Japanese Patent Publication No. 730 is known. FIG. 6 shows the gripping device disclosed in Japanese Utility Model Laid-Open No. 52324/1993, which is mounted on the tip of an arm connected to the main body of the hydraulic excavator. Reference numeral 101 is a pair of holding pieces rotatably connected to the frame 102, and 103 is a holding piece opening / closing cylinder interposed between the holding pieces 101,
The extension of the cylinder 103 closes the sandwiching piece 101 to grip the conveying material 201 such as H steel, and the contraction of the cylinder 103 opens the sandwiching piece 101 to release the conveying material 201.

Further, as disclosed in Japanese Patent Laid-Open No. 63-219730, a frame 111 is used as shown in FIG.
Pair of clamping pieces 112a, 112 rotatably connected to each other
b and a holding piece opening / closing cylinder 113, and the cylinder 113 is fixed to the frame 111. Cylinder 1
The tip of the piston rod 13 is connected to one holding piece 112a, and the holding piece 112a is connected to the other holding piece 112b via a link 114. Cylinder 113
Is extended, the gripping piece 112a is rotated clockwise in the drawing, and the gripping piece 112b is rotated via the link 114.
Rotates counterclockwise, and as a result, both gripping pieces 112
The conveying material 201 is gripped by a and 112b.

By the way, in both of the gripping devices of the above-mentioned two examples, both of the sandwiching pieces are operated at the same time. Therefore, in order to allow the sandwiching pieces to grip the conveying material 201, the conveying material 2 is previously prepared.
01 must be aligned so that it is centered on both clamps. Since this alignment is usually performed by the operator in sight, there is a problem that it takes time and lacks accuracy.

Therefore, in order to facilitate the above alignment, one gripping piece is fixed, and the other gripping piece is moved with respect to the fixed gripping piece to grip the conveying material 201 (piece. Actuated gripping devices) have been proposed. A conventional example of this one-sided gripping device will be described below with reference to FIG. In FIG. 8, a boom 122 and an arm 123 are sequentially connected to the hydraulic excavator body 121.
Bracket 124 and turntable 12 at the tip of 3
The one-sided gripping device 130 is connected via 5. In addition, 126 is a boom cylinder for driving the boom 122,
127 is an arm cylinder that drives the arm 123;
A wrist cylinder 8 drives the grip device 130.

Reference numeral 131 denotes a frame on the side of the gripping device which is connected to the turntable 125.
A gripping device main body 132 having a fixed holding piece 132a protruding from the bottom thereof is attached to 31. A lever 133 is rotatably connected to the upper portion of the main body 132.
The movable holding piece 134 has a fixed holding piece 132a on one end side of 33.
Is rotatably connected so as to face with. Further, the piston rod of the cylinder 135 fixed to the lower portion of the main body 132 is connected to the other end of the lever 133.

When the cylinder 135 is extended, the lever 1
33 rotates, and the movable holding piece 134 moves the fixed holding piece 132a.
The conveyance material 201 is gripped between the both holding pieces 132a and 134 by being driven toward. If the gripping device is of the one-acting type as described above, it is sufficient to bring the conveying material 201 into contact with the fixed sandwiching piece 132a when gripping the conveying material 201. Can be done easily.

[0008]

By the way, by using the handling machine having the above-mentioned gripping device, the conveying material 201 can be obtained.
Often, the work of gripping and placing it horizontally along a vertical wall as shown in FIG. However, in the gripping device shown in FIG.
Since the movement of No. 4 is a circular movement, as shown in FIG. 11, a displacement L occurs between the tip of the holding portion 132a and the tip of the movable holding piece 134 depending on the amount of rotation of the lever 133. Figure 10
In the case of gripping a large conveying material 201a as shown in FIG. 11, there is no problem because the positional deviation L is small, but FIG.
In the case of the small conveying material 201b as shown in Fig. 5, the positional deviation L becomes large, and the conveying material 2 is moved along the vertical wall as described above.
This will hinder the work of placing 01b.

An object of the present invention is to provide a gripping device capable of minimizing the positional deviation of the tips of both holding pieces regardless of the size of the conveying material to be gripped.

[0010]

When the invention of claim 1 is described in association with FIG. 1 showing an embodiment, a main body BP, 11, 1 attached to a work attachment of a construction machine.
7, a fixed holding piece 16 connected to the main body 17, and the main body 1
1 includes a movable gripping piece 14 that moves in and out of contact with the fixed gripping piece 16 by circularly moving around the rotation axis on 1.
It is applied to a gripping device that grips the conveying material 201 (FIG. 3) between the sandwiching pieces 14 and 16. Then, the position of the fixed sandwiching piece 16 is adjusted in a direction (B direction) orthogonal to the separation / contact direction (A direction) of the movable sandwiching piece 14 with respect to the fixed sandwiching piece 16 and orthogonal to the rotation axis of the movable sandwiching piece 14. Adjustment mechanism PN, 16b-
16d and 17b are provided to solve the above problems. In particular, in the invention of claim 2, the fixed holding piece 16 has the above-mentioned B
The base end portion of the fixed clamping piece 16 is protruded in the direction of the main body 17
Through the insertion hole 17a, and the fixed holding piece 16 is inserted into the insertion hole 17a.
The adjusting mechanism is composed of fixing means for fixing the fixed holding piece 16 to the main body 17 in a state of protruding by an arbitrary amount from a. The invention of claim 3 is, for example, as shown in FIG.
Body B that can be attached to the work attachment of construction machinery
P, 21, the first and second holding pieces 24, 26 connected to the main body BP, 21 and the second holding piece by circularly moving the first holding piece 24 around the rotation axis on the main body. It is applied to a gripping device that is provided with the first lever mechanisms 22 and 25 that are brought into contact with and separated from the piece 26 and that holds the conveying material 201 between the first and second sandwiching pieces 24 and 26. Then, the first sandwiching piece 24
Of the second sandwiching piece 26 in a direction orthogonal to the direction of contact and separation with respect to the second sandwiching piece 26 and orthogonal to the rotation axis of the first sandwiching piece 24.
Second lever mechanism 32, 3 for moving the
3 and the first lever mechanism 22 so that the first holding piece 24 faces substantially the same position of the second holding piece 26 regardless of the distance between the first holding piece 24 and the second holding piece 26. , 25, and an interlocking mechanism 31 for operating the second lever mechanisms 32, 33 in conjunction with the operation of the first and second levers, 25, thereby solving the above-mentioned problems.

[0011]

According to the first aspect of the invention, the fixed holding piece 16 is arranged in the direction (B direction) which is orthogonal to the direction in which the movable holding piece 14 is moved in and out of contact with the fixed holding piece 16 and which is orthogonal to the rotation axis of the movable holding piece 14. The position is adjusted by the adjusting mechanism PN, 16b to 16d, 17b. For example, the fixed holding piece 1 so as to project in the B direction
In the case where the base end portion of 6 is inserted into the insertion hole 17a of the main body 17, the fixed holding piece 16 is fixed to the main body 17 in a state in which the fixed holding piece 16 projects from the insertion hole 17a by a predetermined amount. As a result, the position of the tip 16A of the fixed holding piece 16 is adjusted, and the movable holding piece 14 and the tip portions 14A, 16A of the fixed holding piece 16 are irrespective of the size of the conveying material 201 to be held.
It is possible to minimize the positional deviation of. In the invention of Claim 3, when the first lever mechanism 22, 25 causes the first holding piece 24 to move circularly about the rotation axis on the main body and is brought into contact with and separated from the second holding piece 26, The second lever mechanisms 32 and 33 are actuated by the interlocking mechanism 31, which is orthogonal to the direction of separation and contact of the first holding piece 24 with respect to the second holding piece 26, and is orthogonal to the rotation axis of the first holding piece 24. The second holding piece 26 is moved in the direction (B2 direction). At this time, the second lever mechanism 32, 33 has the first holding piece 24.
Irrespective of the distance between the second holding piece 26 and the first holding piece 24
The second holding member 26 so that the second holding member 26 faces the substantially same position.
Since the sandwiching piece 26 is moved in the B2 direction, the positional deviation between the tips of the first sandwiching piece 24 and the second sandwiching piece 26 can be minimized regardless of the size of the conveying material 201 to be gripped as described above. Can be reduced.

In the means and means for solving the above problems which explain the constitution of the present invention, the drawings of the embodiments are used for easy understanding of the present invention. However, the present invention is not limited to this.

[0013]

【Example】

-First Embodiment- A first embodiment of the present invention will be described with reference to Figs. FIG. 1 is a side view of a gripping device according to the present invention, and FIG. 2 is its II-II.
FIG. 9 is a front view seen from the line, and this gripping device 100 is shown in FIG.
It is attached to the arm tip of a hydraulic excavator as shown in.

Reference numeral BP is a rectangular base plate connected to the tip of the arm, and a pair of left and right brackets 11 are fixed to the base plate BP.
A lever 12 is rotatably connected to the upper part of each by a pin P1. A piston rod 13a of a hydraulic cylinder 13 fixed to a base plate BP is rotatably connected to a rear end portion of the lever 12 by a pin P2, and an upper end portion of a movable holding piece 14 is pinned to a tip end portion of the lever 12. It is rotatably connected by P3.

Reference numeral 15 denotes a link, one end of which is rotatably connected to the movable holding piece 14 and the other end of which is rotatably connected to the bracket 11 via pins P4 and P5, respectively, and the distance between the pins P1 and P4 and the pins P3 and P5. The intervals are the same. Therefore,
The link 15 and the lever 12 constitute a parallel link mechanism, and the action of the parallel link mechanism causes the movable holding piece 14 to make a circular motion while always maintaining the same posture, and a pair of fixed members provided at the lower end of the base plate BP. The clamp 16 is contacted and separated in the direction A in the figure.

Each fixed holding piece 16 is held by a cylindrical body 17 having a rectangular cross section which is fixed to the lower end of each bracket 11 and the base plate BP. That is, the insertion hole 17 of each cylindrical body 17
The base end portions of the fixed holding pieces 16 are inserted into a in the direction B in the drawing, that is, in the direction orthogonal to the direction in which the movable holding pieces 14 are brought into and out of contact with the fixed holding pieces 16, and in the direction orthogonal to the rotation axis of the movable holding pieces 14. It At that time, the upper gripping surface 16 of each fixed holding piece 16
a and the lower holding surface 14a of each movable sandwiching piece 14 face each other.

The fixed holding piece 16 is also capable of adjusting the amount of protrusion in the B direction from the cylindrical body 17 according to the size of the conveying material 201 to be held. That is, the fixed holding piece 16 has three pin holes 16b in the C direction along the longitudinal direction thereof.
On the other hand, one pin hole 17b communicating with the insertion hole 17a is formed on the side surface of the cylindrical body 17, while one of the pin hole 17b of the cylindrical body 17 and the fixed holding piece 16 is formed. By inserting the fixing pin PN through the pin hole,
The amount of protrusion of the fixed holding piece 16 from the cylindrical body 17 can be adjusted in three stages.

Next, the operation of gripping the conveying material (here, H steel) by the hydraulic excavator (handling machine) having the gripping device 100 and arranging it along the vertical wall will be described. First, the amount of protrusion of the fixed holding piece 16 from the cylindrical body 17 is adjusted according to the size of the conveying material 201 to be gripped. Here, a relatively large conveying material 201L (see FIG.
(A)) is to be held, and the fixed holding piece 16 is in the most protruding state. That is, the pin hole 16b on the most proximal end side of the fixed holding piece 16 and the pin hole 17a of the tubular body 17 are aligned, and the fixing pin PN is inserted into both holes to fix the fixed holding piece 16 in place.
Is fixed.

The boom 122 and the arm 123 (FIG. 8) of the hydraulic excavator in a state where the distance between the movable holding piece 14 and the fixed holding piece 16 is larger than the width of the conveying material 201L (the state shown by the solid line in FIG. 3A). Is operated to direct the gripping device 100 downward so as to face the conveying material 201L placed on the ground and then descend. Then, the gripping surfaces 16 of the pair of fixed holding pieces 16
One end surface of the conveying material 201L is brought into contact with a and the hydraulic cylinder 13 is extended. With the extension of the hydraulic cylinder 13, the lever 12 rotates around the pin P1, and accordingly, the movable holding piece 14 moves in a circular motion to approach the fixed holding piece 16. At this time, due to the action of the parallel link mechanism described above, the movable gripping piece 14 moves while its gripping surface 14a is held in a posture parallel to the gripping surface 16a of the fixed gripping piece 16.

As shown by the broken line in FIG. 3 (a), when the gripping surface of the movable holding piece 14 abuts on the conveying material 201L, that is, when the conveying material 201L is held by the pair of holding pieces 14 and 16, the cylinder is moved. Stop 13. At this time, since the protruding amount of the fixed holding piece 16 is adjusted corresponding to the large-sized conveying material 201L, there is almost no positional deviation in the B direction between the movable holding piece 14 and the tip portions 14A and 16A of the fixed holding piece 16. The conveying material 201L can be gripped in this state.

Then, the hydraulic excavator is moved and the boom 122 and the arm 123 are driven to hold the gripping device 1.
00 is oriented horizontally, and the conveying material 201L is arranged horizontally along the vertical wall in the same manner as shown in FIG.
As described above, the end portions 14A, 1 of the two sandwiching pieces 14, 16 are
Since there is almost no displacement of 6A in the B direction, the conveying material 201
The placement of L can be done without any trouble.

Next, the medium-sized conveying material 201M (see FIG. 3).
The case of carrying (b)) will be described. In this case, the pin hole 17b of the cylindrical body 17 and the fixed pinching piece 16 are set so that the amount of protrusion of the fixed pinching piece 16 from the bracket 11 is set to the middle position.
The fixing pin PN is inserted into the pin hole 16c in the middle of the above to fix the fixed holding piece 16. In this state, similarly to the above, one end surface of the conveying material 201M is brought into contact with the gripping surfaces 16a of the pair of fixed clamping pieces 16 and the hydraulic cylinder 13 is extended to cause both clamping pieces 14 and 16 to grasp the conveying material 201M.

Since the conveying material 201M is smaller than the conveying material 201L, the amount of rotation of the lever 12, that is, the movable holding piece 1
Although the amount of movement of 4 on the right side in the figure is larger than that described above, the amount of protrusion of the movable holding piece 16 is smaller than that described above so as to correspond to the hourly conveying material 201M. The conveying material 201M can be gripped in a state where there is almost no positional deviation between 14A and 16A in the B direction. Therefore, the work of horizontally arranging the conveying material 201M along the vertical wall can be performed without any trouble.

Further, a small conveying material 201S (FIG. 3 (c))
When transporting, the bracket 11 of the fixed holding piece 16
To minimize the amount of protrusion from the pin hole 1 of the cylindrical body 17.
7a and the pin hole 16d at the most distal end side of the fixed holding piece 16 are inserted through the fixing pin PN to fix the fixed holding piece 16, and in this state, the pair of holding pieces 14 and 16 hold the conveying material 201S. At this time, the amount of movement of the movable holding piece 14 to the right in the figure becomes larger than that in FIG. 3B, but the protruding amount of the movable holding piece 16 is smaller than that in FIG. 3B. Also, the conveying material 201S can be gripped in a state where there is almost no positional deviation in the B direction between the two end portions 14A and 16A of the sandwiching pieces. Therefore, the work of horizontally arranging the transport material 201S along the vertical wall can be performed without any trouble.

In the construction of the above embodiment, the base plate BP, the bracket 11 and the cylindrical body 17 constitute the main body of the gripping device, the fixing pin PN and the pin holes 16b to 16d, 17.
b constitutes an adjusting mechanism (fixing means).

-Second Embodiment- A second embodiment of the present invention will be described with reference to FIGS. In the first embodiment, an example in which the position of the fixed sandwiching piece 16 in the B direction is independently adjusted has been shown, but in this embodiment, the first sandwiching piece may be brought into contact with or separated from the second sandwiching piece. With the second
An example in which the position of the sandwiching piece in the B direction is automatically adjusted is shown. FIG. 4 is a perspective view of the gripping device in this embodiment, and FIG. 5 is a side view thereof. A pair of left and right brackets 2 are attached to the base plate BP connected to the tip of the arm of the hydraulic excavator.
1 is fixed, and levers 22 are provided on the tops of the brackets 21.
Are rotatably connected by pins P11. A piston rod 23a of a hydraulic cylinder 23 fixed to a base plate BP is rotatably connected to a rear end portion of each lever 22 by a pin P12, and a first pinching piece 24 (Fig. The upper end portion (corresponding to one movable holding piece) is rotatably connected by a pin P13.

Reference numeral 25 is a link, one end of which is rotatably connected to the first holding piece 24 and the other end of which is rotatably connected to the bracket 21 via pins P14 and P15, respectively.
The distance between 14 and the distance between pins P11 and P15 are the same. Therefore, the link 25 and the lever 22 constitute a parallel link mechanism (first parallel link mechanism), and the action of this parallel link mechanism causes the first holding piece 24 to make a circular motion while always maintaining the same posture.

A trunnion 22 is provided at an intermediate portion of the lever 22.
a, one end of the lever 31 is rotatably connected via a pin P16, and the other end of the lever 31 is rotatably connected to one end of a lever 32 via a pin P17. Lever 32
Has an intermediate portion rotatably connected to the bracket 21 via a pin P18, and the other end via a pin P19 to a second holding piece 26 (corresponding to the fixed holding piece in FIG. 1).
Is rotatably connected to.

One end of a lever 33 is rotatably connected to the base end portion of the second holding piece 26 via a trunnion 26b and a pin P20, and the other end of the lever 33 is connected to a base plate BP via a pin P21. It is rotatably connected to the plate member 34 fixed to the. The distance between the pins P18 and P21 and the distance between the pins P19 and P20 are the same, and therefore the lever 32 and the lever 33 form a parallel link mechanism (second parallel link mechanism). Due to the action of the second parallel link mechanism, the second holding piece 26 moves circularly while always maintaining the same posture (the holding surface 26a is parallel to the holding surface 24a of the first holding piece 24).

In the gripping device constructed as described above, when the cylinder 23 is extended in the state shown in FIG. 4, the first parallel link mechanism including the levers 22 and 25 is rotated counterclockwise to move the first parallel link mechanism. The first sandwiching piece 24 moves circularly while maintaining the posture shown in the drawing, and approaches the second sandwiching piece 26. on the other hand,
In conjunction with the rotation of the lever 22, the lever 31 moves to the pin P16.
It rotates clockwise in the clockwise direction, and with the rotation of the lever 31, the lever 32 rotates in the counterclockwise direction about the pin P18. As a result, the second parallel link mechanism composed of the levers 32 and 33 is actuated to rotate the second holding piece 26 in the counterclockwise direction while maintaining the illustrated posture.

As described above, as the cylinder 23 is extended, the first and second parallel link mechanisms act so that the first and second parallel link mechanisms operate.
Of the two clamping pieces 24, 26 synchronously circularly move in the counterclockwise direction, whereby the first clamping piece 24 moves in the B1 direction while moving in the A1 direction, and the second clamping piece 26 moves in the A2 direction. While moving to B1, it will move in the B1 direction.

Here, the first parallel link mechanism 22, 25
Is rotated from a substantially horizontal state, the moving amount of the first sandwiching piece 24, which is circularly moved at this time, is larger in the A1 direction than in the B1 direction, while the second parallel link mechanisms 32, 33 are moved.
Is rotated from a substantially vertical state, the amount of movement of the second holding piece 26 that makes a circular motion is greater in the B1 direction than in the A2 direction. Further, in the present embodiment, the amount of movement of the first sandwiching piece 24 in the B1 direction and the amount of movement of the second sandwiching piece in the B1 direction when gripping the conveying material 201 are substantially equal to each other. The length and mounting position are set. With this configuration, (1) the amount of movement of the second sandwiching piece 26 in the A2 direction relative to the movement of the first sandwiching piece 24 in the A1 direction is suppressed to a very small extent, and (2) the first sandwiching piece 24. While holding the state in which the gripping surface 24a of the second gripping surface 26a of the second gripping piece 26 faces substantially the same position, the gripping pieces 24, 2
6 moves. By the action of (1) above, the present gripping device has an effect as a single-acting type gripping device, that is, the conveying material 201
The effect that the position of the conveying material 201 can be easily adjusted for gripping the sheet can be obtained. Further, due to the action of (2), each of the front end portions 24 of the first and second holding pieces 24, 26 is irrespective of the size of the conveying material 201 to be gripped.
The positions of the A and 26A in the B direction can be substantially matched. Therefore, similarly to the first embodiment, the operation of horizontally arranging the grasped conveying material 201 along the vertical wall can be performed without any trouble.

In the structure of the above embodiment, the base plate B and the bracket 21 are the gripping device bodies BP and 21.
The first parallel link mechanism including the levers 22 and 25 is the first lever mechanism, the second parallel link mechanism including the levers 32 and 33 is the second lever mechanism 32 and 33, and the lever 31 is the interlocking mechanism. Respectively.

In the above description, the case where the H steel is gripped as the transport material has been described, but the present invention can be used when gripping the transport material other than the H steel. Further, the construction machine to which the gripping device according to the present invention is attached is not limited to the hydraulic excavator.

[0035]

According to the first aspect of the present invention, the position of the fixed holding piece can be adjusted in a direction orthogonal to the direction in which the movable holding piece is attached / detached to / from the fixed holding piece, and in a direction orthogonal to the rotation axis of the movable holding piece. Therefore, regardless of the size of the conveyed material to be gripped, it is possible to minimize the positional deviation between the tips of the fixed clamping piece and the movable clamping piece. As described above, the transportation material is arranged along the vertical wall. Work will not be hindered. According to the invention of claim 3, when the first holding piece is moved circularly about the rotation axis on the main body to be brought into contact with and separated from the second holding piece, the first holding piece is interlocked with the first holding piece. Since the second nipping piece is configured to move so as to face the substantially same position of the second nipping piece, the fixed nipping piece and the movable nipping piece are irrespective of the size of the conveying material to be grasped similarly to the above. It is possible to minimize the positional deviation of the front end of the sheet, and it does not hinder the work of arranging the conveying material along the vertical wall.

[Brief description of drawings]

FIG. 1 is a side view showing a gripping device according to a first embodiment of the present invention.

FIG. 2 is a front view seen from the line II-II in FIG.

FIG. 3 is a side view illustrating the operation of the first embodiment.

FIG. 4 is a perspective view showing a gripping device according to a second embodiment of the present invention.

5 is a side view of the gripping device of FIG.

FIG. 6 is a side view of a hydraulic excavator showing a conventional example of a gripping device.

FIG. 7 is a front view showing another conventional example of the gripping device.

FIG. 8 is a side view showing a handling machine including a conventional one-sided gripping device.

FIG. 9 is a diagram illustrating a conventional problem.

FIG. 10 is a diagram showing a working example of a handling machine including a gripping device.

[Explanation of symbols]

 11, 21 Bracket 12, 22, 25, 31, 32, 33 Lever 13, 23 Cylinder 14 Movable clamping piece 14A, 16A, 24A, 26A Clamping piece tip 14a, 16a, 24a, 26a Gripping surface 15 Link 16 Fixed clamping piece 16b 16d, 17b Pin hole 24 1st clamping piece 26 2nd clamping piece 201,201L, 201M, 201S Conveying material 100 Grasping device BP Base plate PN pin

Claims (3)

[Claims] 1. A main body attached to a work attachment of a construction machine, a fixed holding piece connected to the main body,
A gripping device that includes a movable gripping piece that moves in and out of contact with the fixed gripping piece by performing a circular motion about a rotation axis on the main body, and grips a conveying material between the both gripping pieces. A gripping device comprising: an adjusting mechanism that adjusts the position of the fixed sandwiching piece in a direction orthogonal to the direction in which the piece is attached to and detached from the fixed sandwiching piece and orthogonal to the rotation axis of the movable sandwiching piece. 2. A base end portion of the fixed gripping piece is formed so as to project in a direction orthogonal to a direction in which the movable gripping piece is attached to and detached from the fixed gripping piece, and in a direction orthogonal to a rotation axis of the movable gripping piece. The adjusting mechanism is configured to include a fixing unit that is inserted into the insertion hole of the main body and fixes the fixed holding piece to the main body in a state where the fixed holding piece protrudes from the insertion hole by an arbitrary amount. The gripping device according to claim 1. 3. A main body attached to a work attachment of a construction machine, first and second holding pieces connected to the main body, and a circular shape of the first holding piece about a rotation axis on the main body. A gripping device, which is provided with a first lever mechanism that moves and separates from and comes into contact with the second gripping piece, and grips a conveying material between the first and second gripping pieces. A second lever mechanism that moves the second holding piece relative to the main body in a direction that is orthogonal to the direction of separation and contact with the second holding piece and that is orthogonal to the rotation axis of the first holding piece. Interlocking with the operation of the first lever mechanism so that the first sandwiching piece faces substantially the same location of the second sandwiching piece regardless of the distance between the first sandwiching piece and the second sandwiching piece. And an interlocking mechanism for actuating the second lever mechanism. .