JP7013183B2 - Grip tools and grip systems - Google Patents

Description

Embodiments of the present invention relate to gripping tools and gripping systems.

There is a gripping tool with a gripping portion provided with powder or granular material inside. In this gripping tool, the gripping portion is brought into contact with the work, and the inside of the gripping portion is depressurized and solidified to grip the work. In the gripping tool, it is desirable that the gripping force is high.

Japanese Unexamined Patent Publication No. 2012-176476

An object to be solved by the present invention is to provide a gripping tool and a gripping system capable of improving the gripping force.

The gripping tool according to the embodiment includes a gripping portion and a pressing member. The grip portion has a first portion in contact with the work, a second portion facing the first portion, and a powder or granular material provided between the first portion and the second portion. The grip has flexibility. The pressing member pushes the grip portion in a state where the outer periphery is held in a region inside the outer periphery toward a first direction from the second portion toward the first portion. The pressing member is provided outside the grip portion. The pressing member pushes the first portion toward the first direction via the second portion.

It is a perspective sectional view showing the gripping tool which concerns on 1st Embodiment. It is a perspective sectional view which shows the gripping part of the gripping tool which concerns on 1st Embodiment. It is a top view schematically showing the gripping tool which concerns on 1st Embodiment. It is sectional drawing which shows the gripping method by the gripping tool which concerns on 1st Embodiment. It is sectional drawing which shows the gripping mechanism of the gripping tool which concerns on 1st Embodiment. It is a perspective sectional view showing the gripping tool which concerns on 1st modification of 1st Embodiment. It is a perspective sectional view showing the gripping tool which concerns on the 2nd modification of 1st Embodiment. It is a perspective sectional view showing the gripping tool which concerns on 2nd Embodiment. It is sectional drawing which shows the gripping method by the gripping tool which concerns on 2nd Embodiment. It is sectional drawing which shows the gripping method by the gripping tool which concerns on a reference example. It is a schematic diagram which shows the structure of the gripping tool which concerns on the modification of 2nd Embodiment. It is sectional drawing which shows the gripping method by the gripping tool which concerns on the modification of 2nd Embodiment. It is a schematic diagram which shows the gripping system which concerns on 3rd Embodiment.

Hereinafter, each embodiment of the present invention will be described with reference to the drawings.
It should be noted that the drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the ratio of the sizes between the parts, and the like are not necessarily the same as the actual ones. Further, even when the same part is represented, the dimensions and ratios may be different from each other depending on the drawing.
Further, in the present specification and each figure, the same elements as those already described are designated by the same reference numerals, and detailed description thereof will be omitted as appropriate.

(First Embodiment)
FIG. 1 is a perspective sectional view showing a gripping tool 1 according to the first embodiment.
The gripping tool 1 according to the embodiment includes a gripping portion 10 having flexibility. A powder or granular material 15 is provided inside the grip portion 10.

Specifically, the gripping portion 10 has a first portion 11 that comes into contact with the work to be gripped, and a second portion 12 that faces the first portion 11. The first portion 11 and the second portion 12 are made of a flexible material such as a silicone resin, a rubber material, or an acrylic resin. The powder or granular material 15 is provided in the first space SP1 between the first portion 11 and the second portion 12. The grip portion 10 is configured such that the first portion 11 and the second portion 12 are joined to each other via, for example, an adhesive. The first portion 11 and the second portion 12 may be joined by thermocompression bonding.

The outer circumference of the first portion 11 and the outer circumference of the second portion 12 are held by the holding portion 20. As a result, the first space SP1 is separated from the external space. The holding portion 20 is, for example, an annular shape. By holding only the outer circumference of the grip portion 10 by the holding portion 20, the grip portion 10 can be deformed in the line direction connecting the first portion 11 and the second portion 12 inside the holding portion 20.

The line direction connecting the first portion 11 and the second portion 12 is, for example, along the vertical direction (vertical direction). The line directions connecting the first part 11 and the second part 12 are the first direction (downward) from the second part 12 to the first part 11 and the second direction from the first part 11 to the second part 12 (downward). Above) and includes. Hereinafter, each embodiment will be described using these “vertical directions”, “upper”, and “lower” based on the positional relationship between the first portion 11 and the second portion 12.

As an example, the holding portion 20 has a first flange 21 and a second flange 22. The first flange 21 abuts on the lower surface of the outer circumference of the first portion 11, and the second flange 22 abuts on the upper surface of the outer circumference of the second portion 12. The grip portion 10 is held by fastening the first flange 21 and the second flange 22 with a fastener 23 such as a screw.

For example, the holding unit 20 is connected to the driving unit 90 via the connecting member 25. The drive unit 90 has an actuator or the like, and operates based on a signal sent from the control unit 80, which will be described later. Further other members may be connected between the drive unit 90 and the connecting member 25. When the drive unit 90 operates, the grip unit 10 moves in the horizontal direction or the vertical direction.

FIG. 2 is a perspective sectional view showing a grip portion 10 of the grip tool 1 according to the first embodiment.
In FIG. 2, the first portion 11 and the second portion 12 of the grip portion 10 are shown separately.

As shown in FIG. 2, the first portion 11 has a concave portion 11r and a convex portion 11p. The recess 11r is recessed upward and is provided on the center side of the grip portion 10. The convex portion 11p projects downward and is provided around the concave portion 11r. The convex portion 11p and the concave portion 11r are continuous.

The upper surface of the concave portion 11r is in contact with the second portion 12, and the convex portion 11p is separated from the second portion 12 in the vertical direction. In the gripping tool 1 illustrated in FIGS. 1 and 2, the first space SP1 is formed between the convex portion 11p and the second portion 12.

Below the first portion 11, a second space SP2 surrounded by the concave portion 11r and the convex portion 11p is formed. Specifically, the upper part of the second space SP2 is covered with the concave portion 11r, and the side of the second space SP2 is surrounded by the convex portion 11p. The lower part of the second space SP2 is open. As will be described later, when the work to be gripped is located below the second space SP2, the second space SP2 is closed with respect to the external space.

As shown in FIGS. 1 and 2, the grip portion 10 further includes a first port 31 and a second port 32. The first port 31 communicates with the first space SP1. The second port 32 penetrates the recess 11r of the first portion 11 and the second portion 12, and communicates with the second space SP2. A first pipe 41 for reducing the pressure in the first space SP1 is connected to the first port 31. A second pipe 42 for reducing the pressure in the second space SP2 is connected to the second port 32.

As shown in FIG. 1, the gripping tool 1 further includes a pressing member 50. The pressing member 50 includes a driving portion (not shown) and is movable in the vertical direction with respect to the grip portion 10. The pressing member 50 is provided, for example, on the upper side of the second portion 12, and the second portion 12 is located between the first portion 11 and the pressing member 50.

The pressing member 50 has a pressing portion 51 that comes into contact with the grip portion 10 (second portion 12). As the pressing member 50 moves downward with respect to the grip portion 10, the grip portion 10 is pressed downward by the pressing portion 51. The pressing portion 51 is separated from the first port 31, the second port 32, and the holding portion 20, and pushes the grip portion 10 at a position away from these.

FIG. 3 is a plan view schematically showing the gripping tool 1 according to the first embodiment.
The pressing portion 51 pushes the grip portion 10 downward, for example, around the second port 32.
For example, as shown in FIG. 3A, the outer shape of the pressing portion 51 is annular when viewed from above. As shown in FIG. 3B, the outer shape of the pressing portion 51 may be polygonal when viewed from above.
Alternatively, the pressing member 50 may have a plurality of pressing portions 51. The plurality of pressing portions 51 are arranged in the circumferential direction along the convex portion 11p and the fixing member 20. For example, as shown in FIG. 3C, the plurality of pressing portions 51 are arranged in an annular shape when viewed from above. As shown in FIG. 3D, the plurality of pressing portions 51 may be arranged in a polygonal shape when viewed from above.

FIG. 4 is a cross-sectional view showing a gripping method by the gripping tool 1 according to the first embodiment.
FIG. 4 shows an example in which a flat plate-shaped work W is gripped by the gripping tool 1.

First, as shown in FIG. 4A, the horizontal position of the grip portion 10 and the horizontal position of the work W are matched. Next, as shown in FIG. 4B, the grip portion 10 is lowered toward the work W. At this time, the pressing member 50 may be lowered together with the grip portion 10 or may be stopped.

The grip portion 10 has flexibility. Therefore, when the grip portion 10 comes into contact with the work W, the convex portion 11p of the first portion 11 is deformed along the shape of the work W. Further, at this time, the open second space SP2 is closed by the work W.

Next, the lowering of the grip portion 10 is stopped. As shown in FIG. 4C, the pressing member 50 is lowered, and the second portion 12 is pushed downward by the pressing portion 51. When the second portion 12 is pushed downward, the powder or granular material 15 and the first portion 11 are pushed downward, and the first portion 11 is further deformed along the shape of the work W.

Next, the pressure of the first space SP1 is reduced through the first port 31 and the first pipe 41. The first space SP1 is depressurized to, for example, about 0.1 atm. As a result, the powder or granular material 15 of the first space SP1 aggregates and solidifies, and as shown in FIG. 4D, the shape of the grip portion 10 is fixed.

Next, the pressing member 50 is raised and separated from the grip portion 10. Subsequently, the pressure of the second space SP2 is reduced through the second port 32 and the second pipe 42. The second space SP2 is depressurized to, for example, about 0.1 atm. As a result, the work W is attracted toward the second space SP2, and the work W is gripped.

After that, the gripping tool 1 is raised to lift the work W, and the gripping tool 1 is moved in the horizontal direction. After the work W is transported to a predetermined position, the gripping force is lost by opening the first space SP1 and the second space SP2 to the atmosphere, and the work W is released from the gripping tool 1.
By the above method, the work W to be gripped can be conveyed to a predetermined position.

FIG. 5 is a cross-sectional view showing a gripping mechanism of the gripping tool 1 according to the first embodiment.
In FIG. 5, the grip portion 10 of the grip tool 1 is partially simplified.

In the gripping tool 1 according to the embodiment, as shown in FIG. 5A, the outer periphery of the gripping portion 10 is held by the holding portion 20. Therefore, as shown in FIG. 5B, when the grip portion 10 is brought into contact with the work W, the grip portion 10 can be deformed upward with respect to the work W.

In this state, by sucking air through the first port 31 and the second port 32, as shown in FIG. 5C, the grip portion 10 is further deformed upward with respect to the work W, while the grip portion 10 is further deformed. The contact area between the work W and the work W increases.

In this way, the grip portion 10 is held so as to be deformably upward with respect to the work W, so that the gripping force when the work W is gripped by the grip portion 10 can be increased.

The effect of the first embodiment will be described.
According to the gripping tool 1 according to the first embodiment, after the gripping portion 10 is brought into contact with the work W, the gripping portion 10 can be pushed toward the work by the pressing member 50. When the grip portion 10 is pushed by the pressing member 50, the grip portion 10 is deformed more greatly along the shape of the work W. As a result, the contact area between the grip portion 10 and the work W can be increased. Further, the gap between the grip portion 10 and the work W can be reduced, and when the pressure of the second space SP2 is reduced, the inflow of air from the outside into the second space SP2 can be suppressed. That is, according to the first embodiment, it is possible to improve the gripping force of the gripping tool 1.

It is desirable that the pressing portion 51 of the pressing member 50 has the configuration shown in any of FIGS. 3A to 3D. According to these configurations, the grip portion 10 can be pushed more evenly around the second port 32. As a result, the contact area between the grip portion 10 and the work W can be further increased, and the gap between the grip portion 10 and the work W can be further reduced. Therefore, the gripping force of the gripping tool 1 can be further increased.

The pressing member 50 may be provided inside the grip portion 10, but it is desirable that the pressing member 50 is provided outside the grip portion 10. If the pressing member 50 is provided inside the grip portion 10, the fluidity of the powder or granular material 15 may decrease, and the gripping force of the gripping tool 1 may decrease. By providing the pressing member 50 outside the grip portion 10, the gripping force of the gripping tool 1 can be further increased.

(First modification)
FIG. 6 is a perspective sectional view showing a gripping tool 1a according to a first modification of the first embodiment.
In the gripping tool 1a, the pressing member 50 has a second pipe 42. The lower end of the second pipe 42 is connected to the second port 32. By moving the pressing member 50 downward with respect to the grip portion 10, the second port 32 and the recess 11r are pushed downward via the second pipe 42. That is, in the gripping tool 1a, the pressing member 50 is provided integrally with the means for exhausting the second space SP2, and the lower portion of the pipe 42 functions as the pressing portion 51.

By providing the pressing member 50 integrally with the exhaust means, the gripping tool can be miniaturized as compared with the case where the pressing member 50 and the exhaust means are separately provided.

(Second modification)
FIG. 7 is a perspective sectional view showing a gripping tool 1b according to a second modification of the first embodiment.
The gripping tool 1b shown in FIG. 7 has a different shape of the gripping portion 10 as compared with the gripping tool 1, and does not have the second port 32. Similarly to the gripping tool 1, the gripping tool 1b also pushes the gripping portion 10 downward by the pressing member 50 when gripping the work. This makes it possible to increase the gripping force when gripping the work.

(Second Embodiment)
FIG. 8 is a perspective sectional view showing the gripping tool 2 according to the second embodiment.
The gripping tool 2 includes, for example, the same components as the gripping tool 1. However, in the gripping tool 1, the direction from the second portion 12 to the first portion 11 is downward, whereas in the gripping tool 2, the direction from the second portion 12 to the first portion 11 is upward. ..

In the gripping tool 2, for example, as shown in FIG. 8, the first portion 11 (convex portion 11p) is recessed downward due to its own weight. In the gripping tool 2, the pressing member 50 functions as a displacement mechanism that displaces at least a part of the recessed first portion 11 upward.

FIG. 9 is a cross-sectional view showing a gripping method by the gripping tool 2 according to the second embodiment.
As shown in FIGS. 8 and 9A, when the gripping tool 1 is facing upward, the first portion 11 is recessed downward due to its own weight.

From this state, as shown in FIG. 9B, the gripping portion 10 is pushed upward by the pressing member 50. As a result, the first portion 11 is pushed upward, and at least a part of the first portion 11 is displaced upward.

With the grip portion 10 pushed by the pressing member 50, the lower surface of the work W and the first portion 11 are brought into contact with each other as shown in FIG. 9 (c). For example, by lowering the work from above the grip portion 10 toward the grip portion 10, the lower surface of the work W is brought into contact with the first portion 11. Alternatively, the first portion 11 may be brought into contact with the lower surface of the work W by raising the grip portion 10 toward the work W. Since the grip portion 10 has flexibility, the grip portion 10 is deformed along the shape of the work when it comes into contact with the work W.

After the work W comes into contact, the pressing member 50 is moved downward with respect to the grip portion 10 as shown in FIG. 9D. As a result, the work W sinks toward the grip portion 10, and the grip portion 10 is further deformed along the shape of the work W, increasing the contact area between the grip portion 10 and the work W.

After that, the pressure of the first space SP1 in the grip portion 10 is reduced through the first port 31. For example, the first space SP1 is depressurized to about 0.1 atm. As a result, the powder or granular material 15 of the first space SP1 aggregates and solidifies. Subsequently, the pressure of the second space SP2 surrounded by the grip portion 10 and the work W is reduced through the second port 32. For example, the second space SP2 is depressurized to about 0.1 atm. As a result, the work W is attracted and held toward the second space SP2.

FIG. 10 is a cross-sectional view showing a gripping method using the gripping tool 2r according to the reference example.
The effect of the second embodiment will be described with reference to FIG. The gripping tool 2r according to the reference example shown in FIG. 10 does not include the pressing member 50.

As shown in FIG. 10A, in a state where the gripping tool 2r is arranged upward, the first portion 11 is recessed downward due to the weight. When the first portion 11 comes into contact with the work W in this state, a gap G is formed between the first portion 11 and the work W as shown in FIG. 10 (b). Therefore, the contact area between the first portion 11 and the work W is reduced by the amount of the gap G. Further, when the pressure of the second space SP2 inside the grip portion 10 is reduced in the state shown in FIG. 10B, air flows in from the outside through the gap G, and the pressure of the second space SP2 cannot be sufficiently reduced. As a result, the holding of the work W may become unstable.

On the other hand, in the gripping tool 2 according to the second embodiment, the gripping portion 10 can be pushed from below by the pressing member 50, and at least a part of the first portion 11 can be displaced upward. By displacing at least a part of the first portion 11 upward before the grip portion 10 comes into contact with the work W, the gap when the grip portion 10 and the work W come into contact with each other can be reduced. As a result, the grip portion 10 makes it possible to hold the work W more stably.

Further, if the first portion 11 faces upward, when the first portion 11 is deformed by its own weight, the upper end of the second space SP2 surrounded by the recess 11r may be blocked. When the first portion 11 is deformed and the second space SP2 is closed, when the pressure of the second space SP2 is reduced, the work is not attracted toward the second space SP2, and the force for holding the work is greatly reduced. ..
To solve this problem, the radial distance D1 between the concave portion 11r and the pressing portion 51 of the pressing member 50 is made shorter than the radial distance D2 between the outer circumference of the convex portion 11p and the pressing portion 51. Is preferable. The radial direction is a direction from the inside to the outside of the grip portion 10 and perpendicular to the vertical direction.
According to this configuration, since the inner side of the first portion 11 is displaced upward by the pressing member 50, the second space SP2 is less likely to be blocked by the first portion 11. This makes it possible to hold the work more stably.

8 and 9 show an example in which the pressing member 50 and the exhaust means are separately provided. The gripping tool according to the second embodiment is not limited to this example. In the gripping tool 2, as shown in FIG. 6, the pressing member 50 and the exhaust means may be integrally provided. Alternatively, the gripping tool 2 may not be provided with the second port 32 as shown in FIG. In either form, the grip portion 10 is pushed from below by the pressing member 50, and at least a part of the first portion 11 is displaced upward, so that the work can be held more stably.

(Modification example)
FIG. 11 is a schematic diagram showing the configuration of the gripping tool 2a according to the modified example of the second embodiment.
The gripping tool 2a includes a pump unit 70 as a displacement mechanism for displacing the recessed first portion 11 upward.

The pump unit 70 includes, for example, a first pump 71, a first flow meter 72, a second pump 73, a second flow meter 74, a pressure regulating valve 75, a switching valve 76, a valve 77, and a pressure gauge 78.

The valve 77 and the pressure gauge 78 are provided in the air passage P1. At least a part of the ventilation path P1 is composed of, for example, a first pipe 41. The pressure gauge 78 is provided between the first space SP1 and the valve 77. The valve 77 is provided between the switching valve 76 and the pressure gauge 78. The ventilation passage P1 is branched into the ventilation passage P2 and the ventilation passage P3 by, for example, a switching valve 76.

The first pump 71 is connected to the ventilation path P2. The first flow meter 72 is provided on the ventilation path P2 and is provided between the first pump 71 and the switching valve 76.
The second pump 73 is connected to the ventilation path P3. The second flow meter 74 and the pressure regulating valve 75 are provided on the air passage P3. The pressure regulating valve 75 is provided between the second pump 73 and the switching valve 76, and the second flow meter 74 is provided between the pressure regulating valve 75 and the switching valve 76.

For example, the first pump 71 sucks air through the air passage P1 and the air passage P2 and decompresses the first space SP1. The first flow meter 72 detects and adjusts the flow rate in the ventilation path P2.
For example, the second pump 73 takes in air from the outside and sends air to the air passage P1 and the air passage P2 to pressurize the first space SP1. The second flow meter 74 detects and adjusts the flow rate in the ventilation path P3. The pressure regulating valve 75 includes a pressure gauge and adjusts the pressure applied from the second pump 73 to a range that can be measured by the second flow meter 74.

The first flow meter 72 and the second flow meter 74 include an electromagnetic flow meter, a Karman vortex flow meter, an impeller type flow meter, a float type flow meter, a thermal type flow meter, a diaphragm type flow meter, and an ultrasonic type. A flow meter, a Koriori type flow meter, or the like can be used.
As the pressure gauge 78, a Bourdon tube pressure gauge, a diaphragm type pressure gauge, a bellows pressure gauge, a liquid column pressure gauge, or the like can be used.

The switching valve 76 includes a solenoid valve (not shown), an electric valve, an electronic flow rate adjusting valve, a constant flow rate valve, and the like. The switching valve 76 connects the ventilation passage P1 and one of the ventilation passages P2 and P3. The switching valve 76 switches between a state in which the first space SP1 is depressurized and a state in which the first space SP1 is pressurized. By opening and closing the valve 77, it is possible to switch between a state in which gas flows through the ventilation path P1 and a state in which gas does not flow through the ventilation path P1. The pressure gauge 78 detects the pressure in the air passage P1.

The operation of each component of the pump unit 70 is controlled by the control unit 80. The control unit 80 is electrically connected to the pump unit 70 and the drive unit 90. The detection results of the first flow meter 72, the second flow meter 74, and the pressure gauge 78 are transmitted to the control unit 80. The control unit 80 controls the operation of each component of the pump unit 70 and the operation of the drive unit 90 based on these detection results.

FIG. 12 is a cross-sectional view showing a gripping method using the gripping tool 2a according to the modified example of the second embodiment.
In the state where the first portion 11 shown in FIG. 12A is recessed, the pump unit 70 is driven to pressurize the first space SP1 through the first port 31. As a result, as shown in FIG. 12 (b), the grip portion 10 swells, and at least a part of the first portion 11 is displaced upward. In this state, as shown in FIG. 12 (c), the first portion 11 and the work W are brought into contact with each other. After the work W comes into contact with the first portion 11, the pressure in the first space SP1 is reduced. As a result, as shown in FIG. 12 (d), the work W sinks toward the grip portion 10, and the grip portion 10 is further deformed along the shape of the work W, so that the grip portion 10 and the work W come into contact with each other. The area increases.

After that, the pressure of the first space SP1 is reduced through the first port 31, and then the pressure of the second space SP2 is reduced through the second port 32. As a result, the work W is attracted and held toward the second space SP2.

(Third Embodiment)
FIG. 13 is a schematic view showing the gripping system 3 according to the third embodiment.
The gripping system 3 according to the third embodiment includes a gripping tool 1, a pump unit 70, a pump unit 70a, a control unit 80, and a transfer robot (drive unit) 90.

The transfer robot 90 has an arm 90a. The arm 90a has, for example, a plurality of joints, and the gripping tool 1 is attached to the tip thereof. The transfer robot 90 operates the arm 90a according to a command from the control unit 80 to grip and transfer the work W.

The pump unit 70 is connected to the first pipe 41 of the gripping tool 1 shown in FIG. The pump unit 70a is connected to the second pipe 42 of the gripping tool 1. By driving the pump units 70 and 70a according to the command from the control unit 80, the first space SP1 and the second space SP2 are decompressed or opened to the atmosphere.

The control unit 80 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a non-volatile flash memory, and the like. In the CPU, various arithmetic processes in the control unit 80 are executed. Various control algorithms, various constants, and the like necessary for the operation of the gripping system 3 are stored in the ROM. In the flash memory, the transport procedure of the work W, the transport status, and the like are appropriately stored and stored.

The control unit 80 sends commands to the pressing member 50, the pump unit 70, the pump unit 70a, and the transfer robot 90 according to the transfer procedure stored in the flash memory, and controls these operations.

When the gripping system 3 is provided with the gripping tool 1 having high gripping performance, the work W can be gripped and conveyed more reliably. The gripping system 3 may include gripping tools 1a, 1b, 2, or 2b instead of the gripping tool 1. When the gripping system 3 includes the gripping tool 1b, the gripping system 3 does not have to include the pump unit 70a.

Although some embodiments of the present invention have been exemplified above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, changes, and the like can be made without departing from the gist of the invention. These embodiments and variations thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof. In addition, each of the above-described embodiments can be implemented in combination with each other.

1, 1a, 1b, 2, 2a, 2r gripping tool, 3 gripping system, 10 gripping part, 11 1st part, 11p convex part, 11r concave part, 12 2nd part, 15 powder granules, 20 holding part, 23 fastening Tools, 25 connecting members, 31 1st port, 32 2nd port, 41 1st piping, 42 2nd piping, 50 pressing members, 51 pressing parts, 70, 70a pump unit, 80 control unit, 90 transfer robot (drive unit) ), P1 to P3 ventilation passage, SP1 first space, SP2 second space

Claims (17)

It has a first portion in contact with the work, a second portion facing the first portion, and a powder or granular material provided between the first portion and the second portion, and has flexibility. With the grip part to have
A pressing member that pushes the grip portion in a state where the outer periphery is held in a region inside the outer periphery in a first direction from the second portion toward the first portion.
Equipped with
The pressing member is provided outside the grip portion and is provided.
The pressing member is a gripping tool that pushes the first portion toward the first direction via the second portion . It has a first portion in contact with the work, a second portion facing the first portion, and a powder or granular material provided between the first portion and the second portion, and has flexibility. With the grip part to have
It is relatively movable with respect to the first portion and the second portion in the direction connecting the first portion and the second portion, and the said toward the first direction from the second portion toward the first portion. A pressing member that pushes the grip and
Grip tool with. The pressing member is provided outside the grip portion and is provided.
The gripping tool according to claim 2 , wherein the pressing member pushes the first portion toward the first direction via the second portion. The pressing member has a pressing portion that comes into contact with the grip portion.
The gripping tool according to claim 1 or 3, wherein the pressing portion is provided in an annular shape. The pressing member has a plurality of pressing portions that come into contact with the grip portion.
The gripping tool according to claim 1 or 3, wherein the plurality of pressing portions are arranged in an annular shape. The first part is
A recess recessed in the second direction opposite to the first direction,
A convex portion provided around the concave portion and protruding in the first direction, and a convex portion
Have,
The gripping tool according to any one of claims 1 to 3, wherein the powder or granular material is provided between the convex portion and the second portion. A first port communicating with a first space between the first portion and the second portion,
A second port communicating with the recess and the second space surrounded by the protrusion,
Further prepare
The gripping tool according to claim 6, wherein the pressing member pushes the gripping portion at a position separated from the first port and the second port. It has a first portion in contact with the work, a second portion facing the first portion, and a powder or granular material provided between the first portion and the second portion, and has flexibility. With the grip part to have
A pressing member that pushes the grip portion in a state where the outer periphery is held in a region inside the outer periphery in a first direction from the second portion toward the first portion.
A first port communicating with a first space between the first portion and the second portion,
A second port communicating with the recess and the second space surrounded by the protrusion,
Equipped with
The first part is
A recess recessed in the second direction opposite to the first direction,
A convex portion provided around the concave portion and protruding in the first direction, and a convex portion
Have,
The powder or granular material is provided between the convex portion and the second portion, and is provided.
The pressing member is a gripping tool that pushes the gripping portion at a position separated from the first port and the second port. The gripping tool according to claim 7, wherein the pressing member has a pressing portion that contacts the grip portion around the second port. A first port communicating with a first space between the first portion and the second portion,
A second port communicating with the recess and the second space surrounded by the protrusion,
Further prepare
The gripping tool according to claim 6, wherein the pressing member has a pipe connected to the second port and pushes the second port through the pipe. It has a first portion in contact with the work, a second portion facing the first portion, and a powder or granular material provided between the first portion and the second portion, and has flexibility. With the grip part to have
A pressing member that pushes the grip portion in a state where the outer periphery is held in a region inside the outer periphery in a first direction from the second portion toward the first portion.
Equipped with
The first part is
A recess recessed in the second direction opposite to the first direction,
A convex portion provided around the concave portion and protruding in the first direction, and a convex portion
Have,
The powder or granular material is provided between the convex portion and the second portion, and is provided.
The pressing member has a pipe connected to the second port, and is a gripping tool that pushes the second port through the pipe. The gripping tool according to any one of claims 1 to 11 , further comprising a pump unit that pressurizes a first space between the first portion and the second portion. It has a first portion in contact with the work, a second portion facing the first portion, and a powder or granular material provided between the first portion and the second portion, and has flexibility. With the grip part to have
It has an annular pressing portion that contacts the grip portion, is movable with respect to the grip portion, is provided outside the grip portion, and is directed toward a first direction from the second portion toward the first portion. , A pressing member that pushes the first portion through the second portion,
Grip tool with. It has a first portion in contact with the work, a second portion facing the first portion, and a powder or granular material provided between the first portion and the second portion, and has flexibility. With the grip part to have
A second portion having a plurality of annularly arranged pressing portions in contact with the grip portion, movable with respect to the grip portion, provided outside the grip portion, and directed from the second portion to the first portion. A pressing member that pushes the first portion through the second portion in one direction.
Grip tool with. A flexible grip portion having a first portion in contact with the work and a second portion facing the first portion, wherein the first portion is a flexible portion.
A recess recessed in a second direction opposite to the first direction from the second portion to the first portion,
A convex portion provided around the concave portion and protruding in the first direction, and a convex portion
The grip portion and the grip portion, wherein the powder or granular material is provided between the convex portion and the second portion.
A pressing member that is movable with respect to the grip portion and pushes the grip portion toward the first direction.
A first port communicating with a first space between the first portion and the second portion,
A second port communicating with the recess and the second space surrounded by the protrusion,
Equipped with
The pressing member is a gripping tool that pushes the gripping portion at a position separated from the first port and the second port. The gripping tool according to any one of claims 1 to 15, further comprising a holding portion for holding the outer circumference of the first portion and the outer circumference of the second portion. A robot mechanism with an arm and
The gripping tool according to any one of claims 1 to 16, which is attached to the tip of the arm.
Grip system with.

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