Suction gripper
Suction gripper 14 includes fixing member 1 including hole part 7 , grasping part 2 including a plurality of flexible and airtight bag parts 2 a and 2 b whose interiors are coupled together in the central axis direction of hole part 7 with fixing member 1 therebetween, the plurality of bag parts 2 a and 2 b being filled with powder 8 or particles and fluid, and hardening unit 3 configured to harden the plurality of bag parts 2 a and 2 b . Grasping part 2 has a configuration in which when a workpiece is pushed against any of the plurality of bag parts 2 a and 2 b , the contact portion with the workpiece conform to the shape of the workpiece while the other bag part expands in accordance with the deformation.
1. A suction gripper configured to grasp a workpiece, the suction gripper comprising:
a fixing member including a hole part;
a grasping part including a plurality of bag parts, the plurality of bag parts being disposed with the hole part interposed between the plurality of bag parts such that interiors of the plurality of bag parts are coupled together in a central axis direction of the hole part, the interiors of the plurality of bag parts being filled with powder or particles and fluid, the plurality of bag parts having flexibility and airtightness; and
a hardening unit configured to harden the plurality of bag parts,
wherein the grasping part has a configuration in which when the workpiece is pushed against any of the plurality of bag parts, the plurality of bag parts share the powder or the particles and fluid in the interiors with each other through the hole part such that a contact portion of the any of the plurality of bag parts with the workpiece deform to conform to a shape of the workpiece while another bag part of the plurality of bag parts expands in accordance with deformation of the contact portion.
2. The suction gripper according to claim 1 , wherein the plurality of bag parts is composed of one bag member extending through an interior of the hole part.
3. The suction gripper according to claim 1 , wherein the plurality of bag parts is composed of a plurality of bag members whose internal spaces are coupled together through the hole part, the plurality of bag members being fixed to the fixing member.
4. The suction gripper according to claim 1 , wherein the hardening unit depressurizes the plurality of bag parts to harden the plurality of bag parts.