| 摘要 |
PROBLEM TO BE SOLVED: To provide a grasping device capable of aligning and grasping an article in an accurate position.SOLUTION: A grasping device 1 includes: a large cylinder 11 and a small cylinder 21 which are differed in size; a large piston 12 and a small piston 22 which are reciprocated by fluid pressure in the large cylinder 11 and the small cylinder 21; and a first chuck member 14 and a second chuck member 24 which are connected to the large piston 12 and the small piston 22, respectively, and can grasp and release an article according to the reciprocation of the large piston 12 and the small piston 22. The grasping device further includes an operation control unit 30 for controlling operations of the large piston 12 and the small piston 22. The operation control unit 30 controls, in the releasing operation of the first chuck member 14 and the second chuck member 24, the operations of the large piston 12 and the small piston 22 so that the second chuck member 24 starts to move first. |
