| 摘要 |
<p>A gripping device is provided with a gripping unit comprising a plurality of claws for clamping a workpiece, and a plurality of contact sections which are attached at the sites where the plurality of claws contact the workpiece and which are provided with a saccate member configured from an elastic material and a particulate matter that is filled into the saccate member. The gripping unit grips the workpiece by displacing the plurality of claws so as to clamp the workpiece by means of the plurality of contact sections, and then increasing the volume ratio of the particulate matter relative to the internal volume of the saccate member so that the particulate matter is held and hardened in a shape conforming to the outer surface shape of the workpiece. The gripping unit is preferably provided with a regulating member that is contiguous with the front surface of the saccate member, which is the site where the saccate member contacts the workpiece, and regulates the positions of the side surfaces, which are sites formed substantially orthogonal to the front section. By increasing the thickness of the contact sections in the clamping direction, it is possible to prevent the contact sections from sagging downwards and to allow the conformance of the contact sections to the protrusions and recesses of the workpiece without gaps therebetween.</p> |
