Gripping tool, gripping system, and method for manufacturing gripper

A gripping system, comprising:

• a robot mechanism including an arm;
• a gripping tool mounted to a tip of the arm, the gripping tool comprising:
• a gripper, the gripper being flexible;
• and
• a granular material provided in an interior of the gripper, wherein
• the gripping tool is configured to grip a workpiece by depressurizing the interior of the gripper in a state in which the gripper is caused to contact the workpiece,
• the gripper includes:
• a first portion configured to contact the workpiece;
• a second portion opposing the first portion;
• and
• a fibrous membrane having a plurality of pores and provided between the first portion and the second portion,
• a diameter of at least a portion of the pores is smaller than a diameter of the granular material, and
• the granular material is provided between the fibrous membrane and the second portion;
• a first depressurizing apparatus connected to a first space, the first space being between the first portion and the second portion, and the first depressurizing apparatus being configured to depressurize the first space;
• and
• a controller configured to control operations of the robot mechanism and the first depressurizing apparatus.

A method for manufacturing a gripper, the gripper being flexible and a granular material being provided in an interior of the gripper, the method comprising:

• forming a fibrous membrane including a plurality of fibers on one of a first mold or a second mold, the first mold and the second mold being configured to engage each other;
• peeling the fibrous membrane from the one of the first mold or the second mold;
• disposing a resin material including a high polymer material on one of the first mold or the second mold;
• causing the first mold and the second mold to engage;
• curing the resin material filled between the first mold and the second mold;
• and
• adhering the fibrous membrane to a surface of the cured resin material where the first mold was disposed.

A gripping tool, comprising:

• a gripper, the gripper being flexible;
• and
• a granular material provided in an interior of the gripper, wherein
• the gripping tool is configured to grip a workpiece by depressurizing the interior of the gripper in a state in which the gripper is caused to contact the workpiece,
• the gripper includes:
• a first portion configured to contact the workpiece;
• a second portion opposing the first portion;
• and
• a fibrous membrane having a plurality of pores and provided between the first portion and the second portion,
• the first portion includes:
• a concave portion recessed toward a first direction, the first direction extending from the first portion toward the second portion;
• and
• a convex portion protruding toward a second direction and provided around the concave portion, the second direction being opposite to the first direction,
• at least a portion of the fibrous membrane is provided along the convex portion,
• a diameter of at least a portion of the pores is smaller than a diameter of the granular material,
• the granular material is provided between the fibrous membrane and the second portion,
• the gripping tool further comprises a port penetrating the second portion and the concave portion and communicating with a space surrounded with the concave portion and the convex portion, and
• a dimension of the concave portion in a direction perpendicular to the first direction is longer than a dimension of a penetrated part of the second portion in the perpendicular direction.

A gripping tool, comprising:

• a gripper, the gripper being flexible;
• and
• a granular material provided in an interior of the gripper, wherein
• the gripping tool is configured to grip a workpiece by depressurizing the interior of the gripper in a state in which the gripper is caused to contact the workpiece,
• the gripper includes:
• a first portion configured to contact the workpiece;
• a second portion opposing the first portion;
• and
• a fibrous membrane having a plurality of pores and provided between the first portion and the second portion,
• a diameter of at least a portion of the pores is smaller than a diameter of the granular material,
• the granular material is provided between the fibrous membrane and the second portion,
• the first portion and the fibrous membrane include a portion curved to be convex in a direction away from the second portion, and
• the granular material is provided inside the portion of the fibrous membrane curved to be convex.

A gripping tool, comprising:

• a gripper, the gripper being flexible;
• and
• a granular material provided in an interior of the gripper, wherein
• the gripping tool is configured to grip a workpiece by depressurizing the interior of the gripper in a state in which the gripper is caused to contact the workpiece,
• the gripper includes:
• a first portion configured to contact the workpiece;
• a second portion opposing the first portion;
• and
• a fibrous membrane having a plurality of pores and provided between the first portion and the second portion,
• a diameter of at least a portion of the pores is smaller than a diameter of the granular material,
• the granular material is provided between the fibrous membrane and the second portion,
• the fibrous membrane includes a plurality of resin fibers, and
• a diameter of each of the resin fibers is not less than 50 nm and not more than 10 μm.

A gripping tool, comprising:

• a gripper, the gripper being flexible;
• and
• a granular material provided in an interior of the gripper, wherein
• the gripping tool is configured to grip a workpiece by depressurizing the interior of the gripper in a state in which the gripper is caused to contact the workpiece,
• the gripper includes:
• a first portion configured to contact the workpiece;
• a second portion opposing the first portion;
• and
• a fibrous membrane having a plurality of pores and provided between the first portion and the second portion,
• a diameter of at least a portion of the pores is smaller than a diameter of the granular material,
• the granular material is provided between the fibrous membrane and the second portion, and
• the fibrous membrane includes a polymer material comprising at least one selected from polypropylene, polyethylene, polystyrene, polyethylene terephthalate, polyvinyl chloride, polycarbonate, nylon, aramid, polyacrylate, polymethacrylate, polyimide, polyamide-imide, polyvinylidene fluoride, and polyethersulfone.