Gripping tool, gripping system, and evaluation method of gripping performance
AssigneeKabushiki Kaisha Toshiba
InventorsHiromasa Takahashi, Emiko Ishida
Life of this patent
Estimating the term…
Abstract
According to one embodiment, a gripping tool includes a gripper. The gripper is flexible. A granular material is provided in an interior of the gripper. The gripping tool grips 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 contacting the workpiece, and a second portion opposing the first portion. The granular material is provided in a first space between the first portion and the second portion. A hardness of at least a portion of the first portion is less than 46.9.
Claims15
A gripping tool, comprising:
- a gripper including
- a first portion being flexible, and
- a second portion being flexible and opposing the first portion;
- a holder holding an outer perimeter of the first portion and an outer perimeter of the second portion;
- and
- a granular material provided in a first space between the first portion and the second portion, wherein
- the gripping tool grips a workpiece by depressurizing the first space in a state in which the first portion is caused to contact the workpiece,
- the second portion is configured to be more deformable than the holder toward a first direction when the first portion is deformed by being caused to contact the workpiece,
- the first direction is from the first portion toward the second portion,
- a hardness of at least a portion of the first portion is less than 46.9.
A method of evaluating gripping performance of a gripping tool gripping and lifting an object, the method comprising:
- changing a curvature of an object to be gripped while measuring a gripping force of the gripping tool at each of a plurality of curvatures;
- and
- defining an integral of the gripping force over the curvature to be the gripping performance, wherein
- the gripping tool includes a gripper,
- the gripper is flexible,
- a granular material is provided in an interior of the gripper,
- the gripping tool grips the object by solidifying the granular material by depressurizing the interior in a state in which the gripper is caused to contact the object,
- a hardness of the gripper is changed while evaluating the gripping performance at each of the hardnesses.
A gripping tool, comprising:
- a gripper including
- a first portion being flexible, and
- a second portion being flexible and opposing the first portion;
- and
- a granular material provided in a first space between the first portion and the second portion, wherein
- the first portion includes
- a concave portion recessed in a first direction from the first portion toward the second portion, and
- a convex portion protruding in a second direction opposite to the first direction and being provided around the concave portion,
- the gripping tool grips a workpiece by depressurizing the first space in a state in which the convex portion is caused to contact the workpiece,
- the concave portion, the convex portion, and a first part of the second portion are deformable in a line direction connecting the first portion and the second portion,
- the first part opposes the concave portion and the convex portion in the line direction, and
- a hardness of at least a portion of the convex portion is less than 46.9.
Dependencies are inferred from the claim text.