Vacuum suction gripper

Abstract

To provide a vacuum suction gripper with improved suction stability. [Solution] The vacuum suction gripper 1 is connected to a negative pressure source at the rear and adsorbs an object to be adsorbed at the front. It mainly consists of a suction section 11 with a plurality of suction holes 12 connected to the negative pressure source and a groove that extends continuously from one suction hole 12a to another suction hole 12c on its front surface, and a porous body 18 installed on the front surface of the suction section 11. With this configuration, the primary negative pressure of the suction holes 12 is secondarily spread by the groove 13, and the negative pressure is made uniform by the porous body 18, thereby improving the stability of adsorption.

Description

[Technical Field]

[0001] This invention relates to a vacuum suction gripper, and more particularly to a vacuum suction gripper connected to a negative pressure source for vacuum suction of an object to be suctioned. [Background technology]

[0002] As an adsorption device, there is one shown in Patent Document 1.

[0003] Figure 10 is a cross-sectional view showing a conventional adsorption device disclosed in Patent Document 1.

[0004] Referring to Figure 10, the adsorption device 51 is for vacuum adsorption and transport of the object to be adsorbed, and mainly consists of an adsorption head 61 having an adsorption surface 63 with a recess 62 formed therein, and an adsorption sheet 71 attached to the adsorption head 61.

[0005] The adsorption sheet 71 comprises a substrate 72 that contacts the adsorption surface 63 and a porous body 78 attached to the front surface of the substrate 72. The substrate 72 has a plurality of through holes 73 formed at positions corresponding to the recesses 62.

[0006] The porous body 78 is formed by sintering ultra-high molecular weight polyethylene powder to create a porous structure, and is attached to cover multiple through-holes 73 formed on the front surface of the substrate 72. The thickness of the porous body 78 is set to 1.4 mm or less.

[0007] In such adsorption devices, by making the thickness of the porous material thinner than in conventional devices, it is possible to suppress air being drawn in from the sides of the porous material, resulting in a configuration that is less susceptible to lateral leakage and can obtain sufficient adsorption force. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2010-99826 [Overview of the Initiative] [Problems that the invention aims to solve]

[0009] However, conventional adsorption devices, as described above, have a structure in which air communicates with the porous body through through holes, resulting in localized suction and uneven adsorption. Consequently, with various shapes of objects to be adsorbed, stable adsorption was sometimes difficult depending on the shape of the object. Therefore, stability of adsorption was required.

[0010] This invention was made to solve the above-mentioned problems and aims to provide a vacuum adsorption gripper with improved adsorption stability. [Means for solving the problem]

[0011] To achieve the above objective, the invention described in claim 1 is a vacuum suction gripper whose front stage is connected to a negative pressure source and which adsorbs an adsorbed member in its rear stage, comprising: a suction section having a plurality of suction holes connected to the negative pressure source and grooves extending continuously from one suction hole to another on its front surface; and a porous body installed on the front surface of the suction section. The porous material contains fiberboard, has a thickness of 2 mm to 10 mm, and a density of 0.35 g / cm³. 3 More than 0.85g / cm 3 Below It is.

[0012] With this configuration, the primary negative pressure in the suction hole is secondarily amplified by the grooves, and the negative pressure is homogenized by the porous material. Furthermore, the porous material can be made to have a desired density. The invention described in claim 2 is a vacuum suction gripper that connects its front stage to a negative pressure source and adsorbs an adsorbed member in its rear stage, comprising a suction section having a plurality of suction holes connected to the negative pressure source and a groove that extends continuously from one suction hole to another on its front surface, and a porous body installed on the front surface of the suction section, wherein the porous body is MDF. With this configuration, the primary negative pressure in the suction hole is secondarily amplified by the grooves, and the negative pressure is homogenized by the porous material.

[0013] Claim 3 The invention described is as follows: or claim 2 In the configuration of the invention described, the porous body is installed so as to cover the entire front surface.

[0014] With such a configuration, a plurality of suction holes and grooves are covered with a porous body, and the negative pressure is made more uniform.

[0015] Claim 4 The invention described in claim 2 In the configuration of the invention described in claim

[0016] With such a configuration, the porous body can be made to have a desired density.

[0017] Claim 5 The invention described in claim

[0018] With such a configuration, a negative pressure can be generated evenly across the entire front surface of the suction portion.

[0019] Claim 6 The invention described in claim

[0020] With such a configuration, the suction amount can be adjusted according to the weight of the adsorbed member.

Advantages of the Invention

[0021] As described above, in the invention according to claim Furthermore, since the porous material can be made to the desired density, it can be suitably used as a vacuum adsorption gripper. The invention described in claim 2 improves the stability of adsorption because the primary negative pressure of the suction hole is secondarily spread by the groove, and the negative pressure is made uniform by the porous body.

[0022] Claim 3 The invention described in claim or claim 2 In addition to the effects of the invention described in claim

[0023] Claim 4 The invention described is, 2 In addition to the effects of the described invention, the porous material can be made to a desired density, making it suitable for use as a vacuum adsorption gripper.

[0024] Claim 5 In addition to the effects of the invention described in claim 1 or claim 2, the invention described can generate negative pressure evenly across the entire front surface of the suction section, resulting in a vacuum suction gripper with stable suction force.

[0025] Claim 6 In addition to the effects of the invention described in claim 1 or claim 2, the invention described can adjust the amount of suction according to the weight of the object to be adsorbed, thus enabling stable adsorption. [Brief explanation of the drawing]

[0026] [Figure 1] This is a front view of a vacuum suction gripper according to the first embodiment of the present invention. [Figure 2] Figure 1 is a rear view of the vacuum suction gripper. [Figure 3] Figure 1 is a plan view of the vacuum suction gripper. [Figure 4] Figure 1 is a front view of the suction section of the vacuum gripper. [Figure 5] Figure 1 is a rear view of the suction section of the vacuum gripper. [Figure 6] This is an enlarged view of the X portion shown in Figure 4. [Figure 7] This is a cross-sectional view of the VII-VII line shown in Figure 6. [Figure 8] This is a cross-sectional view of the VIII-VIII line shown in Figure 6. [Figure 9] This is an enlarged view showing another embodiment of the suction part of this invention. [Figure 10] This is a cross-sectional view showing a conventional adsorption device disclosed in Patent Document 1. [Modes for carrying out the invention]

[0027] Figure 1 is a front view of a vacuum suction gripper according to the first embodiment of this invention, Figure 2 is a rear view of the vacuum suction gripper shown in Figure 1, and Figure 3 is a top view of the vacuum suction gripper shown in Figure 1.

[0028] Referring to these figures, the vacuum suction gripper 1 is connected to a negative pressure source (not shown) at the rear (upward in Figure 3), generating negative pressure on the suction surface 5 at the front (downward in Figure 3) to adsorb the object to be adsorbed. The vacuum suction gripper 1 mainly consists of a suction part 2 having a suction surface 5, a mounting part 3 installed behind the suction part 2 and serving as a substrate for mounting the suction part 2, and a vacuum generating part 4 installed behind the mounting part 3 and connected to the negative pressure source. The negative pressure of the negative pressure source can be set within the range of 0.1 kPa to 50 kPa to suit the present invention. The required negative pressure varies depending on the mass of the object to be adsorbed and the condition of the suction surface, but can be set appropriately by those skilled in the art. For example, if copy paper with a thickness of 90 microns or coated paper with a thickness of 180 microns is cut into 50 mm squares and adsorbed onto a 360 mm x 450 mm surface with a negative pressure of 2 kPa, it can be firmly fixed.

[0029] The adsorption unit 2 consists of a plate-shaped suction unit 11 with multiple suction holes connected to a negative pressure source, and a plate-shaped porous body 18 installed in front of the suction unit 11, forming a two-layer structure of the suction unit 11 and the porous body 18. Furthermore, the adsorption unit 2 is configured so that air can communicate from the suction holes to the outside of the porous body 18. With this configuration, the negative pressure generated on the front surface of the suction unit 11 spreads uniformly across the adsorption surface 5 of the adsorption unit 2 via the porous body 18, thereby enabling stable vacuum adsorption of the object to be adsorbed.

[0030] Figure 4 is a front view of the suction section of the vacuum suction gripper shown in Figure 1, and Figure 5 is a rear view of the suction section of the vacuum suction gripper shown in Figure 1.

[0031] Referring to Figure 4, the suction section 11 has a rectangular plate shape when viewed from the front, and circular suction holes 12 (12a, 12c) that penetrate from the front to the back (formed in the direction of penetration of the paper in Figure 4) are formed at regular intervals in the vertical and horizontal directions (up and down and left and right directions in Figure 4). It is preferable to set the diameter of the suction holes 12 (12a, 12c) to 1 mm or more and 10 mm or less. If it is 1 mm or more, air moving from the outside towards the suction holes will be able to communicate more easily. If it is 10 mm or less, the structural strength of the suction section 11 can be ensured, and the opening area of ​​each suction hole in contact with the porous body side will not be too wide, and negative pressure can be generated appropriately. Furthermore, it is preferable to set the spacing between the suction holes 12 to 5 mm or more and 100 mm or less. If it is 5 mm or more, the structural strength of the suction section 11 can be ensured. If it is 100 mm or less, the negative pressure on the front surface of the suction section 11 will be able to be more uniform. The suction section 11 has a groove 13 formed on its front surface that extends continuously from one suction hole 12a to the other suction hole 12c. Therefore, by connecting to a negative pressure source, negative pressure acts on each suction hole 12, and the area where negative pressure is generated expands into the groove 13, making it possible to adsorb the object to be adsorbed via the porous body 18. Details of the groove 13 will be described later.

[0032] Referring to Figure 5, the suction section 11 includes a recess 14 on its rear surface that is recessed from the negative pressure source side toward the suction hole 12 side, and a flange section 15 connected to the outer edge of the recess 14.

[0033] The recess 14 has a rectangular shape when viewed from the front and serves as a ventilation path that allows air to be passed from the negative pressure source to the suction hole 12. With this configuration, the suction amount increases when the recess 14 is made deeper, and decreases when the recess 14 is made shallower. In other words, the suction amount of the suction unit 11 can be adjusted by the shape of the recess 14. As a result, the suction amount can be adjusted according to the weight of the object to be adsorbed, thus enabling stable adsorption.

[0034] The flange portion 15 extends outward from the outer edge of the recess 14, and has a plurality of fastening holes 16 formed at predetermined intervals.

[0035] When attaching the suction section 11, the flange section 15 is positioned so that it abuts the front surface of the mounting section 3, and it is secured to the mounting section 3 with multiple fasteners 17. Since the suction section 11 is detachable from the mounting section 3, the amount of suction of the vacuum suction gripper 1 can be easily fine-tuned by preparing and using multiple types of suction sections 11 with different recess shapes depending on the weight of the object to be suctioned. Therefore, ease of use is improved.

[0036] The porous body 18 is a rectangular plate-shaped member made of fiberboard, and is installed to cover the entire front surface of the suction section 11. When fiberboard is used as the material for the porous body 18, the porous body 18 can be made to a desired density, making it suitable for use as a vacuum adsorption gripper 1. In this embodiment, MDF (Medium Density Fiberboard) is used as the material for the porous body 18. The material for the porous body is not particularly limited, but it is preferable to use MDF. When MDF is used, the escape of air that hinders the generation of a vacuum is reduced, thus improving the adsorption force. More specifically, in conventional cases without MDF, air escapes from the suction holes in areas where there is no adsorbent, causing a problem in which the adsorption force from the suction holes in areas where there is adsorbent weakens or becomes impossible. Even in areas where there is adsorbent, if the suction holes are not completely sealed, gaps may occur, potentially weakening the adsorption force from the suction holes. In contrast, with the present invention, the suction range is extended across the entire surface by the MDF, and the negative pressure is made uniform. As a result, air is less likely to escape from the suction holes in areas where there is no material to be adsorbed, and a stable suction force can be exerted both where there is material and where there is no material to be adsorbed. In other words, by attaching the MDF, the vacuum that would escape through the gap between the suction hole and the cut line is sealed in advance by the MDF, so the negative pressure of the suction holes and grooves can be maintained above a certain level everywhere, and the same effect is exerted on the suction holes in areas where there is no material, so suction is possible even if there is material to be adsorbed on only a part of the entire surface of the board. Furthermore, because the MDF generates negative pressure between its fine fibers, it can generate a vacuum that spreads around even in areas where there are no holes or grooves. Therefore, it is possible to maintain a uniform and stable suction force. Note that the material of the porous body may be other materials other than fiberboard, for example, synthetic resin, wood fiberboard, wood, sponge, paper, nonwoven fabric, etc. can be used. In this embodiment, the density of the porous body 18 is 0.35 g / cm³ 3 More than 0.85g / cm 3 It is set as follows: 0.35 g / cm³ 3 In the above case, the negative pressure on the front surface of the vacuum suction gripper is made uniform, and the effect of improved suction stability is preferably obtained. 0.85 g / cm 3In the following cases, air can be supplied from the outside to the suction port, enabling vacuum adsorption over a wide area. In this embodiment, the thickness of the porous body 18 is set to 2 mm or more and 10 mm or less. Having a constant thickness in this way makes the porous body 18 less likely to deform due to suction, thus improving the stability of adsorption. When the thickness is 2 mm or more, the porous body 18 is less likely to deform due to suction, and structural strength can be ensured. When the thickness is 10 mm or less, air can be supplied from the outside to the suction port, enabling vacuum adsorption over a wide area.

[0037] The mounting portion 3 has a rectangular plate shape when viewed from the front, and an opening is formed in the central portion, which is located at the position corresponding to the vacuum generating portion 4, allowing air to be passed from the vacuum generating portion 4 to the suction hole 12.

[0038] The vacuum generating unit 4 is installed in the central part of the rear surface of the mounting unit 3. The vacuum generating unit 4 has a mounting hole 21 formed on its rear surface, which allows it to be connected to a robot arm or the like. By connecting the vacuum generating unit 4 to a robot arm or the like, and also to a vacuum source such as a vacuum pump, negative pressure is generated on the front surface of the vacuum suction gripper 1, allowing the vacuum suction gripper 1 to vacuum-suction the object to be suctioned. The shape and structure of the vacuum generating unit are not particularly limited. The joint for connecting the negative pressure from the vacuum source to the mounting unit can be changed to suit each source.

[0039] Next, we will describe the details of groove 13.

[0040] Figure 6 is an enlarged view of the X portion shown in Figure 4, Figure 7 is a cross-sectional view of the VII-VII line shown in Figure 6, and Figure 8 is a cross-sectional view of the VIII-VIII line shown in Figure 6.

[0041] Referring to these figures, a U-shaped groove 13 is formed on the front surface of the suction section 11, extending linearly in the vertical, horizontal, and diagonal directions, connecting multiple suction holes 12. More specifically, groove 13a extends vertically (the up and down direction in Figure 6, referring to the direction in which one of the two opposing sides of the front surface of the vacuum suction gripper 1 extends) and connects suction holes 12a and 12b. Groove 13b extends horizontally (the left and right direction in Figure 6, referring to the direction in which the other of the two opposing sides of the front surface of the vacuum suction gripper 1 extends) and connects suction holes 12a and 12c. Groove 13c extends diagonally (diagonally on the front surface of the vacuum suction gripper 1) and connects suction holes 12a and 12d. Furthermore, grooves 13a, 13b, and 13c extend linearly even after connecting the suction holes 12a, 12b, and 12c, passing through multiple suction holes 12 and forming over almost the entire front surface. Therefore, some suction holes, like 12a, have grooves 13 connected from eight directions, while others, like 12b, have grooves 13 connected from four directions. With this configuration, the negative pressure in the suction holes 12 spreads in multiple directions—vertically, horizontally, and diagonally—through the grooves 13. As a result, even objects to be adsorbed located away from the suction holes 12 can be adsorbed by the airflow from the front surface toward the suction holes 12 due to the negative pressure flowing through the vertically, horizontally, and diagonally oriented grooves 13. In addition, because each suction hole 12 is connected, the negative pressure generated on the front surface is made uniform. As a result, negative pressure can be generated in a balanced manner across the entire front surface of the suction section 11, resulting in a vacuum suction gripper 1 with stable suction force.

[0042] The width W of the groove 13 is set to be approximately the same as that of the suction holes 12. More specifically, it is set to be between 1 mm and 10 mm. When it is 1 mm or more, the negative pressure on the front surface of the suction part 11 is ensured to spread uniformly, improving the stability of adsorption. When it is 10 mm or less, the balance between the spacing between grooves and strength is good, and it can be suitably used as a vacuum adsorption gripper. The depth D of the groove 13 is set to be between 0.1 mm and 5 mm. When it is 0.1 mm or more, negative pressure in the grooves connecting the suction holes 12 can be ensured. When it is 5 mm or less, the structural strength of the suction part 11 can be ensured. Note that the width and depth of the groove 13 are not limited to these, and the width and depth can be changed depending on the capacity of the vacuum source.

[0043] Next, the effects of the adsorption unit 2 (suction unit 11 and porous body 18) will be explained.

[0044] Referring to Figures 7 and 8, when the vacuum suction gripper 1 is connected to a vacuum source, negative pressure is first generated in the suction hole 12 via the recess 14. That is, negative pressure is first generated locally in the suction hole 12. Next, the groove formed on the front surface of the suction section 11 causes the area where negative pressure is generated to expand from the suction hole 12 to the groove 13. That is, negative pressure is secondarily generated across the entire front surface. Next, the porous body 18 causes the negative pressure generated across the entire front surface of the suction section 11 to spread uniformly. That is, negative pressure is tertiarily generated uniformly. In this way, the present invention expands the area where negative pressure is generated from primary to secondary, and then further expands and homogenizes it from secondary to tertiary, gradually expanding the area where negative pressure is generated in three stages.

[0045] Conventional vacuum suction methods, such as directly applying a suction hole to the object to be adsorbed or using a porous body placed on the front surface of the suction hole, result in localized negative pressure and uneven suction force. In contrast, the present invention has a tertiary structure in which negative pressure is first generated locally by the suction hole 12, secondarily generated by the groove 13 to spread the negative pressure across the entire front surface, and thirdarily made uniform by the porous body 18. With this configuration, the primary negative pressure of the suction hole 12 is secondarily spread by the groove 13, and the negative pressure is made uniform by the porous body 18, making it possible to exert suction force throughout the entire surface. As a result, the object to be adsorbed can be adsorbed regardless of its shape or size, and the stability of adsorption is improved. In particular, when the object to be adsorbed has a complex shape, or when adsorbing multiple objects of different shapes at once, there is a high possibility that the object to be adsorbed will be located outside the suction hole. In such cases, vacuum adsorption from the suction hole will result in uneven suction force and difficulty in adsorption. However, as in the present invention, by configuring the vacuum gripper 1 so that the area where negative pressure is generated gradually expands as it approaches the object to be adsorbed, from the suction hole 12 to the groove 13, and from the groove 13 to the porous body 18, the object to be adsorbed can be moved by adsorption across the entire front surface of the vacuum adsorption gripper 1. Therefore, work can be performed efficiently and usability is improved.

[0046] Furthermore, as described above, the adsorption section 2 has a two-layer structure consisting of a suction section 11 and a porous body 18. The porous body 18 is installed so as to cover the entire front surface of the suction section 11. With this configuration, the suction holes 12 and grooves 13 formed on the front surface of the suction section 11 are completely covered by the porous body 18. As a result, the negative pressure spread across the entire front surface of the suction section 11 becomes more uniform, further improving the stability of adsorption.

[0047] Figure 9 is an enlarged view showing another embodiment of the suction part of this invention.

[0048] Furthermore, since the suction sections according to these other embodiments have basically the same structure as the suction section 11 according to the first embodiment described above, the differences will be explained below.

[0049] In the suction section 31 shown in Figure 9(1), each suction hole 32 is connected to the groove 33 from eight directions: vertical, horizontal, and diagonal. With this configuration, the proportion of the groove 33's area to the entire front surface is increased, allowing the negative pressure to be spread more evenly. Consequently, the stability of adsorption is further improved.

[0050] In the suction section 34 shown in Figure 9 (2), the suction holes 35 are arranged alternately vertically and horizontally (meaning that the suction holes are arranged at predetermined intervals in the vertical direction, and the suction holes in adjacent rows are located between the suction holes in the next row. Note that the vertical and horizontal positional relationship may be reversed). This configuration prevents uneven suction force even when the suction holes 35 are far apart. Note that any arrangement of the suction holes, as long as the vertical and horizontal relationships are relatively prime, is included in the present invention.

[0051] In the suction section 37 shown in Figure 9 (3), the groove pattern 38 is formed in a grid pattern, and the spacing between the grooves 38 is set to be shorter than in the first embodiment. With this configuration, the proportion of the groove area 38 to the entire front surface is increased, so that the negative pressure can be spread more evenly. Therefore, the stability of adsorption is further improved.

[0052] In the suction section 41 shown in Figure 9 (4), the suction holes 42 are arranged alternately vertically and horizontally, and the groove pattern 43 is formed by a combination of a grid and horizontal direction. Furthermore, at the ends, the spacing of the suction holes 42 is changed. Thus, the arrangement rules may be changed by increasing the number of suction holes at some parts, such as the ends.

[0053] In the embodiments described above, suction holes and grooves were formed on the entire front surface of the suction section, but they may be formed only on a part of the front surface.

[0054] Furthermore, in each of the embodiments described above, the pattern of the suction holes and grooves was the same across the entire front surface of the suction section, but the suction holes and grooves may be arranged to have different patterns.

[0055] Furthermore, although the grooves extended in a straight line in each of the above embodiments, they do not have to be straight; they may extend in a curved or wavy shape, or the like.

[0056] Furthermore, in each of the above embodiments, the porous body was installed to cover the entire front surface of the suction section, but it may also be installed to cover only a part of it.

[0057] Furthermore, although fiberboard was used as the porous material in each of the above embodiments, other materials may be used. Alternatively, multiple materials may be combined. Furthermore, the porous material may be formed by layering the same material or multiple materials.

[0058] Furthermore, in each of the embodiments described above, the grooves were formed to extend in the vertical, horizontal, and diagonal directions, but they may also be formed to extend in one or two directions.

[0059] Furthermore, in each of the embodiments described above, the groove extended continuously from one end of the front surface to the other, spanning multiple suction holes. However, it may also be a short groove connecting only two suction holes, or it may be interrupted midway.

[0060] Furthermore, although the rear was connected to a negative pressure source in each of the above embodiments, it may be connected to a negative pressure source from other directions.

[0061] Furthermore, in each of the above embodiments, the suction portion had a recess with a specific shape, but it may have other shapes. Also, the recess may not be present at all.

[0062] Furthermore, although the suction port had a specific shape in each of the above embodiments, it may have other shapes.

[0063] Furthermore, in each of the above embodiments, the groove had a U-shaped cross section, but it may have other shapes such as a U-shape, a V-shape, etc. Also, a flow path formed by arranging two ribs protruding in a triangular cross-sectional shape, a semi-circular shape, a trapezoidal shape, etc. in parallel is also included in the groove.

[0064] Furthermore, in each of the above embodiments, the suction portion had a specific shape, but it may have other shapes.

[0065] Furthermore, in each of the above embodiments, the density of the porous body was 0.35 g / cm 3 or more and 0.85 g / cm 3 or less, but it may be less than 0.35 g / cm 3 or more than 0.85 g / cm 3 exceeding.

[0066] Furthermore, in each of the above embodiments, the thickness of the porous body was 2 mm or more and 10 mm or less, but it may be less than 2 mm or more than 10 mm.

[0067] Furthermore, in each of the above embodiments, the width dimension of the groove was substantially the same as the suction hole, but it may be wider or narrower.

[0068] Furthermore, in each of the above embodiments, the depth of the groove was 0.1 mm or more and 5 mm or less, but it may be less than 0.1 mm or more than 5 mm.

Explanation of Reference Numerals

[0069] 1... Vacuum suction gripper 3... Mounting portion 4... Vacuum generating portion 11, 31, 34, 37, 41... Suction portion 12... Suction hole 13... Groove 14... Concave portion 18... Porous body In addition, the same reference numerals in each figure indicate the same or corresponding parts.

Claims

1. A vacuum suction gripper, in which the front stage is connected to a negative pressure source and the rear stage is used to adsorb an object, A suction section having a plurality of suction holes connected to the negative pressure source, and a groove extending continuously from one suction hole to another on its front surface, The suction portion comprises a porous body installed on the front surface of the suction portion, The porous material includes a fiberboard, has a thickness of 2 mm or more and 10 mm or less, and a density of 0.3 A vacuum suction gripper with a concentration of 5 g / cm³ or more and 0.85 g / cm³ or less.

2. A vacuum suction gripper in which the front stage is connected to a negative pressure source and the rear stage is used to adsorb an object, A suction section having a plurality of suction holes connected to the negative pressure source, and a groove extending continuously from one suction hole to another on its front surface, The suction portion comprises a porous body installed on the front surface of the suction portion, The porous material is MDF, and the vacuum adsorption gripper.

3. The vacuum suction gripper according to claim 1 or claim 2, wherein the porous body is installed so as to cover the entire front surface.

4. The vacuum adsorption gripper according to claim 2, wherein the porous body includes a fiberboard.

5. The vacuum suction gripper according to claim 1 or claim 2, wherein the grooves connect a plurality of suction holes in a longitudinal direction, a transverse direction, a diagonal direction, or a combination thereof.

6. The vacuum suction gripper according to claim 1 or claim 2, wherein the suction portion includes a recess that is recessed from the negative pressure source side toward the suction hole side.

Images