Gripping device, gripping robot, method for controlling the gripping device, and control program for the gripping device.

Abstract

To provide a gripping device and the like which can change the attitude of a gripping claw with a simple structure.SOLUTION: A gripping device comprises: a first shaft which is supported by a first support part and supports a first gripping claw in a freely rotatable manner; a second shaft which is supported by a second support part and supports a second gripping claw in a freely rotatable manner; and interval control means which controls an interval between the first gripping claw and the second gripping claw. Central axes of the first shaft and the second shaft match each other and a gravity center of the first gripping claw and a gravity center of the second gripping claw are arranged so as to deviate from the central axes. The gripping device also comprises: first suction means which suctions the first support part and the first gripping claw with magnetic force along the first shaft; and a first biasing member which biases the first support part and the first gripping claw in a direction of making them apart from each other. The gripping device also comprises: second suction means which suctions the second support part and the second gripping claw with the magnetic force along the second shaft; and a second biasing member which biases the second support part and the second gripping claw in the direction of making them apart from each other.SELECTED DRAWING: Figure 1

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