Holding device of mobile device

Abstract

[Problem] To realize a gripping device that can appropriately grip easily damaged workpieces, and has a simple structure that reduces manufacturing time and cost. [Solution] The gripping device 1 of the present invention is a gripping device for a moving device that grips and moves a workpiece W, wherein it includes a plurality of body parts 2, each having: a fixing part 40 fixed to the moving device; a gripping part 10 that elastically deforms to grip the workpiece W; and a transmission part 30 that transmits the force that causes the gripping part 10 to elastically deform. The body parts 2 are integral structures formed by cutting and bending a plate-like material of a component.

Description

Technical Field

[0001] This invention relates to a holding device, and more specifically, to a holding device for a moving device that holds and moves a workpiece. Prior Technology

[0002] For a long time, moving devices with mechanisms such as robotic arms to move workpieces have been practically used for conveying and assembling on production lines. Multiple workpiece-holding devices are used at the front end of such robotic arms or similar mechanisms. As examples, holding devices disclosed in Patent Document 1 (refer to Japanese Patent Application Publication No. 2017-1113), Patent Document 2 (refer to Japanese Patent Application Publication No. 2021-37574), and Patent Document 3 (refer to Japanese Patent Application Publication No. 59-97882) are known. [Previous Technical Documents] [Patent Literature]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-1113 [Patent Document 2] Japanese Patent Application Publication No. 2021-37574 [Patent Document 3] Japanese Patent Application Publication No. 59-97882 Summary of the Invention

[0004] [The problem the invention aims to solve]

[0005] For example, the gripping device illustrated in Patent Document 1 has a configuration that grips a plurality of spherical surfaces by pressing them against a workpiece, and the plurality of spherical surfaces are arranged in a row at the front end of the gripping member. Therefore, although each spherical surface can be independently displaced to follow the workpiece, on the other hand, since the gripping (clamping) force applied to the workpiece is concentrated in a row, it may lead to the problem of not being suitable for gripping easily damaged workpieces.

[0006] In contrast, the gripping devices illustrated in Patent Documents 2 and 3 are configured to deform along with the workpiece by providing hinges or the like in the gripping member, and to grip the workpiece by means of multiple abutment portions (abutment surfaces). Therefore, compared with the gripping device illustrated in Patent Document 1, although it is suitable for gripping easily damaged workpieces, it conversely leads to a more complex structure of the gripping member, and may also lead to increased labor time and costs during manufacturing. [Methods used to solve problems]

[0007] The present invention was made in view of the above circumstances, and its purpose is to realize a holding device that can be used to hold easily damaged workpieces, and whose simple construction can reduce manufacturing time and cost.

[0008] The present invention solves the aforementioned problems by means of the methods described below.

[0009] The disclosed gripping device is a gripping device for a moving device that grips and moves a workpiece, wherein the following configuration is essential: it has a plurality of body parts, each having: a fixing part fixed to the aforementioned moving device; a gripping part that elastically deforms to grip the aforementioned workpiece; and a transmission part that transmits the force that causes the aforementioned gripping part to elastically deform. The aforementioned body parts are integral structures formed by cutting and bending a plate-like material of a component. [Effects of the Invention]

[0010] According to the present invention, by making a simple structure that can deform with the workpiece, a gripping device suitable for gripping easily damaged workpieces can be realized. Furthermore, by having an integral structure in which the main body part that abuts against the workpiece for gripping is formed by cutting and bending a single piece of plate material, manufacturing time and cost can be significantly reduced. Simple Explanation of the Diagram

[0011] Figure 1 is a perspective view showing an example of a gripping device according to a first embodiment of the present invention. Figure 2 is a perspective view of an example of the main body of the gripping device shown in Figure 1. Figure 3 is an unfolded view of the main body shown in Figure 2. Figures 4A and 4B are diagrams illustrating the operation of the main body shown in Figure 2. Figure 4A shows the state before the workpiece is held, and Figure 4B shows the state when the workpiece is held. Figure 5 is an illustration of the operation of the gripping device shown in Figure 1. Figure 6 is a perspective view of an example of the main body of the gripping device according to the second embodiment of the present invention. Figure 7A is a top view of an example of the body shown in Figure 6, and Figure 7B is a bottom view. Figure 8 is an unfolded view of the main body (first component) shown in Figure 6. Figures 9A and 9B are explanatory diagrams of the construction method of the main body shown in Figure 8. Figure 9A shows the state in which the fifth bend is performed, and Figure 9B shows the state in which the sixth bend is performed. Figure 10 is an unfolded view of the main body (second component) shown in Figure 6. Figures 11A and 11B are explanatory diagrams of the construction method of the main body shown in Figure 10. Figure 11A shows the state in which the body is bent at the 7th bend and Figure 11B shows the state in which the body is bent at the 8th bend. Figures 12A and 12B are diagrams illustrating the operation of the main body shown in Figure 6. Figure 12A shows the state before the workpiece is held, and Figure 12B shows the state when the workpiece is held. Implementation

[0012] [The form in which the invention is carried out]

[0013] (First Implementation) Hereinafter, a detailed description of the first embodiment of the present invention will be given with reference to the drawings. FIG1 is a perspective view (schematic view) showing an example of the gripping device 1 of this embodiment. FIG2 is a perspective view (schematic view) showing an example of the body portion 2 of the gripping device 1. Furthermore, in all the drawings used to explain the embodiment, the same reference numerals are given to components having the same function, and there are cases where repeated descriptions are omitted.

[0014] The gripping device 1 of this embodiment is, for example, a moving device (not shown) that is installed to grip and move a workpiece W for assembly or transport in an industrial production line or the like. Examples of such moving devices include assembly and transport robots (specifically, robotic arms, etc.) and unloading machines, such as SCARA robots with selective compliance.

[0015] First, the general outline of the gripping device 1 will be described. As shown in FIG1, the gripping device 1 is provided with a plurality of (for example, three) body parts 2 for gripping workpieces. These body parts 2 are fixed to both the support part 3 and the drive part 4 provided at the front end of the moving device. According to this configuration, with the body parts 2 being supported (fixed) as a whole by being fixed to the support part 3, the body parts 2 can be deformed by driving (specifically, reciprocating) the drive part 4 (as described later). Furthermore, the number of body parts 2 is not limited to the above, and as a variation, it can also be configured to have two or more (not shown). Also, although in this embodiment the support part 3 and the drive part 4 are configured on the moving device side, they can of course be combined with the body parts 2 to form the gripping device 1.

[0016] Next, the main body 2 of the gripping device 1 will be described. As shown in FIG2, the main body 2 includes a fixing part 40 fixed to the support part 3. It also includes a gripping part (first gripping part) 10, which elastically deforms and abuts against the workpiece to grip the workpiece when supported (fixed) by the fixing part 40. Furthermore, it includes a transmission part 30, which is fixed to the drive part 4 and transmits the operating force that causes the gripping part 10 to elastically deform.

[0017] In this embodiment, the main body 2 is an integral structure formed by cutting and bending a plate-shaped metal material. Furthermore, examples of main cutting methods include press punching, laser cutting, and waterjet cutting. Similarly, examples of main bending methods include press bending.

[0018] Here, a unfolded view of the body portion 2, in the stage after cutting and before bending, is shown in FIG3. The flat, cut material shown in the unfolded view is bent according to a predetermined process to form the body portion 2 with the shape shown in FIG2. However, it is not limited to the configuration (shape) shown in FIG2 and FIG3.

[0019] Next, the various components of the main body 2 will be described in detail. First, the holding part 10 is attached to the central part 10a in the short side direction Y of the main body 2, and has a plurality of elongated holes 12 orthogonal to the long side direction X. Furthermore, when the two ends 10b and 10c in the short side direction Y are bent at the positions of the first bending part 14 and the second bending part 16 set parallel to the long side direction X (for example, bent at 90-degree angles respectively, but not limited thereto), the plate surfaces of the two ends 10b and 10c are parallel to the plate surface of the central part 10a, and have beam parts 18 separated by a predetermined size (distance L in FIG2).

[0020] Regarding the gripping portion 10 thus formed, a predetermined region in the central portion 10a adjacent to the elongated hole 12 in the long-side direction X is configured as an abutment portion 20 that abuts against the workpiece. Furthermore, predetermined regions in the beam portions 18 at both ends 10b and 10c, at the same positions relative to the elongated hole 12 in the long-side direction X, are configured as joint portions 22 during elastic deformation. Moreover, the number of abutment portions 20 (and the number of elongated holes 12) is appropriately set according to the shape and size of the workpiece.

[0021] Based on the above configuration, a gripping part 10, which has an abutment portion 20 and a joint portion 22 that can deform with the workpiece, can be formed by cutting and bending a single component (a plate-shaped metal material in this embodiment) into an integral structure. Therefore, the configuration of the gripping device 1 itself and the manufacturing process of the gripping device 1 can both be made extremely simple.

[0022] Secondly, regarding the transmission section 30, the plate-shaped section 32 extending from the grip section 10 in a direction of the long side X (+X direction in the figure) is formed by bending in a direction opposite to that direction (-X direction in the figure) at a position set as the third bending section 24 parallel to the short side Y (a bending at a 180-degree angle in the opposite direction), and is parallel to the central section 10a of the grip section 10.

[0023] Based on the above configuration, by pulling the transmission part 30, the end position 30a of the transmission part 30 becomes the force point, and the position of the third bending part 24 becomes the action point, which can deform the gripping part 10 to hold the workpiece. Furthermore, the details of this gripping action will be described below.

[0024] Furthermore, the transmission section 30 has an elongated hole 34 formed at its center in the short-side direction Y, orthogonal to the short-side direction Y. This weakens the force that deforms the plate-shaped section 32. In other words, it reduces the driving force required to pull the transmission section 30. Therefore, it allows for miniaturization of the drive mechanism. Additionally, as a variation, a configuration with a plurality of elongated holes continuously provided can also be made (not shown).

[0025] Secondly, the fixing part 40 is configured to extend from each beam part 18 of the holding part 10 in another direction along the long side X (the -X direction in the figure). In this embodiment, it is configured such that a bend (for example, a bend of about 10 to 60 degrees) is made at the position of the fourth bending part 26. Accordingly, the main body part 2 can be fixed to the support part 3, and in this state, the holding part 10 can be deformed by separating it from the transmission part 30 and pulling it with the drive part 4.

[0026] Based on the above description, the integral structure, where the body part 2 is formed by cutting and bending a single plate-shaped material, significantly reduces manufacturing time and costs. As an example, the plate-shaped material is made of stainless steel alloy (such as stainless steel for springs). However, this is not a limitation; other elastic metal materials can also be used. Furthermore, variations such as using resin materials or elastomer materials can also be considered, in addition to metal materials.

[0027] Furthermore, even though the main body 2 is a simple structure made of a single component, it can still deform along the workpiece even without hinges or the like in the gripping part 10, thus enabling the workpiece to be gripped using multiple abutment parts 20. Therefore, contact stress towards the workpiece can be suppressed, making it particularly suitable for gripping easily damaged workpieces.

[0028] Next, the operation of gripping the workpiece W using the gripping device 1 of this embodiment will be explained. Here, Figures 4 and 5 show an explanation of the operation of the gripping device 1.

[0029] As shown in Figures 4A and 4B, when the transmission part 30 (specifically, the end position 30a in the long side direction X) is pulled in the direction of arrow A from the stable state in Figure 4A as shown in Figure 4B, the tensile force is applied to the position of the third bending part 24 and transmitted to the gripping part 10 which is continuous with the transmission part 30. In this way, the gripping part 10 moves (deforms) by bending the section 22 sequentially from the front end, and the adjacent abutment parts 20, which enclose the elongated hole 12, approach each other. Therefore, the gripping part 10 deforms in accordance with the workpiece W.

[0030] Here, as shown in Figures 1 and 5 above, the gripping device 1 of this embodiment is configured to have a plurality of (specifically, three) body parts 2, that is, a plurality of (specifically, three) gripping parts 10. Therefore, with each gripping part 10 in the state shown in Figure 4A to Figure 4B, the drive unit 4 is driven (moving upwards in Figure 5) to pull each transmission part 30 in the direction of arrow A, thereby causing each gripping part 10 to deform in the direction of arrow B along with the workpiece W. At this time, in response to the deformation of the gripping part 10, the abutting parts 20 of the plurality of parts abut against the workpiece W, and the workpiece W can be held by being enclosed by the gripping part 10.

[0031] On the other hand, when returning from the state shown in Figure 4B to the state shown in Figure 4A, it is only necessary to release the force pulling the transmission part 30 in the direction of arrow A. At this time, through the elasticity of the forming material of the main body 2, that is, through the restoring force of the deformed gripping part 10 (specifically the beam part 18 and the plate-shaped part 32), the transmission part 30 moves in the opposite direction of arrow A, thus returning to the original state (stable state) shown in Figure 4A. Therefore, the gripping of the workpiece W by the gripping part 10 can be released.

[0032] In this way, in this embodiment, only a mechanism for pulling the transmission part 30 in the direction of arrow A is required. Since there is no need for a reverse pushing mechanism, a simple device configuration can be made. Furthermore, the aforementioned restoring force can be appropriately set by changing the thickness, width, and shape of the component (here, a plate-shaped metal material) used to form the body part 2.

[0033] (Second Implementation) Next, the gripping device 1 according to the second embodiment of the present invention will be described. The gripping device 1 of this embodiment has the same basic structure as that of the first embodiment described above, but differs particularly in the structure of the body portion 2. Hereinafter, this embodiment will be described focusing on these differences. Here, FIG6 is a perspective view (schematic view) showing an example of the body portion 2 of the gripping device 1 of this embodiment. FIG7A is a top view (schematic view) showing an example of the body portion 2, and FIG7B is a bottom view (schematic view).

[0034] The gripping device 1 of this embodiment includes a first gripping part 10 and a second gripping part 50 in terms of the gripping part for gripping the workpiece. Compared with the configuration in the first embodiment where the first gripping part 10 abuts against the workpiece and grips it, in this embodiment, the first gripping part 10 and the second gripping part 50 operate together while the second gripping part 50 abuts against the workpiece and grips it.

[0035] Specifically, the first gripping part 10 has the same configuration as in the first embodiment. That is, a plurality of elongated holes 12 orthogonal to the long side direction X are formed in the central part 10a of the short side direction Y of the main body part 2. Furthermore, when the two ends 10b and 10c in the short side direction Y are bent at predetermined positions (set as the positions of the first bending part 14 and the second bending part 16 parallel to the long side direction X) (for example, bent at 90-degree angles respectively, but not limited thereto), the plate surfaces of the two ends 10b and 10c are configured as beam parts 18 parallel to the plate surface of the central part 10a and separated by predetermined dimensions (distance L in FIG. 6).

[0036] In this embodiment, the predetermined region in the central portion 10a adjacent to the elongated hole 12 in the long-side direction X is configured as an abutment portion (first abutment portion) 20 that abuts against the second gripping portion 50 (described later). Similarly, the predetermined regions in the beam portions 18 at both ends 10b and 10c at the same positions relative to the elongated hole 12 in the long-side direction X are configured as joint portions 22 during elastic deformation, as in the first embodiment. Furthermore, the number of abutment portions 20 (and the number of elongated holes 12) is appropriately set according to the shape and size of the workpiece.

[0037] Secondly, regarding the second gripping part 50, the plate-shaped part 31, which extends from the first gripping part 10 in a direction X along the long side, is bent at a predetermined position (details will be described later) and overlaps with the central part 10a of the first gripping part 10 in a manner parallel to the surface of the central part 10a that is not opposite to the beam part 18. The plate surface 50a on the side of the first gripping part 10 that is not opposite to the beam part 18 forms a second contacting part that abuts against the workpiece.

[0038] Here, the aforementioned plate-shaped portion 31 is formed into the second gripping portion 50 and the transmission portion 30 by bending, but the following two configuration methods can be considered. As an example (first configuration), the material (plate) is cut into the shape shown in FIG8 (developed view of the main body portion 2). Then, at a predetermined position as shown in FIG9A (the position of the fifth bending portion 52 set parallel to the short side direction Y), the plate-shaped portion 31, which extends from the first gripping portion 10 in a direction (+X direction) in the long side direction X, is bent in a direction opposite to the aforementioned direction (-X direction) on the side where the pre-formed (or already formed) beam portion 18 is positioned (bent at a 180-degree angle in the opposite direction) and is parallel to the central portion 10a of the first gripping portion 10. At this time, the structure overlapping the first surface of the central portion 10a (the surface opposite to the pre-formed (or already formed) beam portion 18) becomes the transmission portion 30. Next, a bend is made at the predetermined position shown in Figure 9B (the position of the sixth bend 54, which is parallel to the short side direction Y). The plate-shaped portion 31, which extends from the transmission portion 30 in the other direction (-X direction), is bent in the opposite direction (+X direction) to the side opposite to the arrangement side of the pre-formed (or already formed) beam portion 18, and is parallel to the central portion 10a of the first gripping portion 10. At this time, the structure of the second surface (the surface not opposite to the pre-formed (or already formed) beam portion 18) overlapping the central portion 10a becomes the second gripping portion 50.

[0039] In this configuration (first configuration), the first gripping part 10 and the second gripping part 50 are provided with a fixing part 60, which is fixed to each other at the end position away from the fixing part 40 when the fixing part 60 has been bent in a predetermined state. At this time, it is preferable that the fixing part 60 is provided in a configuration in which the long side dimension of the transmission part 30 is relatively long and the long side dimension of the second gripping part 50 is relatively short (in a specific example, when viewed from the direction parallel to the Y direction, the transmission part 30 is a curved shape (curved surface) and the second gripping part 50 is a straight shape (planar shape)) (in addition, the size difference is appropriately set according to the shape of the workpiece). Accordingly, when the transmission part 30 is pulled to bend the second gripping part 50 (specifically the second abutment part 50a), it is difficult to deform due to the curvature difference between the transmission part 30 (which is on the outer periphery) and the second gripping part 50 (the second abutment part 50a) (which is on the inner periphery). However, by setting it to the above state, the difficulty of deformation caused by the curvature difference can be prevented, deformation suitable for the shape of the workpiece can be made, and proper gripping can be achieved. Furthermore, as an example of the fixing method of the fixing part 60, welding (spot welding) is used, but it is not limited to this, and other methods such as fusion welding, bonding, filling, snap-fitting, and fitting can also be used. Also, the fixing part is provided as a plurality of parts (two parts in this case), but it is not limited to this, and it can also be one part or three or more parts.

[0040] Secondly, as another example (second configuration), the material (sheet metal) is cut into the shape shown in FIG. 10 (developed view of body part 2). Next, at a predetermined position as shown in FIG. 11A (the position of the 7th bending part 56 parallel to the short side direction Y), the plate-shaped part 31 extending from the first holding part 10 in one direction (+X direction) of the long side direction is bent in the opposite direction (-X direction) of the side opposite to the arrangement side of the pre-formed (or already formed) beam part 18, and is parallel to the central part 10a of the first holding part 10. At this time, the second surface overlapping the central part 10a (the surface not opposite to the pre-formed (or already formed) beam part 18) becomes the second holding part 50. Next, at the predetermined position shown in Figure 11B (the position of the 8th bending portion 58 parallel to the short side direction Y), a bend is made so that the plate-shaped portion 31, which extends from the 2nd gripping portion in another direction (-X direction), is bent in the aforementioned direction (+X direction) on the side of the pre-formed (or already formed) beam portion 18 (bending in the opposite direction at a 180-degree angle), and is parallel to the central portion 10a of the 1st gripping portion 10. At this time, the structure overlapping the first surface of the central portion 10a (the surface opposite to the pre-formed (or already formed) beam portion 18) becomes the transmission portion 30.

[0041] In this configuration (second configuration), the first gripping part 10 and the transmission part 30 are fixed by a fixing part (not shown). This fixing part is fixed to each other at the end position away from the fixing part 40 after a predetermined bending state. This is the same as in the first configuration described above. Preferably, the fixing part is provided in a configuration where the long side of the transmission part 30 is relatively long and the long side of the second gripping part 50 is relatively short (as a specific example, when viewed from a direction parallel to the Y direction, the transmission part 30 is a convex upward curve (curved surface) and the second gripping part 50 is a straight line (planar)). The same effect can be obtained by providing this fixing part. Furthermore, the fixing method and fixing position of this fixing part are the same as in the first configuration described above, and repeated descriptions are omitted here.

[0042] According to the gripping device 1 of this embodiment, as shown in Figures 12A and 12B, when the transmission part 30 (specifically, the end position 30a in the long side direction X) is pulled in the direction of arrow A from the stable state shown in Figure 12A, as shown in Figure 12B, the tensile force is transmitted to the first gripping part 10 and the second gripping part 50, which are of continuous or fixed structure. As a result, the first gripping part 10 moves (deforms) by bending the joint 22 sequentially from the front end and bringing the adjacent abutment parts 20, which enclose the elongated hole 12, closer to each other. The second gripping part 50 deforms (i.e., bends) the plate surface 50a, i.e., the second abutment part, along the abutment part 20 into a curved shape. In this way, the second abutment part 50a of the second gripping part 50 deforms along the workpiece W. Therefore, similar to the first embodiment (see FIG5), by arranging a plurality of (e.g., three) body portions 2 equipped with such mechanisms, the gripping and releasing action of the workpiece W using the second gripping portion 50 (second abutment portion 50a) can be performed. Furthermore, FIG12A and FIG12B illustrate the case where the body portion 2 is constructed according to the shape shown in FIG8, but the same applies to the case where the body portion 2 is constructed according to the shape shown in FIG10.

[0043] For example, when using the gripping device 1 of the first embodiment to grip a workpiece, there is a risk that the surface of the workpiece may be clamped between adjacent abutment portions 20 (i.e., at the position of the elongated hole 12). By using the gripping device 1 of this embodiment (second embodiment), the workpiece can be gripped without this clamping. In other words, the gripping device 1 of this embodiment is more effective from the viewpoint of preventing workpiece breakage.

[0044] Furthermore, the second abutment portion 50a is preferably provided with a plurality of through holes 50b on the plate surface through a punching process or the like. Accordingly, when the transmission portion 30 is pulled to deform (bend) the second abutment portion 50a, the operation can be performed with less force, thereby reducing the driving force.

[0045] As explained above, the gripping device according to the present invention, by having a simple structure that can deform with the workpiece, can realize a gripping device suitable for gripping easily damaged workpieces. Furthermore, by having an integral structure in which the main body part that abuts against the workpiece for gripping is formed by cutting and bending a single piece of plate material, manufacturing time and cost can be greatly reduced.

[0046] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the scope of the present invention. In the above embodiments, although the configuration formed by a plate-shaped metal material consisting of a single component was described as an example, as a variation, a configuration (not shown) can also be made using multiple components connected (welded, fixed with screws, etc.).

[0047] Furthermore, as another variation, the gripping part (at least the workpiece side) can be covered with a resin material (including rubber, elastomers, hereinafter the same) (not shown). This prevents damage to the workpiece and allows for better handling of easily damaged workpieces. Moreover, it facilitates hygienic handling, especially when the workpiece is food. As a specific embodiment, a structure where each gripping part is covered with a sleeve made of resin material can be considered. Alternatively, a structure where multiple gripping parts are covered with a glove made of resin material can be considered. Or, a structure where the gripping parts are coated with a resin material can be considered.

[0048] Furthermore, as another variation, it is also possible to construct a mechanism that, in addition to pulling the transmission part, also has a reverse pushing mechanism, that is, a mechanism that reciprocates the transmission part (not shown). Accordingly, by pushing the transmission part, since the distance between the front ends of each gripping part, that is, the opening size, can be deformed in the expanding direction, it is possible to easily allow the workpiece to enter the holding position.

[0049] 1: Holding device 2: Body part 3: Support Department 4: Drive Unit 10: Control Section (First Control Section) 10a: Central Department 10b, 10c: Both ends 12: Long hole 14: First bend 16: Second bend 18: Beam section 20: Contact section (first contact section) 22: Joint 24: Third bend 26: Fourth bend 30: Transmission Department 30a: End position 31: plate-shaped part 32: plate-shaped part 34: Long hole 40: Fixing part 50: Control Section (Second Control Section) 50a: Panel surface (second contact area) 50b: Hole 52: Fifth bend 54: Sixth bend 56: The 7th bend 58: The 8th bend 60: Fixing part W: Workpiece X: Long side direction Y: Short side direction

Claims

1. A gripping device, which is a gripping device for a moving device, grips and moves a workpiece, characterized in that: it comprises a plurality of body parts, each having: a fixing part fixed to a support part disposed at the front end of the moving device; a gripping part elastically deformable to grip the workpiece; and a transmission part transmitting the force that causes the gripping part to elastically deform, wherein the body parts are integral structures formed by cutting and bending a plate-like material of a component, and the gripping part has a first gripping part and a second gripping part. The aforementioned first gripping part is configured such that: a plurality of elongated holes orthogonal to the long side direction of the aforementioned body part are formed in the central portion along the short side direction; and, with the two ends along the short side direction having been bent to a predetermined degree, the plate surfaces of the two end portions are parallel to the plate surface of the aforementioned central portion and are formed as beam portions separated by predetermined dimensions; in the aforementioned central portion, a predetermined region adjacent to the aforementioned elongated holes along the aforementioned long side direction becomes a first abutting portion that abuts against the aforementioned second gripping part; and in the aforementioned beam portions at the aforementioned end portions, a predetermined region at the same position along the aforementioned long side direction relative to the aforementioned elongated holes becomes a joint portion for elastic deformation. The aforementioned second gripping part is configured such that a plate-shaped part extending from the aforementioned first gripping part in a direction toward the aforementioned long side overlaps with the aforementioned central part of the aforementioned first gripping part on the side not opposite to the aforementioned beam part in a state that has undergone a predetermined bend, and the plate surface on the side not opposite to the aforementioned first gripping part becomes a second contacting part that abuts against the aforementioned workpiece.

2. The gripping device of claim 1, wherein the aforementioned second gripping part is formed with a plurality of through holes on the plate surface.

3. The gripping device of claim 1, wherein the aforementioned transmission part is configured such that a plate-shaped part extending from the aforementioned first gripping part in the aforementioned direction along the aforementioned long side is bent in the opposite direction to the aforementioned direction on the side where the aforementioned beam is positioned and overlaps with the aforementioned central part of the aforementioned first gripping part on the side opposite to the aforementioned beam, and the aforementioned second gripping part is configured such that a plate-shaped part extending further from the aforementioned transmission part in the aforementioned other direction is bent in the aforementioned direction on the opposite side to the aforementioned beam, and overlaps with the aforementioned central part of the aforementioned first gripping part on the side not opposite to the aforementioned beam.

4. The gripping device of claim 3, wherein the first gripping part and the second gripping part are fixed to each other at the ends away from the fixed part in a predetermined bent state.

5. The gripping device according to claim 1, comprising any of the following configurations: the second gripping part is configured as follows: a plate-shaped part extending from the first gripping part in the aforementioned direction along the aforementioned long side is bent in a direction opposite to the aforementioned direction on the side opposite to the aforementioned beam part and overlaps with the aforementioned central part of the first gripping part on a surface not facing the aforementioned beam part; the transmission part is configured as follows: a plate-shaped part extending further from the second gripping part in the aforementioned other direction is bent in the aforementioned direction on the side of the aforementioned beam part and overlaps with the aforementioned central part of the first gripping part on a surface facing the aforementioned beam part.

6. The gripping device of claim 5, wherein the aforementioned transmission part and the aforementioned first gripping part are fixed to each other at an end position away from the aforementioned fixing part in a predetermined bending state.

7. The gripping device as claimed in claim 4 or 6, wherein the aforementioned transmission part and the aforementioned second gripping part are configured such that the long side dimension of the aforementioned transmission part is relatively long, and the long side dimension of the aforementioned second gripping part is relatively short.

8. The holding device of claim 7, wherein the aforementioned fixing part is configured to extend from the aforementioned beam portion of the aforementioned holding part in the aforementioned other direction in the direction of the aforementioned long side.

9. The gripping device of claim 1, wherein the gripping part has a first gripping part, wherein the first gripping part is configured such that: a plurality of elongated holes orthogonal to the long side direction of the body part are formed in the central part in the short side direction, and in the state where the two ends in the short side direction have been bent in a predetermined manner, the plate surfaces of the two ends are parallel to the plate surface of the central part and are formed as beams separated by a predetermined size, in the central part, a predetermined area adjacent to the elongated holes in the long side direction becomes a first abutting part that abuts against the workpiece, and in the beams of the two ends, a predetermined area at the same position relative to the elongated holes in the long side direction becomes a segment for elastic deformation.

10. The gripping device of claim 9, wherein the aforementioned transmission part is configured such that a plate-shaped part extending from the aforementioned first gripping part in a direction toward the aforementioned long side is bent in a direction opposite to the aforementioned direction on the side where the aforementioned beam is disposed, and overlaps with the aforementioned central part of the aforementioned first gripping part on the side opposite to the aforementioned beam.

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