Title:
ARTICLE HOLDING DEVICE, AND CONTROL METHOD AND CONTROL DEVICE FOR ARTICLE HOLDING DEVICE
Document Type and Number:
Japanese Patent JP2023022875
Kind Code:
A
Abstract:
To provide a control device for an article holding device capable of stably processing an article.SOLUTION: An article holding device includes a holding mechanism, an arm mechanism, a rotation mechanism, a force sensor, and a control part. The holding mechanism is provided with holding parts for adsorbing and holding an article. The arm mechanism moves the holding mechanism. The rotation mechanism rotates the holding mechanism. The force sensor acquires moment when the arm mechanism by the holding mechanism moves the holding mechanism. The control part acquires the moment from the force sensor, determines whether the direction and the magnitude of the acquired moment exceeds a predetermined range showing the magnitude in each direction of moment to be calculated on the basis of the number and the positions of holding parts, and controls the rotation mechanism to rotate the holding mechanism such that the movement does not exceed the predetermined range in the case that the moment exceeds the predetermined range.SELECTED DRAWING: Figure 1
Inventors:
YAMAMOTO SAYO
Application Number:
JP2021127927A
Publication Date:
February 16, 2023
Filing Date:
August 04, 2021
Export Citation:
Assignee:
TOSHIBA CORP
TOSHIBA INFRASTRUCTURE SYSTEMS & SOLUTIONS CORP
TOSHIBA INFRASTRUCTURE SYSTEMS & SOLUTIONS CORP
International Classes:
B25J13/08
Attorney, Agent or Firm:
Takumi Hara
Numao Yoshisyo
Numao Yoshisyo