Title:
CONTROLLER, CONTROL METHOD FOR CONTROLLER, CONTROL PROGRAM, AND RECORDING MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/107348
Kind Code:
A1
Abstract:
The present invention realizes a controller capable of preventing gripping failure in an air chuck system. A controller (10) comprises: a contact detection unit (14) for detecting, from the velocity or acceleration of an air cylinder (21) of an air chuck (20), that a gripping part (23) has come into contact with a workpiece; and a grip detection unit (15) for detecting, from displacement of the air cylinder after the contact, that the gripping part is holding the workpiece.
Inventors:
SAKAMOTO YUKI (JP)
KIMURA KATSUYUKI (JP)
KIMURA KATSUYUKI (JP)
Application Number:
PCT/JP2021/008706
Publication Date:
May 27, 2022
Filing Date:
March 05, 2021
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
B25J15/08
Foreign References:
| JPH0655474A | 1994-03-01 | |||
| JPS6071183A | 1985-04-23 | |||
| JPH10217172A | 1998-08-18 | |||
| JP2011131340A | 2011-07-07 |
Attorney, Agent or Firm:
MURAKAMI, Takashi (JP)
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