Title:
GRIPPING DEVICE AND METHOD FOR CONTROLLING GRIPPING DEVICE
Document Type and Number:
WIPO Patent Application WO/2021/199279
Kind Code:
A1
Abstract:
Provided is a gripping device (100) comprising a master robot (10) and slave robots (20), wherein the master robot (10) includes a main hand (11), a main arm that adjusts a main gripping position at which the main hand (11) grips a long member (200), and a main control unit, the slave robots (20) each include a subordinate hand (21), a subordinate arm (22) that adjusts a subordinate gripping position at which the subordinate hand (21) grips the long member (200), and a subordinate control unit, the subordinate control unit controls the subordinate gripping position in accordance with the main gripping position, the main hand (11) grips the long member (200) in a state in which movement in the longitudinal direction with respect to the long member (200) is permitted, and the subordinate hands (21) grip the long member (200) in a state in which movement in the longitudinal direction with respect to the long member (200) is not permitted.
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Inventors:
FUJIKAWA SATOSHI (JP)
YAMAGUCHI JUNPEI (JP)
YAMAGUCHI JUNPEI (JP)
Application Number:
PCT/JP2020/014804
Publication Date:
October 07, 2021
Filing Date:
March 31, 2020
Export Citation:
Assignee:
MITSUBISHI HEAVY IND LTD (JP)
International Classes:
B25J15/08; B25J13/00
Foreign References:
| JP2003159683A | 2003-06-03 | |||
| JP2017030104A | 2017-02-09 | |||
| JP2013022672A | 2013-02-04 | |||
| JP2010120124A | 2010-06-03 |
Attorney, Agent or Firm:
FUJITA, Takaharu (JP)
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