Gripping device and method for taking out an article
US9757858B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 15, 2016 |
| Grant date | Sep 12, 2017 |
| Priority date | — |
| Expiry date | Jan 15, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39558
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An article handling device includes: a gripper that grips an article; a driver that moves the gripper; an article recognition unit that recognizes a state of the article; a gripping recognition unit that recognizes a gripping state of the gripper; a determination unit that determines whether the gripping state is stable or unstable based on a recognition result of the gripping recognition unit; and a controller that controls a first gripping operation in which the gripper grips the article by a gripping position determined based on the recognition result of the article recognition unit, and, when the gripping state is determined as unstable, controls a second gripping operation in which the gripping position is changed and the gripper re-grips the article.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.