GRIPPING DEVICE, GRIPPING SYSTEM AND GRIPPING DEVICE SLIP DETECTION METHOD

• Main Author: SASAJIMA KENTA
• Format: Patent
• Language: English; Japanese
• Published: 10.08.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

To provide a gripping device which can detect slip of a gripping object when the gripping object has slipped therein.SOLUTION: A gripping device comprises: a motor rotating according to an operation value; a gripping part with a first finger part and a second finger part that changes a space between the first finger part and the second finger part by the motor and grips an object with the first finger part and the second finger part; a force detection part which detects a gripping force of the first finger part and the second finger part for gripping the object when gripping the object with the first finger part and the second finger part; and a control part which outputs the operation value so that a force detection value of the gripping force detected by the force detection part becomes a force command value. The control part detects changes in the gripping force detected by the force detection part, and detects slip of the object.SELECTED DRAWING: Figure 1 【課題】本開示は、把持装置内で把持対象物が滑った場合に、把持対象物が滑ったことを検出可能な把持装置を提供する。【解決手段】操作値に応じて回転するモータと、第１指部と、第２指部と、を備え、前記モータにより前記第１指部と前記第２指部との間隔を変えて、前記第１指部と前記第２指部とで対象物を把持する把持部と、前記第１指部と前記第２指部とで前記対象物を把持した時に、前記第１指部及び前記第２指部が前記対象物を把持する把持力を検出する力検出部と、前記力検出部が検出した前記把持力の力検出値が力指令値になるように前記操作値を出力する制御部と、を備え、前記制御部は、前記力検出部が検出した前記把持力の変動を検出して、前記対象物の滑りを検出する把持装置。【選択図】図１