Gripping device, transfer device with same, and method for controlling gripping device

摘要

A gripping device comprises: a gripping unit for gripping a work; a controller for controlling the gripping operation of the gripping unit; and contact sections attached to the gripping unit contacting the work, the contact sections being adapted to deform following the shape of the work, and to maintain the deformation. The gripping operation of the gripping unit presses the contact sections against the work to cause the contact sections to follow the outside of the work, and grips the work with the shape of the contact sections maintained. After predetermined number of times of gripping operation, the controller changes the positions of the contact points of the contact sections with the work when the work is gripped. As a result, different works having different shapes can be stably gripped and the lifetime of the contact sections can be extended to be longer than that of conventional products. The change, by the controller, in the positions of the points on the work with which the contact sections are in contact when the work is gripped is performed by shifting the contact sections in a plane vertical to the gripping direction.

主权项

1. A gripping device for gripping a work comprising:
a gripping unit for gripping the work; a controller for controlling a gripping operation of the gripping unit; and multiple contact sections attached to the gripping unit at contact points with the work, each of the contact sections being deformable following an outer shape of the work and being able to maintain the deformed shape, wherein the gripping operation of the gripping unit makes the contact sections pressed to the work and deformed along the outer shape of the work, and the gripping unit grips the work where the deformed shape of the contact section is maintained, and wherein the controller changes the contact points of the contact sections with the work after gripping a predetermined amount of times, and wherein the controller shifts the contact points of the contact sections in a plane perpendicular to a gripping direction of the gripping unit changes the contact points of the contact sections in the gripping direction in response to the shifts of the contact points of the contact sections in the plane perpendicular to the gripping direction.