| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a gripping device that can grasp a gripping status according to the weight and the strength of a workpiece. <P>SOLUTION: In the gripping device, a pair of gripping plates 22 are supported by a pair of arms 21 through a link bar 35. Each of the arms 21 is provided with a potentiometer 40 for detecting a rotation angle θ of the link bar 35. A motor 15 for changing the interval of the pair of arms 21 is provided with an encoder for detecting the rotation of a rotary shaft of the motor 15. The gripping status of the workpiece W is determined from the detection value of the potentiometer and the detection value of the encoder. The movement amount of each of the arms 21 is obtained from the detection value of the encoder, and the movement amount of the gripping plates 22 is obtained from the detection value of the potentiometer 40. When the ratio of the movement amount to the movement amount reaches a predetermined value or smaller, the drive of the motor 15 is stopped. <P>COPYRIGHT: (C)2013,JPO&INPIT |
