| 摘要 |
PROBLEM TO BE SOLVED: To provide a new technique of detecting defective gripping of a workpiece, such as gripping of the workpiece in a slanting state. SOLUTION: An article gripping device is formed of a plurality of gripping members (fingers 2A, 2B) for gripping an article (workpiece 10) at specific fulcrums 2a to 2d, and sensors 3a to 3d arranged on the respective fingers 2A, 2B, for detecting temperatures at the respective fulcrums 2a to 2d. According to the article gripping device, the temperatures at the fulcrums 2a to 2d are detected by the sensors 3a to 3d, respectively, and the temperatures at the fulcrums 2a to 2d are compared with specific threshold values, respectively, by a control device (not shown). When the temperatures are in excess of the threshold values, it is determined that the defective gripping has occurred. COPYRIGHT: (C)2007,JPO&INPIT
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