| 摘要 |
PURPOSE:To efficiently and surely hold an object by fitting both a noncontact sensor and a contact type sensor to holding tools and providing a judging means to judge the holding state of the object based on the detection results of the sensors. CONSTITUTION:The existence of an object P in a holding area is detected in the noncontact state by a noncontact sensor 33 arranged on the holding area formed by a pair of holding tools 8, the detection result is sent to a judging means. The existence of the holding of the object P is detected in the contact state by a contact type sensor 34 provided on at least one of a pair of holding tools, the detection result is sent to the judging means. When the detection result indicating the existence of the object is sent from the noncontact sensor 33 and the detection result indicating the holding state is sent from the contact type sensor 34 to the judging means, the judging means judges the object P to be in the holding state. If the detection result from the contact type sensor 34 is changed after this holding state, the judging means judges the object P to be in the inadequate holding state. |
