| 摘要 |
PURPOSE:To surely execute a gripping operation and to prevent an accident due to a drop during a transfer by a method wherein a heating part is installed at a laminated body at least on one out of a first gripping body and a second gripping body, the heating part is controlled by a signal from a sensor used to detect a gap between claw parts during a gripping action and a curvature amount of the gripping body is controlled. CONSTITUTION:A first gripping body 9 where claw parts 3a, 3b have been installed at its tip parts and a second gripping body 10 where a claw part 3c has been installed at its tip part in the same manner are coupled to a main body 6. At least one out of the first and second gripping bodies 9, 10 is a laminated body of two or more metals; heating parts 14a, 14b are installed at the laminated body. In addition, the following are provided: sensors 13a, 13b used to detect a gap between the claw parts 3a-3c during a gripping action; a control means used to control a curvature amount of the first and second gripping bodies 9, 10 by controlling the heating parts 14a, 14b. On the basis of a signal from the sensors 13a, 13b, the first and second gripping bodies 9, 10 follow a deformation of the claw parts 3a-3c and execute a gripping operation surely. By this setup, an object to be gripped can be gripped without being dropped during a transfer. |
