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US 11,745,337 B2Granted
Handling device, control device, and computer program product
AssigneeKabushiki Kaisha Toshiba
InventorsHaruna Eto, Seiji Tokura, Kazuma Komoda, Ping Jiang, Akihito Ogawa
Life of this patent
Estimating the term…
Abstract
A handling device according to an embodiment has a holder, a calculator, and a controller. The holder is capable of holding an object. The calculator calculates an estimated holding safety factor when the holder holds an object. The controller causes the holder to hold the object on the basis of the estimated holding safety factor calculated by the calculator.
Claims15
A handling device comprising:
- a holder capable of holding an object;
- a calculator that calculates an estimated holding safety factor when the holder holds the object;
- and
- a controller that causes the holder to hold the object on the basis of the estimated holding safety factor calculated by the calculator,
- wherein the controller changes a moving speed of the holder on the basis of the estimated holding safety factor, and
- wherein the estimated holding safety factor is a ratio calculated according to a following equation:
- ratio
- =
- P
- M
- ×
- R
- I
- ,
- where P is an adsorption pressure of an arbitrary holding method, M is a moment determined by a distance L between a contact surface center K and a center of gravity G of the object, R is a shortest distance between an adsorption surface contour and the center of gravity G of the object;
- and I is a geometrical moment of inertia determined by an arbitrary holding method,
- wherein the controller controls, when an aspect ratio of a contact area in which the holder and the object are in contact is greater than 1 and a direction intersecting a direction with the smallest spread degree in distribution on a contact surface is set as a specific distribution direction, an operation of the holder such that the holder holding the object moves in the specific distribution direction, and
- wherein, in the contact area, a length of the contact area corresponds to a length in a direction with a largest spread degree in the distribution on the contact surface, and a width of the contact area corresponds to a length in the direction with the smallest spread degree in the distribution on the contact surface as a direction orthogonal to a longitudinal direction of the length.
15 more elements
A handling device, comprising:
- a holder configured to hold an object;
- and
- a controller configured to control, when determining that an aspect ratio of a contact area in which the holder and the object are in contact is greater than 1 and a direction intersecting a direction with a smallest spread degree in a distribution on contact surface is set as a specific distribution direction, an operation of the holder such that the holder holding the object moves in the specific distribution direction, wherein
- in the contact area, in the aspect ratio, a length of the contact area corresponds to a length in a direction with a largest spread degree in the distribution on the contact surface, and a width of the contact area corresponds to a length in the direction with a smallest spread degree in the distribution on the contact surface as a direction orthogonal to a longitudinal direction of the length, and
- the specific distribution direction is a direction with a stronger bending with respect to an applied load than the direction with the smallest spread degree in the distribution on the contact surface.
2 more elements
A control device comprising:
- a calculator that calculates an estimated holding safety factor when a holder capable of holding an object holds the object;
- and
- a controller that causes the holder to hold the object on the basis of the estimated holding safety factor calculated by the calculator,
- wherein the controller changes a moving speed of the holder on the basis of the estimated holding safety factor;
- and
- wherein the estimated holding safety factor is a ratio calculated according to a following equation:
- ratio
- =
- P
- M
- ×
- R
- I
- ,
- where P is an adsorption pressure of an arbitrary holding method;
- is a moment determined by a distance L between a contact surface center K and a center of gravity G of object R is a shortest distance between an adsorption surface contour and the center of gravity G of the object, and I is a geometrical moment of inertia determined by an arbitrary holding method,
- wherein the controller controls, when an aspect ratio of a contact area in which the holder and the object are in contact is greater 1 and a direction intersecting a direction with the smallest spread degree in distribution on a contact surface is set as a specific distribution direction, an operation of the holder such that the holder holding the object moves in the specific distribution direction, and
- wherein, in the contact area, a length of the contact area corresponds to a length in a direction with a largest spread degree in the distribution on the contact surface, and a width of the contact area corresponds to a length in the direction with the smallest spread degree in the distribution on the contact surface as a direction orthogonal to a longitudinal direction of the length.
15 more elements
Dependencies are inferred from the claim text.