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US 11,865,720 B2Granted
Handling device and control device
AssigneeKabushiki Kaisha Toshiba
InventorsHaruna Eto, Seiji Tokura, Kazuma Komoda, Ping Jiang, Akihito Ogawa
Life of this patent
Estimating the term…
Abstract
According to one embodiment, a handling device includes: a holding part that includes two or more supporting parts and is capable of holding an object by gripping the object with the two or more supporting parts; a calculation part configured to calculate a safety factor indicating safety of a state of the holding part holding the object; and a controller configured to cause the holding part to hold the object according to the safety factor.
Claims11
A handling device comprising:
- a holding part that includes two or more supporting parts and is capable of holding an object by gripping the object with the two or more supporting parts;
- a memory configured to store computer executable programs;
- a processor configured to, when executing the programs stored in the memory, calculate a safety factor indicating safety of a state of the holding part holding the object;
- and
- a controller configured to cause the holding part to hold the object according to the safety factor,
- wherein the safety factor is calculated based on:
- a bending stress caused in regions where the supporting part contacts the object, and
- a friction pressure generated in the regions where the supporting part contacts the object,
- wherein the bending stress is calculated based on:
- a value related to an area of the regions where the supporting part contacts the object,
- a distance between a reference position in the regions and a center of gravity of the object, and
- a mass of the object, and
- wherein the controller changes a moving direction of the holding part based on the safety factor.
10 more elements
A control device comprising:
- a memory configured to store computer executable programs;
- a processor that, when executing the programs stored in the memory, calculates a safety factor indicating safety of a state in which a holding part holds an object by gripping the object with two or more supporting parts;
- and
- a controller configured to cause the holding part to hold the object according to the safety factor,
- wherein the safety factor is calculated based on:
- a bending stress caused in regions where the supporting part contacts the object, and
- a friction pressure generated in the regions where the supporting parts contact the object,
- wherein the bending stress is calculated based on:
- a value related to an area of the regions where the supporting part contacts the object,
- a distance between a reference position in the regions and a center of gravity of the object, and
- a mass of the object, and
- wherein the controller changes a moving direction of the holding part based on the safety factor.
9 more elements
Dependencies are inferred from the claim text.