Holding apparatus, article handling apparatus, and control apparatus
AssigneeKabushiki Kaisha Toshiba
InventorsHideichi NAKAMOTO, Atsushi Sugahara
Life of this patent
Estimating the term…
Abstract
According to one embodiment, a holding apparatus includes a holding part, a rotating part, a supporting part, and a moving mechanism. The holding part is configured to hold an article. The rotating part is configured to rotate the holding part. The supporting part is configured to support the article from below. The moving mechanism is configured to move the holding part with respect to the supporting part.
Claims12
A holding apparatus comprising:
- a holding part configured to hold an article;
- a rotating part connected to the holding part and configured to rotate the holding part;
- a base part;
- a supporting part fixed to the base part, the supporting part including a surface on which the article is to be placed;
- and
- a moving mechanism connected to the rotating part and the base part, the moving mechanism being configured to move the holding part and the rotating part in a first linear direction and in a second linear direction crossing the first linear direction with respect to the supporting part.
A control apparatus for an article handling apparatus including a holding part configured to hold an article, a rotating part that is connected to the holding part and that is configured to rotate the holding part, a base part, a supporting part that is fixed to the base part and that includes a surface on which the article is to be placed, a scraping-out part that is connected to the holding part and that is configured to scrape out the article onto the surface of the supporting part, and a moving mechanism that is connected to the rotating part and the base part and that is configured to move the holding part and the rotating part in a first linear direction and in a second linear direction crossing the first direction with respect to the supporting part and the base part, the control apparatus comprising:
- processing circuitry configured to:
- select an operation mode used for taking out the article from predetermined operation modes based on sensor data output from a sensor provided in an ambient environment of the article, the predetermined operation modes including a first mode of holding an upper surface of the article by the holding part, a second mode of holding a side surface of the article by the holding part, and a third mode of scraping out the article onto the supporting part by the scraping-out part, wherein the processing circuitry is configured to select the third mode when there is a label, wrapping paper, or plastic on an upper surface of the article and when there is a label, wrapping paper, or plastic on a side surface of the article;
- and
- a controller configured to control the article handling apparatus in accordance with the selected operation mode.
A control apparatus for an article handling apparatus including a holding part configured to hold an article, a rotating part that is connected to the holding part and that is configured to rotate the holding part, a base part a supporting part that is fixed to the base part and that includes a surface on which the article is to be placed, a scraping-out part that is connected to the holding part and that is configured to scrape out the article onto the surface of the supporting part, and a moving mechanism that is connected to the rotating part and the base part and that is configured to move the holding part and the rotating part in a first linear direction and in a second linear direction crossing the first direction with respect to the supporting part and the base part, the control apparatus comprising:
- processing circuitry configured to:
- determine a holding state based on sensor data output from a sensor provided in an ambient environment of the article;
- and
- control the article handling apparatus according to a determination result of the holding state,
- the holding state including at least one of following:
- whether the holding part is holding the article stably
- whether the article held by the holding part has an expected size;
- or whether another article has been moved in association with movement of the article held by the holding part.
Dependencies are inferred from the claim text.