Holding device, holding method, and storage medium
AssigneeToyota Jidosha Kabushiki Kaisha
InventorReoto UETAKE
Life of this patent
Estimating the term…
Abstract
A holding device includes: a grip portion that holds a side surface of one side of a workpiece; a supporting portion that supports the grip portion and moves the workpiece; a detection unit that detects a force applied to the grip portion; and a control unit that controls an angle of the supporting portion with respect to the ground such that a force detected by the detection unit does not exceed a threshold value when the supporting portion moves the workpiece.
Claims12
A holding device comprising:
- a grip portion that holds one side surface of a workpiece;
- a supporting portion that supports the grip portion and moves the workpiece;
- a detection unit that detects a force applied to the grip portion;
- and
- a control unit that controls an angle of the supporting portion with respect to a ground such that the force detected by the detection unit does not exceed a threshold value when the supporting portion moves the workpiece.
A holding method comprising:
- a step of holding one side surface of a workpiece by a grip portion;
- a step of supporting the grip portion and moving the workpiece by a supporting portion;
- a step of detecting a force applied to the grip portion by a detection unit;
- and
- a step of controlling an angle of the supporting portion with respect to a ground by a control unit such that the force detected by the detection unit does not exceed a threshold value when the supporting portion moves the workpiece.
A non-transitory storage medium storing a program causing a holding device to execute processes including:
- a step of holding one side surface of a workpiece by a grip portion;
- a step of supporting the grip portion and moving the workpiece by a supporting portion;
- a step of detecting a force applied to the grip portion by a detection unit;
- and
- a step of controlling an angle of the supporting portion with respect to a ground by a control unit such that the force detected by the detection unit does not exceed a threshold value when the supporting portion moves the workpiece.
Dependencies are inferred from the claim text.