Gripping device

A gripping system for gripping an elongated object having a fixed end fixed to a base and a free end remote from the fixed end, comprising:

• a robot having a robot arm and a chuck mounted to said robot arm for gripping objects, said chuck being movable between open and closed positions;
• robot driving means for moving said robot arm;
• chuck driving means for driving said chuck between said open and closed positions;
• object detecting means for detecting when the object is positioned in the chuck and when the chuck is at the free end of the object;
• control means for controlling said robot driving means and said chuck driving means to first cause said chuck to grip the object at said fixed end thereof, and to then cause said chuck to slide longitudinally along the object until said object detecting means detects that said chuck is at the free end of the object;
• wherein said robot includes position detecting means for detecting positions of the chuck relative to a predetermined position;
• wherein said control means is further operable to calculate distance travelled by said chuck between a first position detected by said position detecting means at a first time and a second position detected by said position detecting means at a second time a predetermined period of time after said first time;
• and
• wherein said control means is still further operable to control the velocity of said chuck in moving longitudinally along the object such that said distance travelled by said chuck during said predetermined period of time is maintained between first and second predetermined distances, by causing said chuck driving means to drive said chuck toward said closed position if said distance travelled exceeds said first predetermined distance and to drive said chuck toward said open position if said distance travelled is less than said second predetermined distance.