CPC B65G 47/905 (2013.01) [B65G 47/901 (2013.01); B65G 61/00 (2013.01); B66C 1/445 (2013.01); B66C 13/22 (2013.01); B65G 2201/0273 (2013.01); B65G 2203/0233 (2013.01); B65G 2203/044 (2013.01)] | 8 Claims |
1. A gripping apparatus comprising:
a placement section configured to hold a round-shaped article;
a pair of gripping members configured to grip a side of the article placed on the placement section and include an abutment surface having a bent portion and capable of abutting against the side of the article;
a sensor that crosses the bent portion such that an end side and an end side of at least one of the gripping members are connected to each other in a plan view and includes a light axis extending in the direction along the side of the article; and
a controller configured to move the pair of gripping members close to each other to a first position where the article is not gripped but detected with the sensor, receive a detection signal from the sensor, and move the gripping members to a second position where the article is gripped, wherein the abutment surface is circular-arc-shaped in a plan view, and the sensor is arranged such that the light axis intersects at two points of a circular arc.
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