US 11,865,720 B2
Handling device and control device
Haruna Eto, Kawasaki Kanagawa (JP); Seiji Tokura, Kawasaki Kanagawa (JP); Kazuma Komoda, Kawasaki Kanagawa (JP); Ping Jiang, Ota Tokyo (JP); and Akihito Ogawa, Fujisawa Kanagawa (JP)
Assigned to Kabushiki Kaisha Toshiba, Tokyo (JP)
Filed by KABUSHIKI KAISHA TOSHIBA, Tokyo (JP)
Filed on Aug. 27, 2020, as Appl. No. 17/004,094.
Claims priority of application No. 2020-047741 (JP), filed on Mar. 18, 2020.
Prior Publication US 2021/0291366 A1, Sep. 23, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B25J 15/00 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1664 (2013.01); B25J 15/00 (2013.01); G05B 2219/39504 (2013.01); G05B 2219/39505 (2013.01)] 11 Claims
OG exemplary drawing
 
1. 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.