| CPC B25J 13/082 (2013.01) [B25J 9/1612 (2013.01)] | 11 Claims |
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1. 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;
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; and
an image capturing unit that is connected to the control unit and captures an image of the workpiece, wherein:
the control unit calculates a surface area of the side surface of the workpiece from the image of the workpiece captured using the image capturing unit; and
a volume of the workpiece is registered in the control unit, and the control unit calculates a depth of the workpiece from the volume of the workpiece and the surface area of the side surface and controls the angle of the supporting portion with respect to the ground based on the depth of the workpiece.
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