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专利名称：GRIPPING DEVICE, TRANSFER DEVICE WITH
SAME, AND METHOD FOR CONTROLLINGGRIPPING DEVICE
发明人：MATSUOKA Hirofumi申请号：EP11857070.4申请日：20111229公开号：EP2669065A4公开日：20170913
摘要：A gripping device comprises: a gripping unit for gripping a work; a controller forcontrolling the gripping operation of the gripping unit; and contact sections attached tothe gripping unit contacting the work, the contact sections being adapted to deformfollowing the shape of the work, and to maintain the deformation. The gripping
operation of the gripping unit presses the contact sections against the work to cause thecontact sections to follow the outside of the work, and grips the work with the shape ofthe contact sections maintained. After predetermined number of times of grippingoperation, the controller changes the positions of the contact points of the contactsections with the work when the work is gripped. As a result, different works havingdifferent shapes can be stably gripped and the lifetime of the contact sections can beextended to be longer than that of conventional products. The change, by the controller,in the positions of the points on the work with which the contact sections are in contactwhen the work is gripped is performed by shifting the contact sections in a plane verticalto the gripping direction.
申请人：Toyota Jidosha Kabushiki Kaisha
地址：1 Toyota-cho, Toyota-shi, Aichi 471-8571 JP
国籍：JP
代理机构：D Young & Co LLP
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