The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 30, 2023
Filed:
Feb. 25, 2021
Kabushiki Kaisha Toshiba, Tokyo, JP;
Toshiba Infrastructure Systems & Solutions Corporation, Kawasaki, JP;
Junji Oaki, Kawasaki Kanagawa, JP;
Tetsuya Masuda, Kawasaki Kanagawa, JP;
Haruhiko Horiuchi, Yokohama Kanagawa, JP;
Junichi Inoue, Kawasaki Kanagawa, JP;
Takafumi Ushiyama, Yokohama Kanagawa, JP;
Kabushiki Kaisha Toshiba, Tokyo, JP;
Toshiba Infrastructure Systems & Solutions Corporation, Kawasaki, JP;
Abstract
A picking apparatus in an embodiment includes: a gripper, an arm, a detector, and a control unit. The gripper picks and grips an object to be conveyed. The arm moves the gripper and causes the gripper to convey the object to be conveyed. The detector is attached to the arm and senses a force applied to the gripper. The control unit controls an operation of the gripper and the arm. The control unit includes a calculator and a subtractor. The calculator calculates a gravitational force and an inertial force applied to the gripper when the gripper grips and moves the object to be conveyed using an arithmetic expression including a coefficient determined in accordance with a mass of the object to be conveyed. The subtractor subtracts the gravitational force and the inertial force calculated by the calculator from a force applied to the gripper sensed by the detector.