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:
Jun. 28, 2016
Filed:
Nov. 28, 2012
Canon Kabushiki Kaisha, Tokyo, JP;
Hitoshi Suzuki, Nagareyama, JP;
Canon Kabushiki Kaisha, Tokyo, JP;
Abstract
A grip apparatus includes a robot hand including plural fingers and pressure sensitive conductive rubber provided to the finger and configured to output a detection signal equivalent to acting force. The pressure sensitive conductive rubber is covered by a cover member. The grip apparatus also includes a control unit configured to cause the plural fingers to perform an opening or closing operation and compare a detection value based on the detection signal from the pressure sensitive conductive rubber with a threshold to determine whether the robot hand grips the work or releases the work. During a period from a time when the closing operation is started until a time when the fingers contacts the work, the control unit samples the detection signal of the pressure sensitive conductive rubber and sets the threshold as a value higher than a detection value at a time of this sampling.