Patent ID: 11865720
Assignee: KABUSHIKI KAISHA TOSHIBA
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
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.