Patent ID: 11931887
Assignee: OMRON CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. An end effector device, comprising:
an end effector including
a palm and
a plurality of fingers each having a first end portion in an extending direction and a second end portion in the extending direction, the plurality of fingers being capable of grasping operation of moving in a direction intersecting the extending direction as well as approaching each other to grasp an object being grasped, the first end portion being connected to the palm, and the second end portion including a tactile sensor unit capable of detecting external forces in at least three axial directions;

a drive device that drives the palm and each of the plurality of fingers;
a position shift direction determination unit that determines in which direction the object being grasped is position-shifted with respect to a fitting recess based on a detection result detected by the tactile sensor unit in a case where at least one of the external forces in at least three axial directions detected by the tactile sensor unit is a specified value or more when the palm approaches the fitting recess of an object to be assembled in a state where the object being grasped is grasped by each of the plurality of fingers to fit the object being grasped into the fitting recess; and
a position shift correction unit that controls the drive device to move the palm in a direction opposite to a position shift direction of the object being grasped with respect to the fitting recess determined by the position shift direction determination unit, and corrects a position shift of the object being grasped with respect to the fitting recess.