Patent ID: 11964828
Assignee: DENSO WAVE INCORPORATED
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 4:
5. A method of controlling a robot configured to air-suction and grip a workpiece to transfer the workpiece from one position to a further position, the workpiece being a content packed by a thin-film packaging material, and a space being formed inside the packaging material between the content and the packaging material itself, the method comprising:
pressing, at the one position, a suction pad tightly to the workpiece such that (i) the suction pad is pressed tightly to the content with the packaging material interposed between the suction pad and the content on a pressed surface of the packaging material and (ii) the content of the workpiece is gripped by the air-suction of the suction pad in a state where the packaging material is interposed between the suction pad and the content;
flattening the pressed surface of the packaging material by discharging air to the pressed surface when the suction pad is about to be pressed via the packaging material;
starting the air-suction of the suction pad when the suction pad has been pressed to the content of the workpiece; and
transferring the workpiece by the suction pad to the further position.