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1. (WO2017177408) GRIPPING HEAD, GRIPPING SYSTEM AND METHOD THEREOF

Pub. No.:    WO/2017/177408    International Application No.:    PCT/CN2016/079221
Publication Date: Fri Oct 20 01:59:59 CEST 2017 International Filing Date: Fri Apr 15 01:59:59 CEST 2016
IPC: B29C 65/08
Applicants: ABB TECHNOLOGY LTD
GU, Hao
LI, Shunchong
ORMAN, Maciej
Inventors: GU, Hao
LI, Shunchong
ORMAN, Maciej
Title: GRIPPING HEAD, GRIPPING SYSTEM AND METHOD THEREOF
Abstract:
A gripping head(1), a gripping system and a gripping method are disclosed. The gripping head(1) including a holding device(10) for applying holding force to a first part(P1), an acoustic pressure measurement device(11) for measuring a first acoustic pressure level of a first acoustic wave(W1) propagating from the first part(P1) resulted from a second acoustic pressure of a second acoustic wave(W2) ex-erted by an acoustic transducer against the first part (P1) held by the holding device (10), and a controller(12) for judging a contact of the first part(P1) with an second part(P2) using the measurement of the first acoustic pressure level output from the aco-ustic pressure measurement device(11). It is possible to detect contact of assembly p-arts(P1,P2) by measuring the acoustic pressure level of acoustic wave(W1,W2) tran-smitted from the gripped assembly part(P1,P2).