FIELD: transportation.
SUBSTANCE: transportation apparatus includes: a product detection device, a gripping device with a base portion and a palm portion, a suction portion, pins and a drive mechanism, a negative pressure supply device; a movement device, a recognition device which measures the shape, position and size of the article, an operation plan generation device which selects the article suction surface and schedules a grip position, and a control device which controls the operation of the gripping device and the operation of the movement device to obtain the gripping position planned by the operation plan generation unit. In the transportation device gripping device, both of the first and second fingers are able to approach and move away from each other when the second finger is on the second side. Grip device comprises drive mechanism, which brings the first and the second fingers together and removes them from each other when the second finger is on the second side.
EFFECT: enabling expansion of transport facility capabilities.
15 cl, 29 dwg
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