Holding device, handling apparatus, and detection device

1. A holding device comprising:

a first holder comprising a first member and a second member, the first holder being configured to hold an object by interposing the object between the first member and the second member, the first member including an internal space that is sealed; and

a first sensor in the first member, the first sensor being a microphone configured to detect a vibration as a sound, at least part of the microphone being in the internal space.

2. The holding device according to claim 1 , wherein

the first member has a rigidity allowing a vibration caused on a surface of the first member to be transmitted as a sound to the inside of the first member, and

the microphone detects the sound transmitted to the inside of the first member.

3. The holding device according to claim 1 , wherein

the microphone detects a sound caused inside the first member due to a vibration caused on a surface of the first member.

4. The holding device according to claim 1 , wherein

the internal space is filled with a gas, and

the first sensor detects a vibration of the gas in the internal space as the sound.

5. The holding device according to claim 4 , wherein

the internal space is a resonance space that amplifies a vibration caused on a surface of the first member as the vibration of the gas in the internal space by resonance, and

the microphone detects the vibration of the gas amplified by resonance in the internal space.

6. The holding device according to claim 1 , wherein

the internal space is sealed.

7. The holding device according to claim 1 , wherein

the first member has a first face and a second face, the first face is configured to face the object, and the second face is different from the first face,

the first member has a first thickness between the first face and the internal space and a second thickness between the second face and the internal space,

the first thickness is thinner than second thickness, and

a width of the internal space in a direction crossing the first face is larger than the second thickness.

8. The holding device according to claim 1 , wherein

the first member has a first face, and the first face is configured to face the object,

the internal space has a first inner face, a second inner face, and a third inner face, the first inner face is substantially parallel to the first face, the second inner face is positioned on a side opposite to the first inner face in the internal space, and the third inner face is different from the first inner face and the second inner face, and

the first sensor is attached to the third inner face and detects a sound reflected on the first inner face and the second inner face.

9. The holding device according to claim 1 , further comprising

a plurality of second sensors each of which is a microphone capable of detecting a vibration as a sound,

wherein

the first member has a first face, and the first face has a plurality of holes and is configured to face the object, and

the plurality of second sensors are disposed in the internal space and face the plurality of holes.

10. The holding device according to claim 1 , wherein

the first member has a first face, and the first face is configured to face the object, and

the first face has a surface roughness that is rougher than at least part of the first holder.

11. The holding device according to claim 1 , wherein

the first holder is configured to hold, as the object, a packaged article or a device component.

12. The holding device according to claim 1 , wherein

the microphone is inside the first member, the microphone is not being exposed to the outside of the first member.

13. The holding device according to claim 1 , wherein

the first member has a first face, and the first face is configured to face the object, and

a length of the internal space in a first direction along the first face of the first member is a half or more of a maximum length of the first member in the first direction.

14. The holding device according to claim 13 , wherein

a width of the internal space in a second direction that is different from the first direction is a half or more of a maximum width of the first member in the second direction.

15. A handling apparatus comprising:

a holding device comprising a first holder, a first sensor, and a driver, the first holder comprising a first member and a second member, the first holder being configured to hold an object by interposing the object between the first member and the second member, the first member including an internal space that is sealed, the first sensor in the first member, the first sensor being a microphone configured to detect a vibration as a sound, at least part of the microphone being in the internal space, the driver being configured to drive at least one of the first member and the second member; and

a controller configured to change control of the driver on the basis of a detection result output from the microphone in a case where a vibration is caused in the first member.

16. The handling apparatus according to claim 15 , wherein

the controller controls the driver such that a force of the first holder holding the object is increased in a case where a vibration of a first type is detected by the microphone and controls the driver such that the force of the first holder holding the object is decreased in a case where a vibration of a second type is detected by the microphone, and the vibration of the second type is different from the vibration of the first type.

17. The handling apparatus according to claim 16 , wherein

the vibration of the first type is a vibration caused in a case where the object deviates from the first member, and

the vibration of the second type is a vibration caused in a case where deformation leading to damage is caused in at least one of the object and the first member.

18. The handling apparatus according to claim 15 , wherein

the controller comprises a learner, and the learner is configured to learn a determining model used for determining a holding state of the first holder for the object through machine learning on the basis of a detection result output from the first sensor.

19. The handling apparatus according to claim 18 , further comprising a measurement system,

the measurement system comprising:

a second holder comprising a third member, a fourth member, and an operation unit, the operation unit being configured to operate at least one of the third member and the fourth member by being used by a human hand, the second holder being configured to hold the object by interposing the object between the third member and the fourth member; and

a third sensor in the third member, the third sensor being configured to detect a vibration.