JPH04183590A - Holding device - Google Patents

Holding device

Info

Publication number
JPH04183590A
JPH04183590A JP31116690A JP31116690A JPH04183590A JP H04183590 A JPH04183590 A JP H04183590A JP 31116690 A JP31116690 A JP 31116690A JP 31116690 A JP31116690 A JP 31116690A JP H04183590 A JPH04183590 A JP H04183590A
Authority
JP
Japan
Prior art keywords
control means
holding
object
torque control
holding force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP31116690A
Inventor
Masami Kawamura
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP31116690A priority Critical patent/JPH04183590A/en
Publication of JPH04183590A publication Critical patent/JPH04183590A/en
Application status is Pending legal-status Critical

Links

Abstract

PURPOSE: To perform the adjustment of a holding force electrically wholely, and to simplify the structure of a servohand part, by providing a changeover means which can connect a torque control means only with a position control means and speed control means being cut-off from a servomotor.
CONSTITUTION: In the case of holding an object by a holding mechanism, a position control means 6, speed control means 5 and torque control means 4 are first connected to a servomotor 2 altogether, and the object is held by a holding mechanism while performing the controls by the respective control means 4, 5, 6. Thereafter, the holding force for the object is kept in the specified value with the torque control only by the torque control means 4 being executed by changing over a switching means 8. Consequently, the adjustment of the holding force can be executed electrically altogether.
COPYRIGHT: (C)1992,JPO&Japio
JP31116690A 1990-11-16 1990-11-16 Holding device Pending JPH04183590A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP31116690A JPH04183590A (en) 1990-11-16 1990-11-16 Holding device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP31116690A JPH04183590A (en) 1990-11-16 1990-11-16 Holding device

Publications (1)

Publication Number Publication Date
JPH04183590A true JPH04183590A (en) 1992-06-30

Family

ID=18013889

Family Applications (1)

Application Number Title Priority Date Filing Date
JP31116690A Pending JPH04183590A (en) 1990-11-16 1990-11-16 Holding device

Country Status (1)

Country Link
JP (1) JPH04183590A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997039859A1 (en) * 1996-04-24 1997-10-30 Fanuc Ltd Robot with servo tool at front end of wrist
JP2006346792A (en) * 2005-06-15 2006-12-28 Kawasaki Heavy Ind Ltd Robot and work holding method
JP2015205383A (en) * 2014-04-23 2015-11-19 ファナック株式会社 Work-piece transport device with positioning mechanism
JP5955430B1 (en) * 2015-03-24 2016-07-20 上銀科技股▲分▼有限公司 Electric gripper system and control method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997039859A1 (en) * 1996-04-24 1997-10-30 Fanuc Ltd Robot with servo tool at front end of wrist
JP2006346792A (en) * 2005-06-15 2006-12-28 Kawasaki Heavy Ind Ltd Robot and work holding method
JP2015205383A (en) * 2014-04-23 2015-11-19 ファナック株式会社 Work-piece transport device with positioning mechanism
US10005186B2 (en) 2014-04-23 2018-06-26 Fanuc Corporation Workpiece conveying device having positioning structure
JP5955430B1 (en) * 2015-03-24 2016-07-20 上銀科技股▲分▼有限公司 Electric gripper system and control method thereof

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