Title:
ELECTRICALLY-DRIVEN GRIPPER AND METHOD FOR RETURNING ELECTRICALLY-DRIVEN GRIPPER TO ORIGINAL POINT
Document Type and Number:
Japanese Patent JP2015039738
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To make it possible to precisely return a holding member to an original point and shorten a time required for return to the original point.SOLUTION: A position, which is separated from a stroke edge of a holding member 118 in a gripper opening direction by a regularly set distance is set as an origin position EG1. At the time of a command for return to the original point after power-up, a current position of the holding member 118 is set as an original point return start position S1, and the holding member 118 is moved from the return start position to the stroke edge. A Z-phase travel distance Lmp is detected when the holding member 118 is moved the stroke edge to a Z-phase position SZ where a Z-phase signal is detected, an original point return travel distance Lz2p is determined by subtracting a set distance Lop from the Z-phase travel distance Lmp, and the holding member 118 is moved according to the original point return travel distance Lz2p, whereby return to the origin position EG1 can be achieved.
Inventors:
IWATA MOTOAKI
HASHIGUCHI KENJI
HASHIGUCHI KENJI
Application Number:
JP2013171970A
Publication Date:
March 02, 2015
Filing Date:
August 22, 2013
Export Citation:
Assignee:
TAIYO TEKKO KK
International Classes:
B25J9/10
Domestic Patent References:
| JP2010207994A | 2010-09-24 | |||
| JP2006018524A | 2006-01-19 | |||
| JPS6234210A | 1987-02-14 | |||
| JPH11259109A | 1999-09-24 | |||
| JPH0465702A | 1992-03-02 | |||
| JPH0341504A | 1991-02-22 | |||
| JPH02292190A | 1990-12-03 | |||
| JPH0224077A | 1990-01-26 |
Foreign References:
| US5075870A | 1991-12-24 |
Attorney, Agent or Firm:
Masaki Yamakawa
Shigeki Yamakawa
Shigeki Yamakawa