PURPOSE: To reduce the cycle time by omitting holding confirmation by time management.
CONSTITUTION: A holding apparatus includes a chuck unit 3 comprising holding clicks 4 for holding a work W and a driving device 5 for driving the holding clicks 4, wherein one of the holding clicks 4 is provided with a vibration sensor 10 for detecting a contact sound of the holding clicks 4 and a work W, and the driving device 5 is provided with an auto switch 6 for detecting the operation of the driving device 5. A signal of the vibration sensor 10 is sent to a control device 12 through a sensor amplifier 11, and when the vibration waveform detected by the vibration sensor 10 is larger than the preset vibration level, a signal is outputted from the sensor amplifier 11. Further, AND consisting of a signal from the sensor amplifier 11 and a signal from the auto switch 6 is produced in the control device 12 so as to confirm holding.
KOMURO FUMIHIKO
FURUYA MASAHIRO
TSUKIHANA HIROSUKE
