POWER CONTROLLER FOR WORKING BODY

Title:

POWER CONTROLLER FOR WORKING BODY

Document Type and Number:

Japanese Patent JPH04114214

Kind Code:

A

Abstract:

PURPOSE:To enable stable operation control on various adaptive conditions by providing a slide mechanism to freely movably support an operation part in an axial direction, and an energizing means to energize energizing force to the operation part of a working body corresponding to a moving position. CONSTITUTION:A slide mechanism 12 is provided to freely movably support a gripper 10a in the axial direction between a driving motor 11 and the gripper 10a of an arm 10, and a spring member 13 is provided to impress the energizing force to the gripper 10a of the arm 10 corresponding to the moving position controlled by this slide mechanism 12. Then, the force applied onto the gripper 10a is controlled to be constant by controlling the moving position of the slide mechanism 12. Thus, since the gripper 10a of the arm 10 is controlled to be abutted on an object 16 with the almost constant force corresponding to a change on the abutting face of the object 16, the stable operation control is realized corresponding to the adaptive condition.

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Inventors:

KASUGA KAZUHITO

Application Number:

JP23309790A

Publication Date:

April 15, 1992

Filing Date:

September 05, 1990

Export Citation:

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Assignee:

TOSHIBA CORP

International Classes:

B25J13/08; B25J17/02; G05D15/01; (IPC1-7): B25J13/08; B25J17/02; G05D15/01

Attorney, Agent or Firm:

Takehiko Suzue (3 outside)

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