Title:
TRANSFER APPARATUS AND METHOD FOR CONTROLLING TRANSFER APPARATUS
Document Type and Number:
WIPO Patent Application WO/2013/125322
Kind Code:
A1
Abstract:
A transfer apparatus (29) sandwiches an article between arms and transfers the article. In order to sandwich the article with an optimum force while transferring the article, the transfer apparatus (29) is provided with: a pair of arms (53a, 53b), which are provided on a pair of bases (51a, 51b), respectively, such that the arms can move forward, with the article sandwiched therebetween, to an area to which the article is to be transferred, and move backward into the bases; a first drive unit (60), which drives the pair of bases (51a, 51b); a second drive unit (61), which drives the pair of arms (53a, 53b); a reaction force detecting unit (65), which detects a reaction force applied from the article when the pair of arms (53a, 53b) sandwich the article; and a drive control unit (81c), which can control the first drive unit (60) such that the reaction force detected by means of the reaction force detecting unit (65) is within a predetermined range.
Inventors:
NAKAMURA AKITOSHI (JP)
Application Number:
PCT/JP2013/052194
Publication Date:
August 29, 2013
Filing Date:
January 31, 2013
Export Citation:
Assignee:
MURATA MACHINERY LTD (JP)
International Classes:
B65G1/04
Foreign References:
| JP2008024493A | 2008-02-07 | |||
| JPH09295292A | 1997-11-18 | |||
| JPS6288590A | 1987-04-23 |
Attorney, Agent or Firm:
Shinjyu Global IP (JP)
fresh green -- a global IP patent business corporation (JP)
fresh green -- a global IP patent business corporation (JP)
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Claims:
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