HOLDING DEVICE, HOLDING POWER CONTROL DEVICE, AND HOLDING DEVICE DRIVING DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a holding device, a holding force control device and a holding device driving device capable of improving accuracy of holding force at low cost. SOLUTION: In a fork cylinder 30 for opening/closing forks 21 and 22 of a grapple 14, a bottom side end part (cylinder bottom) 32a of a cylinder main body 32 is connected to a cylinder support part 26 of a holding device main body 20 through a spring 40. With this structure, in comparison with a case where the cylinder main body 32 is directly connected to the cylinder support part 26 of the holding device main body 20 without using the spring 40, fluctuation of holding force in response to fluctuation of a stroke of the cylinder rod 31 is restricted. Load pressure of the fork cylinder 30 is detected by a pressure sensor, and a control unit feedback-controls holding force to obtain the holding force corresponding to operation quantity of an operation lever. COPYRIGHT: (C)2005,JPO&NCIPI