| 摘要 |
PROBLEM TO BE SOLVED: To solve a problem relating to mechanical bending generated on a robot 4, in a hem machining device 1.SOLUTION: In a hem machining device 1, a pressurizing portion 5 converts torque generated by an electric motor 20 into thrust and adds that to a roller 3, thereby adding pressurizing force to the roller 3. A control portion 8 carries out control to obtain a command value of a current flowing in the electric motor 20, and make a detection value of the current detected by a current sensor 6 match with the command value. The control portion 8 executes a pressurizing force control mode which obtains the command value of the current according to a target value of the pressurizing force. Therefore, by high-speed feedback based on the detection value of the current sensor 6, the mechanical bending of a robot 4 can be solved in an early stage, so that in the hem machining device 1, a problem relating to the mechanical bending generated on the robot 4 can be solved. |
