| 摘要 |
PROBLEM TO BE SOLVED: To provide a battery replacement robot capable of preventing damage of a lock mechanism which is actuated with an insertion force of a battery to a battery storage part and locks the battery even when the lock mechanism is installed.SOLUTION: In a battery replacement robot 5, during insertion operation of a battery 3 to a battery storage part 4, when such a connection movement that the locking of the battery 3 by means of a lock mechanism which is actuated by insertion force of the battery 3 to the battery storage part 4 and locks the battery 3 and the connection of a battery side connector and a storage side connector are performed is started, a motor for driving a battery engagement part which is engaged with the battery 3 and moves the battery 3 is controlled by position control and overload control. In the overload control, the motor is driven until a predetermined time elapses in such a state that a load of the motor exceeds a reference value even if the load of the motor exceeds the reference value and the motor is stopped when a predetermined time elapses in such a state that the load of the motor exceeds the reference value. |
