| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a gripping device detecting an origin with high precision regardless of elastic deformation of a gripper generated by closing impact. <P>SOLUTION: When a pinion 6 attached to a drive shaft 2a of an electric motor 2 is rotationally driven, a pair of racks 7 and 7 meshing with the pinion 6 linearly moves and the pair of grippers 5 and 5 are driven so as to be opened and closed. An encoder 3 is connected to the electric motor 2, and a pulse with the rotation of the drive shaft 2a is output from the encoder 3. A driving control circuit 102 rotationally drives the electric motor 2 so that the pair of grippers 5 and 5 are closed, and the supply of a current to electric motor 2 is stopped by detecting that the pair of grippers 5 and 5 come into contact with each other and the rotation of the electric motor 2 stops based on the pulse output from the encoder 3. Then, the driving control circuit 102 detects the pulse which is output from the encoder 3 as origin pulse after a predetermined time elapses. <P>COPYRIGHT: (C)2013,JPO&INPIT |
