| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a conveyance device and a method for controlling conveyance device, for preventing a rotation body speed from being changed when a clamping means is opened or closed. <P>SOLUTION: The conveyance device includes: a circular rotation body which rotates axially around a circular center; a servomotor 34 which rotates the rotation body; and a plurality of grippers which are disposed on the periphery part of the rotation body at regular intervals, are opened and closed by a torque generated by the rotation body to clamp conveyed material and, while the rotation body is rotated, receive and transfer the conveyed material. The servomotor 34 is controlled such that the rotating body rotates with a predetermined torque which cancels a disturbance torque applied by the grippers to the rotation body. <P>COPYRIGHT: (C)2012,JPO&INPIT |
