| 摘要 |
PROBLEM TO BE SOLVED: To provide a holding force controller capable of preventing a held object and a holding device from being damaged due to the driving operations of a holding claw and a working arm. SOLUTION: A load (work load) acting on the holding device 14 is calculated by a control circuit 60 based on the load pressures of cylinders 11, 13, and 15 detected by pressure sensors 81 to 83 and the strokes of the cylinders 11, 13, 15, and 30 detected by stroke sensors 91 to 94. When an operation lever 74a is not operated or the cylinder 30 reaches a stroke end and the work load exceeds the limit value of the holding force set in a load setting device 110, a control valve cutoff determination part 65 cuts off an excitation signal to the solenoid valves of control valves 411 to 414 irrespective of the speed instruction values of the control valves 411 to 414 calculated by a lever signal calculation part 61. COPYRIGHT: (C)2006,JPO&NCIPI
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