| 摘要 |
PROBLEM TO BE SOLVED: To reduce the frequency of the alarm output and the operation stop as much as possible by repeatedly trying the holding operation when a holding mistake occurs, and to improve operation efficiency, to reduce the recovery work of workers, and to improve the quality of products. SOLUTION: This holding device advances a hand 4 provided in an advancing/retracting manner, and holds a hand receiving handle 6 of an article to be carried. This holding device comprises holding error detecting means 15, 16, 30 to detect a holding error of the handle 6 by the hand 4, and a control part 30 to retract the hand 4 when the holding error is detected by the holding error detecting means 15, 16, 30, change the advancement of the hand 4, and advance the hand again to hold the handle 6.
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