| 摘要 |
PROBLEM TO BE SOLVED: To automatically set a point where a clumper operation switching device is turned on/off in accordance with a velocity variation of a work conveying robot. SOLUTION: This device sets an advance time for a time lag portion starting from a target position 2 or 4 at which the work is adsorbed/released till the time when the work is adsorbed/released after an electrode valve is turned on/off. In this case, a velocity of the clumper is obtained by repeating an operation for example six times, wherein a distance, which is a subtraction of a previous position from a current position after the clumper is started from a fixed position 1, at for example an interruption of every 5 ms, is divided by 5 ms. Then, an electric signal is outputted at an electromagnetic valve on/off position 3 or 5, where is a point prior to the target position by a distance obtained by multiplying the velocity by the advance time.
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