Patent ID: 11938534
Assignee: KROSAKIHARIMA CORPORATION
Field: Materials, metallurgy (Chemistry)
Classification: CPC B | IPC B

Claim 3:
4. The opening-closing apparatus as claimed in claim 1, which further comprises a control unit configured to control operation of the robot arm, wherein the control unit is operable to controllably operate the robot arm so as to: move the distal module toward the openable-closable component of the sliding nozzle device and engage the distal module with the openable-closable component of the sliding nozzle device; then move the distal module to move the openable-closable component, if an absolute value of the force detected by the force sensor is equal to or less than a given threshold; and stop the movement of the distal module, when the absolute value of the force detected by the force sensor reaches the given threshold.