| 摘要 |
PROBLEM TO BE SOLVED: To realize a method for obtaining part attachment information reliably at a high speed by irradiating a sucked part with light at an arbitrary angle from a light emitting part of a light sensor mechanism and receiving a projection of the sucked part at a light receiving part. SOLUTION: An optic mechanism 15 of a light sensor mechanism is set in parallel with a light receiving part 12, and a sucked part 17 is irradiated with parallel light 18 from the optic mechanism 15. The sucked part 18 is rotated so that a length of a projection at the light receiving part 12 is minimum. Where the length of the projection at the light receiving part 12 is S1-S2, when S1-S2=L (where L is a length of the sucked part), the optic mechanism 15 and the light receiving part 12 is in parallel to each other. When S1-S2>L, the optic mechanism 15 is not parallel to the light receiving part 12, so that the sucked part 17 is more inclined than the light receiving part 12. Since by rotating the optic mechanism 15 and the sucked part 17 in the same direction respectively and by making the projection length at the light receiving part 12 L, the optic mechanism 15 and the light receiving part 12 are in parallel, the light receiving part 12 is irradiated with light from a light emitting part perpendicularly the light receiving part 12. |
