| 摘要 |
<p>An automatic pickup method and unit for cylindrical objects (2), particularly reels (2) with a tubular central core (3), whereby a self-propelled suction type pickup head (32) is guided into a position coaxial with the central axis (55) of the object (2) by successively determining, by means of photosensors (47, 48, 49) on the head (32), three distinct points (A, B; C) on the outer surface (53) of the object (2), and by mathematically determining the location of the central axis (55). <IMAGE></p> |
