| 摘要 |
PROBLEM TO BE SOLVED: To determine whether or not a plate workpiece is held on a suction surface of a robot hand.SOLUTION: A transportation unit 4 includes an imaging means 6 for imaging a shape of a robot hand 50, a storage part 7 in which an imaged picture of the robot hand 50 when nothing is held on a suction surface 51, being imaged with the imaging means 6, is stored, and a determination part 8 for determining difference by comparing an imaged picture stored in the storage part 7 with an imaged picture of the suction surface 51 which is imaged at the start or end of transportation by a transportation robot 5, thus, it is surely recognized whether a plate workpiece W is held or not on the suction surface 51. Thus, it is prevented that, under a condition in which a plate workpiece is being held on the suction surface 51, a new plate workpiece is taken out from a supply cassette 3a and is broken. |
