| 摘要 |
<P>PROBLEM TO BE SOLVED: To solve a problem of a container carrying device where a container is not released from a manipulator when the manipulator is operated to open when a part of a label or the like attached to the container is peeled and a peeled part is adhered to the manipulator or when the adhesive is left outside the container and a side surface of the container is adhered to the manipulator. <P>SOLUTION: The manipulator 20A is lowered, and operated to be opened so as to release the container, and thereafter, the manipulator 20A is lowered again as it is. By this, an adhesion state is forcibly eliminated. Thereafter, the manipulator 20A is pulled upward. On the way, the manipulator 20A is operated to be closed, and a state that the container 26A dose not exist is confirmed. The operation for lowering the manipulator again can be started without waiting for the finish of the opening operation after starting the opening operation of the manipulator 20A. <P>COPYRIGHT: (C)2012,JPO&INPIT |
