| 摘要 |
PROBLEM TO BE SOLVED: To enhance accuracy of a movement position of an opposed grasping means relative to a position in a horizontal direction suitable for grasping of an article, i.e., an object to be transferred while accomplishing simplification of a constitution and reduction of cost. SOLUTION: An existence detection means 15 for detecting/acting the existence of the article 1 from an upper side making a range corresponding to a part in an existing range of the article in plan view as a detection range is installed on the grasping means in the state that a position in the horizontal direction of the grasping means 2 relative to the article becomes a position relationship suitable for grasping when it detects an end of the article 1. A control means performs preparation movement processing for controlling movement of the grasping means 2 for moving the grasping means 2 to a preparation setting position. Nextly, it performs end detection movement processing for controlling the movement of the grasping means 2 so as to horizontally move the grasping means 2 so as to detect the ends of the article 1, i.e., the object to be transferred in plan view based on the detection information of the existence detection means 15, and thereafter, it performs grasping processing for grasping the article 1, i.e., the object to be transferred. COPYRIGHT: (C)2008,JPO&INPIT
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