| 摘要 |
PURPOSE:To smooth the insertion of a container and to prevent the container from breaking by detecting the deviation position of the container from the insertion hole at the time of container loading and whether or not the container is loaded in the insertion hole by sensors respectively. CONSTITUTION:Deviation detection sensors 4a-4d, etc., are arranged at plural positions on the peripheral surfaces of insertion holes 3 of a container support plate 2 and if a container 15 gripped by a robot hand 14 shifts from the center position of an insertion hole 3 at the time of the container loading, a contact signal from, for example, the sensor 4a is sent to a controller 12. The controller 12 receives this signal and drives and controls the robot hand 14 so that the container 15 moves away from the sensor 4a. Further, when a container 15 is already inserted into the insertion hole 3, on the other hand, a sensor 9 for loading detection contacts the bottom surface of the container 15 and sends a detection signal to the controller, thereby driving and controlling the robot hand 14 so that the container is not put repeatedly in the insertion hole 3.
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