| 摘要 |
PROBLEM TO BE SOLVED: To align crystal pieces without manual labor. SOLUTION: Crystal pieces are crowd-ed in rows and columns in storage vessels 4, and the storage vessels 4 are fed into a crystal piece aligning device 10 by a feed means 11. A robot 37 uses either of a holding means 36 and a gripping means 61 selectively. The holding means 36 holds the crystal pieces together, and the crowded crystal pieces are separated in the directions of the rows and columns by a separating means before fed to a position detecting means 79 by the robot 37. The position detecting means detects the position of each of the separated crystal pieces, and the gripping means 61 grips the position-detected crystal pieces one by one to align them in a predetermined direction in alignment trays 100.
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