| 摘要 |
PROBLEM TO BE SOLVED: To easily modify the position not only in the height direction of a coil but also in the radial direction. SOLUTION: The invention is the method of determining the position of catching a cylindrically wound coil 4 in grabbing and carrying the coil 4 by an automated crane. Four pairs of photoelectric switches 5-8, totaling eight switches, four on each side, are mounted up, down, left, and right on both sides of an arm nail 3 of a grabbing device 1. The relative positions of the arm nail 3 and a hole 4a of the coil 4 are discriminated according to the variation of combination of transmission or shading of light from the four pairs of photoelectric switches 5-8 when the grabbing device 1 is stopped before, on the way, or after the lowering of the coil 4, and the relative positions are modified so that the arm nail 3 is located at the center of the hole 4a of the coil 4. As a result, the relative positions of the arm nail and the hole of the coil can be easily modified with a short cycle time even if the arm nail and the hole of the coil are displaced not only in the height direction but also in the radial direction.
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