| 摘要 |
PROBLEM TO BE SOLVED: To pick goods in no contact with each other without taking a time for picking the inclined and stacked goods. SOLUTION: This method involves the use of a slider having two laser position detectors 8a, 8b arranged at a constant space in a vertical direction and running to the direction of clamping incined and stacked goods, a means for calculating a distance from two points detected at two laser position detectors 8a, 8b with a time difference with the run of the slider to the direction of clamping the goods at two points, a means for calculating a reference coordinate as a position of clamping the goods from the inclination, height or diameter of the goods as predetermined, a clamping device control means 11 for controlling a clamping device 5 in accordance with the reference coordinate, and the clamping device 5 controlled by the clamping device control means 11.
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