| 摘要 |
PROBLEM TO BE SOLVED: To reduce a space necessary for an article moving device and to easily control the same by vertically moving an article holding device by an elevator device, and rotating the article holding device by a rotating device while keeping its rotary shaft in the vertical direction. SOLUTION: An article holding hand 25 is formed by a linear motor 22 for controlling the horizontal movement in the X direction and the Y direction, an elevating cylinder for controlling the elevation in the Z direction, and a rotary motor 24 for controlling the rotation in theθdirection while keeping the rotary shaft in the vertical direction. Whereby the bottles 1 can be horizontally moved and controlled in the X direction and the Y direction, and vertically in the Z direction, and further rotated and controlled in theθdirection while keeping the rotary shaft in the vertical direction. A moving range of the article holding hand 25 is limited within a range defined by a fixed outline of a platen 21, and the large space is not needed around a handling device. Further the computing and the control can be easily performed by using a camera 16 and the handling device when the bottles 1 are aligned.
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