| 摘要 |
PURPOSE: To detect the displacement amount between a hand holding center and a work center at high precision and a high speed by a non-contact method in a process in which a disk-like work held by a hand is conveyed straight forward. CONSTITUTION: A pair of hands 31 having two sucking pads, respectively, are installed at the tip of an arm 30 which moves straight rightward and the holding center of the hands 31 is the center O or the four sucking pads 34 and the left end of an arm 30 which is displaced from the center O by A in the straight proceeding direction of the hand 31 is set to be a fixed point P. In the case where the center Oe of food stuffs 1 with radius R is presumed to be displaced byΔin the proceeding direction and also slightly in the rectangular direction and points where a straight line which passes the center O or the food stuffs cross the outline of the food stuffs 1 are presumed to be Q1, Q2. A transmission sensor 2 is a transmission-type optical sensor and installed at a right angle to the face of the food stuffs 1 while its optical axis penetrating the straight line. The transmission through the respective points Q1, Q2 can be decteced by the transmission sensor 2 and when a line P.Q1=L1 and a line P.Q2=L2 are presumed, the displacement amountΔ=(2A-L1-L2)/2 can be calculated.
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