| 摘要 |
<p>PURPOSE:To highly accurately detect a relative position by detecting the relative position between a hand mechanism for operating medium and housing shelf by measuring the ON/OFF outputting position of a reflection type photoelectric sensor to the same target flag when the hand mechanism is scanned. CONSTITUTION:A reflection type photoelectric sensor 4 is provided to a hand mechanism 2 for operating medium which is a movable section side and a target flag 5 having a fixed width in the positioning direction is provided to a housing shelf 6 which is a fixed section side. Then, when the sensor 4 scans the section including the preceding and succeeding sections of the flag 5 after the hand mechanism 2 is brought near to a target position by means of a servo system, etc., the output of the sensor 4 changes depending upon the presence/ absence of the flag 5 and an output signal is obtained. When the rising and falling positions of the output signal of the sensor 4 are found by using a rotary encoder fitted to the output shaft of a carrying device driving motor, the center position of the flag 5 can be found. Therefore, the relative position between the hand mechanism 2 and the shelf 6 with the flag can be detected with high accuracy.</p> |
