| 摘要 |
PURPOSE:To enable production efficiency to be improved, by correcting a work means position on the basis of a workpiece position, obtained for a predetermined point in an image pickup region photographing a workpiece by a sight sensor, so as to easily perform positioning work and reduce an assembly time. CONSTITUTION:A subject in an image pickup region 36, containing a bearing 14, is photographed by a sight sensor 18, while picture information, correspond ing to the bearing 14 and a magazine 12, is respectively converted into 1, 0, and a bearing position in the image pickup region 36 is calculated from the binary coded picture information. Next in the image pickup region 36, the picture information is scanned in a direction Y from points moving in a direc tion X by + or -(a) from a reference point Q, and two picture elements A, B, in which the picture information becomes 1, are obtained. Next, coordinates of a center point P of the image pickup region 36 are obtained from coordinates of the points A, B and previously stored radius data of the bearing 14, and a hand part 20, in which deviations DELTAx, DELTAy between coordinates of the point Q and that of the point P are output to a position control mechanism through a data output part and a moving unit 16 is moved on the basis of the deviation so that the point P agrees with the point Q, correctly holds the bearing 14.
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