PURPOSE: To surely grip the outer diameter of a work without interfering with the other work by teaching the gripping position of an objective work to be gripped in the condition of adding the occupied space of a gripping member to the external form of the objective work to be gripped.
CONSTITUTION: When a gripping position is teached so as to grip the outer circumferential decided position of an objective work 7 to be gripped with a gripping member, the gripping position of the objective work is teached in the condition of adding the occupied space 7a of the gripping member to the external form of the objective work 7 to be gripped. Hereby, according to adding the occupied space 7a, it can be recognized that the outer diameter of the work 7 can be gripped only in case of no existence of the other work in the occupied space 7a, and the outer diameter of the work 7 can be gripped only in case of no generation of interference with the other work. In this case, the number of works 7 Judged able to be gripped is reduced, to some extent, but damage of the work, chuck, work bearing face, and the like can be previously prevented.
| JPS5844152 | 【考案の名称】物品受渡供給装置 |
| JPH06328339 | SUPPLY METHOD FOR RAW MATERIAL TO WORKING MACHINE |
HARADA KOICHI
SATO KIMITOSHI
