Patent ID: 11922616
Assignee: OMRON CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 1:
2. The alignment device according to claim 1, wherein
each of the first workpiece and the second workpiece includes at least one reference point that is arranged to face each other and serves as reference for alignment when the second workpiece is aligned with the first workpiece on a plane intersecting the first direction,
the position of the second workpiece with respect to the first workpiece calculated by the control device is a position of the reference point of the mirror image of the second workpiece with respect to the reference point of the first workpiece,
the alignment device further comprise a position detection sensor that detects the position of the second workpiece in the first direction with respect to the first workpiece, and
the control device includes:
a position determination unit that based on the position of the second workpiece in the first direction with respect to the first workpiece, which is detected by the position detection sensor, determines whether the second workpiece has reached a start position arranged closer to the first workpiece than an initial position at which alignment of the second workpiece with respect to the first workpiece is started, and that determines whether the second workpiece has reached an end position arranged closer to the first workpiece than the start position at which alignment of the second workpiece with respect to the first workpiece is ended, when the second workpiece approaches the first workpiece in the first direction from the initial position; and
a movement control unit that controls the moving device to move the holding device so that the reference point of the mirror image of the second workpiece is brought closer to the reference point of the first workpiece while it is determined by the position determination unit that the second workpiece has reached the start position and has not reached the end position.