公开(公告)号：US20190255711A1

公开(公告)日：2019-08-22

申请号：US16265144

申请日：2019-02-01

Applicant: NGK INSULATORS, LTD.

Inventor： Shinya YOSHIDA ,  Yuito ABE

IPC: B25J9/16 ,  G03B15/05 ,  H04N5/225 ,  G06T7/13

Abstract: A method of assembling or disassembling a housing shelf configured at least from shelf plates and frames, including a step in which a chuck holds a frame; a step of determining, based on an image captured by an imager that captures an image of the frame held by the chuck and positioned at an imaged position, a position of a target portion of the frame on the image; and a step of determining, based on the determined position on the image, at least one correction value for causing a change in a release position for the frame when the frame is released from the chuck onto the shelf plate. The target portion may be an inner wall surface of the frame. An illumination unit may be arranged between the imager and the imaged position of the frame.