| 摘要 |
<p>A workpiece picking device capable of correctly detecting the size of a workpiece (14). The picking device has a robot (16) capable of picking the same kind of workpieces (14) contained in a work container (12), a robot controller (18) for controlling the robot (16), a video camera (20) positioned above the work container (12) so as to widely image the workpieces (14) and an image processor (22) for processing an image obtained by the video camera (20). The three-dimensional position and posture of each workpiece (14) is measured by a three-dimensional vision sensor (24) arranged on a wrist element of the robot.
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