| 摘要 |
PROBLEM TO BE SOLVED: To provide an abnormality cause estimating device capable of rapidly identifying a cause when picking abnormality occurs, and contributing to increased efficiency of picking work by shortened recovery time.SOLUTION: A picking device 2 includes: a robot 8 which grips work-pieces one by one that are bulk loaded in a container 4; a robot controller 16; an abnormality cause estimating device 22; and take-out abnormality determining means 10. The abnormality cause estimating device 22 has three-dimensional measuring means 12 and recognition means 14. When take-out abnormality occurs, the abnormality cause estimating device 22 estimates a cause of the abnormality from initial value data of a planar region 4a of the container 4 at the time of initial setting acquired by the three-dimensional measuring means 12, and abnormality time position data of the planar region 4a.SELECTED DRAWING: Figure 1 |
