TRANSFER SYSTEM FOR SETTING A PIECE IN A REQUIRED ORIENTATION, AND ROBOT GRIPPER FOR SAID TRANSFER SYSTEM.

摘要

A piece (5) is set in a required orientation via rotations about at least two mutually transverse axes (52, 57), on the basis of the differences between the required orientation and the position represented in a captured image while the piece (5) is arriving on a resting plane (29), and on the basis of the outcome of a comparison between the data of the captured image and the data stored of images that show a sample element equal to the piece (5) to be transferred and set in respective different stable resting positions.