WORKPIECE TRANSFER SYSTEM, WORKPIECE TRANSFER METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a compact and inexpensive workpiece transfer system capable of surely lifting a loaded workpiece and transferring the same.SOLUTION: Three-dimensional coordinates of the surface of a workpiece 40 are calculated on the basis of images imaged by a first camera 10 and a second camera 11, and the three dimensional shape and the position of the surface of the workpiece 40 of the highest stage are obtained from the calculated three-dimensional coordinates. The position and the direction of a suction hand 31 are decided on the basis of the three-dimensional shape and the position of the surface of the workpiece 40 are determined, and an arm 32 is driven so that the suction hand 31 can be set in this position and this direction. The intake port 311 of the suction hand 31 is fitted to the workpiece 40, and then air is sucked from the intake port 311 respectively by a plurality of intake systems to adsorb the workpiece 40. Depending on whether intake inner pressure at this time is equal to or higher than a prescribed value, whether the suction hand 31 grips the workpiece 40 is determined, and when determined to be gripped, the workpiece 40 is lifted by the suction hand 31 to be moved.