| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a bulk picking device and method thereof capable of picking workpieces one by one, without human handling of a heavy load, from among a plurality of workpieces loaded in bulk in a container, such as a mesh box, capable of highly accurately measuring whole workpieces in the container, capable of eliminating interference between a distance sensor, the container, and workpieces, and thereby capable of reducing picking time and increasing the success rate of picking and the operation rate of the device. <P>SOLUTION: A distance sensor 16 is attached by a hand 14 to the hand (S1). The hand is moved and three-dimensional shape data of whole workpieces loaded in bulk is measured by the hand 14 using the distance sensor 16 (S2). Then, positions and attitudes of workpieces 1 that can be grasped by the hand 14 are recognized from the measured three-dimensional shape data (S4). The distance sensor 16 is detached from the hand by the hand 14, and the workpieces 1 that can be grasped by the hand 14 are sequentially grasped and conveyed to a conveyance destination (S6). <P>COPYRIGHT: (C)2012,JPO&INPIT |
