| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device and method for holding a workpiece capable of correctly centering and holding a workpiece by preventing deviation of the position and posture of the workpiece even when a holding part of the workpiece to be held has a cutting part. <P>SOLUTION: This device for holding a workpiece includes: a hand 12 for holding a workpiece 1; a camera 14 for imaging the workpiece; a robot 16 capable of three-dimensionally moving the hand; and a robot control device 18 for controlling the robot. In this method for holding a workpiece, an image 5 of the workpiece including the whole of a holding surface by the hand 12 is imaged by the camera 14 (S1), the image 5 is subjected to image processing to detect a cutting part 2a present in the holding surface 1a by the robot control device 18, and the posture of the hand 12 is controlled to hold the holding surface 1a other than the cutting part 2a to hold the workpiece 1. <P>COPYRIGHT: (C)2012,JPO&INPIT |
