| 摘要 |
<p>A method of picking workpieces such as elongate components W from an untidy heap in a bin or bucket (60 fig. 1) alongside a production line employs a multi-fingered robot hand 121 with two independent holding devices F1, F2 and F3, F4, the method comprising grasping a selected component T at a location T1 with the first holding device F1, F2 and lifting the component T to a position at which there is no interference with other components W and then grasping the component T at a location T2 with the second holding device F3, F4. The hand 121 may be controlled by an overall image sensor (4 fig. 1) and an in-bucket image sensor (131 fig. 1). The method may be used to pick elongate vehicle components W from a bucket (60 fig. 1) in a sub-assembly line which supplies a vehicle assembly line, the components 1 being taken from the bucket (60 fig. 1) and laid out at a predetermined position (Wa fig. 1) on a layout surface of a kit platform.</p> |
