| 摘要 |
PROBLEM TO BE SOLVED: To provide a bin picking system which can avoid the size increase of the whole equipment and can meet a requirement for size reduction while satisfactorily performing bin picking work by a robot.SOLUTION: A right angle coordinate robot 3, a component housing box 4 that houses a plurality of components W in bulk, a camera 6, a temporarily placing region 8, and a conveyor device 7 having a component mounting position 7a are provided on a work table 2. A plate 17 rotatable around a horizontally extendable shaft is provided on a wrist 16 of the robot 3. A composite hand tool 18 comprising a suction nozzle 19 and a chuck 20 integrally provided in a V-shaped open form (angle θ: 90 to 135 degrees) is mounted to the plate 17. A control device 21 recognizes the component W in the component housing box 4 by the camera 6, picks up one by one by the suction nozzle 19 to place the component W in a temporary posture in the temporarily placing region 8, and changes the component W in the temporarily placing region 8 to a final fixed posture by the chuck 20 to mount the component W on the component mounting position 7a. |
